version: 66.03
glider: 122
mission: 6
dive: 399
start: 5 13 108 9 58 23
data:
$ID,122
$MISSION,6
$DIVE,399
$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,-35085.582
$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,28
$R_STBD_OVSHOOT,28
$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
$GPS1,095108,1235.843,12048.958,34,1.0,34,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-73.2
$GPS2,095751,1235.855,12048.961,15,1.1,15,-0.8
$SPEED_LIMITS,0.156,0.206
$TGT_NAME,RECOV_12
$TGT_LATLONG,1230.000,12048.000
$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,189.9,10981,-18.6,-9.016
$D_GRID,721
$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,25,-1.56,-146.0,0.0,0.0,0,81,0.00,0.00,-54.50,0.000,2,0.000,0.000,251,2200,2278
$GC,85,-1.56,-146.0,3.0,-7.4,11,128,13.25,2.42,-22.02,0.000,4,0.166,0.049,2559,800,3345
$GC,140,-1.24,-146.0,13.3,-16.1,21,147,0.40,2.40,0.00,0.000,6,0.110,0.027,2634,2226,3346
$GC,486,-1.16,-146.0,58.3,-12.5,82,491,0.00,2.45,0.00,0.000,4,0.000,0.038,2634,801,3347
$GC,560,-1.08,-146.0,68.0,-12.1,95,567,0.17,2.50,0.00,0.000,6,0.099,0.027,2668,2295,3347
$GC,905,-1.18,-146.0,104.1,-9.6,156,911,0.00,2.55,0.00,0.000,4,0.000,0.038,2668,806,3349
$GC,968,-1.22,-146.0,111.0,-11.2,167,975,0.12,2.75,0.00,0.000,6,0.054,0.028,2627,2441,3349
$GC,1314,-1.26,-146.0,145.0,-8.3,228,1320,0.00,2.83,0.00,0.000,4,0.000,0.038,2627,796,3351
$GC,1384,-1.26,-146.0,151.2,-8.9,240,1390,0.00,2.70,0.00,0.000,6,0.000,0.028,2627,2407,3351
$GC,1729,-1.36,-146.0,181.2,-8.7,301,1735,0.00,2.08,0.00,0.000,4,0.000,0.047,2627,3622,3352
$GC,1838,-1.42,-146.0,190.2,-8.5,320,1844,0.15,2.15,0.00,0.000,6,0.050,0.027,2580,2304,3352
$GC,2182,-1.42,-146.0,220.6,-9.1,381,2188,0.00,2.25,0.00,0.000,4,0.000,0.044,2580,3618,3352
$GC,2263,-1.34,-146.0,228.1,-9.1,395,2269,0.15,1.98,0.00,0.000,6,0.097,0.028,2609,2406,3352
$GC,2608,-1.43,-146.0,257.9,-9.1,449,2612,0.00,2.08,0.00,0.000,4,0.000,0.048,2609,3616,3350
$GC,2699,-1.43,-146.0,266.5,-9.3,457,2702,0.00,2.08,0.00,0.000,6,0.000,0.030,2609,2359,3349
$GC,3032,-1.52,-146.0,294.8,-8.2,488,3038,0.15,2.70,0.00,0.000,4,0.051,0.045,2559,806,3348
$GC,3050,-1.52,-146.0,296.5,-8.0,489,3054,0.00,2.65,0.00,0.000,6,0.000,0.032,2559,2362,3348
$GC,3378,-1.52,-146.0,325.0,-8.1,519,3382,0.00,2.72,0.00,0.000,4,0.000,0.046,2559,810,3345
$GC,3411,-1.46,-146.0,328.2,-8.7,521,3418,0.15,2.45,0.00,0.000,6,0.104,0.032,2586,2262,3345
