version: 66.03
glider: 122
mission: 6
dive: 398
start: 5 13 108 5 58 53
data:
$ID,122
$MISSION,6
$DIVE,398
$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,-35069.051
$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,26
$R_STBD_OVSHOOT,47
$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
$GPS1,055207,1236.292,12048.738,25,2.0,25,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-72.3
$GPS2,055821,1236.323,12048.745,16,2.0,16,-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,152.3,36974,-18.6,-9.016
$D_GRID,581
$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,-146.0,0.0,0.0,0,92,0.00,0.00,-64.95,0.000,2,0.000,0.000,252,2246,2412
$GC,95,-1.56,-146.0,3.6,-9.1,13,132,13.25,0.00,-18.02,0.000,6,0.166,0.000,2558,2246,3344
$GC,470,-1.33,-146.0,65.8,-14.7,80,477,0.25,2.35,0.00,0.000,4,0.122,0.042,2608,3616,3346
$GC,552,-1.18,-146.0,77.2,-13.4,94,558,0.20,2.33,0.00,0.000,6,0.107,0.025,2646,2195,3347
$GC,896,-1.18,-146.0,113.2,-10.1,155,902,0.00,2.35,0.00,0.000,4,0.000,0.040,2646,823,3349
$GC,948,-1.18,-146.0,119.0,-11.2,164,954,0.00,2.55,0.00,0.000,6,0.000,0.028,2646,2346,3349
$GC,1293,-1.32,-146.0,150.7,-9.0,225,1299,0.12,2.62,0.00,0.000,4,0.051,0.038,2602,822,3351
$GC,1312,-1.39,-146.0,152.6,-8.9,228,1318,0.00,2.40,0.00,0.000,6,0.000,0.028,2602,2260,3351
$GC,1657,-1.45,-146.0,185.2,-8.9,289,1663,0.00,2.47,0.00,0.000,4,0.000,0.041,2601,826,3352
$GC,1715,-1.45,-146.0,190.4,-8.2,299,1721,0.00,2.40,0.00,0.000,6,0.000,0.030,2601,2253,3352
$GC,2060,-1.54,-146.0,218.7,-8.0,360,2067,0.15,2.47,0.00,0.000,4,0.048,0.042,2550,827,3352
$GC,2147,-1.41,-146.0,227.4,-10.2,375,2154,0.22,2.55,0.00,0.000,6,0.096,0.031,2593,2332,3352
$GC,2494,-1.49,-146.0,256.4,-8.3,430,2498,0.00,2.22,0.00,0.000,4,0.000,0.050,2593,3621,3350
$GC,2560,-1.49,-146.0,262.2,-8.4,435,2566,0.00,2.33,0.00,0.000,6,0.000,0.030,2593,2217,3349
$GC,2888,-1.56,-146.0,289.2,-8.5,466,2893,0.12,2.42,0.00,0.000,4,0.055,0.046,2554,3615,3348
$GC,2956,-1.44,-146.0,295.7,-9.2,471,2962,0.17,2.12,0.00,0.000,6,0.104,0.031,2586,2330,3347
$GC,3283,-1.50,-146.0,322.9,-8.4,502,3288,0.00,2.62,0.00,0.000,4,0.000,0.048,2586,822,3346
$GC,3358,-1.50,-146.0,329.8,-9.6,508,3362,0.00,2.65,0.00,0.000,6,0.000,0.034,2586,2370,3345
$GC,3685,-1.56,-146.0,357.8,-8.4,538,3689,0.00,2.17,0.00,0.000,4,0.000,0.051,2586,3621,3343
$GC,3775,-1.56,-146.0,365.9,-9.0,545,3781,0.00,2.33,0.00,0.000,6,0.000,0.031,2586,2233,3343
$GC,4102,-1.63,-146.0,391.2,-7.4,576,4107,0.15,2.42,0.00,0.000,4,0.054,0.048,2539,3616,3341
$GC,4193,-1.50,-146.0,399.4,-8.8,583,4199,0.20,2.17,0.00,0.000,6,0.105,0.032,2576,2315,3340
