version: 66.03
glider: 122
mission: 6
dive: 428
start: 5 19 108 11 31 17
data:
$ID,122
$MISSION,6
$DIVE,428
$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,-35598.547
$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,28
$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
$GPS1,112326,1234.922,12044.457,41,1.8,41,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-73.4
$GPS2,113045,1234.808,12044.501,13,1.5,13,-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,140.3,39022,-18.6,-9.016
$D_GRID,822
$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,-146.0,0.0,0.0,0,92,0.00,0.00,-64.43,0.000,2,0.000,0.000,252,2257,2404
$GC,96,-1.56,-146.0,3.3,-7.7,13,134,13.27,2.58,-18.95,0.000,4,0.165,0.050,2560,809,3345
$GC,187,-1.32,-146.0,19.3,-16.1,29,193,0.30,2.33,0.00,0.000,6,0.113,0.028,2616,2196,3346
$GC,532,-1.27,-146.0,63.0,-11.4,90,538,0.00,2.42,0.00,0.000,4,0.000,0.044,2615,3617,3347
$GC,573,-1.17,-146.0,67.9,-12.8,97,579,0.17,2.05,0.00,0.000,6,0.108,0.025,2648,2349,3347
$GC,918,-1.26,-146.0,104.8,-10.1,158,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2348,3349
$GC,1262,-1.39,-146.0,139.3,-10.0,219,1268,0.17,2.17,0.00,0.000,4,0.044,0.042,2587,3619,3350
$GC,1315,-1.28,-146.0,144.9,-10.7,228,1321,0.20,2.03,0.00,0.000,6,0.097,0.025,2626,2365,3351
$GC,1661,-1.39,-146.0,175.1,-8.4,289,1667,0.12,2.70,0.00,0.000,4,0.051,0.039,2583,799,3352
$GC,1731,-1.32,-146.0,181.8,-9.6,301,1738,0.17,2.70,0.00,0.000,6,0.099,0.029,2616,2405,3352
$GC,2077,-1.42,-146.0,210.8,-8.7,362,2083,0.00,2.78,0.00,0.000,4,0.000,0.041,2617,804,3352
$GC,2197,-1.47,-146.0,220.8,-8.1,383,2203,0.15,2.55,0.00,0.000,6,0.049,0.031,2568,2314,3352
$GC,2542,-1.47,-146.0,249.7,-8.4,444,2548,0.00,2.25,0.00,0.000,4,0.000,0.048,2568,3621,3352
$GC,2582,-1.39,-146.0,253.3,-8.5,448,2589,0.17,2.22,0.00,0.000,6,0.102,0.028,2600,2271,3352
$GC,2908,-1.48,-146.0,279.4,-8.0,479,2912,0.00,2.33,0.00,0.000,4,0.000,0.047,2600,3615,3350
$GC,3004,-1.48,-146.0,287.3,-8.6,487,3008,0.00,2.05,0.00,0.000,6,0.000,0.030,2600,2372,3349
$GC,3338,-1.58,-146.0,314.4,-8.2,518,3342,0.15,2.15,0.00,0.000,4,0.049,0.047,2547,3618,3347
$GC,3441,-1.47,-146.0,324.3,-10.1,527,3446,0.20,2.15,0.00,0.000,6,0.105,0.031,2584,2324,3346
$GC,3767,-1.55,-146.0,350.7,-8.4,557,3771,0.00,2.67,0.00,0.000,4,0.000,0.049,2584,804,3344
$GC,3846,-1.55,-146.0,357.6,-8.8,563,3852,0.00,2.60,0.00,0.000,6,0.000,0.033,2584,2328,3344
$GC,4175,-1.62,-146.0,384.2,-8.2,594,4179,0.15,2.25,0.00,0.000,4,0.050,0.048,2533,3619,3342
$GC,4230,-1.48,-146.0,389.9,-9.8,598,4237,0.25,2.17,0.00,0.000,6,0.108,0.031,2577,2320,3342
