version: 66.03
glider: 17
mission: 6
dive: 481
start: 11 9 108 5 0 43
data:
$ID,17
$MISSION,6
$DIVE,481
$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,480
$T_MISSION,570
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,52301
$NAV_MODE,2
$FERRY_MAX,60
$KALMAN_USE,2
$HD_A,0.00251
$HD_B,0.0080399998
$HD_C,2.6800001e-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,250
$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,-98311.617
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,62
$PITCH_MAX,3362
$C_PITCH,1965
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,153
$ROLL_MAX,3868
$ROLL_DEG,32
$C_ROLL_DIVE,2130
$C_ROLL_CLIMB,2010
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,320
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,452
$VBD_MAX,3835
$C_VBD,2792
$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,0
$ALTIM_PING_DELTA,0
$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
$GPS1,045327,6718.458,706.645,28,2.1,47,-1.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-45.9
$GPS2,050015,6718.478,706.602,13,1.8,13,-1.4
$SPEED_LIMITS,0.119,0.230
$TGT_NAME,HOLD_N
$TGT_LATLONG,6730.000,800.000
$TGT_RADIUS,4000.000
$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,74.4,43447,-11.9,-6.875
$D_GRID,1396
$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,28,-1.12,-116.7,0.0,0.0,0,88,0.00,0.00,-58.42,0.000,6,0.000,0.000,57,2157,3270
$GC,92,-1.12,-116.7,1.4,-2.0,1,106,9.73,2.00,0.00,0.000,4,0.176,0.052,1714,3233,3272
$GC,358,-1.12,-116.7,38.7,-9.8,7,362,0.00,1.95,0.00,0.000,6,0.000,0.035,1714,2120,3275
$GC,678,-1.12,-116.7,62.8,-7.7,15,681,0.00,2.05,0.00,0.000,4,0.000,0.051,1713,3239,3275
$GC,719,-1.12,-116.7,66.0,-8.0,16,723,0.00,1.95,0.00,0.000,6,0.000,0.035,1714,2128,3275
$GC,1044,-1.12,-116.7,91.2,-7.8,24,1047,0.00,2.03,0.00,0.000,4,0.000,0.048,1714,998,3276
$GC,1084,-1.12,-116.7,94.4,-7.6,25,1088,0.00,1.98,0.00,0.000,6,0.000,0.034,1714,2117,3275
$GC,1410,-1.12,-116.7,116.2,-6.6,33,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2117,3275
$GC,1734,-1.12,-116.7,137.3,-6.6,41,1737,0.00,2.12,0.00,0.000,4,0.000,0.054,1714,3252,3276
$GC,1879,-1.12,-116.7,147.7,-7.1,44,1883,0.00,1.95,0.00,0.000,6,0.000,0.034,1714,2141,3276
$GC,2229,-1.12,-116.7,170.4,-6.6,53,2233,0.00,2.03,0.00,0.000,4,0.000,0.048,1714,1009,3276
$GC,2301,-1.12,-116.7,175.6,-7.0,54,2305,0.00,2.00,0.00,0.000,6,0.000,0.034,1714,2147,3277
$GC,2633,-1.12,-116.7,198.4,-7.0,62,2636,0.00,2.03,0.00,0.000,4,0.000,0.054,1714,3249,3277
$GC,2678,-1.12,-116.7,201.7,-7.6,63,2682,0.00,1.95,0.00,0.000,6,0.000,0.036,1714,2131,3277
$GC,2997,-1.12,-116.7,224.3,-7.1,71,3001,0.00,2.03,0.00,0.000,4,0.000,0.048,1714,997,3277
$GC,3037,-1.12,-116.7,227.2,-7.7,72,3041,0.00,2.03,0.00,0.000,6,0.000,0.034,1714,2139,3277
$GC,3362,-1.12,-116.7,250.5,-7.1,80,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2139,3277
