version: 66.03
glider: 122
mission: 6
dive: 422
start: 5 18 108 1 47 1
data:
$ID,122
$MISSION,6
$DIVE,422
$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,-35491.59
$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,29
$R_STBD_OVSHOOT,49
$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
$GPS1,013938,1234.968,12044.432,40,1.0,40,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-70.5
$GPS2,014627,1234.907,12044.441,12,1.2,12,-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,196.8,9455,-18.6,-9.016
$D_GRID,836
$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,-65.50,0.000,2,0.000,0.000,248,2247,2504
$GC,95,-1.56,-146.0,3.5,-7.9,13,132,13.35,2.53,-16.70,0.000,4,0.167,0.050,2561,804,3345
$GC,145,-1.23,-146.0,13.5,-15.4,22,152,0.40,2.35,0.00,0.000,6,0.107,0.028,2636,2205,3345
$GC,490,-1.23,-146.0,55.5,-11.0,83,496,0.00,2.42,0.00,0.000,4,0.000,0.044,2636,3618,3347
$GC,588,-1.14,-146.0,67.4,-12.6,100,594,0.10,2.05,0.00,0.000,6,0.112,0.025,2653,2350,3347
$GC,933,-1.26,-146.0,104.0,-10.6,161,939,0.12,2.15,0.00,0.000,4,0.051,0.042,2610,3619,3349
$GC,1036,-1.17,-146.0,116.1,-11.9,179,1043,0.20,2.17,0.00,0.000,6,0.094,0.025,2648,2284,3350
$GC,1382,-1.30,-146.0,148.7,-8.5,240,1388,0.12,2.28,0.00,0.000,4,0.051,0.041,2605,3618,3352
$GC,1464,-1.26,-146.0,156.5,-9.6,254,1471,0.12,2.12,0.00,0.000,6,0.096,0.026,2629,2310,3351
$GC,1810,-1.38,-146.0,184.6,-7.7,315,1817,0.12,2.60,0.00,0.000,4,0.053,0.041,2586,805,3352
$GC,1846,-1.38,-146.0,187.9,-8.9,321,1852,0.00,2.70,0.00,0.000,6,0.000,0.030,2585,2410,3352
$GC,2191,-1.42,-146.0,215.3,-7.7,382,2197,0.00,2.08,0.00,0.000,4,0.000,0.046,2586,3625,3352
$GC,2288,-1.42,-146.0,223.5,-8.5,399,2294,0.00,2.22,0.00,0.000,6,0.000,0.028,2586,2271,3352
$GC,2638,-1.48,-146.0,251.9,-7.6,459,2642,0.00,2.55,0.00,0.000,4,0.000,0.045,2586,808,3351
$GC,2716,-1.48,-146.0,258.4,-8.3,465,2722,0.00,2.72,0.00,0.000,6,0.000,0.032,2586,2416,3351
$GC,3044,-1.53,-146.0,284.6,-8.1,496,3049,0.00,2.83,0.00,0.000,4,0.000,0.044,2586,804,3349
$GC,3055,-1.59,-146.0,285.7,-8.1,496,3062,0.12,2.53,0.00,0.000,6,0.054,0.031,2544,2295,3349
$GC,3381,-1.59,-146.0,313.7,-8.4,527,3384,0.00,2.28,0.00,0.000,4,0.000,0.048,2544,3619,3347
$GC,3484,-1.46,-146.0,322.6,-8.8,536,3488,0.22,2.00,0.00,0.000,6,0.105,0.031,2585,2399,3346
$GC,3815,-1.53,-146.0,348.5,-8.2,567,3818,0.00,2.12,0.00,0.000,4,0.000,0.049,2585,3622,3344
$GC,3854,-1.53,-146.0,352.0,-8.6,570,3860,0.00,2.20,0.00,0.000,6,0.000,0.031,2585,2300,3344
$GC,4182,-1.60,-146.0,377.7,-7.9,601,4187,0.15,2.65,0.00,0.000,4,0.052,0.048,2536,802,3342
$GC,4272,-1.49,-146.0,386.4,-9.8,608,4278,0.22,2.83,0.00,0.000,6,0.100,0.034,2578,2444,3341
