version: 66.03
glider: 122
mission: 6
dive: 393
start: 5 12 108 8 11 29
data:
$ID,122
$MISSION,6
$DIVE,393
$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,-34968.406
$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,42
$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
$GPS1,080407,1236.708,12047.919,26,1.5,26,-0.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-72.7
$GPS2,081056,1236.770,12047.955,9,1.2,14,-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,151.0,38395,-18.6,-9.016
$D_GRID,678
$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,-146.0,0.0,0.0,0,80,0.00,0.00,-55.35,0.000,2,0.000,0.000,248,2235,2328
$GC,84,-1.56,-146.0,3.0,-7.3,11,126,13.25,2.40,-20.70,0.000,4,0.166,0.054,2558,3607,3345
$GC,150,-1.26,-146.0,15.6,-18.1,23,157,0.38,2.33,0.00,0.000,6,0.116,0.026,2628,2199,3346
$GC,495,-1.16,-146.0,62.8,-12.7,84,502,0.12,2.38,0.00,0.000,4,0.118,0.039,2650,819,3348
$GC,565,-1.11,-146.0,71.6,-12.4,96,571,0.00,2.47,0.00,0.000,6,0.000,0.028,2650,2300,3347
$GC,909,-1.19,-146.0,109.7,-10.5,157,915,0.00,2.55,0.00,0.000,4,0.000,0.038,2650,814,3350
$GC,966,-1.19,-146.0,116.1,-10.7,167,972,0.00,2.65,0.00,0.000,6,0.000,0.028,2650,2393,3351
$GC,1311,-1.37,-146.0,147.8,-9.3,228,1317,0.17,2.10,0.00,0.000,4,0.044,0.046,2590,3618,3352
$GC,1365,-1.27,-146.0,153.7,-11.1,237,1371,0.20,1.92,0.00,0.000,6,0.093,0.025,2629,2421,3352
$GC,1710,-1.39,-146.0,183.3,-7.7,298,1716,0.12,2.05,0.00,0.000,4,0.053,0.043,2584,3622,3353
$GC,1757,-1.33,-146.0,187.6,-9.4,306,1763,0.15,2.12,0.00,0.000,6,0.095,0.027,2613,2319,3353
$GC,2102,-1.43,-146.0,217.0,-8.9,367,2108,0.00,2.60,0.00,0.000,4,0.000,0.043,2612,819,3353
$GC,2166,-1.43,-146.0,222.4,-8.6,378,2172,0.00,2.45,0.00,0.000,6,0.000,0.031,2613,2274,3353
$GC,2510,-1.55,-146.0,249.8,-8.1,439,2516,0.17,0.00,0.00,0.000,6,0.045,0.000,2553,2275,3351
$GC,2837,-1.55,-146.0,281.0,-9.9,470,2841,0.00,2.33,0.00,0.000,4,0.000,0.048,2553,3621,3350
$GC,2927,-1.42,-146.0,290.3,-9.6,477,2933,0.20,2.40,0.00,0.000,6,0.103,0.031,2591,2183,3349
$GC,3253,-1.49,-146.0,319.5,-8.4,508,3257,0.00,2.40,0.00,0.000,4,0.000,0.048,2590,811,3348
$GC,3292,-1.49,-146.0,323.0,-9.2,511,3296,0.00,2.55,0.00,0.000,6,0.000,0.033,2590,2309,3347
$GC,3620,-1.57,-146.0,348.4,-7.9,541,3625,0.12,2.25,0.00,0.000,4,0.054,0.048,2551,3609,3345
$GC,3688,-1.46,-146.0,354.7,-9.5,547,3693,0.17,2.20,0.00,0.000,6,0.107,0.031,2583,2294,3345
$GC,4014,-1.52,-146.0,379.6,-6.8,577,4018,0.00,2.30,0.00,0.000,4,0.000,0.049,2583,3610,3343
$GC,4122,-1.52,-146.0,388.2,-8.3,586,4125,0.00,2.08,0.00,0.000,6,0.000,0.032,2583,2369,3343
$GC,4457,-1.60,-146.0,414.0,-8.1,617,4462,0.12,2.17,0.00,0.000,4,0.057,0.049,2544,3608,3340
$GC,4531,-1.49,-146.0,421.6,-10.4,623,4536,0.17,2.28,0.00,0.000,6,0.109,0.032,2576,2264,3340
$GC,4857,-1.55,-146.0,449.0,-8.3,653,4861,0.00,2.58,0.00,0.000,4,0.000,0.051,2575,815,3337
$GC,4930,-1.55,-146.0,455.4,-8.7,659,4935,0.00,2.67,0.00,0.000,6,0.000,0.035,2576,2363,3336
