version: 66.03
glider: 122
mission: 6
dive: 425
start: 5 18 108 18 49 5
data:
$ID,122
$MISSION,6
$DIVE,425
$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,-35556.109
$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,27
$R_STBD_OVSHOOT,62
$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
$GPS1,183726,1235.079,12043.771,42,1.0,42,-0.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-70.5
$GPS2,184833,1235.031,12043.821,12,1.9,12,-0.8
$SPEED_LIMITS,0.156,0.206
$TGT_NAME,RECOV_2
$TGT_LATLONG,1218.780,12058.500
$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,139.4,40139,-18.6,-9.016
$D_GRID,840
$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,25,-1.56,-146.0,0.0,0.0,0,97,0.00,0.00,-69.43,0.000,2,0.000,0.000,247,2258,2447
$GC,101,-1.56,-146.0,3.3,-8.5,14,139,13.27,2.30,-17.85,0.000,4,0.165,0.052,2558,3594,3345
$GC,196,-1.27,-146.0,21.0,-16.6,31,203,0.35,2.33,0.00,0.000,6,0.117,0.026,2623,2191,3346
$GC,542,-1.27,-146.0,64.7,-11.9,92,547,0.00,2.40,0.00,0.000,4,0.000,0.041,2623,3590,3345
$GC,577,-1.20,-146.0,69.2,-12.3,98,583,0.00,1.95,0.00,0.000,6,0.000,0.025,2623,2384,3346
$GC,921,-1.20,-146.0,106.9,-11.0,159,927,0.00,2.08,0.00,0.000,4,0.000,0.044,2623,3600,3347
$GC,945,-1.20,-146.0,109.7,-11.8,163,951,0.00,2.17,0.00,0.000,6,0.000,0.025,2623,2260,3347
$GC,1290,-1.26,-146.0,144.7,-9.1,224,1296,0.00,2.45,0.00,0.000,4,0.000,0.041,2623,831,3348
$GC,1353,-1.26,-146.0,150.8,-9.4,235,1359,0.00,2.60,0.00,0.000,6,0.000,0.028,2623,2386,3348
$GC,1699,-1.35,-146.0,179.8,-8.5,296,1705,0.00,2.67,0.00,0.000,4,0.000,0.040,2623,833,3349
$GC,1762,-1.35,-146.0,185.0,-8.2,307,1768,0.00,2.55,0.00,0.000,6,0.000,0.030,2623,2352,3349
$GC,2107,-1.47,-146.0,213.5,-7.4,368,2114,0.15,2.65,0.00,0.000,4,0.048,0.041,2571,824,3349
$GC,2155,-1.37,-146.0,217.6,-8.6,376,2162,0.17,2.50,0.00,0.000,6,0.101,0.030,2603,2309,3349
$GC,2501,-1.46,-146.0,242.7,-7.1,437,2507,0.00,2.58,0.00,0.000,4,0.000,0.043,2604,832,3348
$GC,2604,-1.46,-146.0,251.1,-7.8,454,2608,0.00,2.65,0.00,0.000,6,0.000,0.031,2604,2394,3347
$GC,2933,-1.56,-146.0,276.6,-7.8,484,2937,0.15,2.08,0.00,0.000,4,0.050,0.048,2552,3600,3346
$GC,3040,-1.46,-146.0,286.2,-9.0,493,3046,0.17,1.80,0.00,0.000,6,0.107,0.029,2584,2492,3345
$GC,3365,-1.53,-146.0,311.9,-8.0,524,3369,0.00,1.90,0.00,0.000,4,0.000,0.049,2584,3590,3343
$GC,3427,-1.50,-146.0,317.2,-8.5,529,3433,0.00,1.95,0.00,0.000,6,0.000,0.031,2584,2407,3343
$GC,3756,-1.56,-146.0,342.9,-8.1,560,3760,0.00,2.05,0.00,0.000,4,0.000,0.049,2584,3594,3340
$GC,3813,-1.56,-146.0,347.9,-8.2,565,3816,0.00,2.15,0.00,0.000,6,0.000,0.031,2584,2309,3340
$GC,4141,-1.62,-146.0,373.8,-8.4,595,4146,0.15,2.25,0.00,0.000,4,0.051,0.048,2535,3596,3337
