version: 66.03
glider: 122
mission: 6
dive: 389
start: 5 11 108 13 15 47
data:
$ID,122
$MISSION,6
$DIVE,389
$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,-34908.289
$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,28
$R_STBD_OVSHOOT,32
$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
$GPS1,130902,1237.964,12047.138,43,1.2,43,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-71.3
$GPS2,131515,1237.949,12047.167,12,1.1,12,-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,150.8,40997,-18.6,-9.016
$D_GRID,720
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.56,-146.0,0.0,0.0,0,87,0.00,0.00,-60.25,0.000,2,0.000,0.000,248,2274,2358
$GC,91,-1.56,-146.0,3.2,-8.2,12,133,13.25,2.58,-19.77,0.000,4,0.165,0.050,2560,811,3346
$GC,221,-1.36,-146.0,26.0,-16.1,35,227,0.25,2.38,0.00,0.000,6,0.110,0.028,2606,2229,3348
$GC,566,-1.23,-146.0,72.5,-13.3,96,572,0.15,2.38,0.00,0.000,4,0.116,0.043,2636,3618,3349
$GC,658,-1.14,-146.0,85.0,-13.2,112,664,0.10,2.25,0.00,0.000,6,0.117,0.025,2653,2237,3349
$GC,1003,-1.23,-146.0,121.0,-9.9,173,1008,0.00,2.40,0.00,0.000,4,0.000,0.039,2653,832,3352
$GC,1026,-1.29,-146.0,123.3,-10.2,177,1033,0.15,2.65,0.00,0.000,6,0.048,0.028,2605,2410,3352
$GC,1371,-1.29,-146.0,156.1,-9.3,238,1377,0.00,2.72,0.00,0.000,4,0.000,0.039,2605,826,3353
$GC,1469,-1.26,-146.0,166.0,-10.0,255,1475,0.12,2.47,0.00,0.000,6,0.098,0.028,2629,2306,3353
$GC,1814,-1.40,-146.0,193.6,-7.8,316,1821,0.15,2.25,0.00,0.000,4,0.047,0.044,2574,3619,3353
$GC,1923,-1.31,-146.0,204.1,-9.9,335,1929,0.22,2.12,0.00,0.000,6,0.095,0.028,2618,2317,3353
$GC,2268,-1.44,-146.0,233.1,-8.6,396,2275,0.12,2.58,0.00,0.000,4,0.051,0.043,2575,833,3353
$GC,2350,-1.38,-146.0,240.6,-9.4,410,2357,0.15,2.72,0.00,0.000,6,0.099,0.032,2603,2436,3352
$GC,2683,-1.46,-146.0,266.8,-8.1,451,2687,0.00,2.03,0.00,0.000,4,0.000,0.048,2603,3616,3350
$GC,2756,-1.46,-146.0,273.7,-9.4,457,2762,0.00,2.15,0.00,0.000,6,0.000,0.030,2603,2313,3350
$GC,3084,-1.56,-146.0,300.4,-7.5,488,3089,0.15,2.60,0.00,0.000,4,0.051,0.045,2554,829,3348
$GC,3181,-1.47,-146.0,308.9,-8.6,496,3186,0.15,2.70,0.00,0.000,6,0.104,0.034,2581,2412,3348
$GC,3507,-1.53,-146.0,335.1,-8.5,526,3510,0.00,2.08,0.00,0.000,4,0.000,0.049,2582,3618,3345
$GC,3609,-1.49,-146.0,344.6,-9.7,535,3613,0.00,2.15,0.00,0.000,6,0.000,0.031,2582,2318,3345
$GC,3943,-1.55,-146.0,372.8,-8.1,566,3947,0.00,2.62,0.00,0.000,4,0.000,0.048,2582,830,3343
$GC,4005,-1.55,-146.0,378.1,-8.5,571,4010,0.00,2.58,0.00,0.000,6,0.000,0.034,2582,2330,3343
$GC,4333,-1.62,-146.0,403.8,-7.9,601,4337,0.15,2.25,0.00,0.000,4,0.052,0.049,2533,3623,3340
$GC,4368,-1.48,-146.0,407.3,-9.6,604,4372,0.25,2.05,0.00,0.000,6,0.107,0.031,2578,2395,3340
$GC,4693,-1.54,-146.0,434.3,-8.3,634,4697,0.00,2.12,0.00,0.000,4,0.000,0.050,2578,3618,3337
$GC,4795,-1.54,-146.0,443.3,-8.5,643,4799,0.00,2.15,0.00,0.000,6,0.000,0.033,2578,2337,3337
$GC,5128,-1.60,-146.0,470.5,-7.7,674,5132,0.00,2.67,0.00,0.000,4,0.000,0.051,2578,830,3334
$GC,5167,-1.60,-146.0,474.1,-8.8,677,5172,0.00,2.67,0.00,0.000,6,0.000,0.035,2578,2376,3333
$GC,5496,-1.66,-146.0,498.9,-7.4,707,5501,0.15,2.17,0.00,0.000,4,0.053,0.052,2532,3613,3332
