version: 66.03
glider: 122
mission: 6
dive: 407
start: 5 14 108 22 6 36
data:
$ID,122
$MISSION,6
$DIVE,407
$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,-35208.902
$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,24
$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
$GPS1,220008,1234.710,12048.103,47,0.9,47,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-69.5
$GPS2,220603,1234.760,12048.122,14,1.1,14,-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,182.2,8817,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.67,-194.7,0.0,0.0,0,102,0.00,0.00,-74.40,0.000,2,0.000,0.000,245,2206,2416
$GC,106,-1.67,-194.7,3.2,-7.8,15,147,13.20,0.00,-22.17,0.000,6,0.167,0.000,2535,2206,3543
$GC,485,-1.45,-194.7,69.6,-17.3,83,492,0.22,2.45,0.00,0.000,4,0.123,0.041,2579,3637,3544
$GC,573,-1.31,-194.7,82.6,-14.7,98,579,0.20,2.38,0.00,0.000,6,0.104,0.025,2616,2183,3545
$GC,917,-1.31,-194.7,122.2,-11.3,159,923,0.00,2.33,0.00,0.000,4,0.000,0.039,2616,824,3547
$GC,936,-1.36,-194.7,124.4,-11.7,162,942,0.00,2.62,0.00,0.000,6,0.000,0.028,2617,2392,3547
$GC,1281,-1.49,-194.7,158.7,-10.3,223,1287,0.15,2.70,0.00,0.000,4,0.048,0.038,2562,820,3548
$GC,1356,-1.43,-194.7,167.2,-11.4,236,1363,0.15,2.47,0.00,0.000,6,0.100,0.028,2590,2302,3549
$GC,1702,-1.55,-194.7,199.7,-8.9,297,1709,0.12,2.28,0.00,0.000,4,0.052,0.044,2546,3628,3549
$GC,1716,-1.63,-194.7,201.0,-8.8,299,1722,0.00,2.35,0.00,0.000,6,0.000,0.027,2546,2196,3549
$GC,2061,-1.63,-194.7,235.2,-9.8,360,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2196,3549
$GC,2399,-1.63,-194.7,268.7,-9.9,404,2403,0.00,2.47,0.00,0.000,4,0.000,0.044,2546,3631,3548
$GC,2444,-1.56,-194.7,273.4,-10.4,407,2450,0.00,2.12,0.00,0.000,6,0.000,0.029,2546,2340,3548
$GC,2772,-1.61,-194.7,303.7,-9.6,438,2776,0.00,2.22,0.00,0.000,4,0.000,0.048,2546,3632,3547
$GC,2807,-1.54,-194.7,307.4,-9.5,441,2812,0.12,2.35,0.00,0.000,6,0.107,0.031,2568,2229,3547
$GC,3133,-1.61,-194.7,337.3,-8.8,471,3137,0.00,2.45,0.00,0.000,4,0.000,0.048,2568,821,3544
$GC,3156,-1.65,-194.7,339.4,-9.0,473,3161,0.12,2.70,0.00,0.000,6,0.055,0.033,2527,2401,3544
$GC,3482,-1.65,-194.7,370.0,-9.0,503,3485,0.00,2.12,0.00,0.000,4,0.000,0.051,2527,3627,3542
$GC,3539,-1.55,-194.7,375.8,-10.3,508,3544,0.20,2.30,0.00,0.000,6,0.108,0.031,2564,2259,3541
$GC,3865,-1.65,-194.7,404.4,-8.9,538,3870,0.00,2.55,0.00,0.000,4,0.000,0.050,2564,815,3539
$GC,3906,-1.65,-194.7,408.4,-9.7,541,3910,0.00,2.72,0.00,0.000,6,0.000,0.035,2564,2398,3538
$GC,4234,-1.76,-194.7,437.5,-8.8,571,4239,0.20,2.15,0.00,0.000,4,0.044,0.050,2502,3627,3536
$GC,4256,-1.76,-194.7,440.2,-10.3,572,4262,0.00,1.98,0.00,0.000,6,0.000,0.031,2501,2436,3536
$GC,4584,-1.64,-194.7,474.9,-10.8,603,4589,0.20,2.88,0.00,0.000,4,0.112,0.049,2542,822,3534
