version: 66.03
glider: 122
mission: 6
dive: 395
start: 5 12 108 17 4 6
data:
$ID,122
$MISSION,6
$DIVE,395
$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,-35022.672
$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,71
$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
$GPS1,165708,1237.117,12047.770,31,2.0,31,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-74.4
$GPS2,170335,1237.129,12047.812,16,2.1,35,-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,151.2,39100,-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,21,begin dive
$GC,24,-1.56,-146.0,0.0,0.0,0,92,0.00,0.00,-65.30,0.000,2,0.000,0.000,249,2260,2426
$GC,96,-1.56,-146.0,3.5,-8.2,13,133,13.18,2.28,-17.58,0.000,4,0.164,0.053,2559,3583,3344
$GC,174,-1.28,-146.0,19.5,-17.5,27,181,0.35,2.28,0.00,0.000,6,0.114,0.027,2624,2198,3345
$GC,520,-1.18,-146.0,65.2,-13.0,88,526,0.12,2.38,0.00,0.000,4,0.121,0.041,2646,3581,3346
$GC,578,-1.09,-146.0,72.9,-13.4,98,584,0.00,2.15,0.00,0.000,6,0.000,0.025,2646,2261,3346
$GC,922,-1.14,-146.0,110.8,-9.7,159,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2261,3347
$GC,1266,-1.24,-146.0,144.5,-8.7,220,1272,0.00,2.45,0.00,0.000,4,0.000,0.040,2646,832,3349
$GC,1347,-1.33,-146.0,151.8,-9.4,234,1353,0.15,2.65,0.00,0.000,6,0.047,0.030,2595,2407,3349
$GC,1692,-1.38,-146.0,184.3,-9.5,295,1698,0.00,2.72,0.00,0.000,4,0.000,0.040,2595,827,3351
$GC,1801,-1.35,-146.0,194.7,-9.3,314,1807,0.00,2.78,0.00,0.000,6,0.000,0.031,2596,2469,3351
$GC,2145,-1.40,-146.0,223.8,-8.0,375,2151,0.00,1.92,0.00,0.000,4,0.000,0.050,2595,3590,3351
$GC,2220,-1.40,-146.0,230.4,-9.0,388,2226,0.00,2.00,0.00,0.000,6,0.000,0.028,2596,2367,3351
$GC,2558,-1.44,-146.0,260.7,-8.8,438,2561,0.00,2.10,0.00,0.000,4,0.000,0.047,2596,3588,3349
$GC,2660,-1.44,-146.0,269.9,-8.7,447,2663,0.00,1.85,0.00,0.000,6,0.000,0.029,2596,2454,3349
$GC,2995,-1.50,-146.0,296.0,-7.6,478,2999,0.00,1.95,0.00,0.000,4,0.000,0.048,2596,3585,3347
$GC,3012,-1.54,-146.0,297.9,-8.1,479,3019,0.12,2.05,0.00,0.000,6,0.059,0.030,2559,2340,3347
$GC,3338,-1.54,-146.0,324.6,-8.5,510,3342,0.00,2.15,0.00,0.000,4,0.000,0.048,2560,3588,3345
$GC,3422,-1.45,-146.0,332.5,-9.3,517,3429,0.15,1.90,0.00,0.000,6,0.108,0.031,2586,2432,3345
$GC,3748,-1.52,-146.0,359.3,-7.9,548,3752,0.00,2.00,0.00,0.000,4,0.000,0.049,2586,3595,3342
$GC,3839,-1.52,-146.0,367.0,-8.7,556,3842,0.00,1.80,0.00,0.000,6,0.000,0.031,2587,2505,3342
$GC,4174,-1.59,-146.0,393.6,-8.2,587,4179,0.12,0.00,0.00,0.000,6,0.057,0.000,2549,2501,3339
$GC,4501,-1.59,-146.0,421.6,-8.4,618,4506,0.00,2.97,0.00,0.000,4,0.000,0.049,2549,826,3337
$GC,4557,-1.50,-146.0,426.8,-9.4,622,4563,0.15,2.62,0.00,0.000,6,0.106,0.035,2576,2353,3336
$GC,4882,-1.54,-146.0,451.2,-7.2,653,4887,0.00,2.70,0.00,0.000,4,0.000,0.050,2576,827,3334
