version: 66.03
glider: 122
mission: 6
dive: 410
start: 5 15 108 10 50 18
data:
$ID,122
$MISSION,6
$DIVE,410
$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,-35268.754
$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,36
$R_STBD_OVSHOOT,26
$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
$GPS1,104255,1234.779,12047.579,41,1.2,41,-0.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-67.5
$GPS2,104945,1234.885,12047.574,14,1.8,14,-0.8
$SPEED_LIMITS,0.191,0.252
$TGT_NAME,RECOV_12_W
$TGT_LATLONG,1230.000,12046.000
$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,198.3,9484,-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,19,begin dive
$GC,25,-1.67,-194.7,0.0,0.0,0,107,0.00,0.00,-79.35,0.000,2,0.000,0.000,247,2201,2567
$GC,110,-1.67,-194.7,3.7,-9.2,16,148,13.18,2.40,-18.05,0.000,4,0.166,0.049,2537,816,3542
$GC,161,-1.40,-194.7,16.1,-20.4,25,167,0.32,2.38,0.00,0.000,6,0.114,0.028,2597,2229,3544
$GC,506,-1.30,-194.7,67.6,-13.5,86,512,0.12,2.45,0.00,0.000,4,0.114,0.038,2619,808,3544
$GC,559,-1.25,-194.7,74.7,-13.8,95,564,0.00,2.58,0.00,0.000,6,0.000,0.028,2619,2345,3545
$GC,903,-1.37,-194.7,116.3,-11.3,156,909,0.00,2.65,0.00,0.000,4,0.000,0.038,2619,806,3546
$GC,977,-1.37,-194.7,125.3,-11.3,169,983,0.00,2.70,0.00,0.000,6,0.000,0.028,2619,2415,3546
$GC,1323,-1.53,-194.7,160.2,-9.1,230,1329,0.17,0.00,0.00,0.000,6,0.042,0.000,2552,2415,3548
$GC,1668,-1.53,-194.7,195.2,-10.1,291,1674,0.00,2.08,0.00,0.000,4,0.000,0.047,2552,3627,3548
$GC,1759,-1.44,-194.7,205.2,-11.4,307,1766,0.20,2.05,0.00,0.000,6,0.099,0.027,2589,2357,3549
$GC,2105,-1.57,-194.7,235.0,-8.5,368,2111,0.12,2.17,0.00,0.000,4,0.050,0.044,2545,3622,3549
$GC,2197,-1.48,-194.7,244.6,-10.4,384,2204,0.17,1.98,0.00,0.000,6,0.104,0.028,2577,2412,3548
$GC,2527,-1.60,-194.7,275.0,-9.4,420,2531,0.00,2.08,0.00,0.000,4,0.000,0.047,2577,3618,3547
$GC,2623,-1.60,-194.7,284.4,-9.9,428,2628,0.00,1.85,0.00,0.000,6,0.000,0.030,2577,2479,3547
$GC,2951,-1.72,-194.7,313.7,-8.9,459,2956,0.17,1.98,0.00,0.000,4,0.047,0.048,2519,3622,3545
$GC,3048,-1.60,-194.7,323.9,-10.5,467,3053,0.20,1.92,0.00,0.000,6,0.105,0.030,2555,2453,3544
$GC,3374,-1.67,-194.7,352.6,-8.8,497,3378,0.00,2.00,0.00,0.000,4,0.000,0.049,2555,3617,3542
$GC,3442,-1.67,-194.7,359.0,-8.9,503,3446,0.00,2.10,0.00,0.000,6,0.000,0.031,2555,2357,3541
$GC,3776,-1.75,-194.7,387.7,-8.3,534,3781,0.15,2.72,0.00,0.000,4,0.052,0.048,2505,814,3540
$GC,3855,-1.63,-194.7,396.2,-11.0,540,3861,0.22,2.85,0.00,0.000,6,0.106,0.035,2547,2469,3539
$GC,4180,-1.69,-194.7,425.2,-9.0,571,4185,0.00,2.92,0.00,0.000,4,0.000,0.049,2547,819,3536
$GC,4213,-1.69,-194.7,428.6,-9.9,573,4219,0.00,2.88,0.00,0.000,6,0.000,0.035,2547,2489,3536
$GC,4541,-1.75,-194.7,458.5,-9.4,604,4545,0.12,1.98,0.00,0.000,4,0.057,0.051,2510,3618,3534
$GC,4610,-1.62,-194.7,466.0,-11.3,610,4614,0.20,2.10,0.00,0.000,6,0.111,0.033,2546,2371,3533
