version: 66.03
glider: 122
mission: 6
dive: 397
start: 5 13 108 1 39 16
data:
$ID,122
$MISSION,6
$DIVE,397
$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,-35051.844
$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,31
$R_STBD_OVSHOOT,67
$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
$GPS1,013231,1236.857,12048.371,41,1.0,46,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-70.9
$GPS2,013844,1236.875,12048.366,14,1.0,14,-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,152.1,38200,-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,-60.00,0.000,2,0.000,0.000,245,2253,2357
$GC,91,-1.56,-146.0,3.4,-8.7,12,129,13.35,2.35,-19.25,0.000,4,0.167,0.054,2560,3587,3347
$GC,153,-1.25,-146.0,16.3,-18.6,23,159,0.38,2.30,0.00,0.000,6,0.116,0.025,2629,2198,3348
$GC,498,-1.15,-146.0,64.2,-12.9,84,505,0.12,2.40,0.00,0.000,4,0.121,0.042,2651,3595,3349
$GC,523,-1.08,-146.0,67.4,-12.6,88,529,0.00,2.25,0.00,0.000,6,0.000,0.025,2651,2220,3350
$GC,867,-1.16,-146.0,104.1,-10.0,149,873,0.00,2.35,0.00,0.000,4,0.000,0.042,2651,3596,3352
$GC,941,-1.16,-146.0,111.5,-9.8,162,947,0.00,2.12,0.00,0.000,6,0.000,0.025,2651,2290,3352
$GC,1286,-1.30,-146.0,144.1,-8.1,223,1293,0.15,2.53,0.00,0.000,4,0.048,0.039,2604,819,3353
$GC,1396,-1.23,-146.0,154.3,-10.1,242,1403,0.15,2.35,0.00,0.000,6,0.101,0.028,2632,2230,3353
$GC,1742,-1.36,-146.0,184.5,-7.9,303,1749,0.12,2.42,0.00,0.000,4,0.052,0.041,2590,826,3354
$GC,1812,-1.30,-146.0,190.5,-8.7,315,1819,0.15,2.30,0.00,0.000,6,0.100,0.030,2618,2199,3353
$GC,2158,-1.42,-146.0,218.4,-8.2,376,2164,0.00,2.38,0.00,0.000,4,0.000,0.044,2618,829,3353
$GC,2188,-1.49,-146.0,221.0,-8.8,381,2194,0.17,2.15,0.00,0.000,6,0.046,0.030,2564,2114,3353
$GC,2533,-1.45,-146.0,251.2,-8.8,441,2537,0.12,2.25,0.00,0.000,4,0.100,0.044,2587,826,3352
$GC,2571,-1.42,-146.0,254.9,-9.7,444,2577,0.00,2.35,0.00,0.000,6,0.000,0.031,2587,2225,3352
$GC,2900,-1.48,-146.0,281.8,-8.5,475,2904,0.00,2.40,0.00,0.000,4,0.000,0.048,2587,3616,3351
$GC,3007,-1.48,-146.0,291.6,-8.7,484,3011,0.00,2.20,0.00,0.000,6,0.000,0.031,2587,2290,3350
$GC,3335,-1.53,-146.0,316.5,-7.5,514,3339,0.00,2.30,0.00,0.000,4,0.000,0.048,2587,3616,3348
$GC,3352,-1.53,-146.0,318.2,-8.1,515,3357,0.00,2.42,0.00,0.000,6,0.000,0.031,2587,2171,3348
$GC,3681,-1.59,-146.0,344.3,-7.9,545,3686,0.12,2.53,0.00,0.000,4,0.058,0.047,2549,3621,3346
$GC,3698,-1.59,-146.0,346.0,-8.0,546,3702,0.00,2.30,0.00,0.000,6,0.000,0.031,2549,2249,3346
$GC,4031,-1.59,-146.0,374.1,-8.8,577,4035,0.00,2.40,0.00,0.000,4,0.000,0.048,2549,3620,3344
$GC,4110,-1.47,-146.0,381.8,-9.4,583,4116,0.17,2.25,0.00,0.000,6,0.108,0.031,2580,2275,3343
$GC,4438,-1.54,-146.0,408.4,-7.3,614,4442,0.00,2.58,0.00,0.000,4,0.000,0.050,2580,820,3341
$GC,4494,-1.50,-146.0,413.2,-8.3,618,4500,0.00,2.55,0.00,0.000,6,0.000,0.033,2580,2312,3341
