version: 66.03
glider: 17
mission: 6
dive: 221
start: 8 26 108 14 13 15
data:
$ID,17
$MISSION,6
$DIVE,221
$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,-91042.422
$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,42
$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
$GPS1,140537,6603.249,541.910,73,1.8,73,-2.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-48.3
$GPS2,141250,6603.305,542.085,15,1.9,32,-2.1
$SPEED_LIMITS,0.119,0.230
$TGT_NAME,DEPLOY
$TGT_LATLONG,6600.000,600.000
$TGT_RADIUS,5000.000
$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,176.5,14818,-11.9,-6.875
$D_GRID,623
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-1.12,-116.7,0.0,0.0,0,64,0.00,0.00,-38.38,0.000,2,0.000,0.000,59,2151,2868
$GC,66,-1.12,-116.7,3.3,-5.8,6,94,10.10,2.05,-8.65,0.000,4,0.192,0.061,1716,3228,3271
$GC,213,-1.12,-116.7,24.1,-10.7,31,220,0.00,1.95,0.00,0.000,6,0.000,0.032,1716,2116,3273
$GC,557,-1.12,-116.7,52.0,-7.4,92,564,0.00,2.00,0.00,0.000,4,0.000,0.044,1716,995,3275
$GC,633,-1.12,-116.7,57.4,-7.2,105,639,0.00,1.98,0.00,0.000,6,0.000,0.031,1716,2117,3276
$GC,976,-1.12,-116.7,79.9,-6.5,166,983,0.00,2.10,0.00,0.000,4,0.000,0.051,1716,3248,3277
$GC,1074,-1.12,-116.7,86.9,-7.4,183,1081,0.00,1.95,0.00,0.000,6,0.000,0.033,1716,2134,3277
$GC,1418,-1.12,-116.7,110.4,-6.4,244,1425,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2134,3278
$GC,1763,-1.12,-116.7,131.8,-6.2,305,1770,0.00,2.10,0.00,0.000,4,0.000,0.050,1716,3250,3278
$GC,1822,-1.12,-116.7,135.7,-6.8,315,1829,0.00,1.95,0.00,0.000,6,0.000,0.035,1716,2135,3278
$GC,2160,-1.12,-116.7,157.8,-6.7,365,2161,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2135,3278
$GC,2478,-1.12,-116.7,178.6,-6.4,395,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2135,3278
$GC,2797,-1.12,-116.7,197.7,-5.9,425,2801,0.00,2.08,0.00,0.000,4,0.000,0.052,1716,3248,3278
$GC,2837,-1.12,-116.7,200.2,-6.1,428,2844,0.00,1.92,0.00,0.000,6,0.000,0.036,1716,2144,3278
$GC,3156,-1.12,-116.7,218.9,-5.9,449,3157,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2144,3278
$GC,3469,-1.12,-116.7,238.5,-6.5,469,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2144,3277
$GC,3780,-1.12,-116.7,258.7,-6.5,489,3784,0.00,2.05,0.00,0.000,4,0.000,0.053,1716,3246,3277
$GC,3825,-1.12,-116.7,261.9,-6.9,492,3829,0.00,1.95,0.00,0.000,6,0.000,0.036,1716,2138,3277
$GC,4150,-1.12,-116.7,284.0,-6.8,513,4151,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2138,3277
$GC,4460,-1.12,-116.7,303.9,-6.2,532,4461,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2138,3277
$GC,4770,-1.12,-116.7,322.6,-6.1,547,4773,0.00,2.08,0.00,0.000,4,0.000,0.055,1716,3253,3276
$GC,4847,-1.12,-116.7,327.8,-6.7,550,4854,0.00,1.95,0.00,0.000,6,0.000,0.038,1716,2144,3276
$GC,5163,-1.12,-116.7,348.2,-6.7,566,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2144,3275
$GC,5472,-1.12,-116.7,368.9,-6.7,581,5476,0.00,2.05,0.00,0.000,4,0.000,0.056,1716,3246,3275
