version: 66.03
glider: 17
mission: 6
dive: 22
start: 7 6 108 5 23 5
data:
$ID,17
$MISSION,6
$DIVE,22
$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,-86468.562
$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,20
$R_STBD_OVSHOOT,22
$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
$GPS1,051508,6628.689,532.455,38,1.7,38,-2.3
$_CALLS,1
$_XMS_NAKs,23
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-46.6
$GPS2,052215,6628.752,532.262,12,1.6,12,-2.3
$SPEED_LIMITS,0.139,0.149
$TGT_NAME,HEADING
$TGT_LATLONG,6618.604,530.778
$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,202.3,20000,-24.1,-8.049
$D_GRID,893
$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,-49.40,0.000,6,0.000,0.000,58,2004,2742
$GC,79,-1.57,-59.9,3.3,-6.4,10,97,9.55,2.05,-1.42,0.000,4,0.199,0.061,1602,873,2797
$GC,349,-1.71,-59.9,37.7,-9.0,58,356,0.08,2.05,0.00,0.000,6,0.056,0.031,1580,2022,2799
$GC,694,-1.84,-70.3,61.3,-6.8,119,700,0.15,2.05,-0.32,0.000,4,0.057,0.061,1542,872,2841
$GC,953,-1.84,-70.3,82.1,-8.6,165,958,0.00,1.98,0.00,0.000,6,0.000,0.033,1542,2015,2843
$GC,1294,-1.84,-73.9,108.4,-7.6,226,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,1542,2015,2844
$GC,1637,-1.84,-73.9,135.1,-8.4,287,1642,0.00,2.05,0.00,0.000,4,0.000,0.052,1542,3132,2844
$GC,1704,-1.84,-73.9,140.8,-8.5,299,1709,0.00,1.98,0.00,0.000,6,0.000,0.037,1542,2008,2844
$GC,2046,-1.84,-73.9,170.5,-8.5,360,2051,0.00,0.00,0.00,0.000,6,0.000,0.000,1542,2007,2844
$GC,2386,-1.84,-73.9,201.1,-8.9,420,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,1542,2007,2844
$GC,2705,-1.84,-73.9,228.0,-8.2,450,2706,0.00,0.00,0.00,0.000,6,0.000,0.000,1542,2007,2844
$GC,3024,-1.84,-78.0,253.3,-7.5,480,3025,0.00,0.00,0.00,0.000,6,0.000,0.000,1542,2008,2844
$GC,3343,-1.85,-82.2,277.1,-7.5,510,3346,0.00,2.03,0.00,0.000,4,0.000,0.050,1542,878,2844
$GC,3385,-1.85,-86.1,280.5,-7.6,513,3392,0.00,2.03,0.00,0.000,6,0.000,0.035,1542,2009,2844
$GC,3711,-1.87,-100.8,302.4,-6.2,544,3712,0.00,0.00,0.00,0.000,6,0.000,0.000,1542,2009,2844
$GC,4029,-1.88,-110.6,323.6,-6.8,574,4030,0.00,0.00,0.00,0.000,6,0.000,0.000,1542,2009,2844
$GC,4348,-1.88,-112.4,347.4,-7.8,604,4349,0.00,0.00,0.00,0.000,6,0.000,0.000,1542,2009,2844
$GC,4666,-1.88,-112.4,373.5,-8.1,634,4669,0.00,2.03,0.00,0.000,4,0.000,0.051,1542,878,2843
$GC,4710,-1.88,-112.4,377.3,-8.6,638,4714,0.00,2.00,0.00,0.000,6,0.000,0.038,1542,2013,2843
$GC,5040,-1.88,-112.4,404.9,-8.4,669,5044,0.00,2.03,0.00,0.000,4,0.000,0.051,1542,885,2843
$GC,5116,-1.88,-112.4,411.9,-9.4,675,5123,0.00,2.05,0.00,0.000,6,0.000,0.039,1542,2014,2843
$GC,5442,-1.88,-112.4,439.0,-8.4,706,5445,0.00,2.05,0.00,0.000,4,0.000,0.052,1542,884,2842
$GC,5574,-1.88,-112.4,450.4,-8.6,717,5581,0.00,2.05,0.00,0.000,6,0.000,0.039,1542,2011,2842
$GC,5900,-1.89,-116.3,475.0,-7.6,748,5904,0.00,2.05,0.00,0.000,4,0.000,0.060,1542,3135,2841
$GC,5949,-1.89,-116.3,479.1,-8.5,752,5953,0.00,1.98,0.00,0.000,6,0.000,0.041,1542,2009,2841