$GC,5586,-1.51,-146.0,507.3,-9.0,711,5590,0.22,2.28,0.00,0.000,6,0.112,0.033,2572,2273,3331
$GC,5909,-1.56,-146.0,531.9,-8.0,727,5913,0.00,2.55,0.00,0.000,4,0.000,0.052,2572,838,3330
$GC,5982,-1.56,-146.0,538.4,-9.1,730,5987,0.00,2.62,0.00,0.000,6,0.000,0.036,2573,2356,3329
$GC,6301,-1.60,-146.0,562.9,-7.5,745,6305,0.00,2.22,0.00,0.000,4,0.000,0.054,2572,3618,3328
$GC,6413,-1.57,-146.0,572.7,-9.4,750,6417,0.00,2.30,0.00,0.000,6,0.000,0.035,2572,2264,3327
$GC,6734,-1.62,-146.0,600.0,-9.0,766,6742,0.00,2.58,0.00,0.000,4,0.000,0.054,2572,818,3326
$GC,6809,-1.62,-146.0,607.3,-10.3,769,6814,0.00,2.65,0.00,0.000,6,0.000,0.036,2573,2350,3325
$GC,7133,-1.66,-146.0,635.3,-8.5,785,7138,0.15,2.22,0.00,0.000,4,0.054,0.054,2532,3612,3323
$GC,7228,-1.54,-146.0,645.3,-10.3,789,7233,0.20,2.33,0.00,0.000,6,0.113,0.035,2567,2246,3322
$GC,7551,-1.58,-146.0,670.9,-7.8,804,7556,0.00,2.42,0.00,0.000,4,0.000,0.054,2568,3610,3321
$GC,7686,-1.53,-146.0,682.6,-7.9,810,7690,0.00,2.17,0.00,0.000,6,0.000,0.035,2567,2334,3320
$GC,8009,-1.59,-146.0,706.1,-7.3,826,8013,0.00,2.28,0.00,0.000,4,0.000,0.055,2567,3613,3319
$GC,8116,-1.54,-146.0,715.1,-8.8,831,8121,0.00,2.35,0.00,0.000,6,0.000,0.037,2567,2244,3318
$STATE,8172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8172,begin apogee
$GC,8180,-0.35,0.0,720.0,8.2,834,8304,1.27,0.00,120.38,1.144,6,0.099,0.000,2822,2343,2749
$STATE,8305,end apogee,CONTROL_FINISHED_OK
$STATE,8305,begin climb
$GC,8308,1.56,146.0,726.6,0.0,840,8442,1.92,2.53,124.35,1.111,4,0.055,0.056,3243,3714,2152
$GC,8479,1.27,146.0,723.0,9.1,848,8484,0.35,2.42,0.00,0.000,6,0.133,0.038,3183,2331,2151
$GC,8801,1.23,198.4,700.8,6.7,864,8851,0.00,2.58,43.95,1.111,4,0.000,0.056,3183,3704,1939
$GC,8892,1.12,198.4,693.5,9.2,868,8897,0.17,2.33,0.00,0.000,6,0.127,0.038,3153,2378,1938
$GC,9213,1.18,235.0,670.4,7.4,884,9249,0.00,2.72,30.88,1.110,4,0.000,0.060,3153,925,1789
$GC,9345,1.18,235.3,659.2,9.0,889,9349,0.00,2.45,0.00,0.000,6,0.000,0.039,3153,2315,1787
$GC,9666,1.20,247.2,631.7,8.5,905,9682,0.00,2.58,10.57,1.127,4,0.000,0.058,3153,934,1739
$GC,9715,1.20,247.2,627.4,9.1,906,9719,0.00,2.40,0.00,0.000,6,0.000,0.038,3153,2296,1738
$GC,10033,1.26,247.2,599.3,9.0,921,10038,0.12,2.50,0.00,0.000,4,0.070,0.057,3183,925,1737
$GC,10176,1.19,247.2,585.5,9.7,927,10180,0.00,2.20,0.00,0.000,6,0.000,0.038,3183,2190,1737
$GC,10493,1.21,284.4,560.2,7.4,942,10534,0.00,2.90,32.05,1.069,4,0.000,0.057,3183,3737,1588
$GC,10643,1.16,284.4,546.8,9.6,948,10650,0.15,2.62,0.00,0.000,6,0.123,0.038,3158,2238,1585
$GC,10960,1.24,284.4,519.5,9.2,964,10964,0.00,2.67,0.00,0.000,4,0.000,0.054,3158,3729,1584
$GC,10977,1.31,284.4,517.8,9.6,965,10982,0.15,2.85,0.00,0.000,6,0.067,0.038,3192,2099,1584
$GC,11299,1.31,284.4,485.7,10.6,987,11303,0.00,2.10,0.00,0.000,4,0.000,0.059,3192,933,1583
$GC,11346,1.27,284.4,480.6,10.4,991,11350,0.00,2.35,0.00,0.000,6,0.000,0.038,3192,2280,1583
$GC,11672,1.27,284.4,449.3,9.6,1021,11676,0.00,2.45,0.00,0.000,4,0.000,0.056,3192,924,1582
$GC,11780,1.28,293.0,439.7,8.6,1030,11792,0.00,2.17,6.70,1.045,6,0.000,0.036,3192,2182,1553
