version: 66.03
glider: 122
mission: 6
dive: 391
start: 5 11 108 22 59 23
data:
$ID,122
$MISSION,6
$DIVE,391
$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,-34935.191
$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,28
$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
$GPS1,225238,1237.927,12047.446,39,0.8,39,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-72.3
$GPS2,225851,1237.908,12047.407,11,1.0,11,-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,151.3,40716,-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,25,-1.56,-146.0,0.0,0.0,0,87,0.00,0.00,-60.25,0.000,2,0.000,0.000,246,2249,2472
$GC,91,-1.56,-146.0,3.5,-8.0,12,128,13.20,2.53,-16.70,0.000,4,0.163,0.052,2558,802,3346
$GC,169,-1.32,-146.0,19.3,-15.7,26,176,0.30,2.38,0.00,0.000,6,0.116,0.028,2613,2225,3348
$GC,515,-1.20,-146.0,67.0,-13.3,87,521,0.15,2.40,0.00,0.000,4,0.113,0.044,2645,3621,3350
$GC,629,-1.13,-146.0,81.7,-12.8,107,635,0.00,2.25,0.00,0.000,6,0.000,0.025,2645,2240,3350
$GC,974,-1.22,-146.0,118.2,-10.2,168,980,0.00,2.42,0.00,0.000,4,0.000,0.040,2645,823,3352
$GC,1009,-1.26,-146.0,121.7,-10.4,174,1015,0.00,2.65,0.00,0.000,6,0.000,0.029,2645,2400,3352
$GC,1353,-1.39,-146.0,151.3,-8.6,235,1360,0.17,2.70,0.00,0.000,4,0.044,0.038,2584,830,3353
$GC,1407,-1.31,-146.0,156.7,-10.1,244,1414,0.17,2.47,0.00,0.000,6,0.097,0.029,2618,2308,3353
$GC,1753,-1.39,-146.0,185.5,-7.8,305,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2307,3354
$GC,2096,-1.50,-146.0,214.2,-7.9,366,2102,0.17,2.58,0.00,0.000,4,0.045,0.042,2563,824,3353
$GC,2205,-1.42,-146.0,223.8,-9.2,385,2212,0.15,2.38,0.00,0.000,6,0.101,0.031,2591,2235,3353
$GC,2550,-1.46,-146.0,251.1,-8.1,445,2554,0.00,2.45,0.00,0.000,4,0.000,0.044,2592,822,3352
$GC,2573,-1.46,-146.0,253.2,-8.5,446,2578,0.00,2.58,0.00,0.000,6,0.000,0.032,2592,2341,3353
$GC,2901,-1.53,-146.0,280.1,-8.6,477,2905,0.00,2.20,0.00,0.000,4,0.000,0.050,2592,3615,3351
$GC,2985,-1.53,-146.0,288.2,-9.4,484,2989,0.00,2.10,0.00,0.000,6,0.000,0.030,2592,2344,3350
$GC,3319,-1.60,-146.0,315.6,-8.2,515,3324,0.15,2.65,0.00,0.000,4,0.051,0.046,2542,830,3348
$GC,3393,-1.48,-146.0,322.8,-9.9,521,3398,0.20,2.60,0.00,0.000,6,0.100,0.034,2579,2350,3348
$GC,3718,-1.52,-146.0,349.8,-8.1,551,3723,0.00,2.67,0.00,0.000,4,0.000,0.047,2580,824,3346
$GC,3736,-1.52,-146.0,351.4,-8.3,552,3740,0.00,2.42,0.00,0.000,6,0.000,0.033,2580,2247,3346
$GC,4064,-1.57,-146.0,377.5,-8.1,582,4068,0.00,2.40,0.00,0.000,4,0.000,0.050,2580,3625,3344
$GC,4176,-1.57,-146.0,387.3,-8.4,591,4182,0.00,2.08,0.00,0.000,6,0.000,0.031,2580,2376,3343
$GC,4505,-1.62,-146.0,412.9,-7.8,622,4509,0.12,2.17,0.00,0.000,4,0.058,0.049,2544,3623,3341
$GC,4550,-1.49,-146.0,417.2,-8.5,626,4555,0.17,2.28,0.00,0.000,6,0.108,0.032,2576,2268,3341
$GC,4882,-1.54,-146.0,443.5,-7.6,657,4886,0.00,2.38,0.00,0.000,4,0.000,0.051,2576,3619,3338
$GC,4993,-1.54,-146.0,452.9,-8.5,666,4999,0.00,2.10,0.00,0.000,6,0.000,0.033,2575,2366,3337
$GC,5322,-1.59,-146.0,478.5,-8.1,697,5326,0.00,2.20,0.00,0.000,4,0.000,0.053,2576,3621,3335
$GC,5373,-1.56,-146.0,483.2,-9.0,701,5379,0.00,2.30,0.00,0.000,6,0.000,0.034,2575,2262,3334