$GC,3688,-1.12,-116.7,273.2,-6.9,88,3692,0.00,2.05,0.00,0.000,4,0.000,0.055,1714,3252,3277
$GC,3730,-1.12,-116.7,276.1,-7.5,89,3734,0.00,1.98,0.00,0.000,6,0.000,0.036,1713,2125,3277
$GC,4055,-1.12,-116.7,298.3,-6.8,97,4056,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2125,3277
$GC,4382,-1.12,-116.7,320.3,-6.7,105,4385,0.00,2.08,0.00,0.000,4,0.000,0.053,1714,3249,3277
$GC,4443,-1.12,-116.7,324.6,-7.0,106,4446,0.00,1.98,0.00,0.000,6,0.000,0.037,1714,2128,3277
$GC,4786,-1.12,-116.7,344.8,-5.7,115,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2127,3277
$GC,5113,-1.12,-116.7,362.8,-5.6,123,5116,0.00,2.10,0.00,0.000,4,0.000,0.054,1714,3255,3277
$GC,5155,-1.12,-116.7,365.5,-6.4,124,5159,0.00,1.98,0.00,0.000,6,0.000,0.038,1714,2137,3277
$GC,5480,-1.12,-116.7,386.5,-6.6,132,5481,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2137,3276
$GC,5805,-1.12,-116.7,408.3,-6.6,140,5809,0.00,2.05,0.00,0.000,4,0.000,0.051,1714,994,3276
$GC,5862,-1.12,-116.7,412.2,-6.9,141,5865,0.00,2.05,0.00,0.000,6,0.000,0.036,1714,2149,3276
$GC,6210,-1.12,-116.7,434.3,-6.3,150,6214,0.00,2.03,0.00,0.000,4,0.000,0.058,1713,3251,3276
$GC,6277,-1.12,-116.7,438.8,-6.9,151,6281,0.00,1.95,0.00,0.000,6,0.000,0.038,1714,2139,3275
$GC,6616,-1.12,-116.7,459.8,-6.3,160,6620,0.00,2.05,0.00,0.000,4,0.000,0.057,1713,3250,3275
$GC,6649,-1.12,-116.7,462.1,-6.7,160,6655,0.00,1.95,0.00,0.000,6,0.000,0.039,1713,2155,3275
$GC,6981,-1.12,-116.7,482.9,-6.3,169,6985,0.00,2.05,0.00,0.000,4,0.000,0.054,1714,1008,3275
$GC,7060,-1.12,-116.7,487.9,-6.4,170,7067,0.00,2.03,0.00,0.000,6,0.000,0.038,1714,2152,3275
$GC,7392,-1.12,-116.7,507.3,-5.9,179,7393,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2153,3274
$GC,7717,-1.12,-116.7,528.1,-6.3,187,7721,0.00,2.05,0.00,0.000,4,0.000,0.061,1714,3252,3274
$GC,7763,-1.12,-116.7,531.3,-6.6,188,7766,0.00,1.92,0.00,0.000,6,0.000,0.041,1714,2160,3275
$GC,8082,-1.12,-116.7,552.2,-6.7,196,8083,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2161,3274
$GC,8407,-1.12,-116.7,572.8,-6.1,204,8411,0.00,2.12,0.00,0.000,4,0.000,0.058,1714,998,3274
$GC,8494,-1.12,-116.7,578.1,-6.4,206,8498,0.00,2.08,0.00,0.000,6,0.000,0.041,1714,2149,3274
$GC,8819,-1.12,-116.7,596.4,-5.4,214,8820,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2149,3273
$GC,9144,-1.12,-116.7,613.2,-5.2,222,9147,0.00,2.10,0.00,0.000,4,0.000,0.059,1714,1008,3272
$GC,9194,-1.12,-116.7,616.0,-5.6,223,9198,0.00,2.05,0.00,0.000,6,0.000,0.044,1714,2144,3272
$GC,9509,-1.12,-116.7,633.4,-5.7,231,9510,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2145,3271
$GC,9832,-1.12,-116.7,652.7,-6.0,239,9836,0.00,2.10,0.00,0.000,4,0.000,0.060,1714,1000,3270
$GC,9882,-1.12,-116.7,655.9,-6.7,240,9886,0.00,2.10,0.00,0.000,6,0.000,0.044,1714,2154,3270
$GC,10197,-1.12,-116.7,674.4,-5.9,248,10201,0.00,2.10,0.00,0.000,4,0.000,0.061,1713,1008,3270
