version: 66.03
glider: 122
mission: 6
dive: 406
start: 5 14 108 17 53 41
data:
$ID,122
$MISSION,6
$DIVE,406
$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,300
$T_MISSION,360
$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,200
$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,-35193.828
$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,30
$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
$GPS1,174707,1234.872,12048.221,37,0.9,37,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-70.1
$GPS2,175308,1234.932,12048.217,12,0.9,12,-0.8
$SPEED_LIMITS,0.191,0.252
$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,183.3,9142,-19.1,-11.000
$D_GRID,725
$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,25,-1.67,-194.7,0.0,0.0,0,101,0.00,0.00,-74.30,0.000,2,0.000,0.000,245,2274,2431
$GC,105,-1.67,-194.7,3.5,-9.3,15,142,13.15,0.00,-21.35,0.000,6,0.166,0.000,2535,2274,3545
$GC,480,-1.47,-194.7,68.8,-15.8,82,487,0.22,2.33,0.00,0.000,4,0.120,0.041,2579,3632,3546
$GC,545,-1.32,-194.7,78.5,-15.5,93,551,0.20,2.38,0.00,0.000,6,0.107,0.025,2616,2192,3547
$GC,890,-1.43,-194.7,118.5,-10.7,154,897,0.12,2.35,0.00,0.000,4,0.052,0.039,2574,819,3549
$GC,915,-1.43,-194.7,121.5,-11.8,158,921,0.00,2.60,0.00,0.000,6,0.000,0.028,2575,2370,3549
$GC,1260,-1.47,-194.7,158.9,-10.5,219,1266,0.00,2.67,0.00,0.000,4,0.000,0.039,2574,814,3550
$GC,1323,-1.43,-194.7,165.8,-10.7,230,1329,0.00,2.45,0.00,0.000,6,0.000,0.028,2574,2282,3550
$GC,1669,-1.50,-194.7,199.2,-8.9,291,1675,0.00,2.53,0.00,0.000,4,0.000,0.042,2574,819,3550
$GC,1749,-1.50,-194.7,207.2,-10.0,305,1755,0.00,2.62,0.00,0.000,6,0.000,0.031,2574,2374,3550
$GC,2094,-1.60,-194.7,238.3,-9.1,366,2100,0.00,2.70,0.00,0.000,4,0.000,0.042,2574,819,3550
$GC,2153,-1.60,-194.7,244.0,-9.4,376,2159,0.00,2.60,0.00,0.000,6,0.000,0.031,2574,2351,3550
$GC,2484,-1.72,-194.7,274.7,-9.4,412,2488,0.17,2.20,0.00,0.000,4,0.046,0.047,2514,3625,3549
$GC,2580,-1.58,-194.7,285.5,-12.0,420,2585,0.22,1.95,0.00,0.000,6,0.102,0.029,2556,2441,3549
$GC,2906,-1.65,-194.7,316.9,-9.8,450,2909,0.00,2.05,0.00,0.000,4,0.000,0.049,2557,3624,3547
$GC,2930,-1.65,-194.7,319.5,-10.8,452,2934,0.00,2.20,0.00,0.000,6,0.000,0.030,2556,2301,3547
$GC,3263,-1.73,-194.7,351.7,-9.5,483,3268,0.15,2.30,0.00,0.000,4,0.052,0.048,2506,3624,3544
$GC,3337,-1.58,-194.7,360.3,-11.6,489,3342,0.28,2.03,0.00,0.000,6,0.107,0.031,2557,2404,3544
$GC,3663,-1.66,-194.7,390.0,-8.8,519,3667,0.00,2.12,0.00,0.000,4,0.000,0.050,2557,3626,3542
$GC,3697,-1.66,-194.7,393.3,-9.2,522,3701,0.00,2.28,0.00,0.000,6,0.000,0.031,2557,2275,3542
$GC,4025,-1.73,-194.7,422.0,-8.8,552,4030,0.15,2.55,0.00,0.000,4,0.054,0.049,2510,825,3539
$GC,4059,-1.62,-194.7,425.8,-10.4,554,4066,0.22,2.80,0.00,0.000,6,0.103,0.035,2551,2449,3539
$GC,4385,-1.69,-194.7,455.5,-9.3,585,4389,0.00,2.05,0.00,0.000,4,0.000,0.052,2552,3622,3536
