version: 66.03
glider: 17
mission: 6
dive: 6
start: 7 3 108 16 47 21
data:
$ID,17
$MISSION,6
$DIVE,6
$D_SURF,2
$D_FLARE,3
$D_TGT,600
$D_ABORT,1090
$D_NO_BLEED,200
$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,200
$T_MISSION,240
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,170
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,52301
$NAV_MODE,0
$FERRY_MAX,30
$KALMAN_USE,2
$HD_A,0.002048
$HD_B,0.0077960002
$HD_C,3.8187001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,66
$TGT_DEFAULT_LON,6
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$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,-86050.812
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,62
$PITCH_MAX,3362
$C_PITCH,1950
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.059999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,153
$ROLL_MAX,3868
$ROLL_DEG,32
$C_ROLL_DIVE,2010
$C_ROLL_CLIMB,2010
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,360
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,452
$VBD_MAX,3835
$C_VBD,2457
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,6
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-4.9708929
$PRESSURE_SLOPE,9.1642258e-05
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,400
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,37
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043458045
$SEABIRD_T_H,0.00063927198
$SEABIRD_T_I,2.5059786e-05
$SEABIRD_T_J,2.8926322e-06
$SEABIRD_C_G,-8.9986515
$SEABIRD_C_H,1.011379
$SEABIRD_C_I,-0.0019357111
$SEABIRD_C_J,0.00022611961
$GPS1,164216,6602.709,551.394,37,2.5,56,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-43.9
$GPS2,164652,6602.736,551.320,14,2.7,33,-2.0
$SPEED_LIMITS,0.173,0.269
$TGT_NAME,OWSM
$TGT_LATLONG,6600.000,200.000
$TGT_RADIUS,2000.000
$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,270.3,174322,-14.8,-10.000
$D_GRID,595
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.11,-165.4,0.0,0.0,0,102,0.00,0.00,-82.78,0.000,2,0.000,0.000,59,2004,2761
$GC,104,-1.11,-165.4,3.1,-7.6,16,132,9.82,2.12,-9.62,0.000,4,0.186,0.062,1704,3133,3133
$GC,384,-1.25,-165.4,30.1,-6.8,66,391,0.12,2.00,0.00,0.000,6,0.050,0.035,1672,2007,3135
$GC,729,-1.25,-165.4,57.4,-8.5,127,734,0.00,2.03,0.00,0.000,4,0.000,0.048,1672,3135,3136
$GC,987,-1.25,-165.4,79.2,-7.9,173,992,0.00,1.95,0.00,0.000,6,0.000,0.036,1672,2003,3136
$GC,1329,-1.31,-165.4,105.8,-8.6,234,1335,0.00,2.05,0.00,0.000,4,0.000,0.048,1672,3140,3136
$GC,1453,-1.38,-165.4,116.5,-8.4,256,1459,0.00,1.98,0.00,0.000,6,0.000,0.036,1673,2002,3136
$GC,1796,-1.44,-165.4,143.4,-7.8,317,1802,0.15,2.05,0.00,0.000,4,0.048,0.048,1627,3134,3136
$GC,1903,-1.33,-165.4,154.1,-9.9,336,1910,0.17,1.95,0.00,0.000,6,0.107,0.037,1658,2010,3136
