version: 66.03
glider: 17
mission: 6
dive: 7
start: 7 3 108 20 12 11
data:
$ID,17
$MISSION,6
$DIVE,7
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$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,410
$T_MISSION,450
$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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,52301
$NAV_MODE,2
$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,275
$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,-86064.18
$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,21
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,320
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,452
$VBD_MAX,3835
$C_VBD,2475
$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,500
$ALTIM_PING_DELTA,40
$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
$GPS1,200637,6604.308,546.988,41,1.6,53,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-44.4
$GPS2,201121,6604.365,546.930,12,1.8,12,-2.1
$SPEED_LIMITS,0.139,0.149
$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,269.4,171132,-24.1,-8.049
$D_GRID,623
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.56,-46.6,0.0,0.0,0,94,0.00,0.00,-71.93,0.000,6,0.000,0.000,58,2012,2665
$GC,96,-1.59,-73.7,3.1,-4.7,11,117,9.40,2.08,-2.95,0.000,4,0.196,0.064,1599,3144,2778
$GC,371,-1.75,-89.3,30.5,-6.1,59,379,0.15,1.98,-0.77,0.000,6,0.055,0.035,1564,2007,2841
$GC,715,-1.83,-92.6,56.1,-7.6,120,722,0.00,2.08,-0.10,0.000,4,0.000,0.062,1564,3141,2857
$GC,974,-1.83,-92.6,78.3,-8.7,166,982,0.00,2.00,0.00,0.000,6,0.000,0.035,1564,2011,2857
$GC,1320,-1.92,-97.0,105.9,-7.5,227,1327,0.15,2.05,-0.10,0.000,4,0.058,0.063,1526,3140,2875
$GC,1536,-1.85,-97.0,125.7,-9.5,265,1542,0.00,1.95,0.00,0.000,6,0.000,0.036,1526,2009,2876
$GC,1879,-1.85,-97.0,157.8,-9.3,326,1886,0.00,2.08,0.00,0.000,4,0.000,0.050,1526,3133,2876
$GC,1931,-1.79,-97.0,162.7,-9.5,335,1938,0.17,1.95,0.00,0.000,6,0.121,0.037,1555,2010,2876
$GC,2275,-1.87,-97.0,192.1,-8.8,396,2282,0.00,2.05,0.00,0.000,4,0.000,0.050,1555,3143,2876
$GC,2343,-1.87,-97.0,198.1,-8.8,408,2350,0.00,2.00,0.00,0.000,6,0.000,0.037,1555,2011,2876
$GC,2675,-1.96,-97.0,226.8,-8.7,441,2676,0.17,0.00,0.00,0.000,6,0.058,0.000,1515,2011,2876
$GC,2993,-1.96,-97.0,257.1,-9.6,471,2997,0.00,2.05,0.00,0.000,4,0.000,0.050,1516,3134,2876
$GC,3058,-1.87,-97.0,263.9,-10.1,476,3066,0.10,1.98,0.00,0.000,6,0.122,0.036,1536,2015,2876
$GC,3383,-1.87,-97.0,294.5,-9.4,507,3386,0.00,2.03,0.00,0.000,4,0.000,0.050,1536,3137,2875
$GC,3437,-1.87,-97.0,300.1,-10.3,511,3445,0.00,2.00,0.00,0.000,6,0.000,0.036,1536,2008,2876
$GC,3763,-1.87,-97.0,332.2,-9.9,542,3766,0.00,2.03,0.00,0.000,4,0.000,0.051,1536,3142,2876
$GC,3861,-1.87,-97.0,342.7,-10.7,550,3869,0.00,2.03,0.00,0.000,6,0.000,0.037,1536,2003,2876
$GC,4187,-1.87,-97.0,374.2,-9.3,581,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,2002,2876
$GC,4505,-1.87,-97.0,402.1,-8.6,611,4509,0.00,2.05,0.00,0.000,4,0.000,0.051,1536,3144,2876
$GC,4543,-1.87,-97.0,405.6,-8.9,614,4547,0.00,1.98,0.00,0.000,6,0.000,0.038,1536,2010,2876
$GC,4873,-1.87,-97.0,433.7,-8.8,645,4877,0.00,1.98,0.00,0.000,4,0.000,0.051,1536,884,2875
$GC,5129,-1.87,-97.0,457.1,-8.2,667,5137,0.00,2.00,0.00,0.000,6,0.000,0.037,1536,2011,2875
$GC,5455,-1.88,-103.7,482.8,-7.2,698,5459,0.00,2.00,0.00,0.000,4,0.000,0.051,1536,884,2876
