version: 66.03
glider: 122
mission: 6
dive: 366
start: 5 6 108 7 52 43
data:
$ID,122
$MISSION,6
$DIVE,366
$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,2
$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,-34501.793
$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,71
$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
$GPS1,074333,1250.977,12042.290,9,2.0,9,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-73.8
$GPS2,075208,1250.983,12042.306,12,1.6,17,-0.8
$SPEED_LIMITS,0.156,0.206
$TGT_NAME,RECOV_1
$TGT_LATLONG,1241.580,12045.480
$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,157.4,18335,-18.6,-9.016
$D_GRID,838
$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,19,begin dive
$GC,22,-1.56,-146.0,0.0,0.0,0,83,0.00,0.00,-58.88,0.000,2,0.000,0.000,247,2259,2347
$GC,87,-1.56,-146.0,3.2,-7.1,9,127,13.27,2.33,-19.58,0.000,4,0.167,0.053,2559,3583,3346
$GC,213,-1.26,-146.0,29.0,-19.4,30,220,0.38,2.28,0.00,0.000,6,0.117,0.025,2628,2202,3348
$GC,561,-1.15,-146.0,79.1,-11.6,91,568,0.12,2.38,0.00,0.000,4,0.117,0.039,2651,819,3349
$GC,643,-1.10,-146.0,89.0,-11.1,105,650,0.00,2.42,0.00,0.000,6,0.000,0.027,2651,2273,3349
$GC,989,-1.14,-146.0,123.2,-9.1,166,995,0.00,2.25,0.00,0.000,4,0.000,0.044,2651,3590,3351
$GC,1065,-1.18,-146.0,130.9,-10.3,179,1072,0.00,2.10,0.00,0.000,6,0.000,0.025,2651,2294,3352
$GC,1412,-1.32,-146.0,162.5,-8.5,240,1419,0.15,2.53,0.00,0.000,4,0.050,0.039,2601,820,3352
$GC,1494,-1.27,-146.0,170.2,-9.5,254,1502,0.12,2.42,0.00,0.000,6,0.097,0.028,2625,2275,3352
$GC,1841,-1.37,-146.0,200.8,-8.2,315,1848,0.00,2.25,0.00,0.000,4,0.000,0.047,2625,3588,3352
$GC,1862,-1.44,-146.0,202.8,-9.0,318,1869,0.15,1.95,0.00,0.000,6,0.052,0.027,2580,2383,3352
$GC,2208,-1.44,-146.0,234.8,-9.5,379,2215,0.00,2.70,0.00,0.000,4,0.000,0.043,2580,820,3351
$GC,2273,-1.39,-146.0,241.1,-9.9,390,2280,0.10,2.45,0.00,0.000,6,0.107,0.031,2598,2277,3351
$GC,2612,-1.46,-146.0,270.3,-8.4,430,2616,0.00,2.53,0.00,0.000,4,0.000,0.044,2598,825,3350
$GC,2701,-1.46,-146.0,278.6,-9.3,437,2708,0.00,2.65,0.00,0.000,6,0.000,0.031,2598,2390,3349
$GC,3029,-1.52,-146.0,305.8,-8.2,468,3034,0.12,2.05,0.00,0.000,4,0.054,0.046,2559,3586,3348
$GC,3119,-1.41,-146.0,315.1,-10.3,475,3126,0.20,2.12,0.00,0.000,6,0.101,0.030,2596,2297,3347
$GC,3445,-1.48,-146.0,342.0,-8.3,506,3449,0.00,2.22,0.00,0.000,4,0.000,0.047,2596,3589,3346
$GC,3531,-1.45,-146.0,349.4,-8.4,513,3535,0.00,1.98,0.00,0.000,6,0.000,0.031,2596,2390,3345
$GC,3865,-1.52,-146.0,375.1,-7.3,544,3868,0.00,2.08,0.00,0.000,4,0.000,0.048,2596,3590,3343
$GC,3889,-1.52,-146.0,377.1,-7.7,546,3893,0.00,2.20,0.00,0.000,6,0.000,0.031,2596,2266,3343
