version: 66.03
glider: 17
mission: 6
dive: 227
start: 8 27 108 16 29 55
data:
$ID,17
$MISSION,6
$DIVE,227
$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,-91226.094
$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,24
$R_STBD_OVSHOOT,39
$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
$GPS1,162308,6609.331,604.944,41,1.4,41,-1.9
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-47.4
$GPS2,162927,6609.373,605.129,15,1.4,15,-1.9
$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,233.9,17783,-11.9,-6.875
$D_GRID,500
$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,21,-1.12,-116.7,0.0,0.0,0,83,0.00,0.00,-59.03,0.000,2,0.000,0.000,55,2148,2993
$GC,86,-1.12,-116.7,3.8,-6.2,9,108,10.05,2.12,-5.55,0.000,4,0.190,0.057,1714,1003,3271
$GC,339,-1.12,-116.7,33.7,-9.0,53,345,0.00,1.98,0.00,0.000,6,0.000,0.030,1714,2127,3273
$GC,683,-1.12,-116.7,59.0,-6.9,114,689,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2128,3275
$GC,1028,-1.12,-116.7,82.7,-6.6,175,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2127,3275
$GC,1371,-1.12,-116.7,105.2,-6.9,236,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2128,3276
$GC,1717,-1.12,-116.7,129.8,-7.0,297,1722,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2128,3276
$GC,2061,-1.12,-116.7,154.0,-7.0,354,2065,0.00,2.03,0.00,0.000,4,0.000,0.045,1714,1000,3276
$GC,2093,-1.12,-116.7,156.4,-7.2,356,2101,0.00,2.03,0.00,0.000,6,0.000,0.033,1714,2123,3276
$GC,2419,-1.12,-116.7,179.3,-7.0,387,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2123,3275
$GC,2747,-1.12,-116.7,202.6,-7.2,417,2751,0.00,2.10,0.00,0.000,4,0.000,0.054,1714,3255,3275
$GC,2784,-1.12,-116.7,205.6,-7.6,419,2792,0.00,2.00,0.00,0.000,6,0.000,0.035,1714,2132,3276
$GC,3104,-1.12,-116.7,227.3,-6.7,440,3105,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2132,3275
$GC,3417,-1.12,-116.7,247.8,-6.5,460,3418,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2132,3275
$GC,3729,-1.12,-116.7,267.8,-6.3,480,3730,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2132,3275
$GC,4041,-1.12,-116.7,287.3,-6.2,500,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2132,3274
$GC,4363,-1.12,-116.7,306.4,-5.8,519,4365,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2132,3274
$GC,4672,-1.12,-116.7,324.1,-5.7,534,4673,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2132,3274
$GC,4981,-1.12,-116.7,341.9,-5.8,549,4982,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2132,3273
$GC,5291,-1.12,-116.7,360.6,-6.3,564,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2132,3273
$GC,5599,-1.12,-116.7,381.3,-6.9,579,5600,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2132,3272
$GC,5909,-1.12,-116.7,402.6,-6.8,594,5910,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2132,3272
$GC,6219,-1.12,-116.7,423.4,-6.8,609,6220,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2132,3272
$GC,6527,-1.12,-116.7,444.8,-6.9,624,6528,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2132,3271
$GC,6837,-1.12,-116.7,465.6,-6.7,639,6838,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2132,3271
$GC,7147,-1.12,-116.7,485.6,-6.6,654,7151,0.00,2.10,0.00,0.000,4,0.000,0.058,1714,3250,3271
$GC,7196,-1.12,-116.7,489.2,-7.4,656,7200,0.00,2.03,0.00,0.000,6,0.000,0.039,1714,2127,3271
$STATE,7371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7371,begin apogee
$GC,7376,-0.42,0.0,500.9,6.5,665,7478,0.77,0.00,98.62,1.050,6,0.094,0.000,1870,1998,2792
$STATE,7479,end apogee,CONTROL_FINISHED_OK
