version: 66.03
glider: 122
mission: 6
dive: 409
start: 5 15 108 6 31 30
data:
$ID,122
$MISSION,6
$DIVE,409
$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,-35253.574
$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,24
$R_STBD_OVSHOOT,61
$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
$GPS1,062501,1234.984,12047.702,39,1.4,44,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-69.3
$GPS2,063057,1235.065,12047.690,12,1.4,12,-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,177.4,9397,-19.1,-11.000
$D_GRID,740
$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,22,begin dive
$GC,25,-1.67,-194.7,0.0,0.0,0,102,0.00,0.00,-74.47,0.000,2,0.000,0.000,248,2251,2422
$GC,105,-1.67,-194.7,3.4,-8.3,15,143,13.05,0.00,-21.77,0.000,6,0.163,0.000,2535,2252,3543
$GC,481,-1.45,-194.7,70.9,-15.0,82,487,0.22,2.50,0.00,0.000,4,0.126,0.037,2579,801,3545
$GC,551,-1.33,-194.7,80.5,-13.0,94,558,0.17,2.33,0.00,0.000,6,0.115,0.027,2611,2197,3546
$GC,897,-1.37,-194.7,122.0,-10.0,155,903,0.00,2.42,0.00,0.000,4,0.000,0.045,2611,3610,3547
$GC,960,-1.37,-194.7,129.1,-11.4,166,966,0.00,2.10,0.00,0.000,6,0.000,0.025,2611,2315,3548
$GC,1305,-1.50,-194.7,163.9,-10.2,227,1311,0.15,2.62,0.00,0.000,4,0.047,0.040,2557,793,3549
$GC,1324,-1.56,-194.7,166.0,-10.2,230,1330,0.00,2.85,0.00,0.000,6,0.000,0.030,2558,2481,3549
$GC,1670,-1.60,-194.7,200.2,-9.9,291,1676,0.00,2.90,0.00,0.000,4,0.000,0.041,2557,804,3550
$GC,1705,-1.60,-194.7,204.3,-11.6,297,1711,0.00,2.72,0.00,0.000,6,0.000,0.031,2558,2415,3550
$GC,2050,-1.67,-194.7,239.8,-10.2,358,2056,0.00,2.80,0.00,0.000,4,0.000,0.043,2557,804,3550
$GC,2137,-1.62,-194.7,248.9,-10.8,373,2143,0.00,2.85,0.00,0.000,6,0.000,0.032,2558,2474,3550
$GC,2474,-1.69,-194.7,281.1,-9.5,405,2478,0.00,2.92,0.00,0.000,4,0.000,0.044,2557,802,3548
$GC,2530,-1.63,-194.7,287.3,-10.0,409,2536,0.00,2.78,0.00,0.000,6,0.000,0.033,2558,2429,3548
$GC,2858,-1.69,-194.7,316.4,-8.4,440,2862,0.00,2.85,0.00,0.000,4,0.000,0.046,2557,805,3546
$GC,2909,-1.66,-194.7,321.2,-9.2,444,2914,0.00,2.97,0.00,0.000,6,0.000,0.034,2557,2539,3546
$GC,3238,-1.74,-194.7,349.2,-8.7,474,3243,0.15,0.00,0.00,0.000,6,0.051,0.000,2506,2539,3544
$GC,3568,-1.69,-194.7,381.1,-10.0,505,3572,0.15,1.88,0.00,0.000,4,0.104,0.051,2537,3615,3541
$GC,3607,-1.61,-194.7,385.6,-10.0,508,3613,0.00,1.90,0.00,0.000,6,0.000,0.031,2537,2460,3541
$GC,3935,-1.67,-194.7,414.8,-8.6,539,3939,0.00,2.03,0.00,0.000,4,0.000,0.051,2537,3619,3539
$GC,3975,-1.60,-194.7,418.9,-9.6,542,3981,0.00,1.88,0.00,0.000,6,0.000,0.032,2537,2482,3538
$GC,4303,-1.65,-194.7,447.7,-8.8,573,4306,0.00,1.98,0.00,0.000,4,0.000,0.052,2537,3609,3536
$GC,4377,-1.60,-194.7,455.1,-9.5,579,4383,0.00,1.77,0.00,0.000,6,0.000,0.032,2537,2534,3535
$GC,4705,-1.63,-194.7,486.2,-9.9,610,4708,0.00,1.90,0.00,0.000,4,0.000,0.053,2537,3616,3533
