version: 66.03
glider: 17
mission: 6
dive: 224
start: 8 27 108 4 30 59
data:
$ID,17
$MISSION,6
$DIVE,224
$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,-91144.562
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,62
$PITCH_MAX,3362
$C_PITCH,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,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
$GPS1,042408,6604.377,554.381,39,1.5,39,-2.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-45.9
$GPS2,043032,6604.434,554.573,16,1.5,33,-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,95.5,9173,-11.9,-6.875
$D_GRID,536
$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,-116.7,0.0,0.0,0,117,0.00,0.00,-93.20,0.000,2,0.000,0.000,56,2155,2981
$GC,120,-1.12,-116.7,3.6,-5.8,14,143,10.02,2.08,-5.97,0.000,4,0.189,0.059,1715,3243,3270
$GC,397,-1.12,-116.7,34.1,-6.4,62,404,0.00,1.95,0.00,0.000,6,0.000,0.032,1715,2121,3272
$GC,742,-1.12,-116.7,55.2,-6.6,123,748,0.00,2.05,0.00,0.000,4,0.000,0.047,1715,3241,3273
$GC,793,-1.12,-116.7,59.0,-7.3,132,800,0.00,1.95,0.00,0.000,6,0.000,0.032,1715,2128,3273
$GC,1137,-1.12,-116.7,84.0,-7.1,193,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2128,3274
$GC,1480,-1.12,-116.7,107.2,-6.6,254,1487,0.00,2.08,0.00,0.000,4,0.000,0.048,1715,3240,3274
$GC,1521,-1.12,-116.7,110.1,-7.3,261,1527,0.00,1.92,0.00,0.000,6,0.000,0.034,1716,2138,3274
$GC,1865,-1.12,-116.7,134.0,-6.8,322,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2138,3274
$GC,2204,-1.12,-116.7,156.7,-6.8,374,2205,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2138,3274
$GC,2522,-1.12,-116.7,177.9,-6.6,404,2524,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2138,3274
$GC,2842,-1.12,-116.7,198.3,-6.4,434,2843,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2138,3273
$GC,3154,-1.12,-116.7,218.0,-6.2,455,3158,0.00,2.03,0.00,0.000,4,0.000,0.051,1715,3233,3273
$GC,3192,-1.12,-116.7,220.6,-6.8,457,3199,0.00,1.92,0.00,0.000,6,0.000,0.036,1715,2132,3273
$GC,3511,-1.12,-116.7,240.9,-6.4,478,3514,0.00,2.00,0.00,0.000,4,0.000,0.048,1715,1007,3273
$GC,3539,-1.12,-116.7,242.8,-6.7,480,3543,0.00,1.98,0.00,0.000,6,0.000,0.034,1715,2122,3273
$GC,3864,-1.12,-116.7,263.5,-6.5,501,3867,0.00,2.08,0.00,0.000,4,0.000,0.054,1715,3251,3272
$GC,3895,-1.12,-116.7,265.8,-7.2,503,3900,0.00,1.98,0.00,0.000,6,0.000,0.035,1715,2146,3272
$GC,4221,-1.12,-116.7,286.7,-6.5,524,4222,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2146,3271
$GC,4542,-1.12,-116.7,307.1,-6.2,543,4543,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2145,3271
$GC,4852,-1.12,-116.7,326.8,-6.5,558,4853,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2145,3270
$GC,5162,-1.12,-116.7,346.6,-6.4,573,5163,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2145,3270
$GC,5470,-1.12,-116.7,366.5,-6.5,588,5471,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2146,3270
$GC,5780,-1.12,-116.7,386.6,-6.3,603,5783,0.00,2.08,0.00,0.000,4,0.000,0.053,1715,3256,3269
$GC,5820,-1.12,-116.7,389.3,-6.8,605,5824,0.00,1.98,0.00,0.000,6,0.000,0.038,1715,2136,3270
$GC,6146,-1.12,-116.7,411.4,-6.9,621,6147,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2136,3269
$GC,6455,-1.12,-116.7,432.3,-6.6,636,6459,0.00,2.08,0.00,0.000,4,0.000,0.054,1715,3250,3269
$GC,6495,-1.12,-116.7,435.0,-7.1,638,6499,0.00,1.95,0.00,0.000,6,0.000,0.038,1714,2143,3269
$GC,6822,-1.12,-116.7,456.7,-6.6,654,6823,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2143,3268
$GC,7131,-1.12,-116.7,476.2,-6.2,669,7132,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2143,3268
$GC,7441,-1.12,-116.7,494.4,-5.8,684,7445,0.00,2.10,0.00,0.000,4,0.000,0.058,1715,3256,3267
$GC,7527,-1.12,-116.7,499.9,-6.6,688,7531,0.00,1.95,0.00,0.000,6,0.000,0.040,1715,2154,3267
$GC,7853,-1.12,-116.7,519.9,-6.1,704,7857,0.00,2.08,0.00,0.000,4,0.000,0.058,1715,3255,3266
$GC,7886,-1.12,-116.7,522.2,-7.0,705,7893,0.00,1.98,0.00,0.000,6,0.000,0.041,1716,2151,3266