$GC,6279,-1.96,-127.8,502.1,-6.6,782,6282,0.00,2.03,0.00,0.000,4,0.000,0.055,1542,878,2841
$GC,6310,-1.97,-132.6,504.5,-7.5,783,6317,0.00,2.03,0.00,0.000,6,0.000,0.039,1542,2008,2841
$GC,6626,-2.03,-136.2,525.5,-6.7,799,6630,0.17,2.05,0.00,0.000,4,0.064,0.055,1503,882,2840
$GC,6691,-1.91,-136.2,530.5,-7.6,802,6696,0.12,2.03,0.00,0.000,6,0.133,0.041,1527,2008,2840
$GC,7018,-1.91,-136.2,551.9,-6.0,818,7019,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,2008,2840
$GC,7327,-1.91,-136.2,570.9,-6.3,833,7330,0.00,2.08,0.00,0.000,4,0.000,0.064,1527,3138,2839
$GC,7411,-1.91,-136.2,576.3,-6.6,837,7414,0.00,2.00,0.00,0.000,6,0.000,0.045,1527,2007,2839
$GC,7736,-1.91,-136.2,596.2,-6.5,853,7737,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,2006,2838
$GC,8045,-1.91,-136.2,619.5,-7.6,868,8049,0.00,2.10,0.00,0.000,4,0.000,0.064,1527,3138,2837
$GC,8111,-1.91,-136.2,624.7,-7.8,871,8115,0.00,2.05,0.00,0.000,6,0.000,0.048,1527,2009,2837
$GC,8438,-1.91,-136.2,649.9,-7.8,887,8439,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,2009,2836
$GC,8747,-1.91,-136.2,675.6,-8.4,902,8748,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,2009,2835
$GC,9056,-1.91,-136.2,702.9,-9.3,917,9060,0.00,2.12,0.00,0.000,4,0.000,0.067,1527,3130,2835
$GC,9234,-1.91,-136.2,720.3,-10.6,925,9238,0.00,2.05,0.00,0.000,6,0.000,0.050,1527,2006,2834
$GC,9561,-1.91,-136.2,750.0,-8.8,941,9564,0.00,2.08,0.00,0.000,4,0.000,0.067,1527,3133,2833
$GC,9632,-1.91,-136.2,756.5,-9.1,944,9636,0.00,2.08,0.00,0.000,6,0.000,0.050,1527,2003,2833
$GC,9953,-1.91,-136.2,783.8,-8.5,960,9957,0.00,2.08,0.00,0.000,4,0.000,0.067,1527,3131,2832
$GC,10018,-1.91,-136.2,789.5,-8.5,963,10024,0.00,2.08,0.00,0.000,6,0.000,0.051,1527,2003,2831
$GC,10345,-1.91,-136.2,816.0,-8.1,979,10349,0.00,2.08,0.00,0.000,4,0.000,0.067,1527,3130,2830
$GC,10417,-1.91,-136.2,822.0,-7.9,982,10421,0.00,2.05,0.00,0.000,6,0.000,0.051,1527,2006,2830
$GC,10745,-1.91,-136.2,847.0,-7.5,998,10749,0.00,2.08,0.00,0.000,4,0.000,0.067,1527,3131,2829
$GC,10799,-1.91,-136.2,851.4,-7.7,1000,10806,0.00,2.05,0.00,0.000,6,0.000,0.051,1527,2011,2829
$GC,11115,-1.91,-136.2,874.3,-7.1,1016,11119,0.00,2.08,0.00,0.000,4,0.000,0.068,1527,3133,2829
$GC,11158,-1.91,-136.2,877.5,-7.2,1018,11162,0.00,2.05,0.00,0.000,6,0.000,0.051,1527,2013,2829
$STATE,11380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11380,begin apogee
$GC,11384,-0.31,0.0,893.4,7.1,1029,11450,1.88,0.00,61.97,1.533,6,0.136,0.000,1877,2012,2550
$STATE,11451,end apogee,CONTROL_FINISHED_OK
$STATE,11451,begin climb
$GC,11452,1.65,136.2,894.0,0.0,1032,11577,2.08,0.00,120.07,1.484,6,0.074,0.000,2311,2012,1994
$GC,11882,1.78,136.2,828.8,17.2,1053,11886,0.12,2.10,0.00,0.000,4,0.066,0.067,2338,3132,1989
$GC,11968,1.78,136.2,812.2,18.6,1057,11973,0.00,2.10,0.00,0.000,6,0.000,0.054,2338,2007,1988
