version: 66.03
glider: 122
mission: 6
dive: 419
start: 5 17 108 9 30 30
data:
$ID,122
$MISSION,6
$DIVE,419
$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,-35430.891
$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,32
$R_STBD_OVSHOOT,73
$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
$GPS1,092301,1236.540,12044.521,37,1.0,37,-0.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-72.3
$GPS2,092957,1236.486,12044.580,15,1.0,15,-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,194.2,12346,-18.6,-9.016
$D_GRID,863
$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,-146.0,0.0,0.0,0,91,0.00,0.00,-65.45,0.000,2,0.000,0.000,249,2263,2561
$GC,95,-1.56,-146.0,3.7,-8.4,13,132,13.40,2.30,-15.20,0.000,4,0.170,0.054,2560,3576,3346
$GC,173,-1.30,-146.0,18.6,-16.2,27,179,0.32,2.28,0.00,0.000,6,0.113,0.025,2620,2198,3346
$GC,518,-1.23,-146.0,65.6,-12.4,88,524,0.00,2.38,0.00,0.000,4,0.000,0.041,2620,817,3348
$GC,581,-1.16,-146.0,73.7,-12.9,99,588,0.08,2.42,0.00,0.000,6,0.107,0.028,2648,2277,3348
$GC,927,-1.24,-146.0,107.8,-9.5,160,933,0.00,2.50,0.00,0.000,4,0.000,0.039,2648,822,3350
$GC,1001,-1.24,-146.0,115.4,-10.1,173,1007,0.00,2.30,0.00,0.000,6,0.000,0.028,2648,2205,3350
$GC,1347,-1.34,-146.0,147.8,-8.3,234,1353,0.15,2.38,0.00,0.000,4,0.049,0.039,2597,818,3352
$GC,1423,-1.29,-146.0,154.9,-10.2,247,1430,0.12,2.53,0.00,0.000,6,0.100,0.028,2621,2330,3352
$GC,1769,-1.40,-146.0,184.5,-7.4,308,1775,0.00,2.60,0.00,0.000,4,0.000,0.041,2621,821,3353
$GC,1860,-1.47,-146.0,192.0,-8.1,324,1867,0.17,2.65,0.00,0.000,6,0.046,0.030,2566,2396,3352
$GC,2206,-1.47,-146.0,223.5,-8.4,385,2212,0.00,2.10,0.00,0.000,4,0.000,0.048,2566,3621,3353
$GC,2304,-1.38,-146.0,232.1,-8.9,402,2311,0.20,2.17,0.00,0.000,6,0.096,0.028,2604,2296,3353
$GC,2649,-1.49,-146.0,259.8,-7.9,453,2654,0.12,2.55,0.00,0.000,4,0.053,0.044,2563,827,3351
$GC,2690,-1.42,-146.0,263.3,-8.4,456,2695,0.17,2.58,0.00,0.000,6,0.099,0.031,2595,2347,3351
$GC,3016,-1.49,-146.0,288.9,-7.6,486,3020,0.00,2.65,0.00,0.000,4,0.000,0.045,2596,828,3349
$GC,3072,-1.49,-146.0,293.6,-8.6,490,3078,0.00,2.40,0.00,0.000,6,0.000,0.031,2595,2251,3349
$GC,3400,-1.60,-146.0,319.3,-8.4,521,3405,0.15,2.50,0.00,0.000,4,0.051,0.046,2545,820,3347
$GC,3434,-1.51,-146.0,322.7,-9.8,523,3440,0.15,2.62,0.00,0.000,6,0.104,0.032,2573,2362,3347
$GC,3760,-1.56,-146.0,349.9,-8.1,554,3763,0.00,2.15,0.00,0.000,4,0.000,0.049,2573,3616,3345
