version: 66.03
glider: 122
mission: 6
dive: 420
start: 5 17 108 14 34 53
data:
$ID,122
$MISSION,6
$DIVE,420
$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,-35442.41
$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,28
$R_STBD_OVSHOOT,24
$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
$GPS1,142755,1236.243,12044.454,38,1.5,38,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-72.6
$GPS2,143421,1236.200,12044.475,10,2.0,10,-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,193.9,11788,-18.6,-9.016
$D_GRID,856
$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,-1.56,-146.0,0.0,0.0,0,92,0.00,0.00,-64.62,0.000,2,0.000,0.000,249,2196,2441
$GC,96,-1.56,-146.0,3.2,-7.4,13,133,13.27,2.47,-17.88,0.000,4,0.165,0.053,2562,3632,3344
$GC,163,-1.29,-146.0,17.3,-19.8,25,170,0.32,2.38,0.00,0.000,6,0.120,0.026,2621,2197,3344
$GC,508,-1.17,-146.0,64.9,-12.3,86,515,0.15,2.38,0.00,0.000,4,0.117,0.039,2648,816,3345
$GC,572,-1.17,-146.0,72.5,-11.6,97,578,0.00,2.53,0.00,0.000,6,0.000,0.028,2648,2325,3345
$GC,917,-1.27,-146.0,107.8,-9.6,158,922,0.00,2.60,0.00,0.000,4,0.000,0.038,2648,811,3347
$GC,968,-1.27,-146.0,113.0,-9.8,167,974,0.00,2.45,0.00,0.000,6,0.000,0.028,2648,2274,3347
$GC,1313,-1.42,-146.0,143.9,-9.0,228,1320,0.20,2.50,0.00,0.000,4,0.041,0.038,2581,819,3349
$GC,1344,-1.42,-146.0,147.0,-10.3,233,1349,0.00,2.60,0.00,0.000,6,0.000,0.028,2581,2369,3349
$GC,1688,-1.42,-146.0,180.7,-8.9,294,1694,0.00,2.17,0.00,0.000,4,0.000,0.046,2581,3639,3350
$GC,1797,-1.35,-146.0,190.8,-8.8,313,1804,0.15,2.33,0.00,0.000,6,0.100,0.027,2610,2223,3351
$GC,2143,-1.42,-146.0,218.7,-7.8,374,2149,0.00,2.40,0.00,0.000,4,0.000,0.043,2610,824,3351
$GC,2201,-1.42,-146.0,223.4,-7.7,384,2207,0.00,2.62,0.00,0.000,6,0.000,0.031,2610,2379,3351
$GC,2546,-1.53,-146.0,248.9,-7.6,445,2552,0.15,2.17,0.00,0.000,4,0.048,0.048,2556,3638,3349
$GC,2638,-1.43,-146.0,257.7,-9.3,454,2643,0.20,2.05,0.00,0.000,6,0.100,0.028,2593,2385,3349
$GC,2969,-1.49,-146.0,286.7,-8.9,485,2972,0.00,2.15,0.00,0.000,4,0.000,0.048,2593,3630,3347
$GC,3048,-1.49,-146.0,293.9,-8.9,492,3052,0.00,1.92,0.00,0.000,6,0.000,0.030,2593,2472,3347
$GC,3383,-1.56,-146.0,320.6,-7.4,523,3387,0.12,2.00,0.00,0.000,4,0.054,0.048,2552,3627,3345
$GC,3412,-1.50,-146.0,323.3,-8.8,525,3419,0.12,2.05,0.00,0.000,6,0.115,0.030,2574,2383,3345
$GC,3738,-1.55,-146.0,349.7,-8.1,556,3742,0.00,2.17,0.00,0.000,4,0.000,0.049,2573,3635,3343
$GC,3790,-1.51,-146.0,354.0,-8.5,560,3794,0.00,2.25,0.00,0.000,6,0.000,0.031,2573,2293,3343
$GC,4118,-1.55,-146.0,379.6,-7.9,590,4122,0.00,2.60,0.00,0.000,4,0.000,0.049,2574,820,3341
