version: 66.03
glider: 122
mission: 6
dive: 390
start: 5 11 108 18 8 23
data:
$ID,122
$MISSION,6
$DIVE,390
$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,-34922.875
$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,47
$R_STBD_OVSHOOT,30
$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
$GPS1,175808,1238.148,12047.171,28,1.2,28,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-74.1
$GPS2,180750,1238.115,12047.213,13,1.9,13,-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,151.1,41223,-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,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,-65.40,0.000,2,0.000,0.000,249,2190,2492
$GC,94,-1.56,-146.0,3.7,-8.8,13,131,13.15,2.40,-15.93,0.000,4,0.162,0.051,2561,830,3346
$GC,206,-1.35,-146.0,26.2,-17.7,33,212,0.25,2.33,0.00,0.000,6,0.114,0.027,2606,2225,3346
$GC,551,-1.21,-146.0,76.0,-12.6,94,557,0.15,2.40,0.00,0.000,4,0.116,0.043,2637,3624,3347
$GC,564,-1.08,-146.0,77.9,-12.9,96,571,0.15,2.22,0.00,0.000,6,0.107,0.025,2664,2259,3347
$GC,909,-1.20,-146.0,113.9,-9.7,157,915,0.00,2.33,0.00,0.000,4,0.000,0.042,2664,3618,3349
$GC,960,-1.20,-146.0,119.6,-11.3,166,966,0.00,1.98,0.00,0.000,6,0.000,0.025,2664,2392,3349
$GC,1305,-1.37,-146.0,150.7,-8.1,227,1312,0.22,2.70,0.00,0.000,4,0.038,0.038,2589,821,3351
$GC,1370,-1.29,-146.0,157.4,-10.4,238,1377,0.17,2.67,0.00,0.000,6,0.096,0.029,2623,2415,3351
$GC,1716,-1.39,-146.0,185.4,-7.4,299,1721,0.00,2.05,0.00,0.000,4,0.000,0.046,2623,3615,3352
$GC,1790,-1.42,-146.0,191.2,-8.0,312,1797,0.12,2.15,0.00,0.000,6,0.058,0.028,2585,2300,3351
$GC,2135,-1.42,-146.0,222.9,-8.9,373,2141,0.00,2.55,0.00,0.000,4,0.000,0.044,2585,830,3351
$GC,2233,-1.38,-146.0,231.6,-8.7,390,2239,0.00,2.65,0.00,0.000,6,0.000,0.031,2585,2396,3351
$GC,2576,-1.42,-146.0,260.8,-9.1,441,2580,0.00,2.08,0.00,0.000,4,0.000,0.048,2585,3613,3349
$GC,2667,-1.38,-146.0,269.3,-9.5,449,2671,0.00,2.20,0.00,0.000,6,0.000,0.029,2585,2285,3349
$GC,2994,-1.44,-146.0,299.0,-9.3,479,2998,0.00,2.55,0.00,0.000,4,0.000,0.047,2585,827,3347
$GC,3094,-1.44,-146.0,308.9,-9.2,487,3100,0.00,2.65,0.00,0.000,6,0.000,0.033,2585,2384,3346
$GC,3422,-1.48,-146.0,336.0,-7.9,518,3426,0.00,2.10,0.00,0.000,4,0.000,0.049,2585,3615,3344
$GC,3495,-1.48,-146.0,342.4,-8.3,524,3501,0.00,2.25,0.00,0.000,6,0.000,0.031,2585,2262,3343
$GC,3823,-1.54,-146.0,367.2,-7.8,555,3827,0.00,2.53,0.00,0.000,4,0.000,0.048,2585,824,3341
$GC,3868,-1.54,-146.0,371.1,-7.9,558,3874,0.00,2.45,0.00,0.000,6,0.000,0.032,2585,2260,3341
$GC,4196,-1.62,-146.0,397.2,-8.0,589,4201,0.15,2.53,0.00,0.000,4,0.053,0.048,2535,822,3338
$GC,4270,-1.49,-146.0,404.3,-9.2,595,4275,0.22,2.62,0.00,0.000,6,0.100,0.033,2577,2351,3338
$GC,4595,-1.55,-146.0,430.0,-7.8,625,4600,0.00,2.70,0.00,0.000,4,0.000,0.048,2577,821,3335
$GC,4673,-1.55,-146.0,436.8,-8.6,631,4679,0.00,2.53,0.00,0.000,6,0.000,0.034,2577,2297,3335
$GC,5002,-1.60,-146.0,463.0,-8.1,662,5006,0.00,2.30,0.00,0.000,4,0.000,0.051,2577,3624,3332
$GC,5097,-1.57,-146.0,471.5,-8.3,670,5103,0.00,2.42,0.00,0.000,6,0.000,0.033,2577,2195,3332
$GC,5426,-1.64,-146.0,497.3,-8.1,701,5430,0.15,2.45,0.00,0.000,4,0.058,0.051,2532,817,3330
