version: 66.03
glider: 17
mission: 6
dive: 47
start: 7 11 108 11 28 49
data:
$ID,17
$MISSION,6
$DIVE,47
$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,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,-87013.344
$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,2170
$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,1
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,112226,6631.780,509.913,41,1.5,41,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-47.5
$GPS2,112820,6631.792,509.746,12,1.5,12,-2.5
$SPEED_LIMITS,0.191,0.300
$TGT_NAME,HEADING
$TGT_LATLONG,6626.392,506.007
$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,242.5,20000,-12.3,-11.000
$D_GRID,1020
$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,24,-0.98,-194.6,0.0,0.0,0,84,0.00,0.00,-58.03,0.000,2,0.000,0.000,60,2178,2885
$GC,87,-0.98,-194.6,3.4,-7.6,11,120,10.25,2.15,-14.18,0.000,4,0.199,0.069,1717,3292,3487
$GC,373,-1.08,-194.6,33.3,-7.8,62,379,0.00,1.98,0.00,0.000,6,0.000,0.033,1717,2156,3492
$GC,717,-1.19,-194.6,62.1,-8.1,123,722,0.15,0.00,0.00,0.000,6,0.045,0.000,1674,2155,3493
$GC,1058,-1.19,-194.6,95.8,-8.7,184,1064,0.00,2.00,0.00,0.000,4,0.000,0.046,1674,1056,3495
$GC,1143,-1.19,-194.6,103.6,-9.2,199,1148,0.00,2.00,0.00,0.000,6,0.000,0.037,1674,2172,3495
$GC,1485,-1.19,-194.6,134.3,-8.8,260,1491,0.00,2.03,0.00,0.000,4,0.000,0.045,1674,1047,3495
$GC,1559,-1.19,-194.6,140.8,-8.6,273,1564,0.00,1.98,0.00,0.000,6,0.000,0.037,1674,2165,3495
$GC,1901,-1.19,-194.6,170.1,-8.8,334,1907,0.00,2.00,0.00,0.000,4,0.000,0.045,1674,1051,3495
$GC,1963,-1.19,-194.6,175.8,-9.4,345,1969,0.00,1.98,0.00,0.000,6,0.000,0.037,1674,2168,3495
$GC,2301,-1.19,-194.6,207.2,-9.4,399,2305,0.00,2.00,0.00,0.000,4,0.000,0.046,1674,1044,3495
$GC,2389,-1.19,-194.6,215.8,-9.4,406,2396,0.00,2.00,0.00,0.000,6,0.000,0.038,1674,2147,3496
$GC,2715,-1.19,-194.6,245.5,-8.8,437,2718,0.00,1.95,0.00,0.000,4,0.000,0.047,1674,1052,3495
$GC,2809,-1.19,-194.6,253.9,-8.8,445,2813,0.00,1.98,0.00,0.000,6,0.000,0.038,1674,2152,3495
$GC,3139,-1.19,-194.6,282.7,-8.4,476,3143,0.00,1.98,0.00,0.000,4,0.000,0.048,1674,1045,3495
$GC,3193,-1.19,-194.6,287.5,-8.8,480,3200,0.00,2.00,0.00,0.000,6,0.000,0.038,1674,2147,3495
$GC,3519,-1.19,-194.6,312.8,-7.8,511,3523,0.00,1.98,0.00,0.000,4,0.000,0.048,1674,1047,3495
$GC,3607,-1.19,-194.6,320.3,-8.5,518,3613,0.00,1.98,0.00,0.000,6,0.000,0.039,1674,2136,3495
$GC,3932,-1.19,-194.6,348.1,-8.9,549,3936,0.00,1.95,0.00,0.000,4,0.000,0.048,1674,1051,3495
$GC,3997,-1.19,-194.6,354.4,-10.0,554,4004,0.00,1.98,0.00,0.000,6,0.000,0.041,1674,2129,3495
$GC,4323,-1.19,-194.6,386.4,-10.0,585,4327,0.00,1.95,0.00,0.000,4,0.000,0.051,1674,1051,3495
$GC,4361,-1.19,-194.6,390.2,-9.9,588,4365,0.00,1.95,0.00,0.000,6,0.000,0.043,1674,2131,3495
