version: 66.03
glider: 122
mission: 6
dive: 385
start: 5 10 108 15 32 13
data:
$ID,122
$MISSION,6
$DIVE,385
$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,-34851.547
$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,24
$R_STBD_OVSHOOT,34
$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
$GPS1,152508,1240.254,12045.657,26,1.6,26,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-73.5
$GPS2,153139,1240.279,12045.686,14,1.6,14,-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,150.6,46075,-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,22,-1.56,-146.0,0.0,0.0,0,90,0.00,0.00,-65.32,0.000,2,0.000,0.000,248,2189,2484
$GC,93,-1.56,-146.0,3.8,-9.3,13,131,13.40,2.47,-16.30,0.000,4,0.170,0.054,2558,3622,3346
$GC,205,-1.28,-146.0,26.0,-18.3,33,212,0.35,2.35,0.00,0.000,6,0.116,0.025,2623,2197,3347
$GC,550,-1.17,-146.0,74.0,-13.5,94,557,0.12,2.45,0.00,0.000,4,0.125,0.042,2644,3619,3349
$GC,564,-1.06,-146.0,75.8,-13.5,96,570,0.15,2.17,0.00,0.000,6,0.104,0.025,2672,2288,3349
$GC,908,-1.22,-146.0,110.9,-9.8,157,914,0.15,0.00,0.00,0.000,6,0.047,0.000,2619,2287,3351
$GC,1252,-1.29,-146.0,145.9,-9.1,218,1258,0.00,2.30,0.00,0.000,4,0.000,0.044,2619,3628,3352
$GC,1366,-1.29,-146.0,157.0,-10.3,238,1372,0.00,2.05,0.00,0.000,6,0.000,0.025,2619,2363,3352
$GC,1711,-1.39,-146.0,187.6,-8.1,299,1717,0.00,2.15,0.00,0.000,4,0.000,0.044,2619,3619,3353
$GC,1730,-1.47,-146.0,189.4,-9.0,302,1737,0.17,2.08,0.00,0.000,6,0.047,0.027,2566,2345,3353
$GC,2076,-1.39,-146.0,222.2,-10.1,363,2082,0.15,2.20,0.00,0.000,4,0.102,0.044,2597,3624,3353
$GC,2152,-1.36,-146.0,229.7,-9.6,376,2158,0.00,2.20,0.00,0.000,6,0.000,0.028,2597,2292,3353
$GC,2496,-1.43,-146.0,258.9,-8.2,428,2501,0.00,2.58,0.00,0.000,4,0.000,0.046,2597,820,3352
$GC,2575,-1.43,-146.0,265.8,-8.5,434,2581,0.00,2.67,0.00,0.000,6,0.000,0.032,2597,2401,3352
$GC,2903,-1.51,-146.0,290.6,-7.6,465,2907,0.00,2.12,0.00,0.000,4,0.000,0.051,2597,3627,3350
$GC,2994,-1.51,-146.0,298.0,-8.0,473,2998,0.00,2.20,0.00,0.000,6,0.000,0.030,2597,2305,3349
$GC,3322,-1.60,-146.0,322.1,-7.7,503,3327,0.15,2.30,0.00,0.000,4,0.054,0.047,2549,3625,3347
$GC,3423,-1.48,-146.0,332.3,-10.2,511,3430,0.17,2.08,0.00,0.000,6,0.107,0.031,2580,2376,3347
$GC,3749,-1.52,-146.0,363.7,-10.1,542,3753,0.00,2.15,0.00,0.000,4,0.000,0.048,2580,3618,3344
$GC,3810,-1.49,-146.0,370.3,-10.0,547,3816,0.00,2.22,0.00,0.000,6,0.000,0.031,2580,2286,3344
$GC,4138,-1.55,-146.0,398.2,-7.8,578,4142,0.00,2.60,0.00,0.000,4,0.000,0.049,2580,817,3342
$GC,4216,-1.55,-146.0,404.6,-7.5,584,4222,0.00,2.47,0.00,0.000,6,0.000,0.032,2580,2270,3341
$GC,4544,-1.61,-146.0,429.7,-8.9,615,4549,0.12,2.38,0.00,0.000,4,0.058,0.049,2544,3625,3339