$GC,4519,-1.54,-146.0,424.9,-7.9,614,4523,0.00,2.28,0.00,0.000,4,0.000,0.051,2575,3621,3337
$GC,4565,-1.50,-146.0,428.8,-8.1,618,4569,0.00,2.40,0.00,0.000,6,0.000,0.033,2575,2200,3337
$GC,4898,-1.54,-146.0,454.3,-7.7,649,4902,0.00,2.45,0.00,0.000,4,0.000,0.051,2576,819,3334
$GC,4965,-1.54,-146.0,460.0,-8.3,654,4971,0.00,2.60,0.00,0.000,6,0.000,0.035,2576,2328,3334
$GC,5293,-1.58,-146.0,485.5,-8.0,685,5297,0.00,2.25,0.00,0.000,4,0.000,0.053,2576,3615,3332
$GC,5345,-1.54,-146.0,490.1,-8.4,689,5351,0.00,2.42,0.00,0.000,6,0.000,0.034,2576,2189,3332
$GC,5667,-1.59,-146.0,514.3,-7.6,711,5671,0.00,2.53,0.00,0.000,4,0.000,0.052,2576,3613,3330
$GC,5689,-1.59,-146.0,516.2,-7.6,712,5692,0.00,2.20,0.00,0.000,6,0.000,0.033,2576,2309,3329
$GC,6013,-1.65,-146.0,539.5,-7.1,728,6023,0.15,2.65,0.00,0.000,4,0.054,0.052,2535,818,3327
$GC,6114,-1.53,-146.0,548.1,-8.6,732,6119,0.17,2.38,0.00,0.000,6,0.107,0.035,2566,2194,3328
$GC,6439,-1.57,-146.0,570.7,-7.1,748,6444,0.00,2.45,0.00,0.000,4,0.000,0.053,2566,813,3326
$GC,6462,-1.57,-146.0,572.8,-7.8,749,6466,0.00,2.60,0.00,0.000,6,0.000,0.036,2566,2317,3326
$STATE,6578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6578,begin apogee
$GC,6585,-0.35,0.0,581.3,7.5,755,6707,1.27,0.00,118.43,1.028,6,0.097,0.000,2823,2316,2748
$STATE,6708,end apogee,CONTROL_FINISHED_OK
$STATE,6708,begin climb
$GC,6711,1.56,146.0,587.6,0.0,761,6841,1.90,2.62,120.80,0.997,4,0.050,0.056,3247,3726,2152
$GC,6925,1.29,146.0,578.9,9.1,771,6931,0.35,2.40,0.00,0.000,6,0.131,0.038,3186,2342,2150
$GC,7247,1.23,178.9,555.1,7.5,787,7276,0.00,0.00,26.92,1.008,6,0.000,0.000,3187,2342,2018
$GC,7577,1.20,210.0,528.9,7.6,803,7608,0.12,2.62,25.60,1.000,4,0.126,0.057,3165,928,1890
$GC,7661,1.17,225.8,522.2,8.3,807,7682,0.00,2.53,13.23,1.003,6,0.000,0.037,3166,2368,1826
$GC,7993,1.20,244.1,495.7,8.2,825,8015,0.00,2.47,14.62,1.002,4,0.000,0.056,3165,3721,1753
$GC,8077,1.23,260.4,488.6,8.3,832,8096,0.00,2.60,14.05,0.992,6,0.000,0.038,3165,2227,1686
$GC,8423,1.33,266.7,459.8,8.7,865,8435,0.12,2.38,5.32,1.004,4,0.064,0.056,3197,928,1659
$GC,8526,1.25,266.7,450.2,9.1,874,8531,0.12,2.53,0.00,0.000,6,0.117,0.038,3177,2366,1659
$GC,8851,1.31,284.3,422.0,8.2,904,8873,0.00,2.47,14.93,0.970,4,0.000,0.055,3177,3723,1588
$GC,8930,1.31,284.3,414.9,9.9,911,8934,0.00,2.60,0.00,0.000,6,0.000,0.038,3176,2222,1587
$GC,9260,1.39,298.2,386.8,8.4,941,9274,0.15,0.00,11.48,0.962,6,0.062,0.000,3218,2221,1531
$GC,9600,1.39,298.2,354.2,9.2,973,9604,0.00,2.67,0.00,0.000,4,0.000,0.052,3218,3721,1530
$GC,9652,1.32,298.2,349.4,10.1,977,9657,0.15,2.85,0.00,0.000,6,0.130,0.038,3194,2086,1530
$GC,9978,1.38,300.5,321.4,8.9,1007,9981,0.00,2.08,0.00,0.000,4,0.000,0.056,3194,925,1529