$GC,4692,-1.19,-194.6,419.2,-8.5,619,4695,0.00,1.95,0.00,0.000,4,0.000,0.052,1674,1052,3494
$GC,4757,-1.19,-194.6,424.6,-7.7,624,4763,0.00,1.98,0.00,0.000,6,0.000,0.044,1674,2128,3494
$GC,5084,-1.19,-194.6,449.7,-8.0,655,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,1674,2129,3494
$GC,5400,-1.19,-194.6,474.7,-7.9,685,5402,0.00,0.00,0.00,0.000,6,0.000,0.000,1674,2128,3493
$GC,5719,-1.19,-194.6,499.8,-8.0,715,5724,0.00,1.98,0.00,0.000,4,0.000,0.058,1674,1055,3492
$GC,5757,-1.19,-194.6,502.9,-8.3,717,5763,0.00,2.00,0.00,0.000,6,0.000,0.048,1674,2130,3491
$GC,6072,-1.19,-194.6,529.2,-8.7,733,6076,0.00,1.98,0.00,0.000,4,0.000,0.058,1674,1055,3490
$GC,6111,-1.19,-194.6,532.8,-9.5,735,6114,0.00,1.98,0.00,0.000,6,0.000,0.050,1674,2129,3490
$GC,6437,-1.19,-194.6,560.9,-8.7,751,6438,0.00,0.00,0.00,0.000,6,0.000,0.000,1674,2129,3488
$GC,6746,-1.19,-194.6,587.4,-8.4,766,6747,0.00,0.00,0.00,0.000,6,0.000,0.000,1674,2129,3487
$GC,7055,-1.19,-194.6,613.6,-8.5,781,7058,0.00,1.98,0.00,0.000,4,0.000,0.062,1674,1051,3485
$GC,7109,-1.19,-194.6,618.5,-9.4,783,7116,0.00,2.00,0.00,0.000,6,0.000,0.051,1674,2124,3486
$GC,7425,-1.19,-194.6,645.9,-8.8,799,7426,0.00,0.00,0.00,0.000,6,0.000,0.000,1674,2124,3484
$GC,7734,-1.19,-194.6,672.8,-8.5,814,7738,0.00,1.98,0.00,0.000,4,0.000,0.063,1673,1055,3483
$GC,7773,-1.19,-194.6,676.3,-9.4,816,7776,0.00,1.95,0.00,0.000,6,0.000,0.051,1674,2125,3483
$GC,8104,-1.19,-194.6,704.1,-8.3,832,8105,0.00,0.00,0.00,0.000,6,0.000,0.000,1674,2125,3482
$GC,8414,-1.19,-194.6,728.2,-7.4,847,8417,0.00,1.98,0.00,0.000,4,0.000,0.064,1674,1048,3481
$GC,8467,-1.19,-194.6,732.5,-8.3,849,8474,0.00,2.00,0.00,0.000,6,0.000,0.051,1674,2118,3481
$GC,8783,-1.19,-194.6,757.2,-8.1,865,8784,0.00,0.00,0.00,0.000,6,0.000,0.000,1674,2118,3479
$GC,9093,-1.19,-194.6,781.9,-8.0,880,9096,0.00,1.98,0.00,0.000,4,0.000,0.064,1673,1052,3479
$GC,9135,-1.19,-194.6,785.5,-8.3,882,9140,0.00,1.98,0.00,0.000,6,0.000,0.051,1674,2113,3479
$GC,9464,-1.19,-194.6,810.0,-7.5,898,9465,0.00,0.00,0.00,0.000,6,0.000,0.000,1674,2114,3479
$GC,9772,-1.19,-194.6,833.4,-7.5,913,9775,0.00,1.98,0.00,0.000,4,0.000,0.063,1673,1046,3478
$GC,9798,-1.19,-194.6,835.5,-7.9,914,9802,0.00,2.00,0.00,0.000,6,0.000,0.051,1674,2118,3478
$GC,10119,-1.19,-194.6,859.5,-7.5,930,10120,0.00,0.00,0.00,0.000,6,0.000,0.000,1674,2118,3477
$GC,10429,-1.19,-194.6,882.7,-7.3,945,10430,0.00,0.00,0.00,0.000,6,0.000,0.000,1674,2118,3477
$GC,10738,-1.19,-194.6,906.0,-7.6,960,10741,0.00,1.98,0.00,0.000,4,0.000,0.063,1673,1051,3476
$GC,10764,-1.19,-194.6,908.2,-8.4,961,10768,0.00,1.98,0.00,0.000,6,0.000,0.051,1674,2121,3476
$GC,11085,-1.19,-194.6,932.6,-7.8,977,11087,0.00,0.00,0.00,0.000,6,0.000,0.000,1674,2121,3476
