version: 66.03
glider: 17
mission: 6
dive: 24
start: 7 6 108 14 49 46
data:
$ID,17
$MISSION,6
$DIVE,24
$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,-86518.703
$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,22
$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
$GPS1,144155,6629.589,527.742,26,1.3,43,-2.3
$_CALLS,1
$_XMS_NAKs,24
$_XMS_TOUTs,1
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-46.4
$GPS2,144856,6629.645,527.603,12,1.6,17,-2.3
$SPEED_LIMITS,0.139,0.149
$TGT_NAME,HEADING
$TGT_LATLONG,6619.497,526.120
$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,929
$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,-50.60,0.000,6,0.000,0.000,58,1993,2742
$GC,79,-1.57,-59.9,3.3,-6.4,10,97,9.57,2.00,-1.42,0.000,4,0.200,0.061,1601,884,2796
$GC,316,-1.75,-59.9,35.7,-12.3,52,323,0.12,2.03,0.00,0.000,6,0.050,0.035,1568,2009,2799
$GC,660,-1.83,-68.4,63.6,-7.0,113,666,0.00,2.00,-0.25,0.000,4,0.000,0.059,1568,884,2833
$GC,920,-1.89,-74.1,83.0,-7.3,159,926,0.15,2.00,-0.17,0.000,6,0.061,0.033,1534,2017,2857
$GC,1263,-1.89,-75.8,109.4,-7.8,220,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,2017,2859
$GC,1605,-1.89,-75.8,139.0,-9.1,281,1610,0.00,2.03,0.00,0.000,4,0.000,0.047,1534,881,2860
$GC,1744,-1.89,-75.8,152.1,-9.3,306,1751,0.00,2.03,0.00,0.000,6,0.000,0.035,1534,2007,2860
$GC,2088,-1.90,-79.3,181.4,-7.6,367,2093,0.00,0.00,-0.10,0.000,6,0.000,0.000,1534,2008,2885
$GC,2427,-1.90,-79.3,212.3,-9.5,417,2431,0.00,2.00,0.00,0.000,4,0.000,0.048,1534,885,2885
$GC,2483,-1.90,-79.3,217.9,-10.2,422,2487,0.00,2.03,0.00,0.000,6,0.000,0.038,1534,2003,2885
$GC,2813,-1.90,-79.3,249.0,-9.2,453,2816,0.00,2.00,0.00,0.000,4,0.000,0.048,1534,885,2885
$GC,2851,-1.90,-79.3,252.7,-9.4,456,2855,0.00,2.00,0.00,0.000,6,0.000,0.038,1534,2018,2885
$GC,3181,-1.90,-79.3,283.3,-9.7,487,3185,0.00,2.05,0.00,0.000,4,0.000,0.048,1534,875,2885
$GC,3235,-1.90,-79.3,288.8,-10.1,491,3242,0.00,2.08,0.00,0.000,6,0.000,0.038,1534,2013,2885
$GC,3560,-1.90,-79.3,320.1,-9.2,522,3561,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,2012,2885
$GC,3878,-1.90,-79.3,349.2,-9.0,552,3879,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,2012,2885
$GC,4197,-1.90,-79.3,376.5,-9.0,582,4200,0.00,2.05,0.00,0.000,4,0.000,0.050,1534,882,2885
$GC,4297,-1.90,-79.3,385.9,-9.6,591,4301,0.00,2.00,0.00,0.000,6,0.000,0.041,1534,2006,2885
$GC,4627,-1.90,-79.3,414.4,-8.4,622,4631,0.00,2.03,0.00,0.000,4,0.000,0.051,1534,885,2884
$GC,4766,-1.90,-79.3,427.0,-9.3,634,4770,0.00,2.05,0.00,0.000,6,0.000,0.042,1533,2012,2884
$GC,5096,-1.90,-79.3,455.8,-8.4,665,5097,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,2012,2883
$GC,5414,-1.90,-79.3,481.4,-8.6,695,5418,0.00,2.05,0.00,0.000,4,0.000,0.053,1534,884,2883
$GC,5503,-1.90,-79.3,489.1,-8.3,703,5507,0.00,2.03,0.00,0.000,6,0.000,0.044,1534,2019,2883
$GC,5827,-1.90,-79.3,515.9,-8.1,725,5828,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,2019,2883
$GC,6137,-1.90,-79.3,541.4,-8.3,740,6138,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,2019,2882
$GC,6446,-1.90,-79.3,567.2,-8.4,755,6449,0.00,2.05,0.00,0.000,4,0.000,0.058,1534,887,2881
$GC,6490,-1.90,-79.3,571.1,-8.8,757,6494,0.00,2.03,0.00,0.000,6,0.000,0.047,1534,2013,2880
$GC,6815,-1.90,-79.3,598.0,-8.3,773,6817,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,2013,2879
$GC,7125,-1.90,-79.3,624.4,-8.5,788,7126,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,2013,2878
$GC,7434,-1.90,-79.3,650.3,-8.3,803,7435,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,2013,2877
$GC,7743,-1.90,-80.8,675.5,-7.9,818,7744,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,2013,2876
$GC,8054,-1.90,-80.8,700.4,-8.3,833,8055,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,2013,2875
$GC,8362,-1.90,-80.8,726.1,-8.6,848,8363,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,2013,2874
$GC,8671,-1.90,-80.8,752.1,-8.2,863,8672,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,2012,2874
$GC,8980,-1.90,-80.8,777.0,-8.0,878,8982,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,2012,2872
$GC,9290,-1.90,-81.3,802.0,-8.0,893,9291,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,2013,2871
$GC,9599,-1.90,-82.5,826.8,-7.9,908,9600,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,2013,2870
