version: 66.03
glider: 17
mission: 6
dive: 40
start: 7 9 108 20 1 1
data:
$ID,17
$MISSION,6
$DIVE,40
$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,3
$FERRY_MAX,60
$KALMAN_USE,2
$HD_A,0.00138
$HD_B,0.0097200004
$HD_C,5.7299999e-06
$HEADING,240
$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,-86833.258
$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,2690
$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
$GPS1,194937,6630.381,547.721,42,1.4,53,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-46.3
$GPS2,200032,6630.482,547.511,13,1.4,18,-2.1
$SPEED_LIMITS,0.191,0.300
$TGT_NAME,HEADING
$TGT_LATLONG,6625.082,543.770
$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,242.1,20000,-12.3,-11.000
$D_GRID,853
$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,23,begin dive
$GC,24,-0.98,-194.6,0.0,0.0,0,88,0.00,0.00,-61.65,0.000,2,0.000,0.000,50,2027,3064
$GC,90,-0.98,-194.6,3.7,-8.7,9,119,10.30,2.10,-9.02,0.000,4,0.199,0.065,1716,3135,3487
$GC,372,-1.08,-194.6,34.0,-8.0,58,379,0.00,2.00,0.00,0.000,6,0.000,0.035,1716,1992,3489
$GC,718,-1.19,-194.6,61.0,-7.6,119,725,0.15,2.10,0.00,0.000,4,0.043,0.048,1673,3140,3491
$GC,770,-1.19,-194.6,66.0,-9.5,128,777,0.00,2.00,0.00,0.000,6,0.000,0.035,1673,2013,3491
$GC,1115,-1.19,-194.6,98.3,-9.4,189,1121,0.00,2.08,0.00,0.000,4,0.000,0.050,1673,3143,3492
$GC,1194,-1.19,-194.6,106.1,-9.6,203,1201,0.00,1.98,0.00,0.000,6,0.000,0.035,1673,2005,3491
$GC,1538,-1.19,-194.6,139.2,-9.4,264,1545,0.00,2.10,0.00,0.000,4,0.000,0.051,1673,3144,3492
$GC,1584,-1.19,-194.6,143.9,-9.6,272,1592,0.00,1.98,0.00,0.000,6,0.000,0.036,1673,2011,3492
$GC,1929,-1.19,-194.6,176.8,-9.4,333,1936,0.00,2.05,0.00,0.000,4,0.000,0.052,1673,3138,3492
$GC,1987,-1.19,-194.6,182.4,-9.9,343,1993,0.00,1.98,0.00,0.000,6,0.000,0.037,1673,2005,3492
$GC,2322,-1.19,-194.6,212.8,-8.9,391,2326,0.00,2.08,0.00,0.000,4,0.000,0.053,1673,3133,3492
$GC,2398,-1.19,-194.6,219.8,-9.5,397,2406,0.00,2.00,0.00,0.000,6,0.000,0.037,1673,2013,3492
$GC,2724,-1.19,-194.6,250.0,-9.7,428,2728,0.00,2.05,0.00,0.000,4,0.000,0.053,1673,3139,3492
$GC,2812,-1.19,-194.6,259.0,-10.0,435,2821,0.00,2.03,0.00,0.000,6,0.000,0.037,1673,2007,3492
$GC,3138,-1.19,-194.6,289.1,-9.1,466,3142,0.00,2.05,0.00,0.000,4,0.000,0.054,1673,3135,3492
$GC,3233,-1.19,-194.6,297.9,-9.7,474,3237,0.00,1.98,0.00,0.000,6,0.000,0.038,1673,2003,3492
$GC,3558,-1.19,-194.6,326.8,-8.8,504,3561,0.00,2.05,0.00,0.000,4,0.000,0.054,1673,3132,3492
