version: 66.03
glider: 122
mission: 6
dive: 386
start: 5 10 108 21 7 41
data:
$ID,122
$MISSION,6
$DIVE,386
$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,0
$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,-34866.195
$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,23
$R_STBD_OVSHOOT,54
$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
$GPS1,210055,1239.974,12045.797,40,1.3,40,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-74.2
$GPS2,210709,1239.981,12045.782,13,1.4,13,-0.8
$SPEED_LIMITS,0.156,0.206
$TGT_NAME,RECOV_2
$TGT_LATLONG,1218.780,12058.500
$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,150.4,45511,-18.6,-9.016
$D_GRID,848
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.56,-146.0,0.0,0.0,0,83,0.00,0.00,-55.62,0.000,2,0.000,0.000,247,2246,2337
$GC,87,-1.56,-146.0,3.0,-7.4,11,129,13.23,2.38,-20.05,0.000,4,0.164,0.054,2558,3600,3346
$GC,170,-1.28,-146.0,20.5,-20.3,26,177,0.35,2.33,0.00,0.000,6,0.117,0.025,2622,2189,3347
$GC,516,-1.17,-146.0,68.0,-12.1,87,522,0.15,2.45,0.00,0.000,4,0.120,0.042,2653,3609,3349
$GC,529,-1.07,-146.0,69.5,-11.6,89,535,0.00,2.12,0.00,0.000,6,0.000,0.025,2653,2308,3349
$GC,873,-1.15,-146.0,108.1,-10.3,150,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2308,3351
$GC,1217,-1.26,-146.0,141.3,-10.0,211,1223,0.12,2.22,0.00,0.000,4,0.051,0.042,2608,3607,3352
$GC,1292,-1.20,-146.0,149.1,-10.1,224,1299,0.17,2.00,0.00,0.000,6,0.094,0.025,2641,2371,3352
$GC,1638,-1.33,-146.0,179.0,-8.8,285,1644,0.12,2.67,0.00,0.000,4,0.050,0.041,2596,822,3353
$GC,1741,-1.33,-146.0,189.2,-9.9,303,1747,0.00,2.42,0.00,0.000,6,0.000,0.029,2597,2268,3353
$GC,2085,-1.40,-146.0,219.9,-8.3,364,2091,0.00,2.30,0.00,0.000,4,0.000,0.048,2597,3602,3353
$GC,2205,-1.40,-146.0,230.1,-8.3,385,2211,0.00,2.15,0.00,0.000,6,0.000,0.028,2597,2295,3353
$GC,2546,-1.45,-146.0,255.9,-7.6,439,2550,0.00,2.58,0.00,0.000,4,0.000,0.045,2596,817,3352
$GC,2635,-1.45,-146.0,263.9,-8.7,446,2641,0.00,2.70,0.00,0.000,6,0.000,0.032,2596,2404,3351
$GC,2963,-1.53,-146.0,289.4,-8.4,477,2968,0.12,2.08,0.00,0.000,4,0.054,0.048,2555,3603,3350
$GC,3048,-1.41,-146.0,298.0,-10.0,484,3053,0.22,2.17,0.00,0.000,6,0.104,0.030,2596,2294,3349
$GC,3374,-1.48,-146.0,326.5,-8.1,514,3377,0.00,2.28,0.00,0.000,4,0.000,0.048,2596,3603,3347
$GC,3392,-1.53,-146.0,328.0,-8.6,515,3396,0.12,2.03,0.00,0.000,6,0.061,0.030,2561,2377,3347
$GC,3722,-1.53,-146.0,354.6,-7.6,546,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2374,3345
$GC,4040,-1.53,-146.0,382.0,-8.7,576,4044,0.00,2.15,0.00,0.000,4,0.000,0.049,2561,3607,3343
$GC,4126,-1.45,-146.0,389.7,-8.7,583,4131,0.15,2.20,0.00,0.000,6,0.109,0.031,2586,2298,3343
$GC,4457,-1.54,-146.0,414.0,-6.4,614,4461,0.00,2.62,0.00,0.000,4,0.000,0.050,2587,816,3341