$GC,9908,-1.90,-84.1,851.1,-7.8,923,9910,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,2013,2870
$GC,10218,-1.91,-89.7,874.3,-7.4,938,10221,0.00,2.08,0.00,0.000,4,0.000,0.064,1534,886,2870
$GC,10256,-1.91,-90.1,877.3,-8.0,940,10260,0.00,2.05,0.00,0.000,6,0.000,0.050,1534,2015,2869
$GC,10588,-1.91,-93.2,902.0,-7.7,956,10589,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,2015,2869
$GC,10897,-1.98,-97.4,925.2,-7.5,971,10898,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,2015,2869
$STATE,10957,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10957,begin apogee
$GC,10960,-0.31,0.0,929.7,7.6,974,11039,1.85,0.00,70.93,1.559,6,0.138,0.000,1877,2015,2549
$STATE,11040,end apogee,CONTROL_FINISHED_OK
$STATE,11040,begin climb
$GC,11041,1.61,97.4,929.8,0.0,978,11136,2.03,2.25,86.18,1.508,4,0.077,0.068,2299,3130,2152
$GC,11236,1.70,97.4,904.8,16.1,987,11241,0.00,2.08,0.00,0.000,6,0.000,0.051,2299,2019,2149
$GC,11563,1.81,97.4,855.6,15.0,1003,11565,0.20,0.00,0.00,0.000,6,0.060,0.000,2343,2019,2148
$GC,11872,1.81,97.4,804.6,16.4,1018,11873,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2019,2147
$GC,12181,1.81,97.4,754.6,16.3,1033,12185,0.00,2.10,0.00,0.000,4,0.000,0.067,2343,3139,2146
$GC,12298,1.74,97.4,734.9,17.8,1038,12302,0.00,2.10,0.00,0.000,6,0.000,0.054,2343,2007,2146
$GC,12624,1.74,97.4,681.9,16.2,1054,12625,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2007,2146
$GC,12933,1.74,97.4,632.5,15.8,1069,12937,0.00,2.12,0.00,0.000,4,0.000,0.069,2343,3141,2146
$GC,13033,1.67,97.4,616.0,15.6,1073,13040,0.12,2.10,0.00,0.000,6,0.120,0.054,2318,2010,2146
$GC,13349,1.74,97.4,569.7,14.9,1089,13350,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2010,2146
$GC,13658,1.81,97.4,525.1,14.3,1104,13660,0.12,0.00,0.00,0.000,6,0.072,0.000,2346,2010,2145
$GC,13971,1.81,97.4,476.0,16.1,1126,13975,0.00,2.12,0.00,0.000,4,0.000,0.067,2346,3136,2145
$GC,14122,1.74,97.4,451.2,16.7,1139,14128,0.00,2.08,0.00,0.000,6,0.000,0.051,2346,2013,2145
$GC,14446,1.74,97.4,401.0,14.5,1170,14450,0.00,2.08,0.00,0.000,4,0.000,0.070,2346,883,2145
$GC,14541,1.74,97.4,387.3,13.5,1178,14544,0.00,2.03,0.00,0.000,6,0.000,0.048,2346,2012,2145
$GC,14869,1.74,97.4,338.9,14.9,1209,14873,0.00,2.10,0.00,0.000,4,0.000,0.064,2346,875,2145
$GC,15038,1.74,97.4,313.3,14.9,1224,15042,0.00,2.03,0.00,0.000,6,0.000,0.046,2346,2012,2144
$GC,15367,1.74,97.4,265.4,14.5,1255,15371,0.00,2.05,0.00,0.000,4,0.000,0.064,2346,3137,2145
$GC,15433,1.74,97.4,255.2,14.6,1260,15440,0.00,2.05,0.00,0.000,6,0.000,0.045,2346,2009,2145
$GC,15758,1.74,97.4,205.1,15.8,1291,15759,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2009,2144
$GC,16092,1.74,97.4,151.4,16.0,1348,16098,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2009,2145
$GC,16435,1.74,97.4,97.8,15.5,1409,16440,0.00,2.12,0.00,0.000,4,0.000,0.058,2346,3141,2146
$GC,16574,1.74,97.4,76.1,15.2,1434,16581,0.00,2.05,0.00,0.000,6,0.000,0.042,2346,2010,2146
$GC,16918,1.75,104.7,29.6,7.1,1495,16929,0.00,0.00,6.72,0.766,6,0.000,0.000,2346,2010,2123
$GC,17266,1.75,104.7,2.8,10.7,1557,17270,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2010,2123
$STATE,17275,end climb,SURFACE_DEPTH_REACHED
$STATE,17275,begin surface coast
$FINISH,0.9,1.025829
$STATE,17292,end surface coast,CONTROL_FINISHED_OK
$STATE,17292,begin surface
$SM_CCo,17309,113.38,0.828,0,0,1428,275.23
$SM_GC,1.24,0.00,0.00,113.38,0.000,0.000,0.828,60,2002,1428,-8.69,-0.23,275.23
$IRIDIUM_FIX,6558.99,523.86,300997,101018
$TT8_MAMPS,0.021476
$HUMID,2059
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,4.50
$XPDR_PINGS,-1
$24V_AH,23.0,7.365
$10V_AH,10.0,3.467
$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,24.750,78.075,163.825,113.375,0.000,30.193,30.905,258.552,2.750,0.000,0.000,17.167,2545.360,12470.873,439.125,1965.433,452.703,0.000,1642.243,0.000,1476.360,0.000,21.059
$DEVICE_MAMPS,200.187,69.797,1558.544,828.360,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1466.138,1033.520,579.037,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75739,1562
$CAP_FILE_SIZE,144770,0
$CFSIZE,256368640,250257408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060708,194128,6629.010,526.947,27,3.5,46,-2.3