version: 66.03
glider: 122
mission: 6
dive: 396
start: 5 12 108 21 18 35
data:
$ID,122
$MISSION,6
$DIVE,396
$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,-35036.211
$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,26
$R_STBD_OVSHOOT,27
$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
$GPS1,211155,1236.991,12048.101,40,1.1,40,-0.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-74.1
$GPS2,211803,1236.983,12048.132,12,1.1,12,-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,151.7,38581,-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,-146.0,0.0,0.0,0,82,0.00,0.00,-54.95,0.000,2,0.000,0.000,248,2182,2293
$GC,86,-1.56,-146.0,3.1,-7.6,11,128,13.27,2.42,-21.02,0.000,4,0.166,0.051,2560,806,3346
$GC,135,-1.17,-146.0,13.3,-16.4,20,142,0.45,2.40,0.00,0.000,6,0.107,0.028,2645,2233,3347
$GC,481,-1.08,-146.0,57.8,-11.5,81,487,0.12,2.45,0.00,0.000,4,0.117,0.038,2667,804,3349
$GC,544,-1.08,-146.0,65.4,-11.8,92,550,0.00,2.53,0.00,0.000,6,0.000,0.027,2667,2313,3349
$GC,888,-1.19,-146.0,101.8,-9.9,153,894,0.00,2.60,0.00,0.000,4,0.000,0.038,2667,798,3351
$GC,918,-1.25,-146.0,104.9,-10.3,158,925,0.17,2.75,0.00,0.000,6,0.046,0.028,2613,2439,3351
$GC,1263,-1.25,-146.0,141.1,-9.7,219,1269,0.00,2.00,0.00,0.000,4,0.000,0.045,2613,3619,3352
$GC,1304,-1.19,-146.0,145.3,-9.9,226,1311,0.15,2.15,0.00,0.000,6,0.092,0.025,2642,2292,3352
$GC,1650,-1.31,-146.0,175.1,-7.3,287,1656,0.12,2.28,0.00,0.000,4,0.053,0.044,2598,3621,3353
$GC,1709,-1.27,-146.0,180.4,-9.6,297,1715,0.15,2.15,0.00,0.000,6,0.094,0.027,2627,2302,3353
$GC,2054,-1.38,-146.0,210.9,-9.1,358,2060,0.12,2.28,0.00,0.000,4,0.051,0.044,2581,3626,3353
$GC,2101,-1.30,-146.0,215.9,-10.7,366,2107,0.20,1.98,0.00,0.000,6,0.097,0.028,2619,2412,3353
$GC,2446,-1.40,-146.0,243.8,-7.4,427,2452,0.00,2.08,0.00,0.000,4,0.000,0.046,2619,3622,3353
$GC,2487,-1.43,-146.0,247.1,-7.5,434,2494,0.12,2.17,0.00,0.000,6,0.056,0.029,2580,2305,3353
$GC,2816,-1.47,-146.0,273.4,-8.6,468,2820,0.00,2.25,0.00,0.000,4,0.000,0.046,2580,3621,3351
$GC,2885,-1.40,-146.0,279.3,-8.9,474,2888,0.00,2.03,0.00,0.000,6,0.000,0.029,2580,2392,3350
$GC,3219,-1.44,-146.0,307.3,-8.1,505,3224,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2390,3348
$GC,3546,-1.48,-146.0,333.5,-7.9,536,3550,0.00,2.12,0.00,0.000,4,0.000,0.048,2580,3626,3346
$GC,3643,-1.44,-146.0,341.7,-8.2,544,3649,0.00,2.25,0.00,0.000,6,0.000,0.031,2580,2281,3346
$GC,3972,-1.50,-146.0,366.1,-7.6,575,3976,0.00,2.33,0.00,0.000,4,0.000,0.048,2580,3616,3343
$GC,4080,-1.50,-146.0,375.6,-8.6,584,4083,0.00,2.08,0.00,0.000,6,0.000,0.031,2580,2375,3343
$GC,4413,-1.53,-146.0,403.7,-8.6,615,4417,0.00,2.17,0.00,0.000,4,0.000,0.050,2580,3619,3341
$GC,4458,-1.48,-146.0,408.2,-9.5,618,4464,0.00,2.25,0.00,0.000,6,0.000,0.032,2580,2284,3341
$GC,4786,-1.54,-146.0,434.3,-7.6,649,4790,0.00,2.62,0.00,0.000,4,0.000,0.051,2579,809,3338
