version: 66.03
glider: 122
mission: 6
dive: 380
start: 5 9 108 10 37 11
data:
$ID,122
$MISSION,6
$DIVE,380
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,100
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,366
$T_MISSION,439
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0274
$MASS,51598
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031900001
$HD_B,0.0133
$HD_C,4.5199999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,475
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-34758.25
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,250
$PITCH_MAX,3579
$C_PITCH,2905
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14.2
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,168
$ROLL_MAX,3733
$ROLL_DEG,40
$C_ROLL_DIVE,2216
$C_ROLL_CLIMB,2336
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,417
$VBD_MAX,3757
$C_VBD,2748
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-4.1162887
$PRESSURE_SLOPE,0.00025722419
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044208211
$SEABIRD_T_H,0.00065343338
$SEABIRD_T_I,2.7514026e-05
$SEABIRD_T_J,3.0288847e-06
$SEABIRD_C_G,-10.084093
$SEABIRD_C_H,1.1290534
$SEABIRD_C_I,-0.0015321091
$SEABIRD_C_J,0.00018406138
$GPS1,103008,1241.185,12045.883,37,1.0,37,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-71.6
$GPS2,103633,1241.188,12045.867,15,1.3,15,-0.8
$SPEED_LIMITS,0.156,0.206
$TGT_NAME,RECOV_1
$TGT_LATLONG,1241.580,12045.480
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,312.0,1007,-26.0,-9.016
$D_GRID,861
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-1.96,-78.2,0.0,0.0,0,92,0.00,0.00,-66.65,0.000,2,0.000,0.000,252,2195,2489
$GC,95,-1.99,-92.2,3.5,-7.9,10,127,12.75,2.53,-12.07,0.000,4,0.167,0.051,2466,3632,3126
$GC,175,-1.72,-92.2,22.6,-23.3,23,183,0.35,2.35,0.00,0.000,6,0.137,0.026,2527,2210,3127
$GC,522,-1.62,-92.2,79.7,-15.2,84,529,0.12,0.00,0.00,0.000,6,0.142,0.000,2547,2210,3129
$GC,868,-1.62,-92.2,127.2,-10.4,145,874,0.00,2.45,0.00,0.000,4,0.000,0.043,2547,3638,3131
$GC,977,-1.59,-92.2,140.2,-11.6,164,984,0.00,2.33,0.00,0.000,6,0.000,0.026,2547,2222,3131
$GC,1323,-1.59,-92.2,174.5,-9.6,225,1329,0.00,2.42,0.00,0.000,4,0.000,0.043,2547,3638,3133
$GC,1347,-1.59,-92.2,176.8,-9.4,229,1354,0.00,2.30,0.00,0.000,6,0.000,0.026,2547,2238,3133
$GC,1695,-1.65,-96.8,209.0,-8.7,290,1701,0.00,2.40,0.00,0.000,4,0.000,0.043,2547,3637,3133
$GC,1742,-1.65,-96.8,213.5,-9.9,298,1749,0.00,2.25,0.00,0.000,6,0.000,0.028,2547,2273,3133
$GC,2088,-1.71,-96.8,245.6,-9.3,359,2095,0.00,2.35,0.00,0.000,4,0.000,0.045,2547,3635,3133
$GC,2125,-1.74,-96.8,249.4,-10.3,365,2132,0.00,2.20,0.00,0.000,6,0.000,0.029,2546,2306,3133
$GC,2453,-1.81,-96.8,280.3,-9.6,396,2460,0.17,0.00,0.00,0.000,6,0.054,0.000,2501,2306,3131
