version: 66.03
glider: 122
mission: 6
dive: 405
start: 5 14 108 13 41 6
data:
$ID,122
$MISSION,6
$DIVE,405
$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,-35180.273
$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,23
$R_STBD_OVSHOOT,62
$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
$GPS1,133425,1234.665,12048.561,37,1.6,37,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-70.7
$GPS2,134033,1234.722,12048.530,16,1.8,16,-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,187.1,8798,-19.1,-11.000
$D_GRID,712
$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,-1.67,-194.7,0.0,0.0,0,101,0.00,0.00,-74.38,0.000,2,0.000,0.000,247,2261,2426
$GC,105,-1.67,-194.7,3.5,-8.7,15,147,13.10,2.53,-21.40,0.000,4,0.165,0.048,2536,801,3543
$GC,177,-1.44,-194.7,18.0,-16.7,28,184,0.28,2.35,0.00,0.000,6,0.114,0.028,2586,2194,3544
$GC,522,-1.33,-194.7,69.0,-14.2,89,529,0.15,2.40,0.00,0.000,4,0.112,0.038,2617,800,3546
$GC,575,-1.29,-194.7,75.8,-12.7,98,581,0.00,2.53,0.00,0.000,6,0.000,0.027,2617,2306,3546
$GC,920,-1.37,-194.7,115.7,-10.9,159,926,0.00,2.60,0.00,0.000,4,0.000,0.038,2617,794,3548
$GC,994,-1.37,-194.7,123.9,-10.9,172,1000,0.00,2.65,0.00,0.000,6,0.000,0.028,2617,2372,3548
$GC,1339,-1.51,-194.7,157.7,-10.0,233,1345,0.15,2.15,0.00,0.000,4,0.044,0.046,2559,3623,3549
$GC,1432,-1.44,-194.7,168.2,-11.8,249,1439,0.15,2.10,0.00,0.000,6,0.100,0.026,2587,2330,3549
$GC,1778,-1.52,-194.7,200.0,-8.5,310,1784,0.00,2.20,0.00,0.000,4,0.000,0.044,2587,3619,3550
$GC,1858,-1.56,-194.7,207.5,-9.5,324,1864,0.00,1.95,0.00,0.000,6,0.000,0.028,2587,2418,3550
$GC,2203,-1.68,-194.7,237.6,-8.2,385,2210,0.20,2.83,0.00,0.000,4,0.044,0.042,2522,796,3549
$GC,2245,-1.56,-194.7,241.9,-10.7,392,2252,0.22,2.97,0.00,0.000,6,0.099,0.032,2565,2542,3549
$GC,2582,-1.64,-194.7,272.0,-8.9,431,2583,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2542,3548
$GC,2903,-1.70,-194.7,299.9,-8.8,461,2908,0.15,3.05,0.00,0.000,4,0.051,0.044,2514,803,3547
$GC,2967,-1.58,-194.7,306.2,-10.6,466,2972,0.22,2.70,0.00,0.000,6,0.098,0.033,2557,2387,3546
$GC,3292,-1.64,-194.7,334.5,-8.4,496,3296,0.00,2.12,0.00,0.000,4,0.000,0.051,2557,3618,3544
$GC,3361,-1.64,-194.7,341.1,-9.0,502,3366,0.00,2.33,0.00,0.000,6,0.000,0.031,2556,2236,3544
$GC,3689,-1.71,-194.7,370.5,-9.2,532,3694,0.12,2.50,0.00,0.000,4,0.058,0.048,2520,816,3541
$GC,3719,-1.66,-194.7,373.6,-10.2,534,3724,0.12,2.72,0.00,0.000,6,0.110,0.034,2541,2406,3541
$GC,4044,-1.69,-194.7,405.0,-9.2,564,4048,0.00,2.10,0.00,0.000,4,0.000,0.051,2541,3615,3539
$GC,4096,-1.63,-194.7,410.3,-9.9,568,4102,0.00,2.30,0.00,0.000,6,0.000,0.033,2541,2248,3538
$GC,4424,-1.70,-194.7,439.4,-8.5,599,4428,0.00,2.53,0.00,0.000,4,0.000,0.051,2542,823,3536
$GC,4455,-1.70,-194.7,442.5,-9.7,601,4460,0.00,2.72,0.00,0.000,6,0.000,0.035,2542,2403,3535
