version: 66.03
glider: 122
mission: 6
dive: 408
start: 5 15 108 2 17 36
data:
$ID,122
$MISSION,6
$DIVE,408
$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,-35240.531
$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,37
$R_STBD_OVSHOOT,26
$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
$GPS1,021056,1234.812,12047.953,40,1.5,40,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-66.3
$GPS2,021705,1234.878,12047.924,11,3.5,30,-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,179.9,9036,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.67,-194.7,0.0,0.0,0,102,0.00,0.00,-74.32,0.000,2,0.000,0.000,248,2194,2413
$GC,106,-1.67,-194.7,3.2,-7.8,15,147,13.18,0.00,-21.65,0.000,6,0.167,0.000,2535,2195,3544
$GC,485,-1.45,-194.7,71.0,-15.3,83,492,0.25,2.47,0.00,0.000,4,0.120,0.042,2583,3637,3546
$GC,589,-1.33,-194.7,85.9,-14.7,101,596,0.15,2.35,0.00,0.000,6,0.111,0.025,2610,2201,3546
$GC,935,-1.40,-194.7,126.8,-10.3,162,941,0.00,2.45,0.00,0.000,4,0.000,0.042,2610,3630,3548
$GC,975,-1.40,-194.7,131.4,-11.2,169,981,0.00,2.03,0.00,0.000,6,0.000,0.025,2611,2376,3548
$GC,1320,-1.54,-194.7,164.9,-9.7,230,1326,0.17,0.00,0.00,0.000,6,0.043,0.000,2550,2376,3549
$GC,1664,-1.54,-194.7,199.4,-10.1,291,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2376,3549
$GC,2010,-1.58,-194.7,231.9,-9.3,352,2016,0.00,2.15,0.00,0.000,4,0.000,0.045,2550,3630,3549
$GC,2096,-1.52,-194.7,241.2,-10.2,367,2103,0.12,2.00,0.00,0.000,6,0.107,0.028,2573,2402,3550
$GC,2434,-1.61,-194.7,272.6,-8.8,406,2437,0.00,2.10,0.00,0.000,4,0.000,0.048,2573,3625,3548
$GC,2518,-1.61,-194.7,280.6,-9.6,413,2523,0.00,2.12,0.00,0.000,6,0.000,0.029,2573,2336,3547
$GC,2846,-1.69,-194.7,308.9,-8.8,444,2851,0.15,2.65,0.00,0.000,4,0.051,0.046,2522,825,3546
$GC,2915,-1.59,-194.7,316.3,-11.1,449,2921,0.17,2.85,0.00,0.000,6,0.103,0.034,2554,2494,3546
$GC,3240,-1.65,-194.7,346.1,-9.1,480,3244,0.00,1.95,0.00,0.000,4,0.000,0.051,2554,3624,3543
$GC,3291,-1.62,-194.7,351.3,-9.9,484,3297,0.00,2.12,0.00,0.000,6,0.000,0.031,2554,2344,3543
$GC,3620,-1.67,-194.7,381.6,-9.4,515,3624,0.00,2.67,0.00,0.000,4,0.000,0.048,2554,827,3540
$GC,3697,-1.67,-194.7,389.8,-10.2,521,3703,0.00,2.85,0.00,0.000,6,0.000,0.034,2554,2487,3540
$GC,4026,-1.73,-194.7,418.8,-8.6,552,4030,0.12,2.00,0.00,0.000,4,0.056,0.050,2516,3635,3537
$GC,4089,-1.60,-194.7,425.7,-11.0,557,4095,0.20,2.15,0.00,0.000,6,0.109,0.031,2551,2346,3537
$GC,4415,-1.66,-194.7,455.3,-9.1,588,4420,0.00,2.70,0.00,0.000,4,0.000,0.050,2551,826,3535
$GC,4478,-1.63,-194.7,461.0,-9.3,593,4482,0.00,2.85,0.00,0.000,6,0.000,0.035,2551,2471,3535
$GC,4805,-1.69,-194.7,489.8,-8.8,623,4809,0.00,2.00,0.00,0.000,4,0.000,0.054,2552,3624,3532
$GC,4864,-1.66,-194.7,495.3,-9.4,628,4868,0.00,2.17,0.00,0.000,6,0.000,0.033,2552,2336,3532