$GC,2780,-1.81,-96.8,315.8,-10.4,427,2781,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2305,3128
$GC,3097,-1.81,-96.8,348.4,-10.9,457,3101,0.00,2.62,0.00,0.000,4,0.000,0.049,2501,819,3127
$GC,3137,-1.81,-96.8,353.1,-11.7,460,3141,0.00,2.60,0.00,0.000,6,0.000,0.033,2501,2338,3127
$GC,3465,-1.81,-96.8,387.5,-10.4,490,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2337,3125
$GC,3790,-1.81,-96.9,418.3,-9.0,521,3791,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2337,3123
$GC,4109,-1.81,-96.9,448.4,-10.1,551,4110,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2337,3121
$GC,4427,-1.81,-100.8,479.4,-8.7,581,4431,0.00,2.25,0.00,0.000,4,0.000,0.051,2501,3622,3118
$GC,4462,-1.79,-103.3,482.6,-8.8,583,4469,0.00,2.22,0.00,0.000,6,0.000,0.032,2501,2302,3118
$GC,4786,-1.81,-119.6,508.4,-7.7,609,4791,0.00,2.62,0.00,0.000,4,0.000,0.051,2501,826,3116
$GC,4836,-1.81,-119.6,512.9,-9.2,611,4841,0.00,2.50,0.00,0.000,6,0.000,0.035,2501,2280,3116
$GC,5153,-1.85,-140.6,536.3,-7.3,626,5157,0.00,2.60,0.00,0.000,4,0.000,0.051,2501,823,3114
$GC,5187,-1.86,-146.0,538.9,-7.0,627,5194,0.00,2.50,0.00,0.000,6,0.000,0.035,2501,2274,3113
$GC,5504,-1.86,-146.0,562.4,-7.8,643,5508,0.00,2.38,0.00,0.000,4,0.000,0.053,2501,3625,3112
$GC,5604,-1.86,-146.0,572.1,-9.8,647,5611,0.00,2.25,0.00,0.000,6,0.000,0.034,2501,2298,3111
$GC,5921,-1.86,-146.0,601.7,-9.4,663,5922,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2297,3109
$GC,6231,-1.86,-146.0,631.0,-9.5,678,6232,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2297,3108
$GC,6539,-1.86,-146.0,657.5,-7.5,693,6543,0.00,2.62,0.00,0.000,4,0.000,0.054,2501,829,3106
$GC,6561,-1.86,-146.0,659.3,-7.5,694,6565,0.00,2.50,0.00,0.000,6,0.000,0.038,2501,2274,3106
$GC,6883,-1.86,-146.0,682.2,-7.5,710,6887,0.00,2.40,0.00,0.000,4,0.000,0.056,2501,3631,3104
$GC,6924,-1.86,-146.0,686.1,-9.5,712,6928,0.00,2.30,0.00,0.000,6,0.000,0.035,2501,2283,3104
$GC,7254,-1.86,-146.0,714.7,-8.7,728,7255,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2282,3102
$GC,7560,-1.86,-146.0,743.5,-9.2,743,7564,0.00,2.38,0.00,0.000,4,0.000,0.055,2501,3628,3101
$GC,7598,-1.86,-146.0,747.4,-10.0,744,7605,0.00,2.28,0.00,0.000,6,0.000,0.036,2501,2296,3100
$GC,7915,-1.86,-146.0,775.8,-8.8,760,7916,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2294,3099
$GC,8223,-1.86,-146.0,803.6,-9.4,775,8228,0.00,2.65,0.00,0.000,4,0.000,0.058,2501,825,3098
$GC,8264,-1.86,-146.0,807.4,-9.9,777,8269,0.00,2.58,0.00,0.000,6,0.000,0.038,2501,2300,3098
$GC,8591,-1.86,-146.0,838.0,-9.7,793,8595,0.00,2.35,0.00,0.000,4,0.000,0.059,2501,3619,3097
$GC,8619,-1.86,-146.0,841.1,-10.6,794,8623,0.00,2.25,0.00,0.000,6,0.000,0.036,2501,2300,3097
$STATE,8829,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8829,begin apogee