$STATE,8096,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8096,begin apogee
$GC,8102,-0.42,0.0,536.2,6.8,716,8203,0.77,0.00,98.38,1.101,6,0.092,0.000,1872,1999,2792
$STATE,8204,end apogee,CONTROL_FINISHED_OK
$STATE,8204,begin climb
$GC,8206,1.12,116.7,539.2,0.0,721,8311,1.62,2.10,97.62,1.073,4,0.064,0.061,2211,887,2316
$GC,8368,1.12,116.7,532.5,8.9,729,8372,0.00,2.05,0.00,0.000,6,0.000,0.041,2211,2011,2315
$GC,8694,1.12,116.7,503.7,8.7,745,8698,0.00,2.12,0.00,0.000,4,0.000,0.059,2211,3142,2313
$GC,8726,1.12,116.7,500.7,8.9,746,8733,0.00,2.03,0.00,0.000,6,0.000,0.044,2211,2017,2313
$GC,9042,1.12,116.7,472.8,8.7,762,9046,0.00,2.08,0.00,0.000,4,0.000,0.056,2211,3136,2312
$GC,9135,1.12,116.7,464.0,9.6,766,9139,0.00,2.03,0.00,0.000,6,0.000,0.044,2211,2031,2311
$GC,9458,1.12,116.7,435.7,9.1,782,9459,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2031,2311
$GC,9766,1.12,116.7,407.8,8.7,797,9770,0.00,2.08,0.00,0.000,4,0.000,0.055,2211,3138,2309
$GC,9809,1.12,116.7,403.6,9.2,799,9813,0.00,2.00,0.00,0.000,6,0.000,0.043,2211,2042,2309
$GC,10137,1.12,116.7,375.5,8.7,815,10141,0.00,2.05,0.00,0.000,4,0.000,0.054,2211,3142,2308
$GC,10177,1.12,116.7,371.9,9.2,817,10180,0.00,1.98,0.00,0.000,6,0.000,0.042,2211,2033,2308
$GC,10503,1.12,116.7,343.1,9.0,833,10504,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2032,2308
$GC,10813,1.12,116.7,314.5,9.3,848,10816,0.00,2.05,0.00,0.000,4,0.000,0.054,2211,3135,2307
$GC,10852,1.12,116.7,310.5,9.5,850,10856,0.00,1.95,0.00,0.000,6,0.000,0.041,2211,2035,2307
$GC,11175,1.12,116.7,281.4,8.9,869,11176,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2035,2307
$GC,11488,1.12,116.7,254.9,8.3,889,11489,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2035,2307
$GC,11800,1.12,116.7,229.1,8.2,909,11803,0.00,2.05,0.00,0.000,4,0.000,0.051,2211,3134,2307
$GC,11871,1.12,116.7,222.8,8.6,913,11878,0.00,1.98,0.00,0.000,6,0.000,0.038,2211,2045,2307
$GC,12191,1.12,116.7,196.9,7.8,935,12193,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2045,2307
$GC,12511,1.12,116.7,171.2,8.1,965,12515,0.00,2.03,0.00,0.000,4,0.000,0.051,2211,3144,2308
$GC,12578,1.12,116.7,165.1,8.8,970,12585,0.00,1.92,0.00,0.000,6,0.000,0.038,2211,2048,2308
$GC,12910,1.12,116.7,136.9,8.4,1014,12916,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2048,2308
$GC,13253,1.12,116.7,108.3,8.7,1075,13259,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2048,2309
$GC,13595,1.12,116.7,78.1,8.0,1136,13602,0.00,2.03,0.00,0.000,4,0.000,0.050,2211,3138,2309
$GC,13665,1.12,116.7,72.8,7.6,1148,13672,0.00,1.92,0.00,0.000,6,0.000,0.038,2211,2050,2309
$GC,14009,1.12,116.7,48.6,8.3,1209,14015,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2050,2310
$GC,14352,1.16,154.7,24.3,5.4,1270,14390,0.00,2.08,30.15,0.725,4,0.000,0.048,2211,3135,2160
$GC,14642,1.27,248.7,7.1,3.2,1321,14725,0.12,1.90,74.40,0.707,6,0.052,0.035,2243,2060,1777
$STATE,14734,end climb,SURFACE_DEPTH_REACHED
$STATE,14734,begin surface coast
$FINISH,0.0,1.002496
$STATE,14766,end surface coast,CONTROL_FINISHED_OK
$STATE,14766,begin surface
$SM_CCo,14786,0.28,0.150,0,0,1772,250.21
$SM_GC,1.34,0.00,0.00,0.28,0.000,0.000,0.150,60,2154,1772,-8.76,0.65,250.21
$IRIDIUM_FIX,6537.93,550.55,211197,000019
$TT8_MAMPS,0.021476
$HUMID,2061
$INTERNAL_PRESSURE,8.2718
$TCM_TEMP,5.00
$XPDR_PINGS,-1
$24V_AH,23.3,32.609
$10V_AH,10.1,25.921
$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,22.400,81.000,300.550,0.275,0.000,29.919,31.469,184.353,0.000,0.000,0.000,33.847,2704.555,9724.775,491.381,1774.273,481.368,0.000,1541.349,0.000,1248.433,0.000,0.654
$DEVICE_MAMPS,188.682,60.593,1101.412,149.565,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1259.156,1109.340,672.915,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66328,1341
$CAP_FILE_SIZE,124603,0
$CFSIZE,256368640,233340928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.375, 33.8,1
$GPS,270808,083908,6606.893,602.893,67,1.7,67,-1.9