$GC,4893,-1.54,-146.0,443.1,-8.0,658,4898,0.00,2.75,0.00,0.000,6,0.000,0.035,2580,2403,3337
$GC,5221,-1.58,-146.0,467.6,-7.1,688,5225,0.00,2.12,0.00,0.000,4,0.000,0.052,2580,3615,3335
$GC,5283,-1.58,-146.0,472.6,-7.8,693,5289,0.00,2.30,0.00,0.000,6,0.000,0.034,2580,2254,3335
$GC,5611,-1.63,-146.0,496.5,-6.9,724,5616,0.15,2.55,0.00,0.000,4,0.054,0.051,2531,822,3332
$GC,5663,-1.50,-146.0,500.7,-8.0,728,5669,0.25,2.75,0.00,0.000,6,0.104,0.036,2577,2410,3332
$GC,5982,-1.55,-146.0,523.2,-7.4,743,5985,0.00,2.12,0.00,0.000,4,0.000,0.054,2577,3618,3330
$GC,6032,-1.55,-146.0,527.8,-8.9,745,6036,0.00,2.25,0.00,0.000,6,0.000,0.034,2577,2289,3329
$GC,6356,-1.62,-146.0,552.7,-7.9,761,6361,0.12,2.35,0.00,0.000,4,0.061,0.051,2544,3616,3327
$GC,6445,-1.50,-146.0,561.2,-9.1,765,6450,0.17,2.10,0.00,0.000,6,0.111,0.034,2574,2369,3327
$GC,6770,-1.56,-146.0,586.5,-7.9,781,6774,0.00,2.20,0.00,0.000,4,0.000,0.054,2574,3613,3326
$GC,6859,-1.56,-146.0,594.3,-8.7,785,6863,0.00,1.98,0.00,0.000,6,0.000,0.035,2574,2440,3326
$GC,7190,-1.62,-146.0,621.0,-8.2,801,7193,0.00,2.08,0.00,0.000,4,0.000,0.055,2574,3615,3324
$GC,7214,-1.62,-146.0,623.4,-8.9,802,7218,0.00,2.22,0.00,0.000,6,0.000,0.035,2574,2308,3324
$STATE,7414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7414,begin apogee
$GC,7420,-0.35,0.0,640.6,8.3,812,7543,1.23,0.00,118.78,1.079,6,0.093,0.000,2824,2306,2747
$STATE,7543,end apogee,CONTROL_FINISHED_OK
$STATE,7543,begin climb
$GC,7547,1.56,146.0,647.6,0.0,818,7677,1.90,2.62,121.68,1.044,4,0.052,0.055,3247,3711,2152
$GC,7836,1.28,146.0,633.2,9.2,831,7841,0.35,2.38,0.00,0.000,6,0.127,0.038,3185,2346,2150
$GC,8152,1.22,178.6,609.8,7.6,846,8181,0.00,0.00,26.77,1.054,6,0.000,0.000,3186,2345,2019
$GC,8484,1.16,198.9,582.6,8.1,862,8506,0.15,2.58,16.62,1.058,4,0.121,0.054,3156,3717,1937
$GC,8535,1.11,206.1,578.3,8.7,864,8546,0.00,2.45,6.35,1.057,6,0.000,0.038,3156,2313,1908
$GC,8856,1.18,243.5,553.2,7.3,879,8897,0.00,2.60,31.30,1.032,4,0.000,0.054,3156,3724,1755
$GC,8954,1.22,268.1,545.3,7.9,883,8980,0.00,2.65,20.88,1.023,6,0.000,0.039,3156,2209,1655
$GC,9292,1.35,294.6,518.8,7.8,899,9322,0.17,2.80,22.67,1.017,4,0.061,0.054,3200,3711,1546
$GC,9339,1.35,294.6,514.4,9.9,901,9344,0.00,2.88,0.00,0.000,6,0.000,0.039,3201,2084,1545
$GC,9667,1.30,294.6,483.7,9.7,925,9671,0.00,2.08,0.00,0.000,4,0.000,0.061,3201,934,1541
$GC,9725,1.23,294.6,477.7,9.6,930,9729,0.15,2.20,0.00,0.000,6,0.118,0.036,3175,2200,1541
$GC,10050,1.32,294.9,448.0,9.0,960,10055,0.00,2.70,0.00,0.000,4,0.000,0.054,3175,3713,1540
$GC,10094,1.32,294.9,443.5,9.3,963,10100,0.00,2.35,0.00,0.000,6,0.000,0.037,3175,2346,1541
$GC,10424,1.44,324.7,416.7,7.7,994,10454,0.17,2.62,24.65,0.967,4,0.061,0.057,3221,932,1424
$GC,10495,1.36,324.7,410.1,9.3,1000,10501,0.00,2.22,0.00,0.000,6,0.000,0.036,3220,2210,1421
$GC,10822,1.31,326.9,378.6,8.9,1031,10827,0.15,2.70,0.00,0.000,4,0.108,0.054,3190,3721,1420
