version: 66.03
glider: 17
mission: 6
dive: 39
start: 7 9 108 14 36 50
data:
$ID,17
$MISSION,6
$DIVE,39
$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,-86814
$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,18
$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
$GPS1,142937,6630.960,547.329,37,1.3,37,-2.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-47.7
$GPS2,143621,6631.002,547.362,16,1.8,16,-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,172.7,58200,-12.3,-11.000
$D_GRID,852
$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,-57.92,0.000,2,0.000,0.000,60,2015,2951
$GC,79,-0.98,-194.6,3.3,-6.3,11,106,10.20,2.10,-9.23,0.000,4,0.198,0.061,1715,882,3346
$GC,359,-0.98,-194.6,32.5,-8.1,61,365,0.00,2.00,0.00,0.000,6,0.000,0.034,1715,2013,3350
$GC,702,-1.04,-194.6,60.7,-8.5,122,708,0.00,2.05,0.00,0.000,4,0.000,0.046,1715,874,3352
$GC,825,-1.12,-194.6,71.6,-8.4,144,832,0.12,2.03,0.00,0.000,6,0.049,0.035,1682,2018,3353
$GC,1169,-1.12,-194.6,100.3,-7.3,205,1175,0.00,2.05,0.00,0.000,4,0.000,0.054,1682,3137,3353
$GC,1203,-1.12,-194.6,102.9,-7.6,211,1208,0.00,1.98,0.00,0.000,6,0.000,0.035,1682,2000,3353
$GC,1545,-1.12,-194.6,127.8,-7.8,272,1551,0.00,2.12,0.00,0.000,4,0.000,0.053,1682,3133,3353
$GC,1585,-1.12,-194.6,131.1,-8.2,279,1590,0.00,1.95,0.00,0.000,6,0.000,0.036,1682,2010,3353
$GC,1926,-1.12,-194.6,159.1,-8.0,340,1933,0.00,2.10,0.00,0.000,4,0.000,0.053,1682,3131,3353
$GC,1983,-1.12,-194.6,163.8,-8.3,350,1989,0.00,2.00,0.00,0.000,6,0.000,0.037,1682,2007,3353
$GC,2326,-1.12,-194.6,191.2,-8.1,411,2331,0.00,2.08,0.00,0.000,4,0.000,0.053,1682,3143,3353
$GC,2382,-1.12,-194.6,195.9,-8.6,421,2388,0.00,2.00,0.00,0.000,6,0.000,0.036,1682,2004,3353
$GC,2708,-1.12,-194.6,222.0,-7.8,456,2712,0.00,2.08,0.00,0.000,4,0.000,0.053,1682,3138,3353
$GC,2774,-1.12,-194.6,227.6,-8.3,461,2780,0.00,2.00,0.00,0.000,6,0.000,0.037,1682,2016,3353
$GC,3099,-1.12,-194.6,254.6,-8.6,492,3103,0.00,2.05,0.00,0.000,4,0.000,0.052,1681,3133,3353
$GC,3164,-1.12,-194.6,260.7,-9.5,497,3171,0.00,2.00,0.00,0.000,6,0.000,0.038,1682,2015,3353
$GC,3489,-1.12,-194.6,288.7,-8.6,528,3493,0.00,2.05,0.00,0.000,4,0.000,0.053,1682,3142,3353
$GC,3566,-1.12,-194.6,295.7,-8.7,534,3573,0.00,2.03,0.00,0.000,6,0.000,0.038,1682,2007,3353
$GC,3891,-1.12,-194.6,322.6,-8.1,565,3895,0.00,2.05,0.00,0.000,4,0.000,0.054,1682,3132,3353
$GC,3952,-1.12,-194.6,327.9,-8.4,570,3955,0.00,1.98,0.00,0.000,6,0.000,0.038,1682,2008,3353