$GC,5470,-1.51,-146.0,501.7,-9.1,704,5475,0.22,2.58,0.00,0.000,6,0.104,0.035,2574,2313,3329
$GC,5794,-1.56,-146.0,527.2,-7.9,720,5799,0.00,2.67,0.00,0.000,4,0.000,0.051,2574,809,3327
$GC,5816,-1.56,-146.0,529.4,-8.5,721,5821,0.00,2.42,0.00,0.000,6,0.000,0.035,2574,2222,3327
$GC,6140,-1.61,-146.0,553.8,-7.7,737,6144,0.00,2.45,0.00,0.000,4,0.000,0.054,2574,3618,3326
$GC,6248,-1.57,-146.0,563.2,-8.0,742,6252,0.00,2.17,0.00,0.000,6,0.000,0.035,2574,2332,3325
$GC,6579,-1.64,-146.0,588.9,-8.2,758,6584,0.12,2.70,0.00,0.000,4,0.061,0.052,2540,810,3323
$GC,6620,-1.54,-146.0,592.6,-9.2,760,6625,0.15,2.62,0.00,0.000,6,0.111,0.036,2567,2329,3323
$GC,6950,-1.58,-146.0,618.6,-7.7,776,6955,0.00,2.70,0.00,0.000,4,0.000,0.053,2567,813,3320
$GC,6972,-1.58,-146.0,620.6,-7.7,777,6976,0.00,2.42,0.00,0.000,6,0.000,0.035,2567,2222,3320
$GC,7295,-1.63,-146.0,643.6,-7.2,793,7299,0.00,2.47,0.00,0.000,4,0.000,0.055,2567,3628,3319
$GC,7359,-1.59,-146.0,648.6,-7.5,796,7363,0.00,2.22,0.00,0.000,6,0.000,0.035,2567,2314,3318
$GC,7688,-1.63,-146.0,672.2,-7.2,812,7692,0.00,2.33,0.00,0.000,4,0.000,0.055,2567,3626,3317
$GC,7789,-1.60,-146.0,680.4,-8.4,816,7795,0.00,2.40,0.00,0.000,6,0.000,0.037,2567,2216,3317
$GC,8106,-1.65,-146.0,704.1,-8.0,832,8110,0.00,2.47,0.00,0.000,4,0.000,0.054,2567,3623,3315
$GC,8242,-1.61,-146.0,716.4,-9.2,838,8246,0.00,2.28,0.00,0.000,6,0.000,0.037,2567,2292,3314
$STATE,8277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8277,begin apogee
$GC,8284,-0.35,0.0,720.0,9.2,840,8407,1.30,0.00,119.28,1.147,6,0.104,0.000,2824,2349,2748
$STATE,8407,end apogee,CONTROL_FINISHED_OK
$STATE,8408,begin climb
$GC,8410,1.56,146.0,727.4,0.0,846,8543,1.92,2.50,124.35,1.115,4,0.053,0.056,3250,3710,2151
$GC,8580,1.30,169.7,725.0,8.0,854,8606,0.32,2.40,19.92,1.120,6,0.125,0.038,3194,2340,2056
$GC,8925,1.24,202.7,699.3,7.5,871,8959,0.00,2.67,27.75,1.118,4,0.000,0.061,3193,931,1921
$GC,8994,1.12,202.7,693.1,9.5,874,8999,0.22,2.42,0.00,0.000,6,0.115,0.038,3153,2311,1920
$GC,9315,1.18,236.0,669.3,7.5,890,9350,0.00,2.62,27.95,1.110,4,0.000,0.059,3152,932,1786
$GC,9381,1.18,240.0,664.2,8.8,893,9389,0.00,2.45,4.10,1.106,6,0.000,0.038,3152,2322,1769
$GC,9713,1.25,282.0,640.5,7.1,909,9755,0.12,2.67,36.33,1.093,4,0.071,0.059,3182,926,1597
$GC,9780,1.21,282.0,634.9,10.2,912,9784,0.00,2.42,0.00,0.000,6,0.000,0.038,3182,2297,1595
$GC,10107,1.22,285.0,606.5,8.9,928,10108,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2297,1594
$GC,10417,1.23,291.8,579.2,8.7,943,10427,0.00,0.00,8.12,1.114,6,0.000,0.000,3182,2297,1558
$GC,10726,1.23,292.3,551.1,9.0,958,10731,0.00,2.50,0.00,0.000,4,0.000,0.058,3182,923,1556
$GC,10816,1.19,292.3,542.5,9.2,962,10820,0.00,2.40,0.00,0.000,6,0.000,0.038,3182,2295,1556
$GC,11143,1.21,301.3,513.0,8.6,978,11158,0.00,2.65,8.12,1.086,4,0.000,0.057,3182,3726,1518
$GC,11226,1.21,301.3,505.3,9.7,981,11233,0.00,2.72,0.00,0.000,6,0.000,0.039,3182,2157,1518
$GC,11554,1.31,314.4,477.9,8.4,1009,11570,0.00,2.33,11.43,1.052,4,0.000,0.059,3182,929,1465
$GC,11629,1.32,321.5,471.0,8.7,1015,11640,0.00,2.42,6.32,1.047,6,0.000,0.037,3182,2312,1437
