version: 66.03
glider: 122
mission: 6
dive: 384
start: 5 10 108 9 54 11
data:
$ID,122
$MISSION,6
$DIVE,384
$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,-34836.801
$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,30
$R_STBD_OVSHOOT,27
$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
$GPS1,094638,1240.088,12045.841,40,1.0,40,-0.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-72.1
$GPS2,095339,1240.154,12045.866,12,1.1,12,-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,150.8,45710,-18.6,-9.016
$D_GRID,851
$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,23,-1.56,-146.0,0.0,0.0,0,100,0.00,0.00,-75.00,0.000,2,0.000,0.000,253,2206,2459
$GC,104,-1.56,-146.0,3.6,-9.0,15,141,13.30,2.47,-16.77,0.000,4,0.167,0.054,2562,3630,3346
$GC,205,-1.28,-146.0,23.5,-16.7,33,211,0.32,2.38,0.00,0.000,6,0.117,0.026,2621,2192,3347
$GC,549,-1.17,-146.0,70.6,-12.8,94,556,0.15,2.47,0.00,0.000,4,0.117,0.042,2652,3626,3348
$GC,641,-1.09,-146.0,82.7,-13.0,110,647,0.00,2.17,0.00,0.000,6,0.000,0.025,2652,2293,3349
$GC,985,-1.19,-146.0,119.1,-10.0,171,991,0.00,2.30,0.00,0.000,4,0.000,0.044,2652,3634,3351
$GC,1094,-1.28,-146.0,130.8,-9.6,190,1101,0.12,2.05,0.00,0.000,6,0.056,0.025,2612,2371,3351
$GC,1439,-1.35,-146.0,161.1,-9.2,251,1445,0.00,2.15,0.00,0.000,4,0.000,0.044,2612,3626,3352
$GC,1531,-1.35,-146.0,169.5,-8.2,267,1537,0.00,2.15,0.00,0.000,6,0.000,0.026,2612,2308,3352
$GC,1875,-1.43,-146.0,196.2,-9.2,328,1881,0.00,2.28,0.00,0.000,4,0.000,0.044,2612,3638,3352
$GC,1977,-1.43,-146.0,205.9,-9.1,346,1983,0.00,2.00,0.00,0.000,6,0.000,0.027,2612,2406,3352
$GC,2322,-1.54,-146.0,231.2,-7.3,407,2328,0.15,2.10,0.00,0.000,4,0.049,0.044,2558,3626,3352
$GC,2358,-1.46,-146.0,234.4,-9.3,413,2364,0.15,2.20,0.00,0.000,6,0.101,0.028,2586,2290,3352
$GC,2694,-1.49,-146.0,262.1,-8.1,460,2698,0.00,2.30,0.00,0.000,4,0.000,0.045,2586,3626,3351
$GC,2802,-1.49,-146.0,271.3,-8.1,469,2805,0.00,2.05,0.00,0.000,6,0.000,0.029,2586,2384,3350
$GC,3135,-1.54,-146.0,297.0,-7.3,500,3139,0.00,2.15,0.00,0.000,4,0.000,0.048,2586,3630,3349
$GC,3175,-1.49,-146.0,300.6,-8.6,503,3181,0.00,2.25,0.00,0.000,6,0.000,0.030,2586,2277,3348
$GC,3504,-1.56,-146.0,328.4,-9.0,534,3508,0.00,2.55,0.00,0.000,4,0.000,0.049,2585,828,3347
$GC,3595,-1.56,-146.0,336.7,-8.5,541,3601,0.00,2.67,0.00,0.000,6,0.000,0.034,2586,2397,3346
$GC,3922,-1.61,-146.0,360.7,-7.1,572,3927,0.15,2.15,0.00,0.000,4,0.053,0.051,2538,3631,3344
$GC,4019,-1.47,-146.0,369.8,-9.8,580,4024,0.25,2.28,0.00,0.000,6,0.103,0.031,2584,2274,3343
$GC,4344,-1.53,-146.0,396.2,-8.5,610,4348,0.00,2.38,0.00,0.000,4,0.000,0.049,2584,3630,3342