$GC,4949,-1.54,-146.0,456.5,-7.7,658,4955,0.00,2.83,0.00,0.000,6,0.000,0.036,2577,2463,3333
$GC,5277,-1.59,-146.0,480.9,-7.7,689,5281,0.00,1.95,0.00,0.000,4,0.000,0.053,2577,3579,3331
$GC,5323,-1.55,-146.0,485.0,-8.0,693,5327,0.00,2.03,0.00,0.000,6,0.000,0.032,2576,2377,3331
$GC,5663,-1.61,-146.0,512.4,-8.3,718,5667,0.00,2.12,0.00,0.000,4,0.000,0.052,2577,3588,3328
$GC,5759,-1.61,-146.0,521.2,-8.9,722,5763,0.00,1.90,0.00,0.000,6,0.000,0.034,2576,2471,3328
$GC,6087,-1.66,-146.0,547.2,-7.7,738,6089,0.15,0.00,0.00,0.000,6,0.056,0.000,2534,2467,3326
$GC,6396,-1.61,-146.0,573.7,-8.6,753,6399,0.00,1.95,0.00,0.000,4,0.000,0.054,2534,3578,3325
$GC,6413,-1.54,-146.0,575.5,-8.9,753,6419,0.17,2.10,0.00,0.000,6,0.114,0.034,2565,2336,3325
$GC,6732,-1.58,-146.0,600.8,-7.8,769,6736,0.00,2.67,0.00,0.000,4,0.000,0.054,2565,829,3323
$GC,6749,-1.58,-146.0,602.5,-8.0,770,6753,0.00,2.58,0.00,0.000,6,0.000,0.037,2565,2315,3322
$GC,7077,-1.62,-146.0,628.0,-7.6,786,7081,0.00,2.65,0.00,0.000,4,0.000,0.054,2565,833,3321
$GC,7149,-1.62,-146.0,634.3,-8.5,789,7153,0.00,2.42,0.00,0.000,6,0.000,0.036,2565,2241,3320
$STATE,7214,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7214,begin apogee
$GC,7221,-0.35,0.0,639.5,7.8,792,7344,1.30,0.00,118.68,1.080,6,0.098,0.000,2826,2340,2748
$STATE,7344,end apogee,CONTROL_FINISHED_OK
$STATE,7345,begin climb
$GC,7348,1.56,146.0,645.6,0.0,798,7480,1.90,2.62,122.07,1.045,4,0.054,0.058,3245,956,2152
$GC,7499,1.31,150.3,642.7,8.8,805,7509,0.30,2.42,3.47,1.058,6,0.119,0.038,3192,2330,2135
$GC,7828,1.24,183.2,618.2,7.5,821,7862,0.00,2.62,27.33,1.053,4,0.000,0.057,3192,3736,2001
$GC,7927,1.09,183.2,609.5,9.1,825,7932,0.25,2.33,0.00,0.000,6,0.120,0.038,3147,2401,2000
$GC,8244,1.16,219.4,586.3,7.4,840,8279,0.00,2.70,30.27,1.047,4,0.000,0.058,3147,950,1852
$GC,8406,1.20,248.9,573.6,7.7,846,8438,0.00,2.42,24.70,1.039,6,0.000,0.038,3147,2334,1733
$GC,8750,1.34,291.6,547.1,7.1,863,8793,0.20,2.60,36.25,1.021,4,0.058,0.057,3200,3721,1559
$GC,8839,1.26,291.6,539.2,9.1,867,8844,0.00,2.60,0.00,0.000,6,0.000,0.038,3200,2243,1558
$GC,9167,1.24,305.1,510.7,8.4,883,9188,0.15,2.72,11.00,1.039,4,0.118,0.054,3171,3730,1503
$GC,9221,1.27,326.6,506.1,8.1,885,9246,0.00,2.55,18.77,1.012,6,0.000,0.038,3171,2266,1415
$GC,9571,1.37,326.6,475.6,9.5,914,9576,0.15,2.38,0.00,0.000,4,0.062,0.056,3212,953,1411
$GC,9604,1.33,326.6,471.9,11.3,916,9610,0.00,2.00,0.00,0.000,6,0.000,0.036,3212,2114,1410
$GC,9932,1.27,326.6,435.7,10.5,947,9936,0.15,2.10,0.00,0.000,4,0.110,0.056,3181,954,1410
$GC,9971,1.27,326.6,431.2,10.5,950,9975,0.00,2.17,0.00,0.000,6,0.000,0.036,3181,2208,1409
$GC,10298,1.35,326.6,401.8,9.1,980,10302,0.00,2.25,0.00,0.000,4,0.000,0.056,3181,950,1409
$GC,10322,1.41,326.6,399.4,9.4,982,10327,0.15,2.22,0.00,0.000,6,0.058,0.036,3218,2236,1408