$GC,5258,-1.61,-146.0,480.7,-7.5,689,5263,0.00,2.75,0.00,0.000,4,0.000,0.051,2575,820,3334
$GC,5359,-1.61,-146.0,488.8,-7.5,697,5365,0.00,2.80,0.00,0.000,6,0.000,0.035,2575,2434,3334
$GC,5693,-1.67,-146.0,513.3,-7.7,721,5697,0.15,2.08,0.00,0.000,4,0.052,0.052,2528,3616,3332
$GC,5737,-1.51,-146.0,517.6,-9.4,723,5742,0.25,2.22,0.00,0.000,6,0.111,0.034,2573,2300,3331
$GC,6061,-1.58,-146.0,543.9,-8.2,739,6065,0.00,2.33,0.00,0.000,4,0.000,0.052,2573,3617,3329
$GC,6173,-1.58,-146.0,554.0,-9.0,744,6177,0.00,2.08,0.00,0.000,6,0.000,0.035,2573,2391,3328
$GC,6510,-1.63,-146.0,580.7,-7.7,760,6515,0.12,2.15,0.00,0.000,4,0.059,0.053,2539,3606,3327
$GC,6538,-1.55,-146.0,583.5,-9.4,761,6543,0.15,2.28,0.00,0.000,6,0.114,0.035,2565,2268,3327
$GC,6856,-1.59,-146.0,608.1,-7.7,776,6860,0.00,2.38,0.00,0.000,4,0.000,0.054,2565,3606,3326
$GC,6958,-1.59,-146.0,616.5,-8.1,780,6964,0.00,2.10,0.00,0.000,6,0.000,0.035,2565,2363,3324
$GC,7276,-1.63,-146.0,640.4,-7.5,796,7280,0.00,2.22,0.00,0.000,4,0.000,0.055,2565,3616,3323
$GC,7328,-1.58,-146.0,644.7,-8.0,798,7332,0.00,2.33,0.00,0.000,6,0.000,0.036,2565,2252,3322
$GC,7644,-1.63,-146.0,668.9,-7.7,813,7648,0.00,2.58,0.00,0.000,4,0.000,0.056,2565,816,3321
$GC,7733,-1.63,-146.0,676.2,-8.1,817,7737,0.00,2.65,0.00,0.000,6,0.000,0.038,2566,2341,3320
$STATE,7764,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7764,begin apogee
$GC,7771,-0.35,0.0,678.5,7.4,819,7894,1.30,0.00,119.40,1.115,6,0.102,0.000,2824,2341,2748
$STATE,7895,end apogee,CONTROL_FINISHED_OK
$STATE,7895,begin climb
$GC,7897,1.56,146.0,684.3,0.0,825,8026,1.90,0.00,123.60,1.079,6,0.052,0.000,3256,2341,2152
$GC,8332,1.30,148.1,655.8,8.9,846,8337,0.32,2.58,0.00,0.000,4,0.120,0.058,3194,933,2149
$GC,8360,1.16,160.3,653.1,8.5,847,8379,0.20,2.45,11.60,1.104,6,0.118,0.038,3159,2328,2094
$GC,8704,1.20,216.3,629.5,6.5,864,8758,0.00,2.67,47.00,1.069,4,0.000,0.058,3159,931,1865
$GC,8874,1.18,232.4,616.6,8.3,871,8893,0.00,2.38,13.45,1.082,6,0.000,0.038,3159,2285,1799
$GC,9211,1.25,271.1,590.8,7.3,888,9253,0.00,2.55,33.12,1.059,4,0.000,0.058,3159,939,1640
$GC,9356,1.27,282.0,579.0,8.5,894,9370,0.00,2.22,9.32,1.075,6,0.000,0.038,3159,2206,1598
$GC,9702,1.35,289.4,549.7,8.7,911,9717,0.15,2.83,6.30,1.078,4,0.062,0.058,3200,3723,1568
$GC,9785,1.28,289.4,541.0,10.6,914,9791,0.00,2.92,0.00,0.000,6,0.000,0.040,3200,2060,1567
$GC,10101,1.20,289.4,509.7,9.7,930,10105,0.17,2.03,0.00,0.000,4,0.119,0.058,3167,938,1566
$GC,10202,1.23,307.3,500.7,8.2,934,10222,0.00,2.15,15.10,1.042,6,0.000,0.037,3167,2178,1495
$GC,10543,1.36,325.1,472.2,8.2,965,10565,0.15,2.88,15.55,1.024,4,0.060,0.055,3204,3722,1422
$GC,10595,1.32,325.1,467.3,9.8,970,10599,0.00,2.45,0.00,0.000,6,0.000,0.037,3204,2319,1421
$GC,10921,1.29,325.1,434.5,10.0,1000,10925,0.00,2.53,0.00,0.000,4,0.000,0.055,3204,3726,1419
$GC,10983,1.24,325.1,427.9,10.3,1005,10988,0.17,2.62,0.00,0.000,6,0.120,0.038,3175,2216,1418