$GC,4936,-1.70,-194.7,494.1,-8.4,640,4940,0.00,2.78,0.00,0.000,4,0.000,0.052,2546,815,3530
$GC,4992,-1.67,-194.7,499.4,-9.7,644,4998,0.00,2.92,0.00,0.000,6,0.000,0.037,2546,2495,3529
$GC,5321,-1.72,-194.7,527.1,-8.8,661,5325,0.00,1.98,0.00,0.000,4,0.000,0.055,2545,3624,3527
$GC,5372,-1.72,-194.7,532.4,-10.1,663,5376,0.00,2.12,0.00,0.000,6,0.000,0.033,2545,2365,3527
$GC,5696,-1.79,-194.7,561.4,-9.0,679,5702,0.15,2.78,0.00,0.000,4,0.054,0.053,2499,816,3525
$GC,5765,-1.66,-194.7,568.9,-10.4,682,5770,0.22,2.90,0.00,0.000,6,0.111,0.038,2540,2489,3524
$GC,6089,-1.71,-194.7,598.2,-8.9,698,6093,0.00,2.00,0.00,0.000,4,0.000,0.058,2540,3624,3522
$GC,6185,-1.71,-194.7,607.4,-9.3,702,6189,0.00,2.12,0.00,0.000,6,0.000,0.035,2539,2367,3522
$GC,6509,-1.77,-194.7,635.2,-8.6,718,6513,0.00,2.78,0.00,0.000,4,0.000,0.055,2540,820,3520
$GC,6588,-1.73,-194.7,642.7,-9.4,721,6594,0.00,2.90,0.00,0.000,6,0.000,0.038,2540,2485,3520
$GC,6905,-1.78,-194.7,669.2,-8.3,737,6909,0.12,2.00,0.00,0.000,4,0.059,0.057,2505,3615,3518
$GC,6984,-1.67,-194.7,677.2,-10.5,740,6990,0.20,2.12,0.00,0.000,6,0.117,0.035,2540,2362,3517
$GC,7300,-1.73,-194.7,704.0,-8.5,756,7304,0.00,2.22,0.00,0.000,4,0.000,0.056,2540,3615,3516
$GC,7374,-1.68,-194.7,710.6,-9.5,759,7377,0.00,2.03,0.00,0.000,6,0.000,0.035,2540,2418,3515
$GC,7703,-1.68,-194.7,738.3,-8.3,775,7704,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2417,3514
$STATE,7739,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7739,begin apogee
$GC,7746,-0.35,0.0,741.7,8.1,777,7912,1.42,0.00,162.35,1.155,6,0.097,0.000,2828,2332,2748
$STATE,7913,end apogee,CONTROL_FINISHED_OK
$STATE,7913,begin climb
$GC,7916,1.67,194.7,750.7,0.0,785,8095,1.98,2.62,165.57,1.117,4,0.048,0.057,3272,3716,1954
$GC,8129,1.39,194.7,739.7,12.3,795,8134,0.35,2.40,0.00,0.000,6,0.130,0.040,3211,2350,1953
$GC,8452,1.34,242.9,709.6,9.1,811,8498,0.00,2.67,41.10,1.111,4,0.000,0.063,3211,928,1756
$GC,8580,1.22,242.9,696.3,11.1,817,8585,0.22,2.47,0.00,0.000,6,0.117,0.038,3171,2330,1754
$GC,8908,1.32,300.4,666.5,8.7,833,8963,0.00,2.65,49.62,1.095,4,0.000,0.061,3170,932,1523
$GC,9026,1.32,305.1,654.9,10.8,838,9038,0.10,2.42,3.80,1.110,6,0.071,0.039,3194,2305,1503
$GC,9350,1.33,330.2,621.6,10.0,854,9379,0.00,2.65,22.10,1.093,4,0.000,0.060,3194,929,1400
$GC,9496,1.30,334.4,606.0,10.8,860,9507,0.00,2.25,3.60,1.095,6,0.000,0.038,3194,2216,1383
$GC,9817,1.33,347.5,572.7,10.5,876,9838,0.00,2.47,11.62,1.093,4,0.000,0.060,3194,925,1330
$GC,9862,1.33,347.5,567.8,11.7,878,9866,0.00,2.25,0.00,0.000,6,0.000,0.038,3194,2201,1329
$GC,10189,1.36,364.6,533.3,10.3,894,10208,0.00,0.00,15.12,1.065,6,0.000,0.000,3194,2201,1261
$GC,10519,1.50,392.1,499.0,9.9,910,10551,0.17,2.83,24.60,1.025,4,0.058,0.054,3242,3733,1148
$GC,10614,1.45,392.1,487.9,11.8,918,10621,0.12,2.80,0.00,0.000,6,0.132,0.040,3223,2143,1147
