version: 66.03
glider: 17
mission: 6
dive: 38
start: 7 9 108 9 3 13
data:
$ID,17
$MISSION,6
$DIVE,38
$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,300
$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,200
$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,0.00138
$HD_B,0.0097200004
$HD_C,5.7299999e-06
$HEADING,-1
$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,-86796.43
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,62
$PITCH_MAX,3362
$C_PITCH,1935
$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,17
$R_STBD_OVSHOOT,24
$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
$GPS1,085238,6631.250,546.235,42,1.6,42,-2.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-47.9
$GPS2,090244,6631.324,545.930,11,1.6,16,-2.1
$SPEED_LIMITS,0.191,0.300
$TGT_NAME,DEPLOY
$TGT_LATLONG,6600.000,600.000
$TGT_RADIUS,5000.000
$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,171.7,58973,-12.3,-11.000
$D_GRID,870
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.98,-194.6,0.0,0.0,0,77,0.00,0.00,-58.33,0.000,2,0.000,0.000,57,2020,2932
$GC,79,-0.98,-194.6,3.2,-7.8,11,107,10.25,2.08,-10.30,0.000,4,0.198,0.062,1715,881,3346
$GC,331,-1.04,-194.6,30.3,-8.9,56,338,0.00,2.00,0.00,0.000,6,0.000,0.035,1715,2013,3349
$GC,676,-1.10,-194.6,56.8,-6.8,117,681,0.00,2.08,0.00,0.000,4,0.000,0.054,1715,3136,3351
$GC,755,-1.18,-194.6,62.6,-7.3,131,761,0.17,1.98,0.00,0.000,6,0.043,0.035,1670,1999,3351
$GC,1097,-1.11,-194.6,92.1,-8.4,192,1104,0.12,2.10,0.00,0.000,4,0.104,0.052,1692,3136,3351
$GC,1194,-1.11,-194.6,99.6,-7.5,209,1199,0.00,1.98,0.00,0.000,6,0.000,0.036,1692,2001,3351
$GC,1536,-1.11,-194.6,125.0,-7.4,270,1542,0.00,2.10,0.00,0.000,4,0.000,0.053,1692,3137,3352
$GC,1626,-1.11,-194.6,131.8,-7.4,286,1632,0.00,2.00,0.00,0.000,6,0.000,0.037,1692,2016,3352
$GC,1969,-1.11,-194.6,157.5,-7.7,347,1975,0.00,2.05,0.00,0.000,4,0.000,0.053,1692,3131,3352
$GC,2048,-1.11,-194.6,163.9,-8.1,361,2053,0.00,1.98,0.00,0.000,6,0.000,0.037,1692,2004,3352
$GC,2390,-1.11,-194.6,190.3,-7.9,422,2396,0.00,2.10,0.00,0.000,4,0.000,0.054,1692,3134,3352
$GC,2475,-1.11,-194.6,197.0,-8.0,437,2480,0.00,1.98,0.00,0.000,6,0.000,0.038,1692,2004,3352
$GC,2800,-1.11,-194.6,221.6,-7.5,471,2804,0.00,2.05,0.00,0.000,4,0.000,0.053,1692,3130,3352
$GC,2918,-1.11,-194.6,230.4,-7.4,481,2921,0.00,1.95,0.00,0.000,6,0.000,0.037,1692,2009,3352
$GC,3242,-1.11,-194.6,253.8,-7.4,511,3246,0.00,2.08,0.00,0.000,4,0.000,0.054,1692,3140,3352
$GC,3302,-1.11,-194.6,258.6,-7.8,516,3306,0.00,1.98,0.00,0.000,6,0.000,0.038,1692,2012,3352
$GC,3632,-1.11,-194.6,283.3,-7.5,547,3636,0.00,2.08,0.00,0.000,4,0.000,0.054,1692,3131,3352