$GC,4223,-1.59,-146.0,400.3,-7.3,577,4228,0.15,2.55,0.00,0.000,4,0.054,0.048,2548,817,3341
$GC,4308,-1.49,-146.0,408.7,-9.8,584,4313,0.15,2.60,0.00,0.000,6,0.105,0.034,2576,2336,3341
$GC,4634,-1.45,-146.0,439.2,-9.1,614,4638,0.00,2.17,0.00,0.000,4,0.000,0.050,2576,3589,3338
$GC,4656,-1.40,-146.0,441.4,-8.8,615,4664,0.12,2.08,0.00,0.000,6,0.112,0.031,2598,2343,3337
$GC,4982,-1.47,-146.0,471.0,-8.4,646,4986,0.00,2.70,0.00,0.000,4,0.000,0.050,2598,816,3335
$GC,5060,-1.47,-146.0,478.1,-8.9,652,5067,0.00,2.47,0.00,0.000,6,0.000,0.034,2598,2266,3334
$GC,5391,-1.54,-146.0,500.1,-5.2,683,5396,0.15,2.58,0.00,0.000,4,0.054,0.050,2556,817,3332
$GC,5419,-1.49,-146.0,502.4,-6.5,684,5424,0.12,2.78,0.00,0.000,6,0.110,0.035,2578,2427,3333
$GC,5736,-1.49,-146.0,521.7,-7.5,699,5741,0.00,2.85,0.00,0.000,4,0.000,0.050,2578,817,3330
$GC,5776,-1.49,-146.0,525.0,-8.1,701,5781,0.00,2.75,0.00,0.000,6,0.000,0.035,2578,2409,3330
$GC,6104,-1.49,-146.0,547.3,-6.8,717,6108,0.00,2.83,0.00,0.000,4,0.000,0.050,2578,821,3328
$GC,6137,-1.49,-146.0,550.1,-8.2,718,6145,0.00,2.70,0.00,0.000,6,0.000,0.036,2578,2388,3328
$GC,6454,-1.49,-146.0,572.0,-6.6,734,6457,0.00,2.15,0.00,0.000,4,0.000,0.053,2578,3615,3327
$STATE,6614,end dive,NO_VERTICAL_VELOCITY
$STATE,6614,begin apogee
$GC,6625,-0.35,0.0,572.9,0.0,741,6745,1.08,0.00,116.90,1.012,6,0.036,0.000,2834,2332,2748
$STATE,6746,end apogee,CONTROL_FINISHED_OK
$STATE,6746,begin climb
$GC,6749,1.56,146.0,573.6,0.0,747,6878,1.90,2.55,119.30,0.979,4,0.062,0.051,3242,939,2151
$GC,6970,1.32,146.0,562.2,9.8,757,6975,0.28,2.45,0.00,0.000,6,0.113,0.038,3193,2332,2150
$GC,7298,1.24,177.1,537.3,7.6,773,7329,0.00,2.60,24.58,0.991,4,0.000,0.058,3193,3728,2026
$GC,7375,1.08,177.1,530.4,9.5,776,7380,0.28,2.38,0.00,0.000,6,0.120,0.035,3143,2348,2025
$GC,7691,1.17,231.6,509.5,6.6,791,7742,0.00,2.53,44.20,0.973,4,0.000,0.054,3143,3730,1803
$GC,7817,1.17,231.6,498.8,10.1,796,7824,0.00,2.28,0.00,0.000,6,0.000,0.035,3144,2403,1802
$GC,8146,1.26,285.7,477.5,6.6,827,8197,0.17,2.72,44.75,0.957,4,0.063,0.053,3188,939,1582
$GC,8290,1.25,306.0,465.8,8.1,839,8312,0.00,2.55,16.62,0.963,6,0.000,0.038,3188,2397,1500
$GC,8639,1.26,313.3,436.6,8.7,872,8652,0.00,2.40,5.90,0.982,4,0.000,0.056,3188,3724,1470
$GC,8669,1.23,313.3,433.7,9.2,874,8676,0.00,2.28,0.00,0.000,6,0.000,0.035,3188,2399,1469
$GC,8998,1.24,315.5,404.8,8.9,905,9002,0.00,2.62,0.00,0.000,4,0.000,0.054,3188,934,1468
$GC,9032,1.24,315.5,401.5,9.1,907,9039,0.00,2.60,0.00,0.000,6,0.000,0.038,3188,2424,1467
$GC,9359,1.24,315.5,370.0,9.8,938,9363,0.00,2.33,0.00,0.000,4,0.000,0.057,3188,3733,1467
$GC,9409,1.24,315.5,364.3,11.6,942,9416,0.00,2.22,0.00,0.000,6,0.000,0.035,3188,2425,1467
