version: 66.03
glider: 122
mission: 6
dive: 417
start: 5 16 108 22 58 30
data:
$ID,122
$MISSION,6
$DIVE,417
$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,-35397.914
$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,25
$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
$GPS1,224758,1236.417,12045.388,30,2.6,49,-0.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-71.1
$GPS2,225759,1236.388,12045.432,15,3.5,34,-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,201.2,12621,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.56,-146.0,0.0,0.0,0,90,0.00,0.00,-64.82,0.000,2,0.000,0.000,250,2195,2453
$GC,94,-1.56,-146.0,3.1,-7.4,13,131,13.27,0.00,-17.92,0.000,6,0.166,0.000,2561,2195,3344
$GC,470,-1.33,-146.0,62.1,-14.0,80,476,0.25,2.38,0.00,0.000,4,0.123,0.038,2609,817,3345
$GC,541,-1.21,-146.0,71.7,-12.9,92,547,0.15,2.35,0.00,0.000,6,0.113,0.028,2636,2231,3345
$GC,886,-1.29,-146.0,109.5,-10.5,153,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2230,3346
$GC,1230,-1.37,-146.0,144.4,-9.1,214,1236,0.15,2.42,0.00,0.000,4,0.048,0.038,2583,814,3347
$GC,1316,-1.28,-146.0,153.8,-10.5,229,1323,0.20,2.50,0.00,0.000,6,0.097,0.028,2622,2310,3348
$GC,1662,-1.38,-146.0,184.8,-8.2,290,1668,0.00,2.25,0.00,0.000,4,0.000,0.049,2622,3619,3349
$GC,1695,-1.45,-146.0,187.4,-8.2,295,1701,0.15,2.17,0.00,0.000,6,0.053,0.027,2578,2284,3349
$GC,2040,-1.49,-146.0,217.6,-8.2,356,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2284,3349
$GC,2384,-1.54,-146.0,245.9,-8.4,417,2390,0.00,2.55,0.00,0.000,4,0.000,0.044,2579,814,3348
$GC,2438,-1.49,-146.0,250.2,-8.7,426,2444,0.00,2.62,0.00,0.000,6,0.000,0.033,2579,2365,3348
$GC,2765,-1.53,-146.0,277.5,-8.2,457,2769,0.00,2.15,0.00,0.000,4,0.000,0.051,2579,3611,3346
$GC,2851,-1.49,-146.0,285.0,-8.7,464,2856,0.00,1.98,0.00,0.000,6,0.000,0.030,2579,2405,3346
$GC,3178,-1.53,-146.0,310.1,-7.5,495,3182,0.00,2.10,0.00,0.000,4,0.000,0.049,2579,3619,3344
$GC,3218,-1.48,-146.0,313.6,-8.4,498,3224,0.00,2.17,0.00,0.000,6,0.000,0.031,2579,2305,3344
$GC,3548,-1.54,-146.0,339.1,-7.8,529,3552,0.00,2.60,0.00,0.000,4,0.000,0.048,2578,819,3341
$GC,3621,-1.54,-146.0,345.4,-8.8,535,3626,0.00,2.72,0.00,0.000,6,0.000,0.033,2578,2417,3341
$GC,3950,-1.60,-146.0,370.7,-8.0,565,3954,0.00,2.05,0.00,0.000,4,0.000,0.051,2579,3610,3339
$GC,4052,-1.60,-146.0,379.5,-8.9,574,4056,0.00,2.20,0.00,0.000,6,0.000,0.031,2578,2295,3338
$GC,4386,-1.66,-146.0,405.8,-7.8,605,4391,0.15,2.60,0.00,0.000,4,0.052,0.049,2529,820,3336
$GC,4471,-1.54,-146.0,414.0,-9.7,612,4476,0.20,2.72,0.00,0.000,6,0.102,0.034,2567,2408,3335
