version: 66.03
glider: 17
mission: 6
dive: 27
start: 7 7 108 5 24 58
data:
$ID,17
$MISSION,6
$DIVE,27
$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,-86579.812
$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,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
$GPS1,051456,6629.144,530.599,40,1.3,40,-2.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-46.0
$GPS2,052409,6629.201,530.446,16,1.8,16,-2.3
$SPEED_LIMITS,0.139,0.149
$TGT_NAME,HEADING
$TGT_LATLONG,6619.054,528.962
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-1.56,-46.6,0.0,0.0,0,79,0.00,0.00,-50.67,0.000,6,0.000,0.000,57,1997,2742
$GC,80,-1.56,-52.5,3.3,-7.3,10,98,9.60,2.05,-0.55,0.000,4,0.201,0.064,1604,889,2766
$GC,350,-1.74,-53.7,38.8,-7.9,58,357,0.10,2.00,0.00,0.000,6,0.042,0.031,1568,2021,2768
$GC,695,-1.86,-89.1,57.7,-3.7,119,701,0.10,2.10,-1.27,0.000,4,0.065,0.058,1545,879,2921
$GC,954,-1.86,-89.1,79.2,-9.6,165,959,0.00,1.98,0.00,0.000,6,0.000,0.033,1545,2008,2924
$GC,1296,-1.86,-89.1,109.3,-9.0,226,1302,0.00,2.05,0.00,0.000,4,0.000,0.046,1545,889,2925
$GC,1442,-1.86,-89.1,123.9,-10.4,252,1448,0.00,2.00,0.00,0.000,6,0.000,0.035,1545,2008,2926
$GC,1786,-1.93,-89.1,156.8,-9.9,313,1791,0.00,2.08,0.00,0.000,4,0.000,0.052,1545,3141,2926
$GC,1841,-1.93,-89.1,162.5,-10.1,323,1847,0.00,2.00,0.00,0.000,6,0.000,0.036,1545,2001,2926
$GC,2184,-2.00,-89.1,195.4,-9.7,384,2190,0.15,2.08,0.00,0.000,4,0.061,0.051,1512,3130,2926
$GC,2245,-1.92,-89.1,202.2,-11.0,393,2251,0.00,2.00,0.00,0.000,6,0.000,0.037,1512,2012,2926
$GC,2569,-1.92,-89.1,238.9,-11.5,424,2573,0.00,2.00,0.00,0.000,4,0.000,0.048,1512,886,2926
$GC,2601,-1.85,-89.1,242.7,-11.4,426,2609,0.15,2.00,0.00,0.000,6,0.127,0.035,1541,2011,2926
$GC,2926,-1.92,-89.1,276.2,-10.2,457,2927,0.00,0.00,0.00,0.000,6,0.000,0.000,1541,2011,2926
$GC,3247,-1.99,-89.1,307.4,-9.7,487,3248,0.12,0.00,0.00,0.000,6,0.067,0.000,1514,2011,2926
$GC,3563,-1.99,-89.1,339.5,-10.3,517,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,1514,2011,2926
$GC,3881,-1.99,-89.1,371.8,-10.0,547,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,1514,2011,2925
$GC,4200,-1.99,-89.1,403.4,-10.1,577,4204,0.00,2.05,0.00,0.000,4,0.000,0.051,1514,886,2926
$GC,4288,-1.99,-89.1,412.6,-11.0,584,4295,0.00,2.05,0.00,0.000,6,0.000,0.039,1514,2013,2926
$GC,4613,-1.99,-89.1,445.6,-10.2,615,4617,0.00,2.03,0.00,0.000,4,0.000,0.052,1514,885,2925
$GC,4690,-1.99,-89.1,453.3,-9.7,621,4697,0.00,2.05,0.00,0.000,6,0.000,0.039,1514,2013,2925
$GC,5015,-1.99,-89.1,482.5,-8.9,652,5016,0.00,0.00,0.00,0.000,6,0.000,0.000,1514,2012,2924
$GC,5329,-1.99,-89.1,512.4,-9.8,676,5331,0.00,0.00,0.00,0.000,6,0.000,0.000,1514,2013,2923
$GC,5639,-1.99,-89.1,544.9,-11.0,691,5640,0.00,0.00,0.00,0.000,6,0.000,0.000,1514,2012,2923
