version: 66.03
glider: 122
mission: 6
dive: 392
start: 5 12 108 3 51 53
data:
$ID,122
$MISSION,6
$DIVE,392
$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,-34951.066
$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,27
$R_STBD_OVSHOOT,66
$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
$GPS1,034507,1237.276,12047.681,38,0.9,38,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-71.1
$GPS2,035121,1237.311,12047.669,15,1.0,15,-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,151.1,39520,-18.6,-9.016
$D_GRID,639
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.56,-146.0,0.0,0.0,0,87,0.00,0.00,-59.97,0.000,2,0.000,0.000,249,2257,2376
$GC,91,-1.56,-146.0,3.3,-8.3,12,128,13.18,0.00,-19.27,0.000,6,0.163,0.000,2559,2256,3346
$GC,466,-1.32,-146.0,65.3,-14.8,79,472,0.25,2.28,0.00,0.000,4,0.122,0.041,2608,3589,3348
$GC,547,-1.18,-146.0,76.5,-13.2,93,554,0.20,2.30,0.00,0.000,6,0.109,0.025,2646,2189,3349
$GC,892,-1.25,-146.0,113.5,-10.4,154,898,0.00,2.35,0.00,0.000,4,0.000,0.040,2646,816,3351
$GC,961,-1.25,-146.0,120.7,-10.3,166,967,0.00,2.55,0.00,0.000,6,0.000,0.028,2645,2339,3351
$GC,1306,-1.35,-146.0,152.4,-8.6,227,1312,0.17,2.62,0.00,0.000,4,0.044,0.038,2586,816,3352
$GC,1381,-1.28,-146.0,159.8,-9.5,240,1387,0.20,2.62,0.00,0.000,6,0.093,0.029,2625,2379,3352
$GC,1728,-1.40,-146.0,188.6,-8.7,301,1734,0.12,2.08,0.00,0.000,4,0.053,0.046,2582,3591,3353
$GC,1758,-1.40,-146.0,191.6,-9.7,306,1763,0.00,1.90,0.00,0.000,6,0.000,0.027,2582,2418,3353
$GC,2101,-1.40,-146.0,221.9,-8.6,367,2107,0.00,2.00,0.00,0.000,4,0.000,0.044,2582,3590,3353
$GC,2160,-1.34,-146.0,227.1,-9.2,377,2166,0.15,2.10,0.00,0.000,6,0.099,0.028,2611,2311,3352
$GC,2507,-1.45,-146.0,255.2,-8.0,433,2511,0.00,2.60,0.00,0.000,4,0.000,0.045,2611,817,3351
$GC,2603,-1.49,-146.0,263.4,-8.4,441,2608,0.15,2.65,0.00,0.000,6,0.049,0.032,2564,2384,3350
$GC,2928,-1.49,-146.0,292.6,-9.0,471,2932,0.00,2.08,0.00,0.000,4,0.000,0.048,2564,3590,3349
$GC,3001,-1.40,-146.0,300.0,-10.5,477,3008,0.20,2.15,0.00,0.000,6,0.105,0.031,2600,2293,3348
$GC,3327,-1.50,-146.0,326.9,-8.4,508,3332,0.12,2.58,0.00,0.000,4,0.052,0.047,2559,824,3346
$GC,3348,-1.50,-146.0,329.2,-9.4,509,3354,0.00,2.58,0.00,0.000,6,0.000,0.033,2559,2338,3346
$GC,3676,-1.50,-146.0,357.7,-8.8,540,3680,0.00,2.17,0.00,0.000,4,0.000,0.049,2559,3594,3344
$GC,3788,-1.41,-146.0,368.1,-9.1,549,3795,0.20,2.25,0.00,0.000,6,0.109,0.032,2594,2251,3343
$GC,4115,-1.52,-146.0,392.6,-7.9,580,4119,0.00,2.53,0.00,0.000,4,0.000,0.050,2594,822,3341
$GC,4204,-1.52,-146.0,399.9,-7.9,587,4210,0.00,2.55,0.00,0.000,6,0.000,0.034,2595,2312,3341
$GC,4532,-1.62,-146.0,423.6,-7.6,618,4537,0.17,2.65,0.00,0.000,4,0.047,0.048,2539,822,3338
$GC,4577,-1.51,-146.0,427.9,-9.3,621,4583,0.20,2.40,0.00,0.000,6,0.104,0.034,2575,2225,3337
$GC,4903,-1.56,-146.0,454.2,-7.8,652,4907,0.00,2.47,0.00,0.000,4,0.000,0.050,2576,823,3335
