version: 66.03
glider: 17
mission: 6
dive: 28
start: 7 7 108 10 1 23
data:
$ID,17
$MISSION,6
$DIVE,28
$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,-86596
$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
$GPS1,095507,6629.560,531.806,37,1.5,37,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-47.9
$GPS2,100033,6629.600,531.721,15,1.9,15,-2.3
$SPEED_LIMITS,0.139,0.149
$TGT_NAME,HEADING
$TGT_LATLONG,6619.452,530.238
$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,897
$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,-50.42,0.000,6,0.000,0.000,58,1997,2742
$GC,79,-1.57,-60.2,3.1,-6.4,10,97,9.60,2.03,-1.42,0.000,4,0.202,0.061,1602,882,2797
$GC,349,-1.75,-69.1,33.9,-7.0,58,357,0.15,2.00,-0.43,0.000,6,0.059,0.031,1569,2029,2834
$GC,694,-1.87,-81.5,56.5,-6.5,119,701,0.12,2.05,-0.43,0.000,4,0.064,0.060,1541,881,2886
$GC,954,-1.87,-82.0,77.6,-8.0,165,959,0.00,1.98,0.00,0.000,6,0.000,0.033,1541,2009,2887
$GC,1295,-1.87,-82.0,105.1,-8.3,226,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,1541,2009,2889
$GC,1638,-1.87,-82.0,134.1,-8.4,287,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,1541,2009,2890
$GC,1978,-1.87,-82.0,164.5,-9.3,348,1985,0.00,2.10,0.00,0.000,4,0.000,0.051,1541,3127,2891
$GC,2053,-1.87,-82.0,171.7,-9.8,361,2058,0.00,1.98,0.00,0.000,6,0.000,0.037,1541,1996,2891
$GC,2392,-1.87,-82.0,203.4,-9.4,419,2396,0.00,2.05,0.00,0.000,4,0.000,0.051,1541,3130,2891
$GC,2430,-1.87,-82.0,207.1,-9.9,422,2437,0.00,2.03,0.00,0.000,6,0.000,0.037,1541,2003,2891
$GC,2755,-1.87,-82.0,237.9,-9.4,453,2756,0.00,0.00,0.00,0.000,6,0.000,0.000,1541,2003,2891
$GC,3075,-1.87,-82.0,267.4,-9.5,483,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,1541,2003,2891
$GC,3392,-1.87,-82.0,296.9,-8.9,513,3395,0.00,2.08,0.00,0.000,4,0.000,0.051,1541,3130,2890
$GC,3429,-1.87,-82.0,300.4,-9.3,516,3436,0.00,2.03,0.00,0.000,6,0.000,0.038,1541,2007,2891
$GC,3754,-1.87,-82.0,329.4,-9.2,547,3755,0.00,0.00,0.00,0.000,6,0.000,0.000,1541,2007,2890
$GC,4073,-1.93,-82.0,357.9,-8.8,577,4077,0.00,2.05,0.00,0.000,4,0.000,0.053,1541,3127,2890
$GC,4100,-1.93,-82.0,360.6,-10.0,579,4104,0.00,1.98,0.00,0.000,6,0.000,0.039,1541,2001,2891
$GC,4430,-2.00,-82.0,389.5,-8.5,610,4432,0.12,0.00,0.00,0.000,6,0.066,0.000,1514,2001,2890
$GC,4748,-2.00,-82.0,420.0,-9.8,640,4750,0.00,0.00,0.00,0.000,6,0.000,0.000,1514,2001,2890
$GC,5067,-2.00,-82.0,450.5,-9.2,670,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,1514,2001,2890
$GC,5385,-2.00,-82.0,480.3,-9.1,700,5389,0.00,2.03,0.00,0.000,4,0.000,0.054,1514,885,2889
$GC,5462,-2.00,-82.0,487.4,-9.1,706,5469,0.00,2.03,0.00,0.000,6,0.000,0.039,1514,2005,2889
$GC,5792,-2.00,-82.0,516.8,-9.2,729,5795,0.00,2.03,0.00,0.000,4,0.000,0.054,1513,884,2888
$GC,5868,-2.00,-82.0,524.0,-9.3,732,5873,0.00,2.05,0.00,0.000,6,0.000,0.041,1514,2015,2888