$GC,2247,-1.33,-165.4,182.9,-8.1,397,2252,0.00,2.03,0.00,0.000,4,0.000,0.050,1658,3143,3136
$GC,2330,-1.33,-165.4,190.0,-8.7,412,2337,0.00,2.00,0.00,0.000,6,0.000,0.037,1658,2007,3137
$GC,2661,-1.33,-165.4,216.1,-7.8,454,2665,0.00,2.03,0.00,0.000,4,0.000,0.050,1658,3143,3137
$GC,2738,-1.33,-165.4,222.3,-8.5,460,2745,0.00,2.00,0.00,0.000,6,0.000,0.036,1658,2012,3137
$GC,3063,-1.33,-165.4,248.5,-8.1,491,3067,0.00,2.03,0.00,0.000,4,0.000,0.051,1658,3145,3136
$GC,3136,-1.33,-165.4,254.7,-8.8,497,3139,0.00,1.98,0.00,0.000,6,0.000,0.037,1658,2001,3136
$GC,3459,-1.33,-165.4,281.3,-7.9,527,3463,0.00,2.05,0.00,0.000,4,0.000,0.050,1658,3144,3136
$GC,3531,-1.33,-165.4,287.2,-8.3,533,3535,0.00,1.98,0.00,0.000,6,0.000,0.036,1658,2001,3136
$GC,3861,-1.33,-165.4,314.1,-8.3,564,3865,0.00,2.05,0.00,0.000,4,0.000,0.050,1658,3136,3136
$GC,3922,-1.33,-165.4,319.3,-8.4,569,3926,0.00,1.95,0.00,0.000,6,0.000,0.036,1658,2007,3136
$GC,4252,-1.33,-165.4,345.6,-8.1,600,4256,0.00,2.03,0.00,0.000,4,0.000,0.051,1658,3137,3136
$GC,4339,-1.33,-165.4,353.1,-8.2,607,4346,0.00,1.98,0.00,0.000,6,0.000,0.037,1658,2016,3136
$GC,4665,-1.33,-165.4,378.1,-7.6,638,4669,0.00,2.03,0.00,0.000,4,0.000,0.051,1658,3137,3136
$GC,4748,-1.33,-165.4,384.7,-7.8,645,4751,0.00,1.95,0.00,0.000,6,0.000,0.038,1658,2010,3136
$GC,5077,-1.33,-165.4,410.3,-8.2,676,5081,0.00,2.03,0.00,0.000,4,0.000,0.052,1658,3138,3136
$GC,5105,-1.33,-165.4,412.6,-8.5,678,5108,0.00,1.95,0.00,0.000,6,0.000,0.038,1658,2011,3136
$GC,5434,-1.33,-165.4,437.9,-7.4,709,5438,0.00,2.03,0.00,0.000,4,0.000,0.053,1658,3142,3136
$GC,5522,-1.33,-165.4,444.7,-8.0,716,5529,0.00,2.00,0.00,0.000,6,0.000,0.038,1658,2012,3136
$GC,5847,-1.33,-165.4,468.4,-7.4,747,5848,0.00,0.00,0.00,0.000,6,0.000,0.000,1658,2012,3136
$GC,6166,-1.33,-165.4,493.0,-7.4,777,6170,0.00,2.03,0.00,0.000,4,0.000,0.055,1658,885,3135
$GC,6231,-1.33,-165.4,498.1,-7.4,782,6238,0.00,1.98,0.00,0.000,6,0.000,0.036,1658,2018,3135
$GC,6561,-1.33,-165.4,520.2,-6.7,800,6565,0.00,2.03,0.00,0.000,4,0.000,0.056,1658,886,3135
$GC,6632,-1.33,-165.4,525.5,-7.6,803,6637,0.00,1.98,0.00,0.000,6,0.000,0.038,1658,2011,3135
$GC,6953,-1.33,-165.4,548.8,-7.2,819,6957,0.00,2.03,0.00,0.000,4,0.000,0.061,1658,3139,3135
$GC,7002,-1.33,-165.4,552.6,-7.7,821,7006,0.00,2.03,0.00,0.000,6,0.000,0.044,1658,2008,3135
$STATE,7218,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,7219,begin apogee
$GC,7222,-0.31,0.0,568.0,7.1,832,7363,1.10,0.00,137.35,1.244,6,0.099,0.000,1878,2008,2458
$STATE,7364,end apogee,CONTROL_FINISHED_OK
$STATE,7364,begin climb
$GC,7365,1.11,165.4,569.7,0.0,839,7506,1.45,0.00,135.88,1.198,6,0.071,0.000,2189,2008,1782
$GC,7814,1.11,165.4,519.4,12.2,861,7815,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2008,1779
$GC,8128,1.11,165.4,481.4,12.5,883,8131,0.00,2.08,0.00,0.000,4,0.000,0.070,2189,889,1777
