version: 66.03
glider: 122
mission: 6
dive: 381
start: 5 9 108 15 57 9
data:
$ID,122
$MISSION,6
$DIVE,381
$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,-34773.762
$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,28
$R_STBD_OVSHOOT,30
$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
$GPS1,155007,1242.853,12044.266,38,1.5,43,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-74.0
$GPS2,155633,1242.834,12044.216,14,1.5,14,-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,140.3,3258,-18.6,-9.016
$D_GRID,904
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.56,-146.0,0.0,0.0,0,83,0.00,0.00,-57.45,0.000,2,0.000,0.000,252,2192,2413
$GC,86,-1.56,-146.0,3.6,-8.4,9,125,13.35,2.47,-18.05,0.000,4,0.168,0.051,2562,800,3346
$GC,173,-1.32,-146.0,20.6,-17.6,23,181,0.28,2.40,0.00,0.000,6,0.114,0.027,2612,2232,3347
$GC,520,-1.19,-146.0,69.8,-13.7,84,528,0.15,2.47,0.00,0.000,4,0.112,0.038,2640,798,3349
$GC,597,-1.13,-146.0,80.3,-13.4,97,604,0.00,2.47,0.00,0.000,6,0.000,0.028,2640,2274,3349
$GC,943,-1.18,-146.0,119.4,-9.5,158,950,0.00,2.30,0.00,0.000,4,0.000,0.045,2641,3618,3351
$GC,1042,-1.18,-146.0,129.5,-10.7,175,1048,0.00,2.12,0.00,0.000,6,0.000,0.025,2640,2305,3351
$GC,1388,-1.33,-146.0,161.9,-9.1,236,1395,0.12,2.25,0.00,0.000,4,0.053,0.042,2597,3621,3353
$GC,1460,-1.28,-146.0,169.1,-10.0,248,1467,0.15,2.05,0.00,0.000,6,0.094,0.025,2626,2353,3353
$GC,1807,-1.40,-146.0,197.6,-7.8,309,1814,0.12,2.17,0.00,0.000,4,0.053,0.042,2584,3624,3353
$GC,1856,-1.33,-146.0,202.0,-9.2,317,1863,0.15,1.92,0.00,0.000,6,0.096,0.027,2613,2436,3353
$GC,2203,-1.44,-146.0,231.0,-8.0,378,2210,0.00,2.03,0.00,0.000,4,0.000,0.045,2613,3618,3353
$GC,2229,-1.50,-146.0,233.2,-8.0,382,2236,0.15,2.12,0.00,0.000,6,0.054,0.028,2571,2324,3352
$GC,2572,-1.50,-146.0,263.6,-9.3,430,2576,0.00,2.22,0.00,0.000,4,0.000,0.047,2571,3616,3351
$GC,2691,-1.41,-146.0,276.0,-10.2,440,2696,0.15,2.22,0.00,0.000,6,0.104,0.030,2598,2276,3350
$GC,3017,-1.49,-146.0,305.3,-8.6,470,3021,0.00,2.58,0.00,0.000,4,0.000,0.048,2598,810,3348
$GC,3106,-1.49,-146.0,313.4,-9.5,477,3113,0.00,2.70,0.00,0.000,6,0.000,0.034,2598,2398,3348
$GC,3436,-1.58,-146.0,340.0,-7.7,508,3441,0.15,2.12,0.00,0.000,4,0.050,0.049,2546,3622,3346
$GC,3503,-1.45,-146.0,346.6,-9.0,513,3511,0.20,2.28,0.00,0.000,6,0.104,0.031,2583,2263,3346
$GC,3829,-1.50,-146.0,372.0,-8.5,544,3833,0.00,2.55,0.00,0.000,4,0.000,0.050,2583,818,3344
$GC,3914,-1.50,-146.0,380.1,-10.0,551,3918,0.00,2.72,0.00,0.000,6,0.000,0.035,2583,2404,3343
$GC,4243,-1.56,-146.0,410.6,-8.8,581,4246,0.00,2.10,0.00,0.000,4,0.000,0.051,2583,3619,3341
$GC,4293,-1.56,-146.0,415.6,-8.5,585,4300,0.00,2.30,0.00,0.000,6,0.000,0.032,2583,2254,3340