$GC,5194,-1.72,-194.7,524.2,-8.7,646,5198,0.00,2.67,0.00,0.000,4,0.000,0.051,2551,832,3530
$GC,5267,-1.72,-194.7,531.0,-9.1,649,5271,0.00,2.83,0.00,0.000,6,0.000,0.036,2552,2461,3529
$GC,5583,-1.80,-194.7,557.8,-8.2,664,5588,0.15,2.05,0.00,0.000,4,0.053,0.054,2504,3623,3526
$GC,5656,-1.67,-194.7,564.9,-9.4,667,5661,0.20,2.15,0.00,0.000,6,0.115,0.033,2539,2346,3525
$GC,5982,-1.72,-194.7,591.3,-8.4,683,5987,0.00,2.70,0.00,0.000,4,0.000,0.053,2539,832,3524
$GC,6033,-1.66,-194.7,596.3,-8.8,685,6038,0.00,2.85,0.00,0.000,6,0.000,0.037,2539,2473,3524
$GC,6351,-1.73,-194.7,622.2,-8.1,700,6356,0.00,2.95,0.00,0.000,4,0.000,0.052,2539,827,3522
$GC,6407,-1.69,-194.7,627.4,-8.9,702,6414,0.00,2.78,0.00,0.000,6,0.000,0.036,2540,2434,3522
$GC,6725,-1.74,-194.7,653.3,-8.2,718,6728,0.00,2.10,0.00,0.000,4,0.000,0.058,2539,3631,3520
$GC,6803,-1.70,-194.7,660.7,-8.8,721,6807,0.00,2.20,0.00,0.000,6,0.000,0.035,2540,2330,3519
$GC,7125,-1.74,-194.7,688.3,-8.7,737,7130,0.00,2.70,0.00,0.000,4,0.000,0.055,2539,826,3518
$GC,7181,-1.70,-194.7,693.9,-10.3,739,7187,0.00,2.83,0.00,0.000,6,0.000,0.038,2539,2446,3518
$GC,7498,-1.76,-194.7,722.2,-8.6,755,7503,0.00,2.90,0.00,0.000,4,0.000,0.054,2539,832,3516
$STATE,7522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7523,begin apogee
$GC,7532,-0.35,0.0,725.0,9.8,756,7702,1.42,0.00,162.43,1.137,6,0.111,0.000,2820,2341,2748
$STATE,7703,end apogee,CONTROL_FINISHED_OK
$STATE,7703,begin climb
$GC,7706,1.67,194.7,735.0,0.0,765,7885,2.03,2.60,165.50,1.099,4,0.051,0.058,3272,3722,1953
$GC,7907,1.39,194.7,725.9,12.2,774,7914,0.35,2.40,0.00,0.000,6,0.139,0.039,3213,2357,1953
$GC,8227,1.33,236.5,695.4,9.3,790,8269,0.00,2.67,35.40,1.096,4,0.000,0.061,3213,931,1782
$GC,8319,1.20,236.5,685.3,11.3,794,8324,0.25,2.45,0.00,0.000,6,0.116,0.038,3168,2319,1780
$GC,8641,1.30,297.3,657.3,8.5,810,8701,0.00,2.62,52.72,1.078,4,0.000,0.059,3168,926,1534
$GC,8747,1.33,314.5,647.2,10.3,815,8769,0.12,2.42,14.85,1.085,6,0.067,0.038,3200,2297,1465
$GC,9081,1.31,317.6,611.0,10.9,831,9085,0.00,2.50,0.00,0.000,4,0.000,0.058,3200,931,1460
$GC,9148,1.26,317.6,603.3,11.0,834,9152,0.00,2.30,0.00,0.000,6,0.000,0.038,3200,2248,1458
$GC,9470,1.29,331.3,569.8,10.4,850,9491,0.00,2.50,13.88,1.076,4,0.000,0.059,3200,934,1396
$GC,9538,1.25,331.3,562.3,11.5,853,9542,0.12,2.25,0.00,0.000,6,0.120,0.037,3180,2214,1394
$GC,9866,1.44,369.4,530.7,9.5,869,9908,0.15,2.45,33.53,1.029,4,0.061,0.059,3221,932,1241
$GC,9913,1.44,369.4,525.6,11.3,871,9918,0.00,2.47,0.00,0.000,6,0.000,0.038,3221,2326,1240
$GC,10238,1.40,369.4,489.5,11.1,891,10243,0.00,2.55,0.00,0.000,4,0.000,0.058,3221,929,1237
$GC,10339,1.36,372.7,478.4,10.9,899,10345,0.00,2.30,0.00,0.000,6,0.000,0.037,3221,2249,1236
$GC,10667,1.36,374.0,443.5,10.9,930,10678,0.00,2.45,3.00,1.022,4,0.000,0.057,3221,932,1223