$GC,11394,-1.19,-194.6,956.8,-7.8,992,11398,0.00,2.00,0.00,0.000,4,0.000,0.062,1674,1045,3475
$GC,11426,-1.19,-194.6,959.5,-8.5,993,11433,0.00,2.00,0.00,0.000,6,0.000,0.051,1674,2117,3475
$GC,11742,-1.19,-194.6,983.5,-7.6,1009,11743,0.00,0.00,0.00,0.000,6,0.000,0.000,1674,2117,3474
$STATE,11843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11843,begin apogee
$GC,11847,-0.31,0.0,991.3,7.7,1014,12026,0.98,0.00,172.32,1.580,6,0.107,0.000,1864,2009,2689
$STATE,12027,end apogee,CONTROL_FINISHED_OK
$STATE,12027,begin climb
$GC,12028,0.98,194.6,997.0,0.0,1023,12207,1.40,0.00,172.32,1.499,6,0.076,0.000,2146,2008,1895
$GC,12515,1.00,211.7,955.0,10.3,1047,12537,0.00,2.22,16.25,1.393,4,0.000,0.067,2146,892,1827
$GC,12604,1.00,211.7,945.3,11.7,1051,12607,0.00,2.08,0.00,0.000,6,0.000,0.050,2146,2012,1827
$GC,12929,1.01,220.8,911.1,10.6,1067,12943,0.00,2.17,9.43,1.305,4,0.000,0.068,2146,897,1790
$GC,12976,1.01,220.8,905.6,11.3,1069,12981,0.00,2.10,0.00,0.000,6,0.000,0.051,2145,2003,1790
$GC,13304,1.01,221.0,870.2,11.0,1085,13308,0.00,2.10,0.00,0.000,4,0.000,0.070,2146,890,1789
$GC,13346,1.01,221.0,865.3,11.0,1087,13351,0.00,2.10,0.00,0.000,6,0.000,0.051,2146,2006,1789
$GC,13674,1.01,223.0,829.8,10.9,1103,13677,0.00,2.10,0.00,0.000,4,0.000,0.070,2146,896,1788
$GC,13722,1.01,223.0,824.1,11.7,1105,13727,0.00,2.05,0.00,0.000,6,0.000,0.051,2146,1996,1788
$GC,14044,1.01,225.3,789.0,10.9,1121,14054,0.00,2.10,5.68,1.123,4,0.000,0.069,2146,896,1771
$GC,14097,1.02,229.3,782.9,10.8,1123,14107,0.00,2.05,5.20,1.071,6,0.000,0.051,2146,1988,1754
$GC,14435,1.03,241.5,746.8,10.5,1140,14455,0.00,2.17,12.45,1.325,4,0.000,0.068,2146,894,1705
$GC,14499,1.03,241.5,739.6,12.0,1143,14503,0.00,2.03,0.00,0.000,6,0.000,0.051,2146,1987,1704
$GC,14831,1.11,246.9,703.9,10.8,1159,14843,0.15,2.15,6.45,1.141,4,0.059,0.069,2185,897,1683
$GC,14875,1.01,246.9,698.2,13.2,1161,14880,0.12,2.05,0.00,0.000,6,0.101,0.051,2159,1986,1682
$GC,15202,1.01,247.1,661.5,11.0,1177,15206,0.00,2.08,0.00,0.000,4,0.000,0.070,2158,891,1682
$GC,15244,1.01,247.1,656.5,11.5,1179,15249,0.00,2.08,0.00,0.000,6,0.000,0.052,2158,1990,1682
$GC,15572,1.01,249.2,620.6,10.9,1195,15576,0.00,2.08,0.00,0.000,4,0.000,0.071,2158,896,1682
$GC,15626,1.01,249.2,614.3,11.4,1197,15633,0.00,2.03,0.00,0.000,6,0.000,0.051,2158,1979,1682
$GC,15942,1.02,253.4,579.8,10.8,1213,15955,0.00,2.12,7.18,1.132,4,0.000,0.069,2158,896,1656
$GC,15988,1.02,253.4,574.4,11.1,1215,15993,0.00,2.05,0.00,0.000,6,0.000,0.052,2158,1976,1656
$GC,16315,1.02,253.4,538.5,11.1,1231,16319,0.00,2.05,0.00,0.000,4,0.000,0.070,2158,894,1656
$GC,16358,1.02,253.4,533.3,11.5,1233,16363,0.00,2.05,0.00,0.000,6,0.000,0.053,2158,1977,1656
$GC,16675,1.02,253.4,497.6,11.1,1249,16678,0.00,2.05,0.00,0.000,4,0.000,0.069,2158,889,1656