$GC,4556,-1.54,-146.0,416.1,-7.9,629,4560,0.00,2.25,0.00,0.000,4,0.000,0.050,2578,3613,3338
$GC,4590,-1.54,-146.0,419.1,-8.8,632,4594,0.00,2.00,0.00,0.000,6,0.000,0.031,2578,2414,3339
$GC,4926,-1.58,-146.0,444.8,-7.3,663,4929,0.00,2.12,0.00,0.000,4,0.000,0.051,2578,3621,3336
$GC,4994,-1.58,-146.0,450.5,-7.9,669,4998,0.00,2.17,0.00,0.000,6,0.000,0.032,2578,2331,3335
$GC,5323,-1.64,-146.0,474.7,-7.4,699,5327,0.15,2.25,0.00,0.000,4,0.053,0.050,2531,3617,3333
$GC,5418,-1.52,-146.0,483.3,-8.6,707,5425,0.22,1.98,0.00,0.000,6,0.111,0.033,2571,2436,3332
$GC,5744,-1.58,-146.0,507.9,-7.8,733,5748,0.00,2.08,0.00,0.000,4,0.000,0.053,2571,3619,3330
$GC,5822,-1.58,-146.0,514.7,-7.9,736,5826,0.00,2.12,0.00,0.000,6,0.000,0.034,2571,2361,3329
$GC,6140,-1.66,-146.0,539.2,-7.7,751,6141,0.12,0.00,0.00,0.000,6,0.058,0.000,2536,2360,3327
$GC,6448,-1.66,-146.0,563.7,-7.9,766,6452,0.00,2.22,0.00,0.000,4,0.000,0.054,2535,3616,3327
$GC,6516,-1.54,-146.0,569.5,-8.2,769,6520,0.17,2.05,0.00,0.000,6,0.112,0.034,2566,2401,3326
$GC,6840,-1.60,-146.0,592.1,-7.0,785,6845,0.00,2.83,0.00,0.000,4,0.000,0.053,2566,810,3324
$GC,6867,-1.60,-146.0,594.5,-7.8,786,6872,0.00,2.90,0.00,0.000,6,0.000,0.037,2566,2479,3324
$GC,7185,-1.64,-146.0,616.9,-7.4,801,7188,0.00,2.00,0.00,0.000,4,0.000,0.057,2566,3613,3322
$GC,7247,-1.61,-146.0,622.0,-8.2,803,7253,0.00,2.12,0.00,0.000,6,0.000,0.035,2566,2353,3322
$GC,7566,-1.67,-146.0,644.3,-6.8,819,7571,0.12,2.78,0.00,0.000,4,0.059,0.054,2531,804,3320
$GC,7640,-1.57,-146.0,650.0,-7.6,822,7645,0.17,2.72,0.00,0.000,6,0.113,0.037,2562,2381,3319
$GC,7961,-1.61,-146.0,671.5,-6.7,837,7965,0.00,2.83,0.00,0.000,4,0.000,0.054,2562,805,3318
$GC,8056,-1.57,-146.0,678.9,-7.9,841,8060,0.00,2.58,0.00,0.000,6,0.000,0.037,2562,2287,3317
$GC,8375,-1.62,-146.0,701.7,-7.3,856,8379,0.00,2.65,0.00,0.000,4,0.000,0.054,2562,811,3317
$GC,8425,-1.58,-146.0,705.6,-7.4,858,8430,0.00,2.75,0.00,0.000,6,0.000,0.038,2561,2391,3317
$GC,8744,-1.62,-146.0,728.5,-7.4,873,8748,0.00,2.17,0.00,0.000,4,0.000,0.058,2562,3615,3316
$GC,8846,-1.62,-146.0,737.3,-8.4,877,8850,0.00,2.28,0.00,0.000,6,0.000,0.036,2562,2281,3315
$GC,9162,-1.68,-146.0,762.1,-7.9,892,9167,0.00,2.65,0.00,0.000,4,0.000,0.058,2562,807,3314
$GC,9260,-1.68,-146.0,770.2,-8.5,896,9265,0.00,2.78,0.00,0.000,6,0.000,0.038,2562,2401,3313
$GC,9577,-1.72,-146.0,793.6,-7.2,911,9581,0.15,2.15,0.00,0.000,4,0.056,0.058,2518,3609,3312
$GC,9678,-1.60,-146.0,802.5,-9.1,915,9684,0.20,2.28,0.00,0.000,6,0.117,0.038,2553,2280,3311
$GC,9994,-1.98,-146.0,814.8,0.3,931,9999,0.35,2.40,0.00,0.000,4,0.054,0.057,2470,3618,3310
$STATE,10031,end dive,NO_VERTICAL_VELOCITY