$GC,4670,-1.60,-194.7,483.7,-9.8,610,4675,0.00,2.75,0.00,0.000,6,0.000,0.035,2541,2410,3533
$GC,5005,-1.65,-194.7,513.5,-8.9,634,5008,0.00,2.15,0.00,0.000,4,0.000,0.054,2542,3631,3531
$GC,5045,-1.60,-194.7,517.7,-9.7,635,5051,0.00,2.30,0.00,0.000,6,0.000,0.033,2542,2269,3530
$GC,5361,-1.66,-194.7,547.5,-9.8,651,5366,0.00,2.58,0.00,0.000,4,0.000,0.052,2541,823,3528
$GC,5436,-1.62,-194.7,555.3,-10.6,654,5440,0.00,2.72,0.00,0.000,6,0.000,0.037,2542,2395,3527
$GC,5754,-1.66,-194.7,586.2,-9.5,669,5758,0.00,2.17,0.00,0.000,4,0.000,0.055,2542,3626,3525
$GC,5805,-1.62,-194.7,591.7,-10.4,671,5809,0.00,2.33,0.00,0.000,6,0.000,0.035,2542,2257,3524
$GC,6122,-1.67,-194.7,621.3,-9.0,686,6126,0.00,2.58,0.00,0.000,4,0.000,0.054,2542,816,3523
$GC,6200,-1.63,-194.7,628.8,-9.4,689,6206,0.00,2.70,0.00,0.000,6,0.000,0.038,2542,2371,3522
$GC,6517,-1.69,-194.7,655.6,-8.5,705,6521,0.00,2.22,0.00,0.000,4,0.000,0.057,2542,3627,3520
$GC,6590,-1.69,-194.7,662.7,-8.8,708,6594,0.00,2.38,0.00,0.000,6,0.000,0.035,2542,2241,3521
$GC,6907,-1.73,-194.7,688.6,-7.7,723,6912,0.00,2.55,0.00,0.000,4,0.000,0.056,2542,815,3519
$GC,6952,-1.70,-194.7,693.3,-9.7,725,6957,0.00,2.72,0.00,0.000,6,0.000,0.038,2542,2385,3518
$GC,7274,-1.70,-194.7,722.2,-9.9,741,7278,0.00,2.83,0.00,0.000,4,0.000,0.055,2542,810,3517
$STATE,7298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7298,begin apogee
$GC,7308,-0.35,0.0,725.0,10.2,742,7474,1.40,0.00,161.95,1.134,6,0.107,0.000,2820,2343,2748
$STATE,7475,end apogee,CONTROL_FINISHED_OK
$STATE,7475,begin climb
$GC,7478,1.67,194.7,735.3,0.0,750,7653,2.03,2.60,165.85,1.102,4,0.050,0.058,3273,3726,1954
$GC,7716,1.39,198.6,723.9,10.8,762,7726,0.38,2.42,3.60,1.109,6,0.135,0.039,3208,2342,1938
$GC,8045,1.39,270.4,697.2,8.1,778,8113,0.00,2.70,61.35,1.090,4,0.000,0.061,3208,932,1644
$GC,8176,1.32,285.5,684.5,10.4,784,8197,0.00,2.45,13.15,1.097,6,0.000,0.038,3208,2326,1583
$GC,8507,1.27,289.3,647.8,10.8,800,8513,0.15,0.00,2.95,1.095,6,0.126,0.000,3183,2325,1568
$GC,8817,1.33,325.1,618.4,9.6,815,8857,0.00,2.65,31.42,1.075,4,0.000,0.058,3183,3732,1421
$GC,8930,1.36,345.4,606.5,10.2,820,8955,0.00,2.47,18.12,1.071,6,0.000,0.038,3183,2314,1338
$GC,9278,1.41,372.8,572.1,9.9,837,9308,0.12,2.62,23.75,1.055,4,0.070,0.055,3211,3730,1227
$GC,9381,1.37,372.8,560.1,11.4,841,9387,0.00,2.65,0.00,0.000,6,0.000,0.041,3212,2224,1225
$GC,9697,1.37,372.8,523.1,12.7,857,9698,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2224,1223
$GC,10010,1.37,372.8,487.3,11.2,877,10014,0.00,2.70,0.00,0.000,4,0.000,0.054,3211,3730,1222
$GC,10071,1.37,372.8,480.2,11.6,882,10076,0.00,2.53,0.00,0.000,6,0.000,0.038,3212,2271,1221
$GC,10401,1.41,397.7,446.5,10.0,912,10426,0.00,0.00,21.35,0.996,6,0.000,0.000,3212,2271,1126
