version: 66.03
glider: 17
mission: 6
dive: 10
start: 7 4 108 5 26 17
data:
$ID,17
$MISSION,6
$DIVE,10
$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,-86127.852
$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,15
$R_STBD_OVSHOOT,23
$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
$GPS1,052007,6607.647,539.906,30,1.8,30,-2.2
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-43.9
$GPS2,052527,6607.723,539.859,16,1.9,16,-2.2
$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,237.3,166231,-24.1,-8.049
$D_GRID,667
$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,-1.56,-46.6,0.0,0.0,0,72,0.00,0.00,-50.72,0.000,6,0.000,0.000,58,2020,2668
$GC,74,-1.58,-70.3,3.1,-5.1,8,96,9.40,2.10,-2.58,0.000,4,0.196,0.064,1597,3136,2764
$GC,158,-1.58,-70.3,15.9,-14.5,22,165,0.00,2.03,0.00,0.000,6,0.000,0.037,1597,2005,2766
$GC,503,-1.79,-95.2,38.8,-5.0,83,510,0.15,2.12,-1.05,0.000,4,0.058,0.062,1560,3137,2870
$GC,763,-1.79,-95.2,60.4,-9.3,129,769,0.00,1.95,0.00,0.000,6,0.000,0.036,1560,2007,2872
$GC,1106,-1.88,-95.2,89.9,-8.5,190,1113,0.00,2.08,0.00,0.000,4,0.000,0.049,1560,3145,2873
$GC,1366,-1.96,-95.2,112.9,-8.7,236,1374,0.17,1.98,0.00,0.000,6,0.058,0.036,1520,2008,2874
$GC,1711,-1.96,-95.2,146.4,-10.4,297,1718,0.00,2.03,0.00,0.000,4,0.000,0.049,1520,3131,2875
$GC,1942,-1.89,-95.2,171.2,-10.9,338,1949,0.00,1.95,0.00,0.000,6,0.000,0.037,1520,2010,2875
$GC,2282,-1.89,-95.2,205.6,-9.9,394,2286,0.00,2.05,0.00,0.000,4,0.000,0.050,1520,3135,2875
$GC,2336,-1.82,-95.2,211.3,-10.1,398,2345,0.12,2.00,0.00,0.000,6,0.117,0.037,1545,2008,2875
$GC,2663,-1.88,-95.2,239.1,-8.8,429,2667,0.00,2.05,0.00,0.000,4,0.000,0.051,1545,3146,2875
$GC,2724,-1.88,-95.2,245.0,-9.6,434,2727,0.00,1.98,0.00,0.000,6,0.000,0.038,1545,2006,2875
$GC,3049,-1.95,-95.2,275.3,-9.4,464,3051,0.00,0.00,0.00,0.000,6,0.000,0.000,1545,2006,2875
$GC,3367,-2.03,-95.2,303.6,-8.3,494,3371,0.15,2.05,0.00,0.000,4,0.061,0.050,1508,3136,2875
$GC,3461,-1.93,-95.2,312.5,-9.5,502,3465,0.00,1.95,0.00,0.000,6,0.000,0.038,1508,2004,2875
$GC,3787,-1.87,-95.2,345.4,-10.5,532,3791,0.15,1.98,0.00,0.000,4,0.127,0.049,1536,887,2875
$GC,3851,-1.87,-95.2,352.1,-10.1,537,3859,0.00,2.03,0.00,0.000,6,0.000,0.036,1536,2018,2875
$GC,4177,-1.87,-95.2,380.7,-9.1,568,4178,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,2018,2875
$GC,4495,-1.87,-95.2,410.7,-9.2,598,4498,0.00,2.03,0.00,0.000,4,0.000,0.051,1536,887,2875
$GC,4616,-1.87,-95.2,422.2,-9.5,608,4624,0.00,2.00,0.00,0.000,6,0.000,0.038,1536,2011,2875
$GC,4942,-1.87,-95.2,448.8,-8.1,639,4945,0.00,2.00,0.00,0.000,4,0.000,0.053,1536,887,2875
$GC,4973,-1.87,-95.2,451.5,-8.7,641,4981,0.00,2.03,0.00,0.000,6,0.000,0.040,1536,2013,2875
$GC,5299,-1.87,-95.2,478.4,-8.7,672,5300,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,2013,2875
$GC,5616,-1.94,-95.2,505.3,-8.1,699,5619,0.00,2.08,0.00,0.000,4,0.000,0.061,1537,3138,2875
$GC,5654,-1.94,-95.2,508.6,-8.6,701,5658,0.00,2.00,0.00,0.000,6,0.000,0.044,1536,2007,2874
$GC,5980,-2.00,-95.2,535.3,-8.2,717,5984,0.00,2.00,0.00,0.000,4,0.000,0.060,1537,886,2874
$GC,6101,-2.00,-95.2,545.9,-8.9,722,6109,0.00,2.03,0.00,0.000,6,0.000,0.042,1536,2008,2873
$GC,6418,-2.06,-95.2,571.6,-8.1,738,6422,0.17,2.08,0.00,0.000,4,0.065,0.064,1496,3141,2872
$GC,6482,-1.93,-95.2,578.0,-10.0,741,6487,0.12,2.03,0.00,0.000,6,0.130,0.048,1521,2015,2872
