version: 66.03
glider: 17
mission: 6
dive: 20
start: 7 5 108 20 32 35
data:
$ID,17
$MISSION,6
$DIVE,20
$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,0
$FERRY_MAX,60
$KALMAN_USE,2
$HD_A,0.002048
$HD_B,0.0077960002
$HD_C,3.8187001e-05
$HEADING,200
$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,-86443.305
$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,28
$ROLL_AD_RATE,320
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,452
$VBD_MAX,3835
$C_VBD,2550
$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
$GPS1,202625,6625.457,531.400,39,1.3,39,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-43.5
$GPS2,203147,6625.529,531.274,11,2.1,30,-2.3
$SPEED_LIMITS,0.139,0.149
$TGT_NAME,HEADING
$TGT_LATLONG,6615.381,529.786
$TGT_RADIUS,1852.000
$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,202.3,20000,-24.1,-8.049
$D_GRID,847
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.56,-46.6,0.0,0.0,0,78,0.00,0.00,-50.72,0.000,6,0.000,0.000,62,2023,2741
$GC,80,-1.59,-73.7,2.9,-4.7,10,98,9.40,2.12,-3.00,0.000,4,0.196,0.061,1597,884,2852
$GC,103,-0.51,-73.7,6.7,-14.1,14,110,1.27,2.00,0.00,0.000,6,0.130,0.034,1831,2019,2853
$GC,447,-1.50,-99.0,22.7,-4.9,75,459,0.90,2.10,-1.38,0.000,4,0.028,0.059,1611,879,2957
$GC,711,-1.76,-99.0,51.2,-9.3,122,718,0.15,2.00,0.00,0.000,6,0.044,0.032,1562,2009,2960
$GC,1055,-1.88,-99.0,84.4,-8.7,183,1061,0.00,2.03,0.00,0.000,4,0.000,0.044,1561,878,2961
$GC,1314,-1.97,-99.0,109.1,-9.6,229,1320,0.20,1.98,0.00,0.000,6,0.052,0.034,1516,2011,2963
$GC,1656,-1.97,-99.0,148.0,-11.6,290,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,1516,2011,2964
$GC,1998,-1.97,-99.0,188.4,-11.7,351,2004,0.00,2.05,0.00,0.000,4,0.000,0.053,1516,3130,2964
$GC,2025,-1.91,-99.0,191.8,-11.9,356,2032,0.00,2.00,0.00,0.000,6,0.000,0.038,1516,2008,2964
$GC,2353,-1.91,-99.0,228.4,-10.7,393,2357,0.00,2.05,0.00,0.000,4,0.000,0.051,1516,3128,2964
$GC,2398,-1.84,-99.0,233.3,-10.6,397,2402,0.17,1.95,0.00,0.000,6,0.131,0.038,1545,2008,2964
$GC,2722,-1.93,-99.0,263.9,-9.6,427,2726,0.00,2.03,0.00,0.000,4,0.000,0.053,1545,3128,2964
$GC,2775,-1.93,-99.0,269.6,-10.4,431,2783,0.00,2.03,0.00,0.000,6,0.000,0.038,1545,2000,2964
$GC,3101,-2.01,-99.0,302.6,-10.3,462,3106,0.15,2.05,0.00,0.000,4,0.061,0.053,1508,3129,2965
$GC,3128,-2.01,-99.0,305.8,-12.3,464,3132,0.00,1.95,0.00,0.000,6,0.000,0.039,1508,2011,2964
$GC,3458,-2.01,-99.0,344.2,-11.5,495,3461,0.00,2.00,0.00,0.000,4,0.000,0.051,1508,887,2964
$GC,3495,-1.93,-99.0,348.7,-11.7,498,3502,0.08,2.00,0.00,0.000,6,0.132,0.038,1523,2009,2964
$GC,3820,-1.93,-99.0,381.6,-10.3,529,3821,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,2009,2964
$GC,4138,-1.93,-99.0,415.1,-10.6,559,4142,0.00,2.03,0.00,0.000,4,0.000,0.052,1523,887,2964
$GC,4222,-1.93,-99.0,424.5,-11.4,566,4228,0.00,1.98,0.00,0.000,6,0.000,0.040,1523,2013,2964
$GC,4546,-1.93,-99.0,458.4,-10.0,597,4550,0.00,2.03,0.00,0.000,4,0.000,0.053,1523,882,2963
$GC,4577,-1.93,-99.0,462.1,-11.1,599,4585,0.00,2.05,0.00,0.000,6,0.000,0.041,1523,2024,2963
$GC,4902,-1.93,-99.0,496.6,-10.3,630,4904,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,2024,2961
$GC,5213,-1.93,-99.0,527.4,-9.6,647,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,2024,2961
$GC,5522,-1.93,-99.0,558.5,-10.3,662,5526,0.00,2.03,0.00,0.000,4,0.000,0.065,1523,3131,2961
$GC,5621,-1.93,-99.0,569.2,-10.4,666,5626,0.00,2.03,0.00,0.000,6,0.000,0.046,1523,2009,2960
$GC,5943,-1.93,-99.0,602.3,-10.5,682,5944,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,2009,2959
$GC,6252,-1.93,-99.0,634.1,-10.2,697,6253,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,2009,2958
$GC,6561,-1.93,-99.0,665.5,-10.2,712,6562,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,2007,2956
$GC,6870,-1.93,-99.0,696.9,-10.1,727,6874,0.00,2.10,0.00,0.000,4,0.000,0.067,1523,3138,2956
$GC,6913,-1.93,-99.0,701.6,-10.8,729,6918,0.00,2.08,0.00,0.000,6,0.000,0.051,1523,2010,2955
$GC,7240,-1.93,-99.0,734.2,-9.8,745,7244,0.00,2.05,0.00,0.000,4,0.000,0.067,1523,3130,2954