$GC,4207,-1.55,-146.0,387.2,-8.3,597,4213,0.00,2.72,0.00,0.000,6,0.000,0.034,2574,2412,3340
$GC,4536,-1.61,-146.0,413.5,-7.9,628,4539,0.00,2.12,0.00,0.000,4,0.000,0.051,2574,3631,3338
$GC,4616,-1.61,-146.0,420.6,-8.5,635,4620,0.00,2.28,0.00,0.000,6,0.000,0.032,2574,2283,3337
$GC,4944,-1.66,-146.0,445.1,-7.0,665,4949,0.15,2.58,0.00,0.000,4,0.052,0.050,2524,830,3335
$GC,5023,-1.54,-146.0,452.2,-8.8,671,5029,0.22,2.72,0.00,0.000,6,0.105,0.034,2566,2414,3334
$GC,5348,-1.59,-146.0,476.1,-7.3,702,5352,0.00,2.12,0.00,0.000,4,0.000,0.053,2566,3627,3332
$GC,5428,-1.55,-146.0,482.6,-7.5,709,5432,0.00,2.25,0.00,0.000,6,0.000,0.033,2566,2297,3332
$GC,5755,-1.60,-146.0,509.1,-8.4,734,5760,0.00,2.35,0.00,0.000,4,0.000,0.052,2566,3625,3330
$GC,5778,-1.60,-146.0,511.5,-8.5,735,5782,0.00,2.05,0.00,0.000,6,0.000,0.032,2566,2402,3328
$GC,6115,-1.64,-146.0,538.6,-8.4,751,6119,0.00,2.80,0.00,0.000,4,0.000,0.051,2565,830,3327
$GC,6195,-1.61,-146.0,545.9,-8.8,754,6201,0.00,2.58,0.00,0.000,6,0.000,0.035,2566,2323,3326
$GC,6514,-1.66,-146.0,571.0,-7.6,770,6519,0.12,2.67,0.00,0.000,4,0.059,0.051,2531,827,3325
$GC,6560,-1.55,-146.0,575.0,-8.6,772,6565,0.17,2.75,0.00,0.000,6,0.108,0.036,2563,2418,3325
$GC,6884,-1.55,-146.0,598.6,-7.4,788,6887,0.00,2.15,0.00,0.000,4,0.000,0.056,2563,3635,3324
$GC,6959,-1.51,-146.0,604.8,-8.7,791,6963,0.00,2.25,0.00,0.000,6,0.000,0.035,2563,2307,3323
$GC,7282,-1.57,-146.0,633.1,-9.1,807,7287,0.00,2.62,0.00,0.000,4,0.000,0.053,2563,832,3321
$GC,7361,-1.57,-146.0,641.0,-9.8,810,7366,0.00,2.53,0.00,0.000,6,0.000,0.037,2563,2287,3321
$GC,7677,-1.62,-146.0,665.1,-7.6,826,7681,0.00,2.38,0.00,0.000,4,0.000,0.057,2563,3625,3319
$GC,7772,-1.62,-146.0,673.1,-8.4,830,7776,0.00,2.15,0.00,0.000,6,0.000,0.035,2563,2360,3319
$GC,8091,-1.66,-146.0,699.1,-8.5,845,8096,0.00,2.75,0.00,0.000,4,0.000,0.054,2563,822,3318
$GC,8192,-1.66,-146.0,708.3,-8.8,849,8198,0.00,2.55,0.00,0.000,6,0.000,0.037,2562,2293,3317
$GC,8511,-1.70,-146.0,734.4,-8.4,865,8516,0.15,2.62,0.00,0.000,4,0.057,0.054,2518,833,3316
$GC,8584,-1.58,-146.0,742.2,-9.8,868,8589,0.22,2.70,0.00,0.000,6,0.114,0.039,2559,2383,3315
$GC,8900,-1.58,-146.0,766.8,-6.1,883,8905,0.00,2.80,0.00,0.000,4,0.000,0.057,2559,834,3314
$GC,8996,-1.58,-146.0,774.3,-8.7,887,9000,0.00,2.65,0.00,0.000,6,0.000,0.040,2559,2352,3313
$GC,9312,-1.58,-146.0,799.4,-9.1,902,9316,0.00,2.28,0.00,0.000,4,0.000,0.059,2559,3631,3312
$GC,9381,-1.54,-146.0,805.0,-8.3,905,9385,0.00,2.15,0.00,0.000,6,0.000,0.036,2559,2364,3312
$STATE,9576,end dive,NO_VERTICAL_VELOCITY