$GC,4783,-1.74,-194.7,470.7,-8.9,631,4786,0.00,2.12,0.00,0.000,4,0.000,0.053,2542,3613,3534
$GC,4829,-1.71,-194.7,475.3,-9.8,635,4833,0.00,2.28,0.00,0.000,6,0.000,0.034,2542,2272,3534
$GC,5166,-1.78,-194.7,506.7,-9.4,663,5171,0.12,2.58,0.00,0.000,4,0.061,0.051,2506,824,3531
$GC,5212,-1.66,-194.7,512.0,-10.9,665,5217,0.20,2.70,0.00,0.000,6,0.106,0.036,2542,2394,3530
$GC,5538,-1.71,-194.7,541.5,-9.0,681,5542,0.00,2.15,0.00,0.000,4,0.000,0.055,2542,3612,3528
$GC,5611,-1.71,-194.7,549.1,-9.8,684,5615,0.00,2.25,0.00,0.000,6,0.000,0.034,2542,2286,3527
$GC,5935,-1.78,-194.7,576.7,-8.6,700,5940,0.12,2.62,0.00,0.000,4,0.061,0.053,2509,817,3525
$GC,5981,-1.67,-194.7,581.5,-10.4,702,5986,0.17,2.75,0.00,0.000,6,0.110,0.037,2540,2404,3525
$GC,6305,-1.72,-194.7,609.2,-8.5,718,6309,0.00,2.15,0.00,0.000,4,0.000,0.057,2540,3622,3524
$GC,6356,-1.69,-194.7,614.3,-9.5,720,6360,0.00,2.28,0.00,0.000,6,0.000,0.035,2540,2287,3523
$GC,6678,-1.75,-194.7,641.3,-7.8,736,6683,0.00,2.62,0.00,0.000,4,0.000,0.055,2540,820,3522
$GC,6746,-1.72,-194.7,647.6,-9.6,739,6750,0.00,2.72,0.00,0.000,6,0.000,0.038,2540,2391,3521
$GC,7067,-1.78,-194.7,674.0,-8.5,755,7072,0.12,2.17,0.00,0.000,4,0.060,0.057,2506,3616,3519
$GC,7163,-1.67,-194.7,684.2,-11.1,759,7168,0.17,2.28,0.00,0.000,6,0.113,0.036,2537,2284,3519
$STATE,7455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7455,begin apogee
$GC,7462,-0.35,0.0,713.1,9.6,773,7628,1.42,0.00,161.95,1.133,6,0.099,0.000,2823,2342,2748
$STATE,7629,end apogee,CONTROL_FINISHED_OK
$STATE,7629,begin climb
$GC,7632,1.67,194.7,722.6,0.0,781,7810,2.00,2.70,164.80,1.095,4,0.050,0.059,3277,938,1954
$GC,7844,1.39,194.7,712.3,12.5,791,7849,0.38,2.45,0.00,0.000,6,0.117,0.038,3209,2323,1953
$GC,8166,1.35,247.3,682.8,8.9,807,8216,0.00,2.60,44.55,1.088,4,0.000,0.058,3209,941,1739
$GC,8273,1.25,260.0,671.7,10.5,812,8290,0.17,2.38,10.88,1.099,6,0.115,0.038,3178,2298,1688
$GC,8599,1.34,314.0,642.0,8.8,828,8654,0.00,2.70,46.72,1.071,4,0.000,0.058,3178,3730,1467
$GC,8706,1.37,333.0,631.9,10.2,833,8729,0.12,2.42,16.25,1.076,6,0.071,0.039,3206,2342,1390
$GC,9038,1.37,333.0,596.6,11.2,849,9042,0.00,2.50,0.00,0.000,4,0.000,0.056,3206,3729,1385
$GC,9134,1.32,333.0,585.9,11.8,853,9138,0.00,2.58,0.00,0.000,6,0.000,0.041,3206,2257,1385
$GC,9450,1.37,359.7,553.4,9.9,868,9475,0.00,0.00,23.00,1.055,6,0.000,0.000,3206,2256,1281
$GC,9779,1.39,374.1,519.8,10.4,884,9797,0.00,0.00,12.62,1.055,6,0.000,0.000,3206,2256,1222
$GC,10112,1.40,379.8,484.9,10.8,906,10123,0.00,2.45,4.80,1.054,4,0.000,0.060,3206,926,1199
$GC,10196,1.40,379.8,475.3,11.9,913,10202,0.00,2.42,0.00,0.000,6,0.000,0.038,3206,2313,1197
$GC,10525,1.51,402.0,441.0,10.1,944,10551,0.12,2.60,20.20,0.996,4,0.068,0.055,3237,3730,1108
