version: 66.03
glider: 122
mission: 6
dive: 394
start: 5 12 108 12 42 58
data:
$ID,122
$MISSION,6
$DIVE,394
$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,-34985.965
$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,48
$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
$GPS1,123607,1236.906,12047.771,40,1.0,40,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-72.4
$GPS2,124226,1236.928,12047.781,10,1.0,16,-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,150.8,38805,-18.6,-9.016
$D_GRID,639
$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,22,begin dive
$GC,25,-1.56,-146.0,0.0,0.0,0,92,0.00,0.00,-64.97,0.000,2,0.000,0.000,248,2231,2438
$GC,96,-1.56,-146.0,3.4,-8.0,13,133,13.30,2.47,-17.52,0.000,4,0.166,0.048,2560,804,3344
$GC,163,-1.32,-146.0,17.3,-17.7,25,170,0.30,2.35,0.00,0.000,6,0.109,0.028,2615,2207,3345
$GC,508,-1.20,-146.0,64.7,-12.7,86,514,0.15,2.42,0.00,0.000,4,0.119,0.038,2642,798,3346
$GC,583,-1.15,-146.0,73.9,-12.2,99,590,0.00,2.42,0.00,0.000,6,0.000,0.027,2642,2260,3346
$GC,928,-1.24,-146.0,111.7,-9.8,160,934,0.00,2.50,0.00,0.000,4,0.000,0.038,2642,803,3348
$GC,941,-1.32,-146.0,113.1,-10.0,162,947,0.12,2.67,0.00,0.000,6,0.053,0.028,2601,2396,3348
$GC,1286,-1.32,-146.0,149.4,-9.7,223,1292,0.00,2.08,0.00,0.000,4,0.000,0.047,2601,3609,3350
$GC,1361,-1.26,-146.0,156.8,-9.9,236,1367,0.15,2.22,0.00,0.000,6,0.098,0.026,2629,2246,3350
$GC,1706,-1.37,-146.0,183.0,-7.7,297,1712,0.00,2.35,0.00,0.000,4,0.000,0.044,2630,3616,3352
$GC,1816,-1.43,-146.0,192.6,-8.9,316,1822,0.17,2.00,0.00,0.000,6,0.048,0.027,2576,2384,3352
$GC,2161,-1.43,-146.0,223.1,-7.9,377,2166,0.00,2.12,0.00,0.000,4,0.000,0.047,2575,3621,3351
$GC,2191,-1.37,-146.0,225.6,-8.3,382,2197,0.15,2.20,0.00,0.000,6,0.101,0.028,2603,2285,3351
$GC,2534,-1.47,-146.0,252.1,-7.8,441,2538,0.00,2.55,0.00,0.000,4,0.000,0.045,2603,823,3350
$GC,2619,-1.47,-146.0,259.1,-8.4,448,2623,0.00,2.67,0.00,0.000,6,0.000,0.032,2604,2399,3349
$GC,2947,-1.56,-146.0,284.0,-7.3,478,2952,0.15,2.75,0.00,0.000,4,0.050,0.044,2550,827,3347
$GC,3032,-1.48,-146.0,291.9,-8.8,485,3038,0.15,2.83,0.00,0.000,6,0.101,0.034,2578,2479,3347
$GC,3358,-1.52,-146.0,319.0,-9.1,515,3361,0.00,1.95,0.00,0.000,4,0.000,0.051,2578,3610,3345
$GC,3426,-1.47,-146.0,325.7,-9.7,521,3429,0.00,2.03,0.00,0.000,6,0.000,0.031,2578,2389,3345
$GC,3760,-1.51,-146.0,353.7,-7.9,552,3763,0.00,2.12,0.00,0.000,4,0.000,0.049,2578,3610,3342
$GC,3862,-1.46,-146.0,363.3,-9.6,561,3865,0.00,1.88,0.00,0.000,6,0.000,0.031,2578,2475,3342
$GC,4195,-1.46,-146.0,389.8,-7.6,592,4200,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2472,3339
$GC,4524,-1.52,-146.0,415.3,-8.0,623,4528,0.00,2.00,0.00,0.000,4,0.000,0.051,2578,3618,3337
