version: 66.03
glider: 122
mission: 6
dive: 240
start: 4 6 108 18 0 0
data:
$ID,122
$MISSION,6
$DIVE,240
$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,2
$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,-32443.838
$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,2150
$C_ROLL_CLIMB,2375
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$R_STBD_OVSHOOT,22
$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
$GPS1,175332,1247.842,12025.003,38,1.6,38,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-73.4
$GPS2,175926,1247.824,12024.902,11,1.3,16,-0.8
$SPEED_LIMITS,0.156,0.206
$TGT_NAME,WEST
$TGT_LATLONG,1245.620,12015.500
$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,268.2,17467,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.56,-146.0,0.0,0.0,0,85,0.00,0.00,-61.12,0.000,2,0.000,0.000,252,2120,2496
$GC,88,-1.56,-146.0,3.6,-8.4,10,126,13.40,2.50,-15.73,0.000,4,0.172,0.054,2559,3565,3347
$GC,284,-1.24,-146.0,49.6,-22.3,44,292,0.38,2.33,0.00,0.000,6,0.116,0.028,2629,2164,3348
$GC,629,-1.17,-146.0,102.5,-12.1,105,636,0.00,2.40,0.00,0.000,4,0.000,0.042,2629,3564,3350
$GC,660,-1.10,-146.0,106.1,-11.9,110,667,0.17,2.30,0.00,0.000,6,0.102,0.027,2662,2172,3350
$GC,1006,-1.17,-146.0,139.5,-8.5,171,1013,0.00,2.40,0.00,0.000,4,0.000,0.043,2661,3570,3353
$GC,1060,-1.24,-146.0,144.0,-8.0,180,1068,0.12,2.25,0.00,0.000,6,0.056,0.027,2622,2205,3353
$GC,1406,-1.24,-146.0,177.0,-9.7,241,1413,0.00,2.53,0.00,0.000,4,0.000,0.045,2622,750,3354
$GC,1425,-1.24,-146.0,178.8,-9.1,244,1433,0.00,2.55,0.00,0.000,6,0.000,0.030,2622,2264,3354
$GC,1770,-1.24,-146.0,211.2,-9.5,305,1777,0.00,2.25,0.00,0.000,4,0.000,0.048,2622,3567,3354
$GC,1817,-1.24,-146.0,215.3,-8.8,313,1824,0.00,2.17,0.00,0.000,6,0.000,0.029,2622,2252,3354
$GC,2164,-1.28,-146.0,245.1,-8.8,374,2171,0.00,2.28,0.00,0.000,4,0.000,0.047,2622,3567,3353
$GC,2206,-1.31,-146.0,249.4,-9.2,381,2213,0.00,2.12,0.00,0.000,6,0.000,0.030,2622,2289,3353
$GC,2541,-1.36,-146.0,278.1,-8.5,413,2546,0.00,2.70,0.00,0.000,4,0.000,0.050,2622,758,3351
$GC,2560,-1.41,-146.0,279.9,-8.6,414,2565,0.12,2.62,0.00,0.000,6,0.055,0.032,2582,2301,3351
$GC,2885,-1.37,-146.0,311.7,-9.7,444,2886,0.12,0.00,0.00,0.000,6,0.103,0.000,2605,2300,3349
$GC,3205,-1.37,-146.0,340.4,-9.1,474,3209,0.00,2.75,0.00,0.000,4,0.000,0.051,2606,755,3347
$GC,3233,-1.37,-146.0,343.1,-9.3,476,3237,0.00,2.62,0.00,0.000,6,0.000,0.033,2605,2289,3346
$GC,3561,-1.37,-146.0,370.9,-8.6,506,3567,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2288,3345
