version: 66.03
glider: 122
mission: 6
dive: 414
start: 5 16 108 6 26 5
data:
$ID,122
$MISSION,6
$DIVE,414
$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,-35331.949
$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,55
$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
$GPS1,061802,1236.440,12046.254,43,1.1,43,-0.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-68.1
$GPS2,062533,1236.561,12046.274,13,1.4,13,-0.8
$SPEED_LIMITS,0.156,0.206
$TGT_NAME,RECOV_12_W
$TGT_LATLONG,1230.000,12043.000
$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,206.8,13516,-18.6,-9.016
$D_GRID,807
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,25,-1.56,-146.0,0.0,0.0,0,92,0.00,0.00,-64.38,0.000,2,0.000,0.000,248,2251,2429
$GC,96,-1.56,-146.0,3.2,-7.4,13,132,13.05,0.00,-18.15,0.000,6,0.159,0.000,2559,2251,3345
$GC,471,-1.33,-146.0,66.8,-15.5,80,477,0.25,2.30,0.00,0.000,4,0.123,0.041,2607,3602,3346
$GC,541,-1.21,-146.0,76.1,-13.3,92,547,0.17,2.30,0.00,0.000,6,0.105,0.025,2640,2195,3346
$GC,886,-1.27,-146.0,113.6,-9.6,153,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2195,3348
$GC,1230,-1.33,-146.0,147.9,-8.2,214,1236,0.12,2.40,0.00,0.000,4,0.051,0.041,2598,3600,3350
$GC,1288,-1.27,-146.0,153.7,-9.9,224,1295,0.15,1.98,0.00,0.000,6,0.097,0.025,2627,2374,3350
$GC,1634,-1.39,-146.0,182.3,-8.2,285,1640,0.12,2.67,0.00,0.000,4,0.051,0.041,2583,822,3351
$GC,1682,-1.33,-146.0,186.7,-10.0,293,1689,0.15,2.65,0.00,0.000,6,0.098,0.030,2612,2402,3351
$GC,2027,-1.45,-146.0,216.0,-7.8,354,2033,0.00,2.72,0.00,0.000,4,0.000,0.042,2612,828,3351
$GC,2063,-1.49,-146.0,218.7,-7.5,360,2070,0.15,2.67,0.00,0.000,6,0.050,0.031,2564,2411,3351
$GC,2408,-1.49,-146.0,249.2,-9.5,421,2414,0.00,2.05,0.00,0.000,4,0.000,0.048,2564,3607,3350
$GC,2489,-1.39,-146.0,257.6,-10.7,429,2493,0.20,2.15,0.00,0.000,6,0.100,0.029,2601,2302,3349
$GC,2814,-1.49,-146.0,286.0,-8.2,459,2818,0.00,2.25,0.00,0.000,4,0.000,0.047,2601,3606,3348
$GC,2904,-1.49,-146.0,293.4,-7.9,466,2910,0.00,2.05,0.00,0.000,6,0.000,0.030,2601,2360,3348
$GC,3233,-1.58,-146.0,316.3,-6.8,497,3238,0.15,2.70,0.00,0.000,4,0.051,0.046,2550,820,3346
$GC,3251,-1.62,-146.0,317.8,-7.1,498,3255,0.00,2.55,0.00,0.000,6,0.000,0.033,2550,2317,3346
$GC,3578,-1.62,-146.0,345.0,-9.1,528,3583,0.00,2.62,0.00,0.000,4,0.000,0.047,2550,826,3343
$GC,3657,-1.53,-146.0,352.8,-9.5,534,3664,0.12,2.40,0.00,0.000,6,0.110,0.032,2572,2244,3343
$GC,3983,-1.53,-146.0,381.0,-7.9,565,3987,0.00,2.50,0.00,0.000,4,0.000,0.048,2572,824,3341