$GC,5512,-1.12,-116.7,371.6,-7.2,583,5515,0.00,1.95,0.00,0.000,6,0.000,0.039,1716,2147,3275
$GC,5838,-1.12,-116.7,393.3,-6.3,599,5842,0.00,2.05,0.00,0.000,4,0.000,0.055,1716,3249,3275
$GC,5870,-1.12,-116.7,395.5,-6.5,600,5878,0.00,1.92,0.00,0.000,6,0.000,0.039,1716,2155,3275
$GC,6187,-1.12,-116.7,415.4,-6.4,616,6188,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2155,3275
$GC,6496,-1.12,-116.7,434.4,-5.8,631,6497,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2155,3273
$GC,6805,-1.12,-116.7,451.7,-5.4,646,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2155,3273
$GC,7115,-1.12,-116.7,469.1,-5.8,661,7119,0.00,2.08,0.00,0.000,4,0.000,0.060,1716,3246,3272
$GC,7158,-1.12,-116.7,471.9,-6.1,663,7162,0.00,1.98,0.00,0.000,6,0.000,0.041,1716,2158,3272
$GC,7486,-1.12,-116.7,490.8,-5.7,679,7487,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2158,3271
$GC,7795,-1.12,-116.7,508.9,-6.2,694,7796,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2158,3270
$GC,8104,-1.12,-116.7,528.3,-6.2,709,8105,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2158,3269
$GC,8414,-1.12,-116.7,547.1,-6.0,724,8418,0.00,2.08,0.00,0.000,4,0.000,0.063,1716,3246,3269
$GC,8481,-1.12,-116.7,551.4,-6.6,727,8485,0.00,1.95,0.00,0.000,6,0.000,0.044,1716,2158,3268
$GC,8802,-1.12,-116.7,570.5,-6.0,743,8803,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2157,3267
$GC,9112,-1.12,-116.7,589.1,-6.0,758,9113,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2157,3267
$GC,9419,-1.12,-116.7,607.3,-6.0,771,9420,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2157,3266
$STATE,9692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9692,begin apogee
$GC,9697,-0.42,0.0,624.0,6.1,780,9801,0.77,0.00,100.60,1.219,6,0.099,0.000,1871,2007,2792
$STATE,9802,end apogee,CONTROL_FINISHED_OK
$STATE,9802,begin climb
$GC,9805,1.12,116.7,626.6,0.0,783,9912,1.58,2.15,99.30,1.190,4,0.072,0.070,2206,889,2315
$GC,9978,1.12,116.7,619.4,9.1,788,9982,0.00,2.08,0.00,0.000,6,0.000,0.047,2206,1999,2313
$GC,10293,1.12,116.7,591.5,8.9,800,10297,0.00,2.20,0.00,0.000,4,0.000,0.069,2206,3139,2312
$GC,10426,1.12,116.7,579.3,9.5,806,10431,0.00,2.08,0.00,0.000,6,0.000,0.051,2207,2027,2312
$GC,10754,1.12,116.7,551.0,8.7,822,10755,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2027,2310
$GC,11064,1.12,116.7,524.8,8.4,837,11067,0.00,2.10,0.00,0.000,4,0.000,0.065,2206,3135,2309
$GC,11232,1.12,116.7,509.9,9.4,844,11238,0.00,2.03,0.00,0.000,6,0.000,0.051,2206,2029,2309
$GC,11547,1.12,116.7,482.5,9.0,860,11551,0.00,2.08,0.00,0.000,4,0.000,0.063,2206,3135,2308
$GC,11613,1.12,116.7,476.3,9.5,863,11617,0.00,2.03,0.00,0.000,6,0.000,0.049,2207,2037,2308
$GC,11940,1.12,116.7,447.9,8.5,879,11944,0.00,2.05,0.00,0.000,4,0.000,0.063,2206,3135,2307
$GC,12024,1.12,116.7,440.5,8.4,883,12028,0.00,2.00,0.00,0.000,6,0.000,0.048,2206,2034,2307
$GC,12350,1.12,116.7,413.3,8.1,899,12352,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2034,2306
$GC,12660,1.12,116.7,388.1,8.4,914,12664,0.00,2.10,0.00,0.000,4,0.000,0.059,2206,3139,2306
