version: 66.03
glider: 122
mission: 6
dive: 430
start: 5 19 108 22 37 59
data:
$ID,122
$MISSION,6
$DIVE,430
$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,-35624.785
$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,57
$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
$GPS1,223001,1233.578,12044.664,38,1.0,43,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-72.6
$GPS2,223727,1233.478,12044.704,12,1.2,12,-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,138.3,36933,-18.6,-9.016
$D_GRID,770
$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,-64.47,0.000,2,0.000,0.000,249,2258,2389
$GC,96,-1.56,-146.0,3.2,-7.0,13,139,13.38,2.35,-19.60,0.000,4,0.167,0.055,2562,3596,3346
$GC,162,-1.28,-146.0,15.3,-16.8,25,169,0.32,2.33,0.00,0.000,6,0.117,0.026,2621,2194,3346
$GC,508,-1.28,-146.0,58.8,-11.8,86,514,0.00,2.42,0.00,0.000,4,0.000,0.043,2621,3602,3347
$GC,543,-1.22,-146.0,63.2,-12.5,92,549,0.00,2.00,0.00,0.000,6,0.000,0.025,2621,2365,3347
$GC,887,-1.27,-146.0,100.1,-10.3,153,893,0.00,2.67,0.00,0.000,4,0.000,0.040,2621,812,3348
$GC,917,-1.27,-146.0,103.1,-10.2,158,923,0.00,2.53,0.00,0.000,6,0.000,0.029,2621,2318,3348
$GC,1261,-1.33,-146.0,137.3,-9.2,219,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2318,3350
$GC,1606,-1.43,-146.0,168.5,-8.1,280,1612,0.12,2.20,0.00,0.000,4,0.051,0.048,2577,3595,3352
$GC,1665,-1.34,-146.0,173.9,-9.5,290,1671,0.17,2.10,0.00,0.000,6,0.097,0.026,2611,2304,3352
$GC,2010,-1.42,-146.0,201.0,-8.0,351,2016,0.00,2.22,0.00,0.000,4,0.000,0.043,2611,3606,3352
$GC,2052,-1.42,-146.0,204.2,-7.7,358,2058,0.00,2.08,0.00,0.000,6,0.000,0.028,2611,2336,3352
$GC,2396,-1.54,-146.0,229.2,-7.0,419,2403,0.15,2.17,0.00,0.000,4,0.048,0.044,2557,3601,3352
$GC,2456,-1.43,-146.0,233.8,-7.8,429,2462,0.17,2.05,0.00,0.000,6,0.103,0.028,2589,2353,3352
$GC,2799,-1.49,-146.0,262.7,-9.2,478,2803,0.00,2.67,0.00,0.000,4,0.000,0.046,2589,820,3350
$GC,2894,-1.49,-146.0,271.4,-9.6,486,2899,0.00,2.55,0.00,0.000,6,0.000,0.031,2589,2328,3350
$GC,3223,-1.57,-146.0,297.5,-7.7,516,3228,0.12,2.65,0.00,0.000,4,0.053,0.046,2548,823,3348
$GC,3320,-1.48,-146.0,305.5,-7.8,524,3325,0.17,2.62,0.00,0.000,6,0.103,0.032,2580,2367,3347
$GC,3645,-1.53,-146.0,330.5,-8.5,554,3649,0.00,2.12,0.00,0.000,4,0.000,0.051,2580,3599,3345
$GC,3725,-1.53,-146.0,337.1,-7.8,561,3729,0.00,2.03,0.00,0.000,6,0.000,0.031,2580,2378,3345
$GC,4059,-1.61,-146.0,362.4,-7.9,592,4064,0.12,2.72,0.00,0.000,4,0.057,0.048,2541,824,3343
