version: 66.03
glider: 122
mission: 6
dive: 383
start: 5 10 108 4 7 57
data:
$ID,122
$MISSION,6
$DIVE,383
$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,571.79431
$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,-34823.449
$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,23
$R_STBD_OVSHOOT,29
$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
$GPS1,034538,1240.801,12045.440,29,1.2,29,-0.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-73.5
$GPS2,040726,1240.891,12045.464,15,1.2,32,-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,150.9,47257,-18.6,-9.016
$D_GRID,862
$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,24,-1.56,-146.0,0.0,0.0,0,86,0.00,0.00,-59.45,0.000,2,0.000,0.000,252,2182,2441
$GC,90,-1.56,-146.0,3.3,-8.2,12,127,13.25,2.50,-17.38,0.000,4,0.166,0.051,2561,3635,3345
$GC,174,-1.27,-146.0,21.5,-19.8,27,181,0.35,2.38,0.00,0.000,6,0.120,0.025,2624,2194,3346
$GC,519,-1.17,-146.0,69.1,-12.7,88,526,0.12,2.47,0.00,0.000,4,0.120,0.042,2646,3632,3346
$GC,594,-1.08,-146.0,78.5,-12.7,101,601,0.12,2.22,0.00,0.000,6,0.113,0.025,2669,2269,3346
$GC,940,-1.19,-146.0,113.7,-8.5,162,946,0.12,2.50,0.00,0.000,4,0.052,0.039,2628,813,3347
$GC,986,-1.14,-146.0,118.5,-10.0,170,993,0.15,2.72,0.00,0.000,6,0.093,0.029,2657,2432,3347
$GC,1332,-1.28,-146.0,150.6,-8.9,231,1339,0.15,2.78,0.00,0.000,4,0.048,0.038,2608,820,3347
$GC,1425,-1.28,-146.0,159.5,-9.7,247,1431,0.00,2.60,0.00,0.000,6,0.000,0.028,2607,2373,3347
$GC,1770,-1.36,-146.0,189.4,-7.7,308,1776,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2373,3347
$GC,2115,-1.43,-146.0,214.9,-7.7,369,2120,0.00,2.15,0.00,0.000,4,0.000,0.048,2608,3625,3347
$GC,2194,-1.43,-146.0,222.1,-9.2,383,2200,0.00,2.20,0.00,0.000,6,0.000,0.028,2607,2279,3346
$GC,2539,-1.52,-146.0,249.3,-7.2,444,2545,0.15,2.33,0.00,0.000,4,0.050,0.044,2554,3632,3345
$GC,2665,-1.40,-146.0,260.5,-9.1,456,2669,0.22,2.08,0.00,0.000,6,0.100,0.028,2596,2368,3345
$GC,2990,-1.47,-146.0,286.2,-7.5,486,2994,0.00,2.17,0.00,0.000,4,0.000,0.047,2596,3626,3343
$GC,3035,-1.47,-146.0,289.8,-7.7,490,3039,0.00,2.28,0.00,0.000,6,0.000,0.029,2596,2254,3343
$GC,3369,-1.55,-146.0,312.5,-7.0,521,3374,0.15,2.38,0.00,0.000,4,0.051,0.045,2548,3625,3340
$GC,3476,-1.43,-146.0,322.2,-9.2,530,3481,0.22,2.08,0.00,0.000,6,0.101,0.030,2590,2373,3340
$GC,3802,-1.48,-146.0,348.9,-8.5,560,3806,0.00,2.17,0.00,0.000,4,0.000,0.048,2590,3628,3337
$GC,3846,-1.48,-146.0,352.8,-8.7,563,3852,0.00,2.30,0.00,0.000,6,0.000,0.031,2590,2248,3336
$GC,4175,-1.55,-146.0,377.4,-7.3,594,4179,0.00,2.50,0.00,0.000,4,0.000,0.050,2590,824,3334
$GC,4254,-1.55,-146.0,383.8,-7.2,601,4259,0.00,2.70,0.00,0.000,6,0.000,0.034,2590,2399,3333
$GC,4584,-1.62,-146.0,406.5,-7.3,631,4589,0.17,2.12,0.00,0.000,4,0.048,0.049,2540,3621,3331