$GC,4597,-1.55,-146.0,413.0,-8.4,639,4601,0.00,2.03,0.00,0.000,4,0.000,0.051,2578,3616,3339
$GC,4666,-1.55,-146.0,418.7,-8.4,645,4670,0.00,2.20,0.00,0.000,6,0.000,0.032,2578,2311,3338
$GC,4994,-1.61,-146.0,444.3,-7.9,675,4999,0.12,2.30,0.00,0.000,4,0.058,0.050,2543,3616,3336
$GC,5102,-1.50,-146.0,453.7,-8.2,684,5106,0.17,2.03,0.00,0.000,6,0.107,0.033,2574,2410,3335
$GC,5427,-1.56,-146.0,478.9,-8.2,714,5431,0.00,2.12,0.00,0.000,4,0.000,0.053,2574,3622,3333
$GC,5462,-1.56,-146.0,481.8,-8.1,717,5466,0.00,2.22,0.00,0.000,6,0.000,0.032,2574,2308,3332
$GC,5788,-1.63,-146.0,506.8,-7.8,743,5793,0.12,2.33,0.00,0.000,4,0.058,0.051,2538,3621,3331
$GC,5806,-1.63,-146.0,508.4,-8.1,744,5809,0.00,2.03,0.00,0.000,6,0.000,0.033,2538,2417,3330
$GC,6139,-1.63,-146.0,536.2,-8.3,760,6144,0.00,2.88,0.00,0.000,4,0.000,0.051,2538,807,3328
$GC,6229,-1.53,-146.0,544.0,-8.1,764,6234,0.17,2.62,0.00,0.000,6,0.108,0.035,2570,2323,3328
$GC,6554,-1.59,-146.0,566.2,-6.6,780,6558,0.00,2.70,0.00,0.000,4,0.000,0.052,2569,814,3327
$GC,6594,-1.56,-146.0,569.3,-7.6,782,6598,0.00,2.80,0.00,0.000,6,0.000,0.036,2570,2425,3326
$GC,6924,-1.62,-146.0,591.8,-7.0,798,6928,0.00,2.08,0.00,0.000,4,0.000,0.057,2570,3610,3325
$GC,6997,-1.62,-146.0,597.8,-7.9,801,7001,0.00,2.22,0.00,0.000,6,0.000,0.035,2570,2299,3324
$GC,7323,-1.67,-146.0,620.4,-6.9,817,7328,0.12,2.67,0.00,0.000,4,0.058,0.054,2535,804,3322
$GC,7431,-1.57,-146.0,628.9,-7.4,822,7437,0.12,2.78,0.00,0.000,6,0.114,0.038,2557,2399,3321
$GC,7763,-1.57,-146.0,652.0,-7.1,838,7767,0.00,2.15,0.00,0.000,4,0.000,0.058,2556,3615,3320
$GC,7842,-1.53,-146.0,658.6,-8.4,841,7848,0.00,2.30,0.00,0.000,6,0.000,0.035,2557,2269,3319
$GC,8159,-1.56,-146.0,681.3,-7.2,857,8164,0.00,2.62,0.00,0.000,4,0.000,0.057,2557,808,3318
$GC,8250,-1.52,-146.0,688.4,-7.7,861,8254,0.00,2.78,0.00,0.000,6,0.000,0.038,2557,2402,3317
$GC,8573,-1.55,-146.0,713.5,-7.8,877,8577,0.00,2.15,0.00,0.000,4,0.000,0.059,2557,3612,3317
$GC,8660,-1.49,-146.0,720.6,-8.4,881,8664,0.12,2.30,0.00,0.000,6,0.120,0.037,2578,2272,3316
$GC,8988,-1.57,-146.0,744.5,-7.1,897,8993,0.00,2.62,0.00,0.000,4,0.000,0.058,2578,816,3315
$GC,9052,-1.57,-146.0,749.6,-8.3,900,9056,0.00,2.78,0.00,0.000,6,0.000,0.038,2578,2402,3314
$GC,9379,-1.64,-146.0,772.8,-6.9,916,9384,0.15,2.15,0.00,0.000,4,0.054,0.059,2536,3609,3313
$GC,9447,-1.55,-146.0,778.7,-8.6,919,9452,0.15,2.30,0.00,0.000,6,0.117,0.037,2561,2271,3313
$GC,9769,-1.59,-146.0,802.2,-7.4,935,9773,0.00,2.62,0.00,0.000,4,0.000,0.059,2562,816,3312
$GC,9858,-1.59,-146.0,809.4,-7.6,939,9863,0.00,2.72,0.00,0.000,6,0.000,0.039,2562,2378,3311
$GC,10180,-1.99,-146.0,824.4,0.4,955,10186,0.40,2.85,0.00,0.000,4,0.049,0.057,2464,809,3310