$GC,3698,-1.11,-194.6,288.6,-7.9,552,3704,0.00,2.00,0.00,0.000,6,0.000,0.038,1692,2015,3352
$GC,4023,-1.11,-194.6,313.3,-7.7,583,4027,0.00,2.05,0.00,0.000,4,0.000,0.054,1692,3135,3352
$GC,4117,-1.11,-194.6,320.8,-7.8,591,4121,0.00,1.98,0.00,0.000,6,0.000,0.038,1692,2009,3352
$GC,4442,-1.11,-194.6,344.9,-7.1,621,4446,0.00,2.08,0.00,0.000,4,0.000,0.054,1692,3131,3352
$GC,4507,-1.11,-194.6,349.7,-7.2,626,4514,0.00,2.03,0.00,0.000,6,0.000,0.038,1692,2004,3352
$GC,4832,-1.11,-194.6,372.5,-6.9,657,4836,0.00,2.05,0.00,0.000,4,0.000,0.056,1692,3129,3351
$GC,4931,-1.11,-194.6,380.2,-7.6,665,4938,0.00,2.00,0.00,0.000,6,0.000,0.039,1692,2016,3351
$GC,5257,-1.11,-194.6,406.3,-8.1,696,5261,0.00,2.03,0.00,0.000,4,0.000,0.055,1692,3130,3351
$GC,5340,-1.11,-194.6,413.4,-8.4,703,5344,0.00,1.98,0.00,0.000,6,0.000,0.040,1692,2008,3351
$GC,5670,-1.11,-194.6,438.3,-7.1,734,5674,0.00,2.08,0.00,0.000,4,0.000,0.057,1692,3139,3351
$GC,5742,-1.11,-194.6,443.7,-7.3,740,5746,0.00,2.00,0.00,0.000,6,0.000,0.041,1692,2012,3351
$GC,6072,-1.11,-194.6,465.4,-6.4,771,6076,0.00,2.08,0.00,0.000,4,0.000,0.058,1692,3137,3350
$GC,6126,-1.11,-194.6,469.0,-6.4,775,6132,0.00,2.05,0.00,0.000,6,0.000,0.041,1692,2004,3350
$GC,6451,-1.11,-194.6,489.9,-6.7,806,6455,0.00,2.12,0.00,0.000,4,0.000,0.058,1692,3135,3350
$GC,6568,-1.11,-194.6,498.3,-7.2,816,6572,0.00,2.00,0.00,0.000,6,0.000,0.043,1692,2005,3350
$GC,6884,-1.11,-194.6,520.7,-7.4,832,6887,0.00,2.12,0.00,0.000,4,0.000,0.061,1692,3132,3349
$GC,6927,-1.17,-194.6,524.3,-8.0,834,6931,0.00,2.00,0.00,0.000,6,0.000,0.044,1691,2009,3349
$GC,7254,-1.23,-194.6,547.8,-7.1,850,7258,0.12,2.12,0.00,0.000,4,0.058,0.062,1660,3138,3349
$GC,7330,-1.17,-194.6,554.5,-9.3,853,7336,0.00,2.00,0.00,0.000,6,0.000,0.046,1660,2011,3348
$GC,7647,-1.17,-194.6,580.5,-8.1,869,7651,0.00,2.10,0.00,0.000,4,0.000,0.065,1660,3129,3347
$GC,7764,-1.10,-194.6,590.6,-8.7,874,7768,0.10,2.05,0.00,0.000,6,0.097,0.048,1690,2011,3347
$GC,8086,-1.10,-194.6,612.0,-6.6,890,8090,0.00,2.10,0.00,0.000,4,0.000,0.067,1690,3138,3345
$GC,8173,-1.10,-194.6,618.6,-7.7,894,8178,0.00,2.08,0.00,0.000,6,0.000,0.049,1690,2005,3345
$GC,8500,-1.10,-194.6,640.8,-6.9,910,8504,0.00,2.08,0.00,0.000,4,0.000,0.069,1690,3127,3343
$GC,8599,-1.10,-194.6,648.4,-8.0,914,8606,0.00,2.05,0.00,0.000,6,0.000,0.051,1690,2013,3343
$GC,8915,-1.10,-194.6,671.7,-7.4,930,8919,0.00,2.08,0.00,0.000,4,0.000,0.071,1690,3128,3342
$GC,9004,-1.10,-194.6,678.5,-8.2,934,9008,0.00,2.05,0.00,0.000,6,0.000,0.052,1690,2013,3341
$GC,9333,-1.16,-194.6,701.2,-6.7,950,9337,0.00,2.08,0.00,0.000,4,0.000,0.070,1690,3130,3340
$GC,9421,-1.16,-194.6,707.8,-7.3,954,9425,0.00,2.05,0.00,0.000,6,0.000,0.051,1691,2010,3339