$GC,4149,-1.50,-146.0,371.2,-9.9,599,4155,0.17,2.65,0.00,0.000,6,0.104,0.033,2572,2376,3342
$GC,4476,-1.55,-146.0,399.3,-8.7,630,4480,0.00,2.12,0.00,0.000,4,0.000,0.051,2573,3597,3340
$GC,4579,-1.51,-146.0,408.1,-8.4,639,4583,0.00,2.22,0.00,0.000,6,0.000,0.032,2573,2278,3338
$GC,4907,-1.57,-146.0,431.3,-6.7,669,4912,0.00,2.58,0.00,0.000,4,0.000,0.051,2573,825,3336
$GC,4997,-1.57,-146.0,438.3,-7.4,676,5003,0.00,2.67,0.00,0.000,6,0.000,0.035,2573,2380,3335
$GC,5325,-1.62,-146.0,460.9,-7.2,707,5329,0.00,2.12,0.00,0.000,4,0.000,0.053,2573,3593,3333
$GC,5432,-1.62,-146.0,469.5,-7.8,716,5438,0.00,2.20,0.00,0.000,6,0.000,0.034,2573,2287,3332
$GC,5760,-1.68,-146.0,494.7,-8.0,747,5765,0.15,2.60,0.00,0.000,4,0.054,0.051,2526,824,3330
$GC,5850,-1.55,-146.0,502.7,-7.8,753,5856,0.22,2.67,0.00,0.000,6,0.108,0.035,2568,2375,3329
$GC,6175,-1.60,-146.0,525.8,-7.1,769,6179,0.00,2.15,0.00,0.000,4,0.000,0.054,2568,3593,3328
$GC,6278,-1.60,-146.0,533.6,-7.5,773,6282,0.00,2.17,0.00,0.000,6,0.000,0.034,2567,2308,3327
$GC,6595,-1.63,-146.0,555.3,-7.2,788,6599,0.00,2.28,0.00,0.000,4,0.000,0.053,2568,3598,3326
$GC,6674,-1.63,-146.0,561.5,-7.8,791,6678,0.00,2.35,0.00,0.000,6,0.000,0.035,2567,2220,3326
$GC,6993,-1.68,-146.0,585.6,-7.7,806,6998,0.15,2.50,0.00,0.000,4,0.056,0.054,2523,817,3324
$GC,7051,-1.55,-146.0,590.8,-8.3,808,7057,0.22,2.60,0.00,0.000,6,0.111,0.036,2564,2320,3323
$GC,7371,-1.59,-146.0,615.2,-7.7,824,7375,0.00,2.70,0.00,0.000,4,0.000,0.054,2564,814,3322
$GC,7438,-1.59,-146.0,621.0,-7.7,827,7443,0.00,2.75,0.00,0.000,6,0.000,0.037,2564,2410,3321
$GC,7760,-1.63,-146.0,646.2,-7.8,843,7764,0.00,2.10,0.00,0.000,4,0.000,0.058,2564,3596,3320
$GC,7852,-1.63,-146.0,653.7,-8.0,847,7856,0.00,2.15,0.00,0.000,6,0.000,0.035,2564,2323,3319
$GC,8187,-1.67,-146.0,678.7,-7.2,863,8192,0.12,2.70,0.00,0.000,4,0.058,0.054,2530,817,3318
$GC,8289,-1.57,-146.0,686.8,-7.4,867,8296,0.15,2.78,0.00,0.000,6,0.117,0.038,2557,2412,3317
$GC,8608,-1.61,-146.0,708.6,-6.8,883,8611,0.00,2.10,0.00,0.000,4,0.000,0.058,2557,3596,3316
$GC,8700,-1.56,-146.0,715.5,-7.1,887,8704,0.00,2.17,0.00,0.000,6,0.000,0.036,2557,2319,3316
$GC,9028,-1.60,-146.0,740.0,-7.7,903,9029,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2318,3315
$GC,9337,-1.60,-146.0,763.7,-7.3,918,9341,0.00,2.28,0.00,0.000,4,0.000,0.058,2557,3594,3314
$STATE,9511,end dive,NO_VERTICAL_VELOCITY
$STATE,9511,begin apogee
$GC,9520,-0.35,0.0,765.8,0.0,926,9644,1.25,0.00,120.97,1.190,6,0.064,0.000,2827,2336,2748
