version: 66.03
glider: 122
mission: 6
dive: 424
start: 5 18 108 13 9 16
data:
$ID,122
$MISSION,6
$DIVE,424
$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,-35542.68
$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,31
$R_STBD_OVSHOOT,58
$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
$GPS1,130126,1235.286,12043.649,40,1.4,40,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-72.2
$GPS2,130844,1235.244,12043.702,11,1.4,16,-0.8
$SPEED_LIMITS,0.156,0.206
$TGT_NAME,RECOV_2
$TGT_LATLONG,1218.780,12058.500
$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,139.5,40579,-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,25,-1.56,-146.0,0.0,0.0,0,92,0.00,0.00,-64.47,0.000,2,0.000,0.000,250,2250,2389
$GC,96,-1.56,-146.0,3.2,-7.9,13,134,13.25,2.38,-19.23,0.000,4,0.164,0.053,2561,3600,3346
$GC,187,-1.28,-146.0,19.6,-17.4,29,193,0.35,2.33,0.00,0.000,6,0.117,0.026,2625,2193,3347
$GC,532,-1.28,-146.0,63.3,-11.5,90,537,0.00,2.42,0.00,0.000,4,0.000,0.041,2625,3606,3348
$GC,561,-1.24,-146.0,66.7,-11.3,95,567,0.00,1.95,0.00,0.000,6,0.000,0.025,2625,2389,3348
$GC,907,-1.30,-146.0,104.0,-10.7,156,913,0.00,2.70,0.00,0.000,4,0.000,0.039,2625,820,3350
$GC,965,-1.24,-146.0,110.7,-11.0,166,971,0.00,2.58,0.00,0.000,6,0.000,0.028,2626,2359,3350
$GC,1310,-1.31,-146.0,145.5,-9.5,227,1316,0.00,2.12,0.00,0.000,4,0.000,0.045,2625,3604,3352
$GC,1356,-1.31,-146.0,150.3,-10.1,235,1362,0.00,2.00,0.00,0.000,6,0.000,0.026,2625,2366,3352
$GC,1701,-1.41,-146.0,178.5,-7.9,296,1707,0.12,0.00,0.00,0.000,6,0.054,0.000,2585,2366,3353
$GC,2046,-1.41,-146.0,209.4,-8.4,357,2052,0.00,2.67,0.00,0.000,4,0.000,0.042,2585,818,3352
$GC,2088,-1.37,-146.0,212.9,-8.9,364,2094,0.12,2.70,0.00,0.000,6,0.102,0.031,2608,2416,3352
$GC,2433,-1.46,-146.0,242.0,-8.3,425,2439,0.00,2.78,0.00,0.000,4,0.000,0.042,2608,824,3352
$GC,2531,-1.52,-146.0,250.3,-8.2,442,2538,0.15,2.62,0.00,0.000,6,0.050,0.031,2561,2373,3352
$GC,2857,-1.52,-146.0,277.8,-8.6,473,2861,0.00,2.10,0.00,0.000,4,0.000,0.048,2560,3605,3349
$GC,2914,-1.43,-146.0,283.3,-9.2,478,2918,0.17,2.03,0.00,0.000,6,0.105,0.029,2591,2377,3349
$GC,3241,-1.51,-146.0,311.4,-8.5,508,3245,0.00,2.72,0.00,0.000,4,0.000,0.045,2592,818,3347
$GC,3336,-1.51,-146.0,319.7,-8.1,516,3341,0.00,2.60,0.00,0.000,6,0.000,0.032,2592,2342,3347
$GC,3665,-1.59,-146.0,345.2,-8.0,546,3670,0.15,2.67,0.00,0.000,4,0.049,0.045,2542,823,3345
$GC,3721,-1.48,-146.0,350.7,-9.1,550,3728,0.20,2.80,0.00,0.000,6,0.102,0.033,2579,2453,3344
$GC,4047,-1.53,-146.0,378.7,-8.4,581,4051,0.00,1.98,0.00,0.000,4,0.000,0.051,2579,3593,3342
$GC,4097,-1.53,-146.0,383.4,-9.0,585,4103,0.00,2.10,0.00,0.000,6,0.000,0.031,2579,2331,3342
