version: 66.03
glider: 17
mission: 6
dive: 23
start: 7 6 108 10 9 5
data:
$ID,17
$MISSION,6
$DIVE,23
$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,-86500.914
$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,26
$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
$GPS1,100202,6629.377,529.698,40,2.0,40,-2.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-44.3
$GPS2,100817,6629.451,529.509,11,2.1,30,-2.3
$SPEED_LIMITS,0.139,0.149
$TGT_NAME,HEADING
$TGT_LATLONG,6619.303,528.026
$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,907
$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,-50.70,0.000,6,0.000,0.000,60,2024,2742
$GC,80,-1.57,-62.7,3.1,-6.1,10,98,9.35,2.08,-1.77,0.000,4,0.191,0.061,1601,875,2808
$GC,350,-1.72,-62.7,37.2,-8.5,58,357,0.08,2.03,0.00,0.000,6,0.051,0.034,1572,2010,2811
$GC,694,-1.83,-77.7,60.5,-6.2,119,700,0.00,2.03,-0.47,0.000,4,0.000,0.061,1571,876,2869
$GC,857,-1.92,-77.7,75.2,-8.7,148,864,0.17,2.00,0.00,0.000,6,0.056,0.033,1533,2019,2871
$GC,1201,-1.92,-77.7,104.5,-9.0,209,1206,0.00,2.03,0.00,0.000,4,0.000,0.051,1533,3130,2873
$GC,1369,-1.92,-77.7,120.4,-9.2,239,1374,0.00,1.98,0.00,0.000,6,0.000,0.037,1533,1997,2873
$GC,1710,-1.92,-77.7,151.2,-9.1,300,1717,0.00,2.10,0.00,0.000,4,0.000,0.051,1533,3123,2874
$GC,1845,-1.92,-77.7,164.2,-9.8,324,1851,0.00,1.98,0.00,0.000,6,0.000,0.038,1533,2015,2874
$GC,2188,-1.92,-77.7,197.2,-9.5,385,2193,0.00,2.03,0.00,0.000,4,0.000,0.051,1533,3131,2875
$GC,2221,-1.92,-77.7,200.2,-9.1,391,2225,0.00,1.98,0.00,0.000,6,0.000,0.038,1533,2007,2874
$GC,2544,-1.92,-77.7,227.8,-8.1,421,2548,0.00,2.08,0.00,0.000,4,0.000,0.051,1533,3135,2875
$GC,2598,-1.92,-77.7,232.4,-8.3,425,2606,0.00,2.03,0.00,0.000,6,0.000,0.038,1533,2011,2875
$GC,2924,-1.92,-77.7,258.9,-8.2,456,2928,0.00,2.03,0.00,0.000,4,0.000,0.051,1533,878,2875
$GC,2955,-1.92,-77.7,261.6,-8.4,458,2962,0.00,2.05,0.00,0.000,6,0.000,0.035,1532,2019,2875
$GC,3281,-1.92,-77.7,290.1,-8.9,489,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,2019,2874
$GC,3600,-1.92,-77.7,318.4,-9.0,519,3601,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,2019,2875
$GC,3917,-1.92,-77.7,347.0,-8.8,549,3918,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,2019,2874
$GC,4236,-1.92,-77.7,375.7,-9.0,579,4237,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,2019,2874
$GC,4554,-1.92,-77.7,403.8,-8.4,609,4558,0.00,2.03,0.00,0.000,4,0.000,0.053,1532,886,2874
$GC,4648,-1.92,-77.7,412.1,-8.7,617,4655,0.00,2.03,0.00,0.000,6,0.000,0.038,1533,2007,2874
$GC,4974,-1.92,-79.6,438.6,-7.8,648,4975,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,2007,2874
$GC,5292,-1.92,-84.5,462.2,-7.4,678,5296,0.00,2.10,0.00,0.000,4,0.000,0.059,1532,3131,2873
$GC,5341,-1.92,-84.5,466.1,-8.4,682,5345,0.00,1.98,0.00,0.000,6,0.000,0.041,1533,2008,2873
$GC,5671,-1.92,-84.8,492.4,-8.0,713,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,2008,2873