$GC,4185,-1.48,-146.0,378.2,-9.5,598,4192,0.25,1.98,0.00,0.000,6,0.111,0.031,2580,2406,3336
$GC,4514,-1.54,-146.0,403.9,-7.6,629,4518,0.00,2.78,0.00,0.000,4,0.000,0.048,2580,832,3335
$GC,4598,-1.54,-146.0,410.6,-7.7,636,4603,0.00,2.65,0.00,0.000,6,0.000,0.034,2580,2372,3334
$GC,4927,-1.62,-146.0,434.2,-7.3,666,4932,0.12,2.72,0.00,0.000,4,0.056,0.047,2542,830,3331
$GC,4967,-1.52,-146.0,437.5,-7.7,669,4972,0.15,2.50,0.00,0.000,6,0.111,0.035,2568,2292,3331
$GC,5294,-1.58,-146.0,463.5,-8.7,699,5298,0.00,2.58,0.00,0.000,4,0.000,0.050,2568,838,3329
$GC,5322,-1.58,-146.0,466.1,-9.1,701,5326,0.00,2.35,0.00,0.000,6,0.000,0.035,2568,2219,3328
$GC,5655,-1.62,-146.0,491.2,-7.1,732,5660,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2220,3327
$GC,5976,-1.66,-146.0,512.4,-6.7,754,5980,0.12,2.47,0.00,0.000,4,0.059,0.051,2533,829,3326
$GC,5993,-1.66,-146.0,513.7,-7.2,755,5997,0.00,2.65,0.00,0.000,6,0.000,0.035,2533,2359,3325
$GC,6323,-1.63,-146.0,539.5,-8.2,771,6328,0.00,2.70,0.00,0.000,4,0.000,0.051,2533,835,3323
$GC,6402,-1.51,-146.0,547.0,-8.9,774,6407,0.22,2.45,0.00,0.000,6,0.110,0.036,2573,2260,3322
$GC,6721,-1.57,-146.0,572.2,-7.7,789,6725,0.00,2.53,0.00,0.000,4,0.000,0.052,2573,839,3320
$GC,6816,-1.57,-146.0,579.9,-7.9,793,6821,0.00,2.65,0.00,0.000,6,0.000,0.037,2573,2382,3320
$GC,7140,-1.64,-146.0,601.7,-7.0,809,7145,0.12,2.75,0.00,0.000,4,0.058,0.051,2539,836,3319
$GC,7214,-1.55,-146.0,607.7,-7.9,812,7219,0.15,2.55,0.00,0.000,6,0.114,0.036,2565,2313,3318
$GC,7533,-1.60,-146.0,631.9,-7.9,827,7537,0.00,2.62,0.00,0.000,4,0.000,0.053,2565,841,3317
$GC,7596,-1.57,-146.0,637.3,-7.9,830,7600,0.00,2.72,0.00,0.000,6,0.000,0.038,2565,2411,3316
$GC,7925,-1.62,-146.0,662.2,-7.5,846,7929,0.00,2.12,0.00,0.000,4,0.000,0.058,2565,3622,3315
$GC,8004,-1.62,-146.0,668.7,-7.8,849,8008,0.00,2.22,0.00,0.000,6,0.000,0.035,2565,2312,3314
$GC,8326,-1.67,-146.0,690.8,-7.0,864,8330,0.12,2.33,0.00,0.000,4,0.061,0.054,2532,3621,3312
$GC,8434,-1.55,-146.0,700.3,-8.7,869,8438,0.17,2.05,0.00,0.000,6,0.118,0.035,2562,2407,3312
$GC,8761,-1.60,-146.0,724.9,-7.5,885,8765,0.00,2.17,0.00,0.000,4,0.000,0.058,2562,3626,3311
$GC,8812,-1.60,-146.0,729.3,-8.7,887,8815,0.00,1.92,0.00,0.000,6,0.000,0.035,2562,2480,3311
$GC,9133,-1.60,-146.0,754.0,-7.6,903,9135,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2477,3309
$GC,9443,-1.64,-146.0,777.0,-7.4,918,9447,0.00,2.05,0.00,0.000,4,0.000,0.059,2562,3628,3309
$GC,9467,-1.64,-146.0,778.9,-7.6,919,9471,0.00,2.15,0.00,0.000,6,0.000,0.036,2563,2364,3308
$GC,9794,-1.67,-146.0,802.7,-7.2,935,9798,0.00,2.25,0.00,0.000,4,0.000,0.058,2562,3626,3308
$GC,9902,-1.64,-146.0,811.7,-8.4,939,9908,0.00,2.35,0.00,0.000,6,0.000,0.037,2562,2254,3307