$GC,4616,-1.48,-146.0,423.6,-8.7,631,4620,0.00,2.12,0.00,0.000,6,0.000,0.033,2578,2355,3336
$GC,4944,-1.53,-146.0,450.5,-8.0,661,4948,0.00,2.70,0.00,0.000,4,0.000,0.051,2578,834,3334
$GC,5029,-1.53,-146.0,457.9,-8.3,668,5034,0.00,2.80,0.00,0.000,6,0.000,0.036,2578,2447,3333
$GC,5357,-1.57,-146.0,484.4,-8.1,698,5360,0.00,2.05,0.00,0.000,4,0.000,0.054,2578,3616,3331
$GC,5415,-1.54,-146.0,489.6,-8.4,703,5419,0.00,2.15,0.00,0.000,6,0.000,0.033,2578,2346,3331
$GC,5737,-1.58,-146.0,514.9,-7.8,724,5741,0.00,2.70,0.00,0.000,4,0.000,0.052,2578,829,3328
$GC,5832,-1.58,-146.0,522.7,-7.3,728,5837,0.00,2.80,0.00,0.000,6,0.000,0.036,2579,2442,3328
$GC,6149,-1.65,-146.0,545.6,-7.3,743,6153,0.15,2.05,0.00,0.000,4,0.055,0.054,2537,3607,3326
$GC,6239,-1.51,-146.0,553.4,-8.3,747,6244,0.20,2.08,0.00,0.000,6,0.112,0.034,2572,2374,3326
$GC,6564,-1.56,-146.0,577.5,-7.6,763,6568,0.00,2.20,0.00,0.000,4,0.000,0.054,2572,3615,3324
$GC,6672,-1.53,-146.0,586.5,-8.2,768,6675,0.00,1.95,0.00,0.000,6,0.000,0.035,2572,2460,3323
$GC,7010,-1.59,-146.0,611.3,-7.0,784,7014,0.00,2.03,0.00,0.000,4,0.000,0.055,2572,3609,3322
$GC,7102,-1.55,-146.0,618.7,-7.2,788,7106,0.00,2.05,0.00,0.000,6,0.000,0.035,2572,2398,3322
$STATE,7370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7370,begin apogee
$GC,7377,-0.35,0.0,639.1,7.6,801,7499,1.25,0.00,118.38,1.079,6,0.097,0.000,2824,2340,2748
$STATE,7500,end apogee,CONTROL_FINISHED_OK
$STATE,7500,begin climb
$GC,7504,1.56,146.0,645.4,0.0,807,7634,1.92,2.60,122.05,1.045,4,0.055,0.058,3247,948,2152
$GC,7824,1.31,154.6,628.8,8.6,821,7838,0.30,2.40,6.88,1.081,6,0.119,0.038,3193,2321,2117
$GC,8163,1.22,175.0,602.0,8.1,838,8182,0.12,0.00,17.10,1.066,6,0.120,0.000,3171,2321,2034
$GC,8491,1.22,210.2,576.8,7.4,854,8522,0.00,0.00,29.52,1.044,6,0.000,0.000,3171,2320,1891
$GC,8819,1.19,222.4,550.1,8.5,870,8834,0.00,2.58,10.25,1.060,4,0.000,0.056,3171,3732,1840
$GC,8851,1.14,222.4,547.0,9.8,870,8857,0.00,2.45,0.00,0.000,6,0.000,0.038,3171,2329,1840
$GC,9168,1.13,235.8,519.6,8.4,886,9184,0.00,2.60,11.10,1.052,4,0.000,0.058,3171,925,1785
$GC,9301,1.11,252.9,508.5,8.2,891,9323,0.12,2.35,14.93,1.034,6,0.121,0.037,3151,2272,1716
$GC,9638,1.23,283.2,482.6,7.7,917,9670,0.00,2.67,25.80,1.003,4,0.000,0.055,3150,3727,1592
$GC,9791,1.28,283.2,469.2,9.5,930,9797,0.15,2.75,0.00,0.000,6,0.066,0.038,3185,2152,1591
$GC,10116,1.33,283.2,438.4,9.1,961,10120,0.00,2.20,0.00,0.000,4,0.000,0.058,3185,932,1588
$GC,10189,1.30,283.2,431.8,9.4,967,10193,0.00,2.40,0.00,0.000,6,0.000,0.037,3185,2310,1588
$GC,10517,1.39,307.8,405.6,7.9,997,10543,0.00,2.60,20.20,0.968,4,0.000,0.055,3184,3731,1493
$GC,10622,1.39,307.8,395.9,9.7,1006,10627,0.00,2.72,0.00,0.000,6,0.000,0.038,3185,2172,1491
$GC,10948,1.47,312.5,367.5,8.8,1036,10960,0.15,2.83,3.90,0.975,4,0.063,0.052,3226,3731,1473