$GC,4425,-1.60,-146.0,409.4,-8.0,616,4429,0.00,2.22,0.00,0.000,4,0.000,0.049,2579,3600,3340
$GC,4460,-1.60,-146.0,412.4,-7.6,618,4466,0.00,2.03,0.00,0.000,6,0.000,0.031,2579,2381,3339
$GC,4788,-1.67,-146.0,436.0,-7.0,649,4792,0.15,2.12,0.00,0.000,4,0.054,0.050,2532,3592,3337
$GC,4811,-1.61,-146.0,438.1,-8.4,650,4817,0.12,2.00,0.00,0.000,6,0.115,0.031,2553,2392,3336
$GC,5136,-1.61,-146.0,463.0,-8.0,681,5139,0.00,2.12,0.00,0.000,4,0.000,0.051,2553,3600,3334
$GC,5187,-1.53,-146.0,467.5,-8.6,685,5193,0.00,2.22,0.00,0.000,6,0.000,0.033,2553,2280,3334
$GC,5517,-1.53,-146.0,493.3,-7.2,716,5521,0.00,2.60,0.00,0.000,4,0.000,0.051,2553,819,3332
$GC,5604,-1.46,-146.0,500.5,-8.1,723,5610,0.17,2.70,0.00,0.000,6,0.110,0.035,2585,2383,3331
$GC,5935,-1.53,-146.0,522.9,-6.6,739,5939,0.00,2.78,0.00,0.000,4,0.000,0.051,2584,828,3329
$GC,5990,-1.53,-146.0,527.1,-7.5,741,5996,0.00,2.50,0.00,0.000,6,0.000,0.035,2585,2273,3329
$GC,6308,-1.62,-146.0,549.0,-7.2,757,6313,0.15,2.60,0.00,0.000,4,0.054,0.051,2540,820,3327
$GC,6321,-1.68,-146.0,550.0,-7.7,757,6327,0.00,2.75,0.00,0.000,6,0.000,0.037,2540,2407,3327
$GC,6640,-1.68,-146.0,576.0,-8.2,773,6644,0.00,2.83,0.00,0.000,4,0.000,0.051,2540,827,3326
$GC,6718,-1.59,-146.0,583.0,-8.9,776,6724,0.00,2.55,0.00,0.000,6,0.000,0.036,2540,2302,3325
$GC,7034,-1.59,-146.0,608.7,-8.3,792,7038,0.00,2.62,0.00,0.000,4,0.000,0.052,2540,827,3323
$GC,7068,-1.49,-146.0,611.7,-9.3,793,7074,0.20,2.75,0.00,0.000,6,0.108,0.037,2576,2411,3323
$GC,7387,-1.57,-146.0,636.2,-7.4,809,7391,0.00,2.83,0.00,0.000,4,0.000,0.053,2576,829,3321
$GC,7477,-1.57,-146.0,643.5,-7.7,813,7481,0.00,2.90,0.00,0.000,6,0.000,0.038,2576,2491,3320
$GC,7798,-1.64,-146.0,666.5,-7.0,829,7803,0.15,1.95,0.00,0.000,4,0.055,0.058,2532,3598,3319
$GC,7878,-1.53,-146.0,672.7,-8.3,832,7882,0.20,2.03,0.00,0.000,6,0.112,0.035,2568,2399,3319
$GC,8196,-1.58,-146.0,693.9,-6.6,847,8201,0.00,2.83,0.00,0.000,4,0.000,0.054,2568,821,3317
$GC,8292,-1.58,-146.0,700.8,-7.1,851,8296,0.00,2.55,0.00,0.000,6,0.000,0.037,2568,2291,3317
$GC,8609,-1.64,-146.0,721.9,-7.1,866,8613,0.00,2.33,0.00,0.000,4,0.000,0.058,2568,3596,3316
$GC,8704,-1.64,-146.0,729.6,-7.7,870,8709,0.00,2.15,0.00,0.000,6,0.000,0.036,2568,2330,3316
$GC,9029,-1.68,-146.0,753.9,-7.6,886,9034,0.15,2.70,0.00,0.000,4,0.057,0.055,2523,827,3314
$GC,9124,-1.57,-146.0,762.8,-9.2,890,9129,0.20,2.75,0.00,0.000,6,0.113,0.038,2559,2407,3314
$GC,9443,-1.61,-146.0,787.7,-8.2,905,9447,0.00,2.85,0.00,0.000,4,0.000,0.055,2559,825,3312
$GC,9539,-1.57,-146.0,796.0,-7.8,909,9544,0.00,2.58,0.00,0.000,6,0.000,0.038,2559,2305,3312
$GC,9856,-1.57,-146.0,821.1,-7.1,924,9860,0.00,2.67,0.00,0.000,4,0.000,0.057,2559,826,3310
$GC,9919,-1.54,-146.0,826.1,-8.2,927,9923,0.00,2.78,0.00,0.000,6,0.000,0.039,2559,2410,3310