$GC,3641,-1.19,-194.6,334.9,-9.6,511,3645,0.00,1.98,0.00,0.000,6,0.000,0.039,1673,2010,3492
$GC,3966,-1.19,-194.6,365.8,-9.3,541,3969,0.00,2.05,0.00,0.000,4,0.000,0.055,1673,3133,3492
$GC,4065,-1.19,-194.6,375.4,-9.2,549,4073,0.00,2.00,0.00,0.000,6,0.000,0.039,1673,2015,3492
$GC,4391,-1.19,-194.6,403.9,-8.5,580,4394,0.00,2.08,0.00,0.000,4,0.000,0.055,1673,3140,3491
$GC,4497,-1.19,-194.6,413.3,-8.6,589,4501,0.00,1.98,0.00,0.000,6,0.000,0.041,1673,2012,3491
$GC,4823,-1.19,-194.6,441.8,-8.7,619,4826,0.00,2.05,0.00,0.000,4,0.000,0.058,1673,3138,3491
$GC,4877,-1.19,-194.6,447.2,-9.2,623,4885,0.00,2.03,0.00,0.000,6,0.000,0.041,1673,2013,3491
$GC,5204,-1.19,-194.6,475.2,-8.5,654,5208,0.00,2.05,0.00,0.000,4,0.000,0.058,1673,3136,3490
$GC,5269,-1.19,-194.6,481.2,-8.5,659,5277,0.00,2.03,0.00,0.000,6,0.000,0.042,1673,2015,3490
$GC,5603,-1.19,-194.6,508.6,-8.2,686,5606,0.00,2.08,0.00,0.000,4,0.000,0.060,1673,3132,3489
$GC,5629,-1.19,-194.6,510.9,-8.9,687,5633,0.00,2.03,0.00,0.000,6,0.000,0.043,1673,2015,3489
$GC,5950,-1.19,-194.6,535.1,-7.4,703,5954,0.00,2.12,0.00,0.000,4,0.000,0.062,1673,3138,3488
$GC,6083,-1.19,-194.6,545.7,-8.4,709,6087,0.00,2.05,0.00,0.000,6,0.000,0.046,1673,2013,3487
$GC,6410,-1.19,-194.6,571.2,-8.0,725,6414,0.00,2.10,0.00,0.000,4,0.000,0.065,1673,3139,3487
$GC,6486,-1.19,-194.6,577.8,-8.5,728,6494,0.00,2.08,0.00,0.000,6,0.000,0.048,1673,2006,3487
$GC,6803,-1.19,-194.6,602.9,-7.8,744,6806,0.00,2.12,0.00,0.000,4,0.000,0.067,1673,3130,3486
$GC,6924,-1.19,-194.6,613.1,-8.3,749,6932,0.00,2.05,0.00,0.000,6,0.000,0.049,1673,2016,3486
$GC,7240,-1.19,-194.6,638.5,-8.1,765,7244,0.00,2.08,0.00,0.000,4,0.000,0.069,1673,3129,3484
$GC,7355,-1.19,-194.6,648.0,-8.1,770,7360,0.00,2.05,0.00,0.000,6,0.000,0.051,1673,2010,3483
$GC,7677,-1.19,-194.6,672.2,-7.6,786,7681,0.00,2.10,0.00,0.000,4,0.000,0.071,1674,3129,3481
$GC,7792,-1.19,-194.6,681.6,-8.2,791,7797,0.00,2.05,0.00,0.000,6,0.000,0.051,1673,2015,3480
$GC,8114,-1.19,-194.6,705.8,-7.8,807,8118,0.00,2.10,0.00,0.000,4,0.000,0.068,1673,3136,3479
$GC,8243,-1.19,-194.6,716.4,-8.2,813,8247,0.00,2.05,0.00,0.000,6,0.000,0.052,1673,2001,3479
$GC,8570,-1.19,-194.6,741.1,-7.5,829,8573,0.00,2.12,0.00,0.000,4,0.000,0.069,1673,3128,3478
$GC,8708,-1.19,-194.6,752.5,-8.2,835,8712,0.00,2.05,0.00,0.000,6,0.000,0.051,1673,2012,3477
$GC,9030,-1.19,-194.6,776.3,-7.5,851,9033,0.00,2.12,0.00,0.000,4,0.000,0.069,1673,3138,3476