$GC,8200,1.11,165.4,472.3,13.2,889,8204,0.00,2.00,0.00,0.000,6,0.000,0.046,2189,2015,1776
$GC,8530,1.17,165.4,433.0,11.9,920,8534,0.00,2.08,0.00,0.000,4,0.000,0.063,2189,881,1774
$GC,8617,1.17,165.4,421.9,12.2,927,8624,0.00,2.05,0.00,0.000,6,0.000,0.042,2189,2020,1774
$GC,8943,1.24,165.4,382.3,12.2,958,8947,0.12,2.08,0.00,0.000,4,0.058,0.058,2219,887,1773
$GC,9002,1.24,165.4,373.6,14.2,963,9006,0.00,1.98,0.00,0.000,6,0.000,0.041,2219,2013,1773
$GC,9332,1.24,165.4,327.5,14.0,994,9336,0.00,2.05,0.00,0.000,4,0.000,0.056,2219,881,1773
$GC,9375,1.24,165.4,321.1,14.5,997,9382,0.00,2.03,0.00,0.000,6,0.000,0.038,2219,2026,1773
$GC,9700,1.24,165.4,275.3,14.6,1028,9704,0.00,2.05,0.00,0.000,4,0.000,0.054,2219,885,1773
$GC,9750,1.24,165.4,267.9,15.3,1032,9753,0.00,1.98,0.00,0.000,6,0.000,0.039,2219,2018,1773
$GC,10079,1.24,165.4,221.5,14.0,1063,10083,0.00,2.05,0.00,0.000,4,0.000,0.054,2219,881,1773
$GC,10140,1.24,165.4,212.5,14.7,1068,10144,0.00,2.00,0.00,0.000,6,0.000,0.038,2219,2015,1773
$GC,10477,1.24,165.4,165.8,14.5,1120,10484,0.00,2.08,0.00,0.000,4,0.000,0.053,2220,886,1774
$GC,10517,1.24,165.4,160.0,14.9,1127,10523,0.00,1.95,0.00,0.000,6,0.000,0.038,2219,2011,1774
$GC,10859,1.24,165.4,111.1,13.7,1188,10865,0.00,2.05,0.00,0.000,4,0.000,0.051,2219,890,1774
$GC,10910,1.24,165.4,103.8,14.5,1197,10915,0.00,1.95,0.00,0.000,6,0.000,0.038,2219,2017,1775
$GC,11251,1.24,165.4,57.4,13.3,1258,11257,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2017,1775
$GC,11594,1.31,165.4,13.6,10.9,1319,11599,0.00,2.03,0.00,0.000,4,0.000,0.051,2219,883,1775
$GC,11673,1.40,174.6,5.8,9.5,1333,11689,0.15,1.98,7.80,0.745,6,0.051,0.037,2258,2011,1745
$STATE,11709,end climb,SURFACE_DEPTH_REACHED
$STATE,11709,begin surface coast
$FINISH,0.4,1.021283
$STATE,11728,end surface coast,CONTROL_FINISHED_OK
$STATE,11728,begin surface
$SM_CCo,11744,126.07,0.811,0,0,826,400.08
$SM_GC,0.94,0.00,0.00,126.07,0.000,0.000,0.811,58,2012,826,-8.70,0.06,400.08
$IRIDIUM_FIX,6532.72,600.54,270997,141442
$TT8_MAMPS,0.021476
$HUMID,2055
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,3.50
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,520.2,125.3
$24V_AH,23.4,5.385
$10V_AH,10.1,1.807
$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,22.900,100.650,281.025,126.075,0.000,29.785,30.452,114.336,2.250,0.000,0.000,34.847,2130.257,7392.442,614.107,1740.182,288.893,0.000,1651.757,0.000,1254.825,0.000,19.782
$DEVICE_MAMPS,186.381,69.797,1244.074,810.719,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1240.511,934.268,602.749,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66195,1343
$CAP_FILE_SIZE,123807,0
$CFSIZE,256368640,251490304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,030708,200637,6604.308,546.988,41,1.6,53,-2.1