version: 66.03
glider: 122
mission: 6
dive: 411
start: 5 15 108 15 10 45
data:
$ID,122
$MISSION,6
$DIVE,411
$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,366
$T_MISSION,439
$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,150
$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,-35287.414
$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,28
$R_STBD_OVSHOOT,31
$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
$GPS1,150355,1234.829,12047.210,42,1.3,42,-0.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-66.7
$GPS2,151013,1234.950,12047.215,17,1.3,18,-0.8
$SPEED_LIMITS,0.156,0.206
$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,194.3,9427,-18.6,-9.016
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.56,-146.0,0.0,0.0,0,108,0.00,0.00,-80.43,0.000,2,0.000,0.000,249,2208,2585
$GC,112,-1.56,-146.0,3.6,-8.6,16,144,13.45,0.00,-14.60,0.000,6,0.171,0.000,2560,2209,3347
$GC,482,-1.34,-146.0,66.2,-15.8,82,488,0.25,2.42,0.00,0.000,4,0.118,0.041,2609,3625,3349
$GC,558,-1.18,-146.0,77.3,-14.5,95,565,0.20,2.35,0.00,0.000,6,0.110,0.025,2646,2190,3349
$GC,904,-1.27,-146.0,115.7,-10.0,156,909,0.00,2.35,0.00,0.000,4,0.000,0.040,2646,819,3351
$GC,944,-1.27,-146.0,119.8,-10.0,163,950,0.00,2.58,0.00,0.000,6,0.000,0.028,2646,2357,3351
$GC,1289,-1.38,-146.0,152.9,-9.6,224,1295,0.15,2.65,0.00,0.000,4,0.048,0.038,2590,817,3353
$GC,1375,-1.32,-146.0,162.4,-10.3,239,1382,0.12,2.53,0.00,0.000,6,0.099,0.028,2614,2328,3353
$GC,1721,-1.42,-146.0,192.2,-8.4,300,1727,0.00,2.60,0.00,0.000,4,0.000,0.041,2614,822,3353
$GC,1784,-1.42,-146.0,198.0,-9.2,311,1790,0.00,2.45,0.00,0.000,6,0.000,0.029,2614,2283,3353
$GC,2129,-1.54,-146.0,226.5,-8.0,372,2136,0.17,2.30,0.00,0.000,4,0.046,0.044,2555,3622,3353
$GC,2217,-1.42,-146.0,234.6,-9.1,387,2223,0.20,2.20,0.00,0.000,6,0.103,0.028,2593,2284,3353
$GC,2553,-1.49,-146.0,261.9,-7.9,434,2558,0.00,2.55,0.00,0.000,4,0.000,0.044,2593,819,3352
$GC,2650,-1.49,-146.0,270.3,-8.3,442,2654,0.00,2.67,0.00,0.000,6,0.000,0.032,2593,2394,3352
$GC,2978,-1.56,-146.0,297.9,-8.1,472,2983,0.12,2.12,0.00,0.000,4,0.054,0.047,2551,3625,3350
$GC,3063,-1.45,-146.0,306.0,-9.5,479,3068,0.20,2.25,0.00,0.000,6,0.108,0.030,2587,2273,3350
$GC,3389,-1.53,-146.0,331.7,-7.6,509,3393,0.00,2.35,0.00,0.000,4,0.000,0.048,2587,3625,3348
$GC,3411,-1.53,-146.0,333.7,-8.5,510,3417,0.00,2.10,0.00,0.000,6,0.000,0.031,2587,2355,3348
$GC,3739,-1.61,-146.0,359.8,-8.1,541,3744,0.15,2.70,0.00,0.000,4,0.049,0.047,2539,822,3346
$GC,3784,-1.50,-146.0,364.1,-9.0,544,3791,0.20,2.47,0.00,0.000,6,0.103,0.033,2576,2278,3345
$GC,4111,-1.56,-146.0,389.2,-7.2,575,4115,0.00,2.58,0.00,0.000,4,0.000,0.050,2576,821,3343
$GC,4144,-1.56,-146.0,391.9,-7.7,577,4150,0.00,2.40,0.00,0.000,6,0.000,0.033,2576,2231,3343
$GC,4472,-1.62,-146.0,416.1,-7.8,608,4477,0.12,2.47,0.00,0.000,4,0.057,0.048,2541,833,3340
$GC,4513,-1.51,-146.0,420.0,-9.0,611,4518,0.17,2.55,0.00,0.000,6,0.105,0.034,2573,2320,3340
$GC,4839,-1.57,-146.0,446.7,-8.6,641,4844,0.00,2.65,0.00,0.000,4,0.000,0.049,2573,822,3338
$GC,4895,-1.57,-146.0,451.8,-8.9,645,4901,0.00,2.50,0.00,0.000,6,0.000,0.035,2573,2283,3337
$GC,5223,-1.62,-146.0,477.7,-7.4,676,5227,0.00,2.58,0.00,0.000,4,0.000,0.050,2573,829,3335
