version: 66.03
glider: 17
mission: 6
dive: 30
start: 7 7 108 19 56 41
data:
$ID,17
$MISSION,6
$DIVE,30
$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,-86645.086
$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,23
$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
$GPS1,194257,6631.043,532.884,29,3.3,48,-2.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-47.7
$GPS2,195553,6631.121,532.681,13,2.6,32,-2.3
$SPEED_LIMITS,0.139,0.149
$TGT_NAME,HEADING
$TGT_LATLONG,6620.973,531.199
$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,923
$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,-46.6,0.0,0.0,0,78,0.00,0.00,-49.38,0.000,6,0.000,0.000,59,2001,2743
$GC,80,-1.57,-59.1,3.2,-6.5,10,97,9.70,2.03,-1.27,0.000,4,0.204,0.061,1604,880,2792
$GC,350,-1.74,-65.4,35.9,-7.3,58,358,0.15,2.00,-0.30,0.000,6,0.059,0.031,1570,2026,2820
$GC,695,-1.86,-91.7,55.7,-4.8,119,702,0.12,2.10,-0.90,0.000,4,0.064,0.059,1542,886,2930
$GC,925,-1.86,-91.7,74.7,-8.6,160,932,0.00,2.00,0.00,0.000,6,0.000,0.032,1542,2009,2931
$GC,1269,-1.86,-91.7,105.4,-9.2,221,1275,0.00,2.05,0.00,0.000,4,0.000,0.050,1541,3130,2933
$GC,1347,-1.86,-91.7,113.0,-9.9,235,1353,0.00,1.95,0.00,0.000,6,0.000,0.035,1542,2008,2932
$GC,1689,-1.86,-91.7,146.4,-9.6,296,1695,0.00,2.10,0.00,0.000,4,0.000,0.051,1542,3121,2933
$GC,1774,-1.86,-91.7,155.0,-10.4,311,1779,0.00,1.95,0.00,0.000,6,0.000,0.036,1542,2001,2933
$GC,2116,-1.86,-91.7,189.2,-10.0,372,2122,0.00,2.10,0.00,0.000,4,0.000,0.051,1542,3123,2933
$GC,2205,-1.86,-91.7,198.3,-10.1,388,2212,0.00,1.98,0.00,0.000,6,0.000,0.037,1542,2014,2933
$GC,2536,-1.86,-91.7,230.6,-9.9,421,2540,0.00,2.05,0.00,0.000,4,0.000,0.051,1542,3131,2933
$GC,2597,-1.86,-91.7,236.9,-10.6,426,2601,0.00,1.98,0.00,0.000,6,0.000,0.038,1542,2003,2933
$GC,2927,-1.93,-91.7,268.2,-9.0,457,2928,0.00,0.00,0.00,0.000,6,0.000,0.000,1542,2003,2933
$GC,3247,-2.01,-91.7,297.5,-9.3,487,3249,0.12,0.00,0.00,0.000,6,0.064,0.000,1514,2003,2933
$GC,3564,-2.01,-91.7,331.2,-11.3,517,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,1514,2003,2933
$GC,3882,-2.01,-91.7,366.1,-10.8,547,3886,0.00,2.12,0.00,0.000,4,0.000,0.052,1514,3130,2932
$GC,3955,-1.94,-91.7,374.2,-11.0,553,3958,0.00,2.00,0.00,0.000,6,0.000,0.039,1514,2003,2933
$GC,4284,-1.94,-91.7,408.4,-9.9,584,4288,0.00,2.00,0.00,0.000,4,0.000,0.051,1514,884,2932
$GC,4322,-1.94,-91.7,412.2,-10.1,587,4326,0.00,1.98,0.00,0.000,6,0.000,0.036,1514,2008,2932
$GC,4652,-1.94,-91.7,443.3,-9.4,618,4653,0.00,0.00,0.00,0.000,6,0.000,0.000,1514,2008,2931
$GC,4971,-1.94,-91.7,474.5,-10.3,648,4975,0.00,2.05,0.00,0.000,4,0.000,0.053,1514,882,2931
$GC,5160,-1.94,-91.7,495.1,-11.0,664,5167,0.00,2.05,0.00,0.000,6,0.000,0.038,1514,2008,2931
$GC,5487,-1.94,-91.7,528.1,-9.9,683,5488,0.00,0.00,0.00,0.000,6,0.000,0.000,1514,2008,2931