$GC,12111,1.31,309.3,411.6,8.3,1061,12132,0.00,2.83,14.00,0.998,4,0.000,0.054,3192,3727,1488
$GC,12234,1.34,330.2,400.7,8.1,1072,12258,0.00,2.60,18.45,0.970,6,0.000,0.038,3192,2223,1401
$GC,12586,1.41,330.9,368.5,9.0,1105,12590,0.00,2.33,0.00,0.000,4,0.000,0.055,3192,930,1397
$GC,12642,1.41,330.9,362.8,9.5,1109,12647,0.00,2.00,0.00,0.000,6,0.000,0.036,3192,2092,1396
$GC,12969,1.52,337.4,334.1,8.7,1140,12981,0.17,2.95,5.57,0.960,4,0.059,0.052,3239,3727,1372
$GC,13044,1.42,337.4,326.3,10.2,1146,13051,0.12,2.60,0.00,0.000,6,0.127,0.037,3219,2232,1371
$GC,13369,1.42,337.4,295.5,9.4,1177,13374,0.00,2.65,0.00,0.000,4,0.000,0.051,3219,3726,1371
$GC,13398,1.37,337.4,292.6,11.1,1179,13403,0.00,2.53,0.00,0.000,6,0.000,0.036,3219,2264,1371
$GC,13723,1.38,337.8,262.4,9.0,1209,13727,0.00,2.38,0.00,0.000,4,0.000,0.054,3219,931,1371
$GC,13825,1.33,337.8,252.9,9.1,1217,13831,0.12,2.35,0.00,0.000,6,0.123,0.035,3198,2294,1371
$GC,14167,1.43,346.6,223.8,8.6,1275,14184,0.00,2.60,7.93,0.863,4,0.000,0.051,3198,3726,1335
$GC,14219,1.47,346.6,219.2,9.1,1284,14225,0.12,2.83,0.00,0.000,6,0.066,0.035,3229,2099,1334
$GC,14564,1.53,346.6,188.2,9.1,1345,14570,0.00,2.08,0.00,0.000,4,0.000,0.054,3229,931,1334
$GC,14577,1.58,347.8,187.0,9.0,1347,14583,0.00,2.30,0.00,0.000,6,0.000,0.034,3229,2269,1333
$GC,14922,1.70,382.0,157.3,7.5,1408,14959,0.17,2.62,30.10,0.749,4,0.056,0.049,3276,3725,1189
$GC,15054,1.64,388.1,146.0,8.7,1431,15066,0.00,2.85,5.03,0.782,6,0.000,0.035,3277,2082,1165
$GC,15407,1.76,432.4,117.1,7.0,1493,15449,0.00,2.15,37.05,0.691,4,0.000,0.052,3277,929,984
$GC,15502,1.81,436.9,109.1,8.8,1510,15513,0.00,2.00,3.72,0.732,6,0.000,0.031,3277,2101,965
$GC,15852,2.01,464.4,81.2,7.8,1572,15884,0.25,2.92,22.60,0.653,4,0.044,0.046,3353,3717,853
$GC,15925,1.92,464.4,74.2,10.5,1585,15932,0.17,2.58,0.00,0.000,6,0.127,0.031,3324,2209,852
$GC,16270,1.94,475.9,44.0,8.5,1646,16287,0.00,2.30,8.57,0.630,4,0.000,0.047,3324,932,807
$GC,16389,1.95,483.5,33.3,8.7,1667,16400,0.00,2.08,6.25,0.624,6,0.000,0.029,3324,2166,775
$GC,16739,2.10,510.3,5.4,7.8,1729,16767,0.15,2.80,21.42,0.557,4,0.053,0.044,3374,3723,666
$STATE,16777,end climb,SURFACE_DEPTH_REACHED
$STATE,16777,begin surface coast
$FINISH,0.8,1.020641
$STATE,16789,end surface coast,CONTROL_FINISHED_OK
$STATE,16789,begin surface
$SM_CCo,16877,0.00,0.000,0,0,662,511.70
$SM_GC,0.74,13.82,0.00,0.00,0.039,0.000,0.000,249,2191,662,-12.18,-0.71,511.70
$IRIDIUM_FIX,1234.41,12043.05,050897,080832
$TT8_MAMPS,0.023777
$HUMID,2038
$INTERNAL_PRESSURE,9.67811
$TCM_TEMP,25.10
$XPDR_PINGS,409
$ALTIM_BOTTOM_PING,670.9,160.8
$24V_AH,23.1,72.617
$10V_AH,10.1,37.375
$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,35.375,200.350,549.575,0.000,0.000,25.923,39.202,163.681,107.000,0.000,0.000,12.777,2791.944,10068.892,675.358,3044.577,666.144,0.000,2239.616,0.000,2982.908,0.000,36.631
$DEVICE_MAMPS,164.905,59.826,1144.364,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1162.106,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56661,1738
$CAP_FILE_SIZE,190479,0
$CFSIZE,260165632,224354304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110508,175808,1238.148,12047.171,28,1.2,28,-0.8