$GC,4796,-1.58,-146.0,439.6,-7.5,642,4801,0.00,2.83,0.00,0.000,4,0.000,0.048,2567,812,3332
$GC,4841,-1.54,-146.0,443.2,-7.9,645,4847,0.00,2.67,0.00,0.000,6,0.000,0.034,2567,2376,3332
$GC,5170,-1.58,-146.0,467.6,-7.4,676,5174,0.00,2.75,0.00,0.000,4,0.000,0.049,2567,817,3330
$GC,5187,-1.58,-146.0,469.0,-6.9,677,5191,0.00,2.53,0.00,0.000,6,0.000,0.034,2567,2290,3330
$GC,5515,-1.61,-146.0,492.2,-7.1,707,5519,0.00,2.33,0.00,0.000,4,0.000,0.053,2567,3616,3327
$GC,5611,-1.57,-146.0,499.9,-8.3,715,5619,0.00,2.05,0.00,0.000,6,0.000,0.033,2567,2395,3327
$GC,5938,-1.62,-146.0,525.0,-7.6,731,5940,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2394,3325
$GC,6245,-1.66,-146.0,549.8,-7.8,746,6250,0.12,2.15,0.00,0.000,4,0.059,0.053,2532,3613,3324
$GC,6302,-1.54,-146.0,554.8,-9.1,748,6306,0.20,2.08,0.00,0.000,6,0.108,0.034,2568,2376,3323
$GC,6625,-1.58,-146.0,578.1,-7.2,764,6629,0.00,2.75,0.00,0.000,4,0.000,0.052,2568,821,3321
$GC,6697,-1.58,-146.0,583.8,-7.6,767,6702,0.00,2.55,0.00,0.000,6,0.000,0.036,2568,2304,3321
$GC,7015,-1.65,-146.0,606.0,-7.0,782,7019,0.00,2.65,0.00,0.000,4,0.000,0.053,2568,819,3319
$GC,7038,-1.65,-146.0,607.8,-7.8,783,7042,0.00,2.55,0.00,0.000,6,0.000,0.036,2568,2297,3319
$GC,7360,-1.68,-146.0,629.9,-6.8,799,7365,0.15,2.62,0.00,0.000,4,0.056,0.052,2523,820,3317
$GC,7377,-1.68,-146.0,631.5,-7.5,799,7384,0.00,2.72,0.00,0.000,6,0.000,0.037,2523,2408,3317
$GC,7693,-1.64,-146.0,657.9,-8.6,815,7699,0.12,2.83,0.00,0.000,4,0.114,0.052,2545,822,3315
$GC,7712,-1.60,-146.0,659.6,-9.2,816,7717,0.00,2.60,0.00,0.000,6,0.000,0.037,2545,2320,3316
$GC,8044,-1.60,-146.0,687.9,-8.4,832,8049,0.00,2.70,0.00,0.000,4,0.000,0.054,2545,814,3314
$GC,8157,-1.53,-146.0,697.3,-8.5,837,8162,0.12,2.53,0.00,0.000,6,0.117,0.038,2567,2279,3314
$GC,8486,-1.59,-146.0,720.4,-7.3,853,8490,0.00,2.62,0.00,0.000,4,0.000,0.055,2566,817,3312
$GC,8572,-1.56,-146.0,727.1,-7.5,857,8576,0.00,2.67,0.00,0.000,6,0.000,0.038,2567,2358,3311
$GC,8899,-1.62,-146.0,748.6,-5.6,873,8903,0.00,2.78,0.00,0.000,4,0.000,0.056,2567,817,3310
$GC,8910,-1.67,-146.0,749.4,-5.7,873,8917,0.12,2.47,0.00,0.000,6,0.062,0.037,2534,2250,3310
$GC,9227,-1.60,-146.0,772.2,-7.5,889,9232,0.12,2.58,0.00,0.000,4,0.114,0.056,2556,820,3309
$GC,9290,-1.60,-146.0,776.9,-7.8,892,9294,0.00,2.55,0.00,0.000,6,0.000,0.039,2556,2294,3309
$GC,9618,-1.65,-146.0,800.1,-7.0,908,9622,0.00,2.35,0.00,0.000,4,0.000,0.059,2556,3619,3308
$GC,9663,-1.60,-146.0,803.9,-8.5,910,9667,0.00,2.28,0.00,0.000,6,0.000,0.036,2556,2283,3308
$STATE,9713,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9713,begin apogee
