version: 66.03
glider: 122
mission: 6
dive: 426
start: 5 19 108 0 29 31
data:
$ID,122
$MISSION,6
$DIVE,426
$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,-35572.93
$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,34
$R_STBD_OVSHOOT,60
$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
$GPS1,002026,1234.418,12044.260,41,1.2,41,-0.8
$_CALLS,1
$_XMS_NAKs,17
$_XMS_TOUTs,2
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-71.7
$GPS2,002857,1234.257,12044.391,16,1.3,16,-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,139.1,38383,-18.6,-9.016
$D_GRID,814
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.56,-146.0,0.0,0.0,0,97,0.00,0.00,-70.38,0.000,2,0.000,0.000,248,2260,2441
$GC,101,-1.56,-146.0,3.1,-6.0,14,139,13.30,2.35,-18.75,0.000,4,0.166,0.053,2559,3591,3345
$GC,227,-1.26,-146.0,24.4,-16.5,36,234,0.38,2.30,0.00,0.000,6,0.118,0.025,2628,2199,3345
$GC,571,-1.26,-146.0,66.8,-10.7,97,578,0.00,2.38,0.00,0.000,4,0.000,0.041,2627,3595,3346
$GC,636,-1.16,-146.0,74.2,-12.0,108,643,0.12,1.98,0.00,0.000,6,0.120,0.025,2649,2366,3346
$GC,981,-1.25,-146.0,109.9,-10.8,169,987,0.00,2.65,0.00,0.000,4,0.000,0.038,2649,823,3348
$GC,1011,-1.30,-146.0,113.3,-11.0,174,1018,0.12,2.50,0.00,0.000,6,0.054,0.027,2607,2325,3348
$GC,1357,-1.35,-146.0,148.7,-10.0,235,1363,0.00,2.17,0.00,0.000,4,0.000,0.044,2607,3603,3349
$GC,1471,-1.31,-146.0,161.0,-10.6,255,1477,0.00,2.05,0.00,0.000,6,0.000,0.025,2606,2334,3350
$GC,1816,-1.40,-146.0,191.4,-8.4,316,1822,0.00,2.60,0.00,0.000,4,0.000,0.041,2606,824,3351
$GC,1863,-1.40,-146.0,195.4,-8.3,324,1869,0.00,2.55,0.00,0.000,6,0.000,0.029,2606,2344,3351
$GC,2208,-1.48,-146.0,223.9,-8.6,385,2214,0.12,2.65,0.00,0.000,4,0.052,0.041,2563,815,3351
$GC,2250,-1.40,-146.0,227.7,-9.3,392,2257,0.17,2.75,0.00,0.000,6,0.099,0.030,2595,2446,3351
$GC,2597,-1.46,-146.0,255.8,-7.5,447,2602,0.00,2.83,0.00,0.000,4,0.000,0.042,2596,822,3349
$GC,2709,-1.46,-146.0,264.8,-7.5,456,2715,0.00,2.60,0.00,0.000,6,0.000,0.031,2596,2362,3349
$GC,3038,-1.54,-146.0,288.9,-7.7,487,3042,0.12,2.12,0.00,0.000,4,0.055,0.046,2558,3596,3347
$GC,3116,-1.44,-146.0,296.3,-9.5,493,3122,0.17,1.85,0.00,0.000,6,0.104,0.030,2590,2459,3346
$GC,3442,-1.51,-146.0,322.8,-8.0,524,3446,0.00,1.98,0.00,0.000,4,0.000,0.049,2590,3603,3344
$GC,3482,-1.51,-146.0,326.5,-8.9,527,3487,0.00,2.05,0.00,0.000,6,0.000,0.031,2590,2361,3344
$GC,3809,-1.59,-146.0,352.0,-7.7,558,3814,0.15,2.15,0.00,0.000,4,0.051,0.048,2538,3595,3342
$GC,3922,-1.44,-146.0,362.5,-9.4,567,3928,0.28,1.88,0.00,0.000,6,0.107,0.031,2589,2460,3341
