version: 66.03
glider: 17
mission: 6
dive: 21
start: 7 6 108 0 41 53
data:
$ID,17
$MISSION,6
$DIVE,21
$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,-86455.805
$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,16
$R_STBD_OVSHOOT,21
$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
$GPS1,003537,6626.991,533.120,30,1.9,30,-2.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-44.4
$GPS2,004103,6627.073,533.010,11,1.8,11,-2.3
$SPEED_LIMITS,0.139,0.149
$TGT_NAME,HEADING
$TGT_LATLONG,6616.925,531.524
$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,865
$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,23,-1.56,-46.6,0.0,0.0,0,77,0.00,0.00,-50.03,0.000,6,0.000,0.000,59,2017,2742
$GC,79,-1.57,-59.3,3.3,-6.5,10,96,9.52,2.10,-1.30,0.000,4,0.199,0.069,1600,3139,2793
$GC,349,-1.72,-61.6,37.6,-7.8,58,356,0.12,2.03,0.00,0.000,6,0.061,0.035,1573,2004,2796
$GC,693,-1.84,-80.4,59.8,-5.7,119,700,0.12,2.08,-0.73,0.000,4,0.063,0.061,1544,3139,2883
$GC,952,-1.84,-80.4,83.2,-9.7,165,958,0.00,1.98,0.00,0.000,6,0.000,0.035,1545,2000,2885
$GC,1294,-1.84,-80.4,114.4,-8.6,226,1300,0.00,2.12,0.00,0.000,4,0.000,0.049,1545,3140,2886
$GC,1552,-1.84,-80.4,135.5,-8.1,272,1559,0.00,2.00,0.00,0.000,6,0.000,0.036,1544,2016,2886
$GC,1896,-1.84,-80.4,165.9,-9.3,333,1901,0.00,2.08,0.00,0.000,4,0.000,0.051,1545,3137,2887
$GC,2035,-1.84,-80.4,179.3,-9.5,358,2042,0.00,2.00,0.00,0.000,6,0.000,0.037,1545,2015,2887
$GC,2377,-1.84,-80.4,211.2,-9.3,409,2380,0.00,2.05,0.00,0.000,4,0.000,0.051,1544,3146,2887
$GC,2414,-1.84,-80.4,214.9,-9.3,412,2421,0.00,2.05,0.00,0.000,6,0.000,0.037,1544,2004,2887
$GC,2739,-1.84,-80.4,243.3,-8.2,443,2743,0.00,2.00,0.00,0.000,4,0.000,0.049,1544,879,2888
$GC,2767,-1.84,-80.4,245.5,-8.3,445,2770,0.00,2.00,0.00,0.000,6,0.000,0.035,1544,2021,2888
$GC,3096,-1.84,-86.0,270.8,-7.4,476,3097,0.00,0.00,0.00,0.000,6,0.000,0.000,1544,2021,2887
$GC,3414,-1.84,-86.0,296.1,-8.3,506,3418,0.00,2.03,0.00,0.000,4,0.000,0.054,1544,3134,2887
$GC,3458,-1.84,-86.0,300.1,-8.8,510,3462,0.00,2.03,0.00,0.000,6,0.000,0.038,1544,2003,2887
$GC,3788,-1.84,-86.0,330.1,-9.7,541,3792,0.00,2.00,0.00,0.000,4,0.000,0.051,1544,881,2887
$GC,3831,-1.84,-86.0,334.6,-10.2,544,3838,0.00,2.00,0.00,0.000,6,0.000,0.037,1544,2005,2887
$GC,4157,-1.91,-86.0,367.1,-10.1,575,4160,0.00,2.03,0.00,0.000,4,0.000,0.057,1544,3130,2887
$GC,4194,-1.91,-86.0,371.2,-10.5,578,4198,0.00,1.98,0.00,0.000,6,0.000,0.040,1544,2003,2887
$GC,4525,-1.97,-86.0,405.1,-9.6,609,4527,0.12,0.00,0.00,0.000,6,0.061,0.000,1517,2003,2887
$GC,4843,-1.97,-86.0,436.8,-9.5,639,4847,0.00,2.08,0.00,0.000,4,0.000,0.055,1516,3133,2887
$GC,4893,-1.90,-86.0,441.9,-10.3,643,4896,0.00,1.98,0.00,0.000,6,0.000,0.041,1516,2007,2886
$GC,5223,-1.90,-86.0,471.7,-8.6,674,5227,0.00,2.03,0.00,0.000,4,0.000,0.055,1516,886,2886
$GC,5318,-1.90,-86.0,480.5,-9.2,682,5322,0.10,1.98,0.00,0.000,6,0.141,0.039,1531,2011,2886