$STATE,7479,begin climb
$GC,7482,1.12,116.7,504.0,0.0,670,7587,1.60,2.25,97.30,1.022,4,0.061,0.054,2208,3134,2316
$GC,7626,1.12,116.7,498.8,8.6,677,7631,0.00,2.05,0.00,0.000,6,0.000,0.041,2208,2025,2315
$GC,7949,1.12,116.7,470.6,9.0,693,7953,0.00,2.10,0.00,0.000,4,0.000,0.061,2208,883,2314
$GC,8021,1.12,116.7,463.8,9.4,696,8025,0.00,2.05,0.00,0.000,6,0.000,0.040,2208,2020,2313
$GC,8342,1.12,116.7,436.3,8.7,712,8346,0.00,2.08,0.00,0.000,4,0.000,0.059,2208,3135,2312
$GC,8405,1.12,116.7,430.5,9.3,715,8409,0.00,2.03,0.00,0.000,6,0.000,0.043,2208,2011,2312
$GC,8731,1.12,116.7,401.1,9.2,731,8732,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2011,2311
$GC,9040,1.12,116.7,372.4,9.3,746,9044,0.00,2.10,0.00,0.000,4,0.000,0.054,2208,3137,2310
$GC,9106,1.12,116.7,366.0,9.6,749,9110,0.00,1.98,0.00,0.000,6,0.000,0.041,2208,2020,2310
$GC,9433,1.12,116.7,336.2,9.0,765,9434,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2020,2310
$GC,9742,1.12,116.7,308.1,9.1,780,9746,0.00,2.10,0.00,0.000,4,0.000,0.053,2208,3143,2310
$GC,9819,1.12,116.7,300.7,9.8,783,9826,0.00,2.00,0.00,0.000,6,0.000,0.039,2208,2015,2310
$GC,10143,1.12,116.7,271.2,9.1,804,10144,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2015,2309
$GC,10455,1.12,116.7,243.1,8.9,824,10459,0.00,2.08,0.00,0.000,4,0.000,0.051,2208,3135,2309
$GC,10572,1.12,116.7,232.2,8.8,831,10576,0.00,1.98,0.00,0.000,6,0.000,0.038,2208,2018,2309
$GC,10896,1.12,116.7,203.9,8.6,852,10900,0.00,2.05,0.00,0.000,4,0.000,0.051,2208,3138,2309
$GC,10981,1.12,116.7,196.6,8.8,858,10985,0.00,1.95,0.00,0.000,6,0.000,0.038,2208,2031,2309
$GC,11306,1.12,116.7,169.4,8.3,888,11310,0.00,2.05,0.00,0.000,4,0.000,0.051,2208,3141,2309
$GC,11369,1.12,116.7,164.1,8.7,893,11373,0.00,1.95,0.00,0.000,6,0.000,0.038,2208,2033,2309
$GC,11703,1.12,116.7,137.2,8.1,937,11709,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2034,2309
$GC,12046,1.12,116.7,108.5,8.6,998,12053,0.00,2.05,0.00,0.000,4,0.000,0.050,2208,3143,2310
$GC,12099,1.12,116.7,103.9,8.8,1007,12105,0.00,1.95,0.00,0.000,6,0.000,0.038,2208,2035,2310
$GC,12442,1.12,116.7,76.3,7.3,1068,12448,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2035,2310
$GC,12785,1.12,116.7,49.4,8.2,1129,12791,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2035,2310
$GC,13128,1.12,116.7,22.3,7.4,1190,13135,0.00,2.05,0.00,0.000,4,0.000,0.049,2208,3144,2310
$GC,13243,1.20,187.1,16.5,4.1,1210,13307,0.00,1.95,55.28,0.705,6,0.000,0.036,2208,2034,2029
$STATE,13531,end climb,SURFACE_DEPTH_REACHED
$STATE,13531,begin surface coast
$FINISH,0.1,1.021503
$STATE,13577,end surface coast,CONTROL_FINISHED_OK
$STATE,13578,begin surface
$SM_CCo,13597,48.45,0.677,0,0,1772,250.21
$SM_GC,1.78,0.00,0.00,48.45,0.000,0.000,0.677,52,2155,1772,-8.80,0.71,250.21
$IRIDIUM_FIX,6537.93,612.21,211197,121206
$TT8_MAMPS,0.021476
$HUMID,2086
$INTERNAL_PRESSURE,8.28157
$TCM_TEMP,5.00
$XPDR_PINGS,-1
$24V_AH,23.4,32.900
$10V_AH,10.1,26.204
$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,21.975,57.575,251.200,48.450,0.000,27.850,37.922,190.286,0.000,0.000,0.000,16.393,2589.628,8852.458,457.843,1653.916,478.380,0.000,1418.879,0.000,1169.643,0.000,0.655
$DEVICE_MAMPS,190.216,60.593,1050.023,677.261,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1199.228,1072.667,659.106,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63145,1268
$CAP_FILE_SIZE,112226,0
$CFSIZE,256368640,233172992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.460, 38.9,1
$GPS,270808,201908,6610.977,607.311,72,1.3,72,-1.9