$GC,5948,-1.99,-89.1,578.2,-10.6,706,5952,0.00,2.10,0.00,0.000,4,0.000,0.065,1514,3140,2922
$GC,5974,-1.99,-89.1,581.2,-11.3,707,5979,0.00,2.08,0.00,0.000,6,0.000,0.046,1514,2004,2922
$GC,6295,-1.99,-89.1,615.5,-10.7,723,6299,0.00,2.05,0.00,0.000,4,0.000,0.061,1514,885,2921
$GC,6341,-1.99,-89.1,620.5,-11.0,725,6345,0.00,2.00,0.00,0.000,6,0.000,0.044,1514,2013,2921
$GC,6666,-1.99,-89.1,655.5,-10.3,741,6667,0.00,0.00,0.00,0.000,6,0.000,0.000,1514,2012,2920
$GC,6975,-1.99,-89.1,686.1,-9.8,756,6979,0.00,2.10,0.00,0.000,4,0.000,0.069,1514,3133,2919
$GC,7012,-1.99,-89.1,690.0,-10.2,757,7020,0.00,2.08,0.00,0.000,6,0.000,0.049,1514,2005,2918
$GC,7328,-1.99,-89.1,720.8,-9.8,773,7332,0.00,2.12,0.00,0.000,4,0.000,0.064,1514,3135,2917
$GC,7354,-1.99,-89.1,723.6,-10.1,774,7359,0.00,2.08,0.00,0.000,6,0.000,0.050,1514,2010,2917
$GC,7681,-1.99,-89.1,754.7,-9.3,790,7685,0.00,2.10,0.00,0.000,4,0.000,0.066,1514,3138,2916
$GC,7720,-1.99,-89.1,758.4,-9.8,792,7723,0.00,2.03,0.00,0.000,6,0.000,0.051,1514,2006,2915
$GC,8051,-1.99,-89.1,789.8,-9.4,808,8055,0.00,2.10,0.00,0.000,4,0.000,0.066,1513,3139,2914
$GC,8134,-1.99,-89.1,798.0,-9.7,811,8141,0.00,2.05,0.00,0.000,6,0.000,0.050,1515,2015,2914
$GC,8449,-1.99,-89.1,827.4,-9.3,827,8453,0.00,2.08,0.00,0.000,4,0.000,0.066,1514,3140,2912
$GC,8516,-1.99,-89.1,834.0,-9.9,830,8519,0.00,2.03,0.00,0.000,6,0.000,0.051,1514,2007,2912
$GC,8847,-1.99,-89.1,864.8,-9.4,846,8851,0.00,2.08,0.00,0.000,4,0.000,0.067,1514,3132,2912
$GC,8890,-1.99,-89.1,868.9,-9.8,848,8895,0.00,2.08,0.00,0.000,6,0.000,0.051,1514,2008,2911
$GC,9217,-1.99,-89.1,898.2,-9.0,864,9220,0.00,2.08,0.00,0.000,4,0.000,0.066,1514,3132,2910
$GC,9254,-1.99,-89.1,901.8,-9.6,865,9261,0.00,2.05,0.00,0.000,6,0.000,0.051,1514,2014,2910
$STATE,9321,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9321,begin apogee
$GC,9324,-0.31,0.0,907.9,9.3,869,9408,1.98,0.00,79.78,1.536,6,0.141,0.000,1877,2014,2550
$STATE,9409,end apogee,CONTROL_FINISHED_OK
$STATE,9409,begin climb
$GC,9410,1.60,89.1,908.5,0.0,873,9497,2.05,2.20,78.68,1.477,4,0.073,0.064,2295,3129,2186
$GC,9561,1.68,89.1,891.4,15.5,880,9565,0.00,2.08,0.00,0.000,6,0.000,0.054,2295,2005,2183
$GC,9875,1.80,89.1,846.5,14.1,895,9877,0.22,0.00,0.00,0.000,6,0.056,0.000,2346,2005,2182
$GC,10184,1.80,89.1,797.0,15.8,910,10188,0.00,2.15,0.00,0.000,4,0.000,0.066,2346,3138,2181
$GC,10351,1.71,89.1,770.1,16.1,917,10358,0.12,2.10,0.00,0.000,6,0.130,0.053,2327,2010,2180
$GC,10666,1.71,89.1,724.5,14.4,933,10670,0.00,2.10,0.00,0.000,4,0.000,0.067,2326,3131,2180
$GC,10765,1.71,89.1,709.5,15.8,937,10770,0.00,2.10,0.00,0.000,6,0.000,0.053,2327,2009,2180
$GC,11087,1.71,89.1,663.3,14.3,953,11091,0.00,2.10,0.00,0.000,4,0.000,0.068,2326,3141,2180
$GC,11193,1.71,89.1,647.6,14.4,958,11196,0.00,2.05,0.00,0.000,6,0.000,0.054,2326,2010,2180