$GC,5654,-1.90,-86.0,509.3,-8.7,709,5658,0.00,2.05,0.00,0.000,4,0.000,0.055,1531,883,2885
$GC,5680,-1.90,-86.0,511.8,-9.1,710,5685,0.00,2.05,0.00,0.000,6,0.000,0.041,1531,2017,2885
$GC,6008,-1.90,-86.0,540.4,-8.8,726,6012,0.00,2.08,0.00,0.000,4,0.000,0.058,1531,880,2884
$GC,6084,-1.90,-86.0,547.7,-9.6,729,6091,0.00,2.05,0.00,0.000,6,0.000,0.041,1531,2015,2884
$GC,6400,-1.90,-86.0,577.3,-9.4,745,6401,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,2015,2884
$GC,6709,-1.90,-86.0,607.1,-10.0,760,6713,0.00,2.08,0.00,0.000,4,0.000,0.067,1531,3132,2883
$GC,6831,-1.90,-86.0,619.5,-10.2,765,6836,0.00,2.05,0.00,0.000,6,0.000,0.048,1531,2012,2882
$GC,7152,-1.90,-86.0,648.4,-9.0,781,7156,0.00,2.08,0.00,0.000,4,0.000,0.066,1531,3130,2881
$GC,7217,-1.90,-86.0,654.5,-8.9,784,7223,0.00,2.08,0.00,0.000,6,0.000,0.050,1531,2001,2881
$GC,7545,-1.90,-86.9,681.7,-7.9,800,7549,0.00,2.10,0.00,0.000,4,0.000,0.067,1531,3134,2880
$GC,7599,-1.90,-86.9,686.6,-9.0,802,7606,0.00,2.05,0.00,0.000,6,0.000,0.050,1531,2012,2880
$GC,7914,-1.90,-86.9,713.5,-8.4,818,7918,0.00,2.08,0.00,0.000,4,0.000,0.067,1531,3136,2878
$GC,7968,-1.90,-86.9,718.5,-8.8,820,7976,0.00,2.08,0.00,0.000,6,0.000,0.051,1531,2010,2878
$GC,8284,-1.90,-86.9,744.9,-8.3,836,8288,0.00,2.08,0.00,0.000,4,0.000,0.067,1531,3130,2877
$GC,8333,-1.90,-86.9,749.3,-9.2,838,8338,0.00,2.08,0.00,0.000,6,0.000,0.051,1531,2005,2877
$GC,8655,-1.90,-86.9,775.6,-8.3,854,8659,0.00,2.08,0.00,0.000,4,0.000,0.067,1530,3130,2876
$GC,8726,-1.90,-86.9,781.8,-8.9,857,8731,0.00,2.08,0.00,0.000,6,0.000,0.052,1531,2006,2876
$GC,9047,-1.90,-86.9,807.9,-8.2,873,9048,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,2006,2875
$GC,9357,-1.90,-87.7,832.4,-7.9,888,9361,0.00,2.08,0.00,0.000,4,0.000,0.067,1531,3133,2874
$GC,9467,-1.90,-87.7,841.6,-8.2,893,9472,0.00,2.08,0.00,0.000,6,0.000,0.051,1531,2006,2874
$STATE,9772,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9772,begin apogee
$GC,9775,-0.31,0.0,865.7,7.9,908,9854,1.85,0.00,71.05,1.513,6,0.137,0.000,1875,2006,2550
$STATE,9855,end apogee,CONTROL_FINISHED_OK
$STATE,9855,begin climb
$GC,9857,1.60,87.7,866.3,0.0,912,9939,2.00,0.00,77.43,1.457,6,0.073,0.000,2297,2006,2192
$GC,10246,1.73,87.7,815.3,14.4,931,10248,0.12,0.00,0.00,0.000,6,0.064,0.000,2326,2006,2188
$GC,10555,1.73,87.7,767.4,15.4,946,10559,0.00,2.15,0.00,0.000,4,0.000,0.067,2326,3130,2187
$GC,10699,1.73,87.7,744.6,15.7,952,10706,0.00,2.10,0.00,0.000,6,0.000,0.054,2326,2013,2187
$GC,11016,1.73,87.7,697.6,14.8,968,11020,0.00,2.10,0.00,0.000,4,0.000,0.068,2326,3138,2187
$GC,11109,1.73,87.7,683.0,15.6,972,11113,0.00,2.10,0.00,0.000,6,0.000,0.054,2326,2010,2186
$GC,11430,1.73,87.7,635.5,14.5,988,11433,0.00,2.10,0.00,0.000,4,0.000,0.068,2326,3137,2186
$GC,11507,1.73,87.7,623.9,14.5,991,11511,0.00,2.10,0.00,0.000,6,0.000,0.054,2326,2007,2186