$GC,6809,-1.93,-95.2,606.9,-8.7,757,6813,0.00,2.08,0.00,0.000,4,0.000,0.064,1521,3137,2871
$GC,6848,-1.93,-95.2,610.5,-9.5,759,6851,0.00,2.03,0.00,0.000,6,0.000,0.050,1521,2004,2871
$GC,7173,-1.93,-95.2,640.1,-9.2,775,7177,0.00,2.08,0.00,0.000,4,0.000,0.065,1521,3130,2869
$GC,7235,-1.93,-95.2,645.9,-9.6,778,7238,0.00,2.00,0.00,0.000,6,0.000,0.052,1521,2011,2869
$STATE,7397,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7397,begin apogee
$GC,7400,-0.31,0.0,660.8,9.2,786,7488,1.90,0.00,83.12,1.359,6,0.136,0.000,1875,2010,2475
$STATE,7488,end apogee,CONTROL_FINISHED_OK
$STATE,7488,begin climb
$GC,7490,1.61,95.2,662.2,0.0,790,7581,2.03,2.15,81.15,1.308,4,0.072,0.067,2293,3132,2085
$GC,7619,1.73,95.2,647.8,16.0,796,7627,0.15,2.08,0.00,0.000,6,0.061,0.053,2328,1997,2084
$GC,7935,1.81,95.2,596.2,16.3,812,7938,0.00,2.12,0.00,0.000,4,0.000,0.066,2328,3136,2081
$GC,7995,1.81,95.2,586.0,17.2,815,7999,0.00,2.05,0.00,0.000,6,0.000,0.054,2328,2009,2081
$GC,8321,1.89,95.2,533.7,15.9,831,8323,0.15,0.00,0.00,0.000,6,0.063,0.000,2361,2010,2080
$GC,8633,1.89,95.2,480.7,16.2,851,8634,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2010,2078
$GC,8952,1.89,95.2,428.3,17.3,881,8953,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2010,2077
$GC,9270,1.89,95.2,375.0,16.3,911,9274,0.00,2.08,0.00,0.000,4,0.000,0.068,2361,883,2076
$GC,9426,1.79,95.2,348.7,16.5,924,9434,0.12,2.03,0.00,0.000,6,0.130,0.043,2341,2008,2076
$GC,9750,1.79,95.2,296.4,16.3,955,9754,0.00,2.08,0.00,0.000,4,0.000,0.061,2340,878,2075
$GC,9804,1.79,95.2,286.9,16.9,959,9813,0.00,2.05,0.00,0.000,6,0.000,0.042,2340,2010,2075
$GC,10130,1.79,95.2,232.9,16.9,990,10132,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2010,2075
$GC,10456,1.79,95.2,177.4,17.2,1031,10461,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2010,2075
$GC,10797,1.79,95.2,117.4,17.5,1092,10804,0.00,2.08,0.00,0.000,4,0.000,0.054,2341,884,2076
$GC,10838,1.79,95.2,110.5,17.9,1099,10845,0.00,2.00,0.00,0.000,6,0.000,0.038,2341,2023,2076
$GC,11181,1.79,95.2,54.1,15.9,1160,11188,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2024,2077
$GC,11525,1.91,102.6,7.3,7.1,1221,11540,0.12,2.08,6.20,0.726,4,0.063,0.051,2370,880,2055
$GC,11568,1.91,102.6,3.8,8.5,1228,11575,0.00,1.98,0.00,0.000,6,0.000,0.036,2370,2011,2055
$STATE,11597,end climb,SURFACE_DEPTH_REACHED
$STATE,11597,begin surface coast
$FINISH,0.3,1.018157
$STATE,11625,end surface coast,CONTROL_FINISHED_OK
$STATE,11625,begin surface
$SM_CCo,11641,111.38,0.828,0,0,1353,275.23
$SM_GC,1.11,0.00,0.00,111.38,0.000,0.000,0.828,57,2012,1353,-8.70,0.06,275.23
$IRIDIUM_FIX,6543.17,545.81,280997,020210
$TT8_MAMPS,0.021476
$HUMID,2088
$INTERNAL_PRESSURE,8.18391
$TCM_TEMP,3.50
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,660.8,12.1
$24V_AH,23.3,5.797
$10V_AH,10.1,2.134
$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,25.300,85.475,170.475,111.375,0.000,22.898,32.093,180.174,1.500,0.000,0.000,16.234,2598.859,7070.442,484.500,1612.184,345.034,0.000,1450.369,0.000,1180.248,0.000,12.836
$DEVICE_MAMPS,195.585,68.263,1359.124,828.360,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1176.343,878.099,530.890,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63147,1238
$CAP_FILE_SIZE,117142,0
$CFSIZE,256368640,251273216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.292,  8.7,1
$GPS,040708,084325,6609.014,537.934,25,1.8,42,-2.2