$GC,3783,-1.56,-146.0,351.8,-8.4,556,3787,0.00,2.17,0.00,0.000,6,0.000,0.031,2573,2311,3345
$GC,4111,-1.62,-146.0,376.8,-7.4,586,4116,0.00,2.62,0.00,0.000,4,0.000,0.048,2573,821,3343
$GC,4145,-1.62,-146.0,379.8,-7.6,588,4151,0.00,2.62,0.00,0.000,6,0.000,0.033,2573,2356,3342
$GC,4474,-1.67,-146.0,405.6,-7.9,619,4479,0.15,2.70,0.00,0.000,4,0.052,0.047,2524,829,3340
$GC,4541,-1.56,-146.0,412.4,-9.1,624,4548,0.20,2.78,0.00,0.000,6,0.102,0.034,2560,2444,3339
$GC,4867,-1.59,-146.0,439.9,-8.2,655,4870,0.00,2.05,0.00,0.000,4,0.000,0.052,2561,3621,3337
$GC,4935,-1.59,-146.0,446.1,-8.7,661,4939,0.00,2.17,0.00,0.000,6,0.000,0.032,2561,2331,3336
$GC,5268,-1.59,-146.0,474.1,-8.4,692,5272,0.00,2.28,0.00,0.000,4,0.000,0.051,2561,3622,3334
$GC,5331,-1.55,-146.0,479.9,-9.1,697,5335,0.00,2.35,0.00,0.000,6,0.000,0.033,2561,2238,3334
$GC,5668,-1.59,-146.0,506.8,-8.1,724,5672,0.00,2.45,0.00,0.000,4,0.000,0.051,2561,3622,3332
$GC,5685,-1.59,-146.0,508.3,-8.0,725,5689,0.00,2.17,0.00,0.000,6,0.000,0.032,2561,2335,3331
$GC,6015,-1.65,-146.0,533.3,-7.6,741,6020,0.00,2.70,0.00,0.000,4,0.000,0.051,2561,817,3329
$GC,6066,-1.65,-146.0,537.6,-7.9,743,6070,0.00,2.78,0.00,0.000,6,0.000,0.036,2561,2421,3330
$GC,6385,-1.68,-146.0,560.8,-7.2,758,6389,0.00,2.10,0.00,0.000,4,0.000,0.055,2561,3612,3327
$GC,6443,-1.63,-146.0,565.6,-7.4,760,6446,0.00,2.22,0.00,0.000,6,0.000,0.034,2561,2285,3327
$GC,6765,-1.68,-146.0,588.6,-7.2,776,6770,0.10,2.60,0.00,0.000,4,0.067,0.053,2532,817,3326
$GC,6870,-1.59,-146.0,597.4,-8.8,780,6877,0.12,2.70,0.00,0.000,6,0.115,0.036,2553,2378,3325
$GC,7188,-1.59,-146.0,622.1,-7.6,796,7192,0.00,2.20,0.00,0.000,4,0.000,0.057,2554,3620,3324
$GC,7296,-1.54,-146.0,631.5,-8.6,801,7300,0.00,2.30,0.00,0.000,6,0.000,0.035,2553,2269,3324
$GC,7626,-1.57,-146.0,658.7,-8.5,817,7630,0.00,2.40,0.00,0.000,4,0.000,0.054,2554,3619,3321
$GC,7717,-1.52,-146.0,667.1,-9.3,821,7721,0.00,2.47,0.00,0.000,6,0.000,0.036,2553,2179,3321
$GC,8039,-1.52,-146.0,692.3,-7.7,837,8043,0.00,2.45,0.00,0.000,4,0.000,0.058,2553,814,3319
$GC,8090,-1.48,-146.0,696.6,-7.8,839,8095,0.15,2.58,0.00,0.000,6,0.114,0.037,2580,2302,3319
$GC,8407,-1.53,-146.0,715.3,-5.3,854,8411,0.00,2.33,0.00,0.000,4,0.000,0.057,2580,3616,3318
$GC,8522,-1.53,-146.0,722.8,-6.0,859,8526,0.00,2.17,0.00,0.000,6,0.000,0.036,2580,2341,3318
$GC,8850,-1.62,-146.0,744.1,-6.8,875,8854,0.15,2.25,0.00,0.000,4,0.065,0.056,2547,3611,3316
$STATE,8995,end dive,NO_VERTICAL_VELOCITY
$STATE,8995,begin apogee