$STATE,10257,end dive,NO_VERTICAL_VELOCITY
$STATE,10257,begin apogee
$GC,10267,-0.35,0.0,824.1,0.0,958,10393,1.65,0.00,121.72,1.244,6,0.067,0.000,2827,2323,2748
$STATE,10394,end apogee,CONTROL_FINISHED_OK
$STATE,10394,begin climb
$GC,10398,1.56,146.0,823.9,0.0,965,10534,1.92,2.62,127.55,1.199,4,0.056,0.061,3243,3724,2152
$GC,10562,1.27,146.0,815.8,9.9,972,10567,0.35,2.45,0.00,0.000,6,0.134,0.040,3184,2335,2151
$GC,10887,1.18,161.6,790.9,8.3,988,10909,0.12,2.67,13.35,1.218,4,0.130,0.062,3163,935,2089
$GC,11073,1.12,178.2,775.5,8.3,996,11092,0.00,2.38,14.57,1.212,6,0.000,0.038,3163,2286,2021
$GC,11417,1.11,218.3,748.7,7.2,1013,11459,0.00,2.67,35.03,1.187,4,0.000,0.061,3163,3723,1857
$GC,11483,1.06,218.3,742.7,10.3,1016,11488,0.15,2.50,0.00,0.000,6,0.127,0.040,3138,2309,1857
$GC,11811,1.12,253.2,717.1,7.5,1032,11847,0.00,2.65,30.60,1.174,4,0.000,0.058,3138,3729,1715
$GC,11931,1.15,271.7,707.2,8.2,1036,11957,0.00,2.65,16.25,1.175,6,0.000,0.041,3139,2226,1640
$GC,12270,1.31,298.0,681.2,7.8,1053,12300,0.20,2.47,23.42,1.160,4,0.060,0.064,3190,937,1532
$GC,12368,1.26,298.0,671.4,10.6,1057,12372,0.00,2.58,0.00,0.000,6,0.000,0.040,3190,2387,1529
$GC,12685,1.22,298.0,639.8,9.8,1072,12689,0.00,2.42,0.00,0.000,4,0.000,0.061,3190,3729,1529
$GC,12775,1.17,298.0,630.4,10.0,1076,12780,0.17,2.53,0.00,0.000,6,0.127,0.040,3161,2284,1529
$GC,13099,1.27,310.6,602.9,8.5,1092,13115,0.00,2.53,10.75,1.151,4,0.000,0.061,3161,932,1480
$GC,13183,1.27,310.6,595.3,9.2,1095,13187,0.00,2.08,0.00,0.000,6,0.000,0.037,3161,2118,1479
$GC,13517,1.42,323.8,566.3,8.4,1111,13539,0.20,3.03,11.45,1.124,4,0.058,0.056,3213,3730,1428
$GC,13618,1.34,323.8,555.7,10.2,1115,13622,0.00,2.55,0.00,0.000,6,0.000,0.040,3213,2275,1428
$GC,13934,1.34,323.8,525.2,9.5,1130,13938,0.00,2.45,0.00,0.000,4,0.000,0.060,3213,931,1426
$GC,14013,1.26,323.8,517.2,9.7,1133,14018,0.17,2.05,0.00,0.000,6,0.121,0.035,3183,2116,1425
$GC,14335,1.36,325.4,488.7,8.9,1154,14340,0.00,2.88,0.00,0.000,4,0.000,0.054,3183,3726,1425
$GC,14421,1.42,346.1,481.1,8.1,1161,14447,0.15,2.50,19.95,1.050,6,0.066,0.038,3217,2283,1337
$GC,14767,1.42,346.7,449.5,9.0,1193,14771,0.00,2.45,0.00,0.000,4,0.000,0.058,3217,922,1333
$GC,14789,1.42,346.7,447.3,9.4,1195,14793,0.00,2.08,0.00,0.000,6,0.000,0.037,3217,2114,1332
$GC,15123,1.48,346.7,415.6,9.4,1226,15127,0.00,2.15,0.00,0.000,4,0.000,0.058,3217,929,1332
$GC,15169,1.44,346.7,410.6,10.9,1230,15173,0.00,2.35,0.00,0.000,6,0.000,0.037,3217,2284,1332
$GC,15502,1.44,346.7,379.0,9.1,1261,15503,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2285,1332
$GC,15821,1.48,351.9,351.2,8.8,1291,15833,0.00,2.50,4.82,0.991,4,0.000,0.054,3217,922,1312