$GC,4419,-1.69,-194.7,459.0,-10.2,588,4423,0.00,2.22,0.00,0.000,6,0.000,0.032,2552,2306,3536
$GC,4748,-1.77,-194.7,488.3,-8.7,618,4753,0.15,2.62,0.00,0.000,4,0.055,0.050,2506,826,3534
$GC,4822,-1.66,-194.7,496.4,-11.0,624,4827,0.17,2.40,0.00,0.000,6,0.107,0.035,2538,2218,3533
$GC,5152,-1.66,-194.7,525.6,-8.7,641,5153,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2218,3531
$GC,5458,-1.71,-194.7,552.5,-8.6,656,5463,0.00,2.47,0.00,0.000,4,0.000,0.054,2538,3619,3528
$GC,5493,-1.67,-194.7,555.7,-8.5,657,5499,0.00,2.08,0.00,0.000,6,0.000,0.034,2538,2382,3528
$GC,5810,-1.74,-194.7,583.5,-9.0,673,5814,0.00,2.20,0.00,0.000,4,0.000,0.054,2538,3626,3526
$GC,5832,-1.74,-194.7,585.8,-9.7,674,5836,0.00,2.33,0.00,0.000,6,0.000,0.034,2538,2263,3526
$GC,6157,-1.78,-194.7,616.4,-9.7,690,6161,0.00,2.58,0.00,0.000,4,0.000,0.054,2537,819,3524
$GC,6230,-1.74,-194.7,624.4,-10.9,693,6234,0.00,2.67,0.00,0.000,6,0.000,0.037,2538,2361,3524
$GC,6549,-1.80,-194.7,654.1,-9.3,708,6553,0.12,2.22,0.00,0.000,4,0.059,0.056,2503,3616,3522
$GC,6615,-1.69,-194.7,661.6,-11.0,711,6620,0.17,2.35,0.00,0.000,6,0.116,0.035,2533,2240,3522
$GC,6942,-1.76,-194.7,690.1,-8.5,727,6947,0.00,2.55,0.00,0.000,4,0.000,0.056,2533,817,3520
$GC,6999,-1.71,-194.7,695.9,-9.7,729,7005,0.00,2.35,0.00,0.000,6,0.000,0.037,2533,2178,3520
$GC,7316,-1.75,-194.7,724.6,-9.4,745,7317,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2179,3518
$STATE,7334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7334,begin apogee
$GC,7341,-0.35,0.0,726.7,9.5,746,7507,1.45,0.00,162.12,1.141,6,0.097,0.000,2825,2345,2748
$STATE,7508,end apogee,CONTROL_FINISHED_OK
$STATE,7508,begin climb
$GC,7511,1.67,194.7,737.3,0.0,754,7681,2.00,0.00,165.07,1.104,6,0.050,0.000,3275,2344,1954
$GC,7983,1.42,194.7,701.0,11.4,777,7988,0.30,2.58,0.00,0.000,4,0.118,0.058,3217,930,1952
$GC,8023,1.27,200.8,696.7,10.8,779,8034,0.20,2.47,5.00,1.128,6,0.122,0.038,3183,2334,1929
$GC,8353,1.27,239.2,665.2,9.4,795,8389,0.00,0.00,32.80,1.097,6,0.000,0.000,3183,2332,1772
$GC,8700,1.31,284.2,632.0,9.2,812,8744,0.00,2.62,38.88,1.079,4,0.000,0.058,3182,938,1589
$GC,8843,1.34,304.1,617.8,10.2,818,8867,0.00,2.45,16.90,1.081,6,0.000,0.039,3182,2326,1508
$GC,9184,1.39,331.4,584.1,9.9,835,9214,0.12,2.65,23.65,1.063,4,0.070,0.058,3211,935,1396
$GC,9295,1.33,331.4,572.0,11.4,840,9299,0.00,2.38,0.00,0.000,6,0.000,0.038,3211,2281,1392
$GC,9624,1.30,333.0,535.8,10.9,856,9628,0.12,2.45,0.00,0.000,4,0.114,0.057,3190,937,1391
$GC,9713,1.31,340.7,526.3,10.7,860,9729,0.00,2.20,7.45,1.074,6,0.000,0.038,3190,2213,1358
$GC,10041,1.46,377.9,495.2,9.5,878,10077,0.15,0.00,33.03,1.010,6,0.062,0.000,3231,2213,1207
$GC,10391,1.46,379.4,456.7,10.9,911,10395,0.00,2.30,0.00,0.000,4,0.000,0.056,3231,936,1202
$GC,10453,1.40,379.4,449.6,11.8,916,10458,0.00,1.90,0.00,0.000,6,0.000,0.036,3231,2037,1201