$GC,4641,-1.50,-146.0,440.3,-11.2,623,4645,0.17,2.17,0.00,0.000,6,0.107,0.032,2575,2330,3339
$GC,4967,-1.54,-146.0,467.8,-7.8,653,4971,0.00,2.25,0.00,0.000,4,0.000,0.051,2576,3616,3336
$GC,5035,-1.54,-146.0,473.3,-7.5,659,5039,0.00,2.35,0.00,0.000,6,0.000,0.033,2576,2236,3336
$GC,5362,-1.60,-146.0,493.1,-5.6,689,5367,0.00,2.53,0.00,0.000,4,0.000,0.052,2576,818,3334
$GC,5428,-1.57,-146.0,497.2,-6.2,694,5432,0.00,2.67,0.00,0.000,6,0.000,0.035,2576,2361,3332
$GC,5747,-1.61,-146.0,519.0,-7.3,711,5751,0.00,2.22,0.00,0.000,4,0.000,0.054,2576,3623,3331
$GC,5838,-1.61,-146.0,526.7,-8.2,715,5842,0.12,2.35,0.00,0.000,6,0.064,0.034,2543,2240,3331
$GC,6161,-1.61,-146.0,554.6,-8.5,731,6165,0.00,2.55,0.00,0.000,4,0.000,0.053,2543,810,3328
$GC,6228,-1.53,-146.0,560.9,-9.5,734,6233,0.15,2.67,0.00,0.000,6,0.110,0.036,2570,2354,3328
$GC,6551,-1.57,-146.0,589.3,-9.1,750,6555,0.00,2.22,0.00,0.000,4,0.000,0.054,2570,3619,3327
$GC,6647,-1.57,-146.0,597.7,-8.7,754,6652,0.00,2.35,0.00,0.000,6,0.000,0.035,2570,2240,3326
$GC,6966,-1.62,-146.0,621.9,-7.8,769,6970,0.00,2.55,0.00,0.000,4,0.000,0.055,2570,814,3325
$GC,6999,-1.62,-146.0,624.7,-7.3,770,7005,0.00,2.75,0.00,0.000,6,0.000,0.037,2570,2403,3325
$GC,7317,-1.66,-146.0,650.3,-8.6,786,7321,0.12,2.15,0.00,0.000,4,0.061,0.055,2535,3619,3323
$GC,7389,-1.54,-146.0,657.9,-11.0,789,7394,0.17,2.28,0.00,0.000,6,0.113,0.035,2566,2279,3323
$GC,7708,-1.59,-146.0,682.7,-7.3,804,7713,0.00,2.60,0.00,0.000,4,0.000,0.055,2566,818,3321
$GC,7793,-1.59,-146.0,689.6,-7.8,808,7801,0.00,2.38,0.00,0.000,6,0.000,0.036,2566,2192,3320
$GC,8137,-1.64,-146.0,711.3,-6.6,824,8141,0.00,2.47,0.00,0.000,4,0.000,0.055,2566,813,3319
$GC,8170,-1.64,-146.0,714.3,-7.0,825,8176,0.00,2.60,0.00,0.000,6,0.000,0.038,2566,2311,3319
$GC,8487,-1.68,-146.0,735.3,-6.6,841,8492,0.12,2.70,0.00,0.000,4,0.062,0.055,2532,816,3318
$GC,8532,-1.59,-146.0,739.0,-8.3,843,8537,0.15,2.53,0.00,0.000,6,0.111,0.037,2559,2267,3318
$GC,8853,-1.59,-146.0,766.4,-8.6,859,8858,0.00,2.42,0.00,0.000,4,0.000,0.058,2559,3629,3317
$GC,8922,-1.53,-146.0,772.7,-8.8,862,8926,0.00,2.30,0.00,0.000,6,0.000,0.036,2559,2281,3317
$GC,9243,-1.49,-146.0,798.0,-7.9,878,9248,0.10,2.38,0.00,0.000,4,0.127,0.057,2575,3616,3315
$GC,9277,-1.49,-146.0,801.0,-8.8,879,9283,0.00,2.22,0.00,0.000,6,0.000,0.037,2575,2313,3315
$GC,9593,-1.49,-146.0,824.0,-6.5,895,9597,0.00,2.70,0.00,0.000,4,0.000,0.058,2575,816,3315
$GC,9633,-1.49,-146.0,827.1,-8.3,897,9637,0.00,2.60,0.00,0.000,6,0.000,0.038,2575,2308,3314
$STATE,9935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9935,begin apogee