$GC,5699,-1.60,-146.0,508.4,-7.8,727,5703,0.00,2.58,0.00,0.000,4,0.000,0.053,2576,816,3333
$GC,5761,-1.60,-146.0,513.8,-8.0,730,5766,0.00,2.70,0.00,0.000,6,0.000,0.036,2575,2373,3332
$GC,6091,-1.66,-146.0,539.1,-7.4,746,6095,0.15,2.17,0.00,0.000,4,0.054,0.053,2534,3613,3330
$GC,6186,-1.53,-146.0,547.9,-9.5,750,6191,0.20,2.28,0.00,0.000,6,0.109,0.035,2569,2261,3330
$GC,6515,-1.57,-146.0,571.9,-7.6,766,6519,0.00,2.58,0.00,0.000,4,0.000,0.054,2569,816,3327
$GC,6583,-1.54,-146.0,577.8,-8.5,769,6587,0.00,2.67,0.00,0.000,6,0.000,0.036,2570,2370,3327
$GC,6908,-1.58,-146.0,605.2,-8.3,785,6912,0.00,2.78,0.00,0.000,4,0.000,0.053,2569,816,3326
$GC,6930,-1.58,-146.0,607.4,-8.0,786,6934,0.00,2.50,0.00,0.000,6,0.000,0.036,2570,2268,3326
$GC,7262,-1.61,-146.0,630.9,-6.3,802,7267,0.00,2.40,0.00,0.000,4,0.000,0.057,2570,3620,3325
$GC,7303,-1.56,-146.0,634.1,-6.8,804,7307,0.00,2.47,0.00,0.000,6,0.000,0.035,2570,2176,3324
$GC,7633,-1.60,-146.0,657.1,-6.9,820,7637,0.00,2.42,0.00,0.000,4,0.000,0.056,2569,816,3323
$GC,7660,-1.60,-146.0,659.4,-7.5,821,7664,0.00,2.60,0.00,0.000,6,0.000,0.037,2569,2319,3323
$GC,7977,-1.64,-146.0,682.4,-7.3,836,7982,0.00,2.70,0.00,0.000,4,0.000,0.054,2569,810,3321
$GC,8050,-1.64,-146.0,688.6,-8.4,839,8054,0.00,2.45,0.00,0.000,6,0.000,0.037,2570,2231,3321
$GC,8366,-1.70,-146.0,714.6,-8.5,854,8371,0.15,2.53,0.00,0.000,4,0.058,0.054,2524,817,3319
$GC,8412,-1.58,-146.0,719.5,-10.6,856,8417,0.17,2.67,0.00,0.000,6,0.114,0.038,2556,2359,3319
$STATE,8420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8421,begin apogee
$GC,8427,-0.35,0.0,720.7,10.4,857,8551,1.38,0.00,120.20,1.147,6,0.107,0.000,2826,2360,2748
$STATE,8552,end apogee,CONTROL_FINISHED_OK
$STATE,8552,begin climb
$GC,8555,1.56,146.0,727.4,0.0,863,8684,1.95,0.00,124.55,1.112,6,0.053,0.000,3250,2360,2152
$GC,8997,1.35,169.7,702.2,8.0,885,9022,0.22,2.53,19.60,1.126,4,0.123,0.059,3206,3726,2055
$GC,9050,1.18,169.7,697.4,9.4,887,9056,0.25,2.35,0.00,0.000,6,0.125,0.038,3163,2381,2056
$GC,9369,1.17,198.8,673.7,7.7,902,9399,0.00,2.70,24.67,1.118,4,0.000,0.059,3162,934,1937
$GC,9545,1.11,199.5,657.9,9.0,910,9549,0.00,2.47,0.00,0.000,6,0.000,0.038,3162,2341,1936
$GC,9867,1.11,223.9,631.4,7.9,926,9893,0.00,2.62,21.23,1.108,4,0.000,0.058,3162,933,1834
$GC,9933,1.07,223.9,625.6,9.2,929,9938,0.12,2.42,0.00,0.000,6,0.117,0.038,3141,2311,1833
$GC,10255,1.20,269.5,602.3,7.0,945,10301,0.12,2.58,39.08,1.079,4,0.071,0.058,3170,932,1649
$GC,10409,1.22,285.5,589.0,8.3,952,10430,0.00,2.28,13.82,1.085,6,0.000,0.038,3170,2227,1583
$GC,10740,1.23,290.3,560.6,8.8,968,10749,0.00,2.72,3.97,1.090,4,0.000,0.057,3170,3723,1564
$GC,10778,1.23,290.3,556.8,9.8,969,10784,0.00,2.70,0.00,0.000,6,0.000,0.038,3170,2181,1563
$GC,11097,1.33,290.3,526.4,10.2,985,11101,0.10,2.28,0.00,0.000,4,0.073,0.058,3195,924,1563
$GC,11163,1.28,290.3,519.1,11.1,988,11168,0.00,2.45,0.00,0.000,6,0.000,0.038,3195,2322,1562
$GC,11488,1.28,290.3,485.5,9.9,1010,11493,0.00,2.53,0.00,0.000,4,0.000,0.057,3195,928,1562
$GC,11580,1.23,290.3,476.4,10.0,1018,11585,0.12,2.30,0.00,0.000,6,0.116,0.037,3174,2250,1561
$GC,11906,1.33,301.5,446.7,8.5,1048,11920,0.00,2.45,9.55,1.038,4,0.000,0.057,3173,928,1517