$GC,4822,-1.57,-146.0,439.0,-8.1,649,4826,0.00,2.25,0.00,0.000,4,0.000,0.051,2580,3613,3338
$GC,4890,-1.57,-146.0,445.2,-9.2,655,4894,0.00,2.42,0.00,0.000,6,0.000,0.033,2580,2185,3337
$GC,5219,-1.63,-146.0,472.8,-8.5,685,5224,0.15,2.53,0.00,0.000,4,0.054,0.050,2533,3613,3335
$GC,5326,-1.50,-146.0,483.3,-10.2,694,5331,0.22,2.28,0.00,0.000,6,0.107,0.034,2574,2274,3334
$GC,5662,-1.55,-146.0,510.5,-8.2,719,5666,0.00,2.38,0.00,0.000,4,0.000,0.052,2573,3616,3332
$GC,5707,-1.55,-146.0,514.6,-8.2,721,5711,0.00,2.47,0.00,0.000,6,0.000,0.034,2574,2164,3332
$GC,6032,-1.62,-146.0,540.2,-7.5,737,6036,0.00,2.38,0.00,0.000,4,0.000,0.054,2574,820,3330
$GC,6078,-1.57,-146.0,544.3,-7.9,739,6083,0.00,2.33,0.00,0.000,6,0.000,0.036,2574,2172,3330
$GC,6414,-1.63,-146.0,569.1,-7.2,755,6419,0.12,2.55,0.00,0.000,4,0.058,0.052,2538,3621,3328
$GC,6456,-1.52,-146.0,572.7,-8.2,757,6461,0.20,2.42,0.00,0.000,6,0.107,0.034,2574,2198,3328
$GC,6786,-1.58,-146.0,597.1,-7.3,773,6790,0.00,2.53,0.00,0.000,4,0.000,0.053,2574,3621,3326
$GC,6866,-1.58,-146.0,603.4,-7.3,776,6872,0.00,2.30,0.00,0.000,6,0.000,0.035,2574,2265,3326
$GC,7182,-1.65,-146.0,626.4,-7.6,792,7187,0.15,2.40,0.00,0.000,4,0.055,0.052,2533,3620,3324
$GC,7233,-1.52,-146.0,630.8,-8.7,794,7238,0.20,2.22,0.00,0.000,6,0.112,0.034,2568,2305,3324
$STATE,7340,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7340,begin apogee
$GC,7346,-0.35,0.0,639.4,7.7,799,7469,1.27,0.00,119.18,1.076,6,0.093,0.000,2826,2304,2748
$STATE,7470,end apogee,CONTROL_FINISHED_OK
$STATE,7470,begin climb
$GC,7473,1.56,146.0,646.2,0.0,805,7603,1.90,2.62,121.95,1.042,4,0.050,0.054,3250,3726,2152
$GC,7728,1.28,149.7,634.3,8.8,817,7738,0.35,2.42,3.08,1.065,6,0.127,0.038,3188,2339,2137
$GC,8063,1.22,183.6,609.6,7.5,833,8097,0.00,2.65,28.17,1.052,4,0.000,0.058,3188,936,1999
$GC,8161,1.11,183.6,600.8,9.3,837,8166,0.22,2.42,0.00,0.000,6,0.113,0.037,3147,2322,1998
$GC,8478,1.17,216.7,576.3,7.5,852,8512,0.00,2.62,27.27,1.042,4,0.000,0.056,3148,3723,1864
$GC,8650,1.25,265.1,563.2,6.8,859,8697,0.15,2.62,40.80,1.025,6,0.066,0.038,3181,2216,1667
$GC,9009,1.26,275.0,532.6,8.6,877,9023,0.00,2.80,8.23,1.051,4,0.000,0.054,3181,3724,1626
$GC,9087,1.23,275.0,524.9,9.8,880,9091,0.00,2.55,0.00,0.000,6,0.000,0.038,3182,2261,1626
$GC,9405,1.23,275.0,494.9,9.5,897,9409,0.00,2.40,0.00,0.000,4,0.000,0.057,3181,931,1623
$GC,9479,1.18,275.0,487.7,9.7,903,9483,0.00,2.25,0.00,0.000,6,0.000,0.037,3181,2225,1623
$GC,9806,1.24,275.0,458.2,9.2,933,9810,0.00,2.35,0.00,0.000,4,0.000,0.057,3181,926,1622
$GC,9868,1.25,279.0,452.6,8.8,938,9880,0.00,2.45,3.15,1.022,6,0.000,0.037,3181,2341,1609
$GC,10199,1.27,291.6,424.6,8.5,969,10215,0.00,2.53,11.18,1.002,4,0.000,0.056,3181,3727,1558
$GC,10250,1.27,291.6,420.0,9.5,973,10255,0.00,2.70,0.00,0.000,6,0.000,0.037,3181,2181,1558
$GC,10578,1.35,299.1,391.3,8.7,1003,10590,0.00,2.80,6.10,0.998,4,0.000,0.052,3181,3724,1527
