version: 66.03
glider: 122
mission: 6
dive: 400
start: 5 13 108 14 58 4
data:
$ID,122
$MISSION,6
$DIVE,400
$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,-35101.777
$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,42
$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
$GPS1,144338,1235.757,12048.811,38,1.5,38,-0.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-74.1
$GPS2,145732,1235.796,12048.795,10,1.8,15,-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,188.4,10830,-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,-146.0,0.0,0.0,0,86,0.00,0.00,-59.42,0.000,2,0.000,0.000,247,2239,2337
$GC,90,-1.56,-146.0,3.1,-7.1,12,133,13.27,2.40,-20.02,0.000,4,0.166,0.053,2558,3610,3346
$GC,191,-1.27,-146.0,22.6,-17.3,30,197,0.35,2.35,0.00,0.000,6,0.117,0.025,2623,2189,3347
$GC,536,-1.16,-146.0,69.5,-13.2,91,542,0.15,2.45,0.00,0.000,4,0.117,0.041,2654,3616,3347
$GC,611,-1.13,-146.0,78.8,-11.9,104,617,0.00,2.17,0.00,0.000,6,0.000,0.025,2655,2276,3348
$GC,955,-1.20,-146.0,114.7,-10.5,165,961,0.00,2.50,0.00,0.000,4,0.000,0.040,2654,819,3349
$GC,991,-1.25,-146.0,118.6,-11.1,171,996,0.00,2.47,0.00,0.000,6,0.000,0.028,2655,2300,3349
$GC,1335,-1.41,-146.0,149.2,-8.5,232,1341,0.22,2.25,0.00,0.000,4,0.039,0.042,2579,3622,3350
$GC,1365,-1.41,-146.0,152.3,-10.1,237,1371,0.00,2.22,0.00,0.000,6,0.000,0.025,2578,2254,3350
$GC,1710,-1.41,-146.0,184.5,-8.5,298,1716,0.00,2.33,0.00,0.000,4,0.000,0.042,2579,3615,3351
$GC,1791,-1.33,-146.0,192.2,-9.8,312,1797,0.17,2.05,0.00,0.000,6,0.097,0.027,2612,2353,3351
$GC,2136,-1.43,-146.0,220.4,-7.5,373,2142,0.00,2.17,0.00,0.000,4,0.000,0.044,2612,3623,3350
$GC,2222,-1.43,-146.0,227.8,-8.6,388,2228,0.00,2.25,0.00,0.000,6,0.000,0.028,2612,2260,3350
$GC,2562,-1.53,-146.0,256.6,-8.8,442,2567,0.15,2.35,0.00,0.000,4,0.050,0.044,2559,3622,3348
$GC,2651,-1.42,-146.0,265.6,-9.7,449,2658,0.20,2.47,0.00,0.000,6,0.100,0.031,2597,2139,3348
$GC,2977,-1.50,-146.0,292.1,-8.2,480,2981,0.00,2.30,0.00,0.000,4,0.000,0.048,2597,823,3346
$GC,3077,-1.50,-146.0,300.7,-8.2,488,3084,0.00,2.40,0.00,0.000,6,0.000,0.032,2597,2238,3346
$GC,3406,-1.58,-146.0,325.2,-7.7,519,3411,0.15,2.47,0.00,0.000,4,0.051,0.047,2547,823,3343
$GC,3428,-1.58,-146.0,327.5,-8.5,520,3434,0.00,2.20,0.00,0.000,6,0.000,0.032,2547,2128,3343
$GC,3756,-1.55,-146.0,357.5,-9.6,551,3760,0.00,2.58,0.00,0.000,4,0.000,0.048,2547,3621,3341
$GC,3852,-1.43,-146.0,367.5,-9.4,559,3857,0.25,2.30,0.00,0.000,6,0.107,0.031,2593,2246,3340
$GC,4177,-1.52,-146.0,392.7,-7.1,589,4181,0.00,2.53,0.00,0.000,4,0.000,0.049,2593,814,3336
$GC,4244,-1.52,-146.0,397.7,-6.7,594,4250,0.00,2.30,0.00,0.000,6,0.000,0.033,2593,2167,3336
$GC,4574,-1.61,-146.0,421.1,-7.5,625,4579,0.15,0.00,0.00,0.000,6,0.050,0.000,2544,2168,3333
$GC,4900,-1.61,-146.0,450.3,-9.2,656,4905,0.00,2.40,0.00,0.000,4,0.000,0.050,2543,814,3331
$GC,4981,-1.51,-146.0,458.1,-9.3,662,4988,0.15,2.53,0.00,0.000,6,0.109,0.035,2570,2285,3331
$GC,5307,-1.54,-146.0,485.8,-8.7,693,5311,0.00,2.33,0.00,0.000,4,0.000,0.052,2570,3613,3328
$GC,5381,-1.51,-146.0,492.7,-9.6,699,5386,0.00,2.47,0.00,0.000,6,0.000,0.034,2570,2163,3328
