version: 66.03
glider: 122
mission: 6
dive: 387
start: 5 11 108 2 45 7
data:
$ID,122
$MISSION,6
$DIVE,387
$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,-34883.32
$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,30
$R_STBD_OVSHOOT,69
$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
$GPS1,023802,1239.066,12046.295,42,1.4,42,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-73.0
$GPS2,024433,1239.085,12046.314,16,1.0,16,-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,150.4,43592,-18.6,-9.016
$D_GRID,821
$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,-1.56,-146.0,0.0,0.0,0,85,0.00,0.00,-60.12,0.000,2,0.000,0.000,252,2242,2491
$GC,89,-1.56,-146.0,3.7,-8.6,12,126,13.27,2.33,-16.30,0.000,4,0.166,0.054,2558,3587,3346
$GC,189,-1.28,-146.0,23.9,-17.5,30,196,0.35,2.30,0.00,0.000,6,0.117,0.026,2623,2195,3347
$GC,534,-1.20,-146.0,69.5,-13.6,91,541,0.10,2.40,0.00,0.000,4,0.133,0.043,2639,3587,3349
$GC,559,-1.11,-146.0,72.8,-13.3,95,565,0.12,2.22,0.00,0.000,6,0.110,0.025,2661,2233,3349
$GC,904,-1.26,-146.0,109.5,-10.1,156,910,0.15,2.42,0.00,0.000,4,0.048,0.040,2610,824,3352
$GC,940,-1.22,-146.0,113.8,-12.0,162,946,0.15,2.58,0.00,0.000,6,0.096,0.028,2638,2359,3352
$GC,1285,-1.32,-146.0,146.7,-8.5,223,1291,0.00,2.10,0.00,0.000,4,0.000,0.047,2639,3583,3353
$GC,1389,-1.39,-146.0,156.9,-10.2,241,1395,0.17,2.12,0.00,0.000,6,0.048,0.026,2587,2281,3353
$GC,1734,-1.39,-146.0,187.7,-7.6,302,1740,0.00,2.25,0.00,0.000,4,0.000,0.044,2587,3596,3353
$GC,1781,-1.32,-146.0,191.6,-8.3,310,1787,0.15,2.00,0.00,0.000,6,0.096,0.027,2616,2365,3353
$GC,2126,-1.44,-146.0,218.7,-8.3,371,2132,0.12,2.10,0.00,0.000,4,0.054,0.044,2575,3590,3353
$GC,2173,-1.36,-146.0,223.4,-9.8,379,2179,0.17,2.17,0.00,0.000,6,0.097,0.028,2608,2271,3353
$GC,2519,-1.46,-146.0,250.9,-8.0,439,2523,0.00,2.53,0.00,0.000,4,0.000,0.046,2608,826,3352
$GC,2575,-1.46,-146.0,255.6,-8.4,443,2581,0.00,2.62,0.00,0.000,6,0.000,0.032,2608,2373,3351
$GC,2902,-1.55,-146.0,280.7,-7.4,474,2908,0.15,2.72,0.00,0.000,4,0.050,0.045,2557,821,3349
$GC,2921,-1.59,-146.0,282.5,-8.1,475,2924,0.00,2.47,0.00,0.000,6,0.000,0.032,2557,2284,3350
$GC,3254,-1.59,-146.0,311.0,-8.5,506,3258,0.00,2.25,0.00,0.000,4,0.000,0.048,2557,3583,3348
$GC,3340,-1.48,-146.0,319.0,-9.2,513,3344,0.12,1.95,0.00,0.000,6,0.112,0.031,2578,2405,3347
$GC,3671,-1.53,-146.0,346.1,-8.4,544,3674,0.00,2.05,0.00,0.000,4,0.000,0.049,2578,3582,3346
$GC,3699,-1.53,-146.0,348.7,-8.5,546,3704,0.00,2.15,0.00,0.000,6,0.000,0.031,2578,2295,3345
$GC,4027,-1.58,-146.0,373.9,-7.7,577,4031,0.00,2.60,0.00,0.000,4,0.000,0.049,2578,825,3343
$GC,4111,-1.58,-146.0,381.0,-8.3,584,4116,0.00,2.67,0.00,0.000,6,0.000,0.034,2578,2382,3342
