version: 66.03
glider: 17
mission: 6
dive: 16
start: 7 5 108 4 18 6
data:
$ID,17
$MISSION,6
$DIVE,16
$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,-86353.711
$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,21
$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
$GPS1,040625,6622.857,532.925,32,1.5,49,-2.2
$_CALLS,2
$_XMS_NAKs,21
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-45.0
$GPS2,041718,6622.972,532.583,17,3.3,36,-2.2
$SPEED_LIMITS,0.139,0.149
$TGT_NAME,HEADING
$TGT_LATLONG,6612.824,531.094
$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,202.2,20000,-24.1,-8.049
$D_GRID,816
$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,-1.56,-46.6,0.0,0.0,0,77,0.00,0.00,-48.22,0.000,6,0.000,0.000,62,2003,2742
$GC,79,-1.57,-58.0,3.4,-6.6,10,97,9.40,2.10,-1.17,0.000,4,0.193,0.062,1601,3140,2788
$GC,113,-0.87,-58.0,9.8,-18.1,16,120,0.77,2.03,0.00,0.000,6,0.118,0.034,1757,2002,2790
$GC,458,-1.67,-93.8,31.2,-3.6,77,469,0.73,2.05,-1.70,0.000,4,0.032,0.060,1581,886,2937
$GC,475,-2.28,-124.2,32.2,-4.3,80,482,0.52,2.00,-1.45,0.000,6,0.043,0.032,1450,2010,3060
$GC,820,-2.05,-124.2,83.1,-14.8,141,826,0.25,2.05,0.00,0.000,4,0.131,0.048,1497,3138,3064
$GC,1079,-1.95,-124.2,120.0,-14.3,187,1085,0.15,1.98,0.00,0.000,6,0.133,0.035,1522,2008,3065
$GC,1421,-1.95,-124.2,165.8,-12.9,248,1428,0.00,2.10,0.00,0.000,4,0.000,0.050,1522,3132,3066
$GC,1522,-1.95,-124.2,179.2,-12.9,266,1529,0.00,2.00,0.00,0.000,6,0.000,0.036,1522,2010,3065
$GC,1856,-1.95,-124.2,220.2,-12.5,312,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,2010,3066
$GC,2174,-1.95,-124.2,260.7,-12.6,342,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,2010,3066
$GC,2493,-1.95,-124.2,300.7,-12.5,372,2496,0.00,2.00,0.00,0.000,4,0.000,0.051,1522,887,3066
$GC,2519,-1.95,-124.2,304.3,-13.8,374,2526,0.00,2.03,0.00,0.000,6,0.000,0.036,1522,2011,3066
$GC,2844,-1.95,-124.2,346.7,-12.7,405,2848,0.00,2.00,0.00,0.000,4,0.000,0.050,1522,888,3066
$GC,2871,-1.95,-124.2,350.2,-13.0,407,2875,0.00,1.98,0.00,0.000,6,0.000,0.037,1522,2011,3066
$GC,3201,-1.95,-124.2,391.5,-13.1,438,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,2011,3065
$GC,3521,-2.01,-124.2,432.6,-12.8,468,3525,0.00,2.03,0.00,0.000,4,0.000,0.052,1522,885,3065
$GC,3620,-2.01,-124.2,445.9,-13.0,476,3627,0.00,2.00,0.00,0.000,6,0.000,0.038,1522,2002,3065
$GC,3946,-2.08,-124.2,485.1,-11.7,507,3947,0.12,0.00,0.00,0.000,6,0.069,0.000,1496,2003,3063
$GC,4269,-2.08,-124.2,527.1,-13.0,528,4273,0.00,2.10,0.00,0.000,4,0.000,0.062,1496,3130,3063
$GC,4356,-2.08,-124.2,539.0,-13.2,532,4362,0.00,2.03,0.00,0.000,6,0.000,0.044,1496,2014,3062
$GC,4685,-2.08,-124.2,581.7,-13.4,548,4688,0.00,2.05,0.00,0.000,4,0.000,0.063,1496,3130,3061
$GC,4772,-2.01,-124.2,594.7,-14.4,552,4777,0.00,2.03,0.00,0.000,6,0.000,0.046,1496,2011,3061
$GC,5099,-2.01,-124.2,637.5,-12.9,568,5102,0.00,2.08,0.00,0.000,4,0.000,0.066,1496,3133,3060
$GC,5148,-1.95,-124.2,644.3,-13.6,570,5153,0.12,2.05,0.00,0.000,6,0.136,0.049,1520,2005,3060
$GC,5474,-2.01,-124.2,684.2,-11.8,586,5476,0.00,0.00,0.00,0.000,6,0.000,0.000,1518,2005,3058
$GC,5785,-2.07,-124.2,721.6,-12.1,601,5789,0.00,2.10,0.00,0.000,4,0.000,0.069,1520,3138,3057
$GC,5816,-2.07,-124.2,725.8,-12.7,602,5824,0.00,2.08,0.00,0.000,6,0.000,0.051,1520,2011,3056
$GC,6132,-2.14,-124.2,762.7,-11.9,618,6137,0.17,2.08,0.00,0.000,4,0.071,0.067,1483,3128,3055