$GC,10607,1.37,311.7,388.4,8.5,1005,10624,0.00,2.95,10.88,0.960,6,0.000,0.038,3182,2041,1477
$GC,10943,1.49,331.5,359.4,8.1,1037,10968,0.20,3.10,16.90,0.937,4,0.056,0.051,3235,3716,1396
$GC,11032,1.40,331.5,350.7,9.7,1045,11037,0.15,2.62,0.00,0.000,6,0.126,0.037,3210,2212,1395
$GC,11357,1.46,331.5,321.1,9.2,1075,11361,0.00,2.30,0.00,0.000,4,0.000,0.056,3210,931,1393
$GC,11458,1.41,331.5,311.4,9.7,1083,11464,0.00,2.50,0.00,0.000,6,0.000,0.036,3210,2370,1391
$GC,11785,1.41,334.9,282.1,8.9,1114,11793,0.00,0.00,2.62,0.915,6,0.000,0.000,3210,2370,1381
$GC,12115,1.46,340.5,253.4,8.8,1145,12127,0.00,2.62,5.05,0.896,4,0.000,0.051,3210,921,1358
$GC,12223,1.46,340.5,242.6,9.8,1161,12229,0.00,2.20,0.00,0.000,6,0.000,0.035,3210,2195,1357
$GC,12568,1.55,363.7,212.3,8.0,1222,12595,0.15,2.78,19.73,0.815,4,0.062,0.052,3251,3721,1265
$GC,12648,1.48,363.7,205.0,9.5,1236,12655,0.12,2.97,0.00,0.000,6,0.131,0.037,3231,2020,1263
$GC,12994,1.54,364.6,173.8,9.0,1297,13000,0.00,3.03,0.00,0.000,4,0.000,0.048,3231,3730,1262
$GC,13091,1.54,365.9,165.0,9.0,1314,13097,0.00,2.62,0.00,0.000,6,0.000,0.034,3230,2202,1262
$GC,13436,1.68,399.3,136.9,7.5,1375,13473,0.15,2.33,29.33,0.726,4,0.058,0.051,3274,926,1119
$GC,13570,1.65,405.3,125.3,8.7,1399,13582,0.00,1.95,4.90,0.759,6,0.000,0.032,3275,2070,1095
$GC,13923,1.84,464.2,97.5,6.4,1461,13980,0.15,2.10,49.40,0.661,4,0.053,0.049,3322,921,855
$GC,14100,1.80,464.2,82.0,9.3,1493,14106,0.15,1.85,0.00,0.000,6,0.103,0.031,3295,2014,852
$GC,14445,1.97,480.9,52.1,8.3,1554,14467,0.15,3.08,12.85,0.634,4,0.056,0.046,3341,3723,787
$GC,14519,1.97,480.9,44.9,9.8,1567,14525,0.00,2.70,0.00,0.000,6,0.000,0.031,3341,2143,786
$GC,14864,2.09,515.9,14.0,7.4,1628,14897,0.00,2.22,27.95,0.568,4,0.000,0.045,3340,922,644
$GC,14938,2.17,520.7,7.8,8.8,1641,14949,0.17,1.85,3.72,0.607,6,0.048,0.028,3389,2031,624
$STATE,14998,end climb,SURFACE_DEPTH_REACHED
$STATE,14999,begin surface coast
$FINISH,-0.1,1.020591
$STATE,15025,end surface coast,CONTROL_FINISHED_OK
$STATE,15025,begin surface
$SM_CCo,15110,0.00,0.000,0,0,619,522.00
$SM_GC,0.66,13.82,0.00,0.00,0.039,0.000,0.000,252,2246,619,-12.16,0.82,522.00
$IRIDIUM_FIX,1232.20,12047.98,060897,212148
$TT8_MAMPS,0.023777
$HUMID,2077
$INTERNAL_PRESSURE,9.66834
$TCM_TEMP,24.80
$XPDR_PINGS,384
$24V_AH,23.2,74.007
$10V_AH,10.1,38.064
$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,35.200,176.175,552.425,0.000,0.000,24.868,38.484,163.149,99.750,0.000,0.000,15.006,2618.860,8750.788,658.321,2801.624,652.673,0.000,2105.977,0.000,2741.656,0.000,29.339
$DEVICE_MAMPS,167.206,58.292,1076.101,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1105.577,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53500,1656
$CAP_FILE_SIZE,174757,0
$CFSIZE,260165632,223686656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130508,055207,1236.292,12048.738,25,2.0,25,-0.8