$GC,10746,1.55,416.7,409.0,10.2,945,10769,0.12,2.72,16.75,0.976,4,0.066,0.053,3244,3724,1048
$GC,10820,1.50,416.7,400.3,12.2,951,10827,0.00,2.47,0.00,0.000,6,0.000,0.038,3244,2308,1046
$GC,11148,1.47,416.7,362.4,11.5,982,11152,0.00,2.53,0.00,0.000,4,0.000,0.052,3244,3724,1046
$GC,11204,1.41,416.7,355.6,12.6,986,11211,0.17,2.65,0.00,0.000,6,0.127,0.038,3215,2198,1045
$GC,11530,1.58,450.0,323.6,9.7,1017,11565,0.15,2.80,29.27,0.894,4,0.061,0.051,3257,3732,913
$GC,11647,1.55,450.0,310.2,12.2,1027,11653,0.00,3.03,0.00,0.000,6,0.000,0.038,3257,2013,911
$GC,11975,1.50,450.0,270.2,12.1,1058,11980,0.15,0.00,0.00,0.000,6,0.120,0.000,3232,2013,909
$GC,12308,1.68,483.7,234.8,9.6,1102,12345,0.15,2.03,29.02,0.817,4,0.058,0.055,3275,932,775
$GC,12387,1.63,483.7,225.8,11.8,1116,12393,0.00,2.20,0.00,0.000,6,0.000,0.034,3275,2199,773
$GC,12731,1.68,483.7,187.3,11.1,1177,12737,0.00,2.28,0.00,0.000,4,0.000,0.052,3274,931,771
$GC,12777,1.68,483.7,181.7,11.4,1185,12783,0.00,1.83,0.00,0.000,6,0.000,0.032,3275,2003,770
$GC,13122,1.87,517.8,144.7,9.6,1246,13159,0.15,2.00,28.27,0.733,4,0.050,0.052,3322,934,637
$GC,13222,1.87,517.8,133.8,11.9,1264,13228,0.00,2.17,0.00,0.000,6,0.000,0.034,3322,2189,635
$GC,13568,2.03,557.6,97.8,9.4,1325,13610,0.10,2.80,33.33,0.674,4,0.063,0.049,3352,3720,474
$GC,13674,2.06,577.8,86.3,10.2,1344,13690,0.00,2.95,11.60,0.680,6,0.000,0.033,3352,2016,417
$GC,14030,2.22,600.1,49.4,10.1,1407,14036,0.15,3.00,0.00,0.000,4,0.051,0.042,3399,3729,414
$GC,14088,2.16,600.1,42.5,12.9,1417,14096,0.10,2.58,0.00,0.000,6,0.115,0.031,3379,2203,414
$GC,14435,2.26,659.1,7.5,8.6,1478,14441,0.00,2.65,0.00,0.000,4,0.000,0.042,3379,3733,414
$STATE,14484,end climb,SURFACE_DEPTH_REACHED
$STATE,14484,begin surface coast
$FINISH,0.3,1.020794
$STATE,14496,end surface coast,CONTROL_FINISHED_OK
$STATE,14496,begin surface
$SM_CCo,14584,0.00,0.000,0,0,413,572.78
$SM_GC,0.79,13.70,0.00,0.00,0.036,0.000,0.000,248,2195,413,-12.18,-0.59,572.78
$IRIDIUM_FIX,1227.78,12049.87,080897,171702
$TT8_MAMPS,0.023777
$HUMID,2135
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,24.80
$XPDR_PINGS,306
$ALTIM_BOTTOM_PING,580.3,175.7
$24V_AH,23.0,75.969
$10V_AH,10.1,38.908
$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,33.925,159.400,651.750,0.000,0.000,24.976,38.094,153.612,79.000,0.000,0.000,14.444,2344.060,8717.438,771.814,2496.347,611.866,0.000,2083.581,0.000,2451.636,0.000,20.356
$DEVICE_MAMPS,167.206,60.593,1134.393,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,993.759,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47235,1489
$CAP_FILE_SIZE,157050,0
$CFSIZE,260165632,222883840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150508,021056,1234.812,12047.953,40,1.5,40,-0.8