$GC,10219,-1.93,-146.0,821.6,0.5,955,10224,0.32,2.47,0.00,0.000,4,0.046,0.061,2477,3625,3306
$STATE,10234,end dive,NO_VERTICAL_VELOCITY
$STATE,10234,begin apogee
$GC,10243,-0.35,0.0,821.5,0.0,956,10368,1.65,0.00,120.38,1.240,6,0.074,0.000,2824,2319,2748
$STATE,10368,end apogee,CONTROL_FINISHED_OK
$STATE,10368,begin climb
$GC,10372,1.56,146.0,821.3,0.0,962,10508,1.98,2.60,128.40,1.201,4,0.069,0.061,3246,941,2151
$GC,10531,1.41,209.7,817.0,6.2,970,10593,0.20,2.47,55.22,1.186,6,0.133,0.038,3213,2335,1893
$GC,10904,1.23,212.7,786.0,8.9,988,10914,0.20,2.58,2.05,1.106,4,0.129,0.058,3176,3726,1881
$GC,11012,1.12,222.5,776.6,8.6,992,11027,0.15,2.58,9.30,1.210,6,0.132,0.041,3151,2256,1840
$GC,11353,1.12,251.0,749.7,7.7,1009,11383,0.00,2.72,25.23,1.188,4,0.000,0.055,3151,3723,1723
$GC,11440,1.09,251.0,741.7,9.5,1013,11444,0.00,2.78,0.00,0.000,6,0.000,0.043,3151,2155,1723
$GC,11762,1.12,266.8,714.3,8.3,1029,11780,0.00,0.00,13.95,1.193,6,0.000,0.000,3151,2154,1659
$GC,12090,1.16,294.8,687.1,7.8,1045,12120,0.00,2.30,25.15,1.165,4,0.000,0.065,3151,938,1545
$GC,12184,1.16,294.8,679.3,9.5,1049,12188,0.00,1.90,0.00,0.000,6,0.000,0.038,3151,2025,1543
$GC,12506,1.24,312.4,652.2,8.2,1065,12528,0.12,3.15,15.15,1.160,4,0.073,0.055,3179,3731,1474
$GC,12586,1.20,312.4,644.5,9.7,1068,12591,0.00,3.08,0.00,0.000,6,0.000,0.043,3179,1997,1473
$GC,12902,1.21,317.8,615.9,8.8,1083,12912,0.00,3.17,4.80,1.158,4,0.000,0.054,3179,3726,1452
$GC,12941,1.21,317.8,612.0,10.6,1085,12946,0.00,3.10,0.00,0.000,6,0.000,0.043,3179,1987,1452
$GC,13269,1.22,323.8,583.2,8.7,1101,13279,0.00,1.92,5.72,1.147,4,0.000,0.064,3179,939,1427
$GC,13347,1.17,324.6,576.0,9.0,1104,13353,0.00,1.83,0.00,0.000,6,0.000,0.037,3179,1998,1426
$GC,13664,1.22,329.5,547.9,8.8,1120,13675,0.00,3.15,5.57,1.125,4,0.000,0.054,3179,3730,1403
$GC,13760,1.23,335.5,538.9,8.7,1124,13772,0.00,3.08,5.35,1.115,6,0.000,0.041,3179,1989,1380
$GC,14081,1.32,351.5,511.0,8.3,1140,14103,0.00,1.98,14.70,1.075,4,0.000,0.064,3179,938,1315
$GC,14188,1.35,371.9,501.8,8.1,1144,14214,0.00,1.83,18.90,1.048,6,0.000,0.036,3179,1999,1231
$GC,14534,1.47,377.6,471.6,8.8,1176,14547,0.17,3.15,4.72,1.059,4,0.059,0.053,3225,3728,1208
$GC,14563,1.47,377.6,468.7,9.7,1178,14569,0.00,3.08,0.00,0.000,6,0.000,0.040,3225,1988,1208
$GC,14891,1.47,377.6,437.1,9.6,1209,14894,0.00,1.90,0.00,0.000,4,0.000,0.062,3225,939,1206
$GC,14975,1.38,377.6,428.4,10.1,1216,14981,0.00,1.83,0.00,0.000,6,0.000,0.036,3225,2003,1205
$GC,15303,1.38,377.6,396.5,10.0,1247,15307,0.00,3.08,0.00,0.000,4,0.000,0.051,3225,3733,1205
$GC,15370,1.38,377.6,389.5,10.4,1252,15376,0.00,3.05,0.00,0.000,6,0.000,0.040,3225,1991,1205
$GC,15697,1.38,377.6,357.4,9.7,1283,15701,0.00,1.90,0.00,0.000,4,0.000,0.060,3225,934,1206
