version: 66.03
glider: 122
mission: 6
dive: 404
start: 5 14 108 9 27 54
data:
$ID,122
$MISSION,6
$DIVE,404
$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,300
$T_MISSION,360
$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,200
$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,-35163.188
$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,27
$R_STBD_OVSHOOT,66
$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
$GPS1,091426,1234.861,12048.718,37,1.6,37,-0.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-72.0
$GPS2,092721,1234.924,12048.637,13,1.7,13,-0.8
$SPEED_LIMITS,0.191,0.252
$TGT_NAME,RECOV_12
$TGT_LATLONG,1230.000,12048.000
$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,188.0,9192,-19.1,-11.000
$D_GRID,725
$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,23,-1.67,-194.7,0.0,0.0,0,95,0.00,0.00,-69.95,0.000,2,0.000,0.000,248,2265,2302
$GC,99,-1.67,-194.7,3.1,-8.9,14,146,13.15,2.58,-25.02,0.000,4,0.166,0.050,2537,807,3543
$GC,165,-1.39,-194.7,15.8,-19.7,26,171,0.32,2.33,0.00,0.000,6,0.114,0.027,2597,2197,3544
$GC,510,-1.28,-194.7,65.1,-12.9,87,516,0.15,2.40,0.00,0.000,4,0.114,0.038,2628,801,3545
$GC,574,-1.24,-194.7,73.4,-13.3,98,579,0.00,2.53,0.00,0.000,6,0.000,0.027,2628,2309,3545
$GC,919,-1.38,-194.7,112.7,-11.7,159,925,0.00,2.60,0.00,0.000,4,0.000,0.038,2628,797,3546
$GC,988,-1.38,-194.7,120.7,-11.0,171,995,0.12,2.70,0.00,0.000,6,0.054,0.028,2585,2408,3546
$GC,1334,-1.46,-194.7,155.9,-9.9,232,1340,0.00,2.75,0.00,0.000,4,0.000,0.038,2585,804,3547
$GC,1437,-1.46,-194.7,166.0,-9.8,250,1443,0.00,2.58,0.00,0.000,6,0.000,0.028,2585,2342,3547
$GC,1782,-1.58,-194.7,199.2,-9.6,311,1789,0.12,2.67,0.00,0.000,4,0.050,0.041,2539,798,3547
$GC,1881,-1.48,-194.7,209.5,-10.0,328,1887,0.20,2.72,0.00,0.000,6,0.096,0.031,2577,2408,3547
$GC,2227,-1.59,-194.7,240.8,-9.2,389,2232,0.00,2.80,0.00,0.000,4,0.000,0.043,2577,799,3546
$GC,2279,-1.59,-194.7,246.0,-9.8,398,2285,0.00,2.53,0.00,0.000,6,0.000,0.031,2578,2291,3546
$GC,2609,-1.71,-194.7,277.7,-9.2,432,2614,0.17,2.60,0.00,0.000,4,0.047,0.044,2519,802,3545
$GC,2695,-1.59,-194.7,287.0,-10.7,439,2700,0.20,2.62,0.00,0.000,6,0.099,0.033,2557,2343,3544
$GC,3020,-1.66,-194.7,316.2,-8.5,469,3025,0.00,2.70,0.00,0.000,4,0.000,0.045,2557,800,3542
$GC,3117,-1.66,-194.7,325.4,-9.8,477,3121,0.00,2.45,0.00,0.000,6,0.000,0.032,2557,2242,3542
$GC,3445,-1.73,-194.7,356.4,-9.5,507,3451,0.15,0.00,0.00,0.000,6,0.052,0.000,2514,2242,3539
$GC,3773,-1.70,-194.7,390.2,-9.9,538,3777,0.00,2.40,0.00,0.000,4,0.000,0.050,2514,3623,3536
$GC,3809,-1.59,-194.7,394.2,-10.9,541,3813,0.22,2.08,0.00,0.000,6,0.110,0.031,2554,2377,3536
$GC,4134,-1.66,-194.7,423.7,-8.6,571,4138,0.00,2.17,0.00,0.000,4,0.000,0.051,2554,3615,3534
$GC,4202,-1.66,-194.7,430.0,-8.7,577,4206,0.00,2.20,0.00,0.000,6,0.000,0.032,2554,2310,3533
$GC,4530,-1.74,-194.7,458.1,-8.9,607,4535,0.15,2.67,0.00,0.000,4,0.051,0.049,2506,803,3531
