version: 66.03
glider: 122
mission: 6
dive: 412
start: 5 15 108 20 10 1
data:
$ID,122
$MISSION,6
$DIVE,412
$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,-35302.039
$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,26
$R_STBD_OVSHOOT,53
$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
$GPS1,200307,1235.349,12046.891,40,1.3,40,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-70.0
$GPS2,200927,1235.393,12046.911,13,1.3,13,-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,190.2,10123,-18.6,-9.016
$D_GRID,755
$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,20,begin dive
$GC,23,-1.56,-146.0,0.0,0.0,0,90,0.00,0.00,-64.75,0.000,2,0.000,0.000,245,2245,2545
$GC,94,-1.56,-146.0,3.6,-8.3,13,126,13.25,0.00,-15.43,0.000,6,0.164,0.000,2559,2246,3345
$GC,464,-1.32,-146.0,65.5,-16.3,79,471,0.25,2.33,0.00,0.000,4,0.120,0.042,2608,3601,3347
$GC,546,-1.17,-146.0,76.7,-13.7,93,552,0.20,2.30,0.00,0.000,6,0.112,0.025,2645,2193,3347
$GC,891,-1.23,-146.0,113.3,-10.0,154,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2192,3348
$GC,1234,-1.34,-146.0,147.2,-10.2,215,1241,0.15,2.35,0.00,0.000,4,0.048,0.039,2592,819,3350
$GC,1259,-1.34,-146.0,150.0,-10.8,219,1265,0.00,2.60,0.00,0.000,6,0.000,0.028,2592,2372,3350
$GC,1603,-1.34,-146.0,181.9,-9.0,280,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2373,3352
$GC,1947,-1.39,-146.0,212.3,-8.4,341,1953,0.00,2.10,0.00,0.000,4,0.000,0.048,2591,3600,3352
$GC,2005,-1.34,-146.0,217.1,-8.2,351,2012,0.10,2.17,0.00,0.000,6,0.108,0.028,2610,2271,3352
$GC,2351,-1.43,-146.0,245.6,-8.4,412,2357,0.00,2.50,0.00,0.000,4,0.000,0.044,2611,828,3352
$GC,2448,-1.49,-146.0,254.4,-8.8,425,2454,0.15,2.62,0.00,0.000,6,0.048,0.032,2559,2383,3352
$GC,2773,-1.49,-146.0,282.1,-8.0,456,2778,0.10,2.70,0.00,0.000,4,0.108,0.045,2577,827,3349
$GC,2881,-1.45,-146.0,291.2,-8.6,465,2885,0.00,2.45,0.00,0.000,6,0.000,0.032,2578,2275,3349
$GC,3209,-1.49,-146.0,318.2,-8.6,495,3213,0.00,2.53,0.00,0.000,4,0.000,0.047,2577,830,3347
$GC,3277,-1.46,-146.0,324.4,-9.1,500,3283,0.00,2.60,0.00,0.000,6,0.000,0.033,2577,2356,3347
$GC,3605,-1.51,-146.0,351.0,-8.4,531,3609,0.00,2.67,0.00,0.000,4,0.000,0.047,2578,830,3344
$GC,3701,-1.51,-146.0,359.9,-8.6,539,3705,0.00,2.45,0.00,0.000,6,0.000,0.033,2577,2270,3343
$GC,4029,-1.55,-146.0,386.2,-7.6,569,4033,0.00,2.55,0.00,0.000,4,0.000,0.052,2577,822,3342
$GC,4075,-1.51,-146.0,390.3,-8.3,572,4080,0.00,2.67,0.00,0.000,6,0.000,0.033,2578,2391,3341