$GC,4023,-1.49,-146.0,384.2,-7.8,568,4027,0.00,2.65,0.00,0.000,6,0.000,0.034,2572,2373,3341
$GC,4351,-1.52,-146.0,407.9,-6.9,598,4355,0.00,2.17,0.00,0.000,4,0.000,0.050,2572,3625,3338
$GC,4437,-1.52,-146.0,414.9,-7.6,605,4441,0.00,2.30,0.00,0.000,6,0.000,0.032,2572,2260,3337
$GC,4765,-1.59,-146.0,440.4,-7.7,635,4769,0.00,2.55,0.00,0.000,4,0.000,0.050,2572,818,3335
$GC,4810,-1.55,-146.0,444.5,-8.7,638,4816,0.00,2.47,0.00,0.000,6,0.000,0.033,2572,2263,3334
$GC,5138,-1.61,-146.0,470.6,-8.4,669,5142,0.00,2.55,0.00,0.000,4,0.000,0.050,2572,820,3332
$GC,5156,-1.64,-146.0,472.4,-8.5,670,5161,0.12,2.42,0.00,0.000,6,0.059,0.034,2535,2236,3332
$GC,5492,-1.60,-146.0,501.8,-8.7,700,5496,0.00,2.50,0.00,0.000,4,0.000,0.051,2534,822,3330
$GC,5516,-1.52,-146.0,503.9,-8.7,701,5521,0.20,2.65,0.00,0.000,6,0.108,0.035,2571,2356,3329
$GC,5847,-1.59,-146.0,532.1,-8.6,717,5852,0.00,2.75,0.00,0.000,4,0.000,0.051,2571,815,3327
$GC,5942,-1.59,-146.0,540.6,-9.1,721,5946,0.00,2.53,0.00,0.000,6,0.000,0.035,2571,2282,3327
$GC,6260,-1.65,-146.0,565.1,-7.5,736,6265,0.12,2.60,0.00,0.000,4,0.059,0.051,2536,820,3326
$GC,6300,-1.54,-146.0,568.5,-8.7,738,6305,0.17,2.72,0.00,0.000,6,0.108,0.036,2567,2395,3326
$GC,6631,-1.59,-146.0,592.9,-7.2,754,6634,0.00,2.15,0.00,0.000,4,0.000,0.056,2567,3615,3324
$GC,6721,-1.59,-146.0,600.3,-7.7,758,6725,0.00,2.28,0.00,0.000,6,0.000,0.035,2567,2272,3323
$GC,7044,-1.65,-146.0,623.4,-7.3,774,7049,0.00,2.60,0.00,0.000,4,0.000,0.054,2567,814,3321
$GC,7113,-1.65,-146.0,628.6,-7.7,777,7117,0.00,2.72,0.00,0.000,6,0.000,0.036,2567,2392,3320
$GC,7440,-1.71,-146.0,650.4,-6.6,793,7446,0.15,2.83,0.00,0.000,4,0.056,0.052,2522,815,3319
$GC,7463,-1.66,-146.0,652.7,-7.5,794,7468,0.10,2.55,0.00,0.000,6,0.125,0.036,2539,2290,3319
$GC,7786,-1.66,-146.0,678.0,-9.1,810,7790,0.00,2.65,0.00,0.000,4,0.000,0.054,2539,816,3317
$GC,7853,-1.57,-146.0,684.9,-10.4,813,7858,0.12,2.55,0.00,0.000,6,0.123,0.037,2560,2290,3317
$GC,8175,-1.61,-146.0,710.5,-7.2,829,8179,0.00,2.65,0.00,0.000,4,0.000,0.055,2560,815,3316
$GC,8208,-1.61,-146.0,713.3,-8.1,830,8214,0.00,2.75,0.00,0.000,6,0.000,0.038,2560,2399,3316
$GC,8525,-1.65,-146.0,737.7,-8.0,846,8529,0.00,2.83,0.00,0.000,4,0.000,0.054,2560,823,3315
$GC,8542,-1.65,-146.0,739.4,-8.4,847,8546,0.00,2.58,0.00,0.000,6,0.000,0.038,2560,2305,3315
$GC,8869,-1.69,-146.0,765.3,-7.7,863,8875,0.12,2.67,0.00,0.000,4,0.062,0.054,2527,817,3313
$GC,8956,-1.60,-146.0,773.4,-8.7,867,8961,0.15,2.50,0.00,0.000,6,0.119,0.038,2553,2257,3313
$GC,9287,-1.64,-146.0,798.3,-7.4,883,9291,0.00,2.58,0.00,0.000,4,0.000,0.057,2553,824,3312