$GC,4576,-1.62,-194.7,462.9,-9.7,610,4583,0.25,2.88,0.00,0.000,6,0.110,0.035,2551,2465,3529
$GC,4902,-1.69,-194.7,490.5,-8.5,641,4905,0.00,2.00,0.00,0.000,4,0.000,0.054,2551,3613,3527
$GC,4937,-1.69,-194.7,493.8,-9.5,644,4941,0.00,2.20,0.00,0.000,6,0.000,0.033,2551,2312,3526
$GC,5270,-1.77,-194.7,521.3,-8.2,663,5275,0.15,2.67,0.00,0.000,4,0.055,0.051,2506,811,3525
$GC,5339,-1.65,-194.7,528.1,-9.4,666,5344,0.20,2.83,0.00,0.000,6,0.109,0.036,2542,2438,3524
$GC,5663,-1.70,-194.7,555.1,-8.3,682,5666,0.00,2.08,0.00,0.000,4,0.000,0.056,2542,3615,3522
$GC,5708,-1.70,-194.7,559.5,-8.8,684,5712,0.00,2.25,0.00,0.000,6,0.000,0.035,2542,2292,3522
$GC,6038,-1.75,-194.7,588.0,-8.8,700,6043,0.00,2.62,0.00,0.000,4,0.000,0.054,2542,812,3519
$GC,6101,-1.71,-194.7,594.1,-9.5,703,6106,0.00,2.83,0.00,0.000,6,0.000,0.037,2542,2433,3519
$GC,6431,-1.76,-194.7,623.2,-8.7,719,6435,0.00,2.10,0.00,0.000,4,0.000,0.057,2543,3622,3517
$GC,6471,-1.72,-194.7,627.5,-9.9,720,6477,0.00,2.30,0.00,0.000,6,0.000,0.035,2542,2269,3516
$GC,6788,-1.79,-194.7,655.7,-8.7,736,6793,0.12,2.62,0.00,0.000,4,0.061,0.054,2508,806,3515
$GC,6846,-1.69,-194.7,661.5,-10.5,738,6852,0.15,2.78,0.00,0.000,6,0.115,0.038,2534,2402,3514
$GC,7166,-1.74,-194.7,689.9,-8.5,754,7173,0.00,2.83,0.00,0.000,4,0.000,0.054,2534,814,3512
$GC,7224,-1.74,-194.7,695.8,-9.2,756,7228,0.00,2.65,0.00,0.000,6,0.000,0.038,2534,2339,3512
$GC,7541,-1.80,-194.7,722.7,-8.5,771,7545,0.00,2.75,0.00,0.000,4,0.000,0.055,2534,810,3510
$STATE,7565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7565,begin apogee
$GC,7575,-0.35,0.0,725.4,9.4,772,7740,1.45,0.00,160.48,1.144,6,0.110,0.000,2821,2330,2748
$STATE,7740,end apogee,CONTROL_FINISHED_OK
$STATE,7740,begin climb
$GC,7743,1.67,194.7,730.6,0.0,780,7922,2.00,2.65,165.12,1.101,4,0.042,0.059,3272,3732,1954
$GC,8007,1.39,194.7,711.7,12.3,792,8012,0.38,2.45,0.00,0.000,6,0.137,0.040,3208,2334,1952
$GC,8324,1.36,244.3,681.7,9.0,807,8374,0.00,2.70,42.00,1.094,4,0.000,0.061,3207,924,1750
$GC,8415,1.27,253.0,672.3,10.7,811,8432,0.15,2.45,7.72,1.105,6,0.123,0.038,3182,2311,1716
$GC,8744,1.30,293.2,640.2,9.4,827,8786,0.00,2.62,34.62,1.080,4,0.000,0.060,3182,923,1552
$GC,8837,1.30,293.2,630.3,11.2,831,8841,0.00,2.38,0.00,0.000,6,0.000,0.038,3182,2271,1550
$GC,9158,1.36,328.5,598.9,9.6,847,9193,0.00,2.53,30.15,1.068,4,0.000,0.059,3182,927,1409
$GC,9233,1.37,335.4,591.0,10.7,849,9244,0.00,2.33,6.20,1.074,6,0.000,0.038,3182,2248,1380
$GC,9566,1.44,373.2,558.4,9.5,866,9608,0.17,2.75,33.40,1.044,4,0.062,0.058,3226,3715,1225
$GC,9633,1.39,373.2,551.1,12.4,869,9637,0.00,2.58,0.00,0.000,6,0.000,0.039,3226,2252,1224
$GC,9960,1.36,373.2,513.6,11.5,885,9964,0.15,2.40,0.00,0.000,4,0.120,0.058,3197,931,1220
$GC,10038,1.36,373.2,504.8,11.2,888,10044,0.00,2.22,0.00,0.000,6,0.000,0.038,3197,2209,1219
$GC,10365,1.42,389.9,470.1,10.3,917,10386,0.00,2.42,13.70,1.025,4,0.000,0.058,3197,928,1158