$GC,5291,-1.62,-146.0,483.4,-8.7,681,5297,0.00,2.65,0.00,0.000,6,0.000,0.035,2573,2372,3334
$GC,5615,-1.69,-146.0,508.8,-8.0,707,5620,0.15,2.17,0.00,0.000,4,0.054,0.052,2528,3622,3332
$GC,5719,-1.54,-146.0,518.1,-8.9,711,5724,0.22,2.25,0.00,0.000,6,0.111,0.034,2568,2287,3332
$GC,6037,-1.60,-146.0,544.0,-8.4,726,6041,0.00,2.35,0.00,0.000,4,0.000,0.052,2568,3621,3330
$GC,6156,-1.60,-146.0,554.8,-9.1,731,6159,0.00,2.12,0.00,0.000,6,0.000,0.034,2568,2363,3329
$GC,6472,-1.65,-146.0,579.6,-7.8,746,6477,0.00,2.70,0.00,0.000,4,0.000,0.053,2568,835,3328
$GC,6495,-1.65,-146.0,581.5,-8.2,747,6500,0.12,2.70,0.00,0.000,6,0.061,0.038,2535,2394,3327
$GC,6825,-1.62,-146.0,608.2,-8.1,763,6829,0.00,2.15,0.00,0.000,4,0.000,0.055,2535,3615,3326
$GC,6921,-1.51,-146.0,617.1,-8.8,767,6926,0.20,2.25,0.00,0.000,6,0.114,0.035,2570,2286,3326
$GC,7246,-1.58,-146.0,641.6,-7.7,783,7251,0.00,2.60,0.00,0.000,4,0.000,0.054,2570,830,3324
$GC,7325,-1.58,-146.0,648.3,-7.7,786,7331,0.00,2.67,0.00,0.000,6,0.000,0.038,2570,2374,3323
$GC,7648,-1.64,-146.0,671.4,-7.3,802,7651,0.00,2.17,0.00,0.000,4,0.000,0.057,2570,3615,3322
$GC,7749,-1.64,-146.0,679.8,-7.9,806,7753,0.00,2.28,0.00,0.000,6,0.000,0.035,2570,2276,3321
$GC,8066,-1.70,-146.0,702.2,-7.2,821,8071,0.15,2.58,0.00,0.000,4,0.056,0.055,2526,835,3320
$GC,8167,-1.59,-146.0,710.9,-8.3,825,8173,0.17,2.62,0.00,0.000,6,0.117,0.038,2556,2356,3319
$GC,8484,-1.63,-146.0,735.0,-7.9,841,8488,0.00,2.75,0.00,0.000,4,0.000,0.055,2556,826,3318
$STATE,8543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8543,begin apogee
$GC,8553,-0.35,0.0,740.3,8.6,844,8677,1.38,0.00,120.85,1.164,6,0.112,0.000,2824,2329,2748
$STATE,8678,end apogee,CONTROL_FINISHED_OK
$STATE,8678,begin climb
$GC,8682,1.56,146.0,746.3,0.0,850,8817,1.92,2.62,124.70,1.127,4,0.053,0.058,3248,3723,2152
$GC,8893,1.27,146.0,736.5,10.0,860,8898,0.38,2.40,0.00,0.000,6,0.129,0.039,3183,2348,2151
$GC,9223,1.23,196.2,712.4,6.8,876,9272,0.00,2.70,42.05,1.124,4,0.000,0.061,3182,934,1948
$GC,9309,1.12,197.4,705.4,9.0,880,9314,0.17,2.50,0.00,0.000,6,0.120,0.038,3152,2351,1947
$GC,9636,1.18,234.6,680.9,7.4,896,9678,0.00,2.70,32.40,1.122,4,0.000,0.058,3152,931,1791
$GC,9751,1.21,254.3,671.5,8.1,901,9776,0.00,2.35,17.60,1.118,6,0.000,0.038,3152,2272,1711
$GC,10102,1.32,279.6,643.4,7.9,918,10131,0.15,2.72,21.65,1.108,4,0.070,0.057,3190,3722,1607
$GC,10144,1.25,279.6,639.3,10.5,920,10149,0.00,2.88,0.00,0.000,6,0.000,0.040,3190,2101,1607
$GC,10473,1.18,279.6,608.8,9.4,936,10477,0.15,2.12,0.00,0.000,4,0.123,0.061,3162,934,1604
$GC,10580,1.18,279.6,599.1,9.1,941,10584,0.00,2.22,0.00,0.000,6,0.000,0.037,3162,2210,1603
$GC,10909,1.28,298.0,572.3,8.2,957,10930,0.10,0.00,15.65,1.096,6,0.073,0.000,3188,2210,1533
$GC,11240,1.28,298.0,540.9,9.6,973,11245,0.00,2.33,0.00,0.000,4,0.000,0.058,3188,932,1530
$GC,11297,1.22,298.0,535.2,10.7,975,11302,0.00,1.90,0.00,0.000,6,0.000,0.037,3188,2037,1529
$GC,11614,1.22,298.0,505.5,9.5,991,11615,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2036,1529
$GC,11929,1.22,298.0,476.9,9.0,1018,11934,0.00,3.00,0.00,0.000,4,0.000,0.054,3188,3722,1529
$GC,11969,1.22,300.7,473.2,8.9,1021,11973,0.00,2.70,0.00,0.000,6,0.000,0.038,3188,2167,1529