$GC,4453,-1.50,-146.0,406.3,-9.2,619,4457,0.00,2.12,0.00,0.000,6,0.000,0.031,2584,2362,3341
$GC,4780,-1.56,-146.0,432.9,-7.9,649,4784,0.00,2.20,0.00,0.000,4,0.000,0.051,2584,3625,3339
$GC,4826,-1.56,-146.0,436.8,-8.5,653,4830,0.00,2.33,0.00,0.000,6,0.000,0.032,2584,2243,3338
$GC,5158,-1.63,-146.0,460.7,-7.4,684,5163,0.15,2.53,0.00,0.000,4,0.055,0.051,2538,817,3335
$GC,5204,-1.51,-146.0,465.0,-8.9,687,5210,0.20,2.70,0.00,0.000,6,0.104,0.035,2576,2383,3336
$GC,5529,-1.55,-146.0,492.9,-8.9,718,5533,0.00,2.17,0.00,0.000,4,0.000,0.051,2576,3626,3333
$GC,5608,-1.50,-146.0,500.9,-9.6,724,5614,0.00,2.35,0.00,0.000,6,0.000,0.033,2576,2242,3333
$GC,5925,-1.55,-146.0,530.1,-9.4,740,5930,0.00,2.53,0.00,0.000,4,0.000,0.052,2576,819,3331
$GC,5988,-1.55,-146.0,536.2,-9.5,743,5992,0.00,2.35,0.00,0.000,6,0.000,0.034,2575,2187,3331
$GC,6317,-1.61,-146.0,561.6,-7.3,759,6321,0.00,2.42,0.00,0.000,4,0.000,0.052,2576,814,3328
$GC,6334,-1.65,-146.0,563.3,-7.5,759,6340,0.15,2.60,0.00,0.000,6,0.057,0.035,2535,2325,3328
$GC,6653,-1.55,-146.0,589.4,-8.8,775,6658,0.15,2.67,0.00,0.000,4,0.111,0.051,2566,815,3327
$GC,6681,-1.51,-146.0,592.1,-8.1,776,6685,0.00,2.55,0.00,0.000,6,0.000,0.035,2566,2293,3327
$GC,7005,-1.55,-146.0,617.6,-8.5,792,7009,0.00,2.62,0.00,0.000,4,0.000,0.053,2566,819,3325
$GC,7117,-1.49,-146.0,628.4,-8.8,797,7121,0.00,2.38,0.00,0.000,6,0.000,0.035,2566,2201,3325
$GC,7440,-1.49,-146.0,656.2,-8.6,813,7445,0.00,2.50,0.00,0.000,4,0.000,0.054,2566,3626,3323
$GC,7525,-1.44,-146.0,664.3,-9.4,817,7530,0.12,2.35,0.00,0.000,6,0.114,0.035,2588,2244,3323
$GC,7864,-1.53,-146.0,690.0,-7.5,833,7868,0.00,2.58,0.00,0.000,4,0.000,0.057,2588,809,3321
$GC,7949,-1.57,-146.0,697.1,-7.8,837,7954,0.12,2.67,0.00,0.000,6,0.062,0.037,2555,2360,3320
$GC,8279,-1.52,-146.0,722.6,-7.7,853,8283,0.00,2.78,0.00,0.000,4,0.000,0.055,2555,819,3319
$GC,8329,-1.48,-146.0,726.8,-8.3,855,8334,0.15,2.60,0.00,0.000,6,0.110,0.038,2582,2315,3319
$GC,8648,-1.52,-146.0,749.7,-7.5,870,8649,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2314,3317
$GC,8954,-1.59,-146.0,773.6,-7.4,885,8959,0.12,2.33,0.00,0.000,4,0.061,0.058,2550,3623,3316
$GC,9061,-1.52,-146.0,783.3,-9.9,890,9066,0.12,2.28,0.00,0.000,6,0.120,0.036,2571,2294,3316
$GC,9390,-1.52,-146.0,808.1,-7.7,906,9394,0.00,2.65,0.00,0.000,4,0.000,0.058,2572,820,3314
$GC,9424,-1.52,-146.0,811.0,-8.2,907,9430,0.00,2.58,0.00,0.000,6,0.000,0.038,2571,2300,3314
$GC,9741,-1.52,-146.0,835.0,-7.4,923,9745,0.00,2.35,0.00,0.000,4,0.000,0.059,2571,3619,3313
$GC,9791,-1.52,-146.0,839.2,-7.9,925,9795,0.00,2.22,0.00,0.000,6,0.000,0.036,2571,2312,3313
$STATE,9959,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9959,begin apogee