$GC,11524,1.71,89.1,601.0,13.8,974,11525,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2010,2179
$GC,11833,1.71,89.1,558.8,13.5,989,11836,0.00,2.10,0.00,0.000,4,0.000,0.067,2326,3139,2179
$GC,11910,1.71,89.1,547.9,13.3,992,11914,0.00,2.10,0.00,0.000,6,0.000,0.053,2326,2006,2178
$GC,12232,1.71,89.1,505.1,13.3,1008,12233,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2006,2178
$GC,12550,1.71,89.1,461.7,14.1,1036,12551,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2006,2178
$GC,12867,1.71,89.1,417.4,14.3,1066,12870,0.00,2.08,0.00,0.000,4,0.000,0.068,2326,885,2178
$GC,13035,1.71,89.1,392.7,14.4,1081,13039,0.00,2.00,0.00,0.000,6,0.000,0.044,2327,2011,2177
$GC,13359,1.78,89.1,346.5,14.1,1111,13360,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2011,2177
$GC,13677,1.78,89.1,303.6,13.6,1141,13681,0.00,2.08,0.00,0.000,4,0.000,0.059,2326,884,2177
$GC,13783,1.78,89.1,288.4,13.8,1150,13787,0.00,2.03,0.00,0.000,6,0.000,0.041,2326,2021,2177
$GC,14113,1.78,89.1,244.0,13.9,1181,14114,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2021,2178
$GC,14432,1.85,89.1,199.0,14.1,1211,14437,0.12,0.00,0.00,0.000,6,0.061,0.000,2357,2022,2178
$GC,14773,1.85,89.1,144.9,15.9,1272,14779,0.00,2.10,0.00,0.000,4,0.000,0.059,2357,3132,2179
$GC,14892,1.76,89.1,126.2,15.5,1293,14898,0.12,1.98,0.00,0.000,6,0.128,0.041,2336,2006,2180
$GC,15234,1.76,89.1,75.2,14.7,1354,15240,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2006,2181
$GC,15577,1.76,89.1,27.1,12.4,1415,15582,0.00,2.08,0.00,0.000,4,0.000,0.053,2336,3140,2182
$GC,15610,1.76,89.1,23.3,11.4,1421,15615,0.00,2.00,0.00,0.000,6,0.000,0.040,2336,2003,2182
$GC,15952,1.90,107.8,5.3,5.7,1482,15974,0.12,2.12,16.17,0.795,4,0.058,0.047,2367,3145,2109
$STATE,15995,end climb,SURFACE_DEPTH_REACHED
$STATE,15995,begin surface coast
$FINISH,0.3,1.020564
$STATE,16018,end surface coast,CONTROL_FINISHED_OK
$STATE,16018,begin surface
$SM_CCo,16037,101.50,0.795,0,0,1428,275.23
$SM_GC,1.05,0.00,0.00,101.50,0.000,0.000,0.795,58,1997,1428,-8.70,-0.37,275.23
$IRIDIUM_FIX,6558.99,529.23,011097,050504
$TT8_MAMPS,0.021476
$HUMID,2036
$INTERNAL_PRESSURE,8.20344
$TCM_TEMP,4.50
$XPDR_PINGS,-1
$24V_AH,23.1,7.717
$10V_AH,10.0,3.763
$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,25.475,111.375,174.625,101.500,0.000,59.439,63.179,269.526,2.750,0.000,0.000,16.185,2455.473,11326.796,474.971,1931.785,532.217,0.000,1660.798,0.000,1445.459,0.000,21.057
$DEVICE_MAMPS,200.954,69.030,1536.301,794.612,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1390.681,1001.755,578.987,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75926,1494
$CAP_FILE_SIZE,147699,0
$CFSIZE,256368640,250032128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070708,095507,6629.560,531.806,37,1.5,37,-2.3