$GC,10557,1.51,402.0,437.1,12.9,946,10563,0.00,2.83,0.00,0.000,6,0.000,0.038,3237,2137,1107
$GC,10884,1.47,402.0,399.7,11.5,977,10888,0.00,2.85,0.00,0.000,4,0.000,0.052,3237,3724,1104
$GC,10974,1.43,406.0,389.1,10.8,984,10983,0.00,2.58,2.97,0.990,6,0.000,0.038,3237,2241,1093
$GC,11310,1.44,411.4,351.8,10.8,1016,11321,0.00,2.40,5.28,0.979,4,0.000,0.057,3237,928,1069
$GC,11390,1.40,411.4,342.6,11.5,1023,11395,0.15,2.28,0.00,0.000,6,0.110,0.036,3211,2233,1068
$GC,11717,1.62,450.4,311.9,9.4,1053,11759,0.17,2.72,34.78,0.883,4,0.058,0.052,3260,3727,910
$GC,11818,1.62,450.4,300.8,11.2,1062,11822,0.00,2.35,0.00,0.000,6,0.000,0.036,3259,2371,908
$GC,12143,1.62,450.4,262.4,11.4,1092,12147,0.00,2.58,0.00,0.000,4,0.000,0.054,3260,935,906
$GC,12164,1.62,450.4,259.9,11.8,1093,12170,0.00,2.20,0.00,0.000,6,0.000,0.035,3260,2206,904
$GC,12503,1.68,461.1,223.4,10.6,1146,12519,0.00,2.78,8.40,0.858,4,0.000,0.051,3260,3722,867
$GC,12571,1.70,470.2,215.9,10.6,1158,12588,0.00,3.05,8.30,0.839,6,0.000,0.037,3260,1978,830
$GC,12929,1.82,491.8,178.9,10.1,1221,12956,0.15,1.95,18.55,0.779,4,0.058,0.054,3304,932,742
$GC,12991,1.75,491.8,171.5,12.0,1232,12997,0.00,2.25,0.00,0.000,6,0.000,0.034,3304,2231,741
$GC,13336,1.90,544.9,133.1,8.9,1293,13388,0.00,2.38,44.88,0.709,4,0.000,0.051,3304,935,526
$GC,13465,2.03,580.1,120.3,9.6,1316,13492,0.20,1.92,22.48,0.700,6,0.048,0.032,3359,2062,417
$GC,13833,2.09,580.2,79.5,11.0,1381,13839,0.00,2.00,0.00,0.000,4,0.000,0.048,3358,929,413
$GC,13897,2.09,580.2,72.0,11.5,1392,13903,0.00,1.80,0.00,0.000,6,0.000,0.031,3359,1999,413
$GC,14241,2.11,593.4,34.7,10.5,1453,14246,0.00,1.88,0.00,0.000,4,0.000,0.047,3359,934,413
$GC,14305,2.11,593.4,27.5,11.2,1464,14310,0.00,1.88,0.00,0.000,6,0.000,0.028,3359,2058,413
$STATE,14578,end climb,SURFACE_DEPTH_REACHED
$STATE,14578,begin surface coast
$FINISH,-0.2,1.012073
$STATE,14603,end surface coast,CONTROL_FINISHED_OK
$STATE,14603,begin surface
$SM_CCo,14688,0.00,0.000,0,0,411,573.27
$SM_GC,0.82,13.60,0.00,0.00,0.036,0.000,0.000,245,2274,411,-12.19,1.70,573.27
$IRIDIUM_FIX,1232.20,12047.98,080897,090921
$TT8_MAMPS,0.02301
$HUMID,2099
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,24.70
$XPDR_PINGS,307
$ALTIM_BOTTOM_PING,591.7,168.9
$24V_AH,23.1,75.547
$10V_AH,10.1,38.751
$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,34.300,160.800,651.400,0.000,0.000,27.975,38.369,158.904,79.500,0.000,0.000,16.459,2392.076,8743.665,748.451,2559.208,614.730,0.000,2091.975,0.000,2505.821,0.000,22.148
$DEVICE_MAMPS,164.905,86.671,1132.859,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1013.213,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50376,1517
$CAP_FILE_SIZE,161307,0
$CFSIZE,260165632,223031296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140508,174707,1234.872,12048.221,37,0.9,37,-0.8