$GC,9737,1.30,326.6,335.0,8.5,973,9753,0.00,2.38,10.55,0.927,4,0.000,0.054,3187,3733,1416
$GC,9776,1.30,326.6,331.1,9.5,976,9783,0.00,2.47,0.00,0.000,6,0.000,0.035,3188,2296,1415
$GC,10105,1.46,365.4,307.3,7.3,1007,10143,0.15,2.55,33.08,0.865,4,0.061,0.054,3229,937,1258
$GC,10230,1.41,365.4,295.1,10.4,1017,10237,0.00,2.62,0.00,0.000,6,0.000,0.038,3229,2433,1254
$GC,10558,1.41,365.4,258.4,11.0,1048,10562,0.00,2.70,0.00,0.000,4,0.000,0.052,3230,932,1252
$GC,10601,1.41,365.4,253.3,11.1,1051,10609,0.00,2.55,0.00,0.000,6,0.000,0.037,3229,2399,1251
$GC,10944,1.41,365.4,220.0,9.3,1109,10951,0.00,2.60,0.00,0.000,4,0.000,0.053,3229,937,1251
$GC,11043,1.42,366.8,210.6,9.0,1126,11050,0.00,2.42,0.00,0.000,6,0.000,0.035,3229,2336,1251
$GC,11389,1.46,366.8,178.1,9.1,1187,11396,0.00,2.45,0.00,0.000,4,0.000,0.054,3229,3724,1251
$GC,11443,1.52,378.9,173.4,8.5,1196,11458,0.00,2.67,10.07,0.803,6,0.000,0.035,3229,2170,1203
$GC,11800,1.69,396.8,142.8,8.2,1258,11823,0.15,2.25,15.18,0.755,4,0.056,0.053,3277,932,1129
$GC,11870,1.69,396.8,136.1,9.6,1269,11877,0.00,1.88,0.00,0.000,6,0.000,0.033,3276,2026,1128
$GC,12217,1.77,423.6,105.6,7.8,1330,12244,0.00,2.05,22.15,0.699,4,0.000,0.051,3277,934,1021
$GC,12264,1.83,425.5,101.8,8.9,1337,12271,0.12,2.03,0.00,0.000,6,0.055,0.032,3315,2114,1019
$GC,12611,1.92,452.7,72.5,7.8,1398,12644,0.00,2.90,23.88,0.653,4,0.000,0.048,3315,3730,901
$GC,12651,2.01,479.2,69.3,7.8,1404,12679,0.12,2.60,22.12,0.639,6,0.061,0.031,3348,2217,794
$GC,13021,2.08,521.4,36.0,7.1,1468,13061,0.00,2.35,33.85,0.596,4,0.000,0.048,3348,935,621
$GC,13102,2.11,521.4,28.9,9.1,1481,13109,0.00,2.35,0.00,0.000,6,0.000,0.030,3348,2316,619
$STATE,13395,end climb,SURFACE_DEPTH_REACHED
$STATE,13395,begin surface coast
$FINISH,-0.1,1.020420
$STATE,13418,end surface coast,CONTROL_FINISHED_OK
$STATE,13419,begin surface
$SM_CCo,13503,0.00,0.000,0,0,615,523.22
$SM_GC,0.67,13.55,0.00,0.00,0.036,0.000,0.000,249,2180,615,-12.18,-1.02,523.22
$IRIDIUM_FIX,1247.67,12042.28,310797,070723
$TT8_MAMPS,0.023777
$HUMID,2111
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,23.90
$XPDR_PINGS,422
$24V_AH,23.3,68.157
$10V_AH,10.1,35.085
$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,33.125,159.800,543.125,0.000,0.000,47.899,63.064,198.666,107.500,0.000,0.000,19.664,3202.155,6887.135,699.221,2554.115,682.860,0.000,2014.746,0.000,2516.508,0.000,18.165
$DEVICE_MAMPS,167.206,57.525,1012.440,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1025.909,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47155,1537
$CAP_FILE_SIZE,156121,0
$CFSIZE,260165632,226480128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095,341.7,1
$GPS,060508,113901,1251.131,12042.078,39,1.2,39,-0.8