$GC,9966,-0.35,0.0,852.1,7.9,933,10091,1.27,0.00,121.95,1.267,6,0.105,0.000,2823,2310,2748
$STATE,10093,end apogee,CONTROL_FINISHED_OK
$STATE,10093,begin climb
$GC,10096,1.56,146.0,858.0,0.0,939,10231,1.92,2.65,127.22,1.223,4,0.056,0.058,3244,3726,2152
$GC,10263,1.27,146.0,853.0,10.7,947,10268,0.35,2.45,0.00,0.000,6,0.133,0.040,3184,2340,2151
$GC,10593,1.22,185.5,829.3,7.2,963,10635,0.00,2.67,34.00,1.225,4,0.000,0.062,3184,925,1990
$GC,10698,1.10,185.5,819.3,9.6,967,10705,0.20,2.47,0.00,0.000,6,0.117,0.039,3148,2321,1989
$GC,11015,1.10,185.5,790.2,9.0,983,11016,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2321,1988
$GC,11325,1.10,185.5,762.9,9.0,998,11326,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2320,1987
$GC,11633,1.13,202.1,736.4,8.3,1013,11654,0.00,2.62,13.88,1.230,4,0.000,0.061,3148,932,1923
$GC,11705,1.10,202.1,730.0,9.2,1016,11709,0.00,2.42,0.00,0.000,6,0.000,0.038,3148,2303,1923
$GC,12027,1.16,240.1,705.8,7.3,1032,12066,0.00,0.00,33.65,1.186,6,0.000,0.000,3148,2302,1769
$GC,12376,1.22,278.0,680.1,7.3,1049,12418,0.12,2.62,33.67,1.164,4,0.072,0.061,3178,925,1613
$GC,12487,1.22,278.0,669.7,9.6,1054,12491,0.00,2.40,0.00,0.000,6,0.000,0.039,3178,2276,1609
$GC,12813,1.22,278.0,637.5,10.3,1070,12817,0.00,2.60,0.00,0.000,4,0.000,0.061,3177,3724,1609
$GC,12840,1.22,278.0,634.5,11.0,1071,12845,0.00,2.55,0.00,0.000,6,0.000,0.040,3178,2267,1608
$GC,13156,1.22,278.0,602.1,10.0,1086,13160,0.00,2.62,0.00,0.000,4,0.000,0.057,3178,3724,1607
$GC,13183,1.22,278.0,599.2,10.3,1087,13187,0.00,2.53,0.00,0.000,6,0.000,0.040,3177,2282,1607
$GC,13505,1.22,278.0,567.7,9.5,1103,13509,0.00,2.47,0.00,0.000,4,0.000,0.062,3178,926,1607
$GC,13531,1.22,278.0,564.9,10.3,1104,13536,0.00,2.40,0.00,0.000,6,0.000,0.038,3178,2299,1606
$GC,13847,1.24,286.0,537.1,8.7,1119,13858,0.00,2.55,6.05,1.135,4,0.000,0.059,3178,926,1581
$GC,13911,1.28,310.6,531.6,7.9,1122,13940,0.00,2.38,22.05,1.083,6,0.000,0.038,3178,2280,1481
$GC,14265,1.34,348.5,504.7,7.3,1139,14306,0.00,2.58,33.30,1.046,4,0.000,0.058,3178,933,1327
$GC,14375,1.36,361.1,495.6,8.4,1146,14396,0.12,2.28,11.48,1.057,6,0.067,0.038,3208,2224,1275
$GC,14714,1.36,361.1,462.2,10.6,1178,14719,0.00,2.70,0.00,0.000,4,0.000,0.056,3209,3731,1271
$GC,14788,1.33,361.1,454.2,10.8,1184,14793,0.00,2.62,0.00,0.000,6,0.000,0.039,3208,2232,1270
$GC,15113,1.33,361.1,419.8,9.4,1214,15117,0.00,2.35,0.00,0.000,4,0.000,0.058,3209,932,1269
$GC,15153,1.33,361.1,415.9,9.4,1217,15157,0.00,2.28,0.00,0.000,6,0.000,0.038,3208,2236,1268
$GC,15478,1.33,361.1,385.7,9.0,1247,15482,0.00,2.38,0.00,0.000,4,0.000,0.057,3209,928,1268