$GC,9158,-1.19,-194.6,786.8,-8.0,857,9162,0.00,2.05,0.00,0.000,6,0.000,0.051,1673,2009,3475
$GC,9484,-1.19,-194.6,812.2,-7.8,873,9488,0.00,2.12,0.00,0.000,4,0.000,0.070,1673,3139,3474
$GC,9612,-1.19,-194.6,822.2,-8.1,879,9616,0.00,2.05,0.00,0.000,6,0.000,0.051,1673,2002,3474
$GC,9938,-1.19,-194.6,847.4,-7.7,895,9942,0.00,2.12,0.00,0.000,4,0.000,0.070,1673,3130,3473
$STATE,10007,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10008,begin apogee
$GC,10013,-0.31,0.0,853.0,7.8,898,10186,0.95,0.00,168.85,1.488,6,0.110,0.000,1860,2001,2690
$STATE,10186,end apogee,CONTROL_FINISHED_OK
$STATE,10187,begin climb
$GC,10188,0.98,194.6,858.5,0.0,907,10365,1.35,2.17,168.07,1.416,4,0.081,0.071,2144,887,1896
$GC,10426,1.00,214.3,842.0,10.2,918,10450,0.00,2.05,18.67,1.299,6,0.000,0.048,2144,2007,1816
$GC,10774,1.09,232.8,806.5,10.3,935,10795,0.12,0.00,17.40,1.321,6,0.061,0.000,2173,2008,1741
$GC,11101,1.09,232.8,767.6,12.0,951,11103,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2008,1739
$GC,11411,1.09,232.8,731.0,11.8,966,11414,0.00,2.12,0.00,0.000,4,0.000,0.069,2173,3134,1738
$GC,11449,1.09,232.8,726.3,13.0,968,11453,0.00,2.08,0.00,0.000,6,0.000,0.055,2173,2009,1738
$GC,11775,1.09,232.8,686.6,12.2,984,11779,0.00,2.12,0.00,0.000,4,0.000,0.074,2173,886,1738
$GC,11829,1.09,232.8,679.6,12.6,986,11837,0.00,2.08,0.00,0.000,6,0.000,0.050,2173,2008,1737
$GC,12145,1.09,232.8,641.9,11.8,1002,12146,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2009,1737
$GC,12454,1.09,232.8,606.5,11.2,1017,12455,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2009,1736
$GC,12764,1.09,232.8,572.1,11.1,1032,12765,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2009,1736
$GC,13073,1.09,232.8,536.9,11.4,1047,13074,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2009,1736
$GC,13382,1.09,232.8,501.8,11.4,1062,13386,0.00,2.12,0.00,0.000,4,0.000,0.071,2173,879,1736
$GC,13425,1.09,232.8,496.4,11.9,1065,13433,0.00,2.05,0.00,0.000,6,0.000,0.048,2173,2006,1736
$GC,13750,1.09,232.8,456.7,12.4,1096,13754,0.00,2.10,0.00,0.000,4,0.000,0.068,2173,882,1735
$GC,13811,1.09,232.8,449.0,12.6,1101,13815,0.00,2.05,0.00,0.000,6,0.000,0.048,2173,2017,1735
$GC,14135,1.11,255.4,413.4,10.1,1131,14159,0.00,2.22,19.60,1.191,4,0.000,0.064,2173,885,1647
$GC,14196,1.13,276.6,406.9,10.2,1136,14221,0.00,2.08,19.62,1.153,6,0.000,0.046,2173,2004,1562
$GC,14538,1.13,276.6,369.1,11.5,1168,14542,0.00,2.08,0.00,0.000,4,0.000,0.063,2173,885,1559