$STATE,10098,end dive,NO_VERTICAL_VELOCITY
$STATE,10098,begin apogee
$GC,10106,-0.35,0.0,826.7,0.0,936,10231,1.25,0.00,121.35,1.243,6,0.071,0.000,2825,2343,2748
$STATE,10232,end apogee,CONTROL_FINISHED_OK
$STATE,10232,begin climb
$GC,10235,1.56,146.0,826.6,0.0,942,10371,1.98,2.65,127.62,1.200,4,0.071,0.060,3238,943,2152
$GC,10402,1.31,147.3,818.5,9.0,949,10407,0.25,2.42,0.00,0.000,6,0.123,0.039,3196,2306,2151
$GC,10727,1.22,172.1,793.3,7.9,965,10757,0.15,2.62,22.23,1.210,4,0.130,0.059,3167,944,2046
$GC,10867,1.17,188.7,781.7,8.3,971,10887,0.00,2.40,14.62,1.206,6,0.000,0.039,3167,2303,1978
$GC,11212,1.16,212.6,753.9,7.9,988,11238,0.00,2.65,20.85,1.201,4,0.000,0.061,3166,3724,1880
$GC,11251,1.13,222.3,750.6,8.6,990,11265,0.00,2.53,8.93,1.180,6,0.000,0.040,3166,2298,1840
$GC,11583,1.15,237.9,723.1,8.3,1006,11604,0.00,2.60,13.20,1.199,4,0.000,0.062,3166,931,1778
$GC,11695,1.15,237.9,712.4,9.2,1011,11699,0.00,2.33,0.00,0.000,6,0.000,0.039,3166,2249,1777
$GC,12023,1.18,252.8,683.9,8.3,1027,12044,0.00,2.53,13.55,1.184,4,0.000,0.060,3166,929,1716
$GC,12128,1.20,265.8,674.6,8.4,1031,12145,0.00,2.12,11.68,1.176,6,0.000,0.038,3166,2146,1664
$GC,12462,1.22,279.4,646.3,8.4,1048,12483,0.00,2.35,12.12,1.167,4,0.000,0.061,3166,928,1608
$GC,12551,1.23,285.7,638.4,8.7,1052,12562,0.00,2.28,6.00,1.160,6,0.000,0.038,3167,2218,1583
$GC,12882,1.33,300.4,610.7,8.4,1068,12903,0.12,2.83,13.32,1.142,4,0.071,0.059,3196,3723,1523
$GC,12988,1.28,300.4,600.1,9.4,1072,12994,0.00,2.92,0.00,0.000,6,0.000,0.042,3195,2070,1522
$GC,13307,1.25,300.4,570.1,9.2,1088,13310,0.00,2.08,0.00,0.000,4,0.000,0.064,3195,933,1520
$GC,13368,1.20,300.4,564.2,9.1,1090,13375,0.15,2.25,0.00,0.000,6,0.117,0.038,3170,2221,1519
$GC,13686,1.35,323.4,538.4,8.0,1106,13712,0.15,2.78,20.08,1.087,4,0.067,0.058,3209,3727,1428
$GC,13758,1.30,323.4,531.2,10.4,1109,13763,0.00,2.40,0.00,0.000,6,0.000,0.038,3209,2356,1427
$GC,14074,1.30,323.4,500.0,9.7,1124,14078,0.00,2.60,0.00,0.000,4,0.000,0.059,3209,930,1425
$GC,14119,1.27,323.4,495.5,10.3,1127,14125,0.15,2.22,0.00,0.000,6,0.120,0.037,3183,2208,1424
$GC,14445,1.41,352.0,467.3,7.7,1158,14478,0.12,2.83,24.85,1.029,4,0.069,0.056,3212,3733,1313
$GC,14485,1.42,355.6,464.0,8.9,1161,14494,0.00,3.03,3.75,1.009,6,0.000,0.038,3213,2031,1298
$GC,14821,1.48,365.7,434.8,8.6,1193,14836,0.00,3.12,9.00,1.032,4,0.000,0.054,3213,3724,1256
$GC,14916,1.49,368.9,426.0,8.9,1201,14928,0.00,2.62,3.40,1.027,6,0.000,0.038,3213,2225,1243
$GC,15247,1.57,368.9,396.0,9.0,1232,15251,0.15,2.35,0.00,0.000,4,0.064,0.057,3252,928,1241
$GC,15338,1.47,368.9,386.5,10.6,1240,15342,0.15,1.98,0.00,0.000,6,0.114,0.036,3226,2068,1239