$GC,4403,-1.58,-146.0,416.2,-7.8,603,4407,0.00,2.75,0.00,0.000,4,0.000,0.049,2577,829,3339
$GC,4481,-1.58,-146.0,423.2,-8.4,609,4487,0.00,2.58,0.00,0.000,6,0.000,0.034,2578,2337,3338
$GC,4809,-1.63,-146.0,449.0,-7.8,640,4813,0.12,2.20,0.00,0.000,4,0.058,0.050,2540,3606,3336
$GC,4844,-1.51,-146.0,452.1,-8.2,643,4848,0.17,2.15,0.00,0.000,6,0.111,0.032,2571,2324,3336
$GC,5169,-1.56,-146.0,478.2,-7.9,673,5174,0.00,2.62,0.00,0.000,4,0.000,0.050,2571,831,3333
$GC,5203,-1.56,-146.0,481.2,-8.3,675,5209,0.00,2.42,0.00,0.000,6,0.000,0.034,2571,2248,3333
$GC,5529,-1.61,-146.0,504.7,-7.1,703,5534,0.00,2.53,0.00,0.000,4,0.000,0.051,2571,832,3331
$GC,5563,-1.61,-146.0,507.4,-7.0,704,5569,0.00,2.67,0.00,0.000,6,0.000,0.035,2571,2386,3331
$GC,5879,-1.66,-146.0,529.7,-7.4,720,5885,0.12,2.75,0.00,0.000,4,0.058,0.050,2535,834,3329
$GC,5897,-1.66,-146.0,531.3,-7.7,720,5903,0.00,2.50,0.00,0.000,6,0.000,0.035,2535,2291,3328
$GC,6214,-1.66,-146.0,557.3,-8.1,736,6218,0.00,2.35,0.00,0.000,4,0.000,0.054,2534,3623,3327
$GC,6287,-1.55,-146.0,564.2,-9.7,739,6292,0.17,2.35,0.00,0.000,6,0.114,0.034,2565,2238,3326
$GC,6606,-1.60,-146.0,589.9,-8.3,754,6610,0.00,2.53,0.00,0.000,4,0.000,0.054,2566,812,3325
$GC,6691,-1.60,-146.0,597.4,-8.7,758,6695,0.00,2.62,0.00,0.000,6,0.000,0.036,2566,2326,3325
$GC,7018,-1.60,-146.0,622.4,-7.3,774,7019,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2325,3322
$GC,7327,-1.64,-146.0,644.0,-6.9,789,7331,0.00,2.70,0.00,0.000,4,0.000,0.054,2566,818,3321
$GC,7378,-1.64,-146.0,647.9,-7.8,791,7382,0.00,2.47,0.00,0.000,6,0.000,0.036,2566,2248,3321
$GC,7694,-1.69,-146.0,669.8,-7.2,806,7699,0.15,2.55,0.00,0.000,4,0.055,0.053,2519,819,3319
$GC,7739,-1.56,-146.0,673.8,-8.8,808,7744,0.25,2.67,0.00,0.000,6,0.110,0.037,2565,2365,3319
$GC,8062,-1.60,-146.0,698.6,-8.0,824,8066,0.00,2.22,0.00,0.000,4,0.000,0.058,2565,3626,3318
$GC,8078,-1.60,-146.0,700.3,-8.3,824,8084,0.00,2.20,0.00,0.000,6,0.000,0.035,2565,2322,3317
$GC,8397,-1.65,-146.0,725.5,-7.9,840,8401,0.00,2.30,0.00,0.000,4,0.000,0.056,2565,3621,3316
$GC,8482,-1.65,-146.0,733.2,-8.9,844,8486,0.00,2.08,0.00,0.000,6,0.000,0.035,2565,2389,3316
$STATE,8770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8770,begin apogee
$GC,8777,-0.35,0.0,755.3,7.4,858,8901,1.30,0.00,119.90,1.178,6,0.097,0.000,2827,2321,2748
$STATE,8902,end apogee,CONTROL_FINISHED_OK
$STATE,8902,begin climb