$GC,11960,1.39,326.0,441.2,8.8,1046,11972,0.12,2.55,3.80,1.037,4,0.064,0.055,3213,3724,1419
$GC,12007,1.32,326.0,436.3,10.6,1050,12011,0.00,2.78,0.00,0.000,6,0.000,0.038,3213,2140,1419
$GC,12335,1.27,326.0,401.9,10.6,1080,12340,0.15,2.83,0.00,0.000,4,0.119,0.052,3184,3727,1419
$GC,12413,1.27,326.0,393.4,10.1,1086,12419,0.00,2.62,0.00,0.000,6,0.000,0.038,3184,2206,1419
$GC,12741,1.36,326.0,363.4,9.1,1117,12745,0.00,2.28,0.00,0.000,4,0.000,0.057,3184,928,1418
$GC,12786,1.39,326.0,359.0,9.8,1121,12791,0.12,1.98,0.00,0.000,6,0.069,0.035,3215,2066,1418
$GC,13116,1.39,326.0,328.2,9.6,1152,13121,0.00,2.95,0.00,0.000,4,0.000,0.052,3215,3733,1418
$GC,13206,1.34,326.0,319.3,9.9,1159,13212,0.00,2.60,0.00,0.000,6,0.000,0.037,3215,2219,1418
$GC,13533,1.41,331.4,290.1,8.8,1190,13544,0.00,2.72,4.68,0.936,4,0.000,0.051,3215,3733,1397
$GC,13648,1.38,343.2,279.9,8.5,1200,13664,0.00,2.40,10.82,0.902,6,0.000,0.035,3216,2334,1348
$GC,13983,1.38,343.7,250.1,9.0,1231,13987,0.00,2.50,0.00,0.000,4,0.000,0.053,3216,926,1346
$GC,14067,1.38,343.7,242.3,9.2,1245,14073,0.00,2.15,0.00,0.000,6,0.000,0.035,3215,2176,1345
$GC,14412,1.45,344.7,211.5,9.0,1306,14418,0.00,2.72,0.00,0.000,4,0.000,0.051,3216,3723,1345
$GC,14481,1.45,344.7,205.2,9.3,1318,14487,0.00,2.92,0.00,0.000,6,0.000,0.036,3215,2033,1345
$GC,14826,1.58,382.1,177.4,7.3,1379,14862,0.15,0.00,32.58,0.764,6,0.061,0.000,3257,2033,1190
$GC,15203,1.66,407.7,143.5,7.9,1446,15230,0.00,3.05,21.30,0.736,4,0.000,0.045,3257,3731,1084
$GC,15367,1.69,407.7,128.8,9.6,1475,15373,0.00,2.65,0.00,0.000,6,0.000,0.034,3257,2188,1082
$GC,15712,1.86,429.9,103.3,8.0,1536,15738,0.20,2.30,18.30,0.691,4,0.050,0.050,3316,935,994
$GC,15802,1.81,429.9,94.9,9.2,1552,15807,0.00,1.95,0.00,0.000,6,0.000,0.030,3316,2089,992
$GC,16146,1.85,449.1,64.9,8.2,1613,16168,0.00,2.90,15.48,0.645,4,0.000,0.045,3316,3724,916
$GC,16214,1.88,471.3,59.4,8.0,1625,16242,0.00,2.78,18.52,0.626,6,0.000,0.031,3316,2100,825
$GC,16583,2.02,477.9,27.5,8.7,1690,16595,0.12,2.08,4.65,0.620,4,0.051,0.047,3362,926,798
$GC,16658,1.96,477.9,19.9,9.6,1703,16664,0.15,2.22,0.00,0.000,6,0.103,0.029,3335,2248,797
$STATE,16871,end climb,SURFACE_DEPTH_REACHED
$STATE,16871,begin surface coast
$FINISH,0.1,1.020466
$STATE,16895,end surface coast,CONTROL_FINISHED_OK
$STATE,16895,begin surface
$SM_CCo,16979,0.00,0.000,0,0,794,479.32
$SM_GC,0.79,13.52,0.00,0.00,0.038,0.000,0.000,246,2250,794,-12.19,0.93,479.32
$IRIDIUM_FIX,1234.41,12046.08,050897,181808
$TT8_MAMPS,0.023777
$HUMID,2038
$INTERNAL_PRESSURE,9.67811
$TCM_TEMP,25.00
$XPDR_PINGS,384
$ALTIM_BOTTOM_PING,670.7,130.8
$24V_AH,23.1,72.800
$10V_AH,10.1,37.466
$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,33.700,192.900,523.800,0.000,0.000,55.372,151.848,169.011,100.750,0.000,0.000,13.957,2788.718,10316.334,654.793,2980.230,819.306,0.000,2186.606,0.000,2919.138,0.000,36.544
$DEVICE_MAMPS,161.837,81.302,1147.432,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1167.212,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56606,1745
$CAP_FILE_SIZE,187268,0
$CFSIZE,260165632,224268288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110508,225238,1237.927,12047.446,39,0.8,39,-0.8