$GC,4537,-1.54,-146.0,419.1,-6.3,620,4543,0.00,2.67,0.00,0.000,6,0.000,0.035,2588,2373,3340
$GC,4864,-1.61,-146.0,440.3,-6.9,651,4869,0.15,2.15,0.00,0.000,4,0.052,0.051,2540,3600,3337
$GC,4966,-1.49,-146.0,449.1,-8.6,659,4972,0.20,2.22,0.00,0.000,6,0.111,0.033,2576,2281,3336
$GC,5291,-1.54,-146.0,476.7,-9.0,690,5296,0.00,2.60,0.00,0.000,4,0.000,0.051,2576,818,3335
$GC,5359,-1.54,-146.0,483.7,-10.5,695,5365,0.00,2.70,0.00,0.000,6,0.000,0.035,2576,2383,3334
$GC,5694,-1.59,-146.0,513.4,-8.5,720,5698,0.00,2.15,0.00,0.000,4,0.000,0.054,2576,3605,3332
$GC,5762,-1.55,-146.0,519.9,-9.0,723,5766,0.00,2.22,0.00,0.000,6,0.000,0.034,2576,2292,3332
$GC,6091,-1.62,-146.0,546.5,-7.8,739,6096,0.12,2.62,0.00,0.000,4,0.059,0.052,2541,819,3329
$GC,6164,-1.52,-146.0,553.2,-8.6,742,6170,0.17,2.70,0.00,0.000,6,0.108,0.036,2573,2382,3329
$GC,6483,-1.57,-146.0,576.9,-7.4,757,6488,0.00,2.78,0.00,0.000,4,0.000,0.052,2573,826,3327
$GC,6595,-1.57,-146.0,585.4,-7.2,762,6599,0.00,2.53,0.00,0.000,6,0.000,0.036,2573,2290,3326
$GC,6917,-1.57,-146.0,608.9,-7.3,778,6921,0.00,2.62,0.00,0.000,4,0.000,0.053,2573,818,3326
$GC,6980,-1.57,-146.0,613.8,-7.9,781,6984,0.00,2.75,0.00,0.000,6,0.000,0.038,2573,2402,3325
$GC,7310,-1.63,-146.0,639.3,-8.0,797,7314,0.00,2.80,0.00,0.000,4,0.000,0.052,2573,827,3324
$GC,7328,-1.67,-146.0,641.0,-8.1,797,7334,0.15,2.53,0.00,0.000,6,0.057,0.036,2533,2288,3323
$GC,7644,-1.67,-146.0,667.5,-8.1,813,7648,0.00,2.62,0.00,0.000,4,0.000,0.054,2533,825,3321
$GC,7689,-1.56,-146.0,671.4,-8.7,815,7694,0.15,2.58,0.00,0.000,6,0.112,0.037,2559,2312,3321
$GC,8012,-1.56,-146.0,694.3,-7.1,831,8016,0.00,2.28,0.00,0.000,4,0.000,0.058,2559,3596,3320
$GC,8034,-1.56,-146.0,696.2,-7.7,832,8038,0.00,2.17,0.00,0.000,6,0.000,0.035,2559,2313,3320
$GC,8356,-1.56,-146.0,719.9,-7.3,848,8361,0.00,2.30,0.00,0.000,4,0.000,0.056,2559,3604,3319
$GC,8429,-1.51,-146.0,726.1,-8.7,851,8433,0.00,2.10,0.00,0.000,6,0.000,0.035,2559,2357,3318
$GC,8758,-1.51,-146.0,752.6,-8.3,867,8759,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2354,3317
$GC,9066,-1.55,-146.0,776.5,-7.3,882,9070,0.00,2.20,0.00,0.000,4,0.000,0.057,2559,3594,3316
$GC,9146,-1.49,-146.0,782.9,-8.5,885,9151,0.00,2.08,0.00,0.000,6,0.000,0.036,2559,2370,3316
$GC,9462,-1.54,-146.0,806.8,-7.7,901,9466,0.00,2.78,0.00,0.000,4,0.000,0.056,2559,826,3315
$GC,9551,-1.51,-146.0,814.1,-8.6,905,9556,0.00,2.53,0.00,0.000,6,0.000,0.038,2559,2276,3314
$GC,9875,-1.47,-146.0,842.1,-8.8,921,9880,0.12,2.33,0.00,0.000,4,0.121,0.058,2580,3592,3313
$GC,9920,-1.47,-146.0,846.0,-7.8,923,9924,0.00,2.17,0.00,0.000,6,0.000,0.036,2580,2319,3313
$STATE,9955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9956,begin apogee