$STATE,9576,begin apogee
$GC,9583,-0.35,0.0,805.9,0.0,915,9708,1.23,0.00,121.07,1.221,6,0.054,0.000,2831,2361,2748
$STATE,9708,end apogee,CONTROL_FINISHED_OK
$STATE,9708,begin climb
$GC,9712,1.56,146.0,805.7,0.0,921,9848,1.88,2.58,126.45,1.179,4,0.048,0.058,3248,3721,2152
$GC,9993,1.26,146.6,787.5,9.0,934,9998,0.38,2.40,0.00,0.000,6,0.128,0.039,3182,2352,2150
$GC,10323,1.25,203.6,762.7,6.5,950,10378,0.00,2.67,49.30,1.171,4,0.000,0.062,3182,934,1917
$GC,10435,1.14,203.6,753.4,9.1,955,10440,0.15,2.42,0.00,0.000,6,0.123,0.039,3157,2309,1916
$GC,10757,1.16,217.8,726.1,8.4,971,10778,0.00,2.65,12.10,1.187,4,0.000,0.058,3156,928,1860
$GC,10847,1.13,217.8,717.8,9.4,975,10851,0.00,2.35,0.00,0.000,6,0.000,0.038,3157,2259,1859
$GC,11174,1.17,239.4,690.8,8.0,991,11195,0.00,0.00,19.12,1.169,6,0.000,0.000,3156,2259,1771
$GC,11503,1.23,279.4,666.5,7.2,1007,11545,0.00,2.72,35.17,1.137,4,0.000,0.059,3156,3724,1608
$GC,11643,1.26,295.3,654.8,8.3,1013,11663,0.10,2.65,14.32,1.142,6,0.077,0.039,3180,2216,1544
$GC,11988,1.29,295.3,623.8,9.1,1030,11992,0.00,2.35,0.00,0.000,4,0.000,0.061,3179,929,1539
$GC,12105,1.29,295.3,611.9,9.8,1035,12109,0.00,2.12,0.00,0.000,6,0.000,0.037,3179,2148,1538
$GC,12422,1.37,312.3,585.1,8.3,1050,12444,0.10,2.92,14.25,1.120,4,0.074,0.057,3204,3727,1474
$GC,12501,1.30,312.3,577.5,10.8,1053,12505,0.00,2.50,0.00,0.000,6,0.000,0.038,3204,2296,1473
$GC,12817,1.26,312.3,547.0,9.7,1068,12819,0.15,0.00,0.00,0.000,6,0.119,0.000,3179,2296,1472
$GC,13127,1.36,331.1,520.0,8.2,1083,13149,0.10,2.60,16.40,1.075,4,0.076,0.059,3202,931,1398
$GC,13219,1.37,332.8,511.4,8.9,1087,13222,0.00,2.20,0.00,0.000,6,0.000,0.037,3202,2186,1396
$GC,13543,1.41,332.8,481.9,9.1,1111,13547,0.00,2.75,0.00,0.000,4,0.000,0.056,3202,3724,1396
$GC,13617,1.38,332.8,474.8,9.9,1117,13622,0.00,3.05,0.00,0.000,6,0.000,0.040,3202,1988,1396
$GC,13943,1.44,335.2,444.7,8.9,1147,13954,0.00,3.15,3.38,1.048,4,0.000,0.053,3202,3723,1381
$GC,14013,1.44,335.2,437.9,9.9,1153,14018,0.00,2.70,0.00,0.000,6,0.000,0.038,3202,2177,1381
$GC,14341,1.50,335.2,408.3,9.1,1183,14345,0.15,2.25,0.00,0.000,4,0.064,0.057,3243,930,1381
$GC,14392,1.40,335.2,403.1,10.0,1187,14396,0.17,1.90,0.00,0.000,6,0.110,0.036,3212,2033,1380
$GC,14724,1.46,341.7,373.7,8.7,1218,14735,0.00,3.08,6.32,1.001,4,0.000,0.053,3212,3732,1354
$GC,14843,1.46,341.7,362.4,9.4,1228,14849,0.00,2.67,0.00,0.000,6,0.000,0.037,3212,2190,1353
$GC,15170,1.52,341.7,332.4,9.2,1259,15175,0.10,2.28,0.00,0.000,4,0.077,0.055,3237,924,1353
$GC,15238,1.45,341.7,325.6,9.5,1264,15244,0.00,1.92,0.00,0.000,6,0.000,0.035,3237,2049,1352