$GC,8906,1.56,146.0,761.3,0.0,864,9041,1.90,2.62,124.75,1.141,4,0.051,0.058,3249,944,2152
$GC,9127,1.29,146.0,752.1,9.9,874,9132,0.35,2.45,0.00,0.000,6,0.118,0.038,3186,2337,2150
$GC,9446,1.23,189.1,729.1,7.1,889,9488,0.00,2.65,36.47,1.143,4,0.000,0.058,3186,948,1976
$GC,9544,1.14,212.3,720.8,8.0,893,9570,0.17,2.33,19.70,1.141,6,0.114,0.038,3156,2281,1882
$GC,9883,1.18,234.3,693.7,8.0,909,9908,0.00,2.70,18.48,1.143,4,0.000,0.058,3155,3722,1792
$GC,9954,1.14,234.3,687.2,10.0,912,9958,0.00,2.50,0.00,0.000,6,0.000,0.038,3156,2290,1792
$GC,10276,1.16,248.4,660.1,8.4,928,10297,0.00,2.67,12.40,1.144,4,0.000,0.056,3155,3718,1735
$GC,10309,1.16,248.4,657.1,9.2,929,10313,0.00,2.78,0.00,0.000,6,0.000,0.040,3156,2147,1735
$GC,10625,1.25,265.0,630.5,8.3,944,10646,0.00,2.28,14.43,1.128,4,0.000,0.062,3155,934,1666
$GC,10754,1.25,267.8,619.4,8.9,949,10763,0.00,2.33,2.62,1.107,6,0.000,0.038,3156,2265,1656
$GC,11094,1.37,294.7,592.4,7.8,966,11124,0.20,2.70,23.90,1.095,4,0.058,0.058,3205,3723,1546
$GC,11137,1.31,294.7,588.4,9.9,968,11142,0.00,2.88,0.00,0.000,6,0.000,0.040,3205,2102,1545
$GC,11465,1.23,294.7,556.0,10.1,984,11470,0.15,2.12,0.00,0.000,4,0.123,0.061,3177,932,1542
$GC,11602,1.19,294.7,542.4,10.2,990,11606,0.00,2.20,0.00,0.000,6,0.000,0.036,3177,2201,1541
$GC,11924,1.28,294.7,512.5,9.1,1006,11928,0.00,2.30,0.00,0.000,4,0.000,0.058,3177,931,1541
$GC,11987,1.25,301.7,506.7,8.7,1009,11997,0.00,2.38,5.45,1.088,6,0.000,0.036,3177,2302,1517
$GC,12322,1.33,303.4,476.5,8.9,1037,12326,0.00,2.53,0.00,0.000,4,0.000,0.056,3177,3721,1516
$GC,12362,1.34,311.7,473.0,8.6,1040,12376,0.00,2.78,8.88,1.059,6,0.000,0.038,3177,2122,1477
$GC,12704,1.46,334.7,444.2,8.0,1072,12730,0.17,2.17,20.25,1.005,4,0.061,0.058,3222,932,1382
$GC,12801,1.34,334.7,434.8,9.8,1080,12805,0.15,1.85,0.00,0.000,6,0.115,0.035,3197,2005,1380
$GC,13132,1.40,334.7,403.4,9.3,1111,13133,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2005,1379
$GC,13454,1.47,334.7,373.2,9.6,1141,13457,0.12,1.95,0.00,0.000,4,0.068,0.057,3226,925,1379
$GC,13476,1.47,334.7,370.6,9.7,1143,13480,0.00,2.05,0.00,0.000,6,0.000,0.036,3226,2116,1378
$GC,13810,1.47,336.1,339.1,9.0,1174,13815,0.00,2.85,0.00,0.000,4,0.000,0.053,3226,3723,1378
$GC,13922,1.40,336.1,327.7,10.0,1183,13928,0.00,2.70,0.00,0.000,6,0.000,0.037,3226,2152,1377
$GC,14249,1.40,336.1,298.2,9.1,1214,14253,0.00,2.17,0.00,0.000,4,0.000,0.054,3226,931,1377
