version: 66.03
glider: 122
mission: 6
dive: 416
start: 5 16 108 17 16 23
data:
$ID,122
$MISSION,6
$DIVE,416
$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,-35361.625
$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,34
$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
$GPS1,170707,1236.636,12045.658,28,1.2,28,-0.8
$_CALLS,1
$_XMS_NAKs,31
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-68.9
$GPS2,171551,1236.654,12045.649,15,1.1,15,-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,202.0,13222,-18.6,-9.016
$D_GRID,840
$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,23,-1.56,-146.0,0.0,0.0,0,96,0.00,0.00,-70.45,0.000,2,0.000,0.000,249,2290,2433
$GC,100,-1.56,-146.0,3.1,-7.5,14,137,13.25,0.00,-18.58,0.000,6,0.165,0.000,2559,2291,3345
$GC,475,-1.35,-146.0,63.8,-16.0,81,482,0.22,2.30,0.00,0.000,4,0.121,0.042,2604,3634,3346
$GC,511,-1.19,-146.0,69.1,-14.7,87,518,0.20,2.35,0.00,0.000,6,0.107,0.025,2640,2206,3346
$GC,856,-1.25,-146.0,108.0,-10.3,148,863,0.00,2.35,0.00,0.000,4,0.000,0.040,2640,823,3348
$GC,892,-1.25,-146.0,111.8,-10.8,154,898,0.00,2.55,0.00,0.000,6,0.000,0.028,2641,2348,3348
$GC,1236,-1.35,-146.0,147.4,-9.6,215,1243,0.15,2.62,0.00,0.000,4,0.049,0.039,2589,823,3349
$GC,1306,-1.25,-146.0,154.6,-10.1,227,1313,0.20,2.45,0.00,0.000,6,0.095,0.028,2628,2290,3350
$GC,1653,-1.38,-146.0,187.2,-8.6,288,1659,0.00,2.53,0.00,0.000,4,0.000,0.041,2628,824,3351
$GC,1696,-1.43,-146.0,190.9,-8.5,295,1702,0.15,2.33,0.00,0.000,6,0.048,0.029,2578,2215,3350
$GC,2041,-1.43,-146.0,219.5,-8.9,356,2046,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2215,3350
$GC,2385,-1.46,-146.0,249.7,-8.2,417,2391,0.00,2.42,0.00,0.000,4,0.000,0.044,2578,819,3350
$GC,2425,-1.41,-146.0,253.2,-8.2,421,2431,0.00,2.53,0.00,0.000,6,0.000,0.032,2578,2315,3349
$GC,2754,-1.45,-146.0,276.8,-7.1,452,2758,0.00,2.25,0.00,0.000,4,0.000,0.049,2578,3619,3347
$GC,2833,-1.41,-146.0,283.2,-8.3,458,2838,0.00,2.35,0.00,0.000,6,0.000,0.030,2578,2202,3347
$GC,3161,-1.44,-146.0,309.5,-8.8,489,3165,0.00,2.42,0.00,0.000,4,0.000,0.048,2578,817,3346
$GC,3212,-1.41,-146.0,314.5,-9.1,493,3216,0.00,2.58,0.00,0.000,6,0.000,0.033,2578,2330,3345
$GC,3541,-1.45,-146.0,342.6,-8.3,523,3544,0.00,2.22,0.00,0.000,4,0.000,0.051,2578,3622,3343
$GC,3592,-1.42,-146.0,347.5,-9.4,527,3598,0.00,2.17,0.00,0.000,6,0.000,0.031,2578,2310,3343
$GC,3921,-1.47,-146.0,374.1,-8.0,558,3925,0.00,2.28,0.00,0.000,4,0.000,0.048,2578,3616,3341
$GC,4028,-1.47,-146.0,383.2,-8.3,567,4032,0.00,2.03,0.00,0.000,6,0.000,0.031,2578,2401,3340
$GC,4362,-1.52,-146.0,407.8,-7.3,598,4366,0.00,2.10,0.00,0.000,4,0.000,0.050,2578,3610,3337