$GC,4639,-1.47,-146.0,411.8,-9.8,635,4646,0.22,2.30,0.00,0.000,6,0.104,0.031,2582,2253,3331
$GC,4965,-1.54,-146.0,440.2,-8.8,666,4969,0.00,2.55,0.00,0.000,4,0.000,0.051,2582,813,3328
$GC,5061,-1.54,-146.0,448.5,-8.2,674,5065,0.00,2.70,0.00,0.000,6,0.000,0.035,2582,2378,3327
$GC,5389,-1.59,-146.0,469.5,-5.7,704,5393,0.12,2.17,0.00,0.000,4,0.056,0.051,2545,3629,3326
$GC,5473,-1.48,-146.0,475.5,-7.3,711,5479,0.20,2.33,0.00,0.000,6,0.106,0.033,2582,2254,3325
$GC,5798,-1.54,-146.0,498.6,-8.1,742,5803,0.00,2.55,0.00,0.000,4,0.000,0.052,2582,813,3322
$GC,5871,-1.54,-146.0,505.1,-9.2,745,5875,0.00,2.70,0.00,0.000,6,0.000,0.035,2582,2374,3322
$GC,6190,-1.59,-146.0,532.4,-8.5,760,6194,0.12,2.20,0.00,0.000,4,0.056,0.053,2546,3625,3320
$GC,6252,-1.47,-146.0,538.6,-9.3,763,6257,0.20,2.33,0.00,0.000,6,0.107,0.034,2583,2248,3320
$GC,6587,-1.54,-146.0,564.6,-8.2,779,6591,0.00,2.42,0.00,0.000,4,0.000,0.052,2583,3620,3318
$GC,6616,-1.54,-146.0,567.4,-8.9,780,6620,0.00,2.30,0.00,0.000,6,0.000,0.034,2583,2261,3317
$GC,6936,-1.62,-146.0,592.7,-8.4,795,6941,0.15,2.42,0.00,0.000,4,0.054,0.052,2542,3629,3316
$GC,7055,-1.50,-146.0,605.5,-11.5,800,7060,0.17,2.17,0.00,0.000,6,0.110,0.035,2574,2344,3315
$GC,7374,-1.55,-146.0,629.5,-5.7,815,7378,0.00,2.28,0.00,0.000,4,0.000,0.054,2574,3625,3313
$GC,7487,-1.51,-146.0,637.1,-6.7,820,7491,0.00,2.33,0.00,0.000,6,0.000,0.035,2574,2249,3312
$GC,7816,-1.57,-146.0,657.5,-7.3,836,7821,0.00,2.55,0.00,0.000,4,0.000,0.056,2574,817,3311
$GC,7901,-1.57,-146.0,665.9,-10.8,840,7905,0.00,2.40,0.00,0.000,6,0.000,0.036,2574,2204,3311
$GC,8231,-1.60,-146.0,696.3,-8.7,856,8235,0.00,2.50,0.00,0.000,4,0.000,0.057,2574,3620,3309
$GC,8311,-1.56,-146.0,703.7,-8.9,859,8315,0.00,2.40,0.00,0.000,6,0.000,0.036,2574,2216,3308
$GC,8627,-1.56,-146.0,723.7,-5.5,874,8631,0.00,2.50,0.00,0.000,4,0.000,0.055,2574,3622,3308
$GC,8690,-1.53,-146.0,727.7,-6.9,877,8694,0.00,2.35,0.00,0.000,6,0.000,0.036,2574,2250,3307
$GC,9017,-1.53,-146.0,746.8,-6.3,893,9021,0.00,2.45,0.00,0.000,4,0.000,0.057,2574,3621,3306
$GC,9058,-1.49,-146.0,749.8,-8.2,895,9062,0.00,2.30,0.00,0.000,6,0.000,0.036,2574,2276,3306
$GC,9387,-1.49,-146.0,775.6,-8.5,911,9388,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2276,3304
$GC,9694,-1.49,-146.0,802.4,-8.5,926,9698,0.00,2.40,0.00,0.000,4,0.000,0.058,2574,3618,3303
$GC,9756,-1.49,-146.0,808.1,-9.1,929,9760,0.00,2.30,0.00,0.000,6,0.000,0.038,2574,2280,3302
$GC,10083,-1.49,-146.0,836.0,-9.5,945,10087,0.00,2.40,0.00,0.000,4,0.000,0.057,2574,3621,3302
$GC,10110,-1.49,-146.0,838.9,-11.9,946,10114,0.00,2.28,0.00,0.000,6,0.000,0.037,2574,2293,3302
$STATE,10361,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10361,begin apogee