$GC,4282,-1.12,-194.6,354.2,-8.2,601,4286,0.00,2.08,0.00,0.000,4,0.000,0.054,1682,3132,3353
$GC,4347,-1.12,-194.6,359.8,-8.3,606,4354,0.00,2.03,0.00,0.000,6,0.000,0.038,1682,2006,3353
$GC,4673,-1.12,-194.6,385.3,-8.0,637,4677,0.00,2.05,0.00,0.000,4,0.000,0.054,1682,3131,3353
$GC,4749,-1.12,-194.6,392.2,-8.6,643,4756,0.00,2.00,0.00,0.000,6,0.000,0.039,1682,2015,3353
$GC,5075,-1.12,-194.6,420.4,-8.5,674,5076,0.00,0.00,0.00,0.000,6,0.000,0.000,1682,2015,3353
$GC,5393,-1.12,-194.6,447.1,-8.0,704,5397,0.00,2.05,0.00,0.000,4,0.000,0.056,1682,3131,3352
$GC,5492,-1.12,-194.6,455.2,-8.2,712,5499,0.00,2.03,0.00,0.000,6,0.000,0.041,1682,2009,3352
$GC,5817,-1.12,-194.6,478.7,-6.9,743,5821,0.00,2.08,0.00,0.000,4,0.000,0.059,1681,3130,3352
$GC,5889,-1.12,-194.6,483.9,-7.3,749,5893,0.00,1.98,0.00,0.000,6,0.000,0.042,1682,2010,3352
$GC,6221,-1.12,-194.6,508.0,-7.7,775,6225,0.00,2.10,0.00,0.000,4,0.000,0.060,1682,3129,3351
$GC,6314,-1.12,-194.6,515.6,-8.0,779,6318,0.00,2.03,0.00,0.000,6,0.000,0.044,1682,2013,3351
$GC,6638,-1.12,-194.6,540.1,-7.6,795,6641,0.00,2.10,0.00,0.000,4,0.000,0.063,1682,3135,3350
$GC,6725,-1.12,-194.6,547.2,-7.8,799,6730,0.00,2.05,0.00,0.000,6,0.000,0.045,1682,2010,3350
$GC,7052,-1.12,-194.6,569.6,-6.8,815,7056,0.00,2.10,0.00,0.000,4,0.000,0.065,1682,3134,3349
$GC,7118,-1.12,-194.6,574.5,-7.5,818,7122,0.00,2.05,0.00,0.000,6,0.000,0.047,1682,2012,3349
$GC,7445,-1.12,-194.6,598.2,-7.4,834,7449,0.00,2.08,0.00,0.000,4,0.000,0.067,1681,3134,3348
$GC,7538,-1.12,-194.6,605.7,-8.0,838,7543,0.00,2.05,0.00,0.000,6,0.000,0.048,1682,2013,3348
$GC,7859,-1.12,-194.6,629.1,-7.3,854,7863,0.00,2.08,0.00,0.000,4,0.000,0.068,1682,3136,3346
$GC,7959,-1.12,-194.6,636.9,-7.9,858,7965,0.00,2.05,0.00,0.000,6,0.000,0.050,1682,2015,3345
$GC,8275,-1.12,-194.6,660.4,-7.5,874,8279,0.00,2.08,0.00,0.000,4,0.000,0.070,1681,3134,3344
$GC,8368,-1.12,-194.6,668.1,-8.7,878,8373,0.00,2.05,0.00,0.000,6,0.000,0.051,1682,2014,3343
$GC,8690,-1.12,-194.6,692.8,-7.6,894,8694,0.00,2.08,0.00,0.000,4,0.000,0.069,1682,3128,3342
$GC,8800,-1.12,-194.6,701.8,-8.5,899,8804,0.00,2.05,0.00,0.000,6,0.000,0.051,1681,2013,3342
$GC,9129,-1.12,-194.6,725.9,-7.2,915,9132,0.00,2.08,0.00,0.000,4,0.000,0.069,1681,3127,3340
$GC,9227,-1.12,-194.6,733.8,-8.1,919,9234,0.00,2.05,0.00,0.000,6,0.000,0.052,1681,2012,3340
$GC,9543,-1.12,-194.6,755.5,-6.7,935,9547,0.00,2.08,0.00,0.000,4,0.000,0.070,1682,3130,3339
$GC,9642,-1.12,-194.6,762.8,-7.6,939,9649,0.00,2.05,0.00,0.000,6,0.000,0.051,1682,2015,3338