$GC,10264,-1.12,-116.7,678.8,-6.6,249,10268,0.00,2.05,0.00,0.000,6,0.000,0.044,1713,2144,3270
$GC,10602,-1.12,-116.7,698.1,-5.7,258,10606,0.00,2.08,0.00,0.000,4,0.000,0.061,1714,1008,3269
$GC,10631,-1.12,-116.7,699.9,-6.1,258,10635,0.00,2.00,0.00,0.000,6,0.000,0.046,1714,2129,3269
$GC,10963,-1.12,-116.7,720.1,-6.4,266,10964,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2130,3268
$GC,11288,-1.12,-116.7,741.5,-6.7,274,11291,0.00,2.12,0.00,0.000,4,0.000,0.071,1714,3252,3267
$GC,11316,-1.12,-116.7,743.6,-8.6,274,11320,0.00,2.03,0.00,0.000,6,0.000,0.049,1713,2121,3267
$GC,11649,-1.12,-116.7,766.1,-6.7,282,11652,0.00,2.05,0.00,0.000,4,0.000,0.064,1714,995,3265
$GC,11698,-1.12,-116.7,769.8,-7.3,283,11702,0.00,2.03,0.00,0.000,6,0.000,0.045,1713,2125,3265
$GC,12014,-1.12,-116.7,789.9,-6.2,291,12015,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2125,3265
$GC,12337,-1.12,-116.7,810.3,-6.2,299,12338,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2125,3264
$GC,12662,-1.12,-116.7,830.4,-6.2,307,12666,0.00,2.12,0.00,0.000,4,0.000,0.071,1714,3259,3263
$GC,12696,-1.12,-116.7,832.7,-6.3,307,12702,0.00,2.03,0.00,0.000,6,0.000,0.049,1714,2124,3263
$GC,13029,-1.12,-116.7,852.3,-5.8,316,13030,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2124,3262
$GC,13353,-1.12,-116.7,870.1,-5.5,324,13354,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2123,3262
$GC,13677,-1.12,-116.7,888.8,-5.8,332,13681,0.00,2.05,0.00,0.000,4,0.000,0.064,1714,1002,3261
$GC,13710,-1.12,-116.7,890.9,-6.2,332,13717,0.00,2.03,0.00,0.000,6,0.000,0.047,1714,2130,3261
$GC,14044,-1.12,-116.7,909.6,-5.6,341,14045,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2130,3261
$GC,14367,-1.12,-116.7,927.5,-5.5,349,14371,0.00,2.05,0.00,0.000,4,0.000,0.064,1714,1005,3260
$GC,14401,-1.12,-116.7,929.4,-5.4,349,14407,0.00,2.00,0.00,0.000,6,0.000,0.048,1714,2126,3260
$GC,14734,-1.12,-116.7,948.0,-5.6,358,14735,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2126,3260
$GC,15057,-1.12,-116.7,966.6,-5.8,366,15061,0.00,2.08,0.00,0.000,4,0.000,0.064,1714,998,3259
$GC,15091,-1.12,-116.7,968.6,-5.6,366,15097,0.00,2.03,0.00,0.000,6,0.000,0.047,1713,2125,3259
$GC,15422,-1.12,-116.7,987.5,-5.7,375,15423,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2125,3259
$STATE,15500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15500,begin apogee
$GC,15509,-0.42,0.0,992.2,5.7,377,15624,0.77,0.00,106.30,1.426,6,0.093,0.000,1869,2004,2792
$STATE,15625,end apogee,CONTROL_FINISHED_OK
$STATE,15625,begin climb
$GC,15628,1.12,116.7,995.6,0.0,380,15743,1.58,2.15,106.82,1.420,4,0.066,0.067,2207,894,2316
$GC,15843,1.12,116.7,983.6,10.6,385,15847,0.00,2.05,0.00,0.000,6,0.000,0.048,2207,2019,2314
$GC,16162,1.12,116.7,953.6,9.4,393,16166,0.00,2.10,0.00,0.000,4,0.000,0.069,2207,3141,2313