$GC,11040,1.37,312.5,357.9,10.2,1044,11046,0.12,2.90,0.00,0.000,6,0.130,0.038,3206,2072,1473
$GC,11365,1.32,312.5,327.4,9.2,1074,11369,0.00,2.05,0.00,0.000,4,0.000,0.056,3206,927,1471
$GC,11462,1.30,337.9,319.0,7.9,1082,11489,0.00,2.20,21.85,0.901,6,0.000,0.035,3206,2204,1370
$GC,11807,1.32,350.8,288.1,8.4,1115,11823,0.00,2.75,10.85,0.897,4,0.000,0.052,3206,3721,1316
$GC,11915,1.32,350.9,278.4,9.0,1124,11919,0.00,2.50,0.00,0.000,6,0.000,0.036,3206,2277,1315
$GC,12242,1.38,350.9,250.1,9.3,1154,12243,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2278,1315
$GC,12576,1.46,352.3,217.7,9.0,1213,12582,0.00,2.40,0.00,0.000,4,0.000,0.053,3206,929,1314
$GC,12629,1.49,352.3,212.6,9.6,1222,12636,0.10,2.12,0.00,0.000,6,0.070,0.035,3235,2167,1313
$GC,12975,1.54,354.9,181.8,8.9,1283,12986,0.00,2.80,3.08,0.829,4,0.000,0.051,3235,3721,1301
$GC,13038,1.51,354.9,175.7,9.5,1294,13044,0.00,2.47,0.00,0.000,6,0.000,0.035,3235,2281,1300
$GC,13383,1.61,375.7,146.8,8.1,1355,13410,0.00,2.65,17.67,0.753,4,0.000,0.048,3235,3729,1216
$GC,13434,1.68,383.6,142.7,8.7,1364,13446,0.15,2.72,6.57,0.766,6,0.058,0.034,3273,2153,1184
$GC,13787,1.82,424.0,116.0,7.2,1426,13829,0.12,2.22,34.12,0.690,4,0.059,0.051,3310,932,1018
$GC,13871,1.78,440.7,109.2,8.3,1441,13893,0.00,2.35,13.85,0.694,6,0.000,0.032,3310,2293,949
$GC,14234,1.85,458.2,78.0,8.2,1505,14256,0.00,2.58,13.70,0.664,4,0.000,0.048,3310,3715,879
$GC,14324,1.90,490.1,70.5,7.6,1521,14356,0.00,2.67,26.90,0.630,6,0.000,0.031,3310,2149,748
$GC,14697,2.09,521.3,38.0,7.6,1587,14730,0.20,2.80,24.73,0.592,4,0.041,0.043,3378,3721,621
$GC,14783,2.05,521.3,29.2,11.4,1602,14789,0.15,2.90,0.00,0.000,6,0.115,0.031,3352,2031,619
$STATE,15073,end climb,SURFACE_DEPTH_REACHED
$STATE,15073,begin surface coast
$FINISH,-0.1,1.020548
$STATE,15097,end surface coast,CONTROL_FINISHED_OK
$STATE,15097,begin surface
$SM_CCo,15183,0.00,0.000,0,0,616,522.98
$SM_GC,0.73,13.62,0.00,0.00,0.038,0.000,0.000,249,2260,616,-12.17,1.27,522.98
$IRIDIUM_FIX,1232.20,12046.08,060897,080809
$TT8_MAMPS,0.022243
$HUMID,2057
$INTERNAL_PRESSURE,9.67811
$TCM_TEMP,25.00
$XPDR_PINGS,391
$24V_AH,23.2,73.497
$10V_AH,10.1,37.813
$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,33.500,154.900,553.425,0.000,0.000,22.451,40.523,168.394,101.500,0.000,0.000,16.930,2614.988,8821.461,654.611,2834.393,636.011,0.000,2090.135,0.000,2771.016,0.000,29.367
$DEVICE_MAMPS,166.439,108.147,1081.470,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1107.302,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53504,1658
$CAP_FILE_SIZE,170454,0
$CFSIZE,260165632,223936512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120508,165708,1237.117,12047.770,31,2.0,31,-0.8