$GC,4925,-1.56,-146.0,456.1,-8.0,654,4930,0.00,2.70,0.00,0.000,6,0.000,0.035,2576,2388,3335
$GC,5253,-1.62,-146.0,479.5,-6.9,684,5257,0.00,2.15,0.00,0.000,4,0.000,0.054,2576,3621,3333
$GC,5333,-1.58,-146.0,485.4,-7.6,691,5337,0.00,2.33,0.00,0.000,6,0.000,0.033,2576,2250,3333
$GC,5658,-1.65,-146.0,507.4,-6.7,716,5663,0.15,2.42,0.00,0.000,4,0.054,0.051,2529,3619,3331
$GC,5772,-1.50,-146.0,517.7,-9.5,721,5777,0.25,2.17,0.00,0.000,6,0.109,0.034,2575,2334,3330
$GC,6103,-1.56,-146.0,543.1,-7.9,737,6107,0.00,2.28,0.00,0.000,4,0.000,0.053,2575,3619,3328
$GC,6160,-1.52,-146.0,548.2,-8.0,739,6166,0.00,2.40,0.00,0.000,6,0.000,0.035,2575,2214,3327
$GC,6478,-1.55,-146.0,572.9,-7.6,755,6482,0.00,2.50,0.00,0.000,4,0.000,0.054,2575,812,3326
$GC,6534,-1.55,-146.0,577.5,-7.6,757,6540,0.00,2.67,0.00,0.000,6,0.000,0.036,2575,2358,3326
$GC,6850,-1.61,-146.0,599.8,-6.8,773,6855,0.00,2.22,0.00,0.000,4,0.000,0.057,2575,3615,3324
$GC,6934,-1.61,-146.0,606.3,-7.8,776,6940,0.00,2.35,0.00,0.000,6,0.000,0.036,2575,2234,3323
$GC,7251,-1.68,-146.0,629.3,-7.5,792,7256,0.15,2.47,0.00,0.000,4,0.056,0.054,2529,3625,3322
$GC,7341,-1.55,-146.0,637.4,-8.8,796,7345,0.20,2.28,0.00,0.000,6,0.114,0.035,2565,2290,3322
$STATE,7371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7371,begin apogee
$GC,7378,-0.35,0.0,640.0,8.2,798,7500,1.30,0.00,118.70,1.080,6,0.101,0.000,2823,2350,2748
$STATE,7501,end apogee,CONTROL_FINISHED_OK
$STATE,7501,begin climb
$GC,7504,1.56,146.0,646.7,0.0,804,7635,1.92,2.50,122.03,1.046,4,0.052,0.056,3249,3705,2152
$GC,7680,1.29,155.3,642.2,8.6,812,7695,0.35,2.40,7.97,1.071,6,0.130,0.038,3188,2332,2113
$GC,8025,1.27,210.0,619.1,6.6,829,8075,0.00,2.62,45.42,1.046,4,0.000,0.058,3188,925,1890
$GC,8128,1.19,223.7,611.2,8.4,834,8150,0.12,2.45,11.52,1.059,6,0.126,0.037,3167,2314,1835
$GC,8461,1.19,242.9,584.2,8.2,850,8483,0.00,2.58,15.82,1.058,4,0.000,0.057,3167,933,1756
$GC,8547,1.16,242.9,576.2,9.3,853,8553,0.00,2.40,0.00,0.000,6,0.000,0.037,3167,2301,1755
$GC,8863,1.19,263.0,549.0,8.1,869,8885,0.00,2.60,16.92,1.050,4,0.000,0.056,3167,934,1674
$GC,8942,1.21,274.0,542.2,8.5,872,8956,0.00,2.25,9.57,1.048,6,0.000,0.037,3167,2230,1630
$GC,9287,1.29,274.8,512.0,9.0,889,9291,0.00,2.67,0.00,0.000,4,0.000,0.056,3167,3723,1628
$GC,9393,1.29,274.8,501.5,9.4,894,9398,0.00,2.45,0.00,0.000,6,0.000,0.038,3167,2309,1628
$GC,9722,1.34,281.1,472.9,8.7,924,9733,0.15,2.53,5.57,1.054,4,0.066,0.055,3203,928,1602
$GC,9762,1.26,281.1,468.7,9.8,927,9768,0.12,2.17,0.00,0.000,6,0.112,0.036,3182,2179,1601
$GC,10087,1.33,292.3,440.5,8.5,958,10102,0.00,2.30,10.15,1.018,4,0.000,0.056,3182,934,1555
$GC,10198,1.36,310.4,431.2,8.2,967,10218,0.00,2.35,15.27,0.991,6,0.000,0.037,3182,2283,1482
$GC,10539,1.44,318.0,402.0,8.7,999,10551,0.15,2.53,6.32,0.999,4,0.060,0.054,3224,934,1450
$GC,10670,1.35,320.2,389.6,8.9,1010,10674,0.15,2.10,0.00,0.000,6,0.114,0.035,3198,2145,1449