$GC,10002,1.42,309.9,319.4,8.6,1009,10016,0.00,2.33,9.45,0.930,6,0.000,0.036,3194,2268,1484
$GC,10343,1.50,318.5,289.4,8.6,1041,10357,0.15,2.67,7.40,0.912,4,0.061,0.054,3238,3726,1449
$GC,10432,1.41,318.5,280.9,9.7,1049,10438,0.15,2.80,0.00,0.000,6,0.114,0.038,3212,2122,1448
$GC,10758,1.44,322.0,252.7,8.9,1079,10769,0.00,2.90,2.80,0.894,4,0.000,0.051,3213,3715,1435
$GC,10804,1.44,322.0,248.5,9.7,1084,10811,0.00,2.97,0.00,0.000,6,0.000,0.037,3212,2007,1435
$GC,11149,1.50,328.4,219.1,8.7,1145,11161,0.00,3.08,5.62,0.862,4,0.000,0.048,3212,3723,1408
$GC,11241,1.50,329.1,211.1,9.0,1161,11247,0.00,2.65,0.00,0.000,6,0.000,0.035,3212,2188,1408
$GC,11586,1.60,335.7,182.0,8.7,1222,11598,0.15,2.33,6.30,0.821,4,0.060,0.052,3257,926,1378
$GC,11628,1.53,335.7,177.9,10.2,1229,11634,0.00,1.95,0.00,0.000,6,0.000,0.033,3257,2064,1377
$GC,11972,1.60,374.8,147.8,7.3,1290,12014,0.00,3.03,32.38,0.732,4,0.000,0.048,3257,3721,1219
$GC,12077,1.60,374.8,138.5,9.4,1309,12083,0.00,2.65,0.00,0.000,6,0.000,0.034,3257,2183,1217
$GC,12425,1.75,405.5,111.7,7.6,1370,12457,0.12,2.78,25.17,0.693,4,0.061,0.046,3294,3726,1093
$GC,12498,1.76,414.4,105.4,8.6,1383,12514,0.00,2.83,7.32,0.709,6,0.000,0.034,3294,2092,1057
$GC,12854,1.89,440.5,77.0,7.9,1446,12882,0.10,2.08,21.23,0.648,4,0.065,0.048,3323,932,951
$GC,12957,1.86,440.5,67.5,9.4,1464,12963,0.00,2.25,0.00,0.000,6,0.000,0.031,3323,2257,949
$GC,13302,1.92,457.4,39.1,8.3,1525,13323,0.00,2.40,13.30,0.613,4,0.000,0.044,3323,931,882
$GC,13425,1.96,480.0,28.8,8.0,1547,13452,0.00,2.12,18.12,0.589,6,0.000,0.028,3323,2199,791
$STATE,13748,end climb,SURFACE_DEPTH_REACHED
$STATE,13748,begin surface coast
$FINISH,-0.1,1.020756
$STATE,13780,end surface coast,CONTROL_FINISHED_OK
$STATE,13780,begin surface
$SM_CCo,13864,0.00,0.000,0,0,784,481.52
$SM_GC,0.78,13.45,0.00,0.00,0.038,0.000,0.000,251,2203,784,-12.17,-0.37,481.52
$IRIDIUM_FIX,1229.99,12047.98,070897,010131
$TT8_MAMPS,0.02301
$HUMID,2048
$INTERNAL_PRESSURE,9.69764
$TCM_TEMP,25.00
$XPDR_PINGS,414
$ALTIM_BOTTOM_PING,581.3,165.3
$24V_AH,23.2,74.167
$10V_AH,10.1,38.144
$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,33.500,153.800,514.475,0.000,0.000,29.959,36.929,161.023,106.500,0.000,0.000,16.579,2506.865,7835.056,633.967,2650.518,612.495,0.000,1989.243,0.000,2587.670,0.000,26.542
$DEVICE_MAMPS,165.672,56.758,1027.780,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1074.177,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50344,1610
$CAP_FILE_SIZE,159831,0
$CFSIZE,260165632,223617024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130508,095108,1235.843,12048.958,34,1.0,34,-0.8