$GC,3886,-1.37,-146.0,400.0,-8.9,537,3890,0.00,2.22,0.00,0.000,4,0.000,0.050,2606,3567,3343
$GC,3919,-1.37,-146.0,403.1,-9.3,539,3926,0.00,2.20,0.00,0.000,6,0.000,0.032,2606,2262,3343
$GC,4246,-1.37,-146.0,430.3,-8.5,570,4250,0.00,2.67,0.00,0.000,4,0.000,0.052,2606,758,3341
$GC,4279,-1.40,-146.0,433.4,-8.8,572,4286,0.00,2.60,0.00,0.000,6,0.000,0.034,2606,2271,3341
$GC,4606,-1.40,-146.0,461.4,-8.6,603,4607,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2272,3338
$GC,4922,-1.40,-146.0,489.2,-8.6,633,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2272,3337
$GC,5246,-1.40,-146.0,515.4,-8.2,655,5250,0.00,2.70,0.00,0.000,4,0.000,0.054,2605,762,3334
$GC,5273,-1.44,-146.0,518.1,-9.0,656,5277,0.00,2.58,0.00,0.000,6,0.000,0.036,2606,2256,3334
$GC,5591,-1.47,-146.0,543.8,-8.2,671,5595,0.00,2.30,0.00,0.000,4,0.000,0.054,2606,3563,3332
$GC,5631,-1.51,-146.0,547.3,-8.2,673,5636,0.15,2.20,0.00,0.000,6,0.060,0.034,2567,2264,3332
$GC,5960,-1.46,-146.0,578.3,-9.8,689,5964,0.00,2.67,0.00,0.000,4,0.000,0.055,2567,762,3330
$GC,5992,-1.42,-146.0,582.0,-10.9,690,6000,0.15,2.62,0.00,0.000,6,0.110,0.035,2594,2280,3330
$GC,6308,-1.42,-146.0,609.9,-9.0,706,6309,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2281,3328
$GC,6617,-1.42,-146.0,637.6,-9.4,721,6621,0.00,2.28,0.00,0.000,4,0.000,0.057,2594,3568,3327
$GC,6645,-1.42,-146.0,640.5,-10.5,722,6649,0.00,2.22,0.00,0.000,6,0.000,0.035,2594,2258,3327
$GC,6961,-1.42,-146.0,668.6,-8.8,737,6966,0.00,2.70,0.00,0.000,4,0.000,0.058,2594,753,3326
$GC,7000,-1.42,-146.0,672.4,-9.3,739,7005,0.00,2.60,0.00,0.000,6,0.000,0.037,2594,2257,3325
$GC,7331,-1.42,-146.0,700.8,-8.4,755,7335,0.00,2.33,0.00,0.000,4,0.000,0.057,2594,3570,3324
$GC,7386,-1.42,-146.0,706.0,-8.8,757,7393,0.00,2.20,0.00,0.000,6,0.000,0.035,2594,2277,3324
$GC,7702,-1.42,-146.0,729.4,-7.4,773,7710,0.00,2.70,0.00,0.000,4,0.000,0.058,2594,765,3323
$GC,7732,-1.45,-146.0,731.9,-7.6,774,7737,0.00,2.62,0.00,0.000,6,0.000,0.037,2594,2280,3323
$GC,8054,-1.45,-146.0,758.6,-8.7,790,8059,0.00,2.75,0.00,0.000,4,0.000,0.058,2594,755,3321
$GC,8094,-1.50,-146.0,762.3,-9.6,792,8098,0.00,2.60,0.00,0.000,6,0.000,0.038,2594,2253,3321
$GC,8422,-1.53,-146.0,789.4,-8.1,808,8428,0.00,2.33,0.00,0.000,4,0.000,0.059,2594,3560,3320
$GC,8462,-1.53,-146.0,793.1,-8.9,809,8469,0.00,2.22,0.00,0.000,6,0.000,0.036,2594,2255,3320
$STATE,8734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8734,begin apogee
$GC,8741,-0.35,0.0,814.2,7.9,823,8864,1.15,0.00,120.18,1.236,6,0.099,0.000,2825,2392,2748
$STATE,8865,end apogee,CONTROL_FINISHED_OK
