version: 66.03
glider: 122
mission: 6
dive: 429
start: 5 19 108 17 6 29
data:
$ID,122
$MISSION,6
$DIVE,429
$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,-35611.844
$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,25
$R_STBD_OVSHOOT,58
$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
$GPS1,165838,1234.375,12044.577,36,1.1,36,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-73.7
$GPS2,170557,1234.291,12044.540,12,1.4,12,-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,139.5,38252,-18.6,-9.016
$D_GRID,813
$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,-64.40,0.000,2,0.000,0.000,252,2254,2400
$GC,96,-1.56,-146.0,3.3,-6.9,13,139,13.27,2.60,-19.25,0.000,4,0.165,0.051,2561,797,3345
$GC,174,-1.32,-146.0,17.0,-16.2,27,180,0.30,2.35,0.00,0.000,6,0.115,0.028,2616,2198,3346
$GC,518,-1.32,-146.0,61.8,-11.3,88,524,0.00,2.45,0.00,0.000,4,0.000,0.047,2616,3618,3346
$GC,554,-1.24,-146.0,65.8,-11.8,94,560,0.00,2.10,0.00,0.000,6,0.000,0.025,2616,2325,3346
$GC,898,-1.24,-146.0,105.2,-11.5,155,904,0.00,2.22,0.00,0.000,4,0.000,0.044,2615,3624,3348
$GC,989,-1.17,-146.0,115.3,-11.1,171,996,0.17,1.92,0.00,0.000,6,0.101,0.025,2649,2427,3348
$GC,1335,-1.28,-146.0,147.9,-8.5,232,1341,0.00,2.05,0.00,0.000,4,0.000,0.044,2649,3625,3350
$GC,1378,-1.33,-146.0,151.6,-8.4,239,1384,0.15,1.95,0.00,0.000,6,0.050,0.025,2603,2415,3350
$GC,1723,-1.33,-146.0,182.9,-8.9,300,1729,0.00,2.05,0.00,0.000,4,0.000,0.044,2603,3618,3351
$GC,1825,-1.33,-146.0,192.5,-9.3,318,1831,0.00,2.10,0.00,0.000,6,0.000,0.027,2603,2333,3350
$GC,2170,-1.43,-146.0,219.9,-8.5,379,2176,0.00,2.20,0.00,0.000,4,0.000,0.044,2603,3618,3351
$GC,2223,-1.43,-146.0,224.3,-8.5,388,2228,0.00,1.92,0.00,0.000,6,0.000,0.028,2603,2435,3351
$GC,2572,-1.52,-146.0,252.2,-8.3,448,2576,0.15,2.03,0.00,0.000,4,0.049,0.044,2552,3616,3351
$GC,2628,-1.41,-146.0,257.4,-9.0,452,2634,0.22,2.08,0.00,0.000,6,0.099,0.029,2594,2351,3351
$GC,2953,-1.50,-146.0,284.7,-8.1,483,2957,0.00,2.20,0.00,0.000,4,0.000,0.048,2594,3623,3348
$GC,2987,-1.50,-146.0,287.6,-8.0,485,2993,0.00,1.95,0.00,0.000,6,0.000,0.029,2594,2429,3348
$GC,3316,-1.59,-146.0,312.0,-7.2,516,3320,0.15,2.08,0.00,0.000,4,0.051,0.048,2543,3625,3347
$GC,3423,-1.47,-146.0,320.7,-8.0,525,3428,0.22,2.08,0.00,0.000,6,0.104,0.031,2584,2377,3346
$GC,3749,-1.55,-146.0,343.6,-7.7,555,3753,0.00,2.15,0.00,0.000,4,0.000,0.049,2584,3613,3344
$GC,3833,-1.55,-146.0,350.4,-8.1,562,3838,0.00,2.17,0.00,0.000,6,0.000,0.031,2584,2310,3343
$GC,4161,-1.62,-146.0,375.4,-7.5,593,4166,0.15,2.65,0.00,0.000,4,0.051,0.049,2534,807,3342