$STATE,10032,begin apogee
$GC,10041,-0.35,0.0,814.5,0.0,933,10167,1.67,0.00,121.32,1.232,6,0.067,0.000,2826,2330,2749
$STATE,10168,end apogee,CONTROL_FINISHED_OK
$STATE,10168,begin climb
$GC,10171,1.56,146.0,814.4,0.0,939,10307,1.92,2.62,127.68,1.191,4,0.053,0.060,3245,940,2152
$GC,10338,1.29,146.0,806.4,9.7,946,10343,0.32,2.45,0.00,0.000,6,0.123,0.038,3189,2322,2151
$GC,10663,1.25,201.4,784.8,6.5,962,10717,0.00,2.65,47.85,1.187,4,0.000,0.059,3188,941,1925
$GC,10826,1.16,209.6,771.4,8.7,969,10840,0.17,2.35,7.18,1.203,6,0.118,0.039,3158,2273,1893
$GC,11171,1.19,226.3,745.4,8.3,986,11192,0.00,2.53,14.48,1.200,4,0.000,0.059,3158,936,1825
$GC,11243,1.16,228.0,738.8,8.9,989,11247,0.00,2.28,0.00,0.000,6,0.000,0.038,3158,2228,1824
$GC,11566,1.26,269.9,714.7,7.1,1005,11607,0.00,0.00,39.03,1.166,6,0.000,0.000,3158,2228,1647
$GC,11918,1.39,291.4,686.7,8.1,1022,11943,0.20,2.78,18.83,1.165,4,0.058,0.058,3208,3730,1560
$GC,11994,1.29,291.4,678.7,11.7,1025,11999,0.12,2.40,0.00,0.000,6,0.131,0.039,3189,2352,1559
$GC,12310,1.29,291.4,647.7,9.5,1040,12314,0.00,2.50,0.00,0.000,4,0.000,0.058,3189,3734,1557
$GC,12320,1.29,291.4,646.5,9.3,1040,12326,0.00,2.70,0.00,0.000,6,0.000,0.040,3188,2194,1557
$GC,12637,1.29,291.4,616.8,9.3,1056,12641,0.00,2.30,0.00,0.000,4,0.000,0.061,3189,931,1556
$GC,12676,1.29,291.4,612.9,9.8,1058,12680,0.00,1.95,0.00,0.000,6,0.000,0.037,3189,2053,1555
$GC,13010,1.34,291.4,582.0,9.1,1074,13015,0.00,3.00,0.00,0.000,4,0.000,0.056,3189,3726,1555
$GC,13110,1.34,291.4,572.2,9.2,1078,13116,0.00,2.65,0.00,0.000,6,0.000,0.039,3189,2206,1556
$GC,13428,1.40,306.5,544.5,8.3,1094,13449,0.00,2.40,12.68,1.111,4,0.000,0.060,3189,934,1497
$GC,13496,1.42,316.5,538.4,8.6,1097,13511,0.12,1.98,9.30,1.103,6,0.071,0.036,3217,2066,1456
$GC,13828,1.42,316.5,508.9,9.1,1113,13832,0.00,3.00,0.00,0.000,4,0.000,0.055,3217,3736,1455
$GC,13929,1.35,316.5,499.0,9.5,1117,13935,0.00,2.67,0.00,0.000,6,0.000,0.039,3217,2208,1454
$GC,14256,1.35,316.5,467.7,9.1,1148,14260,0.00,2.30,0.00,0.000,4,0.000,0.058,3217,931,1454
$GC,14331,1.29,316.5,460.3,9.6,1154,14335,0.17,1.95,0.00,0.000,6,0.120,0.035,3187,2063,1453
$GC,14662,1.39,324.4,431.4,8.7,1185,14674,0.00,3.08,6.53,1.048,4,0.000,0.054,3187,3726,1425
$GC,14802,1.50,347.3,420.1,8.0,1197,14829,0.20,2.65,20.80,0.995,6,0.061,0.038,3232,2207,1332
$GC,15148,1.54,353.6,388.3,8.7,1229,15160,0.00,2.35,5.47,1.009,4,0.000,0.055,3232,922,1305
$GC,15263,1.49,353.6,377.5,9.3,1239,15266,0.00,1.95,0.00,0.000,6,0.000,0.035,3232,2050,1304
$GC,15598,1.54,353.6,346.9,9.2,1270,15603,0.00,3.00,0.00,0.000,4,0.000,0.052,3232,3731,1304