$GC,4763,-1.57,-194.7,492.4,-10.6,615,4767,0.12,1.95,0.00,0.000,6,0.115,0.034,2559,2445,3533
$GC,5099,-1.65,-194.7,522.5,-8.7,635,5104,0.00,2.92,0.00,0.000,4,0.000,0.051,2559,804,3530
$GC,5184,-1.65,-194.7,530.4,-9.3,639,5189,0.00,3.05,0.00,0.000,6,0.000,0.037,2559,2555,3529
$GC,5514,-1.75,-194.7,557.2,-7.9,655,5518,0.17,1.85,0.00,0.000,4,0.050,0.054,2507,3608,3527
$GC,5599,-1.62,-194.7,565.5,-9.9,658,5605,0.22,2.00,0.00,0.000,6,0.113,0.033,2547,2417,3527
$GC,5918,-1.71,-194.7,591.2,-8.2,674,5923,0.00,2.88,0.00,0.000,4,0.000,0.052,2547,807,3524
$GC,5997,-1.71,-194.7,598.7,-9.4,677,6003,0.00,2.97,0.00,0.000,6,0.000,0.038,2548,2515,3524
$GC,6315,-1.78,-194.7,626.0,-8.8,693,6319,0.15,1.92,0.00,0.000,4,0.053,0.057,2501,3606,3523
$GC,6417,-1.66,-194.7,637.1,-11.5,697,6421,0.22,2.03,0.00,0.000,6,0.114,0.035,2541,2407,3522
$GC,6733,-1.71,-194.7,665.1,-8.6,712,6738,0.00,2.88,0.00,0.000,4,0.000,0.054,2541,801,3520
$GC,6812,-1.68,-194.7,672.7,-9.8,715,6818,0.00,3.03,0.00,0.000,6,0.000,0.038,2542,2536,3520
$GC,7129,-1.75,-194.7,700.6,-8.6,731,7134,0.00,3.10,0.00,0.000,4,0.000,0.054,2542,808,3518
$GC,7225,-1.72,-194.7,709.5,-8.8,735,7229,0.00,2.85,0.00,0.000,6,0.000,0.038,2542,2442,3518
$GC,7542,-1.78,-194.7,735.8,-8.3,750,7547,0.12,2.95,0.00,0.000,4,0.059,0.054,2507,806,3516
$STATE,7584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7584,begin apogee
$GC,7593,-0.35,0.0,740.4,10.2,752,7759,1.62,0.00,162.30,1.151,6,0.119,0.000,2821,2327,2748
$STATE,7760,end apogee,CONTROL_FINISHED_OK
$STATE,7760,begin climb
$GC,7764,1.67,194.7,749.2,0.0,760,7942,2.03,2.62,165.38,1.114,4,0.048,0.058,3270,3722,1954
$GC,7994,1.40,194.7,736.2,11.8,771,7999,0.32,2.42,0.00,0.000,6,0.126,0.038,3213,2331,1953
$GC,8322,1.29,214.9,703.3,10.2,787,8345,0.15,2.60,16.90,1.122,4,0.131,0.060,3185,932,1871
$GC,8449,1.29,263.6,690.8,9.0,792,8500,0.00,2.40,41.83,1.098,6,0.000,0.038,3185,2300,1673
$GC,8813,1.30,290.9,655.0,9.9,810,8842,0.00,2.60,23.75,1.099,4,0.000,0.059,3185,937,1561
$GC,8917,1.33,306.4,643.7,10.4,814,8936,0.00,2.35,13.40,1.101,6,0.000,0.039,3185,2275,1497
$GC,9254,1.37,330.6,609.2,10.0,831,9280,0.00,2.67,20.85,1.085,4,0.000,0.058,3184,3723,1399
$GC,9382,1.39,343.9,595.6,10.5,837,9404,0.10,2.70,11.77,1.088,6,0.077,0.040,3207,2188,1346
$GC,9714,1.41,356.1,560.2,10.5,853,9729,0.00,2.35,10.80,1.081,4,0.000,0.060,3207,922,1295
$GC,9808,1.38,356.1,549.5,11.1,856,9812,0.00,2.17,0.00,0.000,6,0.000,0.037,3207,2172,1293
$GC,10125,1.41,373.2,516.7,10.3,871,10146,0.00,2.85,15.00,1.052,4,0.000,0.055,3207,3723,1226
$GC,10174,1.41,373.2,511.0,12.2,873,10179,0.00,2.75,0.00,0.000,6,0.000,0.039,3207,2158,1224
$GC,10504,1.43,384.2,476.5,10.6,899,10518,0.00,2.28,9.60,1.042,4,0.000,0.059,3207,931,1181