$GC,4440,-1.64,-146.0,406.5,-8.2,614,4444,0.15,2.10,0.00,0.000,4,0.053,0.049,2530,3583,3340
$GC,4524,-1.47,-146.0,414.8,-9.8,621,4529,0.28,2.17,0.00,0.000,6,0.108,0.032,2580,2293,3340
$GC,4850,-1.54,-146.0,441.7,-8.5,651,4854,0.00,2.60,0.00,0.000,4,0.000,0.051,2580,827,3337
$GC,4950,-1.54,-146.0,450.5,-8.7,659,4956,0.00,2.35,0.00,0.000,6,0.000,0.034,2581,2202,3337
$GC,5278,-1.60,-146.0,475.9,-7.5,690,5283,0.12,2.45,0.00,0.000,4,0.055,0.051,2544,822,3335
$GC,5330,-1.51,-146.0,480.8,-8.5,694,5335,0.17,2.65,0.00,0.000,6,0.107,0.035,2575,2352,3334
$GC,5653,-1.56,-146.0,505.7,-7.8,721,5657,0.00,2.22,0.00,0.000,4,0.000,0.054,2575,3615,3332
$GC,5721,-1.52,-146.0,511.7,-8.0,724,5725,0.00,2.35,0.00,0.000,6,0.000,0.034,2575,2231,3331
$GC,6045,-1.58,-146.0,538.1,-8.0,740,6049,0.00,2.53,0.00,0.000,4,0.000,0.053,2575,814,3330
$GC,6112,-1.58,-146.0,544.3,-8.3,743,6117,0.00,2.65,0.00,0.000,6,0.000,0.036,2575,2348,3329
$GC,6435,-1.63,-146.0,567.1,-6.7,759,6440,0.12,2.25,0.00,0.000,4,0.059,0.054,2540,3622,3327
$GC,6544,-1.51,-146.0,575.8,-8.2,764,6549,0.17,2.35,0.00,0.000,6,0.114,0.035,2571,2247,3327
$GC,6874,-1.57,-146.0,598.6,-7.1,780,6878,0.00,2.42,0.00,0.000,4,0.000,0.054,2571,3613,3326
$GC,6914,-1.54,-146.0,601.9,-8.2,782,6918,0.00,2.28,0.00,0.000,6,0.000,0.035,2570,2278,3326
$GC,7244,-1.60,-146.0,625.3,-7.0,798,7248,0.00,2.38,0.00,0.000,4,0.000,0.054,2571,3613,3324
$GC,7335,-1.56,-146.0,633.4,-8.9,802,7339,0.00,2.12,0.00,0.000,6,0.000,0.035,2571,2357,3323
$GC,7672,-1.61,-146.0,659.8,-8.0,818,7677,0.00,2.25,0.00,0.000,4,0.000,0.055,2571,3621,3321
$GC,7762,-1.61,-146.0,667.6,-8.6,822,7766,0.00,2.35,0.00,0.000,6,0.000,0.036,2571,2250,3321
$GC,8094,-1.66,-146.0,690.3,-6.5,838,8098,0.12,2.42,0.00,0.000,4,0.062,0.054,2538,3613,3320
$GC,8241,-1.56,-146.0,701.7,-7.6,844,8248,0.15,2.12,0.00,0.000,6,0.113,0.036,2564,2362,3319
$GC,8558,-1.56,-146.0,723.6,-7.6,860,8562,0.00,2.78,0.00,0.000,4,0.000,0.056,2565,819,3318
$GC,8597,-1.56,-146.0,726.7,-8.0,862,8602,0.00,2.70,0.00,0.000,6,0.000,0.038,2565,2364,3318
$GC,8925,-1.56,-146.0,748.4,-7.5,878,8929,0.00,2.80,0.00,0.000,4,0.000,0.056,2564,813,3317
$GC,8952,-1.56,-146.0,750.5,-7.5,879,8957,0.00,2.67,0.00,0.000,6,0.000,0.038,2565,2344,3317
$GC,9268,-1.56,-146.0,776.0,-9.5,894,9272,0.00,2.75,0.00,0.000,4,0.000,0.056,2565,816,3315
$GC,9295,-1.56,-146.0,778.6,-8.6,895,9300,0.00,2.62,0.00,0.000,6,0.000,0.038,2565,2320,3315
$GC,9613,-1.56,-146.0,801.8,-7.5,910,9617,0.00,2.30,0.00,0.000,4,0.000,0.059,2565,3613,3314
$GC,9641,-1.56,-146.0,804.5,-9.3,911,9645,0.00,2.20,0.00,0.000,6,0.000,0.037,2565,2320,3314
$STATE,9856,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9856,begin apogee