$GC,9942,-0.35,0.0,851.6,8.0,912,10069,1.25,0.00,122.35,1.261,6,0.097,0.000,2827,2307,2748
$STATE,10070,end apogee,CONTROL_FINISHED_OK
$STATE,10070,begin climb
$GC,10073,1.56,146.0,857.4,0.0,918,10208,1.90,2.60,127.38,1.220,4,0.053,0.060,3246,940,2152
$GC,10228,1.28,146.0,853.0,10.3,925,10234,0.35,2.50,0.00,0.000,6,0.118,0.040,3184,2338,2151
$GC,10545,1.24,198.4,829.8,6.7,940,10595,0.00,2.65,45.20,1.220,4,0.000,0.059,3184,937,1939
$GC,10636,1.14,200.6,822.5,8.9,944,10641,0.17,2.47,0.00,0.000,6,0.118,0.040,3154,2327,1938
$GC,10952,1.12,212.7,796.6,8.5,959,10973,0.00,2.67,12.27,1.236,4,0.000,0.060,3153,936,1880
$GC,11029,1.09,212.7,789.1,10.0,962,11034,0.00,2.40,0.00,0.000,6,0.000,0.040,3153,2302,1880
$GC,11346,1.09,212.7,760.9,9.3,977,11350,0.00,2.58,0.00,0.000,4,0.000,0.060,3154,3728,1879
$GC,11373,1.05,212.7,758.0,10.4,978,11377,0.00,2.50,0.00,0.000,6,0.000,0.039,3153,2296,1879
$GC,11689,1.07,219.6,729.4,8.7,993,11702,0.00,2.55,6.30,1.228,4,0.000,0.061,3153,922,1851
$GC,11732,1.07,219.6,725.3,9.8,995,11737,0.00,2.42,0.00,0.000,6,0.000,0.039,3153,2293,1851
$GC,12060,1.08,227.9,696.7,8.6,1011,12074,0.00,2.60,7.20,1.218,4,0.000,0.060,3153,931,1818
$GC,12092,1.08,227.9,693.7,9.5,1012,12096,0.00,2.40,0.00,0.000,6,0.000,0.039,3154,2288,1818
$GC,12408,1.12,249.8,667.7,8.0,1027,12429,0.00,0.00,19.48,1.178,6,0.000,0.000,3153,2288,1729
$GC,12737,1.18,286.1,639.4,7.4,1043,12776,0.00,0.00,32.67,1.139,6,0.000,0.000,3153,2287,1581
$GC,13086,1.20,299.1,609.8,8.4,1060,13102,0.00,2.55,11.07,1.151,4,0.000,0.059,3153,929,1527
$GC,13153,1.22,313.4,603.9,8.4,1062,13172,0.00,2.40,12.88,1.126,6,0.000,0.038,3153,2291,1469
$GC,13503,1.33,349.9,576.5,7.4,1079,13545,0.15,2.60,32.53,1.088,4,0.066,0.059,3194,932,1320
$GC,13601,1.33,349.9,566.9,10.0,1083,13605,0.00,2.33,0.00,0.000,6,0.000,0.037,3194,2251,1317
$GC,13923,1.33,349.9,533.8,10.1,1099,13924,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2250,1316
$GC,14232,1.33,349.9,503.2,9.9,1114,14236,0.00,2.62,0.00,0.000,4,0.000,0.056,3194,3724,1315
$GC,14253,1.33,349.9,500.9,11.0,1115,14257,0.00,2.60,0.00,0.000,6,0.000,0.038,3193,2229,1314
$GC,14583,1.33,349.9,466.9,11.0,1146,14587,0.00,2.35,0.00,0.000,4,0.000,0.058,3194,922,1314
$GC,14673,1.33,349.9,456.9,10.6,1154,14677,0.00,2.22,0.00,0.000,6,0.000,0.036,3194,2201,1313
$GC,15000,1.33,349.9,421.9,9.9,1184,15005,0.00,2.72,0.00,0.000,4,0.000,0.055,3194,3733,1313
$GC,15067,1.33,349.9,414.4,10.3,1189,15073,0.00,2.65,0.00,0.000,6,0.000,0.038,3193,2204,1313
$GC,15394,1.33,349.9,381.8,9.7,1220,15395,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2204,1313
$GC,15712,1.45,356.4,354.2,8.7,1250,15724,0.12,2.33,4.47,0.985,4,0.064,0.056,3226,925,1294