$GC,5574,-1.88,-109.4,491.8,-7.3,708,5578,0.00,1.98,0.00,0.000,6,0.000,0.038,1536,2012,2875
$GC,5891,-1.88,-109.9,516.9,-8.0,728,5892,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,2011,2875
$GC,6200,-1.88,-109.9,543.0,-8.4,743,6201,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,2012,2875
$GC,6509,-1.88,-109.9,568.8,-8.5,758,6510,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,2012,2875
$GC,6819,-1.88,-109.9,595.4,-8.4,773,6822,0.00,2.10,0.00,0.000,4,0.000,0.064,1536,3130,2873
$GC,6891,-1.88,-109.9,601.9,-9.0,776,6894,0.00,2.00,0.00,0.000,6,0.000,0.048,1536,2007,2873
$STATE,7148,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7148,begin apogee
$GC,7151,-0.31,0.0,624.2,8.3,789,7238,1.80,0.00,82.85,1.318,6,0.127,0.000,1879,2007,2475
$STATE,7239,end apogee,CONTROL_FINISHED_OK
$STATE,7239,begin climb
$GC,7240,1.63,109.9,625.3,0.0,793,7340,2.03,2.15,91.70,1.269,4,0.064,0.064,2302,3127,2026
$GC,7383,1.73,109.9,608.4,17.0,800,7388,0.08,2.08,0.00,0.000,6,0.048,0.051,2327,2013,2024
$GC,7705,1.80,109.9,553.8,17.2,816,7709,0.00,2.08,0.00,0.000,4,0.000,0.065,2327,3129,2022
$GC,7747,1.80,109.9,546.1,17.8,818,7752,0.00,2.08,0.00,0.000,6,0.000,0.052,2327,2011,2022
$GC,8065,1.86,109.9,493.6,16.5,835,8070,0.12,2.08,0.00,0.000,4,0.061,0.063,2356,3134,2021
$GC,8096,1.79,109.9,487.6,18.7,837,8104,0.00,2.08,0.00,0.000,6,0.000,0.052,2357,2009,2020
$GC,8422,1.79,109.9,430.2,16.6,868,8426,0.00,2.08,0.00,0.000,4,0.000,0.068,2356,882,2018
$GC,8554,1.70,109.9,406.0,19.2,879,8563,0.15,2.03,0.00,0.000,6,0.118,0.044,2326,2005,2017
$GC,8879,1.70,109.9,350.1,17.7,910,8883,0.00,2.05,0.00,0.000,4,0.000,0.061,2326,884,2016
$GC,8907,1.70,109.9,345.0,19.9,912,8910,0.00,2.00,0.00,0.000,6,0.000,0.043,2325,2014,2016
$GC,9233,1.77,109.9,286.4,17.8,942,9234,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2015,2015
$GC,9550,1.85,109.9,230.3,18.0,972,9551,0.12,0.00,0.00,0.000,6,0.065,0.000,2354,2015,2015
$GC,9877,1.85,109.9,167.8,19.2,1017,9883,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2015,2016
$GC,10220,1.85,109.9,101.6,19.2,1078,10226,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2015,2016
$GC,10563,1.85,109.9,37.5,18.7,1139,10569,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2015,2017
$STATE,10802,end climb,SURFACE_DEPTH_REACHED
$STATE,10803,begin surface coast
$FINISH,0.3,1.025981
$STATE,10822,end surface coast,CONTROL_FINISHED_OK
$STATE,10822,begin surface
$SM_CCo,10838,99.82,0.840,0,0,1353,275.23
$SM_GC,1.12,0.00,0.00,99.82,0.000,0.000,0.840,57,2015,1353,-8.71,0.14,275.23
$IRIDIUM_FIX,6537.93,544.74,270997,161612
$TT8_MAMPS,0.021476
$HUMID,2103
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,3.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,620.8,40.8
$24V_AH,23.4,5.484
$10V_AH,10.1,1.890
$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,24.775,69.050,174.550,99.825,0.000,24.620,32.607,139.383,1.250,0.000,0.000,12.741,2461.008,6493.336,468.345,1532.317,301.009,0.000,1380.036,0.000,1119.899,0.000,11.103
$DEVICE_MAMPS,195.585,68.263,1317.706,839.865,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1121.700,848.084,523.961,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59929,1185
$CAP_FILE_SIZE,106960,0
$CFSIZE,256368640,251449344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.256, 12.3,1
$GPS,030708,231558,6605.948,544.779,36,2.3,55,-2.1