$STATE,9645,end apogee,CONTROL_FINISHED_OK
$STATE,9645,begin climb
$GC,9649,1.56,146.0,765.6,0.0,932,9784,1.92,2.67,125.85,1.151,4,0.058,0.060,3242,937,2151
$GC,9872,1.32,156.9,753.9,8.5,942,9886,0.28,2.42,9.12,1.171,6,0.119,0.039,3193,2309,2108
$GC,10217,1.24,191.9,728.0,7.4,959,10253,0.00,2.60,30.25,1.151,4,0.000,0.059,3193,931,1964
$GC,10277,1.13,191.9,722.7,9.4,961,10281,0.22,2.42,0.00,0.000,6,0.114,0.039,3153,2293,1963
$GC,10605,1.17,216.7,697.5,7.9,977,10633,0.00,2.65,21.40,1.150,4,0.000,0.060,3153,3723,1863
$GC,10730,1.20,232.7,686.5,8.3,982,10749,0.00,2.72,13.75,1.148,6,0.000,0.041,3153,2174,1799
$GC,11070,1.29,253.4,658.2,8.1,999,11095,0.15,2.35,18.15,1.139,4,0.069,0.063,3191,941,1714
$GC,11136,1.20,253.4,652.0,9.5,1002,11141,0.12,2.42,0.00,0.000,6,0.118,0.039,3170,2310,1714
$GC,11464,1.26,288.7,626.2,7.4,1018,11500,0.00,2.62,31.20,1.111,4,0.000,0.058,3170,3724,1570
$GC,11573,1.28,300.8,616.8,8.5,1022,11590,0.00,2.70,10.73,1.121,6,0.000,0.040,3171,2190,1521
$GC,11901,1.42,317.0,589.7,8.3,1038,11922,0.17,2.35,14.00,1.110,4,0.063,0.062,3214,936,1454
$GC,11934,1.39,317.0,586.4,10.2,1039,11938,0.00,2.47,0.00,0.000,6,0.000,0.038,3214,2329,1454
$GC,12250,1.33,317.0,555.2,9.9,1054,12255,0.00,2.50,0.00,0.000,4,0.000,0.058,3214,3724,1453
$GC,12336,1.25,317.0,546.3,10.5,1058,12342,0.20,2.65,0.00,0.000,6,0.123,0.040,3180,2214,1453
$GC,12666,1.34,325.2,516.8,8.6,1074,12679,0.00,2.42,6.80,1.095,4,0.000,0.060,3180,932,1421
$GC,12745,1.39,330.8,509.9,8.8,1077,12757,0.12,1.95,5.40,1.092,6,0.070,0.037,3209,2057,1399
$GC,13073,1.43,330.8,479.6,9.4,1103,13077,0.00,3.00,0.00,0.000,4,0.000,0.054,3209,3727,1398
$GC,13180,1.43,330.8,469.1,9.9,1112,13185,0.00,2.62,0.00,0.000,6,0.000,0.038,3209,2224,1398
$GC,13508,1.46,330.8,438.1,9.5,1142,13512,0.00,2.33,0.00,0.000,4,0.000,0.058,3209,928,1397
$GC,13604,1.46,330.8,428.1,10.1,1150,13609,0.00,1.95,0.00,0.000,6,0.000,0.036,3210,2065,1396
$GC,13931,1.51,330.8,397.8,9.0,1181,13936,0.12,2.97,0.00,0.000,4,0.070,0.053,3239,3730,1396
$GC,14033,1.42,330.8,387.0,10.2,1189,14039,0.15,2.60,0.00,0.000,6,0.125,0.038,3215,2228,1396
$GC,14359,1.49,345.7,357.9,8.3,1220,14380,0.00,2.42,13.20,0.968,4,0.000,0.056,3214,935,1337
$GC,14449,1.49,345.7,349.6,9.4,1228,14453,0.00,2.00,0.00,0.000,6,0.000,0.035,3215,2089,1336
$GC,14783,1.58,353.1,320.8,8.7,1259,14795,0.15,3.03,6.40,0.956,4,0.064,0.052,3255,3733,1308
$GC,14869,1.49,353.1,312.1,10.0,1266,14876,0.15,2.62,0.00,0.000,6,0.130,0.037,3230,2220,1308