$GC,9962,-0.35,0.0,848.1,5.6,925,10088,1.23,0.00,122.15,1.254,6,0.098,0.000,2826,2317,2749
$STATE,10089,end apogee,CONTROL_FINISHED_OK
$STATE,10089,begin climb
$GC,10092,1.56,146.0,849.9,0.0,931,10228,1.90,2.58,127.47,1.210,4,0.053,0.058,3245,3693,2152
$GC,10270,1.27,146.0,839.7,10.9,938,10277,0.35,2.38,0.00,0.000,6,0.130,0.039,3185,2344,2151
$GC,10587,1.18,171.4,815.1,7.9,954,10617,0.12,2.70,21.75,1.220,4,0.133,0.060,3164,934,2048
$GC,10726,1.09,171.4,803.5,9.0,960,10730,0.00,2.38,0.00,0.000,6,0.000,0.039,3164,2278,2048
$GC,11048,1.05,187.5,776.1,8.3,976,11070,0.15,2.65,13.80,1.220,4,0.122,0.059,3134,3702,1983
$GC,11109,1.06,191.7,770.8,8.8,978,11118,0.00,2.47,4.03,1.198,6,0.000,0.039,3134,2294,1966
$GC,11447,1.11,225.3,744.1,7.5,995,11481,0.00,2.58,29.38,1.192,4,0.000,0.061,3134,929,1829
$GC,11517,1.11,225.3,738.0,9.5,998,11521,0.00,2.38,0.00,0.000,6,0.000,0.038,3134,2269,1827
$GC,11838,1.16,235.9,710.8,8.5,1014,11853,0.10,2.65,8.88,1.203,4,0.075,0.059,3159,3698,1786
$GC,11899,1.13,235.9,704.8,10.1,1016,11905,0.00,2.47,0.00,0.000,6,0.000,0.039,3159,2290,1786
$GC,12215,1.15,245.0,676.4,8.6,1032,12225,0.00,0.00,8.40,1.193,6,0.000,0.000,3159,2289,1749
$GC,12524,1.17,256.8,650.3,8.5,1047,12540,0.00,2.55,10.82,1.177,4,0.000,0.061,3159,926,1700
$GC,12568,1.17,256.8,646.4,9.2,1048,12572,0.00,2.35,0.00,0.000,6,0.000,0.038,3159,2262,1699
$GC,12890,1.18,263.7,618.6,8.7,1064,12897,0.00,0.00,6.03,1.168,6,0.000,0.000,3159,2262,1673
$GC,13199,1.23,296.6,593.5,7.5,1079,13234,0.00,2.53,29.52,1.108,4,0.000,0.059,3159,923,1537
$GC,13298,1.25,305.4,585.2,8.6,1082,13310,0.00,2.33,7.47,1.115,6,0.000,0.038,3159,2247,1503
$GC,13635,1.35,308.8,556.8,8.9,1099,13644,0.15,2.67,3.03,1.095,4,0.061,0.058,3200,3693,1489
$GC,13708,1.28,308.8,549.0,10.4,1102,13712,0.00,2.78,0.00,0.000,6,0.000,0.040,3200,2115,1489
$GC,14029,1.23,308.8,516.0,9.6,1118,14034,0.15,2.85,0.00,0.000,4,0.122,0.054,3171,3695,1488
$GC,14130,1.23,308.8,506.1,9.8,1122,14136,0.00,2.62,0.00,0.000,6,0.000,0.038,3171,2188,1488
$GC,14455,1.33,308.8,475.6,9.9,1150,14461,0.10,2.70,0.00,0.000,4,0.074,0.052,3196,3696,1487
$GC,14583,1.28,308.8,462.4,10.6,1160,14589,0.00,2.40,0.00,0.000,6,0.000,0.038,3196,2308,1487
$GC,14911,1.31,324.3,431.3,8.3,1191,14932,0.00,2.58,13.38,1.023,4,0.000,0.058,3196,937,1425
$GC,14995,1.28,325.5,423.5,9.0,1198,15000,0.00,2.35,0.00,0.000,6,0.000,0.038,3196,2279,1424
$GC,15323,1.35,346.3,395.7,8.1,1229,15350,0.00,2.53,19.45,0.977,4,0.000,0.055,3196,927,1336
$GC,15384,1.35,346.3,390.0,9.3,1235,15388,0.00,2.22,0.00,0.000,6,0.000,0.036,3196,2196,1334
$GC,15712,1.46,346.3,358.9,10.0,1265,15717,0.12,2.67,0.00,0.000,4,0.064,0.053,3227,3703,1334
$GC,15745,1.41,346.3,354.9,11.0,1267,15751,0.00,2.33,0.00,0.000,6,0.000,0.037,3227,2354,1333