$GC,6191,-2.00,-82.0,552.0,-8.7,748,6192,0.00,0.00,0.00,0.000,6,0.000,0.000,1514,2015,2888
$GC,6499,-2.00,-82.0,577.7,-8.2,763,6501,0.00,0.00,0.00,0.000,6,0.000,0.000,1514,2015,2887
$GC,6808,-2.00,-82.0,603.7,-8.4,778,6812,0.00,2.05,0.00,0.000,4,0.000,0.060,1514,891,2886
$GC,6834,-2.00,-82.0,606.0,-8.8,779,6839,0.00,2.05,0.00,0.000,6,0.000,0.044,1514,2013,2886
$GC,7156,-2.00,-82.0,633.0,-8.4,795,7160,0.00,2.10,0.00,0.000,4,0.000,0.068,1514,3141,2884
$GC,7249,-2.00,-82.0,641.4,-8.9,799,7254,0.00,2.08,0.00,0.000,6,0.000,0.048,1514,2009,2884
$GC,7570,-2.00,-82.0,668.9,-8.4,815,7574,0.00,2.12,0.00,0.000,4,0.000,0.066,1514,3141,2883
$GC,7597,-2.00,-82.0,671.3,-9.2,816,7602,0.00,2.10,0.00,0.000,6,0.000,0.050,1513,1997,2883
$GC,7923,-2.00,-82.0,698.4,-8.2,832,7924,0.00,0.00,0.00,0.000,6,0.000,0.000,1513,1996,2882
$GC,8233,-2.00,-83.8,723.0,-7.8,847,8237,0.00,2.12,0.00,0.000,4,0.000,0.065,1514,3138,2881
$GC,8287,-2.00,-83.8,727.6,-8.4,849,8294,0.00,2.08,0.00,0.000,6,0.000,0.050,1513,2006,2881
$GC,8603,-2.00,-83.8,753.2,-8.3,865,8606,0.00,2.10,0.00,0.000,4,0.000,0.066,1513,3133,2880
$GC,8685,-2.00,-83.8,760.5,-9.0,868,8692,0.00,2.08,0.00,0.000,6,0.000,0.050,1514,2006,2879
$GC,9001,-2.00,-83.8,787.1,-8.5,884,9004,0.00,2.12,0.00,0.000,4,0.000,0.065,1514,3137,2878
$GC,9049,-2.00,-83.8,791.4,-8.5,886,9054,0.00,2.10,0.00,0.000,6,0.000,0.051,1514,2000,2878
$GC,9376,-2.00,-83.8,818.8,-8.3,902,9377,0.00,0.00,0.00,0.000,6,0.000,0.000,1513,2000,2877
$GC,9686,-2.00,-83.8,844.3,-8.2,917,9689,0.00,2.12,0.00,0.000,4,0.000,0.066,1513,3133,2876
$GC,9746,-2.00,-83.8,849.6,-8.8,920,9750,0.00,2.03,0.00,0.000,6,0.000,0.051,1514,2006,2876
$GC,10078,-2.00,-83.8,876.9,-8.3,936,10081,0.00,2.10,0.00,0.000,4,0.000,0.067,1514,3141,2875
$GC,10145,-2.00,-83.8,882.6,-8.9,939,10148,0.00,2.03,0.00,0.000,6,0.000,0.051,1513,2010,2875
$STATE,10330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10330,begin apogee
$GC,10333,-0.31,0.0,898.1,8.2,948,10413,1.98,0.00,72.03,1.527,6,0.140,0.000,1877,2011,2550
$STATE,10414,end apogee,CONTROL_FINISHED_OK
$STATE,10414,begin climb
$GC,10415,1.60,83.8,898.8,0.0,952,10494,2.05,0.00,74.78,1.477,6,0.074,0.000,2296,2010,2208
$GC,10802,1.72,83.8,849.1,14.1,971,10806,0.12,2.12,0.00,0.000,4,0.068,0.068,2324,3134,2205
$GC,10929,1.72,83.8,829.6,15.2,977,10933,0.00,2.08,0.00,0.000,6,0.000,0.053,2324,2006,2204
$GC,11260,1.72,83.8,779.6,15.1,993,11264,0.00,2.10,0.00,0.000,4,0.000,0.067,2324,3134,2204
$GC,11348,1.72,83.8,765.8,15.9,997,11353,0.00,2.10,0.00,0.000,6,0.000,0.054,2324,2010,2203
$GC,11675,1.72,83.8,717.6,14.7,1013,11679,0.00,2.10,0.00,0.000,4,0.000,0.069,2324,3137,2203
$GC,11769,1.72,83.8,703.4,15.1,1017,11774,0.00,2.12,0.00,0.000,6,0.000,0.054,2324,2005,2202
