version: 66.03
glider: 17
mission: 6
dive: 223
start: 8 27 108 0 2 34
data:
$ID,17
$MISSION,6
$DIVE,223
$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,-91110.094
$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,21
$R_STBD_OVSHOOT,22
$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
$GPS1,235538,6604.008,551.110,38,1.5,38,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-48.2
$GPS2,000207,6604.092,551.287,17,1.6,33,-2.0
$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,201.1,10025,-11.9,-6.875
$D_GRID,558
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.12,-116.7,0.0,0.0,0,70,0.00,0.00,-46.70,0.000,2,0.000,0.000,58,2138,2928
$GC,73,-1.12,-116.7,3.6,-6.8,7,95,9.98,2.12,-7.05,0.000,4,0.187,0.061,1716,3255,3270
$GC,118,-1.12,-116.7,14.5,-21.8,14,125,0.00,2.00,0.00,0.000,6,0.000,0.035,1716,2116,3273
$GC,465,-1.12,-116.7,43.7,-6.2,75,470,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2116,3274
$GC,807,-1.12,-116.7,64.0,-6.7,136,814,0.00,2.00,0.00,0.000,4,0.000,0.044,1716,1002,3276
$GC,854,-1.12,-116.7,67.4,-7.4,144,861,0.00,2.00,0.00,0.000,6,0.000,0.031,1716,2134,3276
$GC,1199,-1.12,-116.7,91.6,-7.2,205,1204,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2134,3277
$GC,1541,-1.12,-116.7,115.4,-6.7,266,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2134,3277
$GC,1886,-1.12,-116.7,138.3,-6.8,327,1892,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2134,3277
$GC,2226,-1.12,-116.7,161.7,-6.9,373,2229,0.00,2.10,0.00,0.000,4,0.000,0.052,1716,3254,3277
$GC,2269,-1.12,-116.7,164.9,-7.4,376,2277,0.00,2.00,0.00,0.000,6,0.000,0.035,1716,2134,3277
$GC,2598,-1.12,-116.7,186.7,-6.8,407,2602,0.00,2.03,0.00,0.000,4,0.000,0.047,1716,996,3277
$GC,2637,-1.12,-116.7,189.7,-7.1,410,2641,0.00,2.03,0.00,0.000,6,0.000,0.034,1716,2136,3277
$GC,2959,-1.12,-116.7,210.6,-6.3,435,2960,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2136,3277
$GC,3271,-1.12,-116.7,230.5,-6.6,455,3274,0.00,2.08,0.00,0.000,4,0.000,0.054,1716,3254,3277
$GC,3308,-1.12,-116.7,233.3,-6.8,457,3316,0.00,1.95,0.00,0.000,6,0.000,0.035,1716,2133,3277
$GC,3628,-1.12,-116.7,254.9,-6.9,478,3629,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2134,3277
$GC,3940,-1.12,-116.7,276.3,-6.9,498,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2134,3277
$GC,4252,-1.12,-116.7,297.5,-6.7,518,4253,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2134,3277
$GC,4568,-1.12,-116.7,318.4,-6.7,534,4569,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2134,3276
$GC,4876,-1.12,-116.7,339.1,-6.5,549,4877,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2134,3276
$GC,5186,-1.12,-116.7,359.6,-6.7,564,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2134,3275
$GC,5496,-1.12,-116.7,380.2,-6.5,579,5499,0.00,2.08,0.00,0.000,4,0.000,0.054,1716,3249,3275
$GC,5544,-1.12,-116.7,383.7,-6.9,581,5549,0.00,1.98,0.00,0.000,6,0.000,0.037,1716,2143,3275
$GC,5866,-1.12,-116.7,404.5,-6.5,597,5867,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2144,3275
$GC,6176,-1.12,-116.7,424.0,-6.2,612,6177,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2143,3275
$GC,6486,-1.12,-116.7,443.2,-6.3,627,6490,0.00,2.05,0.00,0.000,4,0.000,0.055,1716,3249,3274
$GC,6527,-1.12,-116.7,445.9,-7.1,629,6530,0.00,1.98,0.00,0.000,6,0.000,0.039,1716,2136,3274
$GC,6854,-1.12,-116.7,466.1,-6.3,645,6855,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2136,3273
$GC,7162,-1.12,-116.7,485.8,-6.2,660,7166,0.00,2.10,0.00,0.000,4,0.000,0.058,1716,3248,3273
$GC,7223,-1.12,-116.7,489.8,-6.8,663,7227,0.00,1.98,0.00,0.000,6,0.000,0.041,1716,2133,3273
$GC,7551,-1.12,-116.7,510.1,-6.4,679,7552,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2133,3272
$GC,7859,-1.12,-116.7,530.2,-6.6,694,7860,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2133,3271