$GC,12823,1.12,116.7,373.5,9.2,921,12826,0.00,1.95,0.00,0.000,6,0.000,0.045,2206,2045,2306
$GC,13138,1.12,116.7,346.2,8.7,936,13139,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2045,2305
$GC,13447,1.12,116.7,320.2,8.4,951,13451,0.00,2.08,0.00,0.000,4,0.000,0.058,2206,3145,2306
$GC,13547,1.12,116.7,311.6,8.8,955,13554,0.00,2.00,0.00,0.000,6,0.000,0.043,2206,2048,2305
$GC,13870,1.12,116.7,285.5,8.2,974,13873,0.00,2.05,0.00,0.000,4,0.000,0.056,2206,3138,2305
$GC,13983,1.12,116.7,276.0,8.1,981,13986,0.00,1.95,0.00,0.000,6,0.000,0.041,2206,2045,2306
$GC,14307,1.12,116.7,248.9,8.2,1002,14311,0.00,2.03,0.00,0.000,4,0.000,0.055,2206,3141,2306
$GC,14403,1.12,116.7,240.8,8.3,1008,14407,0.00,1.92,0.00,0.000,6,0.000,0.041,2206,2053,2306
$GC,14727,1.12,116.7,215.4,7.5,1029,14728,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2054,2307
$GC,15048,1.12,116.7,190.2,7.9,1053,15052,0.00,1.98,0.00,0.000,4,0.000,0.053,2206,3137,2307
$GC,15146,1.12,116.7,182.3,8.4,1061,15149,0.00,1.90,0.00,0.000,6,0.000,0.040,2206,2061,2308
$GC,15470,1.12,116.7,156.1,8.2,1091,15474,0.00,1.98,0.00,0.000,4,0.000,0.052,2206,3142,2309
$GC,15568,1.12,116.7,148.0,8.6,1101,15574,0.00,1.90,0.00,0.000,6,0.000,0.039,2206,2064,2309
$GC,15911,1.12,116.7,120.1,8.0,1162,15918,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2064,2309
$GC,16255,1.12,116.7,92.8,8.2,1223,16262,0.00,2.00,0.00,0.000,4,0.000,0.051,2206,3146,2310
$GC,16313,1.12,116.7,87.7,8.5,1233,16320,0.00,1.90,0.00,0.000,6,0.000,0.038,2206,2065,2311
$GC,16657,1.12,116.7,59.2,8.5,1294,16663,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2065,2312
$GC,17001,1.13,123.1,33.7,6.6,1355,17015,0.00,2.00,6.40,0.627,4,0.000,0.049,2206,3138,2289
$GC,17077,1.14,133.9,28.7,6.4,1368,17091,0.00,1.92,10.05,0.683,6,0.000,0.037,2206,2058,2246
$GC,17428,1.29,266.9,12.7,1.6,1430,17541,0.15,2.28,105.22,0.720,4,0.049,0.052,2249,879,1703
$STATE,17607,end climb,SURFACE_DEPTH_REACHED
$STATE,17607,begin surface coast
$FINISH,0.1,1.018044
$STATE,17631,end surface coast,CONTROL_FINISHED_OK
$STATE,17631,begin surface
$SM_CCo,17711,0.00,0.000,0,0,1699,268.11
$SM_GC,1.74,9.85,0.00,0.00,0.038,0.000,0.000,61,2146,1699,-8.70,0.45,268.11
$IRIDIUM_FIX,6537.93,539.47,201197,090917
$TT8_MAMPS,0.022243
$HUMID,2071
$INTERNAL_PRESSURE,8.2718
$TCM_TEMP,5.50
$XPDR_PINGS,-1
$24V_AH,23.2,32.272
$10V_AH,10.1,25.615
$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,22.450,101.450,321.575,0.000,0.000,30.871,33.363,223.463,0.000,0.000,0.000,32.401,3050.878,12073.981,484.826,1986.605,545.145,0.000,1683.309,0.000,1439.238,0.000,0.655
$DEVICE_MAMPS,191.750,69.797,1218.763,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1380.017,1170.973,673.159,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72499,1463
$CAP_FILE_SIZE,146357,0
$CFSIZE,256368640,233529344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.320, 36.6,1
$GPS,260808,190958,6603.763,547.022,39,3.0,58,-2.1