$GC,15812,1.31,377.6,345.9,9.8,1293,15816,0.20,1.83,0.00,0.000,6,0.118,0.035,3190,2004,1205
$GC,16143,1.43,384.9,316.7,8.7,1324,16155,0.12,3.15,6.50,0.954,4,0.066,0.050,3221,3725,1178
$GC,16196,1.44,390.0,311.7,8.8,1328,16206,0.00,3.05,4.70,0.945,6,0.000,0.039,3221,1985,1158
$GC,16526,1.49,390.0,281.5,9.1,1359,16530,0.00,1.90,0.00,0.000,4,0.000,0.059,3221,941,1157
$GC,16639,1.49,390.0,271.6,9.5,1369,16643,0.00,1.80,0.00,0.000,6,0.000,0.035,3222,1998,1155
$GC,16969,1.58,415.5,243.0,7.9,1406,16997,0.12,2.03,22.50,0.841,4,0.064,0.058,3253,939,1053
$GC,17102,1.49,415.5,230.3,10.3,1429,17108,0.12,1.83,0.00,0.000,6,0.117,0.034,3232,2006,1051
$GC,17447,1.58,415.5,198.7,9.1,1490,17453,0.00,3.05,0.00,0.000,4,0.000,0.048,3232,3733,1050
$GC,17522,1.68,419.8,192.3,8.8,1503,17534,0.17,3.03,3.42,0.856,6,0.061,0.037,3273,1991,1037
$GC,17874,1.70,431.5,159.0,8.5,1565,17891,0.00,1.92,10.70,0.788,4,0.000,0.055,3273,932,988
$GC,17899,1.71,440.6,156.7,8.6,1569,17915,0.00,1.83,7.97,0.762,6,0.000,0.033,3273,2002,951
$GC,18256,1.82,472.4,126.1,7.6,1632,18288,0.12,2.00,26.98,0.711,4,0.061,0.053,3306,938,821
$GC,18413,1.77,472.4,111.6,9.3,1660,18419,0.00,1.80,0.00,0.000,6,0.000,0.031,3306,2003,818
$GC,18758,1.87,488.8,82.9,8.3,1721,18779,0.00,3.10,13.20,0.677,4,0.000,0.044,3306,3728,754
$GC,18821,1.98,503.5,77.7,8.4,1732,18843,0.12,3.00,12.48,0.664,6,0.060,0.032,3339,1986,693
$GC,19184,1.98,507.2,46.4,8.9,1796,19191,0.00,1.92,2.38,0.660,4,0.000,0.050,3340,929,679
$GC,19283,2.02,527.5,37.7,8.1,1813,19305,0.00,1.80,16.85,0.602,6,0.000,0.028,3339,2021,596
$GC,19646,2.13,547.1,6.5,8.1,1877,19667,0.12,0.00,15.82,0.564,6,0.059,0.000,3375,2021,515
$STATE,19693,end climb,SURFACE_DEPTH_REACHED
$STATE,19693,begin surface coast
$FINISH,-0.1,1.020220
$STATE,19717,end surface coast,CONTROL_FINISHED_OK
$STATE,19718,begin surface
$SM_CCo,19804,0.00,0.000,0,0,512,548.49
$SM_GC,0.80,13.75,0.00,0.00,0.037,0.000,0.000,248,2259,512,-12.18,1.22,548.49
$IRIDIUM_FIX,1229.99,12044.95,120897,181843
$TT8_MAMPS,0.023777
$HUMID,2075
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,24.90
$XPDR_PINGS,351
$ALTIM_BOTTOM_PING,690.8,144.4
$24V_AH,22.8,79.543
$10V_AH,10.1,40.614
$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,35.550,221.625,598.100,0.000,0.000,54.112,85.502,306.430,93.000,0.000,0.000,12.802,3050.466,12411.521,764.009,3267.088,971.840,0.000,2441.850,0.000,3200.331,0.000,40.232
$DEVICE_MAMPS,164.905,65.195,1240.239,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1265.555,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59814,1890
$CAP_FILE_SIZE,215177,0
$CFSIZE,260165632,221196288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190508,002026,1234.418,12044.260,41,1.2,41,-0.8