$GC,15917,1.49,353.7,342.0,8.9,1299,15923,0.00,2.08,0.00,0.000,6,0.000,0.035,3217,2119,1312
$GC,16246,1.56,353.7,312.2,9.3,1330,16251,0.12,2.88,0.00,0.000,4,0.064,0.052,3249,3734,1312
$GC,16324,1.46,353.7,303.5,11.1,1336,16331,0.15,2.55,0.00,0.000,6,0.120,0.037,3224,2254,1312
$GC,16650,1.51,353.7,272.7,9.2,1367,16654,0.00,2.38,0.00,0.000,4,0.000,0.054,3224,927,1311
$GC,16745,1.51,353.7,263.6,10.9,1375,16749,0.00,2.03,0.00,0.000,6,0.000,0.035,3224,2105,1312
$GC,17081,1.59,353.7,233.7,9.2,1421,17087,0.12,2.88,0.00,0.000,4,0.067,0.051,3256,3727,1312
$GC,17173,1.50,353.7,224.1,10.8,1437,17179,0.12,2.55,0.00,0.000,6,0.130,0.035,3236,2246,1312
$GC,17519,1.57,377.2,192.8,8.0,1498,17546,0.00,2.47,22.05,0.798,4,0.000,0.053,3236,924,1209
$GC,17662,1.59,386.4,180.9,8.6,1523,17678,0.00,2.03,8.15,0.811,6,0.000,0.033,3235,2101,1171
$GC,18019,1.78,420.2,149.9,7.5,1586,18056,0.22,2.97,28.85,0.737,4,0.052,0.050,3296,3734,1033
$GC,18158,1.73,420.2,137.4,9.3,1610,18164,0.00,2.62,0.00,0.000,6,0.000,0.034,3296,2214,1031
$GC,18503,1.79,432.2,109.1,8.5,1671,18519,0.00,2.35,9.38,0.726,4,0.000,0.051,3297,921,985
$GC,18599,1.80,438.0,100.4,8.8,1688,18610,0.00,2.00,4.88,0.734,6,0.000,0.031,3297,2099,962
$GC,18950,1.98,468.8,72.5,7.6,1750,18982,0.15,2.90,26.17,0.640,4,0.054,0.046,3342,3728,835
$GC,19071,1.98,468.8,62.0,9.3,1771,19077,0.00,2.60,0.00,0.000,6,0.000,0.031,3342,2201,833
$GC,19416,2.08,498.1,33.2,7.7,1832,19447,0.00,2.33,23.50,0.587,4,0.000,0.047,3342,923,717
$GC,19548,2.14,498.1,21.7,9.3,1855,19555,0.12,1.98,0.00,0.000,6,0.057,0.028,3378,2102,713
$STATE,19755,end climb,SURFACE_DEPTH_REACHED
$STATE,19756,begin surface coast
$FINISH,-0.2,1.020268
$STATE,19779,end surface coast,CONTROL_FINISHED_OK
$STATE,19780,begin surface
$SM_CCo,19865,0.00,0.000,0,0,710,499.68
$SM_GC,0.84,13.62,0.00,0.00,0.034,0.000,0.000,248,2250,710,-12.17,0.99,499.68
$IRIDIUM_FIX,1232.20,12038.12,110897,202044
$TT8_MAMPS,0.02301
$HUMID,2054
$INTERNAL_PRESSURE,9.66834
$TCM_TEMP,25.00
$XPDR_PINGS,406
$ALTIM_BOTTOM_PING,710.3,128.0
$24V_AH,22.8,78.919
$10V_AH,10.1,40.310
$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,36.700,229.375,552.450,0.000,0.000,25.473,50.902,179.013,107.250,0.000,0.000,12.889,3090.561,12324.574,706.233,3370.913,777.537,0.000,2425.638,0.000,3297.296,0.000,43.786
$DEVICE_MAMPS,167.206,64.428,1244.074,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1270.341,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59747,1896
$CAP_FILE_SIZE,215569,0
$CFSIZE,260165632,221483008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180508,071908,1235.326,12043.956,25,1.8,25,-0.8