$GC,4251,-1.50,-146.0,383.4,-8.4,600,4258,0.22,2.80,0.00,0.000,6,0.104,0.034,2576,2438,3340
$GC,4577,-1.55,-146.0,406.4,-6.7,631,4581,0.00,2.05,0.00,0.000,4,0.000,0.051,2576,3615,3338
$GC,4650,-1.55,-146.0,412.1,-7.1,637,4656,0.00,2.20,0.00,0.000,6,0.000,0.032,2576,2304,3337
$GC,4979,-1.61,-146.0,436.2,-7.8,668,4983,0.00,2.30,0.00,0.000,4,0.000,0.051,2576,3621,3335
$GC,5047,-1.61,-146.0,442.3,-8.7,674,5051,0.00,2.08,0.00,0.000,6,0.000,0.032,2576,2385,3334
$GC,5381,-1.68,-146.0,469.7,-8.5,705,5386,0.15,2.17,0.00,0.000,4,0.054,0.051,2531,3621,3332
$GC,5454,-1.54,-146.0,476.9,-9.7,711,5460,0.20,2.20,0.00,0.000,6,0.108,0.033,2567,2315,3331
$GC,5779,-1.59,-146.0,502.3,-7.6,741,5783,0.00,2.30,0.00,0.000,4,0.000,0.052,2567,3619,3330
$GC,5868,-1.59,-146.0,509.2,-7.8,745,5872,0.00,2.08,0.00,0.000,6,0.000,0.033,2567,2386,3329
$GC,6199,-1.63,-146.0,532.9,-7.3,761,6203,0.00,2.83,0.00,0.000,4,0.000,0.052,2567,804,3327
$GC,6249,-1.59,-146.0,537.1,-7.8,763,6254,0.00,2.80,0.00,0.000,6,0.000,0.036,2568,2416,3327
$GC,6570,-1.65,-146.0,561.2,-7.8,778,6573,0.00,2.12,0.00,0.000,4,0.000,0.055,2567,3622,3325
$GC,6581,-1.70,-146.0,562.8,-8.2,778,6586,0.15,2.10,0.00,0.000,6,0.058,0.033,2528,2374,3326
$GC,6901,-1.66,-146.0,588.6,-7.9,793,6906,0.00,2.78,0.00,0.000,4,0.000,0.053,2529,809,3324
$GC,6981,-1.53,-146.0,595.6,-8.2,796,6988,0.22,2.67,0.00,0.000,6,0.110,0.037,2569,2352,3323
$GC,7300,-1.60,-146.0,617.9,-6.9,812,7304,0.00,2.78,0.00,0.000,4,0.000,0.054,2570,807,3321
$GC,7340,-1.60,-146.0,621.0,-7.7,814,7345,0.00,2.62,0.00,0.000,6,0.000,0.036,2570,2319,3321
$GC,7669,-1.66,-146.0,644.1,-7.6,830,7674,0.12,2.70,0.00,0.000,4,0.058,0.054,2535,806,3319
$GC,7767,-1.56,-146.0,652.8,-9.0,834,7773,0.15,2.80,0.00,0.000,6,0.113,0.038,2561,2416,3318
$GC,8087,-1.60,-146.0,677.6,-7.6,849,8091,0.00,2.12,0.00,0.000,4,0.000,0.058,2561,3612,3317
$GC,8179,-1.57,-146.0,685.4,-8.8,853,8183,0.00,2.25,0.00,0.000,6,0.000,0.036,2561,2297,3317
$GC,8509,-1.61,-146.0,709.3,-7.1,869,8513,0.00,2.67,0.00,0.000,4,0.000,0.058,2561,811,3316
$GC,8599,-1.57,-146.0,716.1,-7.7,873,8604,0.00,2.80,0.00,0.000,6,0.000,0.038,2561,2417,3315
$GC,8923,-1.61,-146.0,737.3,-6.6,889,8927,0.00,2.10,0.00,0.000,4,0.000,0.059,2562,3609,3314
$GC,9025,-1.61,-146.0,745.0,-7.1,893,9029,0.00,2.25,0.00,0.000,6,0.000,0.036,2561,2291,3313
$GC,9341,-1.64,-146.0,768.0,-7.6,908,9346,0.00,2.67,0.00,0.000,4,0.000,0.058,2561,807,3312
$GC,9438,-1.60,-146.0,775.8,-7.5,912,9443,0.00,2.78,0.00,0.000,6,0.000,0.038,2562,2403,3311
$GC,9755,-1.60,-146.0,799.6,-7.1,927,9760,0.00,2.88,0.00,0.000,4,0.000,0.058,2561,813,3311
$GC,9766,-1.73,-146.0,800.4,-6.6,927,9773,0.17,2.60,0.00,0.000,6,0.054,0.038,2515,2311,3310