$GC,15195,1.52,353.1,282.5,9.1,1297,15199,0.00,2.30,0.00,0.000,4,0.000,0.055,3230,935,1307
$GC,15263,1.51,363.9,276.7,8.5,1302,15280,0.00,1.98,9.68,0.907,6,0.000,0.035,3230,2089,1263
$GC,15602,1.60,369.7,246.3,8.8,1337,15615,0.10,2.95,5.35,0.895,4,0.073,0.051,3256,3729,1239
$GC,15708,1.55,369.7,235.8,10.0,1355,15714,0.00,2.60,0.00,0.000,6,0.000,0.036,3256,2230,1239
$GC,16052,1.55,369.7,201.4,9.7,1416,16058,0.00,2.33,0.00,0.000,4,0.000,0.053,3256,926,1238
$GC,16161,1.49,369.7,190.8,9.2,1435,16167,0.15,1.98,0.00,0.000,6,0.120,0.033,3231,2081,1237
$GC,16507,1.64,381.4,163.5,8.5,1496,16524,0.15,2.97,9.70,0.799,4,0.060,0.050,3274,3733,1192
$GC,16577,1.59,381.4,156.6,9.7,1508,16583,0.12,2.62,0.00,0.000,6,0.122,0.034,3253,2212,1192
$GC,16922,1.73,416.2,129.7,7.5,1569,16960,0.12,2.35,29.67,0.719,4,0.064,0.052,3286,929,1050
$GC,17006,1.76,434.9,123.0,8.2,1584,17028,0.00,2.03,16.25,0.713,6,0.000,0.032,3286,2108,974
$GC,17369,1.94,467.0,94.5,7.6,1648,17401,0.15,0.00,26.60,0.666,6,0.054,0.000,3336,2111,843
$GC,17742,2.02,479.9,61.6,8.4,1714,17758,0.00,2.12,10.10,0.650,4,0.000,0.047,3336,926,790
$GC,17812,2.09,488.6,55.5,8.6,1726,17824,0.10,2.20,7.00,0.653,6,0.064,0.031,3366,2215,756
$GC,18165,2.12,506.8,24.7,8.2,1788,18186,0.00,2.70,14.40,0.593,4,0.000,0.047,3366,3734,681
$GC,18249,2.12,506.8,16.9,9.2,1803,18255,0.00,2.88,0.00,0.000,6,0.000,0.030,3366,2050,681
$STATE,18425,end climb,SURFACE_DEPTH_REACHED
$STATE,18425,begin surface coast
$FINISH,-0.0,1.011632
$STATE,18447,end surface coast,CONTROL_FINISHED_OK
$STATE,18447,begin surface
$SM_CCo,18532,0.00,0.000,0,0,677,507.77
$SM_GC,0.77,13.70,0.00,0.00,0.038,0.000,0.000,248,2264,677,-12.18,1.36,507.77
$IRIDIUM_FIX,1227.78,12046.08,130897,171756
$TT8_MAMPS,0.023777
$HUMID,2086
$INTERNAL_PRESSURE,9.66834
$TCM_TEMP,24.90
$XPDR_PINGS,365
$ALTIM_BOTTOM_PING,700.1,75.2
$24V_AH,22.9,80.534
$10V_AH,10.1,41.113
$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,35.575,204.125,555.975,0.000,0.000,33.166,51.935,207.762,97.250,0.000,0.000,12.314,2969.952,11250.929,690.580,3267.756,791.156,0.000,2354.466,0.000,3193.836,0.000,47.760
$DEVICE_MAMPS,167.206,62.894,1189.617,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1230.144,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59728,1838
$CAP_FILE_SIZE,203803,0
$CFSIZE,260165632,220737536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200508,034808,1232.510,12044.998,40,1.1,40,-0.8