$GC,3737,-1.51,-146.0,353.3,-7.9,552,3741,0.00,2.53,0.00,0.000,4,0.000,0.048,2587,811,3343
$GC,3765,-1.51,-146.0,355.6,-8.2,554,3770,0.00,2.67,0.00,0.000,6,0.000,0.033,2587,2375,3343
$GC,4093,-1.56,-146.0,379.3,-7.0,584,4097,0.00,2.15,0.00,0.000,4,0.000,0.050,2587,3622,3341
$GC,4162,-1.56,-146.0,385.0,-7.8,590,4166,0.00,2.33,0.00,0.000,6,0.000,0.032,2587,2243,3341
$GC,4490,-1.63,-146.0,410.5,-8.1,620,4495,0.15,2.53,0.00,0.000,4,0.056,0.049,2540,814,3338
$GC,4557,-1.52,-146.0,417.3,-10.1,625,4564,0.17,2.67,0.00,0.000,6,0.104,0.035,2571,2371,3337
$GC,4883,-1.56,-146.0,444.2,-8.2,656,4887,0.00,2.17,0.00,0.000,4,0.000,0.052,2571,3614,3335
$GC,4957,-1.51,-146.0,450.4,-8.3,662,4961,0.00,2.30,0.00,0.000,6,0.000,0.033,2571,2259,3335
$GC,5291,-1.55,-146.0,475.8,-7.7,693,5295,0.00,2.58,0.00,0.000,4,0.000,0.051,2571,810,3332
$GC,5358,-1.52,-146.0,481.7,-8.4,698,5364,0.00,2.72,0.00,0.000,6,0.000,0.036,2571,2389,3332
$GC,5684,-1.55,-146.0,506.4,-7.7,725,5687,0.00,2.15,0.00,0.000,4,0.000,0.054,2571,3611,3329
$GC,5753,-1.51,-146.0,512.2,-8.3,728,5757,0.00,2.30,0.00,0.000,6,0.000,0.034,2571,2260,3329
$GC,6083,-1.54,-146.0,536.7,-7.3,744,6087,0.00,2.58,0.00,0.000,4,0.000,0.053,2571,814,3327
$GC,6133,-1.51,-146.0,540.8,-7.4,746,6138,0.00,2.75,0.00,0.000,6,0.000,0.037,2571,2402,3327
$GC,6450,-1.55,-146.0,563.4,-7.4,761,6453,0.00,2.15,0.00,0.000,4,0.000,0.057,2571,3618,3326
$GC,6535,-1.51,-146.0,570.4,-8.6,764,6541,0.00,2.25,0.00,0.000,6,0.000,0.035,2571,2290,3325
$GC,6851,-1.56,-146.0,594.5,-7.4,780,6855,0.00,2.35,0.00,0.000,4,0.000,0.054,2571,3613,3323
$GC,6869,-1.56,-146.0,595.9,-7.6,781,6872,0.00,2.10,0.00,0.000,6,0.000,0.034,2571,2374,3323
$GC,7204,-1.62,-146.0,623.0,-8.4,797,7208,0.00,2.20,0.00,0.000,4,0.000,0.054,2571,3617,3320
$GC,7245,-1.57,-146.0,626.7,-9.0,799,7249,0.00,2.22,0.00,0.000,6,0.000,0.035,2571,2309,3320
$GC,7574,-1.63,-146.0,653.5,-7.9,815,7578,0.00,2.33,0.00,0.000,4,0.000,0.055,2571,3618,3319
$GC,7592,-1.63,-146.0,655.3,-8.2,816,7596,0.00,2.08,0.00,0.000,6,0.000,0.035,2571,2395,3319
$GC,7926,-1.67,-146.0,680.2,-7.7,832,7931,0.15,2.83,0.00,0.000,4,0.058,0.054,2526,819,3317
$GC,8016,-1.57,-146.0,688.0,-8.7,836,8021,0.20,2.53,0.00,0.000,6,0.111,0.038,2562,2277,3317
$GC,8339,-1.60,-146.0,711.8,-7.4,852,8343,0.00,2.38,0.00,0.000,4,0.000,0.058,2562,3610,3316
$GC,8367,-1.60,-146.0,714.1,-7.8,853,8371,0.00,2.25,0.00,0.000,6,0.000,0.035,2562,2283,3316
$STATE,8458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8458,begin apogee