$GC,15721,1.50,353.6,334.3,9.2,1280,15727,0.00,2.62,0.00,0.000,6,0.000,0.037,3232,2213,1304
$GC,16050,1.53,353.6,303.9,9.0,1311,16054,0.00,2.30,0.00,0.000,4,0.000,0.055,3232,929,1304
$GC,16134,1.50,353.6,295.4,9.7,1318,16140,0.00,1.95,0.00,0.000,6,0.000,0.034,3232,2072,1303
$GC,16464,1.56,359.1,266.4,8.8,1349,16475,0.00,2.97,4.80,0.914,4,0.000,0.051,3232,3727,1283
$GC,16560,1.62,391.7,257.5,7.6,1357,16597,0.12,2.62,28.60,0.843,6,0.067,0.036,3262,2206,1150
$GC,16933,1.62,391.7,221.0,10.0,1416,16939,0.00,2.72,0.00,0.000,4,0.000,0.052,3262,3729,1146
$GC,17019,1.62,391.7,212.2,9.3,1431,17025,0.00,3.00,0.00,0.000,6,0.000,0.037,3262,2008,1146
$GC,17364,1.68,405.0,179.9,8.4,1492,17381,0.00,3.12,11.07,0.804,4,0.000,0.048,3262,3734,1095
$GC,17428,1.68,405.0,173.9,10.1,1503,17434,0.00,2.70,0.00,0.000,6,0.000,0.035,3262,2177,1095
$GC,17773,1.83,409.8,144.8,8.8,1564,17785,0.15,2.28,3.92,0.793,4,0.054,0.053,3309,932,1076
$GC,17831,1.79,411.2,139.5,9.0,1574,17837,0.00,1.98,0.00,0.000,6,0.000,0.032,3309,2085,1075
$GC,18176,1.88,445.5,112.0,7.5,1635,18213,0.00,2.97,30.55,0.688,4,0.000,0.048,3309,3732,929
$GC,18272,1.89,454.7,104.2,8.6,1652,18288,0.00,2.67,7.53,0.709,6,0.000,0.031,3309,2175,893
$GC,18629,1.99,460.0,75.4,8.8,1715,18641,0.12,2.25,4.18,0.685,4,0.058,0.049,3346,913,871
$GC,18681,1.99,460.0,69.8,11.2,1724,18687,0.00,1.95,0.00,0.000,6,0.000,0.030,3346,2068,871
$GC,19026,2.06,503.5,41.3,7.1,1785,19068,0.00,2.97,36.00,0.587,4,0.000,0.045,3346,3734,694
$GC,19126,2.18,520.4,32.7,8.3,1803,19148,0.15,2.65,13.70,0.588,6,0.051,0.029,3389,2175,625
$STATE,19455,end climb,SURFACE_DEPTH_REACHED
$STATE,19455,begin surface coast
$FINISH,-0.1,1.020374
$STATE,19482,end surface coast,CONTROL_FINISHED_OK
$STATE,19482,begin surface
$SM_CCo,19568,0.00,0.000,0,0,619,522.24
$SM_GC,0.82,13.75,0.00,0.00,0.037,0.000,0.000,252,2253,619,-12.16,1.05,522.24
$IRIDIUM_FIX,1229.99,12047.98,130897,060623
$TT8_MAMPS,0.023777
$HUMID,2055
$INTERNAL_PRESSURE,9.66834
$TCM_TEMP,25.10
$XPDR_PINGS,377
$ALTIM_BOTTOM_PING,720.9,106.4
$24V_AH,22.9,80.144
$10V_AH,10.1,40.914
$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,36.400,219.800,571.475,0.000,0.000,23.529,45.947,218.012,100.250,0.000,0.000,13.542,3023.857,12163.699,736.372,3287.895,788.922,0.000,2407.692,0.000,3213.567,0.000,45.541
$DEVICE_MAMPS,164.905,75.166,1231.802,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1249.036,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59761,1866
$CAP_FILE_SIZE,209870,0
$CFSIZE,260165632,220917760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190508,165838,1234.375,12044.577,36,1.1,36,-0.8