$GC,9862,-0.35,0.0,822.2,7.6,922,9988,1.33,0.00,121.70,1.240,6,0.104,0.000,2827,2318,2748
$STATE,9989,end apogee,CONTROL_FINISHED_OK
$STATE,9990,begin climb
$GC,9993,1.56,146.0,827.1,0.0,928,10128,1.90,2.65,126.45,1.200,4,0.051,0.058,3248,3716,2152
$GC,10210,1.26,146.0,816.8,10.1,938,10215,0.38,2.42,0.00,0.000,6,0.132,0.041,3182,2338,2151
$GC,10533,1.16,146.0,787.2,9.7,954,10538,0.12,2.58,0.00,0.000,4,0.130,0.060,3162,931,2150
$GC,10577,1.04,146.0,781.9,11.5,956,10582,0.15,2.45,0.00,0.000,6,0.119,0.039,3135,2323,2149
$GC,10899,1.12,191.8,755.9,7.0,972,10944,0.00,2.65,38.97,1.192,4,0.000,0.060,3135,924,1965
$GC,11001,1.12,191.8,745.9,9.7,976,11007,0.00,2.40,0.00,0.000,6,0.000,0.039,3135,2281,1965
$GC,11317,1.16,219.4,719.2,7.8,992,11344,0.10,0.00,24.27,1.183,6,0.076,0.000,3160,2280,1853
$GC,11646,1.18,226.5,689.3,8.7,1008,11653,0.00,0.00,5.93,1.195,6,0.000,0.000,3159,2280,1824
$GC,11955,1.21,245.7,662.4,8.2,1023,11977,0.00,2.72,17.00,1.166,4,0.000,0.059,3160,3721,1746
$GC,11995,1.22,252.1,659.1,8.7,1024,12005,0.00,2.53,5.97,1.143,6,0.000,0.040,3160,2292,1720
$GC,12327,1.23,260.4,632.9,8.6,1041,12341,0.00,2.58,7.57,1.167,4,0.000,0.061,3160,932,1686
$GC,12399,1.25,270.8,626.3,8.5,1044,12416,0.00,2.38,9.55,1.150,6,0.000,0.039,3160,2288,1643
$GC,12725,1.25,270.8,594.6,9.2,1060,12729,0.00,2.50,0.00,0.000,4,0.000,0.060,3159,925,1641
$GC,12752,1.25,270.8,592.1,9.1,1061,12756,0.00,2.35,0.00,0.000,6,0.000,0.038,3160,2270,1641
$GC,13074,1.29,296.7,565.2,7.9,1077,13104,0.12,2.55,22.62,1.099,4,0.067,0.059,3192,934,1537
$GC,13139,1.24,296.7,559.3,9.1,1080,13143,0.00,2.30,0.00,0.000,6,0.000,0.038,3192,2237,1536
$GC,13466,1.24,296.7,529.1,9.6,1096,13470,0.00,2.67,0.00,0.000,4,0.000,0.058,3192,3721,1535
$GC,13489,1.20,296.7,526.7,10.1,1097,13494,0.15,2.58,0.00,0.000,6,0.121,0.038,3167,2245,1535
$GC,13810,1.20,296.7,496.7,9.1,1114,13815,0.00,2.38,0.00,0.000,4,0.000,0.058,3167,930,1534
$GC,13867,1.22,306.5,491.4,8.6,1118,13883,0.00,2.25,8.32,1.085,6,0.000,0.037,3167,2224,1497
$GC,14203,1.35,312.4,461.1,8.8,1150,14215,0.15,2.40,5.32,1.067,4,0.063,0.057,3210,923,1473
$GC,14232,1.35,312.4,458.1,9.7,1152,14238,0.00,2.53,0.00,0.000,6,0.000,0.038,3210,2354,1473
$GC,14559,1.29,312.4,425.4,9.8,1183,14564,0.12,2.60,0.00,0.000,4,0.117,0.057,3189,926,1473
$GC,14593,1.29,312.4,421.9,9.9,1185,14598,0.00,2.45,0.00,0.000,6,0.000,0.038,3189,2323,1472
$GC,14920,1.31,321.9,393.0,8.6,1216,14934,0.00,2.60,8.40,1.014,4,0.000,0.055,3189,935,1434
$GC,14946,1.31,325.4,390.4,8.9,1218,14955,0.00,2.33,3.62,0.982,6,0.000,0.037,3188,2259,1420
$GC,15282,1.40,340.2,361.0,8.4,1250,15304,0.00,2.72,12.90,0.968,4,0.000,0.055,3189,3724,1361
$GC,15395,1.41,345.8,351.0,8.8,1260,15407,0.00,2.72,5.07,0.975,6,0.000,0.038,3189,2165,1338