$GC,8465,-0.35,0.0,721.5,7.8,858,8588,1.33,0.00,119.50,1.151,6,0.100,0.000,2828,2339,2748
$STATE,8589,end apogee,CONTROL_FINISHED_OK
$STATE,8589,begin climb
$GC,8592,1.56,146.0,727.2,0.0,864,8722,1.92,0.00,124.68,1.116,6,0.053,0.000,3247,2339,2152
$GC,9034,1.32,147.8,696.4,8.9,886,9039,0.25,2.47,0.00,0.000,4,0.118,0.057,3199,3714,2149
$GC,9084,1.14,148.9,691.4,9.0,888,9096,0.25,2.38,2.28,1.099,6,0.125,0.038,3156,2348,2140
$GC,9409,1.09,160.7,666.0,8.5,904,9424,0.00,2.62,9.98,1.143,4,0.000,0.059,3155,934,2092
$GC,9492,1.05,173.8,658.5,8.4,907,9514,0.12,2.47,11.38,1.134,6,0.127,0.038,3134,2337,2039
$GC,9826,1.14,203.2,633.2,7.7,923,9856,0.00,2.62,25.05,1.109,4,0.000,0.058,3134,934,1918
$GC,9940,1.17,225.7,623.6,8.0,928,9965,0.12,2.38,19.30,1.101,6,0.071,0.038,3165,2286,1827
$GC,10284,1.21,247.4,595.3,8.0,945,10308,0.00,2.58,18.35,1.092,4,0.000,0.058,3164,934,1739
$GC,10343,1.22,251.2,589.8,8.8,947,10352,0.00,2.33,3.80,1.081,6,0.000,0.038,3164,2252,1722
$GC,10682,1.27,283.6,562.6,7.6,964,10716,0.00,2.75,28.00,1.063,4,0.000,0.058,3164,3720,1591
$GC,10734,1.27,284.7,558.3,9.0,966,10738,0.00,2.62,0.00,0.000,6,0.000,0.038,3164,2228,1590
$GC,11051,1.43,319.2,533.7,7.5,981,11088,0.20,2.78,30.83,1.043,4,0.055,0.054,3217,3732,1445
$GC,11201,1.34,319.2,518.6,10.7,987,11205,0.00,2.42,0.00,0.000,6,0.000,0.038,3217,2336,1442
$GC,11531,1.28,319.2,483.7,11.2,1009,11536,0.15,2.53,0.00,0.000,4,0.120,0.058,3187,933,1440
$GC,11638,1.28,319.2,472.2,10.0,1018,11642,0.00,2.35,0.00,0.000,6,0.000,0.037,3187,2278,1438
$GC,11963,1.34,319.2,441.8,9.2,1048,11967,0.00,2.58,0.00,0.000,4,0.000,0.055,3187,3724,1438
$GC,12040,1.34,319.2,434.6,9.1,1054,12046,0.00,2.78,0.00,0.000,6,0.000,0.038,3187,2135,1438
$GC,12369,1.44,337.7,406.5,8.2,1085,12391,0.15,2.92,14.60,0.993,4,0.062,0.054,3228,3723,1371
$GC,12426,1.36,337.7,400.7,9.8,1090,12431,0.15,3.00,0.00,0.000,6,0.129,0.039,3204,2021,1371
$GC,12751,1.41,337.7,370.8,9.2,1120,12756,0.00,3.03,0.00,0.000,4,0.000,0.051,3203,3723,1370
$GC,12790,1.41,337.7,366.9,9.4,1123,12795,0.00,2.62,0.00,0.000,6,0.000,0.037,3203,2199,1369
$GC,13120,1.50,342.0,337.1,8.8,1153,13132,0.12,2.33,3.88,0.970,4,0.067,0.056,3234,935,1352
$GC,13156,1.46,342.0,333.4,9.3,1156,13160,0.00,2.53,0.00,0.000,6,0.000,0.037,3234,2378,1352
$GC,13482,1.42,342.0,301.7,9.6,1186,13487,0.12,2.40,0.00,0.000,4,0.110,0.054,3213,3728,1352
$GC,13515,1.42,342.0,298.4,9.2,1188,13521,0.00,2.62,0.00,0.000,6,0.000,0.036,3213,2206,1352