$GC,10781,1.34,379.4,413.0,11.0,947,10785,0.15,2.00,0.00,0.000,4,0.110,0.057,3200,937,1200
$GC,10792,1.30,388.0,411.5,10.7,947,10808,0.00,2.10,8.27,1.006,6,0.000,0.037,3200,2149,1165
$GC,11128,1.54,433.0,379.2,9.2,979,11174,0.15,2.90,40.30,0.924,4,0.060,0.054,3243,3729,981
$GC,11265,1.51,433.0,363.5,13.1,991,11270,0.00,2.47,0.00,0.000,6,0.000,0.037,3243,2307,978
$GC,11591,1.52,440.0,325.8,10.7,1021,11602,0.00,2.50,5.30,0.946,4,0.000,0.053,3243,930,953
$GC,11665,1.51,449.1,317.2,10.6,1027,11681,0.00,2.10,8.25,0.921,6,0.000,0.035,3243,2147,916
$GC,12000,1.58,458.9,280.7,10.6,1059,12011,0.00,0.00,8.70,0.899,6,0.000,0.000,3243,2147,877
$GC,12331,1.70,476.8,245.2,10.3,1094,12354,0.15,2.88,15.57,0.844,4,0.060,0.052,3286,3726,803
$GC,12428,1.65,476.8,233.6,12.7,1111,12435,0.12,3.05,0.00,0.000,6,0.133,0.038,3267,1986,803
$GC,12773,1.65,476.8,193.6,11.2,1172,12779,0.00,1.88,0.00,0.000,4,0.000,0.055,3267,932,801
$GC,12842,1.65,476.8,185.2,11.8,1184,12848,0.00,2.00,0.00,0.000,6,0.000,0.034,3267,2100,801
$GC,13187,1.85,525.8,151.3,9.0,1245,13234,0.15,2.20,41.60,0.730,4,0.058,0.050,3311,926,604
$GC,13287,1.88,544.6,140.9,10.2,1263,13308,0.00,1.85,16.02,0.729,6,0.000,0.033,3311,2004,527
$GC,13649,2.12,595.6,105.4,8.9,1327,13677,0.20,2.03,22.10,0.685,4,0.050,0.051,3369,925,417
$GC,13752,2.05,595.6,93.6,11.7,1345,13758,0.00,2.15,0.00,0.000,6,0.000,0.031,3369,2185,415
$GC,14096,2.05,595.6,54.7,11.3,1406,14101,0.00,2.70,0.00,0.000,4,0.000,0.047,3370,3730,414
$GC,14160,2.05,595.6,47.6,11.4,1417,14166,0.00,2.92,0.00,0.000,6,0.000,0.031,3370,2020,414
$GC,14505,2.18,618.2,12.1,10.1,1478,14511,0.00,1.90,0.00,0.000,4,0.000,0.049,3370,930,414
$GC,14551,2.22,618.2,7.1,11.1,1486,14557,0.00,2.12,0.00,0.000,6,0.000,0.028,3370,2204,414
$STATE,14600,end climb,SURFACE_DEPTH_REACHED
$STATE,14600,begin surface coast
$FINISH,-0.1,1.009155
$STATE,14619,end surface coast,CONTROL_FINISHED_OK
$STATE,14619,begin surface
$SM_CCo,14704,0.00,0.000,0,0,413,572.78
$SM_GC,0.66,13.62,0.00,0.00,0.035,0.000,0.000,245,2206,413,-12.18,-0.28,572.78
$IRIDIUM_FIX,1229.99,12047.98,080897,131323
$TT8_MAMPS,0.023777
$HUMID,2086
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,24.80
$XPDR_PINGS,310
$ALTIM_BOTTOM_PING,690.1,56.2
$24V_AH,23.1,75.759
$10V_AH,10.1,38.829
$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,34.425,146.825,651.025,0.000,0.000,24.890,41.902,157.455,83.000,0.000,0.000,12.927,2364.736,8832.853,748.905,2508.042,613.732,0.000,2057.014,0.000,2449.564,0.000,45.548
$DEVICE_MAMPS,165.672,58.292,1141.296,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1000.202,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47191,1498
$CAP_FILE_SIZE,160389,0
$CFSIZE,260165632,222957568
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140508,220008,1234.710,12048.103,47,0.9,47,-0.8