$GC,16718,1.02,253.4,492.5,11.2,1252,16725,0.00,2.03,0.00,0.000,6,0.000,0.051,2158,1972,1655
$GC,17044,1.05,283.3,457.6,9.8,1283,17075,0.00,2.15,26.80,1.246,4,0.000,0.067,2158,892,1535
$GC,17124,1.06,289.7,448.9,10.7,1290,17136,0.00,2.03,7.43,1.045,6,0.000,0.051,2158,1968,1508
$GC,17454,1.12,289.7,413.4,11.2,1321,17458,0.00,2.03,0.00,0.000,4,0.000,0.068,2158,896,1506
$GC,17537,1.12,289.7,403.6,12.5,1328,17541,0.00,1.95,0.00,0.000,6,0.000,0.051,2158,1968,1506
$GC,17867,1.18,289.7,364.6,11.8,1359,17871,0.15,2.00,0.00,0.000,4,0.058,0.066,2193,896,1505
$GC,17962,1.18,289.7,351.4,14.1,1367,17965,0.00,1.95,0.00,0.000,6,0.000,0.049,2193,1964,1505
$GC,18291,1.18,289.7,307.8,12.8,1398,18295,0.00,2.00,0.00,0.000,4,0.000,0.064,2193,890,1504
$GC,18374,1.18,289.7,296.3,13.1,1405,18378,0.00,1.92,0.00,0.000,6,0.000,0.048,2193,1957,1504
$GC,18704,1.18,289.7,250.7,13.8,1436,18708,0.00,1.98,0.00,0.000,4,0.000,0.061,2193,892,1504
$GC,18788,1.18,289.7,238.6,15.2,1443,18791,0.00,1.90,0.00,0.000,6,0.000,0.045,2193,1945,1504
$GC,19113,1.12,289.7,194.3,13.9,1476,19119,0.00,1.98,0.00,0.000,4,0.000,0.058,2193,893,1504
$GC,19158,1.12,289.7,188.4,12.4,1484,19164,0.00,1.92,0.00,0.000,6,0.000,0.043,2193,1943,1505
$GC,19501,1.12,289.7,144.1,13.5,1545,19506,0.00,1.92,0.00,0.000,4,0.000,0.057,2193,891,1506
$GC,19573,1.12,289.7,134.2,13.6,1558,19580,0.00,1.92,0.00,0.000,6,0.000,0.041,2193,1940,1506
$GC,19917,1.12,289.7,86.2,14.1,1619,19922,0.00,1.90,0.00,0.000,4,0.000,0.054,2193,893,1507
$GC,19984,1.12,289.7,77.1,13.0,1631,19989,0.00,1.85,0.00,0.000,6,0.000,0.039,2193,1937,1507
$GC,20325,1.12,289.7,35.3,16.0,1692,20332,0.00,1.92,0.00,0.000,4,0.000,0.053,2193,895,1508
$GC,20415,1.18,289.7,21.6,13.3,1708,20421,0.00,1.88,0.00,0.000,6,0.000,0.038,2193,1930,1508
$STATE,20594,end climb,SURFACE_DEPTH_REACHED
$STATE,20594,begin surface coast
$FINISH,0.2,1.026005
$STATE,20617,end surface coast,CONTROL_FINISHED_OK
$STATE,20617,begin surface
$SM_CCo,20693,0.00,0.000,0,0,1508,290.19
$SM_GC,1.14,9.60,0.00,0.00,0.042,0.000,0.000,55,2180,1508,-8.58,0.28,290.19
$IRIDIUM_FIX,6604.29,519.00,051097,050517
$TT8_MAMPS,0.021476
$HUMID,2114
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,3.50
$XPDR_PINGS,-1
$24V_AH,22.9,11.076
$10V_AH,10.0,5.927
$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,22.800,165.300,441.500,0.000,0.000,30.120,32.813,185.338,3.250,0.000,0.000,12.968,2870.525,14818.459,701.429,2229.733,427.489,0.000,2128.468,0.000,1710.132,0.000,24.691
$DEVICE_MAMPS,199.420,70.564,1580.020,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1643.072,1115.053,571.283,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85123,1744
$CAP_FILE_SIZE,187661,0
$CFSIZE,256368640,248360960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110708,171458,6630.458,459.897,25,2.5,44,-2.6