version: 66.03
glider: 122
mission: 6
dive: 415
start: 5 16 108 11 48 13
data:
$ID,122
$MISSION,6
$DIVE,415
$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,-35345.941
$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,67
$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
$GPS1,114055,1236.619,12046.054,39,1.5,39,-0.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-70.7
$GPS2,114739,1236.648,12046.061,13,1.5,13,-0.8
$SPEED_LIMITS,0.156,0.206
$TGT_NAME,RECOV_12_W
$TGT_LATLONG,1230.000,12043.000
$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,205.0,13499,-18.6,-9.016
$D_GRID,807
$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,-146.0,0.0,0.0,0,96,0.00,0.00,-70.35,0.000,2,0.000,0.000,248,2264,2540
$GC,100,-1.56,-146.0,3.8,-9.4,14,132,13.23,0.00,-15.07,0.000,6,0.164,0.000,2560,2264,3345
$GC,469,-1.34,-146.0,65.2,-14.8,80,476,0.22,2.28,0.00,0.000,4,0.122,0.041,2605,3594,3347
$GC,568,-1.19,-146.0,78.9,-14.2,97,574,0.20,2.30,0.00,0.000,6,0.109,0.025,2642,2189,3347
$GC,913,-1.26,-146.0,115.9,-10.6,158,919,0.00,2.40,0.00,0.000,4,0.000,0.042,2642,3590,3349
$GC,953,-1.26,-146.0,120.5,-11.0,165,959,0.00,1.95,0.00,0.000,6,0.000,0.025,2642,2378,3349
$GC,1300,-1.33,-146.0,152.7,-8.9,226,1306,0.12,2.08,0.00,0.000,4,0.052,0.042,2601,3594,3351
$GC,1347,-1.26,-146.0,157.4,-9.7,234,1353,0.15,1.80,0.00,0.000,6,0.097,0.025,2629,2465,3351
$GC,1693,-1.35,-146.0,187.5,-7.9,295,1699,0.00,1.92,0.00,0.000,4,0.000,0.044,2629,3598,3352
$GC,1762,-1.40,-146.0,193.4,-8.5,307,1769,0.15,1.95,0.00,0.000,6,0.051,0.026,2583,2393,3352
$GC,2106,-1.40,-146.0,223.2,-9.1,368,2112,0.00,2.70,0.00,0.000,4,0.000,0.042,2583,830,3352
$GC,2165,-1.36,-146.0,228.5,-9.3,378,2171,0.12,2.58,0.00,0.000,6,0.103,0.031,2607,2362,3352
$GC,2507,-1.47,-146.0,256.5,-8.3,432,2511,0.00,2.10,0.00,0.000,4,0.000,0.048,2606,3587,3351
$GC,2564,-1.47,-146.0,261.6,-8.8,437,2568,0.00,2.03,0.00,0.000,6,0.000,0.028,2607,2352,3351
$GC,2900,-1.58,-146.0,290.8,-8.6,468,2904,0.17,2.15,0.00,0.000,4,0.048,0.046,2549,3594,3349
$GC,2996,-1.46,-146.0,300.6,-10.1,476,3000,0.20,1.92,0.00,0.000,6,0.104,0.030,2586,2422,3348
$GC,3327,-1.54,-146.0,326.0,-7.6,507,3331,0.00,2.03,0.00,0.000,4,0.000,0.048,2586,3595,3346
$GC,3384,-1.54,-146.0,330.6,-8.1,512,3388,0.00,1.83,0.00,0.000,6,0.000,0.031,2586,2479,3346
$GC,3720,-1.60,-146.0,356.4,-8.2,543,3724,0.15,1.92,0.00,0.000,4,0.050,0.048,2537,3590,3344
$GC,3760,-1.46,-146.0,360.1,-8.2,546,3766,0.25,1.98,0.00,0.000,6,0.104,0.031,2583,2399,3344
$GC,4086,-1.52,-146.0,384.5,-7.5,577,4089,0.00,2.05,0.00,0.000,4,0.000,0.049,2583,3585,3342