$STATE,9916,end dive,NO_VERTICAL_VELOCITY
$STATE,9916,begin apogee
$GC,9923,-0.35,0.0,799.8,0.0,935,10048,1.48,0.00,121.10,1.220,6,0.067,0.000,2830,2310,2748
$STATE,10050,end apogee,CONTROL_FINISHED_OK
$STATE,10050,begin climb
$GC,10053,1.56,146.0,799.6,0.0,941,10189,1.90,2.65,126.43,1.180,4,0.055,0.061,3242,3711,2152
$GC,10271,1.31,156.3,788.2,8.6,951,10288,0.30,2.42,8.88,1.194,6,0.135,0.039,3192,2328,2109
$GC,10599,1.25,200.1,765.7,7.1,967,10644,0.00,2.67,38.05,1.174,4,0.000,0.062,3191,931,1931
$GC,10764,1.13,200.1,752.1,9.0,974,10769,0.22,2.35,0.00,0.000,6,0.118,0.038,3152,2265,1929
$GC,11080,1.19,234.9,729.2,7.5,989,11115,0.00,2.70,29.42,1.171,4,0.000,0.061,3151,3709,1790
$GC,11195,1.21,247.3,719.5,8.5,993,11213,0.00,2.72,11.48,1.176,6,0.000,0.041,3151,2166,1738
$GC,11538,1.32,265.9,690.8,8.2,1010,11561,0.17,2.38,16.40,1.165,4,0.064,0.064,3194,934,1663
$GC,11590,1.24,265.9,685.6,10.8,1012,11594,0.00,2.45,0.00,0.000,6,0.000,0.038,3194,2313,1662
$GC,11911,1.18,272.9,656.5,8.7,1028,11925,0.17,2.60,6.25,1.174,4,0.110,0.058,3161,3729,1635
$GC,12030,1.20,285.5,646.4,8.5,1033,12046,0.00,2.65,11.48,1.157,6,0.000,0.040,3160,2218,1584
$GC,12356,1.34,316.5,620.4,7.6,1049,12391,0.17,2.45,27.30,1.118,4,0.064,0.062,3203,936,1457
$GC,12462,1.32,329.0,611.3,8.5,1053,12478,0.00,2.00,11.45,1.124,6,0.000,0.037,3203,2076,1405
$GC,12797,1.37,335.0,582.6,8.7,1070,12807,0.00,3.03,4.88,1.127,4,0.000,0.056,3204,3725,1382
$GC,12887,1.34,335.0,574.0,10.0,1074,12891,0.00,2.62,0.00,0.000,6,0.000,0.040,3203,2230,1382
$GC,13210,1.37,335.0,544.3,9.4,1090,13214,0.00,2.38,0.00,0.000,4,0.000,0.061,3203,925,1380
$GC,13295,1.34,335.0,535.6,10.2,1094,13298,0.00,2.00,0.00,0.000,6,0.000,0.036,3203,2080,1380
$GC,13628,1.41,335.0,502.8,9.8,1110,13633,0.00,2.95,0.00,0.000,4,0.000,0.055,3203,3727,1380
$GC,13735,1.41,335.0,492.1,9.9,1118,13740,0.00,2.62,0.00,0.000,6,0.000,0.038,3203,2222,1380
$GC,14064,1.47,335.0,462.1,9.2,1148,14067,0.00,2.33,0.00,0.000,4,0.000,0.058,3204,930,1379
$GC,14154,1.47,335.0,453.1,9.5,1156,14158,0.00,1.95,0.00,0.000,6,0.000,0.035,3204,2070,1378
$GC,14487,1.55,335.0,422.9,9.3,1187,14493,0.15,2.97,0.00,0.000,4,0.066,0.053,3243,3734,1378
$GC,14577,1.45,335.0,413.7,10.2,1194,14584,0.12,2.62,0.00,0.000,6,0.134,0.038,3224,2218,1378
$GC,14903,1.50,345.9,386.0,8.5,1225,14918,0.00,2.38,9.70,1.004,4,0.000,0.057,3223,926,1337
$GC,14991,1.50,345.9,377.8,9.7,1232,14997,0.00,1.98,0.00,0.000,6,0.000,0.035,3224,2069,1336
$GC,15319,1.57,345.9,347.1,9.6,1263,15324,0.00,2.95,0.00,0.000,4,0.000,0.052,3223,3727,1336