$GC,12090,1.72,83.8,656.8,14.5,1033,12091,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2005,2202
$GC,12399,1.72,83.8,612.3,14.5,1048,12403,0.00,2.15,0.00,0.000,4,0.000,0.068,2324,3143,2202
$GC,12476,1.72,83.8,600.9,14.4,1051,12481,0.00,2.12,0.00,0.000,6,0.000,0.054,2324,2009,2201
$GC,12797,1.72,83.8,555.3,14.1,1067,12798,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2009,2201
$GC,13107,1.72,83.8,512.2,13.6,1082,13108,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2009,2201
$GC,13422,1.72,83.8,470.8,12.6,1107,13423,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2009,2200
$GC,13741,1.72,83.8,430.9,12.6,1137,13742,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2010,2200
$GC,14060,1.79,83.8,390.0,13.3,1167,14063,0.00,2.08,0.00,0.000,4,0.000,0.067,2324,879,2200
$GC,14120,1.79,83.8,381.4,14.0,1172,14124,0.00,2.00,0.00,0.000,6,0.000,0.043,2324,2011,2200
$GC,14450,1.85,83.8,335.9,13.7,1203,14452,0.15,0.00,0.00,0.000,6,0.062,0.000,2359,2012,2200
$GC,14768,1.85,83.8,288.8,15.3,1233,14770,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2012,2200
$GC,15086,1.85,83.8,242.9,14.2,1263,15088,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2012,2200
$GC,15408,1.85,83.8,196.2,14.7,1295,15412,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2012,2201
$GC,15749,1.85,83.8,146.5,14.5,1356,15755,0.00,2.10,0.00,0.000,4,0.000,0.058,2359,3130,2203
$GC,15823,1.76,83.8,135.7,15.1,1369,15829,0.15,1.98,0.00,0.000,6,0.120,0.041,2333,2006,2203
$GC,16165,1.76,83.8,89.4,13.3,1430,16170,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2006,2204
$GC,16508,1.82,83.8,41.5,14.5,1491,16513,0.00,2.10,0.00,0.000,4,0.000,0.054,2333,3135,2205
$GC,16766,1.83,95.7,15.2,6.6,1537,16782,0.00,1.98,10.73,0.788,6,0.000,0.038,2333,2003,2159
$STATE,16937,end climb,SURFACE_DEPTH_REACHED
$STATE,16937,begin surface coast
$FINISH,0.2,1.025889
$STATE,16967,end surface coast,CONTROL_FINISHED_OK
$STATE,16967,begin surface
$SM_CCo,16983,115.15,0.801,0,0,1427,275.23
$SM_GC,0.97,0.00,0.00,115.15,0.000,0.000,0.801,58,1996,1427,-8.70,-0.40,275.23
$IRIDIUM_FIX,6604.29,529.75,011097,050502
$TT8_MAMPS,0.021476
$HUMID,2033
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,4.00
$XPDR_PINGS,-1
$24V_AH,23.1,7.821
$10V_AH,10.0,3.865
$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,24.700,94.950,157.525,115.150,0.000,25.703,32.904,168.465,2.500,0.000,0.000,15.559,2565.720,12074.815,468.139,1981.514,364.542,0.000,1675.577,0.000,1483.035,0.000,19.249
$DEVICE_MAMPS,201.721,69.030,1527.097,800.748,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1470.487,1048.956,599.657,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78942,1573
$CAP_FILE_SIZE,143913,0
$CFSIZE,256368640,249954304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070708,144731,6630.597,532.930,36,1.6,36,-2.3