$GC,15574,1.34,364.7,376.5,8.9,1255,15578,0.00,2.12,0.00,0.000,6,0.000,0.036,3209,2152,1268
$GC,15901,1.34,364.7,343.4,10.3,1285,15905,0.00,2.22,0.00,0.000,4,0.000,0.058,3209,926,1268
$GC,16013,1.34,364.7,331.4,10.4,1294,16019,0.00,2.25,0.00,0.000,6,0.000,0.036,3209,2225,1268
$GC,16340,1.40,369.2,300.4,8.8,1325,16352,0.00,2.72,6.38,0.950,4,0.000,0.055,3209,3732,1241
$GC,16421,1.40,369.2,292.7,9.6,1332,16426,0.00,2.90,0.00,0.000,6,0.000,0.038,3209,2074,1241
$GC,16749,1.54,374.4,263.2,8.8,1362,16760,0.12,0.00,4.60,0.922,6,0.064,0.000,3242,2074,1221
$GC,17090,1.58,374.4,229.5,9.6,1411,17096,0.00,2.95,0.00,0.000,4,0.000,0.050,3242,3730,1221
$GC,17193,1.53,374.4,219.3,10.0,1429,17199,0.00,2.58,0.00,0.000,6,0.000,0.036,3242,2239,1221
$GC,17537,1.53,374.4,185.8,9.9,1490,17543,0.00,2.35,0.00,0.000,4,0.000,0.055,3242,926,1221
$GC,17567,1.53,374.4,182.6,10.9,1495,17573,0.00,2.33,0.00,0.000,6,0.000,0.035,3242,2274,1220
$GC,17910,1.57,395.0,151.8,8.1,1556,17937,0.00,2.65,17.80,0.777,4,0.000,0.051,3242,3722,1136
$GC,18059,1.69,437.4,140.1,7.1,1582,18101,0.15,2.65,36.30,0.732,6,0.060,0.035,3279,2189,965
$GC,18440,1.80,437.9,106.5,9.0,1650,18446,0.00,2.25,0.00,0.000,4,0.000,0.051,3279,925,959
$GC,18554,1.87,442.2,96.4,8.8,1670,18567,0.15,2.35,3.20,0.755,6,0.057,0.033,3319,2291,944
$GC,18907,1.88,451.1,66.3,8.6,1732,18919,0.00,2.60,7.10,0.690,4,0.000,0.049,3319,3724,908
$GC,19043,1.88,451.1,53.9,9.4,1756,19049,0.00,2.60,0.00,0.000,6,0.000,0.031,3319,2196,908
$GC,19388,2.07,508.6,27.1,6.4,1817,19441,0.15,0.00,47.65,0.579,6,0.054,0.000,3366,2194,674
$STATE,19686,end climb,SURFACE_DEPTH_REACHED
$STATE,19686,begin surface coast
$FINISH,-0.1,1.011631
$STATE,19710,end surface coast,CONTROL_FINISHED_OK
$STATE,19710,begin surface
$SM_CCo,19794,0.00,0.000,0,0,667,510.47
$SM_GC,0.72,13.65,0.00,0.00,0.035,0.000,0.000,248,2191,667,-12.18,-0.71,510.47
$IRIDIUM_FIX,1238.83,12046.08,040897,040406
$TT8_MAMPS,0.023777
$HUMID,2082
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,24.20
$XPDR_PINGS,385
$ALTIM_BOTTOM_PING,751.3,167.9
$24V_AH,22.9,71.660
$10V_AH,10.1,36.897
$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,34.125,209.025,560.275,0.000,0.000,27.257,42.054,204.703,103.000,0.000,0.000,12.721,3009.845,12503.784,710.885,3246.203,738.178,0.000,2374.968,0.000,3168.960,0.000,51.385
$DEVICE_MAMPS,167.206,62.127,1267.084,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1256.698,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59792,1875
$CAP_FILE_SIZE,204142,0
$CFSIZE,260165632,224804864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100508,152508,1240.254,12045.657,26,1.6,26,-0.8