$GC,11309,1.35,334.0,398.8,8.6,1035,11321,0.12,2.40,7.05,1.006,4,0.066,0.056,3206,933,1386
$GC,11361,1.36,335.0,393.9,9.0,1039,11367,0.00,1.98,0.00,0.000,6,0.000,0.036,3206,2074,1384
$GC,11689,1.41,335.0,364.4,9.3,1070,11693,0.00,2.92,0.00,0.000,4,0.000,0.053,3205,3727,1384
$GC,11773,1.37,335.0,355.4,10.6,1077,11778,0.00,2.58,0.00,0.000,6,0.000,0.037,3206,2238,1384
$GC,12101,1.42,335.0,323.9,10.0,1107,12105,0.00,2.33,0.00,0.000,4,0.000,0.055,3206,928,1384
$GC,12158,1.42,335.0,317.6,10.1,1112,12162,0.00,2.00,0.00,0.000,6,0.000,0.035,3206,2091,1383
$GC,12491,1.50,344.9,285.9,8.6,1143,12507,0.12,2.95,9.40,0.913,4,0.064,0.052,3240,3724,1342
$GC,12570,1.42,344.9,277.5,9.8,1149,12576,0.15,2.62,0.00,0.000,6,0.123,0.037,3215,2210,1341
$GC,12897,1.48,356.4,248.5,8.5,1181,12912,0.00,0.00,10.23,0.874,6,0.000,0.000,3216,2210,1294
$GC,13251,1.57,374.5,218.3,8.2,1244,13273,0.15,2.33,15.27,0.826,4,0.061,0.053,3259,933,1220
$GC,13367,1.48,374.5,206.4,10.3,1264,13373,0.17,1.95,0.00,0.000,6,0.109,0.034,3228,2069,1218
$GC,13712,1.57,381.0,174.7,8.7,1325,13724,0.00,2.95,5.32,0.821,4,0.000,0.048,3227,3726,1194
$GC,13770,1.59,392.0,169.5,8.5,1335,13786,0.00,2.60,9.45,0.792,6,0.000,0.034,3228,2215,1149
$GC,14128,1.72,412.8,138.9,8.1,1398,14155,0.20,2.38,17.58,0.741,4,0.054,0.051,3282,929,1065
$GC,14240,1.72,412.8,128.7,9.4,1418,14246,0.00,1.98,0.00,0.000,6,0.000,0.032,3282,2083,1063
$GC,14584,1.87,470.6,102.1,6.4,1479,14641,0.12,2.97,48.53,0.673,4,0.058,0.049,3318,3727,828
$GC,14671,1.87,470.6,94.8,9.3,1495,14677,0.00,2.70,0.00,0.000,6,0.000,0.032,3319,2161,827
$GC,15015,1.99,498.6,64.4,7.8,1556,15042,0.00,2.28,22.25,0.635,4,0.000,0.048,3319,923,714
$GC,15112,2.03,498.6,56.0,9.1,1573,15119,0.12,2.40,0.00,0.000,6,0.055,0.031,3354,2324,712
$GC,15457,2.06,514.5,23.8,8.3,1634,15474,0.00,2.55,12.12,0.597,4,0.000,0.043,3354,923,649
$GC,15542,2.06,514.5,15.6,9.4,1649,15548,0.00,2.05,0.00,0.000,6,0.000,0.028,3354,2145,648
$STATE,15692,end climb,SURFACE_DEPTH_REACHED
$STATE,15692,begin surface coast
$FINISH,-0.1,0.997648
$STATE,15717,end surface coast,CONTROL_FINISHED_OK
$STATE,15717,begin surface
$SM_CCo,15802,0.00,0.000,0,0,646,515.62
$SM_GC,0.71,13.60,0.00,0.00,0.037,0.000,0.000,248,2233,646,-12.18,0.45,515.62
$IRIDIUM_FIX,1232.20,12046.08,060897,030306
$TT8_MAMPS,0.023777
$HUMID,2076
$INTERNAL_PRESSURE,9.66834
$TCM_TEMP,25.00
$XPDR_PINGS,352
$ALTIM_BOTTOM_PING,610.0,172.6
$24V_AH,23.1,73.324
$10V_AH,10.1,37.728
$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,35.200,173.400,551.650,0.000,0.000,25.470,39.090,200.080,91.250,0.000,0.000,16.715,2668.644,9316.453,682.544,2857.682,686.658,0.000,2137.860,0.000,2799.080,0.000,25.779
$DEVICE_MAMPS,165.672,64.428,1115.218,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1122.767,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53479,1680
$CAP_FILE_SIZE,178575,0
$CFSIZE,260165632,224014336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120508,123607,1236.906,12047.771,40,1.0,40,-0.8