$GC,15798,1.38,356.4,345.6,10.3,1257,15804,0.12,2.35,0.00,0.000,6,0.117,0.035,3205,2279,1294
$GC,16123,1.38,356.4,311.6,10.7,1288,16127,0.00,2.45,0.00,0.000,4,0.000,0.054,3205,919,1293
$GC,16224,1.38,356.4,300.6,10.8,1296,16230,0.00,2.20,0.00,0.000,6,0.000,0.035,3205,2198,1293
$GC,16551,1.50,389.5,271.4,7.5,1327,16586,0.12,2.80,29.30,0.864,4,0.066,0.053,3238,3733,1158
$GC,16679,1.46,389.5,259.0,10.5,1338,16685,0.00,2.65,0.00,0.000,6,0.000,0.036,3238,2204,1156
$GC,17019,1.43,389.5,222.7,11.0,1391,17025,0.12,2.30,0.00,0.000,4,0.120,0.054,3217,920,1154
$GC,17071,1.43,389.5,217.5,9.7,1400,17077,0.00,2.25,0.00,0.000,6,0.000,0.034,3217,2226,1153
$GC,17415,1.51,389.5,185.0,9.9,1461,17421,0.00,2.65,0.00,0.000,4,0.000,0.051,3218,3729,1153
$GC,17479,1.56,389.5,179.0,9.2,1472,17485,0.12,2.90,0.00,0.000,6,0.065,0.035,3249,2051,1153
$GC,17824,1.67,411.1,147.4,8.1,1533,17851,0.00,3.05,17.33,0.758,4,0.000,0.047,3249,3720,1072
$GC,17898,1.73,425.2,141.0,8.4,1546,17920,0.15,2.58,12.77,0.752,6,0.058,0.033,3289,2223,1013
$GC,18261,1.81,449.2,110.0,7.9,1610,18287,0.00,2.35,19.77,0.703,4,0.000,0.050,3289,928,915
$GC,18356,1.83,460.4,101.4,8.5,1627,18372,0.00,1.98,9.30,0.707,6,0.000,0.031,3289,2088,870
$GC,18713,1.99,474.3,74.2,8.4,1690,18730,0.17,2.97,11.27,0.666,4,0.046,0.046,3342,3730,813
$GC,18811,1.94,474.3,64.6,10.2,1707,18817,0.00,3.03,0.00,0.000,6,0.000,0.033,3342,1973,812
$GC,19155,1.99,474.3,34.4,9.3,1768,19161,0.00,1.83,0.00,0.000,4,0.000,0.048,3342,926,812
$GC,19246,1.99,474.3,26.0,9.9,1784,19252,0.00,2.03,0.00,0.000,6,0.000,0.028,3342,2139,812
$STATE,19538,end climb,SURFACE_DEPTH_REACHED
$STATE,19538,begin surface coast
$FINISH,0.2,1.020897
$STATE,19560,end surface coast,CONTROL_FINISHED_OK
$STATE,19560,begin surface
$SM_CCo,19646,0.00,0.000,0,0,808,475.64
$SM_GC,0.68,13.60,0.00,0.00,0.040,0.000,0.000,247,2247,808,-12.18,0.88,475.64
$IRIDIUM_FIX,1238.83,12046.08,040897,090944
$TT8_MAMPS,0.023777
$HUMID,2030
$INTERNAL_PRESSURE,9.68787
$TCM_TEMP,25.00
$XPDR_PINGS,398
$ALTIM_BOTTOM_PING,711.3,198.6
$24V_AH,22.9,71.856
$10V_AH,10.1,36.994
$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,34.450,214.375,533.550,0.000,0.000,22.389,44.866,176.747,105.250,0.000,0.000,14.118,2974.513,12455.056,699.775,3184.236,721.190,0.000,2337.576,0.000,3116.595,0.000,44.195
$DEVICE_MAMPS,169.507,60.593,1260.948,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1233.141,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59810,1840
$CAP_FILE_SIZE,203393,0
$CFSIZE,260165632,224710656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100508,210055,1239.974,12045.797,40,1.3,40,-0.8