$GC,5796,-1.94,-91.7,558.4,-9.7,698,5797,0.00,0.00,0.00,0.000,6,0.000,0.000,1514,2008,2930
$GC,6106,-1.94,-91.7,588.5,-9.4,713,6107,0.00,0.00,0.00,0.000,6,0.000,0.000,1514,2008,2929
$GC,6415,-1.94,-91.7,618.1,-9.7,728,6419,0.00,2.05,0.00,0.000,4,0.000,0.060,1514,888,2928
$GC,6481,-1.94,-91.7,624.7,-10.1,731,6485,0.00,2.00,0.00,0.000,6,0.000,0.044,1514,2011,2927
$GC,6813,-1.94,-91.7,656.1,-9.5,747,6816,0.00,2.10,0.00,0.000,4,0.000,0.070,1514,3138,2927
$GC,6889,-1.94,-91.7,663.8,-10.1,750,6896,0.00,2.08,0.00,0.000,6,0.000,0.049,1514,2009,2927
$GC,7205,-1.94,-91.7,693.5,-9.1,766,7209,0.00,2.10,0.00,0.000,4,0.000,0.067,1514,3138,2927
$GC,7259,-1.94,-91.7,698.8,-10.2,768,7266,0.00,2.05,0.00,0.000,6,0.000,0.050,1514,2015,2925
$GC,7575,-1.94,-91.7,726.6,-8.4,784,7578,0.00,2.08,0.00,0.000,4,0.000,0.067,1514,3139,2924
$GC,7606,-1.94,-91.7,729.5,-9.0,785,7612,0.00,2.10,0.00,0.000,6,0.000,0.051,1514,2000,2924
$GC,7928,-1.94,-91.7,757.5,-8.7,801,7932,0.00,2.12,0.00,0.000,4,0.000,0.067,1514,3139,2923
$GC,7999,-1.94,-91.7,764.2,-9.5,804,8004,0.00,2.10,0.00,0.000,6,0.000,0.051,1514,2001,2923
$GC,8326,-1.94,-91.7,792.3,-8.9,820,8327,0.00,0.00,0.00,0.000,6,0.000,0.000,1514,2001,2922
$GC,8635,-1.94,-91.7,819.5,-9.0,835,8639,0.00,2.12,0.00,0.000,4,0.000,0.067,1514,3143,2920
$GC,8734,-1.94,-91.7,828.8,-9.4,839,8740,0.00,2.10,0.00,0.000,6,0.000,0.051,1514,2005,2920
$GC,9056,-1.94,-91.7,857.3,-8.8,855,9059,0.00,2.10,0.00,0.000,4,0.000,0.067,1514,3140,2919
$GC,9139,-1.94,-91.7,865.0,-9.2,859,9143,0.00,2.03,0.00,0.000,6,0.000,0.051,1514,2006,2919
$GC,9470,-1.94,-91.7,894.9,-9.0,875,9471,0.00,0.00,0.00,0.000,6,0.000,0.000,1514,2006,2917
$GC,9780,-1.94,-91.7,921.7,-8.3,890,9783,0.00,2.10,0.00,0.000,4,0.000,0.068,1514,3139,2917
$STATE,9793,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9793,begin apogee
$GC,9799,-0.31,0.0,923.2,8.7,890,9885,1.90,0.00,81.20,1.539,6,0.140,0.000,1876,2006,2551
$STATE,9886,end apogee,CONTROL_FINISHED_OK
$STATE,9886,begin climb
$GC,9887,1.61,91.7,924.0,0.0,895,9977,2.08,2.25,81.30,1.493,4,0.075,0.067,2298,3132,2176
$GC,10045,1.71,91.7,905.2,15.9,902,10052,0.12,2.08,0.00,0.000,6,0.064,0.053,2327,2001,2173
$GC,10359,1.71,91.7,853.8,16.5,918,10360,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2001,2172
$GC,10669,1.71,91.7,803.8,15.9,933,10673,0.00,2.15,0.00,0.000,4,0.000,0.067,2327,3133,2171
$GC,10830,1.71,91.7,777.4,16.6,940,10834,0.00,2.10,0.00,0.000,6,0.000,0.053,2327,2007,2170
$GC,11152,1.71,91.7,728.0,15.5,956,11153,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2007,2171
$GC,11460,1.71,91.7,681.1,15.2,971,11464,0.00,2.15,0.00,0.000,4,0.000,0.067,2327,3139,2170
$GC,11604,1.71,91.7,658.6,15.5,977,11611,0.00,2.12,0.00,0.000,6,0.000,0.054,2327,2006,2169