$GC,10995,1.42,320.2,360.0,9.7,1040,10999,0.00,2.20,0.00,0.000,4,0.000,0.056,3198,926,1449
$GC,11051,1.42,320.2,354.5,10.0,1044,11057,0.00,2.33,0.00,0.000,6,0.000,0.037,3198,2278,1448
$GC,11378,1.47,320.2,323.4,9.7,1075,11383,0.12,2.58,0.00,0.000,4,0.066,0.054,3229,3725,1448
$GC,11435,1.37,320.2,317.5,10.3,1079,11441,0.15,2.80,0.00,0.000,6,0.114,0.038,3203,2115,1448
$GC,11759,1.37,320.2,287.1,9.0,1110,11763,0.00,2.12,0.00,0.000,4,0.000,0.056,3203,926,1448
$GC,11851,1.38,324.2,279.0,8.8,1118,11862,0.00,2.25,4.88,0.927,6,0.000,0.035,3204,2229,1426
$GC,12181,1.46,343.3,250.4,8.2,1149,12203,0.00,2.78,16.62,0.858,4,0.000,0.052,3203,3727,1348
$GC,12261,1.48,353.5,243.3,8.6,1162,12278,0.10,2.90,8.85,0.866,6,0.074,0.037,3228,2065,1305
$GC,12619,1.53,353.5,208.7,9.8,1225,12625,0.00,2.03,0.00,0.000,4,0.000,0.055,3228,929,1304
$GC,12670,1.53,353.5,203.4,9.8,1234,12676,0.00,2.25,0.00,0.000,6,0.000,0.035,3228,2233,1303
$GC,13015,1.62,378.5,172.7,7.9,1295,13043,0.12,2.70,20.92,0.778,4,0.064,0.050,3262,3729,1203
$GC,13067,1.58,378.5,167.9,9.7,1304,13073,0.00,2.92,0.00,0.000,6,0.000,0.035,3262,2052,1202
$GC,13411,1.63,385.5,136.4,8.7,1365,13423,0.00,2.03,5.55,0.782,4,0.000,0.053,3262,926,1174
$GC,13470,1.63,386.1,131.1,9.0,1375,13476,0.00,2.22,0.00,0.000,6,0.000,0.034,3262,2216,1174
$GC,13815,1.76,416.1,103.5,7.7,1436,13846,0.12,0.00,25.52,0.693,6,0.056,0.000,3302,2216,1050
$GC,14187,1.86,449.4,75.1,7.5,1502,14219,0.00,2.38,27.12,0.647,4,0.000,0.046,3302,931,915
$GC,14288,1.90,449.4,66.7,9.7,1520,14294,0.00,1.95,0.00,0.000,6,0.000,0.030,3302,2083,912
$GC,14632,2.05,462.2,38.7,8.4,1581,14650,0.17,2.90,10.18,0.621,4,0.047,0.045,3360,3727,862
$GC,14674,2.01,462.2,34.5,10.6,1588,14680,0.00,2.65,0.00,0.000,6,0.000,0.029,3360,2168,862
$GC,15019,2.01,464.5,2.6,8.9,1649,15024,0.00,2.15,0.00,0.000,4,0.000,0.046,3361,931,862
$STATE,15028,end climb,SURFACE_DEPTH_REACHED
$STATE,15028,begin surface coast
$FINISH,0.8,1.020638
$STATE,15035,end surface coast,CONTROL_FINISHED_OK
$STATE,15035,begin surface
$SM_CCo,15062,6.95,0.596,0,0,811,475.15
$SM_GC,1.28,0.00,0.00,6.95,0.000,0.000,0.596,248,2235,811,-12.22,0.51,475.15
$IRIDIUM_FIX,1234.41,12049.11,050897,232339
$TT8_MAMPS,0.023777
$HUMID,2115
$INTERNAL_PRESSURE,9.67811
$TCM_TEMP,24.90
$XPDR_PINGS,398
$24V_AH,23.2,73.145
$10V_AH,10.1,37.641
$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,34.675,172.725,504.950,6.950,0.000,22.264,36.411,167.835,103.000,0.000,0.000,15.247,2624.213,8714.507,638.170,2817.087,648.827,0.000,2080.797,0.000,2759.991,0.000,26.331
$DEVICE_MAMPS,163.371,82.836,1079.936,595.959,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1103.736,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53430,1652
$CAP_FILE_SIZE,174859,0
$CFSIZE,260165632,224104448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120508,080407,1236.708,12047.919,26,1.5,26,-0.8