$GC,6209,-2.03,-124.2,773.0,-13.9,621,6217,0.10,2.05,0.00,0.000,6,0.142,0.051,1502,2011,3055
$GC,6524,-2.03,-124.2,810.0,-11.5,637,6528,0.00,2.08,0.00,0.000,4,0.000,0.067,1502,3131,3053
$STATE,6572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6572,begin apogee
$GC,6577,-0.31,0.0,816.1,12.4,639,6690,1.98,0.00,107.75,1.458,6,0.141,0.000,1877,2006,2550
$STATE,6690,end apogee,CONTROL_FINISHED_OK
$STATE,6691,begin climb
$GC,6692,1.64,124.2,817.8,0.0,645,6807,2.08,0.00,107.35,1.409,6,0.071,0.000,2302,2006,2043
$GC,7116,1.83,124.2,757.5,15.7,666,7120,0.20,2.10,0.00,0.000,4,0.054,0.067,2349,3136,2039
$GC,7215,1.83,124.2,739.3,19.1,670,7222,0.00,2.10,0.00,0.000,6,0.000,0.053,2348,2008,2039
$GC,7530,1.83,124.2,681.9,17.9,686,7531,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2008,2038
$GC,7839,1.83,124.2,627.6,17.6,701,7843,0.00,2.10,0.00,0.000,4,0.000,0.068,2349,3131,2038
$GC,7906,1.83,124.2,615.4,18.8,704,7910,0.00,2.08,0.00,0.000,6,0.000,0.055,2349,2001,2037
$GC,8237,1.83,124.2,556.8,17.5,720,8239,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2001,2037
$GC,8548,1.83,124.2,503.6,16.9,735,8552,0.00,2.10,0.00,0.000,4,0.000,0.067,2349,3132,2036
$GC,8619,1.83,124.2,491.1,17.7,740,8623,0.00,2.05,0.00,0.000,6,0.000,0.054,2349,2007,2036
$GC,8949,1.83,124.2,436.2,16.4,771,8950,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2007,2035
$GC,9267,1.83,124.2,383.0,16.4,801,9271,0.00,2.10,0.00,0.000,4,0.000,0.071,2349,879,2034
$GC,9377,1.83,124.2,363.8,17.0,810,9385,0.00,2.08,0.00,0.000,6,0.000,0.046,2349,2011,2034
$GC,9703,1.83,124.2,308.8,17.6,841,9704,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2012,2033
$GC,10022,1.83,124.2,254.5,16.5,871,10023,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2011,2033
$GC,10339,1.83,124.2,200.8,16.6,901,10340,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2012,2033
$GC,10676,1.83,124.2,144.8,17.1,960,10682,0.00,2.10,0.00,0.000,4,0.000,0.058,2349,886,2034
$GC,10733,1.83,124.2,134.9,17.4,970,10740,0.00,2.00,0.00,0.000,6,0.000,0.041,2349,2016,2034
$GC,11076,1.83,124.2,78.1,16.0,1031,11081,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2017,2034
$GC,11418,1.91,124.2,25.0,12.5,1092,11425,0.00,2.08,0.00,0.000,4,0.000,0.057,2349,3142,2035
$GC,11486,1.91,124.2,16.8,13.0,1104,11492,0.00,2.05,0.00,0.000,6,0.000,0.041,2349,2001,2035
$STATE,11630,end climb,SURFACE_DEPTH_REACHED
$STATE,11630,begin surface coast
$FINISH,0.4,1.025790
$STATE,11651,end surface coast,CONTROL_FINISHED_OK
$STATE,11651,begin surface
$SM_CCo,11667,96.65,0.848,0,0,1427,275.23
$SM_GC,1.17,0.00,0.00,96.65,0.000,0.000,0.848,61,1993,1427,-8.68,-0.48,275.23
$IRIDIUM_FIX,6553.70,521.85,280997,232306
$TT8_MAMPS,0.021476
$HUMID,2114
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,4.00
$XPDR_PINGS,-1
$24V_AH,23.1,6.468
$10V_AH,10.1,2.700
$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,26.950,78.025,215.100,96.650,0.000,62.427,135.331,278.813,2.000,0.000,0.000,37.782,1869.276,8044.327,484.939,1464.456,582.265,0.000,1370.565,0.000,1070.505,0.000,15.621
$DEVICE_MAMPS,193.284,70.564,1458.067,848.302,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1051.284,759.270,455.411,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56752,1133
$CAP_FILE_SIZE,112055,0
$CFSIZE,256368640,250875904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050708,073525,6623.538,529.845,25,1.7,42,-2.3