$GC,12297,1.30,317.0,444.9,8.3,1051,12319,0.00,2.28,16.10,1.021,4,0.000,0.057,3188,932,1454
$GC,12366,1.26,317.0,438.3,10.0,1057,12369,0.00,1.90,0.00,0.000,6,0.000,0.035,3188,2031,1452
$GC,12701,1.32,318.6,408.3,8.9,1088,12706,0.00,3.03,0.00,0.000,4,0.000,0.053,3188,3730,1452
$GC,12745,1.33,326.9,404.0,8.6,1091,12762,0.00,2.72,8.40,1.010,6,0.000,0.038,3188,2153,1415
$GC,13081,1.45,350.0,376.3,8.0,1123,13107,0.15,2.25,20.20,0.953,4,0.062,0.056,3227,933,1320
$GC,13153,1.36,350.0,369.5,9.3,1129,13157,0.15,1.88,0.00,0.000,6,0.114,0.035,3202,2018,1318
$GC,13485,1.41,353.8,340.2,8.8,1160,13496,0.00,3.10,3.03,0.960,4,0.000,0.052,3202,3721,1305
$GC,13547,1.41,353.8,333.9,9.5,1165,13553,0.00,2.72,0.00,0.000,6,0.000,0.037,3202,2149,1305
$GC,13875,1.53,368.9,304.9,8.3,1196,13897,0.15,2.28,13.38,0.907,4,0.064,0.056,3243,932,1243
$GC,13948,1.43,368.9,297.3,9.8,1202,13954,0.15,1.85,0.00,0.000,6,0.112,0.034,3217,2013,1242
$GC,14273,1.50,368.9,266.7,9.1,1233,14278,0.00,3.05,0.00,0.000,4,0.000,0.051,3217,3732,1242
$GC,14324,1.50,368.9,262.0,9.5,1237,14328,0.00,2.72,0.00,0.000,6,0.000,0.036,3217,2152,1242
$GC,14660,1.59,368.9,231.5,9.3,1284,14666,0.15,2.17,0.00,0.000,4,0.061,0.054,3260,931,1241
$GC,14747,1.48,368.9,221.8,11.5,1299,14753,0.17,1.85,0.00,0.000,6,0.108,0.033,3228,2017,1239
$GC,15092,1.52,371.4,189.1,8.9,1360,15098,0.00,3.03,0.00,0.000,4,0.000,0.049,3228,3736,1240
$GC,15155,1.52,371.4,183.1,9.2,1371,15161,0.00,2.75,0.00,0.000,6,0.000,0.035,3228,2134,1240
$GC,15501,1.61,377.3,154.7,8.8,1432,15514,0.12,2.17,6.82,0.797,4,0.061,0.053,3263,926,1208
$GC,15615,1.60,393.9,144.4,8.3,1451,15636,0.00,1.83,14.20,0.755,6,0.000,0.032,3263,2002,1141
$GC,15977,1.77,424.6,115.9,7.6,1515,16008,0.12,0.00,25.95,0.698,6,0.056,0.000,3301,2003,1016
$GC,16349,1.86,450.9,86.6,7.8,1581,16375,0.00,0.00,21.00,0.662,6,0.000,0.000,3301,2006,909
$GC,16714,1.97,465.9,57.4,8.3,1646,16730,0.15,0.00,12.43,0.633,6,0.049,0.000,3351,2006,848
$GC,17069,2.00,484.6,28.5,8.2,1709,17091,0.00,1.92,14.93,0.590,4,0.000,0.046,3351,925,771
$GC,17138,1.96,490.1,22.7,8.8,1721,17149,0.00,1.98,4.25,0.609,6,0.000,0.028,3351,2111,749
$STATE,17355,end climb,SURFACE_DEPTH_REACHED
$STATE,17355,begin surface coast
$FINISH,-0.2,1.021041
$STATE,17379,end surface coast,CONTROL_FINISHED_OK
$STATE,17379,begin surface
$SM_CCo,17465,0.00,0.000,0,0,744,491.34
$SM_GC,0.91,13.55,0.00,0.00,0.035,0.000,0.000,245,2244,744,-12.18,0.79,491.34
$IRIDIUM_FIX,1229.99,12047.98,090897,101053
$TT8_MAMPS,0.023777
$HUMID,2041
$INTERNAL_PRESSURE,9.69764
$TCM_TEMP,25.20
$XPDR_PINGS,387
$ALTIM_BOTTOM_PING,671.4,108.7
$24V_AH,23.0,76.789
$10V_AH,10.1,39.243
$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,35.675,185.850,535.575,0.000,0.000,24.097,35.868,172.948,101.750,0.000,0.000,18.031,2824.245,10606.158,677.513,3048.097,687.795,0.000,2238.390,0.000,2978.381,0.000,39.494
$DEVICE_MAMPS,171.041,61.360,1163.539,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1179.468,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56627,1764
$CAP_FILE_SIZE,189954,0
$CFSIZE,260165632,222531584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150508,200307,1235.349,12046.891,40,1.3,40,-0.8