$GC,4154,-1.52,-146.0,389.8,-8.1,583,4158,0.00,2.12,0.00,0.000,6,0.000,0.031,2583,2313,3341
$GC,4482,-1.61,-146.0,413.9,-7.8,613,4486,0.15,2.22,0.00,0.000,4,0.051,0.048,2535,3591,3339
$GC,4600,-1.48,-146.0,424.6,-9.0,623,4607,0.22,2.00,0.00,0.000,6,0.110,0.031,2576,2395,3338
$GC,4927,-1.54,-146.0,451.2,-8.3,654,4930,0.00,2.08,0.00,0.000,4,0.000,0.051,2576,3584,3335
$GC,4984,-1.54,-146.0,456.2,-8.5,659,4988,0.00,2.15,0.00,0.000,6,0.000,0.032,2576,2306,3335
$GC,5317,-1.61,-146.0,482.4,-8.0,690,5321,0.00,2.25,0.00,0.000,4,0.000,0.051,2576,3585,3332
$GC,5405,-1.61,-146.0,489.8,-8.4,697,5408,0.00,2.03,0.00,0.000,6,0.000,0.033,2576,2384,3332
$GC,5742,-1.67,-146.0,516.2,-8.0,719,5747,0.15,2.12,0.00,0.000,4,0.054,0.051,2531,3588,3330
$GC,5776,-1.55,-146.0,519.4,-9.0,720,5783,0.20,2.22,0.00,0.000,6,0.115,0.033,2566,2271,3329
$GC,6095,-1.59,-146.0,542.3,-7.1,736,6099,0.00,2.33,0.00,0.000,4,0.000,0.052,2566,3587,3327
$GC,6117,-1.59,-146.0,544.1,-6.9,737,6121,0.00,2.03,0.00,0.000,6,0.000,0.033,2566,2380,3327
$GC,6447,-1.65,-146.0,567.2,-7.1,753,6452,0.00,2.75,0.00,0.000,4,0.000,0.053,2566,836,3326
$GC,6515,-1.65,-146.0,572.6,-7.6,756,6520,0.00,2.42,0.00,0.000,6,0.000,0.036,2566,2247,3326
$GC,6842,-1.70,-146.0,596.1,-7.6,772,6847,0.15,2.53,0.00,0.000,4,0.054,0.053,2524,831,3324
$GC,6883,-1.56,-146.0,600.2,-9.2,774,6888,0.20,2.70,0.00,0.000,6,0.114,0.037,2560,2392,3324
$GC,7213,-1.60,-146.0,625.8,-7.6,790,7217,0.00,2.17,0.00,0.000,4,0.000,0.056,2560,3625,3321
$GC,7299,-1.56,-146.0,633.3,-8.0,794,7303,0.00,2.28,0.00,0.000,6,0.000,0.035,2560,2286,3321
$GC,7629,-1.59,-146.0,658.4,-7.6,810,7634,0.00,2.60,0.00,0.000,4,0.000,0.054,2560,830,3320
$GC,7733,-1.55,-146.0,666.9,-8.3,814,7739,0.00,2.70,0.00,0.000,6,0.000,0.037,2560,2389,3319
$GC,8051,-1.59,-146.0,690.8,-7.5,830,8055,0.00,2.17,0.00,0.000,4,0.000,0.058,2560,3616,3318
$GC,8141,-1.54,-146.0,698.3,-9.1,834,8145,0.00,2.25,0.00,0.000,6,0.000,0.035,2560,2291,3317
$GC,8465,-1.54,-146.0,724.7,-7.9,850,8469,0.00,2.62,0.00,0.000,4,0.000,0.057,2560,828,3316
$GC,8550,-1.51,-146.0,732.0,-8.6,854,8554,0.00,2.72,0.00,0.000,6,0.000,0.038,2560,2394,3316
$GC,8877,-1.51,-146.0,758.6,-8.7,870,8882,0.00,2.80,0.00,0.000,4,0.000,0.055,2560,836,3315
$GC,8963,-1.51,-146.0,766.1,-8.4,874,8967,0.00,2.55,0.00,0.000,6,0.000,0.038,2560,2304,3314
$GC,9290,-1.51,-146.0,794.5,-9.7,890,9294,0.00,2.35,0.00,0.000,4,0.000,0.058,2560,3625,3313
$GC,9363,-1.45,-146.0,799.5,-7.8,893,9368,0.15,2.20,0.00,0.000,6,0.117,0.036,2586,2334,3312
$STATE,9511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9511,begin apogee
$GC,9518,-0.35,0.0,807.9,6.0,900,9642,1.20,0.00,120.68,1.223,6,0.104,0.000,2824,2333,2749