$GC,11920,1.71,91.7,610.6,15.4,993,11921,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2006,2169
$GC,12229,1.71,91.7,564.5,14.4,1008,12230,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2006,2169
$GC,12538,1.71,91.7,520.5,14.3,1023,12542,0.00,2.12,0.00,0.000,4,0.000,0.067,2327,3137,2168
$GC,12673,1.71,91.7,500.2,15.1,1029,12677,0.00,2.08,0.00,0.000,6,0.000,0.052,2327,2003,2168
$GC,12997,1.71,91.7,453.1,14.7,1059,13000,0.00,2.10,0.00,0.000,4,0.000,0.070,2327,875,2167
$GC,13136,1.71,91.7,431.8,15.0,1071,13143,0.00,2.08,0.00,0.000,6,0.000,0.046,2327,2015,2167
$GC,13461,1.78,91.7,384.5,14.8,1102,13462,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2015,2167
$GC,13779,1.78,91.7,338.9,14.3,1132,13783,0.00,2.10,0.00,0.000,4,0.000,0.061,2327,882,2167
$GC,13856,1.78,91.7,326.9,16.0,1138,13863,0.00,2.08,0.00,0.000,6,0.000,0.042,2327,2012,2167
$GC,14183,1.86,91.7,279.7,14.8,1169,14185,0.12,0.00,0.00,0.000,6,0.059,0.000,2358,2013,2167
$GC,14500,1.86,91.7,229.6,15.8,1199,14504,0.00,2.10,0.00,0.000,4,0.000,0.060,2358,3132,2168
$GC,14572,1.78,91.7,218.1,16.5,1205,14576,0.00,2.00,0.00,0.000,6,0.000,0.041,2358,2001,2168
$GC,14907,1.78,91.7,164.5,15.6,1254,14912,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2001,2168
$GC,15249,1.78,91.7,109.4,16.6,1315,15254,0.00,2.10,0.00,0.000,4,0.000,0.055,2358,3142,2170
$GC,15332,1.69,91.7,95.6,16.6,1330,15339,0.22,2.05,0.00,0.000,6,0.117,0.041,2318,2006,2170
$GC,15677,1.79,91.7,47.4,13.5,1391,15682,0.00,2.08,0.00,0.000,4,0.000,0.052,2318,3138,2171
$GC,15710,1.87,91.7,42.6,14.1,1397,15716,0.17,2.03,0.00,0.000,6,0.055,0.041,2358,2001,2171
$GC,16052,1.89,107.1,9.6,6.2,1458,16070,0.00,2.17,13.62,0.793,4,0.000,0.051,2358,3135,2112
$STATE,16148,end climb,SURFACE_DEPTH_REACHED
$STATE,16148,begin surface coast
$FINISH,0.2,1.025867
$STATE,16165,end surface coast,CONTROL_FINISHED_OK
$STATE,16165,begin surface
$SM_CCo,16184,109.82,0.799,0,0,1428,275.23
$SM_GC,1.10,0.00,0.00,109.82,0.000,0.000,0.799,56,1998,1428,-8.71,-0.34,275.23
$IRIDIUM_FIX,6604.29,529.75,011097,191934
$TT8_MAMPS,0.021476
$HUMID,2043
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,4.00
$XPDR_PINGS,-1
$24V_AH,23.1,8.057
$10V_AH,10.1,4.070
$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,25.125,111.800,176.125,109.825,0.000,82.804,108.311,338.982,2.750,0.000,0.000,33.308,2436.637,11561.294,485.302,1938.117,675.680,0.000,1669.948,0.000,1445.894,0.000,21.062
$DEVICE_MAMPS,204.022,69.797,1539.369,799.214,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1377.339,979.661,561.925,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72438,1478
$CAP_FILE_SIZE,148842,0
$CFSIZE,256368640,249806848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080708,002931,6631.374,533.957,38,2.0,43,-2.3