$GC,8169,-1.12,-116.7,549.8,-6.2,709,8173,0.00,2.12,0.00,0.000,4,0.000,0.061,1716,3252,3270
$GC,8201,-1.12,-116.7,552.1,-6.8,710,8209,0.00,2.03,0.00,0.000,6,0.000,0.044,1716,2140,3270
$STATE,8309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8309,begin apogee
$GC,8315,-0.42,0.0,558.8,6.2,716,8418,0.77,0.00,99.97,1.122,6,0.093,0.000,1872,2001,2792
$STATE,8419,end apogee,CONTROL_FINISHED_OK
$STATE,8419,begin climb
$GC,8421,1.12,116.7,562.1,0.0,721,8524,1.55,0.00,98.05,1.095,6,0.064,0.000,2207,2000,2316
$GC,8819,1.12,116.7,534.0,9.3,740,8820,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2001,2314
$GC,9128,1.12,116.7,504.7,9.4,755,9132,0.00,2.15,0.00,0.000,4,0.000,0.060,2206,3131,2313
$GC,9190,1.12,116.7,499.0,9.1,758,9194,0.00,2.03,0.00,0.000,6,0.000,0.046,2206,2022,2312
$GC,9516,1.12,116.7,470.2,8.6,774,9520,0.00,2.10,0.00,0.000,4,0.000,0.059,2206,3131,2311
$GC,9757,1.12,116.7,448.5,9.1,785,9761,0.00,2.03,0.00,0.000,6,0.000,0.046,2206,2020,2311
$GC,10083,1.12,116.7,421.1,8.4,801,10084,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2020,2310
$GC,10393,1.12,116.7,394.9,8.5,816,10396,0.00,2.10,0.00,0.000,4,0.000,0.057,2206,3131,2309
$GC,10572,1.12,116.7,378.8,9.3,824,10575,0.00,2.00,0.00,0.000,6,0.000,0.043,2206,2022,2309
$GC,10892,1.12,116.7,350.8,8.9,840,10893,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2023,2308
$GC,11202,1.12,116.7,323.3,8.9,855,11206,0.00,2.05,0.00,0.000,4,0.000,0.054,2206,3135,2307
$GC,11370,1.12,116.7,307.5,9.5,862,11376,0.00,1.98,0.00,0.000,6,0.000,0.041,2207,2022,2307
$GC,11693,1.12,116.7,278.5,9.1,882,11697,0.00,2.05,0.00,0.000,4,0.000,0.053,2206,3129,2307
$GC,11759,1.12,116.7,272.3,8.7,886,11763,0.00,1.98,0.00,0.000,6,0.000,0.041,2206,2038,2308
$GC,12084,1.12,116.7,243.8,9.0,907,12087,0.00,2.00,0.00,0.000,4,0.000,0.053,2207,3130,2308
$GC,12146,1.12,116.7,238.3,8.6,911,12149,0.00,1.95,0.00,0.000,6,0.000,0.040,2206,2025,2308
$GC,12469,1.12,116.7,210.6,8.6,932,12473,0.00,2.03,0.00,0.000,4,0.000,0.052,2206,3129,2308
$GC,12531,1.12,116.7,205.3,8.8,936,12535,0.00,1.92,0.00,0.000,6,0.000,0.039,2207,2038,2308
$GC,12862,1.12,116.7,178.5,8.1,965,12863,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2038,2309
$GC,13179,1.12,116.7,154.0,7.6,995,13182,0.00,2.00,0.00,0.000,4,0.000,0.051,2206,3130,2309
$GC,13302,1.12,116.7,144.0,8.1,1012,13309,0.00,1.95,0.00,0.000,6,0.000,0.039,2206,2031,2309
$GC,13648,1.12,116.7,116.2,8.6,1073,13653,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2031,2310
$GC,13990,1.12,116.7,84.9,9.4,1134,13997,0.00,2.05,0.00,0.000,4,0.000,0.051,2206,3130,2310
$GC,14088,1.12,116.7,76.0,9.2,1151,14095,0.00,1.95,0.00,0.000,6,0.000,0.038,2207,2035,2310
$GC,14432,1.12,116.7,47.3,7.4,1212,14439,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2035,2311
$GC,14776,1.14,133.1,24.4,6.2,1273,14795,0.00,0.00,13.90,0.690,6,0.000,0.000,2206,2035,2248
$STATE,15116,end climb,NO_VERTICAL_VELOCITY
$STATE,15116,begin surface
$SM_CCo,15120,309.08,0.637,16,0,451,574.00
$SM_GC,0.65,9.70,0.00,0.00,0.037,0.000,0.000,56,2155,443,-8.73,0.71,575.96
$IRIDIUM_FIX,6537.93,545.27,201197,191942
$TT8_MAMPS,0.021476
$HUMID,2030
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,4.00
$XPDR_PINGS,-1
$24V_AH,23.3,32.514
$10V_AH,10.1,25.822
$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,22.000,73.350,211.925,309.075,0.000,30.022,32.194,180.098,0.000,0.000,0.000,34.847,2792.834,10163.101,767.845,1804.254,483.149,0.000,1828.420,0.000,1286.928,0.000,0.655
$DEVICE_MAMPS,187.148,61.360,1122.121,637.377,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1261.795,1098.788,647.302,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66317,1334
$CAP_FILE_SIZE,127934,0
$CFSIZE,256368640,233402368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,16,0
$CURRENT,0.318, 41.2,1
$GPS,270808,042408,6604.377,554.381,39,1.5,39,-2.0