$GC,4248,-1.52,-146.0,388.3,-7.9,598,4252,0.00,1.98,0.00,0.000,4,0.000,0.050,2589,3600,3338
$GC,4307,-1.52,-146.0,392.9,-8.0,603,4310,0.00,2.05,0.00,0.000,6,0.000,0.032,2589,2374,3338
$GC,4640,-1.60,-146.0,417.3,-7.0,634,4645,0.15,2.15,0.00,0.000,4,0.051,0.049,2540,3599,3336
$GC,4730,-1.48,-146.0,425.1,-8.0,641,4737,0.22,2.20,0.00,0.000,6,0.110,0.033,2580,2291,3335
$GC,5057,-1.55,-146.0,448.0,-6.9,672,5061,0.00,2.60,0.00,0.000,4,0.000,0.051,2580,826,3333
$GC,5141,-1.55,-146.0,454.1,-7.0,679,5146,0.00,2.67,0.00,0.000,6,0.000,0.035,2580,2376,3332
$GC,5470,-1.62,-146.0,475.9,-6.6,709,5475,0.15,2.75,0.00,0.000,4,0.050,0.049,2531,830,3330
$GC,5538,-1.50,-146.0,481.2,-7.2,714,5544,0.22,2.55,0.00,0.000,6,0.107,0.035,2572,2312,3329
$GC,5863,-1.56,-146.0,503.4,-7.1,743,5867,0.00,2.65,0.00,0.000,4,0.000,0.051,2572,822,3327
$GC,5958,-1.56,-146.0,511.0,-7.4,747,5962,0.00,2.40,0.00,0.000,6,0.000,0.035,2572,2222,3326
$GC,6275,-1.62,-146.0,535.0,-7.8,762,6279,0.00,2.47,0.00,0.000,4,0.000,0.051,2572,830,3325
$GC,6293,-1.67,-146.0,536.7,-8.3,763,6299,0.15,2.67,0.00,0.000,6,0.056,0.036,2533,2376,3325
$GC,6623,-1.63,-146.0,563.6,-8.3,779,6628,0.00,2.78,0.00,0.000,4,0.000,0.051,2532,821,3323
$GC,6642,-1.58,-146.0,565.4,-8.5,780,6647,0.15,2.50,0.00,0.000,6,0.112,0.035,2558,2267,3323
$GC,6971,-1.58,-146.0,589.8,-6.8,796,6976,0.00,2.58,0.00,0.000,4,0.000,0.053,2559,824,3321
$GC,7073,-1.53,-146.0,597.2,-6.8,800,7078,0.00,2.75,0.00,0.000,6,0.000,0.038,2559,2406,3320
$GC,7390,-1.56,-146.0,619.4,-7.1,815,7394,0.00,2.15,0.00,0.000,4,0.000,0.057,2558,3625,3319
$GC,7481,-1.52,-146.0,626.6,-7.8,819,7485,0.00,2.25,0.00,0.000,6,0.000,0.035,2559,2296,3318
$GC,7806,-1.55,-146.0,650.8,-7.6,835,7810,0.00,2.35,0.00,0.000,4,0.000,0.054,2559,3621,3317
$GC,7892,-1.50,-146.0,657.7,-8.4,839,7896,0.00,2.38,0.00,0.000,6,0.000,0.035,2559,2230,3317
$GC,8223,-1.53,-146.0,681.6,-7.2,855,8227,0.00,2.53,0.00,0.000,4,0.000,0.055,2559,816,3315
$GC,8285,-1.49,-146.0,686.6,-8.0,858,8290,0.10,2.67,0.00,0.000,6,0.122,0.038,2576,2353,3315
$GC,8614,-1.58,-146.0,709.2,-6.8,874,8618,0.00,2.78,0.00,0.000,4,0.000,0.054,2576,808,3314
$GC,8676,-1.58,-146.0,713.9,-7.4,877,8680,0.00,2.58,0.00,0.000,6,0.000,0.037,2576,2292,3313
$GC,9004,-1.66,-146.0,737.5,-7.4,893,9009,0.15,2.65,0.00,0.000,4,0.057,0.054,2532,819,3312
$GC,9054,-1.55,-146.0,741.9,-8.8,895,9060,0.17,2.78,0.00,0.000,6,0.117,0.038,2562,2409,3311
$GC,9372,-1.60,-146.0,766.0,-7.6,910,9375,0.00,2.15,0.00,0.000,4,0.000,0.059,2562,3621,3310
$GC,9469,-1.57,-146.0,774.0,-7.9,914,9473,0.00,2.25,0.00,0.000,6,0.000,0.036,2562,2298,3309
$GC,9791,-1.62,-146.0,798.0,-7.9,930,9795,0.00,2.67,0.00,0.000,4,0.000,0.058,2562,810,3309