$GC,15403,1.57,345.9,338.2,9.8,1270,15408,0.00,2.62,0.00,0.000,6,0.000,0.037,3224,2213,1336
$GC,15732,1.61,347.4,307.9,9.0,1300,15737,0.15,2.30,0.00,0.000,4,0.066,0.054,3263,931,1336
$GC,15810,1.48,347.4,300.0,9.6,1306,15817,0.20,1.98,0.00,0.000,6,0.114,0.035,3227,2082,1334
$GC,16135,1.56,347.4,270.5,9.9,1337,16140,0.00,2.92,0.00,0.000,4,0.000,0.052,3227,3732,1334
$GC,16220,1.56,347.4,262.3,9.2,1344,16224,0.00,2.65,0.00,0.000,6,0.000,0.036,3227,2196,1334
$GC,16557,1.63,353.7,231.5,8.7,1392,16569,0.15,2.35,6.75,0.881,4,0.063,0.054,3267,928,1305
$GC,16664,1.52,353.7,221.5,10.4,1410,16670,0.15,1.95,0.00,0.000,6,0.113,0.034,3240,2065,1304
$GC,17010,1.59,371.8,190.8,8.2,1471,17031,0.00,3.03,15.68,0.809,4,0.000,0.050,3241,3734,1231
$GC,17039,1.65,373.9,188.1,8.9,1476,17045,0.10,2.65,0.00,0.000,6,0.077,0.034,3264,2213,1231
$GC,17384,1.67,385.5,158.1,8.5,1537,17401,0.00,2.80,11.48,0.784,4,0.000,0.049,3264,3730,1176
$GC,17493,1.71,392.0,149.2,8.7,1556,17505,0.00,2.85,5.68,0.793,6,0.000,0.035,3264,2082,1149
$GC,17847,1.87,429.0,121.9,7.4,1618,17885,0.17,2.15,31.35,0.700,4,0.054,0.052,3314,929,999
$GC,17908,1.87,429.0,116.6,9.3,1629,17914,0.00,1.85,0.00,0.000,6,0.000,0.031,3315,2013,998
$GC,18254,1.97,464.3,88.4,7.4,1690,18291,0.00,3.10,29.38,0.655,4,0.000,0.048,3315,3729,854
$GC,18421,2.04,469.0,74.3,8.8,1720,18433,0.15,2.72,3.55,0.699,6,0.056,0.031,3354,2135,835
$GC,18772,2.09,498.9,44.2,7.7,1782,18804,0.00,2.20,24.38,0.599,4,0.000,0.048,3353,931,712
$GC,18863,2.17,521.2,36.5,8.0,1798,18886,0.10,1.83,17.90,0.591,6,0.061,0.028,3392,2019,623
$STATE,19224,end climb,SURFACE_DEPTH_REACHED
$STATE,19225,begin surface coast
$FINISH,0.0,1.020330
$STATE,19246,end surface coast,CONTROL_FINISHED_OK
$STATE,19246,begin surface
$SM_CCo,19332,0.00,0.000,0,0,617,522.73
$SM_GC,0.75,13.75,0.00,0.00,0.036,0.000,0.000,249,2260,617,-12.17,1.24,522.73
$IRIDIUM_FIX,1232.20,11946.61,130897,111141
$TT8_MAMPS,0.023777
$HUMID,2070
$INTERNAL_PRESSURE,9.65857
$TCM_TEMP,24.90
$XPDR_PINGS,353
$ALTIM_BOTTOM_PING,740.0,69.2
$24V_AH,22.9,80.341
$10V_AH,10.1,41.014
$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,35.825,221.925,568.925,0.000,0.000,30.153,41.085,214.321,95.250,0.000,0.000,12.670,3034.227,11873.180,703.296,3336.061,817.501,0.000,2412.434,0.000,3257.438,0.000,54.964
$DEVICE_MAMPS,164.905,63.661,1220.297,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1249.028,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59775,1866
$CAP_FILE_SIZE,212581,0
$CFSIZE,260165632,220823552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190508,223001,1233.578,12044.664,38,1.0,43,-0.8