$STATE,9643,end apogee,CONTROL_FINISHED_OK
$STATE,9643,begin climb
$GC,9646,1.56,146.0,812.4,0.0,906,9782,1.92,2.62,126.40,1.185,4,0.052,0.059,3251,3720,2152
$GC,9861,1.32,194.4,809.1,6.8,916,9910,0.32,2.38,41.50,1.180,6,0.138,0.039,3195,2359,1955
$GC,10228,1.23,212.6,775.9,8.2,934,10250,0.12,2.67,15.70,1.192,4,0.129,0.062,3175,935,1880
$GC,10367,1.15,212.6,763.4,9.9,940,10371,0.00,2.42,0.00,0.000,6,0.000,0.039,3175,2310,1880
$GC,10700,1.08,212.6,734.3,9.2,956,10705,0.17,2.55,0.00,0.000,4,0.117,0.059,3140,3721,1879
$GC,10739,1.08,212.6,730.6,9.3,958,10744,0.00,2.50,0.00,0.000,6,0.000,0.039,3141,2292,1879
$GC,11066,1.14,250.8,704.6,7.3,974,11108,0.00,2.60,32.83,1.167,4,0.000,0.062,3140,932,1724
$GC,11203,1.14,250.8,692.9,9.1,980,11207,0.00,2.35,0.00,0.000,6,0.000,0.038,3140,2270,1723
$GC,11525,1.27,276.1,666.4,7.9,996,11555,0.15,2.72,22.20,1.154,4,0.061,0.059,3182,3715,1622
$GC,11561,1.23,276.1,663.1,9.0,997,11567,0.00,2.85,0.00,0.000,6,0.000,0.041,3182,2115,1622
$GC,11877,1.18,276.1,633.8,9.0,1013,11882,0.00,2.92,0.00,0.000,4,0.000,0.057,3182,3727,1618
$GC,12001,1.14,277.4,621.8,9.0,1018,12008,0.15,2.67,0.00,0.000,6,0.120,0.041,3157,2202,1619
$GC,12318,1.27,298.8,595.4,8.1,1034,12342,0.10,2.40,19.45,1.121,4,0.073,0.063,3182,930,1530
$GC,12377,1.27,298.8,589.9,9.3,1036,12383,0.00,2.53,0.00,0.000,6,0.000,0.038,3182,2357,1529
$GC,12693,1.30,298.8,560.9,9.1,1052,12697,0.00,2.47,0.00,0.000,4,0.000,0.058,3181,3733,1528
$GC,12778,1.30,298.8,553.0,9.3,1056,12782,0.00,2.65,0.00,0.000,6,0.000,0.039,3182,2208,1528
$GC,13105,1.37,307.8,524.1,8.6,1072,13119,0.00,2.40,7.65,1.106,4,0.000,0.059,3182,932,1492
$GC,13183,1.37,308.1,516.9,9.0,1075,13187,0.00,1.95,0.00,0.000,6,0.000,0.035,3182,2059,1492
$GC,13509,1.50,337.3,489.8,7.7,1097,13542,0.20,2.17,26.27,1.036,4,0.059,0.059,3234,929,1372
$GC,13635,1.40,337.3,478.0,9.9,1108,13640,0.12,2.28,0.00,0.000,6,0.119,0.037,3213,2227,1369
$GC,13960,1.40,337.3,447.7,9.8,1138,13964,0.00,2.35,0.00,0.000,4,0.000,0.057,3213,931,1368
$GC,13983,1.40,337.3,445.5,9.7,1140,13987,0.00,1.92,0.00,0.000,6,0.000,0.036,3213,2047,1367
$GC,14319,1.45,337.3,413.5,9.5,1171,14322,0.00,2.03,0.00,0.000,4,0.000,0.058,3213,929,1367
$GC,14346,1.45,337.3,410.3,9.6,1173,14352,0.00,2.25,0.00,0.000,6,0.000,0.036,3213,2229,1367
$GC,14674,1.49,337.3,379.0,9.6,1204,14679,0.00,2.67,0.00,0.000,4,0.000,0.054,3213,3733,1367
$GC,14696,1.49,337.3,376.4,9.8,1205,14702,0.00,2.95,0.00,0.000,6,0.000,0.038,3212,2035,1367
$GC,15024,1.55,337.3,345.2,9.7,1236,15029,0.15,2.00,0.00,0.000,4,0.065,0.056,3252,919,1367