$GC,9720,-0.35,0.0,808.0,7.7,913,9845,1.35,0.00,120.60,1.224,6,0.105,0.000,2822,2346,2748
$STATE,9845,end apogee,CONTROL_FINISHED_OK
$STATE,9846,begin climb
$GC,9849,1.56,146.0,814.0,0.0,919,9985,1.92,2.58,126.60,1.189,4,0.051,0.059,3246,3711,2152
$GC,10067,1.27,146.0,803.8,11.2,929,10073,0.35,2.40,0.00,0.000,6,0.130,0.040,3186,2342,2151
$GC,10393,1.20,181.9,778.8,7.4,945,10429,0.00,2.65,30.75,1.189,4,0.000,0.061,3186,932,2006
$GC,10485,1.08,181.9,770.3,9.5,948,10490,0.25,2.45,0.00,0.000,6,0.114,0.038,3141,2319,2004
$GC,10802,1.14,217.2,747.1,7.4,963,10834,0.00,0.00,30.92,1.180,6,0.000,0.000,3141,2318,1862
$GC,11130,1.18,241.9,722.0,7.9,979,11158,0.00,2.62,21.52,1.177,4,0.000,0.060,3140,925,1760
$GC,11240,1.18,241.9,711.8,9.0,984,11245,0.00,2.45,0.00,0.000,6,0.000,0.038,3140,2310,1759
$GC,11569,1.29,263.1,684.5,8.1,1000,11594,0.17,2.65,18.55,1.167,4,0.067,0.060,3184,3721,1675
$GC,11618,1.22,263.1,679.7,11.1,1002,11622,0.00,2.75,0.00,0.000,6,0.000,0.040,3184,2165,1674
$GC,11940,1.16,263.1,649.7,9.1,1018,11946,0.12,2.83,0.00,0.000,4,0.126,0.055,3163,3727,1671
$GC,12026,1.17,268.9,641.7,8.8,1022,12036,0.00,2.62,5.03,1.169,6,0.000,0.041,3163,2219,1651
$GC,12355,1.27,288.8,613.6,8.1,1038,12379,0.00,2.45,17.95,1.133,4,0.000,0.062,3163,931,1570
$GC,12437,1.28,296.4,606.4,8.7,1041,12451,0.00,2.53,6.97,1.135,6,0.000,0.038,3163,2369,1539
$GC,12777,1.38,309.6,577.8,8.4,1058,12799,0.17,2.67,11.65,1.121,4,0.058,0.058,3207,931,1484
$GC,12838,1.30,309.6,571.4,10.0,1060,12844,0.00,2.17,0.00,0.000,6,0.000,0.037,3207,2175,1483
$GC,13155,1.24,309.6,539.8,10.0,1076,13160,0.15,2.28,0.00,0.000,4,0.115,0.058,3177,929,1482
$GC,13233,1.26,317.5,532.2,8.7,1079,13246,0.00,2.33,6.95,1.106,6,0.000,0.038,3177,2264,1453
$GC,13573,1.36,329.3,502.8,8.5,1096,13589,0.12,0.00,10.82,1.079,6,0.069,0.000,3208,2264,1404
$GC,13907,1.36,329.3,471.3,9.2,1126,13911,0.00,2.42,0.00,0.000,4,0.000,0.057,3208,927,1402
$GC,14020,1.32,329.3,460.4,9.6,1135,14025,0.00,2.00,0.00,0.000,6,0.000,0.036,3208,2087,1401
$GC,14347,1.39,329.3,429.7,9.6,1166,14352,0.00,2.92,0.00,0.000,4,0.000,0.054,3208,3725,1401
$GC,14434,1.34,329.3,420.9,10.8,1173,14438,0.00,2.60,0.00,0.000,6,0.000,0.038,3208,2228,1401
$GC,14761,1.37,329.3,388.5,9.5,1203,14765,0.00,2.33,0.00,0.000,4,0.000,0.056,3208,931,1401
$GC,14841,1.37,329.3,380.6,9.1,1209,14847,0.00,1.98,0.00,0.000,6,0.000,0.036,3208,2081,1401
$GC,15169,1.47,338.1,351.3,8.6,1240,15183,0.00,3.00,7.20,0.980,4,0.000,0.052,3208,3720,1369
$GC,15259,1.47,341.5,342.7,8.9,1248,15271,0.00,2.60,3.70,0.979,6,0.000,0.037,3208,2222,1354