$GC,14577,1.13,276.6,364.3,13.2,1171,14581,0.00,2.03,0.00,0.000,6,0.000,0.044,2173,2011,1559
$GC,14900,1.13,276.6,323.8,12.8,1201,14904,0.00,2.10,0.00,0.000,4,0.000,0.061,2173,881,1559
$GC,14954,1.13,276.6,316.8,12.8,1205,14963,0.00,2.08,0.00,0.000,6,0.000,0.042,2173,2012,1559
$GC,15280,1.13,276.6,277.0,12.0,1236,15284,0.00,2.08,0.00,0.000,4,0.000,0.059,2173,885,1559
$GC,15341,1.13,276.6,269.5,12.1,1241,15345,0.00,2.03,0.00,0.000,6,0.000,0.041,2173,2019,1560
$GC,15671,1.13,276.6,229.9,12.2,1272,15675,0.00,2.08,0.00,0.000,4,0.000,0.057,2173,878,1561
$GC,15736,1.13,276.6,221.6,12.6,1277,15744,0.00,2.05,0.00,0.000,6,0.000,0.040,2173,2012,1561
$GC,16069,1.13,276.6,180.5,12.8,1321,16076,0.00,2.05,0.00,0.000,4,0.000,0.055,2173,884,1561
$GC,16143,1.13,276.6,171.1,13.1,1334,16150,0.00,2.05,0.00,0.000,6,0.000,0.039,2173,2012,1561
$GC,16488,1.13,276.6,129.5,11.6,1395,16494,0.00,2.05,0.00,0.000,4,0.000,0.054,2173,883,1562
$GC,16561,1.14,283.1,120.6,10.7,1408,16575,0.00,2.00,7.65,0.803,6,0.000,0.038,2173,2012,1535
$GC,16911,1.14,283.1,79.0,11.5,1470,16919,0.00,2.08,0.00,0.000,4,0.000,0.054,2173,880,1535
$GC,16980,1.14,283.1,70.2,13.1,1482,16987,0.00,2.05,0.00,0.000,6,0.000,0.038,2173,2011,1535
$GC,17325,1.27,302.8,30.2,10.2,1543,17353,0.15,2.15,17.70,0.820,4,0.049,0.052,2216,880,1454
$GC,17476,1.27,302.8,10.8,12.0,1569,17482,0.00,2.03,0.00,0.000,6,0.000,0.036,2216,2016,1453
$STATE,17554,end climb,SURFACE_DEPTH_REACHED
$STATE,17554,begin surface coast
$FINISH,0.1,1.025997
$STATE,17567,end surface coast,CONTROL_FINISHED_OK
$STATE,17567,begin surface
$SM_CCo,17643,0.00,0.000,0,0,1452,303.68
$SM_GC,1.12,9.65,0.00,0.00,0.037,0.000,0.000,54,2017,1452,-8.58,0.20,303.68
$IRIDIUM_FIX,6558.99,545.32,031097,202055
$TT8_MAMPS,0.021476
$HUMID,2068
$INTERNAL_PRESSURE,8.20344
$TCM_TEMP,3.50
$XPDR_PINGS,-1
$24V_AH,23.0,9.684
$10V_AH,10.0,5.103
$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,22.675,156.800,437.575,0.000,0.000,54.571,65.179,365.285,2.250,0.000,0.000,18.629,3407.453,11404.968,688.279,2151.244,648.521,0.000,2050.427,0.000,1634.692,0.000,17.431
$DEVICE_MAMPS,198.653,74.399,1487.980,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1498.508,1057.943,573.645,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78974,1585
$CAP_FILE_SIZE,172695,0
$CFSIZE,256368640,248995840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.233,353.3,1
$GPS,100708,005608,6632.010,541.005,33,1.4,33,-2.2