$GC,5995,-1.93,-90.4,517.4,-7.3,733,5996,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,2008,2872
$GC,6303,-1.93,-90.4,541.1,-8.1,748,6307,0.00,2.10,0.00,0.000,4,0.000,0.060,1533,3130,2871
$GC,6329,-1.93,-90.4,543.5,-9.4,749,6334,0.00,2.05,0.00,0.000,6,0.000,0.046,1533,2009,2871
$GC,6650,-1.93,-93.6,568.8,-7.7,765,6654,0.00,2.03,0.00,0.000,4,0.000,0.061,1532,888,2870
$GC,6750,-1.94,-94.9,576.6,-7.9,769,6757,0.00,2.03,0.00,0.000,6,0.000,0.043,1532,2007,2870
$GC,7065,-1.94,-98.9,600.6,-7.5,785,7069,0.00,2.08,0.00,0.000,4,0.000,0.067,1532,3136,2870
$GC,7181,-1.94,-98.9,610.3,-8.5,790,7186,0.00,2.03,0.00,0.000,6,0.000,0.047,1532,2017,2869
$GC,7502,-1.94,-98.9,636.8,-8.3,806,7506,0.00,2.05,0.00,0.000,4,0.000,0.064,1533,886,2869
$GC,7551,-1.94,-98.9,641.1,-8.9,808,7556,0.00,2.08,0.00,0.000,6,0.000,0.046,1532,2017,2868
$GC,7878,-1.94,-98.9,668.0,-8.1,824,7882,0.00,2.08,0.00,0.000,4,0.000,0.072,1532,3130,2868
$GC,7943,-1.94,-98.9,673.6,-8.5,827,7948,0.00,2.08,0.00,0.000,6,0.000,0.051,1533,2005,2867
$GC,8271,-1.94,-98.9,700.5,-8.5,843,8272,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,2005,2866
$GC,8579,-1.94,-98.9,727.5,-8.6,858,8583,0.00,2.10,0.00,0.000,4,0.000,0.068,1532,3133,2865
$GC,8623,-1.94,-98.9,731.5,-8.7,860,8627,0.00,2.03,0.00,0.000,6,0.000,0.051,1532,2003,2864
$GC,8955,-1.94,-100.9,758.6,-7.8,876,8959,0.00,2.10,0.00,0.000,4,0.000,0.067,1532,3140,2864
$GC,8993,-1.94,-100.9,761.7,-8.1,878,8997,0.00,2.03,0.00,0.000,6,0.000,0.051,1532,2010,2863
$GC,9325,-1.94,-102.9,787.8,-7.8,894,9329,0.00,2.08,0.00,0.000,4,0.000,0.067,1532,3136,2862
$GC,9373,-1.94,-102.9,791.8,-8.3,896,9378,0.00,2.08,0.00,0.000,6,0.000,0.051,1532,2010,2862
$GC,9695,-1.95,-105.7,816.5,-7.7,912,9699,0.00,2.08,0.00,0.000,4,0.000,0.067,1532,3134,2862
$GC,9739,-1.95,-105.7,820.2,-8.6,914,9742,0.00,2.08,0.00,0.000,6,0.000,0.052,1532,1979,2862
$GC,10065,-1.95,-108.8,845.6,-7.7,930,10069,0.00,2.12,0.00,0.000,4,0.000,0.067,1533,3132,2861
$GC,10108,-1.95,-108.8,849.0,-8.1,932,10112,0.00,2.05,0.00,0.000,6,0.000,0.051,1532,2013,2861
$GC,10435,-1.96,-115.1,872.2,-7.3,948,10439,0.00,2.10,0.00,0.000,4,0.000,0.067,1532,3141,2861
$GC,10511,-1.96,-119.5,878.2,-7.5,951,10518,0.00,2.08,0.00,0.000,6,0.000,0.051,1532,2010,2861
$GC,10828,-1.97,-129.2,900.2,-6.8,967,10832,0.00,2.08,0.00,0.000,4,0.000,0.069,1532,3137,2860
$GC,10866,-1.98,-135.5,903.1,-7.3,969,10870,0.00,2.03,0.00,0.000,6,0.000,0.053,1532,2009,2860
$STATE,10928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10928,begin apogee
$GC,10931,-0.31,0.0,907.6,7.3,972,11004,1.85,0.00,68.80,1.540,6,0.134,0.000,1878,2009,2550
$STATE,11005,end apogee,CONTROL_FINISHED_OK
$STATE,11005,begin climb
$GC,11007,1.65,135.5,907.8,0.0,975,11134,2.05,2.25,119.57,1.490,4,0.073,0.067,2310,3138,1997
$GC,11188,1.73,135.5,883.0,18.1,984,11193,0.00,2.12,0.00,0.000,6,0.000,0.054,2310,2012,1993