$GC,10855,1.31,326.9,375.3,9.2,1033,10861,0.00,2.62,0.00,0.000,6,0.000,0.037,3190,2204,1420
$GC,11183,1.39,326.9,345.9,9.1,1064,11188,0.00,2.70,0.00,0.000,4,0.000,0.052,3190,3717,1419
$GC,11223,1.39,326.9,341.9,9.1,1067,11228,0.00,2.83,0.00,0.000,6,0.000,0.038,3190,2080,1419
$GC,11553,1.49,327.4,312.5,9.0,1097,11559,0.15,0.00,0.00,0.000,6,0.059,0.000,3232,2079,1418
$GC,11880,1.49,327.4,281.3,9.4,1128,11884,0.00,2.90,0.00,0.000,4,0.000,0.050,3232,3715,1418
$GC,11992,1.42,327.4,270.3,9.8,1137,11998,0.00,2.50,0.00,0.000,6,0.000,0.036,3232,2259,1418
$GC,12323,1.37,327.4,238.5,10.3,1178,12330,0.15,2.38,0.00,0.000,4,0.110,0.053,3202,928,1417
$GC,12342,1.37,327.4,236.6,9.5,1181,12348,0.00,2.17,0.00,0.000,6,0.000,0.035,3202,2193,1417
$GC,12687,1.50,352.8,208.2,7.9,1242,12719,0.12,2.35,22.88,0.811,4,0.064,0.054,3234,934,1308
$GC,12765,1.46,352.8,200.9,9.5,1256,12771,0.00,2.45,0.00,0.000,6,0.000,0.035,3234,2339,1307
$GC,13110,1.47,356.8,169.1,8.8,1317,13121,0.00,2.50,3.15,0.821,4,0.000,0.051,3234,3723,1293
$GC,13157,1.48,360.3,164.9,8.9,1325,13168,0.00,2.62,3.33,0.818,6,0.000,0.034,3234,2199,1278
$GC,13509,1.64,409.3,135.4,6.8,1387,13557,0.12,2.30,41.10,0.715,4,0.060,0.051,3268,936,1078
$GC,13653,1.68,429.6,123.3,8.1,1413,13675,0.00,2.38,17.00,0.715,6,0.000,0.034,3268,2312,995
$GC,14015,1.84,457.4,93.1,7.8,1477,14047,0.15,2.55,22.40,0.672,4,0.052,0.049,3313,3717,883
$GC,14122,1.84,457.4,83.3,9.6,1496,14128,0.00,2.62,0.00,0.000,6,0.000,0.031,3314,2184,881
$GC,14467,1.96,482.2,54.8,7.9,1557,14493,0.00,2.25,20.15,0.627,4,0.000,0.047,3313,924,781
$GC,14546,2.00,482.2,47.5,9.1,1571,14552,0.12,1.92,0.00,0.000,6,0.059,0.029,3349,2068,779
$GC,14892,2.02,492.2,14.8,8.6,1632,14908,0.00,2.95,7.45,0.604,4,0.000,0.044,3349,3728,740
$GC,15025,2.07,501.2,3.9,8.6,1655,15041,0.00,2.78,7.45,0.587,6,0.000,0.029,3349,2084,703
$STATE,15045,end climb,SURFACE_DEPTH_REACHED
$STATE,15045,begin surface coast
$FINISH,-0.0,1.018982
$STATE,15069,end surface coast,CONTROL_FINISHED_OK
$STATE,15069,begin surface
$SM_CCo,15154,0.00,0.000,0,0,698,502.86
$SM_GC,0.82,13.60,0.00,0.00,0.036,0.000,0.000,245,2251,698,-12.19,0.96,502.86
$IRIDIUM_FIX,1232.20,12047.98,060897,171704
$TT8_MAMPS,0.023777
$HUMID,2100
$INTERNAL_PRESSURE,9.68787
$TCM_TEMP,25.00
$XPDR_PINGS,407
$ALTIM_BOTTOM_PING,610.8,162.5
$24V_AH,23.2,73.836
$10V_AH,10.1,37.979
$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,34.300,167.925,534.600,0.000,0.000,25.437,37.759,167.856,105.000,0.000,0.000,12.912,2612.605,8838.976,655.592,2769.109,646.663,0.000,2083.068,0.000,2715.635,0.000,25.754
$DEVICE_MAMPS,166.439,60.593,1079.169,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1109.794,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53536,1663
$CAP_FILE_SIZE,170848,0
$CFSIZE,260165632,223772672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130508,013231,1236.857,12048.371,41,1.0,46,-0.8