$GC,15041,1.55,337.3,343.1,9.8,1237,15045,0.00,2.28,0.00,0.000,6,0.000,0.036,3253,2230,1366
$GC,15374,1.47,337.3,309.7,9.5,1268,15379,0.15,2.35,0.00,0.000,4,0.114,0.054,3222,925,1366
$GC,15461,1.43,337.3,301.6,10.1,1275,15465,0.00,1.98,0.00,0.000,6,0.000,0.035,3222,2076,1366
$GC,15795,1.49,338.9,271.5,8.9,1306,15799,0.00,2.92,0.00,0.000,4,0.000,0.051,3222,3730,1366
$GC,15869,1.46,343.5,264.2,8.8,1312,15880,0.00,2.62,4.68,0.914,6,0.000,0.035,3222,2205,1348
$GC,16210,1.51,349.5,233.2,8.8,1359,16222,0.00,2.30,5.55,0.884,4,0.000,0.052,3222,928,1322
$GC,16320,1.52,353.8,223.5,8.8,1378,16331,0.00,1.92,4.12,0.876,6,0.000,0.033,3222,2053,1304
$GC,16673,1.63,356.7,195.3,8.9,1440,16685,0.15,3.00,2.62,0.844,4,0.062,0.049,3265,3720,1293
$GC,16801,1.56,356.7,182.3,9.9,1462,16807,0.00,2.62,0.00,0.000,6,0.000,0.035,3265,2194,1292
$GC,17146,1.56,356.7,152.8,9.2,1523,17152,0.00,2.70,0.00,0.000,4,0.000,0.048,3265,3726,1292
$GC,17243,1.52,359.6,144.0,8.9,1540,17255,0.15,2.40,2.65,0.808,6,0.120,0.033,3239,2315,1281
$GC,17596,1.72,411.0,119.8,6.7,1602,17645,0.15,2.60,43.15,0.690,4,0.061,0.048,3282,3726,1072
$GC,17659,1.85,452.4,115.7,7.2,1613,17701,0.12,2.60,35.00,0.670,6,0.060,0.031,3314,2217,903
$GC,18040,1.92,464.8,83.9,8.5,1681,18056,0.00,2.30,9.38,0.670,4,0.000,0.048,3314,934,852
$GC,18159,1.99,510.2,75.0,7.0,1702,18202,0.12,1.98,37.35,0.622,6,0.055,0.030,3356,2098,668
$GC,18543,2.11,543.1,40.4,7.5,1770,18575,0.00,2.97,26.45,0.583,4,0.000,0.046,3356,3736,533
$GC,18662,2.16,543.1,30.2,9.5,1791,18668,0.00,2.97,0.00,0.000,6,0.000,0.030,3356,1983,530
$STATE,18958,end climb,SURFACE_DEPTH_REACHED
$STATE,18958,begin surface coast
$FINISH,-0.1,1.021041
$STATE,18983,end surface coast,CONTROL_FINISHED_OK
$STATE,18983,begin surface
$SM_CCo,19069,0.00,0.000,0,0,528,544.57
$SM_GC,0.84,13.57,0.00,0.00,0.036,0.000,0.000,249,2294,528,-12.17,2.21,544.57
$IRIDIUM_FIX,1229.99,12046.08,100897,060613
$TT8_MAMPS,0.02301
$HUMID,2052
$INTERNAL_PRESSURE,9.67811
$TCM_TEMP,25.20
$XPDR_PINGS,373
$ALTIM_BOTTOM_PING,770.5,86.6
$24V_AH,22.9,77.558
$10V_AH,10.1,39.624
$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,35.250,212.575,583.625,0.000,0.000,24.374,42.713,187.914,101.000,0.000,0.000,13.368,2996.081,11759.769,712.682,3249.428,752.886,0.000,2375.943,0.000,3166.371,0.000,62.816
$DEVICE_MAMPS,164.138,62.894,1223.365,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1236.171,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59732,1848
$CAP_FILE_SIZE,206952,0
$CFSIZE,260165632,222142464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160508,170707,1236.636,12045.658,28,1.2,28,-0.8