$GC,12295,1.78,136.2,754.5,17.4,1073,12299,0.00,2.10,0.00,0.000,4,0.000,0.068,2338,3130,1988
$GC,12379,1.78,136.2,739.2,18.6,1077,12382,0.00,2.08,0.00,0.000,6,0.000,0.054,2338,2001,1988
$GC,12710,1.78,136.2,682.3,16.8,1093,12714,0.00,2.12,0.00,0.000,4,0.000,0.067,2338,3134,1988
$GC,12781,1.78,136.2,669.6,17.6,1096,12786,0.00,2.12,0.00,0.000,6,0.000,0.054,2338,2003,1987
$GC,13108,1.78,136.2,612.2,17.9,1112,13112,0.00,2.10,0.00,0.000,4,0.000,0.067,2338,3134,1987
$GC,13162,1.78,136.2,601.9,19.1,1114,13169,0.00,2.12,0.00,0.000,6,0.000,0.054,2338,2002,1987
$GC,13478,1.78,136.2,544.8,17.7,1130,13479,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2002,1987
$GC,13789,1.78,136.2,487.9,19.0,1148,13793,0.00,2.12,0.00,0.000,4,0.000,0.064,2338,3140,1986
$GC,13854,1.78,136.2,475.5,17.6,1153,13862,0.00,2.12,0.00,0.000,6,0.000,0.052,2338,2001,1985
$GC,14180,1.78,136.2,418.6,17.3,1184,14184,0.00,2.08,0.00,0.000,4,0.000,0.071,2338,883,1985
$GC,14297,1.78,136.2,397.3,18.1,1194,14300,0.00,2.03,0.00,0.000,6,0.000,0.045,2338,2015,1985
$GC,14626,1.78,136.2,337.3,18.4,1225,14630,0.00,2.10,0.00,0.000,4,0.000,0.064,2339,882,1984
$GC,14698,1.78,136.2,323.5,19.4,1231,14702,0.00,2.03,0.00,0.000,6,0.000,0.044,2339,2018,1984
$GC,15028,1.78,136.2,261.8,19.0,1262,15029,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2018,1984
$GC,15346,1.78,136.2,201.5,18.5,1292,15347,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2018,1985
$GC,15683,1.78,136.2,140.5,17.0,1351,15689,0.00,2.10,0.00,0.000,4,0.000,0.058,2338,878,1986
$GC,15745,1.78,136.2,129.7,18.0,1362,15751,0.00,2.03,0.00,0.000,6,0.000,0.041,2338,2019,1986
$GC,16088,1.78,136.2,67.8,18.7,1423,16093,0.00,2.05,0.00,0.000,4,0.000,0.059,2338,3138,1986
$GC,16137,1.78,136.2,58.6,18.3,1432,16144,0.00,2.05,0.00,0.000,6,0.000,0.042,2338,2004,1986
$GC,16481,1.94,136.2,8.1,12.6,1493,16487,0.15,2.00,0.00,0.000,4,0.053,0.053,2380,885,1988
$STATE,16530,end climb,SURFACE_DEPTH_REACHED
$STATE,16530,begin surface coast
$FINISH,0.3,1.004505
$STATE,16549,end surface coast,CONTROL_FINISHED_OK
$STATE,16549,begin surface
$SM_CCo,16568,86.12,0.810,2,0,1428,275.23
$SM_GC,1.25,0.00,0.00,86.12,0.000,0.000,0.810,60,2025,1428,-8.69,0.42,275.23
$IRIDIUM_FIX,6558.99,528.72,300997,000038
$TT8_MAMPS,0.021476
$HUMID,2070
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,3.50
$XPDR_PINGS,-1
$24V_AH,23.1,7.133
$10V_AH,10.1,3.269
$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,24.800,115.225,182.050,86.125,0.000,27.484,31.831,270.821,2.500,0.000,0.000,12.134,2494.718,11735.266,485.837,1939.108,465.589,0.000,1690.864,0.000,1473.991,0.000,19.247
$DEVICE_MAMPS,199.420,70.564,1533.233,809.952,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1405.612,986.255,542.830,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75641,1505
$CAP_FILE_SIZE,149785,0
$CFSIZE,256368640,250404864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,060708,100202,6629.377,529.698,40,2.0,40,-2.3