$GC,10414,1.42,389.9,464.1,11.8,921,10420,0.00,2.15,0.00,0.000,6,0.000,0.036,3197,2162,1157
$GC,10743,1.59,418.5,431.2,9.8,952,10774,0.22,2.30,26.05,0.978,4,0.054,0.056,3254,926,1040
$GC,10814,1.50,418.5,422.1,12.9,958,10821,0.12,1.85,0.00,0.000,6,0.119,0.036,3233,1995,1038
$GC,11139,1.47,418.5,385.0,11.4,989,11141,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1996,1036
$GC,11458,1.47,418.5,347.5,11.9,1019,11462,0.00,3.08,0.00,0.000,4,0.000,0.051,3233,3726,1035
$GC,11509,1.47,418.5,341.2,12.5,1023,11514,0.00,2.80,0.00,0.000,6,0.000,0.038,3233,2117,1034
$GC,11837,1.47,418.5,304.1,11.2,1053,11841,0.00,2.88,0.00,0.000,4,0.000,0.051,3233,3734,1034
$GC,11854,1.47,418.5,301.7,11.2,1054,11859,0.00,2.60,0.00,0.000,6,0.000,0.036,3233,2232,1033
$GC,12182,1.58,460.0,267.2,9.3,1084,12224,0.00,2.40,35.72,0.848,4,0.000,0.054,3232,925,871
$GC,12253,1.68,479.5,260.1,10.2,1090,12280,0.17,2.28,17.10,0.842,6,0.055,0.035,3277,2229,793
$GC,12612,1.65,479.5,218.7,12.0,1146,12618,0.00,2.35,0.00,0.000,4,0.000,0.054,3277,925,789
$GC,12653,1.60,479.5,213.8,11.9,1153,12659,0.12,2.12,0.00,0.000,6,0.111,0.035,3255,2155,787
$GC,12999,1.76,489.9,176.2,10.6,1214,13015,0.15,2.85,8.32,0.811,4,0.061,0.050,3298,3726,749
$GC,13045,1.73,489.9,170.6,12.0,1222,13051,0.00,2.53,0.00,0.000,6,0.000,0.035,3298,2266,749
$GC,13390,1.81,513.2,131.7,10.1,1283,13416,0.00,2.45,19.40,0.736,4,0.000,0.052,3298,926,656
$GC,13447,1.93,549.7,126.6,9.5,1293,13484,0.12,2.03,31.27,0.705,6,0.061,0.032,3331,2104,507
$GC,13826,2.11,581.9,86.8,9.7,1360,13852,0.15,2.17,17.83,0.679,4,0.055,0.049,3376,930,417
$GC,13870,2.11,581.9,81.5,12.3,1368,13876,0.00,2.12,0.00,0.000,6,0.000,0.031,3376,2170,416
$GC,14215,2.07,581.9,41.2,12.0,1429,14221,0.10,2.20,0.00,0.000,4,0.112,0.047,3359,927,414
$GC,14324,2.14,625.7,29.3,9.2,1448,14329,0.00,2.03,0.00,0.000,6,0.000,0.029,3359,2132,415
$STATE,14616,end climb,SURFACE_DEPTH_REACHED
$STATE,14616,begin surface coast
$FINISH,0.1,1.020645
$STATE,14632,end surface coast,CONTROL_FINISHED_OK
$STATE,14632,begin surface
$SM_CCo,14718,0.00,0.000,0,0,413,572.53
$SM_GC,0.75,13.65,0.00,0.00,0.038,0.000,0.000,247,2261,413,-12.18,1.27,572.53
$IRIDIUM_FIX,1229.99,12047.98,080897,090934
$TT8_MAMPS,0.02301
$HUMID,2105
$INTERNAL_PRESSURE,9.62928
$TCM_TEMP,24.70
$XPDR_PINGS,304
$ALTIM_BOTTOM_PING,701.6,37.4
$24V_AH,23.1,75.337
$10V_AH,10.1,38.671
$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,34.975,173.950,649.100,0.000,0.000,80.931,119.654,306.272,81.750,0.000,0.000,13.225,2382.874,8872.396,758.486,2566.441,914.654,0.000,2113.810,0.000,2504.348,0.000,44.647
$DEVICE_MAMPS,165.672,60.593,1143.597,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1003.733,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47270,1503
$CAP_FILE_SIZE,168729,0
$CFSIZE,260165632,223105024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140508,133425,1234.665,12048.561,37,1.6,37,-0.8