$GC,14294,1.31,336.1,293.8,9.1,1217,14300,0.20,1.83,0.00,0.000,6,0.119,0.034,3191,2006,1377
$GC,14620,1.39,339.7,265.9,8.9,1248,14631,0.00,1.98,3.47,0.910,4,0.000,0.054,3191,934,1363
$GC,14644,1.46,348.3,263.8,8.6,1250,14659,0.15,2.05,8.07,0.895,6,0.062,0.035,3227,2126,1327
$GC,14990,1.51,348.3,231.3,9.1,1299,14996,0.00,2.15,0.00,0.000,4,0.000,0.054,3227,926,1325
$GC,15026,1.48,348.3,228.0,9.9,1305,15032,0.00,2.22,0.00,0.000,6,0.000,0.035,3227,2220,1324
$GC,15371,1.53,354.7,198.0,8.7,1366,15383,0.00,2.70,5.57,0.849,4,0.000,0.051,3227,3733,1301
$GC,15401,1.55,369.9,195.4,8.3,1371,15422,0.00,2.92,13.23,0.803,6,0.000,0.035,3227,2047,1238
$GC,15764,1.66,381.0,164.8,8.5,1435,15776,0.15,0.00,8.93,0.792,6,0.059,0.000,3269,2045,1194
$GC,16115,1.75,408.4,133.9,7.8,1497,16147,0.00,3.05,22.98,0.729,4,0.000,0.046,3269,3716,1082
$GC,16271,1.84,437.3,122.0,7.7,1525,16304,0.12,2.97,24.42,0.702,6,0.046,0.034,3308,1980,964
$GC,16645,1.88,437.3,88.9,9.3,1591,16651,0.00,1.85,0.00,0.000,4,0.000,0.050,3308,928,959
$GC,16709,1.87,455.6,83.6,8.2,1602,16731,0.00,2.03,14.52,0.672,6,0.000,0.030,3308,2131,890
$GC,17072,2.09,514.5,55.9,6.4,1666,17129,0.20,2.20,48.22,0.601,4,0.046,0.045,3366,929,650
$GC,17254,2.02,514.5,38.2,9.7,1699,17260,0.12,1.92,0.00,0.000,6,0.105,0.028,3343,2081,647
$GC,17599,2.15,559.0,8.8,7.0,1760,17642,0.12,2.05,35.85,0.545,4,0.059,0.044,3380,927,467
$STATE,17657,end climb,SURFACE_DEPTH_REACHED
$STATE,17657,begin surface coast
$FINISH,1.2,1.021002
$STATE,17664,end surface coast,CONTROL_FINISHED_OK
$STATE,17664,begin surface
$SM_CCo,17751,0.00,0.000,0,0,463,560.27
$SM_GC,0.70,13.77,0.00,0.00,0.036,0.000,0.000,246,2242,463,-12.18,0.74,560.27
$IRIDIUM_FIX,1229.99,12044.95,090897,151548
$TT8_MAMPS,0.023777
$HUMID,2044
$INTERNAL_PRESSURE,9.66834
$TCM_TEMP,25.20
$XPDR_PINGS,376
$ALTIM_BOTTOM_PING,581.5,215.4
$24V_AH,23.0,76.980
$10V_AH,10.1,39.335
$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,34.575,189.000,592.500,0.000,0.000,22.720,37.102,171.396,96.500,0.000,0.000,13.997,2817.620,10888.060,701.639,3033.585,688.816,0.000,2274.962,0.000,2971.689,0.000,22.412
$DEVICE_MAMPS,164.138,88.205,1178.112,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1183.989,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56580,1772
$CAP_FILE_SIZE,190674,0
$CFSIZE,260165632,222441472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160508,010707,1235.610,12046.746,38,1.0,38,-0.8