$GC,9892,-1.62,-146.0,806.3,-7.8,934,9898,0.00,2.78,0.00,0.000,6,0.000,0.041,2563,2396,3309
$STATE,10061,end dive,NO_VERTICAL_VELOCITY
$STATE,10061,begin apogee
$GC,10068,-0.35,0.0,805.7,0.0,943,10193,1.23,0.00,120.68,1.224,6,0.062,0.000,2828,2324,2748
$STATE,10194,end apogee,CONTROL_FINISHED_OK
$STATE,10194,begin climb
$GC,10197,1.56,146.0,805.7,0.0,949,10333,1.90,2.62,127.50,1.183,4,0.054,0.059,3246,3723,2152
$GC,10384,1.28,146.6,795.7,9.0,957,10389,0.35,2.40,0.00,0.000,6,0.137,0.039,3187,2348,2152
$GC,10709,1.21,186.6,772.4,7.2,973,10750,0.00,2.67,34.67,1.183,4,0.000,0.061,3186,932,1987
$GC,10790,1.10,186.6,765.2,9.2,976,10797,0.22,2.47,0.00,0.000,6,0.116,0.038,3146,2331,1986
$GC,11107,1.17,223.9,740.9,7.3,992,11148,0.00,2.67,32.38,1.173,4,0.000,0.058,3146,931,1834
$GC,11246,1.20,245.5,729.6,8.0,998,11270,0.00,2.33,19.08,1.170,6,0.000,0.038,3146,2251,1747
$GC,11597,1.32,276.4,701.2,7.6,1015,11632,0.17,2.78,27.35,1.157,4,0.067,0.059,3190,3724,1621
$GC,11740,1.25,276.4,686.6,10.4,1021,11744,0.00,2.85,0.00,0.000,6,0.000,0.041,3190,2113,1619
$GC,12057,1.20,276.4,655.9,9.7,1036,12062,0.12,2.90,0.00,0.000,4,0.124,0.056,3170,3724,1617
$GC,12174,1.20,276.4,644.5,9.6,1041,12179,0.00,2.65,0.00,0.000,6,0.000,0.041,3170,2213,1617
$GC,12493,1.28,288.5,617.5,8.5,1056,12509,0.00,0.00,10.27,1.155,6,0.000,0.000,3170,2212,1571
$GC,12820,1.34,288.5,587.7,9.1,1072,12824,0.12,2.33,0.00,0.000,4,0.074,0.060,3198,935,1570
$GC,12906,1.29,288.5,579.1,10.7,1076,12909,0.00,1.98,0.00,0.000,6,0.000,0.036,3198,2075,1569
$GC,13239,1.29,288.5,547.2,9.5,1092,13244,0.00,2.95,0.00,0.000,4,0.000,0.055,3198,3726,1568
$GC,13340,1.24,288.5,537.3,10.4,1096,13346,0.12,2.60,0.00,0.000,6,0.127,0.039,3178,2236,1568
$GC,13657,1.35,308.0,510.0,8.1,1112,13679,0.00,2.47,16.98,1.074,4,0.000,0.059,3178,934,1492
$GC,13748,1.41,321.2,502.1,8.4,1116,13769,0.15,2.03,11.85,1.068,6,0.067,0.035,3212,2097,1438
$GC,14087,1.44,321.2,470.7,9.4,1146,14092,0.00,2.92,0.00,0.000,4,0.000,0.054,3212,3729,1435
$GC,14211,1.40,321.2,458.7,9.7,1156,14217,0.00,2.53,0.00,0.000,6,0.000,0.038,3212,2273,1435
$GC,14539,1.44,322.9,429.6,8.9,1187,14543,0.00,2.42,0.00,0.000,4,0.000,0.057,3212,928,1434
$GC,14629,1.40,330.0,421.3,8.7,1194,14645,0.00,2.05,7.40,1.035,6,0.000,0.036,3212,2115,1402
$GC,14964,1.50,356.6,392.0,7.8,1226,14995,0.00,2.97,23.88,0.965,4,0.000,0.054,3212,3730,1293
$GC,15101,1.53,373.4,380.1,8.3,1238,15123,0.12,2.53,14.85,0.963,6,0.071,0.037,3241,2271,1225
$GC,15441,1.53,373.4,346.9,9.9,1270,15445,0.00,2.40,0.00,0.000,4,0.000,0.055,3242,933,1221