$GC,15726,1.53,345.8,321.4,9.5,1291,15730,0.20,2.22,0.00,0.000,4,0.057,0.055,3242,925,1337
$GC,15787,1.44,345.8,314.7,11.3,1296,15794,0.12,2.42,0.00,0.000,6,0.116,0.037,3221,2318,1336
$GC,16112,1.40,345.8,282.3,9.0,1327,16117,0.00,2.50,0.00,0.000,4,0.000,0.055,3221,3724,1336
$GC,16177,1.36,345.8,276.4,9.5,1332,16182,0.00,2.67,0.00,0.000,6,0.000,0.037,3221,2182,1336
$GC,16504,1.42,346.3,247.1,9.0,1364,16510,0.00,2.75,0.00,0.000,4,0.000,0.051,3221,3730,1336
$GC,16624,1.39,346.3,235.5,10.4,1385,16630,0.00,2.42,0.00,0.000,6,0.000,0.035,3221,2319,1336
$GC,16968,1.40,356.1,204.8,8.6,1446,16984,0.00,2.53,8.90,0.848,4,0.000,0.052,3221,931,1295
$GC,17064,1.40,356.1,195.8,9.2,1463,17069,0.00,2.15,0.00,0.000,6,0.000,0.034,3221,2178,1294
$GC,17408,1.51,356.1,165.1,9.8,1524,17413,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2178,1294
$GC,17752,1.73,421.1,138.6,6.1,1585,17814,0.25,2.30,55.12,0.716,4,0.051,0.051,3291,924,1029
$GC,17857,1.67,421.1,129.1,10.4,1604,17864,0.12,2.40,0.00,0.000,6,0.111,0.035,3269,2301,1027
$GC,18205,1.81,445.2,100.0,7.9,1665,18231,0.15,2.50,18.90,0.689,4,0.058,0.048,3322,932,932
$GC,18284,1.75,445.2,92.0,9.6,1679,18291,0.17,2.05,0.00,0.000,6,0.104,0.031,3290,2133,931
$GC,18630,1.90,452.9,62.2,8.7,1740,18642,0.12,2.20,6.32,0.673,4,0.060,0.046,3326,932,900
$GC,18722,1.89,463.0,53.8,8.6,1756,18739,0.00,2.25,8.40,0.651,6,0.000,0.030,3326,2256,859
$GC,19080,2.04,500.3,24.0,7.3,1819,19117,0.00,2.38,30.42,0.578,4,0.000,0.044,3327,931,707
$GC,19170,2.16,529.5,17.0,7.7,1835,19202,0.22,2.25,23.60,0.566,6,0.039,0.028,3394,2265,588
$STATE,19329,end climb,SURFACE_DEPTH_REACHED
$STATE,19329,begin surface coast
$FINISH,0.3,1.020738
$STATE,19347,end surface coast,CONTROL_FINISHED_OK
$STATE,19348,begin surface
$SM_CCo,19433,0.00,0.000,0,0,582,531.32
$SM_GC,0.67,13.73,0.00,0.00,0.033,0.000,0.000,248,2183,582,-12.18,-0.90,531.32
$IRIDIUM_FIX,1236.62,12046.08,040897,212156
$TT8_MAMPS,0.023777
$HUMID,2039
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,24.90
$XPDR_PINGS,421
$ALTIM_BOTTOM_PING,770.1,98.0
$24V_AH,23.0,72.244
$10V_AH,10.1,37.190
$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,35.975,222.225,575.375,0.000,0.000,30.349,34.761,176.277,112.500,0.000,0.000,16.496,3012.196,12143.233,720.998,3218.058,726.321,0.000,2379.632,0.000,3139.632,0.000,54.811
$DEVICE_MAMPS,166.439,77.467,1240.239,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1250.531,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59809,1867
$CAP_FILE_SIZE,210407,0
$CFSIZE,260165632,224514048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110508,081007,1237.919,12047.039,31,1.0,31,-0.8