$STATE,8865,begin climb
$GC,8868,1.56,146.0,819.3,0.0,829,9001,1.92,2.50,124.10,1.199,4,0.054,0.059,3248,3710,2151
$GC,9070,1.26,146.0,809.2,11.7,838,9075,0.38,2.33,0.00,0.000,6,0.132,0.040,3183,2386,2150
$GC,9397,1.15,151.0,781.2,8.8,854,9406,0.15,2.62,3.95,1.193,4,0.130,0.059,3154,962,2132
$GC,9442,1.08,153.2,777.3,8.9,856,9446,0.00,2.47,0.00,0.000,6,0.000,0.039,3154,2361,2131
$GC,9769,1.06,169.8,750.4,8.3,872,9789,0.00,0.00,16.27,1.211,6,0.000,0.000,3154,2361,2055
$GC,10098,1.01,169.8,719.2,10.2,888,10103,0.15,2.55,0.00,0.000,4,0.123,0.058,3127,964,2053
$GC,10187,1.01,169.8,710.4,9.3,892,10192,0.00,2.47,0.00,0.000,6,0.000,0.040,3127,2372,2053
$GC,10509,1.02,173.2,682.1,8.9,908,10518,0.00,2.60,2.72,1.167,4,0.000,0.058,3127,978,2041
$GC,10586,1.02,173.2,674.9,9.8,911,10590,0.00,2.40,0.00,0.000,6,0.000,0.038,3127,2339,2041
$GC,10902,1.09,216.2,651.4,7.1,926,10947,0.00,2.58,36.30,1.151,4,0.000,0.060,3127,973,1865
$GC,10980,1.09,218.2,645.3,8.9,929,10984,0.00,2.38,0.00,0.000,6,0.000,0.039,3127,2312,1865
$GC,11302,1.21,259.3,620.3,7.2,945,11348,0.15,2.50,36.78,1.122,4,0.067,0.059,3168,974,1689
$GC,11364,1.21,259.3,614.6,10.3,947,11371,0.00,2.35,0.00,0.000,6,0.000,0.039,3168,2299,1688
$GC,11680,1.21,259.3,586.2,9.2,963,11681,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2299,1686
$GC,11989,1.21,259.3,557.6,9.2,978,11993,0.00,2.42,0.00,0.000,4,0.000,0.058,3168,968,1686
$GC,12033,1.21,259.3,553.2,9.8,980,12037,0.00,2.30,0.00,0.000,6,0.000,0.038,3168,2284,1686
$GC,12360,1.21,259.3,520.8,10.1,996,12364,0.00,2.38,0.00,0.000,4,0.000,0.058,3168,967,1685
$GC,12416,1.21,259.3,515.0,10.1,998,12420,0.00,2.25,0.00,0.000,6,0.000,0.038,3168,2261,1685
$GC,12736,1.21,259.3,485.3,9.5,1020,12737,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2261,1685
$GC,13057,1.21,261.8,456.7,8.9,1050,13058,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2261,1685
$GC,13373,1.21,261.8,426.6,9.1,1080,13377,0.00,2.33,0.00,0.000,4,0.000,0.057,3168,972,1685
$GC,13428,1.21,261.8,421.1,10.5,1084,13435,0.00,2.20,0.00,0.000,6,0.000,0.036,3169,2244,1685
$GC,13754,1.22,267.7,392.1,8.8,1115,13767,0.00,2.75,6.53,1.024,4,0.000,0.056,3168,3734,1656
$GC,13817,1.22,267.7,386.1,9.1,1120,13824,0.00,2.53,0.00,0.000,6,0.000,0.037,3168,2275,1656
$GC,14144,1.23,275.3,357.3,8.7,1151,14154,0.00,0.00,6.78,0.999,6,0.000,0.000,3168,2275,1625
$GC,14473,1.23,275.3,327.8,9.4,1182,14477,0.00,2.33,0.00,0.000,4,0.000,0.055,3168,970,1624
$GC,14495,1.23,275.3,325.5,9.9,1183,14502,0.00,2.25,0.00,0.000,6,0.000,0.035,3168,2275,1624