$GC,11510,1.86,135.5,827.3,17.3,1000,11512,0.20,0.00,0.00,0.000,6,0.062,0.000,2353,2011,1992
$GC,11819,1.86,135.5,769.7,19.0,1015,11823,0.00,2.12,0.00,0.000,4,0.000,0.067,2353,3138,1991
$GC,11918,1.79,135.5,749.5,19.4,1019,11925,0.00,2.10,0.00,0.000,6,0.000,0.054,2353,2010,1991
$GC,12234,1.79,135.5,690.8,18.5,1035,12237,0.00,2.12,0.00,0.000,4,0.000,0.068,2353,3143,1990
$GC,12305,1.79,135.5,677.3,17.9,1038,12310,0.00,2.10,0.00,0.000,6,0.000,0.054,2353,2016,1990
$GC,12626,1.79,135.5,617.8,18.3,1054,12630,0.00,2.10,0.00,0.000,4,0.000,0.067,2353,3136,1989
$GC,12693,1.72,135.5,605.4,17.7,1057,12697,0.15,2.08,0.00,0.000,6,0.132,0.054,2329,2005,1989
$GC,13019,1.81,135.5,550.4,16.8,1073,13023,0.00,2.12,0.00,0.000,4,0.000,0.069,2329,3138,1989
$GC,13135,1.81,135.5,531.0,15.5,1078,13139,0.00,2.10,0.00,0.000,6,0.000,0.054,2329,2005,1989
$GC,13460,1.90,135.5,479.0,16.1,1100,13461,0.15,0.00,0.00,0.000,6,0.071,0.000,2360,2005,1988
$GC,13779,1.83,135.5,420.1,18.8,1130,13783,0.00,2.10,0.00,0.000,4,0.000,0.072,2360,875,1988
$GC,13862,1.74,135.5,403.8,18.5,1137,13867,0.17,2.05,0.00,0.000,6,0.127,0.048,2331,2019,1988
$GC,14185,1.74,135.5,347.4,17.3,1167,14186,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2019,1988
$GC,14504,1.74,135.5,290.8,17.3,1197,14507,0.00,2.12,0.00,0.000,4,0.000,0.064,2331,876,1988
$GC,14582,1.74,135.5,276.4,18.1,1204,14586,0.00,2.05,0.00,0.000,6,0.000,0.044,2331,2018,1988
$GC,14912,1.80,135.5,218.3,17.7,1235,14916,0.00,2.10,0.00,0.000,4,0.000,0.061,2331,879,1988
$GC,14954,1.80,135.5,210.2,18.4,1238,14961,0.00,2.05,0.00,0.000,6,0.000,0.042,2331,2010,1988
$GC,15295,1.86,135.5,150.9,16.8,1294,15301,0.12,0.00,0.00,0.000,6,0.069,0.000,2359,2011,1988
$GC,15638,1.86,135.5,85.9,19.2,1355,15643,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2011,1989
$GC,15979,1.86,135.5,28.4,14.1,1416,15985,0.00,2.10,0.00,0.000,4,0.000,0.058,2359,3131,1990
$STATE,16179,end climb,SURFACE_DEPTH_REACHED
$STATE,16180,begin surface coast
$FINISH,1.1,1.025831
$STATE,16187,end surface coast,CONTROL_FINISHED_OK
$STATE,16187,begin surface
$SM_CCo,16205,88.40,0.844,0,0,1427,275.23
$SM_GC,1.35,0.00,0.00,88.40,0.000,0.000,0.844,59,1993,1427,-8.70,-0.48,275.23
$IRIDIUM_FIX,6604.29,534.59,300997,050516
$TT8_MAMPS,0.021476
$HUMID,2103
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,3.50
$XPDR_PINGS,-1
$24V_AH,23.1,7.250
$10V_AH,10.0,3.365
$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,24.675,123.925,188.375,88.400,0.000,31.184,37.053,194.928,2.750,0.000,0.000,31.724,2418.333,11500.632,483.714,1899.489,394.612,0.000,1662.677,0.000,1432.598,0.000,21.061
$DEVICE_MAMPS,190.983,72.098,1540.136,843.700,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1360.660,947.866,516.032,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72514,1453
$CAP_FILE_SIZE,146984,0
$CFSIZE,256368640,250339328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060708,144155,6629.589,527.742,26,1.3,43,-2.3