$GC,9747,-1.16,-194.6,729.4,-6.6,970,9751,0.00,2.08,0.00,0.000,4,0.000,0.070,1690,3130,3339
$GC,9841,-1.16,-194.6,736.0,-6.9,974,9845,0.00,2.08,0.00,0.000,6,0.000,0.052,1690,2004,3338
$GC,10162,-1.16,-194.6,757.0,-6.6,990,10166,0.00,2.10,0.00,0.000,4,0.000,0.069,1690,3136,3337
$GC,10246,-1.16,-194.6,763.1,-7.6,994,10249,0.00,2.03,0.00,0.000,6,0.000,0.051,1690,2008,3337
$GC,10578,-1.22,-194.6,786.5,-6.9,1010,10581,0.00,2.10,0.00,0.000,4,0.000,0.069,1690,3127,3336
$GC,10671,-1.22,-194.6,793.3,-6.9,1014,10675,0.00,2.05,0.00,0.000,6,0.000,0.052,1691,2012,3335
$GC,10993,-1.29,-194.6,814.1,-6.8,1030,10998,0.17,2.08,0.00,0.000,4,0.058,0.068,1646,3130,3335
$GC,11066,-1.18,-194.6,820.5,-8.9,1033,11071,0.15,2.00,0.00,0.000,6,0.112,0.052,1672,2011,3334
$GC,11380,-1.18,-194.6,845.0,-7.7,1048,11384,0.00,2.10,0.00,0.000,4,0.000,0.069,1672,3138,3334
$GC,11464,-1.18,-194.6,851.9,-9.1,1052,11467,0.00,2.03,0.00,0.000,6,0.000,0.051,1672,2011,3334
$STATE,11707,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11707,begin apogee
$GC,11710,-0.31,0.0,870.1,7.4,1064,11882,0.98,0.00,168.55,1.513,6,0.109,0.000,1862,2010,2550
$STATE,11883,end apogee,CONTROL_FINISHED_OK
$STATE,11883,begin climb
$GC,11884,0.98,194.6,874.7,0.0,1072,12061,1.35,2.20,168.27,1.431,4,0.081,0.072,2144,887,1756
$GC,12173,0.99,206.3,850.9,10.5,1085,12189,0.00,2.05,11.62,1.253,6,0.000,0.049,2144,2007,1708
$GC,12498,1.08,218.4,818.0,10.5,1100,12513,0.12,0.00,11.98,1.295,6,0.061,0.000,2173,2007,1660
$GC,12806,1.08,218.4,779.7,12.6,1115,12807,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2008,1658
$GC,13115,1.08,218.4,742.2,12.2,1130,13116,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2008,1657
$GC,13424,1.08,218.4,705.0,11.8,1145,13426,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2008,1657
$GC,13734,1.08,218.4,668.6,11.6,1160,13735,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2008,1656
$GC,14043,1.08,218.4,633.4,11.4,1175,14047,0.00,2.12,0.00,0.000,4,0.000,0.074,2173,887,1656
$GC,14092,1.08,218.4,627.4,12.0,1177,14096,0.00,2.10,0.00,0.000,6,0.000,0.051,2173,2009,1656
$GC,14419,1.08,218.4,589.5,11.7,1193,14420,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2010,1655
$GC,14728,1.08,218.4,553.0,12.0,1208,14729,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2011,1655
$GC,15037,1.08,218.4,515.2,12.3,1223,15041,0.00,2.10,0.00,0.000,4,0.000,0.071,2173,886,1655
$GC,15103,1.08,218.4,506.9,11.9,1226,15107,0.00,2.08,0.00,0.000,6,0.000,0.050,2173,2006,1655
$GC,15427,1.08,218.4,469.5,11.9,1253,15430,0.00,2.08,0.00,0.000,4,0.000,0.068,2173,887,1654
$GC,15458,1.08,218.4,465.3,13.2,1255,15465,0.00,2.10,0.00,0.000,6,0.000,0.050,2173,2018,1654