$GC,9003,-0.35,0.0,743.7,0.0,881,9128,1.25,0.00,120.50,1.169,6,0.057,0.000,2825,2326,2748
$STATE,9128,end apogee,CONTROL_FINISHED_OK
$STATE,9128,begin climb
$GC,9132,1.56,146.0,743.3,0.0,887,9267,1.90,2.62,124.93,1.129,4,0.047,0.057,3255,3712,2152
$GC,9412,1.29,169.4,726.2,8.0,900,9438,0.38,2.40,19.80,1.137,6,0.124,0.040,3189,2341,2057
$GC,9762,1.27,218.6,700.9,6.8,917,9812,0.00,2.65,42.45,1.121,4,0.000,0.062,3189,925,1854
$GC,9853,1.18,227.8,694.0,8.6,921,9868,0.15,2.50,7.72,1.133,6,0.118,0.038,3163,2335,1819
$GC,10199,1.22,250.3,666.0,8.0,938,10223,0.00,2.58,19.30,1.127,4,0.000,0.059,3163,3723,1727
$GC,10321,1.21,266.7,655.5,8.3,943,10340,0.00,2.62,14.57,1.121,6,0.000,0.040,3163,2227,1660
$GC,10659,1.29,285.5,627.7,8.2,960,10681,0.12,2.42,16.25,1.118,4,0.072,0.062,3191,928,1583
$GC,10710,1.22,285.5,622.7,10.3,962,10716,0.00,2.03,0.00,0.000,6,0.000,0.038,3191,2085,1582
$GC,11028,1.16,285.5,592.6,9.6,978,11033,0.15,2.12,0.00,0.000,4,0.113,0.060,3161,926,1580
$GC,11091,1.16,285.5,586.6,9.2,981,11095,0.00,2.17,0.00,0.000,6,0.000,0.038,3161,2173,1580
$GC,11419,1.30,297.5,558.8,8.5,997,11435,0.12,2.85,10.25,1.104,4,0.067,0.055,3192,3729,1534
$GC,11481,1.25,297.5,552.8,9.9,999,11486,0.00,2.47,0.00,0.000,6,0.000,0.038,3192,2314,1534
$GC,11809,1.26,302.5,523.6,8.8,1015,11818,0.00,2.55,4.35,1.095,4,0.000,0.058,3192,930,1515
$GC,11870,1.22,302.5,517.7,9.7,1017,11877,0.12,2.15,0.00,0.000,6,0.121,0.036,3172,2168,1514
$GC,12192,1.33,302.5,489.4,9.4,1038,12198,0.12,2.80,0.00,0.000,4,0.067,0.054,3203,3731,1513
$GC,12249,1.28,302.5,483.5,9.5,1042,12255,0.00,2.45,0.00,0.000,6,0.000,0.038,3203,2312,1513
$GC,12576,1.28,302.5,452.2,9.4,1073,12580,0.00,2.50,0.00,0.000,4,0.000,0.058,3203,926,1512
$GC,12644,1.24,302.5,445.7,9.5,1078,12650,0.15,2.15,0.00,0.000,6,0.116,0.036,3178,2167,1512
$GC,12970,1.39,329.9,419.8,7.8,1109,13002,0.15,2.88,23.60,0.987,4,0.063,0.054,3218,3728,1403
$GC,13061,1.33,329.9,411.5,10.0,1117,13066,0.12,2.50,0.00,0.000,6,0.127,0.037,3198,2293,1402
$GC,13386,1.40,329.9,382.7,9.2,1147,13390,0.00,2.45,0.00,0.000,4,0.000,0.056,3198,932,1400
$GC,13486,1.40,329.9,373.3,9.8,1155,13493,0.00,2.08,0.00,0.000,6,0.000,0.036,3198,2135,1398
$GC,13815,1.52,346.9,344.7,8.3,1186,13837,0.15,2.92,14.62,0.943,4,0.060,0.054,3242,3730,1333
$GC,13899,1.45,346.9,336.2,9.7,1193,13906,0.12,2.53,0.00,0.000,6,0.127,0.036,3222,2274,1332
$GC,14225,1.50,356.3,308.0,8.6,1224,14239,0.00,2.47,8.10,0.932,4,0.000,0.054,3222,938,1294