$GC,13842,1.47,342.0,269.5,9.3,1219,13846,0.00,2.28,0.00,0.000,4,0.000,0.054,3213,929,1352
$GC,13883,1.47,342.0,265.6,9.4,1222,13886,0.00,1.98,0.00,0.000,6,0.000,0.035,3213,2082,1351
$GC,14217,1.56,342.0,233.8,9.1,1267,14223,0.15,2.90,0.00,0.000,4,0.062,0.051,3255,3721,1351
$GC,14282,1.45,342.0,226.9,10.9,1278,14288,0.17,2.55,0.00,0.000,6,0.127,0.035,3225,2237,1351
$GC,14627,1.54,355.7,196.0,8.4,1339,14644,0.00,2.42,11.75,0.829,4,0.000,0.053,3224,932,1297
$GC,14713,1.54,360.2,188.5,8.8,1354,14724,0.00,2.55,3.92,0.846,6,0.000,0.035,3225,2398,1279
$GC,15065,1.61,368.7,159.7,8.6,1416,15082,0.12,2.72,7.18,0.802,4,0.063,0.049,3257,923,1244
$GC,15129,1.57,368.7,153.7,9.7,1427,15135,0.00,2.25,0.00,0.000,6,0.000,0.034,3257,2230,1243
$GC,15474,1.68,390.1,125.7,8.1,1488,15500,0.00,2.72,18.17,0.732,4,0.000,0.048,3257,3727,1157
$GC,15594,1.78,420.5,116.2,7.7,1509,15626,0.15,2.78,25.58,0.702,6,0.060,0.034,3295,2116,1033
$GC,15967,1.90,447.8,86.9,7.8,1575,15999,0.00,2.95,22.05,0.667,4,0.000,0.045,3295,3729,921
$GC,16100,2.00,480.0,76.9,7.6,1598,16133,0.20,2.50,26.83,0.642,6,0.051,0.031,3347,2257,791
$GC,16473,2.00,480.0,40.7,10.1,1664,16479,0.00,2.33,0.00,0.000,4,0.000,0.047,3347,929,787
$GC,16536,2.01,484.8,34.6,8.8,1675,16547,0.00,2.03,3.42,0.644,6,0.000,0.028,3347,2142,770
$GC,16886,2.13,504.3,5.5,8.1,1737,16908,0.00,2.15,15.60,0.571,4,0.000,0.044,3347,929,690
$STATE,16929,end climb,SURFACE_DEPTH_REACHED
$STATE,16929,begin surface coast
$FINISH,-0.1,1.020622
$STATE,16952,end surface coast,CONTROL_FINISHED_OK
$STATE,16952,begin surface
$SM_CCo,17040,0.00,0.000,0,0,686,506.05
$SM_GC,0.81,13.62,0.00,0.00,0.038,0.000,0.000,247,2238,686,-12.19,0.59,506.05
$IRIDIUM_FIX,1229.99,12046.08,070897,060611
$TT8_MAMPS,0.023777
$HUMID,2075
$INTERNAL_PRESSURE,9.67811
$TCM_TEMP,25.00
$XPDR_PINGS,378
$ALTIM_BOTTOM_PING,621.4,118.7
$24V_AH,23.1,74.349
$10V_AH,10.1,38.234
$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,34.550,207.325,546.100,0.000,0.000,23.848,37.943,202.631,98.000,0.000,0.000,15.906,2798.267,10283.613,703.131,2948.920,710.856,0.000,2213.761,0.000,2886.843,0.000,27.447
$DEVICE_MAMPS,165.672,86.671,1150.500,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1169.920,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56593,1749
$CAP_FILE_SIZE,190308,0
$CFSIZE,260165632,223502336
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130508,144338,1235.757,12048.811,38,1.5,38,-0.8