$GC,15565,1.45,343.4,294.8,8.9,1295,15570,0.00,2.95,0.00,0.000,4,0.000,0.051,3237,3724,1352
$GC,15655,1.38,343.4,285.8,10.2,1302,15662,0.17,2.65,0.00,0.000,6,0.120,0.037,3206,2187,1352
$GC,15981,1.50,360.6,257.6,8.2,1333,16003,0.12,2.30,16.33,0.867,4,0.067,0.054,3240,928,1277
$GC,16073,1.45,360.6,248.9,9.5,1342,16079,0.00,1.95,0.00,0.000,6,0.000,0.034,3240,2060,1275
$GC,16418,1.50,360.6,217.5,9.7,1403,16424,0.00,2.95,0.00,0.000,4,0.000,0.051,3240,3726,1276
$GC,16521,1.47,360.6,207.1,10.1,1421,16527,0.00,2.62,0.00,0.000,6,0.000,0.035,3240,2203,1276
$GC,16866,1.53,374.7,177.3,8.4,1482,16883,0.00,2.38,11.98,0.799,4,0.000,0.052,3240,925,1219
$GC,16982,1.54,381.3,167.2,8.7,1502,16993,0.00,1.95,5.57,0.809,6,0.000,0.033,3240,2063,1193
$GC,17335,1.66,386.6,138.0,8.8,1564,17347,0.12,2.97,4.70,0.782,4,0.054,0.048,3283,3731,1172
$GC,17410,1.64,390.8,131.0,8.8,1577,17421,0.00,2.65,3.85,0.779,6,0.000,0.033,3283,2187,1154
$GC,17763,1.76,430.8,105.6,7.2,1639,17804,0.00,2.33,33.90,0.680,4,0.000,0.050,3283,930,990
$GC,17899,1.91,472.5,94.5,7.1,1663,17941,0.17,1.95,34.85,0.656,6,0.051,0.030,3329,2081,821
$GC,18283,1.99,477.0,61.3,8.8,1731,18294,0.00,2.92,2.65,0.672,4,0.000,0.046,3329,3720,803
$GC,18352,2.03,477.0,54.6,9.7,1743,18358,0.00,2.65,0.00,0.000,6,0.000,0.030,3329,2161,803
$GC,18697,2.19,513.5,27.8,7.4,1804,18735,0.20,2.22,29.65,0.575,4,0.048,0.046,3388,933,653
$GC,18782,2.14,513.5,19.4,10.6,1819,18788,0.00,1.90,0.00,0.000,6,0.000,0.028,3387,2066,651
$STATE,18949,end climb,SURFACE_DEPTH_REACHED
$STATE,18951,begin surface coast
$FINISH,-0.2,1.005434
$STATE,18973,end surface coast,CONTROL_FINISHED_OK
$STATE,18973,begin surface
$SM_CCo,19059,0.00,0.000,0,0,648,514.88
$SM_GC,0.75,13.77,0.00,0.00,0.037,0.000,0.000,245,2246,648,-12.18,0.85,514.88
$IRIDIUM_FIX,1234.41,12044.18,110897,090911
$TT8_MAMPS,0.023777
$HUMID,2050
$INTERNAL_PRESSURE,9.66834
$TCM_TEMP,25.10
$XPDR_PINGS,386
$ALTIM_BOTTOM_PING,690.4,108.2
$24V_AH,22.9,78.526
$10V_AH,10.1,40.109
$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,34.825,215.875,561.375,0.000,0.000,30.596,36.954,170.819,102.000,0.000,0.000,10.894,3001.045,11734.795,703.169,3270.205,731.139,0.000,2378.202,0.000,3200.281,0.000,43.130
$DEVICE_MAMPS,164.905,62.127,1221.064,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1239.939,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59781,1853
$CAP_FILE_SIZE,205505,0
$CFSIZE,260165632,221679616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170508,195338,1235.997,12044.245,29,1.3,29,-0.8