$GC,15783,1.08,218.4,424.9,12.1,1286,15787,0.00,2.10,0.00,0.000,4,0.000,0.066,2173,886,1654
$GC,15860,1.08,218.4,415.0,13.0,1292,15867,0.00,2.10,0.00,0.000,6,0.000,0.048,2173,2020,1653
$GC,16187,1.08,218.4,373.7,12.1,1323,16190,0.00,2.10,0.00,0.000,4,0.000,0.063,2173,878,1653
$GC,16247,1.08,218.4,365.8,12.8,1328,16251,0.00,2.05,0.00,0.000,6,0.000,0.045,2173,2021,1653
$GC,16577,1.08,218.4,327.1,11.6,1359,16581,0.00,2.10,0.00,0.000,4,0.000,0.061,2173,880,1653
$GC,16637,1.08,218.4,319.9,12.2,1364,16641,0.00,2.03,0.00,0.000,6,0.000,0.042,2173,2012,1654
$GC,16967,1.08,218.4,282.7,11.6,1395,16970,0.00,2.08,0.00,0.000,4,0.000,0.058,2173,878,1655
$GC,17022,1.08,218.4,276.2,11.6,1400,17026,0.00,2.05,0.00,0.000,6,0.000,0.041,2173,2011,1655
$GC,17352,1.08,218.4,237.1,11.9,1431,17356,0.00,2.08,0.00,0.000,4,0.000,0.056,2173,876,1656
$GC,17413,1.08,218.4,229.8,12.0,1436,17416,0.00,2.03,0.00,0.000,6,0.000,0.039,2173,2014,1656
$GC,17741,1.08,218.4,192.6,11.4,1472,17747,0.00,2.08,0.00,0.000,4,0.000,0.055,2173,875,1657
$GC,17796,1.08,218.4,186.2,11.2,1482,17803,0.00,2.05,0.00,0.000,6,0.000,0.040,2173,2011,1657
$GC,18140,1.08,224.8,147.2,10.7,1543,18152,0.00,2.15,6.97,0.812,4,0.000,0.053,2173,880,1633
$GC,18236,1.08,224.8,135.1,12.7,1560,18242,0.00,2.05,0.00,0.000,6,0.000,0.038,2173,2012,1633
$GC,18579,1.08,224.8,93.9,12.3,1621,18585,0.00,2.05,0.00,0.000,4,0.000,0.053,2173,882,1633
$GC,18673,1.08,224.8,82.4,12.2,1638,18680,0.00,2.05,0.00,0.000,6,0.000,0.037,2173,2011,1634
$GC,19017,1.08,224.8,42.2,12.3,1699,19022,0.00,2.05,0.00,0.000,4,0.000,0.051,2173,879,1634
$GC,19100,1.08,224.8,32.3,11.2,1714,19107,0.00,2.05,0.00,0.000,6,0.000,0.037,2173,2014,1635
$STATE,19442,end climb,SURFACE_DEPTH_REACHED
$STATE,19442,begin surface coast
$FINISH,0.2,1.025975
$STATE,19466,end surface coast,CONTROL_FINISHED_OK
$STATE,19467,begin surface
$SM_CCo,19482,31.38,0.805,0,0,1427,275.23
$SM_GC,1.33,0.00,0.00,31.38,0.000,0.000,0.805,60,2014,1427,-8.62,0.11,275.23
$IRIDIUM_FIX,6604.29,540.49,031097,090952
$TT8_MAMPS,0.021476
$HUMID,2066
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,4.00
$XPDR_PINGS,-1
$24V_AH,23.0,9.309
$10V_AH,10.0,4.874
$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,22.950,168.650,367.400,31.375,0.000,54.257,71.533,302.927,2.750,0.000,0.000,16.452,2925.372,13588.144,628.088,2371.699,610.280,0.000,2120.983,0.000,1802.600,0.000,22.166
$DEVICE_MAMPS,197.886,73.632,1513.291,804.583,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1658.907,1171.565,654.143,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88355,1779
$CAP_FILE_SIZE,189740,0
$CFSIZE,256368640,249147392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090708,142937,6630.960,547.329,37,1.3,37,-2.1