$GC,10593,1.43,384.2,466.5,11.3,907,10598,0.00,2.35,0.00,0.000,6,0.000,0.038,3207,2272,1179
$GC,10921,1.54,402.8,433.1,10.2,937,10943,0.15,2.55,16.73,0.996,4,0.062,0.057,3247,932,1104
$GC,11003,1.47,402.8,423.3,11.9,944,11008,0.12,2.03,0.00,0.000,6,0.117,0.037,3226,2091,1102
$GC,11329,1.47,402.8,384.6,11.6,974,11332,0.00,2.10,0.00,0.000,4,0.000,0.057,3226,931,1102
$GC,11352,1.47,402.8,381.9,11.4,976,11356,0.00,2.20,0.00,0.000,6,0.000,0.037,3226,2196,1100
$GC,11679,1.63,431.5,347.2,9.8,1006,11711,0.15,0.00,25.52,0.920,6,0.059,0.000,3269,2196,987
$GC,12030,1.66,431.5,308.4,11.4,1039,12034,0.00,2.70,0.00,0.000,4,0.000,0.053,3269,3724,983
$GC,12108,1.59,431.5,299.2,11.3,1045,12114,0.00,2.40,0.00,0.000,6,0.000,0.036,3269,2330,982
$GC,12437,1.53,431.5,260.8,11.1,1076,12443,0.15,0.00,0.00,0.000,6,0.109,0.000,3238,2330,982
$GC,12776,1.66,453.0,224.5,10.1,1128,12803,0.12,2.58,17.67,0.834,4,0.067,0.050,3269,3725,900
$GC,12885,1.62,453.0,212.1,12.2,1147,12891,0.00,2.62,0.00,0.000,6,0.000,0.036,3269,2215,899
$GC,13230,1.71,453.0,175.0,11.3,1208,13236,0.00,2.30,0.00,0.000,4,0.000,0.054,3269,926,898
$GC,13288,1.71,453.0,168.9,11.1,1218,13294,0.00,2.58,0.00,0.000,6,0.000,0.035,3269,2414,897
$GC,13633,1.89,492.3,133.6,9.4,1279,13675,0.17,2.72,33.47,0.722,4,0.056,0.048,3321,925,741
$GC,13710,1.90,515.2,125.8,10.1,1293,13737,0.00,2.28,19.35,0.713,6,0.000,0.033,3321,2238,646
$GC,14078,2.09,573.5,90.0,8.6,1358,14131,0.15,2.42,46.90,0.651,4,0.050,0.046,3369,931,417
$GC,14202,2.02,573.5,76.8,11.2,1380,14209,0.12,1.92,0.00,0.000,6,0.107,0.031,3347,2065,414
$GC,14548,2.27,601.6,38.3,9.9,1441,14553,0.20,0.00,0.00,0.000,6,0.049,0.000,3406,2068,413
$GC,14892,2.21,601.6,3.1,11.3,1502,14899,0.12,2.90,0.00,0.000,4,0.110,0.042,3385,3737,413
$STATE,14902,end climb,SURFACE_DEPTH_REACHED
$STATE,14903,begin surface coast
$FINISH,-0.1,1.008712
$STATE,14920,end surface coast,CONTROL_FINISHED_OK
$STATE,14921,begin surface
$SM_CCo,15008,0.00,0.000,0,0,411,573.27
$SM_GC,0.64,13.90,0.00,0.00,0.043,0.000,0.000,248,2203,411,-12.18,-0.37,573.27
$IRIDIUM_FIX,1229.99,12049.87,090897,020248
$TT8_MAMPS,0.023777
$HUMID,2112
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,24.80
$XPDR_PINGS,330
$ALTIM_BOTTOM_PING,620.6,153.2
$24V_AH,23.0,76.392
$10V_AH,10.1,39.069
$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,34.525,164.075,651.225,0.000,0.000,29.439,36.135,151.520,86.000,0.000,0.000,12.416,2390.250,8983.708,748.328,2622.672,621.354,0.000,2126.990,0.000,2569.731,0.000,27.546
$DEVICE_MAMPS,163.371,59.826,1151.267,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1005.991,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47250,1507
$CAP_FILE_SIZE,162744,0
$CFSIZE,260165632,222728192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150508,104255,1234.779,12047.579,41,1.2,41,-0.8