$GC,4622,-1.62,-146.0,440.4,-7.5,616,4627,0.15,2.55,0.00,0.000,4,0.054,0.050,2539,817,3339
$GC,4674,-1.51,-146.0,445.0,-8.9,620,4679,0.17,2.70,0.00,0.000,6,0.107,0.035,2571,2393,3337
$GC,4999,-1.51,-146.0,471.4,-8.6,650,5003,0.00,2.15,0.00,0.000,4,0.000,0.051,2571,3622,3336
$GC,5074,-1.44,-146.0,478.0,-8.7,656,5078,0.00,2.30,0.00,0.000,6,0.000,0.033,2571,2265,3335
$GC,5411,-1.44,-146.0,507.2,-8.3,683,5415,0.00,2.58,0.00,0.000,4,0.000,0.052,2571,818,3333
$GC,5506,-1.41,-146.0,515.8,-8.3,687,5511,0.15,2.65,0.00,0.000,6,0.109,0.035,2598,2350,3332
$GC,5825,-1.50,-146.0,538.9,-7.0,702,5829,0.00,2.22,0.00,0.000,4,0.000,0.054,2598,3622,3331
$GC,5909,-1.50,-146.0,545.1,-7.0,705,5916,0.00,2.35,0.00,0.000,6,0.000,0.034,2598,2237,3330
$GC,6226,-1.62,-146.0,565.4,-6.7,721,6231,0.17,2.53,0.00,0.000,4,0.052,0.053,2548,814,3328
$GC,6293,-1.53,-146.0,571.3,-8.7,724,6299,0.12,2.67,0.00,0.000,6,0.114,0.035,2569,2356,3327
$GC,6618,-1.56,-146.0,598.1,-8.6,740,6622,0.00,2.22,0.00,0.000,4,0.000,0.055,2569,3616,3326
$GC,6704,-1.53,-146.0,606.3,-9.6,744,6708,0.00,2.33,0.00,0.000,6,0.000,0.035,2569,2253,3326
$GC,7034,-1.56,-146.0,634.3,-8.3,760,7039,0.00,2.58,0.00,0.000,4,0.000,0.055,2569,813,3325
$GC,7098,-1.56,-146.0,640.0,-8.2,763,7103,0.00,2.72,0.00,0.000,6,0.000,0.037,2569,2393,3324
$GC,7429,-1.61,-146.0,663.7,-6.8,779,7433,0.00,2.15,0.00,0.000,4,0.000,0.056,2569,3612,3323
$GC,7504,-1.58,-146.0,669.3,-7.5,782,7508,0.00,2.30,0.00,0.000,6,0.000,0.035,2569,2259,3322
$GC,7828,-1.63,-146.0,692.5,-7.7,798,7832,0.00,2.60,0.00,0.000,4,0.000,0.057,2569,808,3321
$GC,7914,-1.63,-146.0,700.1,-9.6,802,7919,0.00,2.72,0.00,0.000,6,0.000,0.037,2569,2375,3320
$GC,8242,-1.63,-146.0,728.0,-8.8,818,8247,0.00,2.80,0.00,0.000,4,0.000,0.055,2569,819,3319
$GC,8275,-1.63,-146.0,731.2,-9.1,819,8282,0.00,2.65,0.00,0.000,6,0.000,0.038,2570,2344,3319
$GC,8592,-1.67,-146.0,757.6,-8.2,835,8597,0.15,2.75,0.00,0.000,4,0.058,0.054,2521,819,3318
$GC,8682,-1.56,-146.0,766.4,-10.3,839,8687,0.22,2.50,0.00,0.000,6,0.111,0.038,2562,2261,3317
$GC,9006,-1.56,-146.0,790.4,-7.0,855,9010,0.00,2.42,0.00,0.000,4,0.000,0.058,2562,3622,3317
$GC,9090,-1.51,-146.0,797.0,-7.2,858,9097,0.00,2.30,0.00,0.000,6,0.000,0.037,2562,2277,3316
$GC,9407,-1.47,-146.0,820.8,-7.6,874,9409,0.10,0.00,0.00,0.000,6,0.123,0.000,2578,2277,3315
$GC,9715,-1.47,-146.0,843.8,-7.2,889,9719,0.00,2.40,0.00,0.000,4,0.000,0.058,2578,3622,3314
$GC,9743,-1.47,-146.0,846.3,-8.4,890,9747,0.00,2.28,0.00,0.000,6,0.000,0.037,2578,2290,3314
$GC,10065,-1.47,-146.0,873.5,-8.8,906,10066,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2290,3313
$GC,10375,-1.47,-146.0,899.3,-8.4,921,10380,0.00,2.67,0.00,0.000,4,0.000,0.061,2578,811,3312
$GC,10420,-1.47,-146.0,903.4,-8.2,923,10425,0.00,2.60,0.00,0.000,6,0.000,0.038,2579,2300,3312