$GC,16217,1.12,116.7,948.1,10.0,394,16221,0.00,2.05,0.00,0.000,6,0.000,0.053,2208,2016,2313
$GC,16567,1.12,116.7,914.6,9.7,403,16571,0.00,2.10,0.00,0.000,4,0.000,0.067,2208,3143,2312
$GC,16594,1.12,116.7,911.6,9.7,403,16598,0.00,2.05,0.00,0.000,6,0.000,0.052,2207,2014,2312
$GC,16926,1.12,116.7,880.0,9.4,411,16930,0.00,2.10,0.00,0.000,4,0.000,0.067,2207,3136,2312
$GC,16971,1.12,116.7,875.7,9.2,412,16975,0.00,2.03,0.00,0.000,6,0.000,0.052,2209,2022,2312
$GC,17290,1.12,116.7,847.1,8.8,420,17291,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2022,2311
$GC,17615,1.12,116.7,818.5,9.0,428,17619,0.00,2.15,0.00,0.000,4,0.000,0.066,2208,3140,2312
$GC,17702,1.12,116.7,810.7,9.4,430,17705,0.00,2.03,0.00,0.000,6,0.000,0.051,2208,2028,2311
$GC,18026,1.12,116.7,781.1,9.0,438,18030,0.00,2.10,0.00,0.000,4,0.000,0.068,2208,3137,2311
$GC,18054,1.12,116.7,778.5,9.1,438,18057,0.00,2.00,0.00,0.000,6,0.000,0.054,2207,2036,2311
$GC,18385,1.12,116.7,749.7,8.7,446,18387,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2036,2311
$GC,18711,1.12,116.7,721.6,8.6,454,18715,0.00,2.05,0.00,0.000,4,0.000,0.068,2208,3138,2311
$GC,18823,1.12,116.7,711.2,9.4,456,18827,0.00,1.98,0.00,0.000,6,0.000,0.052,2208,2047,2311
$GC,19160,1.12,116.7,681.2,9.0,465,19161,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2047,2311
$GC,19487,1.12,116.7,652.4,8.8,473,19491,0.00,2.17,0.00,0.000,4,0.000,0.071,2207,877,2311
$GC,19536,1.12,116.7,647.5,9.6,474,19540,0.00,2.12,0.00,0.000,6,0.000,0.049,2208,2054,2311
$GC,19850,1.12,116.7,620.5,8.6,482,19854,0.00,2.00,0.00,0.000,4,0.000,0.069,2207,3134,2310
$GC,19877,1.12,116.7,618.0,8.5,482,19881,0.00,1.95,0.00,0.000,6,0.000,0.051,2207,2047,2310
$GC,20211,1.12,116.7,591.2,8.0,490,20215,0.00,2.00,0.00,0.000,4,0.000,0.065,2208,3136,2310
$GC,20244,1.12,116.7,588.1,8.4,490,20251,0.00,1.98,0.00,0.000,6,0.000,0.050,2208,2048,2310
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$STATE,27505,end climb,SURFACE_DEPTH_REACHED
$STATE,27505,begin surface coast
$FINISH,-0.0,1.007548
$STATE,27547,end surface coast,CONTROL_FINISHED_OK
$STATE,27548,begin surface
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$TT8_MAMPS,0.021476
$HUMID,2109
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$TCM_TEMP,2.00
$XPDR_PINGS,-1
$24V_AH,22.4,62.167
$10V_AH,10.0,50.487
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$DEVICE_SECS,21.725,207.300,224.075,68.700,0.000,29.418,39.812,198.892,0.000,0.000,0.000,13.543,1848.423,23636.527,551.278,1253.322,763.903,0.000,1580.888,0.000,1122.429,0.000,0.653
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$SENSOR_SECS,635.816,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31694,668
$CAP_FILE_SIZE,170279,0
$CFSIZE,256368640,215269376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.079,288.6,1
$GPS,091108,124238,6719.841,711.448,33,1.6,33,-1.4