$GC,10647,1.41,326.6,365.2,10.3,1012,10651,0.00,2.33,0.00,0.000,4,0.000,0.055,3218,948,1409
$GC,10749,1.35,326.6,355.0,10.4,1020,10755,0.00,2.45,0.00,0.000,6,0.000,0.037,3218,2361,1408
$GC,11076,1.37,338.4,327.1,8.5,1051,11090,0.00,2.50,8.65,0.948,4,0.000,0.054,3218,3726,1368
$GC,11193,1.31,338.4,315.5,10.5,1061,11199,0.15,2.47,0.00,0.000,6,0.123,0.037,3193,2293,1368
$GC,11518,1.45,372.7,286.9,7.5,1092,11554,0.12,2.53,29.85,0.867,4,0.065,0.054,3226,923,1228
$GC,11583,1.46,377.7,281.4,8.8,1097,11592,0.00,2.10,4.28,0.890,6,0.000,0.035,3226,2136,1207
$GC,11914,1.55,377.7,248.9,10.1,1129,11920,0.00,2.17,0.00,0.000,4,0.000,0.054,3226,928,1204
$GC,11927,1.65,377.7,247.4,10.2,1131,11934,0.17,2.33,0.00,0.000,6,0.054,0.035,3270,2273,1203
$GC,12272,1.54,377.7,208.5,10.9,1192,12278,0.15,2.40,0.00,0.000,4,0.112,0.050,3239,932,1203
$GC,12336,1.48,377.7,201.6,10.5,1203,12342,0.00,2.20,0.00,0.000,6,0.000,0.034,3239,2209,1202
$GC,12680,1.51,377.7,170.4,9.1,1264,12686,0.00,2.67,0.00,0.000,4,0.000,0.049,3239,3734,1203
$GC,12771,1.51,377.7,161.3,9.6,1280,12777,0.00,2.88,0.00,0.000,6,0.000,0.035,3240,2061,1202
$GC,13117,1.68,411.4,133.0,7.5,1341,13150,0.15,2.10,27.80,0.727,4,0.058,0.052,3283,931,1069
$GC,13164,1.70,422.4,129.1,8.5,1349,13180,0.00,2.20,9.25,0.726,6,0.000,0.033,3284,2201,1026
$GC,13521,1.81,437.8,100.5,8.3,1412,13542,0.00,2.35,12.55,0.703,4,0.000,0.048,3284,929,962
$GC,13664,1.87,450.9,88.4,8.4,1437,13683,0.12,1.95,10.80,0.690,6,0.058,0.031,3320,2079,908
$GC,14024,1.94,457.7,58.5,8.7,1500,14035,0.00,2.90,5.28,0.665,4,0.000,0.046,3320,3726,881
$GC,14105,1.96,466.0,51.4,8.6,1514,14116,0.00,2.60,6.78,0.646,6,0.000,0.030,3320,2189,848
$GC,14455,2.09,483.7,22.4,8.2,1576,14472,0.15,0.00,14.30,0.590,6,0.048,0.000,3369,2187,776
$STATE,14684,end climb,SURFACE_DEPTH_REACHED
$STATE,14684,begin surface coast
$FINISH,-0.0,1.020519
$STATE,14708,end surface coast,CONTROL_FINISHED_OK
$STATE,14708,begin surface
$SM_CCo,14793,0.00,0.000,0,0,771,484.96
$SM_GC,0.78,13.60,0.00,0.00,0.035,0.000,0.000,248,2185,771,-12.18,-0.90,484.96
$IRIDIUM_FIX,1232.20,12047.98,060897,121208
$TT8_MAMPS,0.023777
$HUMID,2061
$INTERNAL_PRESSURE,9.7074
$TCM_TEMP,25.20
$XPDR_PINGS,407
$ALTIM_BOTTOM_PING,581.1,196.8
$24V_AH,23.2,73.666
$10V_AH,10.1,37.895
$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,33.850,154.900,522.075,0.000,0.000,22.810,36.051,162.542,104.250,0.000,0.000,36.078,2555.366,8642.934,628.399,2725.141,627.606,0.000,2025.057,0.000,2653.195,0.000,20.408
$DEVICE_MAMPS,164.138,61.360,1079.936,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1082.534,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50346,1621
$CAP_FILE_SIZE,165514,0
$CFSIZE,260165632,223858688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120508,211155,1236.991,12048.101,40,1.1,40,-0.8