$GC,9958,-1.12,-194.6,785.0,-7.1,955,9962,0.00,2.10,0.00,0.000,4,0.000,0.068,1681,3136,3338
$GC,10052,-1.12,-194.6,792.2,-7.9,959,10056,0.00,2.08,0.00,0.000,6,0.000,0.051,1682,2006,3337
$GC,10373,-1.12,-194.6,815.0,-7.2,975,10377,0.00,2.10,0.00,0.000,4,0.000,0.070,1682,3133,3336
$GC,10479,-1.12,-194.6,823.2,-7.9,980,10483,0.00,2.03,0.00,0.000,6,0.000,0.052,1682,2006,3336
$GC,10805,-1.12,-194.6,846.6,-7.2,996,10809,0.00,2.10,0.00,0.000,4,0.000,0.070,1682,3135,3335
$STATE,10873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10874,begin apogee
$GC,10879,-0.31,0.0,852.1,7.8,999,11052,0.90,0.00,169.07,1.493,6,0.108,0.000,1860,2004,2550
$STATE,11053,end apogee,CONTROL_FINISHED_OK
$STATE,11053,begin climb
$GC,11054,0.98,194.6,856.7,0.0,1008,11231,1.38,2.20,168.07,1.417,4,0.081,0.073,2146,882,1756
$GC,11313,0.98,194.6,835.2,11.4,1019,11320,0.00,2.10,0.00,0.000,6,0.000,0.049,2146,2006,1755
$GC,11629,1.07,207.8,802.4,10.5,1035,11644,0.10,0.00,12.65,1.284,6,0.067,0.000,2169,2007,1702
$GC,11938,1.07,207.8,765.4,12.0,1050,11939,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2007,1701
$GC,12247,1.07,207.8,728.1,12.1,1065,12248,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2007,1700
$GC,12556,1.07,207.8,691.7,11.8,1080,12557,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2007,1700
$GC,12866,1.07,207.8,656.2,11.2,1095,12869,0.00,2.12,0.00,0.000,4,0.000,0.073,2169,886,1699
$GC,12903,1.07,207.8,651.6,11.9,1096,12910,0.00,2.10,0.00,0.000,6,0.000,0.051,2169,2013,1699
$GC,13219,1.07,207.8,616.1,11.3,1112,13220,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2013,1699
$GC,13528,1.07,207.8,580.4,11.5,1127,13529,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2013,1699
$GC,13838,1.08,216.2,546.3,10.7,1142,13848,0.00,0.00,8.30,1.170,6,0.000,0.000,2169,2013,1668
$GC,14147,1.09,231.3,513.4,10.4,1157,14168,0.00,2.22,14.40,1.230,4,0.000,0.070,2169,878,1606
$GC,14228,1.09,231.3,504.4,11.1,1160,14235,0.00,2.12,0.00,0.000,6,0.000,0.048,2169,2013,1605
$GC,14553,1.10,235.4,468.7,10.8,1189,14563,0.00,2.15,4.78,0.927,4,0.000,0.068,2169,876,1589
$GC,14601,1.10,237.7,463.0,10.9,1193,14611,0.00,2.10,3.95,0.821,6,0.000,0.048,2169,2007,1580
$GC,14935,1.10,237.7,425.6,11.6,1225,14939,0.00,2.10,0.00,0.000,4,0.000,0.065,2169,881,1579
$GC,14995,1.10,237.7,418.1,12.1,1230,15002,0.00,2.10,0.00,0.000,6,0.000,0.046,2169,2010,1579
$GC,15322,1.10,237.7,380.9,11.7,1261,15326,0.00,2.08,0.00,0.000,4,0.000,0.063,2169,885,1579