$GC,14822,1.25,286.6,296.8,8.5,1214,14833,0.00,0.00,9.55,0.935,6,0.000,0.000,3168,2276,1579
$GC,15148,1.32,303.7,269.1,8.3,1245,15173,0.12,2.45,14.40,0.888,4,0.064,0.054,3200,965,1508
$GC,15201,1.29,303.7,263.8,10.1,1249,15208,0.00,2.22,0.00,0.000,6,0.000,0.035,3200,2247,1507
$GC,15536,1.29,303.7,229.4,11.2,1297,15543,0.00,2.30,0.00,0.000,4,0.000,0.054,3200,966,1507
$GC,15566,1.29,303.7,226.2,10.7,1302,15573,0.00,2.15,0.00,0.000,6,0.000,0.034,3200,2222,1507
$GC,15911,1.29,303.7,192.5,9.4,1363,15917,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2222,1506
$GC,16255,1.33,325.1,162.4,8.1,1424,16281,0.00,2.75,17.42,0.788,4,0.000,0.051,3200,3726,1422
$GC,16300,1.33,325.1,158.4,9.1,1431,16307,0.00,2.70,0.00,0.000,6,0.000,0.035,3200,2172,1421
$GC,16644,1.42,353.4,129.0,7.7,1492,16677,0.00,2.85,23.12,0.743,4,0.000,0.047,3200,3730,1306
$GC,16764,1.51,359.8,118.9,8.7,1512,16779,0.15,2.50,5.25,0.777,6,0.058,0.034,3238,2272,1280
$GC,17119,1.63,411.6,92.1,6.7,1574,17171,0.00,2.40,42.25,0.676,4,0.000,0.049,3238,969,1069
$GC,17247,1.72,426.1,81.4,8.4,1595,17268,0.20,2.22,11.93,0.687,6,0.047,0.031,3292,2271,1010
$GC,17608,1.82,451.4,50.5,7.9,1658,17635,0.00,2.60,20.12,0.633,4,0.000,0.046,3292,3733,905
$GC,17665,1.92,458.3,46.0,8.7,1667,17680,0.15,2.60,5.43,0.653,6,0.056,0.031,3332,2208,878
$GC,18019,1.93,465.5,11.4,8.7,1729,18033,0.00,2.22,5.38,0.612,4,0.000,0.048,3332,973,849
$GC,18046,1.95,472.8,9.0,8.7,1733,18060,0.00,2.22,5.78,0.598,6,0.000,0.029,3332,2285,819
$STATE,18120,end climb,SURFACE_DEPTH_REACHED
$STATE,18120,begin surface coast
$FINISH,-0.1,0.999397
$STATE,18144,end surface coast,CONTROL_FINISHED_OK
$STATE,18146,begin surface
$SM_CCo,18169,0.32,1.025,0,0,810,475.15
$SM_GC,1.55,0.00,0.00,0.32,0.000,0.000,1.025,252,2116,810,-12.20,-0.96,475.15
$IRIDIUM_FIX,1243.25,12026.36,010797,121212
$TT8_MAMPS,0.023777
$HUMID,1971
$INTERNAL_PRESSURE,9.61951
$TCM_TEMP,24.70
$XPDR_PINGS,420
$24V_AH,23.2,44.287
$10V_AH,10.1,22.542
$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,32.775,181.250,514.225,0.325,0.000,24.002,39.289,161.783,113.250,0.000,0.000,16.566,3643.211,10714.635,734.262,2864.638,570.211,0.000,2202.471,0.000,2808.012,0.000,61.878
$DEVICE_MAMPS,171.808,59.826,1236.404,1024.712,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1173.734,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53478,1750
$CAP_FILE_SIZE,183096,0
$CFSIZE,260165632,237785088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.045, 92.0,1
$GPS,060408,230407,1247.861,12023.566,40,0.8,40,-0.8