$GC,10369,-0.35,0.0,862.2,8.6,958,10492,1.27,0.00,119.90,1.274,6,0.106,0.000,2826,2347,2748
$STATE,10494,end apogee,CONTROL_FINISHED_OK
$STATE,10494,begin climb
$GC,10496,1.56,146.0,867.0,0.0,964,10632,1.92,2.55,127.40,1.230,4,0.054,0.058,3250,3719,2152
$GC,10657,1.27,146.0,858.5,14.1,971,10664,0.38,2.42,0.00,0.000,6,0.136,0.040,3186,2344,2151
$GC,10975,1.14,146.0,827.6,9.1,987,10977,0.17,0.00,0.00,0.000,6,0.126,0.000,3156,2343,2150
$GC,11283,1.14,181.3,803.2,7.4,1002,11318,0.00,2.55,30.48,1.228,4,0.000,0.058,3156,3711,2008
$GC,11347,1.08,181.3,797.9,9.4,1004,11351,0.00,2.42,0.00,0.000,6,0.000,0.040,3156,2341,2008
$GC,11669,1.12,208.1,772.5,7.8,1020,11698,0.00,2.70,23.17,1.221,4,0.000,0.063,3155,933,1898
$GC,11739,1.09,208.1,766.3,9.9,1023,11743,0.00,2.45,0.00,0.000,6,0.000,0.040,3156,2312,1897
$GC,12059,1.09,208.1,737.0,9.2,1039,12063,0.00,2.55,0.00,0.000,4,0.000,0.061,3156,929,1896
$GC,12092,1.05,208.1,733.6,10.0,1040,12099,0.12,2.45,0.00,0.000,6,0.127,0.040,3135,2314,1896
$GC,12408,1.05,208.1,704.7,9.3,1056,12412,0.00,2.53,0.00,0.000,4,0.000,0.061,3135,932,1896
$GC,12460,1.05,208.1,699.8,9.0,1058,12464,0.00,2.35,0.00,0.000,6,0.000,0.039,3135,2271,1896
$GC,12776,1.11,242.9,673.5,7.5,1073,12811,0.00,2.72,29.83,1.175,4,0.000,0.061,3135,3729,1757
$GC,12845,1.11,242.9,667.9,9.5,1075,12849,0.00,2.55,0.00,0.000,6,0.000,0.039,3135,2282,1756
$GC,13162,1.23,288.4,647.1,7.0,1090,13209,0.15,2.55,40.53,1.141,4,0.066,0.062,3173,929,1571
$GC,13238,1.24,294.3,641.1,8.8,1093,13248,0.00,2.42,5.12,1.137,6,0.000,0.039,3173,2294,1548
$GC,13569,1.24,294.3,608.6,10.2,1110,13573,0.00,2.50,0.00,0.000,4,0.000,0.060,3173,932,1545
$GC,13614,1.24,294.3,603.7,11.3,1112,13618,0.00,2.38,0.00,0.000,6,0.000,0.038,3173,2282,1544
$GC,13935,1.24,294.3,570.8,9.9,1128,13936,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2282,1544
$GC,14244,1.24,294.3,542.1,9.1,1143,14248,0.00,2.47,0.00,0.000,4,0.000,0.060,3173,931,1543
$GC,14300,1.25,302.6,537.2,8.6,1145,14313,0.00,2.33,6.75,1.129,6,0.000,0.038,3173,2261,1514
$GC,14636,1.28,318.8,509.2,8.3,1162,14657,0.00,2.50,14.45,1.086,4,0.000,0.060,3173,932,1447
$GC,14703,1.28,318.8,503.1,9.3,1165,14707,0.00,2.25,0.00,0.000,6,0.000,0.038,3173,2208,1447
$GC,15031,1.41,330.8,473.7,8.5,1194,15051,0.15,2.80,10.98,1.066,4,0.062,0.057,3213,3731,1398
$GC,15064,1.41,330.8,470.2,10.2,1197,15068,0.00,2.60,0.00,0.000,6,0.000,0.038,3213,2253,1398
$GC,15391,1.41,330.8,438.3,9.8,1227,15395,0.00,2.65,0.00,0.000,4,0.000,0.056,3213,3724,1396
$GC,15491,1.36,330.8,427.2,10.6,1235,15497,0.00,2.55,0.00,0.000,6,0.000,0.039,3213,2259,1396
$GC,15819,1.36,330.8,395.3,9.6,1266,15820,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2259,1396
$GC,16134,1.36,330.8,366.1,9.5,1296,16135,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2259,1396