$GC,5702,-1.55,-146.0,518.4,-8.0,718,5706,0.00,2.40,0.00,0.000,4,0.000,0.053,2570,813,3326
$GC,5775,-1.51,-146.0,524.7,-8.3,721,5780,0.00,2.55,0.00,0.000,6,0.000,0.035,2570,2292,3326
$GC,6093,-1.51,-146.0,549.7,-8.1,736,6098,0.00,2.33,0.00,0.000,4,0.000,0.054,2570,3612,3324
$GC,6161,-1.51,-146.0,555.6,-8.6,739,6165,0.00,2.47,0.00,0.000,6,0.000,0.035,2571,2167,3323
$GC,6491,-1.55,-146.0,578.5,-7.1,755,6495,0.00,2.55,0.00,0.000,4,0.000,0.053,2570,3615,3321
$GC,6581,-1.55,-146.0,585.5,-7.7,759,6585,0.00,2.30,0.00,0.000,6,0.000,0.035,2570,2268,3320
$GC,6903,-1.61,-146.0,608.3,-7.3,775,6907,0.00,2.38,0.00,0.000,4,0.000,0.054,2570,3615,3319
$GC,6927,-1.61,-146.0,610.3,-8.4,776,6930,0.00,2.20,0.00,0.000,6,0.000,0.035,2570,2316,3318
$GC,7255,-1.64,-146.0,634.4,-7.2,792,7260,0.12,2.30,0.00,0.000,4,0.061,0.054,2537,3612,3317
$GC,7272,-1.64,-146.0,636.0,-7.8,793,7276,0.00,2.42,0.00,0.000,6,0.000,0.035,2536,2190,3317
$GC,7604,-1.64,-146.0,662.9,-8.2,809,7609,0.00,2.55,0.00,0.000,4,0.000,0.054,2536,3621,3315
$GC,7706,-1.54,-146.0,672.2,-9.3,813,7712,0.17,2.35,0.00,0.000,6,0.114,0.036,2567,2246,3315
$GC,8022,-1.59,-146.0,695.6,-7.0,829,8026,0.00,2.42,0.00,0.000,4,0.000,0.054,2567,3612,3313
$GC,8096,-1.59,-146.0,701.6,-8.4,832,8100,0.00,2.20,0.00,0.000,6,0.000,0.035,2567,2320,3313
$STATE,8367,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8367,begin apogee
$GC,8374,-0.35,0.0,722.0,7.9,845,8496,1.30,0.00,118.85,1.151,6,0.101,0.000,2826,2318,2748
$STATE,8497,end apogee,CONTROL_FINISHED_OK
$STATE,8497,begin climb
$GC,8500,1.56,146.0,728.0,0.0,851,8633,1.90,2.60,124.15,1.115,4,0.054,0.057,3246,3721,2151
$GC,8699,1.30,162.3,721.0,8.3,860,8719,0.32,2.42,13.68,1.130,6,0.133,0.039,3190,2336,2086
$GC,9044,1.23,189.7,694.2,7.8,877,9073,0.00,2.58,23.08,1.123,4,0.000,0.056,3189,3707,1974
$GC,9159,1.09,189.7,683.4,9.3,882,9164,0.25,2.38,0.00,0.000,6,0.123,0.040,3145,2351,1973
$GC,9482,1.16,229.3,659.3,7.2,898,9523,0.00,2.70,33.38,1.108,4,0.000,0.062,3145,933,1813
$GC,9558,1.18,238.0,653.3,8.6,901,9572,0.00,2.53,7.88,1.110,6,0.000,0.039,3145,2359,1776
$GC,9903,1.30,272.7,628.0,7.5,918,9938,0.17,2.67,29.88,1.096,4,0.062,0.058,3190,934,1636
$GC,10043,1.23,272.7,615.3,9.1,923,10047,0.00,2.35,0.00,0.000,6,0.000,0.038,3190,2275,1633
$GC,10359,1.18,272.7,586.8,9.2,938,10364,0.15,2.62,0.00,0.000,4,0.111,0.058,3164,3732,1632
$GC,10449,1.19,273.7,578.4,9.0,942,10453,0.00,2.50,0.00,0.000,6,0.000,0.039,3164,2287,1633
$GC,10770,1.25,274.7,550.5,9.0,958,10774,0.00,2.60,0.00,0.000,4,0.000,0.056,3164,3733,1631
$GC,10849,1.27,288.3,543.4,8.4,961,10868,0.00,2.72,13.07,1.087,6,0.000,0.040,3164,2170,1571
$GC,11188,1.38,299.3,515.2,8.5,978,11202,0.17,0.00,9.60,1.075,6,0.062,0.000,3208,2170,1527
$GC,11527,1.31,299.3,482.3,10.0,1002,11531,0.00,2.25,0.00,0.000,4,0.000,0.061,3208,929,1525
$GC,11601,1.24,299.3,474.5,10.1,1008,11606,0.17,2.47,0.00,0.000,6,0.111,0.038,3177,2339,1524
$GC,11926,1.32,316.4,446.8,8.3,1038,11948,0.00,2.55,14.48,1.023,4,0.000,0.057,3177,3723,1458
$GC,12027,1.32,316.4,437.7,9.0,1047,12032,0.00,2.70,0.00,0.000,6,0.000,0.038,3177,2181,1457
$GC,12355,1.41,316.4,408.7,9.0,1077,12360,0.15,2.78,0.00,0.000,4,0.064,0.053,3217,3727,1455