$GC,4409,-1.49,-146.0,411.6,-8.0,602,4412,0.00,2.22,0.00,0.000,6,0.000,0.032,2578,2288,3337
$GC,4743,-1.55,-146.0,437.9,-8.3,633,4747,0.00,2.60,0.00,0.000,4,0.000,0.050,2578,820,3334
$GC,4839,-1.55,-146.0,446.5,-8.9,641,4843,0.00,2.70,0.00,0.000,6,0.000,0.034,2578,2391,3333
$GC,5167,-1.61,-146.0,473.7,-8.0,671,5172,0.12,2.15,0.00,0.000,4,0.056,0.051,2540,3616,3330
$GC,5268,-1.51,-146.0,483.2,-8.8,679,5274,0.17,2.25,0.00,0.000,6,0.109,0.033,2572,2280,3330
$GC,5604,-1.57,-146.0,507.3,-7.0,706,5608,0.00,2.35,0.00,0.000,4,0.000,0.051,2572,3610,3328
$GC,5649,-1.57,-146.0,510.8,-7.7,708,5653,0.00,2.08,0.00,0.000,6,0.000,0.033,2572,2374,3328
$GC,5977,-1.64,-146.0,533.4,-7.2,724,5981,0.12,2.20,0.00,0.000,4,0.057,0.051,2535,3620,3326
$GC,6033,-1.52,-146.0,538.4,-9.0,726,6039,0.20,2.28,0.00,0.000,6,0.110,0.034,2572,2279,3326
$GC,6353,-1.58,-146.0,564.0,-8.4,742,6357,0.00,2.60,0.00,0.000,4,0.000,0.053,2572,819,3324
$GC,6433,-1.58,-146.0,571.1,-8.6,745,6439,0.00,2.72,0.00,0.000,6,0.000,0.036,2572,2397,3324
$GC,6751,-1.65,-146.0,596.1,-7.5,761,6756,0.12,2.83,0.00,0.000,4,0.057,0.051,2535,819,3322
$GC,6855,-1.56,-146.0,604.9,-8.3,765,6862,0.15,2.55,0.00,0.000,6,0.110,0.035,2561,2296,3321
$GC,7174,-1.60,-146.0,627.9,-7.0,781,7178,0.00,2.62,0.00,0.000,4,0.000,0.053,2562,829,3320
$GC,7214,-1.56,-146.0,631.1,-7.7,783,7219,0.00,2.75,0.00,0.000,6,0.000,0.037,2562,2413,3319
$GC,7541,-1.56,-146.0,653.2,-6.3,799,7545,0.00,2.12,0.00,0.000,4,0.000,0.057,2562,3615,3318
$GC,7611,-1.51,-146.0,658.3,-7.4,802,7615,0.00,2.25,0.00,0.000,6,0.000,0.035,2562,2292,3317
$GC,7942,-1.56,-146.0,682.8,-7.8,818,7946,0.00,2.35,0.00,0.000,4,0.000,0.055,2562,3613,3315
$GC,8037,-1.56,-146.0,691.3,-8.4,822,8041,0.00,2.40,0.00,0.000,6,0.000,0.036,2562,2210,3315
$GC,8354,-1.60,-146.0,715.2,-7.5,837,8358,0.00,2.50,0.00,0.000,4,0.000,0.057,2562,816,3314
$GC,8410,-1.57,-146.0,719.8,-8.2,839,8420,0.00,2.60,0.00,0.000,6,0.000,0.037,2562,2316,3314
$GC,8729,-1.62,-146.0,744.3,-7.9,855,8733,0.00,2.67,0.00,0.000,4,0.000,0.054,2562,816,3313
$GC,8846,-1.58,-146.0,755.2,-9.4,860,8851,0.00,2.80,0.00,0.000,6,0.000,0.038,2562,2418,3311
$GC,9163,-1.58,-146.0,781.0,-8.0,875,9168,0.00,2.90,0.00,0.000,4,0.000,0.055,2562,809,3310
$GC,9280,-1.58,-146.0,790.5,-8.0,880,9285,0.00,2.62,0.00,0.000,6,0.000,0.038,2562,2317,3310
$GC,9597,-1.63,-146.0,813.0,-7.5,895,9602,0.00,2.72,0.00,0.000,4,0.000,0.057,2562,810,3309
$GC,9689,-1.63,-146.0,819.9,-7.3,899,9693,0.00,2.78,0.00,0.000,6,0.000,0.039,2562,2402,3309
$STATE,9986,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9986,begin apogee
$GC,9993,-0.35,0.0,841.0,7.4,914,10118,1.33,0.00,121.18,1.249,6,0.100,0.000,2827,2326,2748