$GC,8837,-0.35,0.0,861.7,9.5,804,8916,1.67,0.00,75.00,1.281,6,0.119,0.000,2822,2355,2748
$STATE,8916,end apogee,CONTROL_FINISHED_OK
$STATE,8917,begin climb
$GC,8919,2.08,146.0,865.9,0.0,808,9056,2.42,2.58,127.43,1.238,4,0.051,0.058,3361,3713,2152
$GC,9194,1.81,146.0,845.7,14.3,820,9199,0.35,2.40,0.00,0.000,6,0.152,0.041,3303,2350,2150
$GC,9521,1.68,146.0,813.5,9.6,836,9526,0.17,2.60,0.00,0.000,4,0.149,0.061,3272,933,2148
$GC,9607,1.57,146.0,803.9,11.6,840,9612,0.15,2.42,0.00,0.000,6,0.144,0.039,3248,2307,2148
$GC,9935,1.54,146.0,763.8,11.3,856,9939,0.00,2.53,0.00,0.000,4,0.000,0.061,3248,929,2147
$GC,9962,1.49,146.0,760.8,10.7,857,9966,0.00,2.42,0.00,0.000,6,0.000,0.040,3248,2309,2146
$GC,10284,1.49,146.0,732.5,9.5,873,10288,0.00,2.55,0.00,0.000,4,0.000,0.061,3248,3727,2145
$GC,10316,1.43,146.0,728.8,11.4,874,10324,0.17,2.47,0.00,0.000,6,0.143,0.040,3220,2303,2145
$GC,10633,1.43,146.0,700.1,10.0,890,10634,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2302,2145
$GC,10943,1.46,146.0,670.8,9.1,905,10946,0.00,2.50,0.00,0.000,4,0.000,0.062,3219,932,2143
$GC,11015,1.47,150.7,664.5,8.6,908,11024,0.00,2.45,2.92,1.180,6,0.000,0.038,3219,2328,2132
$GC,11343,1.50,150.7,636.7,9.1,924,11347,0.00,2.55,0.00,0.000,4,0.000,0.059,3220,931,2132
$GC,11375,1.50,150.7,633.2,10.1,925,11383,0.00,2.45,0.00,0.000,6,0.000,0.039,3220,2328,2132
$GC,11692,1.54,152.8,603.5,8.8,941,11694,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2327,2132
$GC,12002,1.63,181.8,581.3,6.7,956,12035,0.17,2.62,26.67,1.126,4,0.072,0.058,3261,923,2005
$GC,12121,1.58,181.8,570.6,10.0,961,12125,0.00,2.42,0.00,0.000,6,0.000,0.038,3261,2307,2004
$GC,12438,1.58,181.8,539.1,9.9,976,12442,0.00,2.53,0.00,0.000,4,0.000,0.058,3261,924,2003
$GC,12500,1.54,181.8,532.2,10.9,979,12505,0.12,2.35,0.00,0.000,6,0.133,0.038,3241,2265,2003
$GC,12827,1.54,181.8,499.5,9.3,995,12832,0.00,2.62,0.00,0.000,4,0.000,0.055,3241,3733,2003
$GC,12869,1.54,183.2,496.0,8.9,998,12873,0.00,2.55,0.00,0.000,6,0.000,0.038,3241,2263,2004
$GC,13194,1.56,198.1,469.3,7.8,1028,13218,0.00,2.53,13.43,1.060,4,0.000,0.058,3241,928,1939
$GC,13242,1.56,198.1,465.2,9.5,1032,13246,0.00,2.33,0.00,0.000,6,0.000,0.036,3241,2249,1939
$GC,13570,1.61,205.6,437.0,8.4,1062,13584,0.00,2.67,6.78,1.051,4,0.000,0.054,3241,3723,1909
$GC,13668,1.61,205.6,427.9,9.2,1070,13676,0.00,2.53,0.00,0.000,6,0.000,0.037,3241,2271,1908
$GC,13997,1.70,226.0,402.4,7.4,1101,14022,0.15,2.47,17.33,0.992,4,0.075,0.057,3277,924,1825
$GC,14085,1.67,228.9,394.6,8.8,1108,14093,0.00,2.35,2.40,0.989,6,0.000,0.036,3277,2269,1815
$GC,14410,1.69,240.6,368.2,8.1,1139,14426,0.00,2.65,10.15,0.977,4,0.000,0.054,3277,3723,1767
$GC,14560,1.69,240.6,353.4,9.7,1152,14564,0.00,2.42,0.00,0.000,6,0.000,0.037,3277,2324,1767