$STATE,10430,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10430,begin apogee
$GC,10437,-0.35,0.0,904.5,8.3,924,10563,1.23,0.00,122.40,1.306,6,0.097,0.000,2825,2345,2748
$STATE,10564,end apogee,CONTROL_FINISHED_OK
$STATE,10564,begin climb
$GC,10566,1.56,146.0,910.3,0.0,930,10704,1.90,2.70,128.40,1.264,4,0.054,0.061,3248,941,2152
$GC,10790,1.28,146.4,901.9,9.0,941,10795,0.35,2.47,0.00,0.000,6,0.119,0.041,3185,2329,2150
$GC,11120,1.27,221.6,882.2,5.7,957,11191,0.00,2.65,65.97,1.253,4,0.000,0.061,3185,934,1844
$GC,11276,1.16,221.6,869.3,9.3,964,11281,0.15,2.42,0.00,0.000,6,0.122,0.039,3159,2303,1841
$GC,11598,1.18,232.1,842.5,8.5,980,11609,0.00,0.00,9.00,1.274,6,0.000,0.000,3159,2303,1800
$GC,11908,1.19,237.8,815.1,8.8,995,11917,0.00,2.55,4.80,1.259,4,0.000,0.061,3159,941,1778
$GC,11947,1.19,237.8,811.4,9.4,997,11951,0.00,2.40,0.00,0.000,6,0.000,0.040,3159,2293,1777
$GC,12275,1.22,254.8,784.0,8.3,1013,12294,0.00,0.00,15.90,1.252,6,0.000,0.000,3159,2292,1709
$GC,12603,1.24,266.5,755.7,8.5,1029,12616,0.00,0.00,10.48,1.250,6,0.000,0.000,3159,2292,1661
$GC,12912,1.26,282.0,728.9,8.3,1044,12935,0.00,2.55,14.15,1.226,4,0.000,0.061,3159,941,1597
$GC,12992,1.26,282.0,721.6,9.9,1047,12995,0.00,2.38,0.00,0.000,6,0.000,0.039,3159,2283,1596
$GC,13313,1.26,282.0,690.0,10.2,1063,13317,0.00,2.47,0.00,0.000,4,0.000,0.060,3159,935,1595
$GC,13335,1.26,282.0,687.6,10.5,1064,13339,0.00,2.33,0.00,0.000,6,0.000,0.038,3159,2257,1594
$GC,13657,1.28,292.8,657.7,8.5,1080,13669,0.12,0.00,9.70,1.204,6,0.074,0.000,3187,2257,1554
$GC,13965,1.24,292.8,628.5,9.4,1095,13967,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2257,1553
$GC,14275,1.21,292.8,599.3,9.0,1110,14276,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2258,1552
$GC,14583,1.21,292.8,569.0,9.9,1125,14585,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2257,1552
$GC,14893,1.21,292.8,537.2,10.3,1140,14894,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2257,1552
$GC,15204,1.21,292.8,505.9,10.2,1155,15208,0.00,2.40,0.00,0.000,4,0.000,0.058,3187,937,1551
$GC,15271,1.18,292.8,498.6,10.7,1158,15278,0.12,2.28,0.00,0.000,6,0.113,0.037,3166,2249,1551
$GC,15597,1.28,292.8,467.5,9.6,1189,15601,0.00,2.38,0.00,0.000,4,0.000,0.057,3166,937,1551
$GC,15682,1.28,292.8,459.3,9.2,1196,15686,0.00,2.42,0.00,0.000,6,0.000,0.037,3166,2327,1551
$GC,16008,1.37,299.5,431.9,8.7,1226,16021,0.15,2.53,5.57,1.048,4,0.064,0.056,3206,3722,1527
$GC,16057,1.29,299.5,427.5,9.6,1230,16061,0.00,2.70,0.00,0.000,6,0.000,0.038,3206,2178,1527
$GC,16383,1.24,299.5,395.8,10.1,1260,16388,0.15,2.78,0.00,0.000,4,0.120,0.052,3177,3729,1526
$GC,16427,1.24,299.5,391.3,9.3,1263,16435,0.00,2.67,0.00,0.000,6,0.000,0.037,3177,2187,1526