$GC,10729,1.36,374.0,435.9,11.8,935,10735,0.00,2.22,0.00,0.000,6,0.000,0.037,3221,2211,1222
$GC,11057,1.46,397.4,401.3,10.1,966,11083,0.00,2.40,21.02,0.963,4,0.000,0.056,3221,922,1128
$GC,11179,1.48,414.4,388.0,10.3,976,11199,0.00,1.98,15.25,0.954,6,0.000,0.035,3221,2064,1058
$GC,11520,1.65,438.9,353.5,10.0,1008,11551,0.15,2.17,21.73,0.920,4,0.056,0.058,3269,926,957
$GC,11597,1.56,438.9,344.5,11.4,1015,11602,0.12,2.35,0.00,0.000,6,0.118,0.037,3248,2264,956
$GC,11923,1.63,438.9,308.6,11.0,1045,11927,0.00,2.60,0.00,0.000,4,0.000,0.054,3247,3731,954
$GC,11940,1.71,452.0,306.7,10.5,1046,11961,0.15,2.90,11.07,0.911,6,0.065,0.037,3283,2066,905
$GC,12281,1.62,452.0,263.5,13.0,1078,12286,0.15,2.05,0.00,0.000,4,0.113,0.054,3253,923,902
$GC,12310,1.57,452.0,259.7,12.7,1080,12314,0.00,2.25,0.00,0.000,6,0.000,0.035,3253,2227,901
$GC,12650,1.68,466.4,222.3,10.4,1133,12671,0.00,2.75,12.38,0.841,4,0.000,0.051,3253,3728,846
$GC,12679,1.74,466.4,219.2,11.5,1138,12685,0.15,3.00,0.00,0.000,6,0.061,0.035,3289,2018,846
$GC,13024,1.66,466.4,176.0,11.5,1199,13031,0.12,3.03,0.00,0.000,4,0.114,0.047,3268,3724,844
$GC,13128,1.69,482.9,164.6,10.3,1217,13149,0.00,2.85,14.15,0.780,6,0.000,0.035,3268,2076,779
$GC,13490,1.96,530.8,128.7,9.1,1281,13538,0.25,3.00,40.95,0.707,4,0.044,0.046,3338,3734,582
$GC,13604,1.93,534.7,116.8,10.8,1301,13615,0.00,2.60,2.85,0.753,6,0.000,0.034,3338,2229,567
$GC,13955,2.07,584.0,80.0,9.0,1363,13992,0.00,2.35,30.83,0.650,4,0.000,0.050,3338,929,416
$GC,14093,2.17,614.6,66.2,9.8,1387,14099,0.17,1.95,0.00,0.000,6,0.054,0.031,3384,2081,414
$GC,14438,2.17,614.6,27.8,11.2,1448,14443,0.00,2.05,0.00,0.000,4,0.000,0.047,3384,917,413
$GC,14461,2.17,614.6,25.1,12.5,1452,14467,0.00,1.83,0.00,0.000,6,0.000,0.029,3384,2006,413
$STATE,14663,end climb,SURFACE_DEPTH_REACHED
$STATE,14663,begin surface coast
$FINISH,-0.1,1.019151
$STATE,14679,end surface coast,CONTROL_FINISHED_OK
$STATE,14680,begin surface
$SM_CCo,14765,0.00,0.000,0,0,411,573.27
$SM_GC,0.65,13.60,0.00,0.00,0.031,0.000,0.000,248,2256,411,-12.17,1.13,573.27
$IRIDIUM_FIX,1229.99,12044.95,080897,222201
$TT8_MAMPS,0.02301
$HUMID,2120
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,24.70
$XPDR_PINGS,329
$ALTIM_BOTTOM_PING,660.3,103.3
$24V_AH,23.0,76.180
$10V_AH,10.1,38.988
$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,34.200,166.650,651.525,0.000,0.000,23.850,39.261,150.848,86.750,0.000,0.000,31.001,2366.500,8809.126,759.529,2591.773,607.887,0.000,2118.582,0.000,2513.273,0.000,34.661
$DEVICE_MAMPS,167.206,60.593,1136.694,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,995.216,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47256,1491
$CAP_FILE_SIZE,163018,0
$CFSIZE,260165632,222806016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150508,062501,1234.984,12047.702,39,1.4,44,-0.8