$STATE,10119,end apogee,CONTROL_FINISHED_OK
$STATE,10119,begin climb
$GC,10122,1.56,146.0,846.7,0.0,920,10258,1.90,2.60,127.45,1.210,4,0.051,0.060,3246,3711,2152
$GC,10359,1.27,146.0,835.7,9.5,931,10364,0.35,2.40,0.00,0.000,6,0.139,0.040,3186,2344,2151
$GC,10688,1.17,166.0,809.6,8.1,947,10711,0.15,2.70,16.83,1.226,4,0.129,0.061,3162,932,2071
$GC,10835,1.12,184.7,797.2,8.2,953,10859,0.00,2.40,16.75,1.220,6,0.000,0.038,3161,2291,1994
$GC,11178,1.10,216.4,770.0,7.6,970,11215,0.00,2.72,27.48,1.203,4,0.000,0.061,3162,3724,1865
$GC,11245,1.06,231.4,764.7,8.3,973,11264,0.12,2.53,13.50,1.201,6,0.136,0.040,3141,2296,1804
$GC,11594,1.14,277.1,741.1,7.0,990,11640,0.00,2.58,40.45,1.180,4,0.000,0.062,3141,925,1617
$GC,11704,1.18,277.1,732.0,9.2,995,11709,0.00,2.42,0.00,0.000,6,0.000,0.039,3141,2290,1613
$GC,12026,1.28,282.3,703.1,8.8,1011,12036,0.17,2.62,3.92,1.180,4,0.060,0.059,3187,3722,1597
$GC,12082,1.21,282.3,697.2,11.5,1013,12087,0.00,2.80,0.00,0.000,6,0.000,0.041,3187,2136,1597
$GC,12398,1.15,282.3,666.4,9.3,1028,12404,0.15,2.88,0.00,0.000,4,0.126,0.056,3159,3723,1596
$GC,12499,1.17,290.9,657.2,8.6,1032,12513,0.00,2.65,8.02,1.187,6,0.000,0.040,3159,2209,1561
$GC,12838,1.25,290.9,627.7,9.1,1049,12842,0.00,2.75,0.00,0.000,4,0.000,0.057,3159,3730,1560
$GC,12871,1.28,290.9,624.5,9.8,1050,12877,0.12,2.90,0.00,0.000,6,0.072,0.040,3187,2075,1560
$GC,13190,1.23,290.9,594.5,9.4,1066,13194,0.00,2.10,0.00,0.000,4,0.000,0.064,3188,921,1560
$GC,13292,1.18,290.9,584.3,9.5,1070,13296,0.12,2.20,0.00,0.000,6,0.120,0.038,3166,2186,1559
$GC,13609,1.29,301.5,556.6,8.5,1085,13623,0.00,2.83,9.40,1.129,4,0.000,0.057,3166,3726,1518
$GC,13692,1.31,315.9,549.0,8.4,1088,13712,0.12,2.42,13.00,1.104,6,0.070,0.038,3196,2330,1459
$GC,14031,1.35,318.6,518.1,8.9,1105,14036,0.00,2.55,0.00,0.000,4,0.000,0.058,3195,924,1457
$GC,14117,1.37,332.1,510.1,8.4,1109,14138,0.00,2.20,14.20,1.075,6,0.000,0.037,3195,2184,1393
$GC,14455,1.50,355.0,481.7,8.0,1135,14482,0.15,2.83,20.70,1.035,4,0.061,0.054,3237,3730,1300
$GC,14557,1.40,355.0,471.6,9.5,1143,14564,0.15,2.45,0.00,0.000,6,0.116,0.038,3211,2322,1298
$GC,14882,1.46,355.0,441.0,9.7,1174,14886,0.00,2.50,0.00,0.000,4,0.000,0.057,3211,934,1296
$GC,14973,1.46,355.0,432.6,9.9,1182,14977,0.00,2.10,0.00,0.000,6,0.000,0.036,3212,2146,1294
$GC,15308,1.54,355.0,402.4,9.9,1213,15314,0.12,2.83,0.00,0.000,4,0.068,0.054,3242,3727,1294
$GC,15394,1.45,355.0,393.2,10.1,1220,15398,0.00,2.45,0.00,0.000,6,0.000,0.037,3242,2306,1294
$GC,15727,1.45,355.0,358.9,9.5,1251,15731,0.00,2.47,0.00,0.000,4,0.000,0.055,3241,928,1294
$GC,15823,1.36,355.0,349.3,9.5,1259,15828,0.22,2.10,0.00,0.000,6,0.114,0.035,3201,2145,1293