$GC,15590,1.55,351.5,313.1,8.6,1279,15604,0.15,2.38,8.93,0.940,4,0.063,0.054,3248,928,1313
$GC,15673,1.47,351.5,304.7,10.4,1286,15679,0.12,1.98,0.00,0.000,6,0.116,0.035,3227,2077,1312
$GC,15998,1.52,351.5,274.4,9.2,1317,16003,0.00,2.92,0.00,0.000,4,0.000,0.051,3227,3726,1312
$GC,16083,1.52,351.5,266.1,9.6,1324,16087,0.00,2.60,0.00,0.000,6,0.000,0.036,3227,2221,1312
$GC,16417,1.56,351.5,235.5,9.4,1368,16423,0.00,2.30,0.00,0.000,4,0.000,0.054,3227,929,1312
$GC,16503,1.56,351.5,227.4,9.3,1383,16508,0.00,1.95,0.00,0.000,6,0.000,0.034,3227,2070,1311
$GC,16849,1.63,351.5,195.9,9.5,1444,16855,0.15,2.92,0.00,0.000,4,0.060,0.049,3269,3726,1311
$GC,16935,1.54,351.5,187.1,9.6,1459,16942,0.15,2.60,0.00,0.000,6,0.122,0.035,3244,2212,1312
$GC,17281,1.61,391.9,159.4,7.2,1520,17323,0.00,2.38,34.10,0.750,4,0.000,0.052,3243,932,1150
$GC,17387,1.71,409.0,150.7,8.2,1539,17409,0.15,2.00,14.43,0.754,6,0.059,0.032,3281,2098,1080
$GC,17750,1.81,425.4,120.9,8.3,1603,17772,0.00,2.92,13.68,0.724,4,0.000,0.048,3281,3724,1012
$GC,17803,1.88,437.5,116.8,8.5,1612,17820,0.15,2.60,10.18,0.718,6,0.058,0.032,3319,2210,963
$GC,18161,1.90,452.4,87.4,8.3,1675,18178,0.00,2.38,11.98,0.680,4,0.000,0.049,3319,920,903
$GC,18270,1.95,481.3,77.8,7.7,1694,18301,0.00,1.95,24.50,0.642,6,0.000,0.030,3319,2076,784
$GC,18642,2.15,507.2,46.7,7.9,1760,18670,0.20,2.95,20.60,0.607,4,0.043,0.045,3383,3734,679
$GC,18710,2.09,507.2,39.9,10.0,1772,18717,0.12,2.65,0.00,0.000,6,0.120,0.030,3362,2177,677
$GC,19056,2.12,522.8,8.8,8.3,1833,19073,0.00,2.28,12.15,0.574,4,0.000,0.045,3362,922,616
$STATE,19127,end climb,SURFACE_DEPTH_REACHED
$STATE,19127,begin surface coast
$FINISH,-0.1,1.021016
$STATE,19151,end surface coast,CONTROL_FINISHED_OK
$STATE,19151,begin surface
$SM_CCo,19238,0.00,0.000,0,0,612,523.96
$SM_GC,0.77,13.60,0.00,0.00,0.035,0.000,0.000,251,2236,612,-12.17,0.54,523.96
$IRIDIUM_FIX,1232.20,12047.98,100897,171714
$TT8_MAMPS,0.02301
$HUMID,2049
$INTERNAL_PRESSURE,9.66834
$TCM_TEMP,25.10
$XPDR_PINGS,403
$ALTIM_BOTTOM_PING,720.4,142.4
$24V_AH,22.9,77.965
$10V_AH,10.1,39.825
$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,34.925,213.100,569.750,0.000,0.000,48.719,131.404,181.623,106.750,0.000,0.000,35.659,2985.682,12047.549,717.994,3227.295,853.248,0.000,2369.914,0.000,3128.886,0.000,45.675
$DEVICE_MAMPS,165.672,72.098,1224.132,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1238.053,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59731,1850
$CAP_FILE_SIZE,206779,0
$CFSIZE,260165632,221954048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170508,042026,1236.191,12044.952,41,1.5,41,-0.8