$GC,12389,1.36,316.4,405.3,9.8,1079,12395,0.00,2.92,0.00,0.000,6,0.000,0.038,3216,2057,1455
$GC,12717,1.36,318.1,375.4,8.9,1110,12721,0.00,2.97,0.00,0.000,4,0.000,0.053,3217,3725,1455
$GC,12784,1.29,318.1,368.7,10.3,1115,12790,0.17,2.55,0.00,0.000,6,0.109,0.038,3186,2249,1455
$GC,13109,1.37,323.1,341.6,8.8,1146,13121,0.00,2.67,5.68,0.974,4,0.000,0.053,3186,3726,1430
$GC,13144,1.37,325.7,338.6,8.9,1149,13156,0.00,2.80,2.53,0.956,6,0.000,0.037,3186,2125,1420
$GC,13475,1.50,336.3,310.1,8.5,1180,13494,0.20,2.95,9.30,0.938,4,0.055,0.051,3234,3723,1377
$GC,13518,1.43,336.3,305.8,10.6,1184,13523,0.00,2.50,0.00,0.000,6,0.000,0.036,3234,2286,1377
$GC,13843,1.45,345.6,275.9,8.6,1214,13858,0.00,2.50,8.27,0.905,4,0.000,0.054,3235,937,1338
$GC,13922,1.39,351.5,268.8,8.8,1221,13934,0.15,2.65,5.20,0.908,6,0.115,0.036,3209,2449,1315
$GC,14259,1.44,351.5,238.2,9.1,1263,14264,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2448,1314
$GC,14603,1.54,375.9,209.0,7.9,1324,14631,0.15,2.80,21.10,0.807,4,0.062,0.051,3250,925,1213
$GC,14736,1.47,375.9,196.5,9.8,1347,14742,0.12,2.38,0.00,0.000,6,0.114,0.035,3228,2294,1211
$GC,15083,1.59,397.1,165.6,8.1,1408,15110,0.12,2.60,17.77,0.767,4,0.065,0.051,3261,3717,1127
$GC,15118,1.61,407.6,162.5,8.5,1414,15134,0.00,2.78,8.82,0.759,6,0.000,0.034,3261,2127,1086
$GC,15475,1.78,447.7,129.5,7.2,1477,15517,0.15,2.90,33.65,0.708,4,0.055,0.047,3307,3723,922
$GC,15536,1.80,459.2,124.3,8.5,1488,15552,0.00,2.95,10.10,0.715,6,0.000,0.035,3307,2033,875
$GC,15891,1.82,473.7,91.8,8.4,1551,15908,0.00,1.98,11.27,0.694,4,0.000,0.051,3307,932,816
$GC,16006,1.82,473.7,81.7,9.3,1571,16012,0.00,2.08,0.00,0.000,6,0.000,0.031,3307,2151,814
$GC,16351,2.00,505.9,51.7,7.6,1632,16384,0.15,2.85,26.30,0.617,4,0.051,0.046,3355,3721,684
$GC,16436,2.00,505.9,43.8,9.9,1647,16442,0.00,2.45,0.00,0.000,6,0.000,0.030,3356,2280,682
$GC,16781,2.05,505.9,11.4,9.7,1708,16787,0.00,2.50,0.00,0.000,4,0.000,0.043,3355,3723,682
$GC,16810,2.05,505.9,8.4,10.2,1713,16816,0.00,2.67,0.00,0.000,6,0.000,0.029,3356,2135,682
$STATE,16892,end climb,SURFACE_DEPTH_REACHED
$STATE,16893,begin surface coast
$FINISH,-0.1,0.999299
$STATE,16922,end surface coast,CONTROL_FINISHED_OK
$STATE,16922,begin surface
$SM_CCo,17008,0.00,0.000,0,0,678,507.77
$SM_GC,0.77,13.68,0.00,0.00,0.040,0.000,0.000,246,2265,678,-12.19,1.39,507.77
$IRIDIUM_FIX,1232.20,12047.98,070897,141458
$TT8_MAMPS,0.023777
$HUMID,2072
$INTERNAL_PRESSURE,9.67811
$TCM_TEMP,24.90
$XPDR_PINGS,384
$ALTIM_BOTTOM_PING,580.4,165.5
$24V_AH,23.1,74.548
$10V_AH,10.1,38.328
$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,35.025,193.700,548.025,0.000,0.000,74.905,114.454,364.236,98.500,0.000,0.000,15.568,2761.573,10400.029,682.617,2972.828,1021.419,0.000,2222.647,0.000,2919.617,0.000,20.333
$DEVICE_MAMPS,165.672,62.127,1151.267,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1158.586,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56591,1733
$CAP_FILE_SIZE,190460,0
$CFSIZE,260165632,223412224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130508,194255,1235.613,12048.774,28,0.9,46,-0.8