$GC,15410,1.10,237.7,370.2,11.8,1268,15417,0.00,2.08,0.00,0.000,6,0.000,0.044,2169,2012,1579
$GC,15735,1.10,237.7,332.9,11.4,1299,15739,0.00,2.08,0.00,0.000,4,0.000,0.060,2169,876,1579
$GC,15800,1.10,237.7,325.1,11.3,1304,15807,0.00,2.10,0.00,0.000,6,0.000,0.043,2169,2015,1579
$GC,16127,1.10,237.7,288.3,12.0,1335,16131,0.00,2.08,0.00,0.000,4,0.000,0.059,2169,882,1580
$GC,16181,1.10,237.7,281.3,12.3,1339,16188,0.00,2.08,0.00,0.000,6,0.000,0.041,2169,2012,1581
$GC,16506,1.10,237.7,242.0,11.8,1370,16510,0.00,2.08,0.00,0.000,4,0.000,0.056,2169,880,1581
$GC,16589,1.10,237.7,232.0,11.4,1377,16593,0.00,2.03,0.00,0.000,6,0.000,0.039,2169,2012,1582
$GC,16916,1.10,240.6,194.1,10.9,1412,16928,0.00,2.10,4.78,0.737,4,0.000,0.055,2169,876,1568
$GC,16989,1.10,240.6,185.5,13.1,1425,16995,0.00,2.05,0.00,0.000,6,0.000,0.039,2169,2018,1569
$GC,17331,1.10,240.6,146.6,11.5,1486,17337,0.00,2.10,0.00,0.000,4,0.000,0.054,2169,886,1569
$GC,17427,1.10,240.6,135.5,13.0,1503,17432,0.00,2.00,0.00,0.000,6,0.000,0.038,2169,2018,1570
$GC,17767,1.10,240.6,97.4,12.1,1564,17774,0.00,2.10,0.00,0.000,4,0.000,0.053,2169,884,1571
$GC,17857,1.10,240.6,87.5,11.4,1580,17864,0.00,2.03,0.00,0.000,6,0.000,0.038,2169,2006,1571
$GC,18201,1.17,240.6,51.1,11.0,1641,18207,0.00,2.03,0.00,0.000,4,0.000,0.052,2169,882,1572
$GC,18285,1.23,240.6,41.3,11.8,1656,18292,0.15,2.03,0.00,0.000,6,0.049,0.037,2208,2026,1572
$STATE,18621,end climb,SURFACE_DEPTH_REACHED
$STATE,18621,begin surface coast
$FINISH,0.1,1.026129
$STATE,18640,end surface coast,CONTROL_FINISHED_OK
$STATE,18641,begin surface
$SM_CCo,18656,25.15,0.796,0,0,1428,275.23
$SM_GC,0.64,0.00,0.00,25.15,0.000,0.000,0.796,50,2026,1428,-8.67,0.45,275.23
$IRIDIUM_FIX,6604.29,541.02,031097,090925
$TT8_MAMPS,0.021476
$HUMID,2066
$INTERNAL_PRESSURE,8.20344
$TCM_TEMP,3.50
$XPDR_PINGS,-1
$24V_AH,23.0,9.486
$10V_AH,10.0,4.989
$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,22.425,160.950,386.000,25.150,0.000,28.472,32.795,230.416,2.250,0.000,0.000,16.942,2803.088,12879.620,661.316,2284.912,459.006,0.000,2099.975,0.000,1737.152,0.000,17.435
$DEVICE_MAMPS,197.886,72.865,1492.582,796.146,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1598.596,1134.938,640.603,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85136,1719
$CAP_FILE_SIZE,178470,0
$CFSIZE,256368640,249077760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090708,194937,6630.381,547.721,42,1.4,53,-2.1