version: 66.03
glider: 17
mission: 6
dive: 236
start: 8 29 108 0 55 25
data:
$ID,17
$MISSION,6
$DIVE,236
$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,220
$T_MISSION,280
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,52301
$NAV_MODE,0
$FERRY_MAX,60
$KALMAN_USE,2
$HD_A,0.00251
$HD_B,0.0080399998
$HD_C,2.6800001e-06
$HEADING,300
$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,-91479.422
$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,29
$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
$GPS1,004958,6627.498,611.904,24,2.9,43,-1.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-48.2
$GPS2,005501,6627.539,611.937,13,1.1,29,-1.9
$SPEED_LIMITS,0.260,0.376
$TGT_NAME,HEADING
$TGT_LATLONG,6632.938,608.216
$TGT_RADIUS,1852.000
$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,301.9,20000,-19.1,-15.000
$D_GRID,689
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.80,-194.6,0.0,0.0,0,71,0.00,0.00,-40.78,0.000,2,0.000,0.000,60,2132,2805
$GC,74,-1.80,-194.6,3.6,-9.6,8,107,9.12,2.08,-17.35,0.000,4,0.191,0.064,1566,3255,3589
$GC,297,-1.80,-194.6,48.3,-16.2,48,303,0.00,2.03,0.00,0.000,6,0.000,0.034,1566,2120,3593
$GC,642,-1.80,-194.6,103.1,-16.2,109,647,0.00,2.00,0.00,0.000,4,0.000,0.046,1566,1002,3595
$GC,697,-1.80,-194.6,112.2,-16.1,119,703,0.00,1.98,0.00,0.000,6,0.000,0.033,1566,2133,3595
$GC,1035,-1.80,-194.6,165.2,-15.3,171,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2133,3597
$GC,1361,-1.80,-194.6,215.9,-15.2,199,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2133,3597
$GC,1673,-1.80,-194.6,263.5,-15.2,219,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2133,3597
$GC,1986,-1.80,-194.6,311.8,-15.4,238,1989,0.00,2.03,0.00,0.000,4,0.000,0.048,1566,1006,3597
$GC,2018,-1.80,-194.6,317.2,-15.9,239,2024,0.00,2.03,0.00,0.000,6,0.000,0.036,1566,2116,3597
$GC,2334,-1.80,-194.6,364.0,-14.4,255,2338,0.00,2.12,0.00,0.000,4,0.000,0.057,1566,3255,3597
$GC,2361,-1.80,-194.6,368.2,-15.0,256,2365,0.00,2.00,0.00,0.000,6,0.000,0.038,1566,2119,3598
$GC,2681,-1.80,-194.6,415.7,-15.0,272,2683,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2119,3597
$GC,2991,-1.80,-194.6,461.7,-14.5,287,2995,0.00,2.03,0.00,0.000,4,0.000,0.053,1566,1003,3597
$GC,3041,-1.80,-194.6,469.0,-14.6,289,3045,0.00,2.03,0.00,0.000,6,0.000,0.039,1566,2131,3597
$GC,3356,-1.80,-194.6,512.7,-13.6,304,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2131,3597
$GC,3665,-1.80,-194.6,555.1,-14.0,319,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2131,3597
$GC,3975,-1.80,-194.6,598.6,-14.1,334,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2131,3596
$GC,4301,-1.80,-194.6,645.4,-14.4,345,4305,0.00,2.10,0.00,0.000,4,0.000,0.062,1566,1000,3595
$GC,4329,-1.80,-194.6,649.5,-15.0,346,4333,0.00,2.08,0.00,0.000,6,0.000,0.046,1566,2131,3594
$STATE,4629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4629,begin apogee