$GC,16149,1.48,371.4,322.8,8.3,1289,16170,0.12,2.90,13.52,0.933,4,0.067,0.051,3232,3734,1234
$GC,16230,1.49,372.0,315.2,9.0,1296,16234,0.00,2.53,0.00,0.000,6,0.000,0.035,3232,2277,1233
$GC,16555,1.53,372.0,281.7,10.6,1326,16559,0.00,2.40,0.00,0.000,4,0.000,0.053,3232,932,1231
$GC,16666,1.53,372.0,270.1,10.3,1335,16672,0.00,2.03,0.00,0.000,6,0.000,0.035,3232,2113,1230
$GC,16997,1.60,372.0,240.3,9.0,1375,17003,0.00,2.88,0.00,0.000,4,0.000,0.051,3232,3736,1231
$GC,17083,1.60,372.0,231.8,9.2,1390,17089,0.00,2.53,0.00,0.000,6,0.000,0.035,3232,2266,1230
$GC,17428,1.69,390.5,199.1,8.2,1451,17451,0.15,2.70,16.58,0.805,4,0.058,0.049,3276,3726,1155
$GC,17545,1.60,390.5,188.5,10.3,1471,17552,0.12,2.85,0.00,0.000,6,0.115,0.036,3254,2083,1153
$GC,17891,1.69,390.5,155.7,9.1,1532,17897,0.00,2.05,0.00,0.000,4,0.000,0.055,3254,932,1151
$GC,17915,1.76,396.1,153.5,8.8,1536,17927,0.15,2.28,4.28,0.808,6,0.059,0.034,3291,2255,1133
$GC,18268,1.80,419.7,124.6,8.0,1598,18295,0.00,2.42,20.38,0.717,4,0.000,0.050,3291,926,1036
$GC,18341,1.82,430.6,118.5,8.5,1611,18357,0.00,2.00,9.38,0.723,6,0.000,0.031,3291,2094,991
$GC,18699,1.95,449.1,89.6,8.2,1674,18721,0.15,2.92,15.12,0.675,4,0.057,0.048,3335,3729,916
$GC,18802,1.90,449.1,80.3,9.0,1692,18808,0.00,2.62,0.00,0.000,6,0.000,0.031,3336,2193,914
$GC,19147,2.00,485.9,52.2,7.4,1753,19184,0.00,2.28,30.55,0.604,4,0.000,0.047,3335,925,765
$GC,19259,2.08,505.0,43.2,8.2,1773,19280,0.00,1.90,15.18,0.603,6,0.000,0.030,3335,2053,688
$GC,19619,2.24,505.0,11.0,9.6,1837,19625,0.22,2.92,0.00,0.000,4,0.044,0.045,3399,3732,686
$STATE,19714,end climb,SURFACE_DEPTH_REACHED
$STATE,19714,begin surface coast
$FINISH,0.9,1.020999
$STATE,19721,end surface coast,CONTROL_FINISHED_OK
$STATE,19721,begin surface
$SM_CCo,19809,0.00,0.000,0,0,683,506.54
$SM_GC,0.76,13.90,0.00,0.00,0.041,0.000,0.000,251,2196,683,-12.17,-0.57,506.54
$IRIDIUM_FIX,1229.99,12047.98,100897,111104
$TT8_MAMPS,0.023777
$HUMID,2065
$INTERNAL_PRESSURE,9.68787
$TCM_TEMP,25.10
$XPDR_PINGS,374
$ALTIM_BOTTOM_PING,771.0,109.3
$24V_AH,22.9,77.764
$10V_AH,10.1,39.725
$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,35.100,228.375,557.850,0.000,0.000,26.142,38.302,305.458,100.750,0.000,0.000,15.054,3030.973,12347.889,711.941,3347.521,889.591,0.000,2425.654,0.000,3267.381,0.000,54.847
$DEVICE_MAMPS,164.905,64.428,1248.676,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1241.636,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59753,1855
$CAP_FILE_SIZE,215855,0
$CFSIZE,260165632,222040064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160508,224758,1236.417,12045.388,30,2.6,49,-0.8