$GC,11945,1.36,301.5,443.3,9.5,1051,11950,0.12,2.55,0.00,0.000,6,0.064,0.037,3207,2378,1517
$GC,12270,1.30,301.5,413.5,9.1,1081,12274,0.00,2.62,0.00,0.000,4,0.000,0.055,3207,926,1516
$GC,12344,1.23,301.5,406.8,9.0,1087,12349,0.17,2.35,0.00,0.000,6,0.111,0.036,3176,2278,1516
$GC,12669,1.33,309.8,378.8,8.6,1117,12681,0.00,2.67,6.85,0.997,4,0.000,0.054,3176,3727,1485
$GC,12751,1.33,310.2,371.7,9.0,1124,12755,0.00,2.80,0.00,0.000,6,0.000,0.038,3176,2125,1485
$GC,13079,1.49,331.9,345.6,8.0,1154,13104,0.20,2.20,19.33,0.930,4,0.057,0.056,3229,934,1394
$GC,13138,1.41,331.9,339.7,9.9,1159,13144,0.00,2.35,0.00,0.000,6,0.000,0.036,3229,2278,1391
$GC,13467,1.36,331.9,307.2,9.8,1190,13472,0.15,2.58,0.00,0.000,4,0.111,0.054,3199,3721,1390
$GC,13568,1.36,335.2,297.3,8.9,1198,13577,0.00,2.70,2.53,0.929,6,0.000,0.037,3199,2159,1380
$GC,13904,1.46,344.9,269.0,8.6,1230,13919,0.10,2.28,8.68,0.898,4,0.070,0.054,3224,931,1340
$GC,13960,1.42,344.9,263.7,9.5,1235,13963,0.00,1.90,0.00,0.000,6,0.000,0.035,3224,2034,1339
$GC,14296,1.38,344.9,230.7,9.2,1283,14302,0.00,2.00,0.00,0.000,4,0.000,0.055,3224,923,1339
$GC,14343,1.34,344.9,226.3,9.1,1291,14349,0.15,2.05,0.00,0.000,6,0.111,0.034,3198,2120,1338
$GC,14688,1.49,354.1,197.3,8.6,1352,14705,0.15,2.90,7.70,0.839,4,0.060,0.050,3243,3718,1304
$GC,14736,1.46,354.1,192.7,10.0,1360,14741,0.00,2.55,0.00,0.000,6,0.000,0.034,3243,2242,1304
$GC,15079,1.47,363.1,160.8,8.6,1421,15096,0.00,2.40,7.65,0.804,4,0.000,0.052,3243,935,1267
$GC,15160,1.49,375.5,153.6,8.5,1435,15176,0.00,2.17,10.57,0.777,6,0.000,0.032,3243,2207,1216
$GC,15517,1.66,418.6,123.8,7.1,1498,15560,0.10,2.38,36.35,0.706,4,0.067,0.048,3273,931,1040
$GC,15718,1.72,425.4,106.9,8.7,1534,15729,0.00,2.33,5.12,0.739,6,0.000,0.032,3273,2282,1013
$GC,16069,1.87,456.2,78.9,7.6,1596,16100,0.15,0.00,25.52,0.653,6,0.046,0.000,3329,2282,887
$GC,16439,1.88,463.2,45.6,8.7,1662,16450,0.00,2.40,5.22,0.651,4,0.000,0.044,3329,929,857
$GC,16530,1.88,463.2,37.3,9.4,1678,16536,0.00,2.03,0.00,0.000,6,0.000,0.028,3329,2139,857
$GC,16875,2.01,494.9,8.1,7.6,1739,16905,0.00,0.00,25.62,0.562,6,0.000,0.000,3329,2141,728
$STATE,16954,end climb,SURFACE_DEPTH_REACHED
$STATE,16954,begin surface coast
$FINISH,-0.1,1.007700
$STATE,16983,end surface coast,CONTROL_FINISHED_OK
$STATE,16984,begin surface
$SM_CCo,17069,0.00,0.000,0,0,722,496.73
$SM_GC,0.78,13.50,0.00,0.00,0.036,0.000,0.000,249,2258,722,-12.17,1.19,496.73
$IRIDIUM_FIX,1232.20,12046.08,050897,181836
$TT8_MAMPS,0.024544
$HUMID,2063
$INTERNAL_PRESSURE,9.66834
$TCM_TEMP,24.90
$XPDR_PINGS,409
$ALTIM_BOTTOM_PING,641.4,152.1
$24V_AH,23.1,72.978
$10V_AH,10.1,37.557
$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,34.725,190.525,537.825,0.000,0.000,25.898,39.833,164.461,106.250,0.000,0.000,11.689,2818.414,10269.899,677.193,2977.945,696.368,0.000,2199.052,0.000,2923.424,0.000,31.376
$DEVICE_MAMPS,163.371,59.059,1147.432,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1176.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56599,1759
$CAP_FILE_SIZE,189691,0
$CFSIZE,260165632,224174080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120508,034507,1237.276,12047.681,38,0.9,38,-0.8