$GC,16453,1.36,330.8,336.6,9.4,1326,16457,0.00,2.40,0.00,0.000,4,0.000,0.058,3213,926,1396
$GC,16516,1.32,330.8,330.6,9.7,1331,16520,0.00,2.30,0.00,0.000,6,0.000,0.037,3212,2259,1394
$GC,16849,1.32,330.8,300.4,9.2,1362,16853,0.00,2.40,0.00,0.000,4,0.000,0.055,3213,928,1394
$GC,16938,1.36,349.6,292.3,8.2,1369,16958,0.00,2.17,16.05,0.918,6,0.000,0.035,3213,2189,1322
$GC,17278,1.45,369.3,264.1,8.1,1401,17300,0.00,2.88,16.88,0.881,4,0.000,0.054,3213,3731,1243
$GC,17335,1.48,386.3,259.1,8.3,1406,17357,0.00,2.80,15.18,0.863,6,0.000,0.037,3213,2134,1172
$GC,17689,1.61,386.3,225.1,10.3,1460,17696,0.15,2.15,0.00,0.000,4,0.059,0.055,3258,929,1169
$GC,17720,1.61,386.3,221.9,11.1,1465,17726,0.00,2.42,0.00,0.000,6,0.000,0.036,3258,2316,1168
$GC,18064,1.56,386.3,185.8,9.3,1526,18070,0.00,2.50,0.00,0.000,4,0.000,0.053,3258,3727,1168
$GC,18150,1.51,386.3,176.9,10.0,1541,18157,0.12,2.67,0.00,0.000,6,0.126,0.036,3237,2181,1168
$GC,18495,1.65,405.9,148.0,8.1,1602,18518,0.12,2.80,16.05,0.773,4,0.063,0.049,3273,3724,1092
$GC,18553,1.65,407.9,142.9,8.9,1612,18559,0.00,2.92,0.00,0.000,6,0.000,0.035,3273,2049,1091
$GC,18897,1.80,443.2,113.9,7.4,1673,18933,0.10,0.00,31.75,0.708,6,0.063,0.000,3302,2048,941
$GC,19274,1.95,481.1,81.7,7.3,1740,19312,0.12,3.10,31.55,0.661,4,0.058,0.047,3338,3734,786
$GC,19400,1.95,481.3,70.2,9.0,1762,19406,0.00,2.67,0.00,0.000,6,0.000,0.032,3338,2179,784
$GC,19745,2.04,481.3,39.7,9.2,1823,19751,0.00,2.72,0.00,0.000,4,0.000,0.045,3338,3733,783
$GC,19764,2.12,481.3,37.8,9.3,1826,19770,0.12,2.47,0.00,0.000,6,0.060,0.030,3371,2269,782
$GC,20108,2.12,481.3,5.4,9.5,1887,20114,0.00,2.55,0.00,0.000,4,0.000,0.044,3371,3736,782
$STATE,20146,end climb,SURFACE_DEPTH_REACHED
$STATE,20146,begin surface coast
$FINISH,-0.1,1.020893
$STATE,20170,end surface coast,CONTROL_FINISHED_OK
$STATE,20170,begin surface
$SM_CCo,20197,44.67,0.548,0,0,417,571.79
$SM_GC,0.70,0.00,0.00,44.67,0.000,0.000,0.548,252,2206,417,-12.20,-0.28,571.79
$IRIDIUM_FIX,1236.62,12044.18,040897,040421
$TT8_MAMPS,0.023777
$HUMID,2080
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,23.80
$XPDR_PINGS,391
$ALTIM_BOTTOM_PING,700.2,206.2
$24V_AH,22.9,71.460
$10V_AH,10.1,36.799
$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,35.175,221.100,536.050,44.675,0.000,124.650,219.868,524.142,103.250,0.000,0.000,32.257,3067.792,13070.414,714.393,3319.502,1372.236,0.000,2405.330,0.000,3226.252,0.000,42.196
$DEVICE_MAMPS,165.672,83.603,1273.987,548.405,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1273.636,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59730,1898
$CAP_FILE_SIZE,218020,0
$CFSIZE,260165632,224878592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100508,094638,1240.088,12045.841,40,1.0,40,-0.8