$GC,15663,1.56,368.9,354.2,9.8,1270,15668,0.00,2.95,0.00,0.000,4,0.000,0.053,3226,3725,1240
$GC,15759,1.56,368.9,344.2,10.1,1278,15764,0.00,2.60,0.00,0.000,6,0.000,0.038,3226,2223,1239
$GC,16085,1.63,376.8,314.4,8.7,1308,16098,0.15,2.42,6.55,0.952,4,0.065,0.055,3266,925,1211
$GC,16190,1.52,376.8,303.8,10.4,1317,16194,0.15,1.98,0.00,0.000,6,0.113,0.035,3240,2069,1210
$GC,16521,1.59,376.8,272.4,9.6,1348,16525,0.00,2.92,0.00,0.000,4,0.000,0.051,3240,3727,1210
$GC,16616,1.59,376.8,262.5,11.2,1356,16621,0.00,2.60,0.00,0.000,6,0.000,0.036,3240,2216,1210
$GC,16953,1.67,386.9,230.5,8.6,1404,16970,0.12,2.75,9.05,0.867,4,0.069,0.051,3271,3730,1170
$GC,17064,1.58,386.9,219.6,10.6,1423,17070,0.00,2.97,0.00,0.000,6,0.000,0.038,3271,2030,1169
$GC,17409,1.58,386.9,186.4,10.2,1484,17415,0.12,3.03,0.00,0.000,4,0.117,0.048,3250,3730,1169
$GC,17451,1.58,386.9,182.6,9.6,1491,17457,0.00,2.60,0.00,0.000,6,0.000,0.035,3250,2217,1169
$GC,17796,1.72,412.9,152.9,7.9,1552,17824,0.12,2.40,22.23,0.755,4,0.064,0.053,3283,932,1064
$GC,17942,1.77,444.4,140.5,7.6,1578,17974,0.00,1.98,27.00,0.726,6,0.000,0.032,3284,2083,936
$GC,18315,2.02,497.6,109.9,6.6,1644,18368,0.22,2.12,44.65,0.676,4,0.045,0.050,3347,928,719
$GC,18465,1.97,497.6,96.5,9.2,1671,18471,0.00,1.83,0.00,0.000,6,0.000,0.031,3347,2005,715
$GC,18810,2.03,497.6,63.6,9.3,1732,18816,0.00,3.03,0.00,0.000,4,0.000,0.045,3347,3733,714
$GC,18914,2.12,518.8,54.5,8.1,1750,18936,0.00,2.72,16.83,0.629,6,0.000,0.031,3347,2131,632
$GC,19278,2.28,539.8,24.8,8.1,1814,19300,0.20,2.20,16.77,0.586,4,0.048,0.047,3404,929,546
$GC,19376,2.20,539.8,15.1,9.7,1831,19381,0.00,1.83,0.00,0.000,6,0.000,0.028,3404,2024,545
$STATE,19503,end climb,SURFACE_DEPTH_REACHED
$STATE,19503,begin surface coast
$FINISH,-0.1,1.020915
$STATE,19525,end surface coast,CONTROL_FINISHED_OK
$STATE,19525,begin surface
$SM_CCo,19611,0.00,0.000,0,0,542,541.13
$SM_GC,0.83,13.88,0.00,0.00,0.038,0.000,0.000,247,2257,542,-12.18,1.16,541.13
$IRIDIUM_FIX,1232.20,12043.05,120897,070716
$TT8_MAMPS,0.023777
$HUMID,2107
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,24.30
$XPDR_PINGS,361
$ALTIM_BOTTOM_PING,741.4,97.0
$24V_AH,22.8,79.325
$10V_AH,10.1,40.512
$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,35.625,234.350,589.625,0.000,0.000,28.847,37.381,213.952,96.750,0.000,0.000,16.442,3022.797,12191.399,749.533,3275.012,803.722,0.000,2436.259,0.000,3200.526,0.000,49.149
$DEVICE_MAMPS,164.138,72.098,1243.307,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1243.345,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59763,1857
$CAP_FILE_SIZE,213142,0
$CFSIZE,260165632,221290496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180508,183726,1235.079,12043.771,42,1.0,42,-0.8