$GC,15452,1.53,373.4,345.7,10.1,1271,15456,0.00,2.03,0.00,0.000,6,0.000,0.035,3241,2107,1221
$GC,15786,1.58,373.4,313.6,9.3,1302,15790,0.00,2.12,0.00,0.000,4,0.000,0.056,3241,931,1221
$GC,15843,1.54,373.4,307.9,9.8,1307,15847,0.00,2.33,0.00,0.000,6,0.000,0.036,3242,2273,1219
$GC,16177,1.54,373.4,275.9,9.6,1338,16181,0.00,2.42,0.00,0.000,4,0.000,0.054,3241,924,1219
$GC,16239,1.47,373.4,269.1,10.2,1343,16243,0.00,2.00,0.00,0.000,6,0.000,0.035,3242,2087,1219
$GC,16572,1.47,373.4,236.5,9.7,1385,16577,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,2087,1219
$GC,16916,1.49,386.3,204.5,8.4,1446,16933,0.00,2.97,10.48,0.840,4,0.000,0.051,3242,3736,1172
$GC,17024,1.49,386.3,194.4,9.1,1465,17030,0.00,2.70,0.00,0.000,6,0.000,0.035,3242,2174,1172
$GC,17369,1.58,389.3,164.1,8.9,1526,17376,0.00,2.28,2.35,0.822,4,0.000,0.052,3242,932,1161
$GC,17475,1.64,395.0,154.7,8.8,1544,17487,0.00,1.90,5.32,0.806,6,0.000,0.033,3242,2046,1137
$GC,17829,1.84,436.0,127.8,7.2,1606,17870,0.25,0.00,35.35,0.707,6,0.045,0.000,3309,2047,969
$GC,18212,1.94,452.2,96.8,8.3,1674,18233,0.00,2.05,12.98,0.691,4,0.000,0.048,3309,935,903
$GC,18291,2.02,471.5,89.9,8.2,1688,18313,0.15,1.83,16.27,0.672,6,0.059,0.030,3348,2016,825
$GC,18655,2.09,483.3,57.7,8.5,1752,18671,0.00,1.98,9.25,0.646,4,0.000,0.047,3348,930,777
$GC,18794,2.11,492.3,45.6,8.6,1776,18805,0.00,2.10,7.38,0.634,6,0.000,0.029,3348,2182,740
$GC,19146,2.23,505.6,16.2,8.4,1838,19163,0.15,2.22,10.57,0.587,4,0.054,0.043,3394,927,685
$GC,19216,2.16,505.6,9.5,9.6,1850,19221,0.00,1.88,0.00,0.000,6,0.000,0.028,3395,2055,684
$STATE,19293,end climb,SURFACE_DEPTH_REACHED
$STATE,19293,begin surface coast
$FINISH,0.0,1.020534
$STATE,19316,end surface coast,CONTROL_FINISHED_OK
$STATE,19317,begin surface
$SM_CCo,19403,0.00,0.000,0,0,680,507.04
$SM_GC,0.80,13.80,0.00,0.00,0.037,0.000,0.000,247,2249,680,-12.18,0.96,507.04
$IRIDIUM_FIX,1227.78,12044.95,120897,181819
$TT8_MAMPS,0.023777
$HUMID,2071
$INTERNAL_PRESSURE,9.66834
$TCM_TEMP,25.00
$XPDR_PINGS,363
$ALTIM_BOTTOM_PING,680.1,136.9
$24V_AH,22.9,79.744
$10V_AH,10.1,40.715
$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,35.300,212.775,556.825,0.000,0.000,30.498,36.234,288.442,96.250,0.000,0.000,16.191,3027.899,11972.455,723.905,3305.439,879.481,0.000,2405.708,0.000,3233.638,0.000,44.423
$DEVICE_MAMPS,165.672,70.564,1224.132,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1250.581,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59724,1868
$CAP_FILE_SIZE,210882,0
$CFSIZE,260165632,221106176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190508,055408,1234.709,12044.446,37,1.2,37,-0.8