$GC,14325,1.50,356.3,298.8,10.6,1233,14329,0.00,2.03,0.00,0.000,6,0.000,0.035,3222,2111,1293
$GC,14660,1.57,356.3,267.9,9.7,1264,14665,0.12,2.88,0.00,0.000,4,0.067,0.051,3254,3730,1293
$GC,14728,1.47,356.3,260.3,10.5,1269,14734,0.15,2.55,0.00,0.000,6,0.126,0.036,3229,2246,1293
$GC,15066,1.54,356.3,229.6,9.4,1320,15072,0.00,2.35,0.00,0.000,4,0.000,0.054,3229,928,1293
$GC,15174,1.54,356.3,219.8,10.0,1339,15180,0.00,1.98,0.00,0.000,6,0.000,0.033,3229,2085,1292
$GC,15518,1.63,360.7,188.5,8.8,1400,15530,0.15,2.95,3.75,0.835,4,0.061,0.051,3271,3736,1277
$GC,15625,1.54,360.7,178.0,10.7,1418,15631,0.17,2.60,0.00,0.000,6,0.124,0.035,3241,2226,1276
$GC,15970,1.63,377.9,148.6,8.2,1479,15992,0.00,2.35,14.75,0.762,4,0.000,0.052,3241,932,1206
$GC,16061,1.75,415.1,141.4,7.4,1495,16098,0.20,2.05,31.73,0.722,6,0.051,0.032,3294,2129,1055
$GC,16438,1.84,429.2,110.1,8.4,1562,16455,0.00,2.88,11.43,0.713,4,0.000,0.048,3294,3733,998
$GC,16523,1.89,457.6,103.2,7.7,1577,16555,0.00,2.60,23.95,0.676,6,0.000,0.031,3294,2213,882
$GC,16896,2.07,496.3,75.4,7.3,1643,16934,0.25,2.38,31.77,0.630,4,0.044,0.048,3364,926,724
$GC,17030,2.00,496.3,61.8,10.7,1666,17036,0.12,1.98,0.00,0.000,6,0.105,0.029,3341,2098,720
$GC,17375,2.12,506.9,31.5,8.5,1727,17392,0.12,2.90,7.68,0.613,4,0.061,0.044,3377,3724,681
$GC,17449,2.12,506.9,23.4,11.0,1740,17455,0.00,2.58,0.00,0.000,6,0.000,0.029,3377,2202,681
$STATE,17667,end climb,SURFACE_DEPTH_REACHED
$STATE,17667,begin surface coast
$FINISH,-0.2,1.021039
$STATE,17685,end surface coast,CONTROL_FINISHED_OK
$STATE,17685,begin surface
$SM_CCo,17770,0.00,0.000,0,0,677,508.02
$SM_GC,0.75,13.68,0.00,0.00,0.036,0.000,0.000,249,2196,677,-12.18,-0.54,508.02
$IRIDIUM_FIX,1232.20,12046.08,110897,040431
$TT8_MAMPS,0.023777
$HUMID,2076
$INTERNAL_PRESSURE,9.67811
$TCM_TEMP,25.10
$XPDR_PINGS,388
$ALTIM_BOTTOM_PING,651.7,98.5
$24V_AH,23.0,78.333
$10V_AH,10.1,40.011
$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,35.925,209.825,551.500,0.000,0.000,26.259,39.357,200.133,102.000,0.000,0.000,17.433,2879.792,10742.652,690.365,3122.095,748.255,0.000,2288.062,0.000,3045.079,0.000,41.790
$DEVICE_MAMPS,169.507,62.127,1168.908,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1191.326,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56729,1782
$CAP_FILE_SIZE,198726,0
$CFSIZE,260165632,221782016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170508,142755,1236.243,12044.454,38,1.5,38,-0.8