$GC,11828,1.73,87.7,577.8,14.2,1007,11831,0.00,2.08,0.00,0.000,4,0.000,0.067,2326,3129,2185
$GC,11939,1.73,87.7,561.7,14.8,1012,11943,0.00,2.05,0.00,0.000,6,0.000,0.054,2326,2006,2185
$GC,12271,1.73,87.7,515.7,13.8,1028,12275,0.00,2.08,0.00,0.000,4,0.000,0.067,2326,3130,2185
$GC,12314,1.73,87.7,509.5,14.3,1030,12319,0.00,2.10,0.00,0.000,6,0.000,0.053,2326,2004,2184
$GC,12638,1.73,87.7,462.5,14.9,1057,12642,0.00,2.10,0.00,0.000,4,0.000,0.072,2326,878,2184
$GC,12770,1.73,87.7,442.8,14.6,1068,12778,0.00,2.08,0.00,0.000,6,0.000,0.047,2326,2012,2184
$GC,13096,1.73,87.7,396.8,13.7,1099,13097,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2012,2184
$GC,13415,1.79,87.7,354.0,13.2,1129,13418,0.00,2.08,0.00,0.000,4,0.000,0.061,2326,3133,2184
$GC,13475,1.79,87.7,345.9,14.0,1134,13479,0.00,2.03,0.00,0.000,6,0.000,0.047,2326,1999,2184
$GC,13804,1.85,87.7,304.5,12.2,1165,13806,0.12,0.00,0.00,0.000,6,0.059,0.000,2356,1999,2184
$GC,14123,1.85,87.7,259.9,14.3,1195,14124,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,1999,2184
$GC,14441,1.85,87.7,213.5,14.2,1225,14445,0.00,2.03,0.00,0.000,4,0.000,0.061,2356,883,2184
$GC,14518,1.76,87.7,201.8,14.8,1231,14526,0.10,2.03,0.00,0.000,6,0.117,0.039,2336,2008,2184
$GC,14862,1.76,87.7,152.6,14.4,1291,14867,0.00,2.08,0.00,0.000,4,0.000,0.061,2336,3141,2185
$GC,14956,1.76,87.7,138.6,14.7,1308,14963,0.00,2.05,0.00,0.000,6,0.000,0.042,2336,2006,2186
$GC,15299,1.76,87.7,92.1,13.0,1369,15305,0.00,2.05,0.00,0.000,4,0.000,0.055,2336,3134,2187
$GC,15371,1.76,87.7,82.7,13.2,1382,15378,0.00,2.03,0.00,0.000,6,0.000,0.040,2336,2011,2187
$GC,15715,1.76,87.7,38.8,12.1,1443,15720,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2011,2188
$GC,16058,1.85,95.3,11.5,7.1,1504,16068,0.00,0.00,7.18,0.744,6,0.000,0.000,2336,2011,2160
$STATE,16167,end climb,SURFACE_DEPTH_REACHED
$STATE,16167,begin surface coast
$FINISH,1.0,1.025857
$STATE,16192,end surface coast,CONTROL_FINISHED_OK
$STATE,16193,begin surface
$SM_CCo,16209,115.45,0.808,0,0,1428,275.23
$SM_GC,1.08,0.00,0.00,115.45,0.000,0.000,0.808,58,2004,1428,-8.70,-0.17,275.23
$IRIDIUM_FIX,6558.99,528.72,290997,202034
$TT8_MAMPS,0.021476
$HUMID,2043
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,4.50
$XPDR_PINGS,-1
$24V_AH,23.1,7.016
$10V_AH,10.0,3.170
$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,24.900,123.300,155.650,115.450,0.000,24.410,32.641,175.480,2.500,0.000,0.000,11.878,2531.851,11299.713,490.763,1992.467,368.291,0.000,1724.884,0.000,1504.539,0.000,19.663
$DEVICE_MAMPS,198.653,72.098,1513.291,807.651,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1425.888,1024.557,594.539,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75713,1528
$CAP_FILE_SIZE,148427,0
$CFSIZE,256368640,250482688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060708,051508,6628.689,532.455,38,1.7,38,-2.3