$GC,14885,1.69,240.6,319.3,10.3,1182,14889,0.00,2.50,0.00,0.000,4,0.000,0.054,3277,932,1766
$GC,14936,1.69,240.6,313.9,11.0,1186,14941,0.00,2.40,0.00,0.000,6,0.000,0.035,3277,2314,1766
$GC,15263,1.69,240.6,283.5,9.1,1216,15267,0.00,2.50,0.00,0.000,4,0.000,0.053,3277,3730,1766
$GC,15293,1.69,240.6,280.6,10.2,1218,15297,0.00,2.42,0.00,0.000,6,0.000,0.035,3277,2308,1766
$GC,15626,1.71,248.2,251.9,8.4,1249,15639,0.00,2.55,6.60,0.896,4,0.000,0.053,3277,932,1735
$GC,15731,1.71,248.2,242.0,9.4,1265,15738,0.00,2.35,0.00,0.000,6,0.000,0.035,3277,2287,1736
$GC,16078,1.76,258.7,212.2,8.2,1326,16092,0.00,2.53,9.15,0.851,4,0.000,0.052,3277,934,1693
$GC,16185,1.79,262.4,202.3,8.7,1344,16193,0.00,2.20,3.15,0.860,6,0.000,0.034,3277,2206,1678
$GC,16533,1.88,277.8,172.2,7.8,1405,16554,0.15,2.72,13.18,0.792,4,0.066,0.049,3316,3724,1615
$GC,16623,1.88,277.8,164.1,9.2,1420,16630,0.00,2.65,0.00,0.000,6,0.000,0.035,3317,2193,1614
$GC,16968,1.92,304.3,136.5,6.9,1481,16995,0.00,2.83,21.27,0.738,4,0.000,0.047,3316,3729,1507
$GC,17118,1.98,312.6,123.2,8.3,1506,17132,0.00,2.60,6.97,0.755,6,0.000,0.033,3316,2215,1473
$GC,17472,2.13,340.3,96.6,6.8,1568,17499,0.20,2.38,22.33,0.685,4,0.058,0.051,3369,933,1360
$GC,17599,2.16,353.9,86.5,7.9,1589,17619,0.00,2.15,10.85,0.687,6,0.000,0.031,3369,2192,1304
$GC,17961,2.24,364.8,57.1,8.1,1652,17976,0.10,2.78,8.52,0.653,4,0.071,0.045,3394,3733,1260
$GC,17989,2.29,373.2,54.4,8.3,1656,18003,0.00,2.70,6.80,0.642,6,0.000,0.031,3394,2153,1226
$GC,18345,2.38,390.4,24.5,7.6,1718,18367,0.12,2.72,13.98,0.594,4,0.066,0.043,3426,3723,1155
$GC,18464,2.38,390.4,13.6,9.8,1738,18471,0.00,2.58,0.00,0.000,6,0.000,0.029,3426,2197,1154
$STATE,18599,end climb,SURFACE_DEPTH_REACHED
$STATE,18599,begin surface coast
$FINISH,0.3,1.020564
$STATE,18627,end surface coast,CONTROL_FINISHED_OK
$STATE,18627,begin surface
$SM_CCo,18651,41.25,0.539,0,0,810,475.15
$SM_GC,0.74,0.00,0.00,41.25,0.000,0.000,0.539,252,2193,810,-12.20,-0.65,475.15
$IRIDIUM_FIX,1234.41,12047.98,030897,050528
$TT8_MAMPS,0.023777
$HUMID,2003
$INTERNAL_PRESSURE,9.67811
$TCM_TEMP,25.10
$XPDR_PINGS,413
$ALTIM_BOTTOM_PING,801.7,144.4
$24V_AH,22.9,70.818
$10V_AH,10.1,36.484
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,33.325,183.025,404.900,41.250,0.000,23.843,37.761,175.311,111.250,0.000,0.000,15.292,3667.627,11150.252,654.027,2934.512,676.131,0.000,2137.247,0.000,2877.537,0.000,60.145
$DEVICE_MAMPS,167.206,88.972,1280.890,539.201,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1184.977,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56578,1766
$CAP_FILE_SIZE,183966,0
$CFSIZE,260165632,225202176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.100,323.8,1
$GPS,090508,155007,1242.853,12044.266,38,1.5,43,-0.8