$STATE,9384,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9384,begin apogee
$GC,9394,-0.35,0.0,807.0,8.6,887,9520,1.38,0.00,120.60,1.216,6,0.114,0.000,2823,2334,2749
$STATE,9521,end apogee,CONTROL_FINISHED_OK
$STATE,9521,begin climb
$GC,9525,1.56,146.0,808.5,0.0,894,9656,1.92,0.00,126.62,1.177,6,0.054,0.000,3243,2334,2152
$GC,9958,1.29,146.0,775.5,9.5,915,9963,0.28,2.53,0.00,0.000,4,0.119,0.058,3192,944,2149
$GC,9992,1.19,181.2,772.8,7.4,916,10028,0.15,2.45,30.02,1.178,6,0.129,0.039,3167,2338,2009
$GC,10348,1.14,193.8,741.9,8.5,934,10363,0.00,2.60,10.52,1.190,4,0.000,0.058,3166,944,1958
$GC,10492,1.08,193.8,728.5,9.3,939,10496,0.15,2.35,0.00,0.000,6,0.124,0.038,3141,2283,1957
$GC,10807,1.14,229.1,703.8,7.4,954,10843,0.00,2.67,30.45,1.158,4,0.000,0.061,3141,3723,1814
$GC,10953,1.16,244.5,692.4,8.3,959,10972,0.00,2.67,13.62,1.163,6,0.000,0.041,3141,2199,1750
$GC,11292,1.28,264.6,665.2,8.1,976,11316,0.17,2.85,17.48,1.150,4,0.065,0.055,3185,3718,1669
$GC,11434,1.21,264.6,651.1,9.9,982,11439,0.00,2.42,0.00,0.000,6,0.000,0.040,3185,2331,1668
$GC,11751,1.16,264.6,621.0,9.6,997,11756,0.15,2.53,0.00,0.000,4,0.119,0.056,3156,3732,1666
$GC,11795,1.16,264.6,616.7,9.2,999,11800,0.00,2.72,0.00,0.000,6,0.000,0.040,3156,2177,1666
$GC,12117,1.24,265.0,587.8,9.0,1015,12119,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2176,1666
$GC,12427,1.33,274.2,560.4,8.6,1030,12437,0.17,0.00,8.00,1.133,6,0.062,0.000,3196,2176,1630
$GC,12736,1.35,288.4,532.8,8.4,1045,12757,0.00,2.35,12.77,1.093,4,0.000,0.061,3197,934,1571
$GC,12804,1.29,290.5,526.5,8.9,1048,12808,0.00,1.98,0.00,0.000,6,0.000,0.035,3196,2068,1571
$GC,13127,1.30,296.8,498.3,8.7,1064,13138,0.00,0.00,7.53,1.085,6,0.000,0.000,3197,2068,1538
$GC,13460,1.33,296.8,467.9,9.7,1095,13464,0.00,2.95,0.00,0.000,4,0.000,0.054,3196,3724,1536
$GC,13545,1.29,296.8,459.4,10.0,1102,13550,0.00,2.70,0.00,0.000,6,0.000,0.038,3196,2174,1536
$GC,13872,1.32,296.8,428.0,10.1,1132,13876,0.00,2.22,0.00,0.000,4,0.000,0.057,3196,927,1536
$GC,13929,1.32,296.8,422.4,9.0,1137,13933,0.00,1.92,0.00,0.000,6,0.000,0.035,3197,2046,1535
$GC,14263,1.40,318.2,393.2,8.1,1168,14287,0.00,3.10,18.48,0.979,4,0.000,0.053,3197,3733,1450
$GC,14386,1.41,319.5,382.1,9.0,1179,14391,0.00,2.70,0.00,0.000,6,0.000,0.038,3197,2183,1449
$GC,14714,1.48,321.6,353.5,8.9,1209,14725,0.15,2.30,2.85,0.974,4,0.061,0.054,3238,931,1435
$GC,14777,1.38,321.6,346.8,10.1,1214,14783,0.17,1.92,0.00,0.000,6,0.110,0.034,3207,2053,1434
$GC,15103,1.47,339.6,317.5,8.2,1245,15125,0.00,3.05,15.73,0.917,4,0.000,0.051,3207,3732,1363