$GC,7301,-1.93,-99.0,740.5,-10.7,747,7308,0.00,2.00,0.00,0.000,6,0.000,0.051,1523,2009,2954
$GC,7616,-1.93,-99.0,772.1,-9.8,763,7619,0.00,2.10,0.00,0.000,4,0.000,0.067,1523,3136,2953
$GC,7660,-1.93,-99.0,776.6,-10.6,765,7664,0.00,2.03,0.00,0.000,6,0.000,0.051,1523,2003,2953
$GC,7991,-1.93,-99.0,809.3,-9.8,781,7995,0.00,2.10,0.00,0.000,4,0.000,0.067,1523,3130,2952
$GC,8034,-1.93,-99.0,813.8,-10.1,783,8039,0.00,2.08,0.00,0.000,6,0.000,0.051,1523,2005,2952
$GC,8361,-1.93,-99.0,845.9,-9.8,799,8365,0.00,2.08,0.00,0.000,4,0.000,0.067,1523,3130,2951
$STATE,8375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8375,begin apogee
$GC,8381,-0.31,0.0,847.5,9.9,799,8472,1.88,0.00,87.38,1.492,6,0.143,0.000,1878,2007,2550
$STATE,8473,end apogee,CONTROL_FINISHED_OK
$STATE,8473,begin climb
$GC,8475,1.61,99.0,849.0,0.0,804,8566,2.03,0.00,86.93,1.438,6,0.075,0.000,2301,2007,2146
$GC,8864,1.74,99.0,797.1,14.9,823,8869,0.12,2.10,0.00,0.000,4,0.064,0.067,2330,3134,2143
$GC,8934,1.74,99.0,785.5,16.4,826,8939,0.00,2.08,0.00,0.000,6,0.000,0.053,2330,2014,2142
$GC,9255,1.74,99.0,734.5,16.0,842,9256,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2014,2142
$GC,9566,1.74,99.0,686.2,15.4,857,9570,0.00,2.10,0.00,0.000,4,0.000,0.067,2330,3132,2141
$GC,9704,1.74,99.0,664.1,16.2,863,9708,0.00,2.10,0.00,0.000,6,0.000,0.054,2330,2010,2141
$GC,10025,1.74,99.0,614.5,15.7,879,10026,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2010,2140
$GC,10334,1.74,99.0,566.7,15.3,894,10338,0.00,2.12,0.00,0.000,4,0.000,0.067,2330,3141,2139
$GC,10395,1.74,99.0,557.1,16.4,897,10399,0.00,2.10,0.00,0.000,6,0.000,0.054,2330,2007,2139
$GC,10726,1.74,99.0,508.8,14.3,913,10730,0.00,2.10,0.00,0.000,4,0.000,0.066,2330,3131,2139
$GC,10805,1.74,99.0,497.4,14.5,917,10808,0.00,2.05,0.00,0.000,6,0.000,0.053,2330,2006,2138
$GC,11134,1.74,99.0,452.7,13.4,948,11138,0.00,2.10,0.00,0.000,4,0.000,0.072,2330,883,2138
$GC,11206,1.74,99.0,442.5,14.2,954,11210,0.00,2.03,0.00,0.000,6,0.000,0.047,2330,2014,2138
$GC,11535,1.74,99.0,397.3,13.8,985,11536,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2014,2138
$GC,11855,1.80,99.0,355.2,13.2,1015,11859,0.00,2.10,0.00,0.000,4,0.000,0.064,2330,873,2138
$GC,11926,1.80,99.0,345.5,12.7,1021,11930,0.00,2.05,0.00,0.000,6,0.000,0.045,2330,2016,2137
$GC,12257,1.86,99.0,303.0,12.9,1052,12259,0.12,0.00,0.00,0.000,6,0.063,0.000,2359,2016,2138
$GC,12575,1.86,99.0,258.2,14.5,1082,12576,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2016,2137
$GC,12893,1.86,99.0,210.1,15.4,1112,12894,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2017,2138
$GC,13226,1.86,99.0,158.4,16.1,1165,13231,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2016,2138
$GC,13568,1.80,99.0,103.5,15.3,1226,13574,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2017,2139
$GC,13910,1.80,99.0,49.0,15.7,1287,13915,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2016,2141
$GC,14252,1.81,109.9,10.7,6.7,1348,14264,0.00,0.00,9.75,0.781,6,0.000,0.000,2359,2017,2101
$STATE,14369,end climb,SURFACE_DEPTH_REACHED
$STATE,14369,begin surface coast
$FINISH,0.4,1.025795
$STATE,14393,end surface coast,CONTROL_FINISHED_OK
$STATE,14393,begin surface
$SM_CCo,14410,109.62,0.811,0,0,1427,275.23
$SM_GC,1.12,0.00,0.00,109.62,0.000,0.000,0.811,59,2016,1427,-8.70,0.17,275.23
$IRIDIUM_FIX,6558.99,528.20,290997,161605
$TT8_MAMPS,0.021476
$HUMID,2056
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,4.00
$XPDR_PINGS,-1
$24V_AH,23.1,6.912
$10V_AH,10.0,3.069
$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,26.900,90.150,184.050,109.625,0.000,29.211,32.516,151.568,2.250,0.000,0.000,30.915,2248.164,10058.744,471.095,1756.861,336.848,0.000,1536.522,0.000,1298.786,0.000,17.432
$DEVICE_MAMPS,195.585,72.098,1491.815,811.486,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1280.687,916.759,536.146,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69444,1373
$CAP_FILE_SIZE,128972,0
$CFSIZE,256368640,250576896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060708,003537,6626.991,533.120,30,1.9,30,-2.3