$GC,4636,-0.42,0.0,692.3,14.0,356,4812,1.58,0.00,169.35,1.245,6,0.114,0.000,1870,1999,2791
$STATE,4813,end apogee,CONTROL_FINISHED_OK
$STATE,4813,begin climb
$GC,4815,1.80,194.6,699.8,0.0,362,4991,2.35,2.22,164.57,1.210,4,0.068,0.064,2355,3140,1997
$GC,5029,1.80,194.6,679.1,19.0,368,5033,0.00,2.12,0.00,0.000,6,0.000,0.052,2355,2020,1996
$GC,5364,1.80,194.6,612.4,20.1,379,5365,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2020,1994
$GC,5673,1.80,194.6,551.6,19.3,393,5676,0.00,2.10,0.00,0.000,4,0.000,0.064,2355,3139,1993
$GC,5706,1.80,194.6,545.0,20.0,394,5711,0.00,2.08,0.00,0.000,6,0.000,0.053,2355,2005,1992
$GC,6020,1.80,194.6,484.0,19.6,410,6024,0.00,2.12,0.00,0.000,4,0.000,0.064,2355,3139,1991
$GC,6046,1.80,194.6,478.7,19.9,411,6050,0.00,2.08,0.00,0.000,6,0.000,0.052,2355,2022,1991
$GC,6368,1.80,194.6,419.4,18.5,427,6370,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2022,1989
$GC,6677,1.80,194.6,362.1,18.8,442,6681,0.00,2.08,0.00,0.000,4,0.000,0.060,2355,3138,1988
$GC,6697,1.80,194.6,358.0,19.1,443,6701,0.00,2.05,0.00,0.000,6,0.000,0.049,2355,2027,1987
$GC,7020,1.80,194.6,296.4,19.2,459,7024,0.00,2.08,0.00,0.000,4,0.000,0.058,2355,3141,1987
$GC,7035,1.80,194.6,293.1,19.5,460,7039,0.00,2.05,0.00,0.000,6,0.000,0.047,2355,2025,1986
$GC,7359,1.80,194.6,229.7,20.4,481,7360,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2025,1986
$GC,7675,1.80,194.6,168.1,19.5,506,7679,0.00,2.08,0.00,0.000,4,0.000,0.054,2355,3146,1986
$GC,7703,1.80,194.6,162.5,20.5,508,7706,0.00,2.03,0.00,0.000,6,0.000,0.044,2355,2024,1986
$GC,8042,1.80,194.6,97.1,19.4,562,8048,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2024,1986
$GC,8385,1.80,194.6,34.0,16.3,623,8391,0.00,2.10,0.00,0.000,4,0.000,0.057,2355,874,1987
$GC,8419,1.80,194.6,28.2,16.5,629,8425,0.00,2.08,0.00,0.000,6,0.000,0.037,2355,2037,1987
$STATE,8646,end climb,SURFACE_DEPTH_REACHED
$STATE,8647,begin surface coast
$FINISH,0.3,1.025664
$STATE,8666,end surface coast,CONTROL_FINISHED_OK
$STATE,8666,begin surface
$SM_CCo,8686,42.33,0.739,1,0,1771,250.21
$SM_GC,1.11,0.00,0.00,42.33,0.000,0.000,0.739,60,2141,1771,-8.76,0.31,250.21
$IRIDIUM_FIX,6558.99,617.44,221197,222211
$TT8_MAMPS,0.021476
$HUMID,2179
$INTERNAL_PRESSURE,8.2425
$TCM_TEMP,4.00
$XPDR_PINGS,-1
$24V_AH,23.1,33.914
$10V_AH,10.1,26.906
$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,23.375,54.150,333.925,42.325,0.000,31.111,31.537,125.327,0.000,0.000,0.000,29.747,1120.510,6205.776,483.352,900.281,342.618,0.000,1051.013,0.000,655.482,0.000,0.653
$DEVICE_MAMPS,190.983,64.428,1244.841,739.388,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,624.040,514.454,300.410,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34781,673
$CAP_FILE_SIZE,71632,0
$CFSIZE,256368640,232722432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290808,032204,6628.881,609.887,9,8.9,28,-1.9