$GC,10940,1.43,398.8,452.1,10.7,949,10951,0.00,2.90,5.55,1.039,4,0.000,0.053,3223,3733,1121
$GC,11042,1.43,401.0,440.5,10.9,958,11047,0.00,2.67,0.00,0.000,6,0.000,0.038,3223,2205,1121
$GC,11372,1.44,405.3,405.7,10.8,988,11384,0.00,2.78,5.93,1.014,4,0.000,0.052,3223,3732,1095
$GC,11446,1.47,426.6,397.1,10.1,994,11473,0.00,2.80,19.73,0.960,6,0.000,0.039,3223,2132,1007
$GC,11792,1.59,433.1,359.6,10.7,1027,11804,0.12,2.90,5.20,0.978,4,0.066,0.051,3256,3730,981
$GC,11817,1.66,434.9,356.8,10.9,1029,11821,0.00,2.50,0.00,0.000,6,0.000,0.037,3256,2297,981
$GC,12142,1.61,434.9,318.3,11.3,1059,12146,0.00,2.47,0.00,0.000,4,0.000,0.058,3256,928,981
$GC,12243,1.55,434.9,306.0,11.3,1067,12249,0.00,2.17,0.00,0.000,6,0.000,0.035,3257,2189,979
$GC,12572,1.50,434.9,269.0,11.3,1098,12576,0.12,2.25,0.00,0.000,4,0.115,0.054,3235,933,979
$GC,12655,1.51,438.7,259.4,10.8,1105,12664,0.00,1.98,4.85,0.915,6,0.000,0.035,3235,2093,958
$GC,12999,1.69,470.2,223.8,9.7,1159,13036,0.15,2.17,27.83,0.816,4,0.058,0.054,3279,934,831
$GC,13067,1.66,476.6,216.4,10.7,1171,13079,0.00,2.38,5.68,0.836,6,0.000,0.035,3279,2293,804
$GC,13417,1.66,476.6,174.7,11.5,1233,13423,0.00,2.45,0.00,0.000,4,0.000,0.051,3279,928,801
$GC,13469,1.66,476.6,168.9,11.1,1242,13475,0.00,2.03,0.00,0.000,6,0.000,0.034,3279,2110,800
$GC,13814,1.84,519.8,133.3,9.3,1303,13856,0.12,2.22,36.53,0.720,4,0.058,0.051,3314,927,628
$GC,13933,1.84,521.8,120.7,10.9,1324,13939,0.00,2.10,0.00,0.000,6,0.000,0.032,3314,2153,625
$GC,14278,2.05,576.6,86.7,8.8,1385,14330,0.15,2.25,42.67,0.653,4,0.053,0.048,3360,935,416
$GC,14388,2.05,576.6,73.7,12.5,1405,14393,0.00,1.80,0.00,0.000,6,0.000,0.030,3360,2000,415
$GC,14732,2.19,628.8,38.8,8.9,1466,14738,0.00,1.90,0.00,0.000,4,0.000,0.046,3360,926,413
$GC,14863,2.27,651.4,25.3,10.1,1489,14870,0.17,2.15,0.00,0.000,6,0.048,0.028,3409,2207,413
$STATE,15042,end climb,SURFACE_DEPTH_REACHED
$STATE,15042,begin surface coast
$FINISH,0.2,1.020988
$STATE,15055,end surface coast,CONTROL_FINISHED_OK
$STATE,15055,begin surface
$SM_CCo,15139,0.00,0.000,0,0,412,573.02
$SM_GC,0.83,13.80,0.00,0.00,0.035,0.000,0.000,249,2209,412,-12.17,-0.20,573.02
$IRIDIUM_FIX,1229.99,12047.98,090897,060659
$TT8_MAMPS,0.023777
$HUMID,2132
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,24.70
$XPDR_PINGS,294
$ALTIM_BOTTOM_PING,631.7,145.9
$24V_AH,23.0,76.608
$10V_AH,10.1,39.151
$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,35.100,161.950,653.450,0.000,0.000,29.320,35.693,206.063,77.250,0.000,0.000,14.550,2416.829,9058.334,754.400,2650.597,670.765,0.000,2143.988,0.000,2589.157,0.000,29.677
$DEVICE_MAMPS,166.439,63.661,1155.102,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1016.728,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50393,1523
$CAP_FILE_SIZE,167321,0
$CFSIZE,260165632,222642176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150508,150355,1234.829,12047.210,42,1.3,42,-0.8