$GC,15210,1.48,349.1,308.2,8.6,1254,15226,0.00,2.67,8.38,0.923,6,0.000,0.036,3207,2188,1324
$GC,15546,1.60,373.6,281.0,7.9,1286,15572,0.17,2.33,21.08,0.867,4,0.059,0.054,3254,922,1224
$GC,15660,1.54,373.6,269.8,9.9,1295,15665,0.00,1.95,0.00,0.000,6,0.000,0.035,3255,2057,1221
$GC,15993,1.54,373.6,233.9,10.3,1339,15998,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,2059,1220
$GC,16337,1.59,378.1,202.8,8.8,1400,16348,0.00,3.03,3.38,0.851,4,0.000,0.050,3254,3730,1206
$GC,16434,1.55,378.1,192.8,10.3,1417,16440,0.00,2.75,0.00,0.000,6,0.000,0.035,3254,2137,1206
$GC,16778,1.55,378.1,161.5,9.2,1478,16784,0.00,2.15,0.00,0.000,4,0.000,0.052,3254,922,1205
$GC,16847,1.55,378.1,155.3,9.5,1490,16852,0.00,1.83,0.00,0.000,6,0.000,0.032,3254,2000,1204
$GC,17191,1.72,424.7,128.3,6.9,1551,17238,0.12,3.12,39.65,0.706,4,0.063,0.048,3288,3732,1016
$GC,17347,1.79,446.9,115.5,8.0,1579,17373,0.00,2.80,18.30,0.699,6,0.000,0.033,3288,2105,925
$GC,17714,1.92,446.9,88.0,9.0,1644,17721,0.15,2.08,0.00,0.000,4,0.054,0.048,3337,926,920
$GC,17778,1.87,446.9,81.7,9.5,1655,17785,0.12,1.83,0.00,0.000,6,0.108,0.030,3314,2012,919
$GC,18124,2.00,472.4,53.5,7.9,1716,18151,0.12,3.05,20.50,0.614,4,0.061,0.044,3352,3731,821
$GC,18215,2.04,494.6,46.0,8.0,1732,18242,0.00,2.78,18.17,0.604,6,0.000,0.031,3352,2102,730
$GC,18583,2.16,524.4,14.5,7.7,1797,18614,0.00,2.12,23.45,0.559,4,0.000,0.046,3352,928,609
$GC,18644,2.20,524.4,7.8,12.7,1808,18650,0.15,1.80,0.00,0.000,6,0.052,0.028,3395,2016,608
$STATE,18704,end climb,SURFACE_DEPTH_REACHED
$STATE,18704,begin surface coast
$FINISH,-0.1,1.019319
$STATE,18728,end surface coast,CONTROL_FINISHED_OK
$STATE,18728,begin surface
$SM_CCo,18814,0.00,0.000,0,0,605,525.92
$SM_GC,0.75,13.75,0.00,0.00,0.035,0.000,0.000,248,2263,605,-12.17,1.33,525.92
$IRIDIUM_FIX,1229.99,12046.08,100897,010111
$TT8_MAMPS,0.023777
$HUMID,2028
$INTERNAL_PRESSURE,9.68787
$TCM_TEMP,25.10
$XPDR_PINGS,367
$ALTIM_BOTTOM_PING,650.4,177.9
$24V_AH,22.9,77.361
$10V_AH,10.1,39.526
$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,35.225,205.025,567.575,0.000,0.000,30.447,36.750,233.570,96.250,0.000,0.000,13.912,2932.305,11674.899,724.669,3138.056,789.980,0.000,2330.425,0.000,3077.749,0.000,36.121
$DEVICE_MAMPS,158.769,60.593,1216.462,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1219.448,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59787,1823
$CAP_FILE_SIZE,202358,0
$CFSIZE,260165632,222240768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160508,114055,1236.619,12046.054,39,1.5,39,-0.8