$GC,16757,1.37,325.6,363.9,7.8,1294,16785,0.12,2.30,22.83,0.953,4,0.067,0.056,3208,936,1420
$GC,16839,1.37,357.8,356.8,7.6,1301,16874,0.00,2.45,28.02,0.924,6,0.000,0.036,3207,2341,1289
$GC,17193,1.37,357.8,322.2,9.7,1334,17197,0.00,2.47,0.00,0.000,4,0.000,0.056,3207,3725,1284
$GC,17248,1.37,357.8,316.4,9.9,1338,17255,0.00,2.60,0.00,0.000,6,0.000,0.037,3207,2224,1284
$GC,17577,1.49,373.7,287.0,8.3,1369,17601,0.00,2.78,13.25,0.898,4,0.000,0.050,3207,3723,1224
$GC,17685,1.51,388.9,277.2,8.3,1378,17705,0.12,2.38,13.32,0.884,6,0.065,0.035,3238,2341,1162
$GC,18027,1.47,388.9,242.9,10.4,1416,18033,0.00,2.45,0.00,0.000,4,0.000,0.051,3237,3723,1159
$GC,18130,1.41,388.9,231.6,10.2,1434,18138,0.12,2.50,0.00,0.000,6,0.124,0.035,3218,2274,1159
$GC,18477,1.49,388.9,198.7,9.3,1495,18484,0.00,2.40,0.00,0.000,4,0.000,0.052,3217,929,1157
$GC,18525,1.53,388.9,194.0,9.4,1503,18532,0.00,2.08,0.00,0.000,6,0.000,0.033,3218,2141,1157
$GC,18873,1.75,428.6,163.4,7.2,1564,18915,0.28,2.85,33.97,0.753,4,0.049,0.047,3289,3723,999
$GC,19010,1.68,428.6,149.8,11.7,1586,19017,0.00,2.50,0.00,0.000,6,0.000,0.035,3289,2275,997
$GC,19356,1.77,485.6,116.2,6.5,1647,19410,0.00,2.67,47.70,0.686,4,0.000,0.048,3289,3723,767
$GC,19504,1.84,488.4,103.6,8.9,1671,19511,0.00,2.70,0.00,0.000,6,0.000,0.033,3289,2155,764
$GC,19852,2.03,507.3,74.0,8.2,1732,19878,0.22,2.20,17.05,0.654,4,0.041,0.049,3364,936,678
$GC,19967,1.96,507.3,62.0,11.0,1751,19975,0.17,1.80,0.00,0.000,6,0.099,0.029,3332,2005,676
$GC,20315,1.96,507.3,28.7,10.2,1812,20322,0.00,1.90,0.00,0.000,4,0.000,0.047,3331,926,675
$GC,20368,1.96,507.3,23.1,10.3,1821,20375,0.00,2.03,0.00,0.000,6,0.000,0.028,3331,2133,675
$STATE,20599,end climb,SURFACE_DEPTH_REACHED
$STATE,20599,begin surface coast
$FINISH,-0.1,0.997363
$STATE,20622,end surface coast,CONTROL_FINISHED_OK
$STATE,20622,begin surface
$SM_CCo,20707,0.00,0.000,0,0,672,509.24
$SM_GC,0.80,13.52,0.00,0.00,0.038,0.000,0.000,246,2260,672,-12.19,1.24,509.24
$IRIDIUM_FIX,1234.41,12046.08,030897,101009
$TT8_MAMPS,0.023777
$HUMID,2023
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,24.90
$XPDR_PINGS,408
$ALTIM_BOTTOM_PING,771.0,227.8
$24V_AH,22.9,71.023
$10V_AH,10.1,36.587
$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,34.975,208.600,562.525,0.000,0.000,23.490,39.730,176.947,109.250,0.000,0.000,14.885,4003.816,12392.555,781.259,3200.542,715.808,0.000,2403.851,0.000,3137.332,0.000,55.353
$DEVICE_MAMPS,167.973,171.808,1306.201,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1252.323,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59746,1866
$CAP_FILE_SIZE,207789,0
$CFSIZE,260165632,225087488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059,330.7,1
$GPS,090508,214332,1242.615,12044.384,40,1.1,40,-0.8