$GC,16073,1.36,346.3,321.9,9.6,1298,16078,0.15,2.40,0.00,0.000,4,0.119,0.052,3197,3705,1334
$GC,16135,1.36,346.3,315.4,9.4,1303,16140,0.00,2.47,0.00,0.000,6,0.000,0.036,3197,2273,1334
$GC,16462,1.44,346.3,286.6,9.7,1333,16467,0.00,2.40,0.00,0.000,4,0.000,0.054,3197,931,1333
$GC,16527,1.46,357.8,280.5,8.5,1338,16542,0.12,2.00,9.62,0.914,6,0.068,0.035,3227,2097,1289
$GC,16863,1.49,357.8,247.7,9.5,1371,16869,0.00,2.85,0.00,0.000,4,0.000,0.051,3227,3705,1288
$GC,16955,1.47,364.9,239.1,8.7,1387,16967,0.00,2.45,6.38,0.886,6,0.000,0.035,3227,2284,1260
$GC,17306,1.50,364.9,206.1,10.3,1449,17312,0.00,2.42,0.00,0.000,4,0.000,0.053,3228,925,1259
$GC,17397,1.50,364.9,196.9,10.0,1465,17403,0.00,2.00,0.00,0.000,6,0.000,0.034,3227,2093,1258
$GC,17742,1.63,385.4,166.1,8.1,1526,17769,0.15,2.92,17.15,0.779,4,0.059,0.048,3271,3693,1177
$GC,17826,1.55,385.4,157.9,9.4,1541,17833,0.15,2.50,0.00,0.000,6,0.119,0.035,3246,2248,1177
$GC,18172,1.67,414.6,126.9,7.7,1602,18204,0.10,2.65,24.77,0.723,4,0.069,0.049,3273,3707,1057
$GC,18284,1.67,414.6,116.7,9.2,1622,18290,0.00,2.60,0.00,0.000,6,0.000,0.033,3272,2200,1056
$GC,18629,1.79,422.5,89.4,8.7,1683,18641,0.00,2.72,6.50,0.719,4,0.000,0.047,3272,3701,1025
$GC,18665,1.89,443.0,86.6,8.1,1689,18692,0.20,2.83,17.38,0.674,6,0.051,0.032,3324,2063,940
$GC,19033,1.86,443.0,55.1,9.1,1754,19039,0.00,2.00,0.00,0.000,4,0.000,0.050,3323,926,937
$GC,19079,1.86,443.0,50.6,9.1,1762,19085,0.00,2.10,0.00,0.000,6,0.000,0.030,3324,2170,936
$GC,19425,1.94,445.8,23.5,8.9,1823,19431,0.00,2.67,0.00,0.000,4,0.000,0.045,3324,3710,937
$GC,19550,2.01,459.9,12.5,8.4,1845,19572,0.00,2.80,13.25,0.584,6,0.000,0.029,3324,2058,872
$STATE,19682,end climb,SURFACE_DEPTH_REACHED
$STATE,19682,begin surface coast
$FINISH,-0.1,1.020569
$STATE,19707,end surface coast,CONTROL_FINISHED_OK
$STATE,19707,begin surface
$SM_CCo,19732,8.23,0.588,0,0,811,475.15
$SM_GC,1.18,0.00,0.00,8.23,0.000,0.000,0.588,252,2242,811,-12.20,0.74,475.15
$IRIDIUM_FIX,1234.41,12044.18,040897,151514
$TT8_MAMPS,0.023777
$HUMID,2060
$INTERNAL_PRESSURE,9.66834
$TCM_TEMP,25.00
$XPDR_PINGS,391
$24V_AH,22.9,72.047
$10V_AH,10.1,37.092
$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,34.600,220.750,520.600,8.225,0.000,23.686,37.311,166.422,107.000,0.000,0.000,14.018,3047.939,12391.369,688.409,3273.228,712.145,0.000,2361.322,0.000,3191.880,0.000,70.356
$DEVICE_MAMPS,164.138,61.360,1254.045,588.289,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1255.181,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59745,1873
$CAP_FILE_SIZE,212024,0
$CFSIZE,260165632,224608256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110508,023802,1239.066,12046.295,42,1.4,42,-0.8