version: 66.03
glider: 17
mission: 6
dive: 400
start: 10 17 108 7 22 51
data:
$ID,17
$MISSION,6
$DIVE,400
$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,-96006.352
$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,23
$R_STBD_OVSHOOT,21
$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
$GPS1,071638,6700.074,558.198,37,1.4,37,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-48.0
$GPS2,072209,6700.028,558.132,12,1.7,12,-2.1
$SPEED_LIMITS,0.119,0.230
$TGT_NAME,HOLD
$TGT_LATLONG,6700.000,600.000
$TGT_RADIUS,2000.000
$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,42.5,1353,-19.7,-6.875
$D_GRID,1271
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-1.69,-50.8,0.0,0.0,0,75,0.00,0.00,-48.33,0.000,6,0.000,0.000,56,2113,3001
$GC,78,-1.72,-73.7,2.7,-4.8,2,94,8.90,2.08,-2.38,0.000,4,0.174,0.059,1584,993,3094
$GC,302,-1.72,-73.7,35.8,-14.0,7,306,0.00,2.03,0.00,0.000,6,0.000,0.033,1584,2138,3097
$GC,621,-1.72,-73.7,77.9,-12.7,15,622,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2138,3099
$GC,946,-1.72,-73.7,118.1,-12.1,23,949,0.00,2.03,0.00,0.000,4,0.000,0.044,1584,996,3098
$GC,990,-1.72,-73.7,123.7,-12.3,24,994,0.00,2.03,0.00,0.000,6,0.000,0.034,1584,2142,3098
$GC,1309,-1.72,-73.7,160.1,-11.4,32,1313,0.00,2.03,0.00,0.000,4,0.000,0.052,1584,3251,3099
$GC,1398,-1.72,-73.7,170.6,-11.7,34,1401,0.00,1.95,0.00,0.000,6,0.000,0.034,1584,2132,3099
$GC,1724,-1.72,-73.7,206.2,-10.8,42,1728,0.00,2.08,0.00,0.000,4,0.000,0.052,1584,3251,3099
$GC,1751,-1.72,-73.7,209.6,-11.6,42,1754,0.00,1.95,0.00,0.000,6,0.000,0.035,1584,2138,3100
$GC,2088,-1.72,-73.7,247.5,-11.2,51,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2138,3100
$GC,2413,-1.72,-73.7,284.7,-11.5,59,2417,0.00,2.05,0.00,0.000,4,0.000,0.052,1584,3249,3100
$GC,2469,-1.72,-73.7,291.4,-11.6,60,2473,0.00,1.92,0.00,0.000,6,0.000,0.036,1584,2147,3100
$GC,2817,-1.72,-73.7,330.2,-11.0,69,2818,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2147,3100
$GC,3142,-1.72,-73.7,366.1,-11.1,77,3143,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2147,3099
$GC,3467,-1.72,-73.7,401.5,-10.8,85,3471,0.00,2.05,0.00,0.000,4,0.000,0.053,1584,3250,3100
$GC,3557,-1.72,-73.7,411.6,-11.0,87,3561,0.00,1.95,0.00,0.000,6,0.000,0.037,1584,2144,3100
$GC,3876,-1.72,-73.7,446.1,-10.9,95,3879,0.00,2.08,0.00,0.000,4,0.000,0.054,1584,3255,3099
$GC,3955,-1.72,-73.7,455.2,-11.9,96,3961,0.00,1.92,0.00,0.000,6,0.000,0.038,1584,2159,3099
$GC,4287,-1.72,-73.7,490.1,-10.2,105,4288,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2159,3099
$GC,4611,-1.72,-73.7,521.3,-9.5,113,4612,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2159,3099
$GC,4935,-1.72,-73.7,551.7,-9.2,121,4939,0.00,2.08,0.00,0.000,4,0.000,0.054,1584,1003,3099
$GC,4979,-1.72,-73.7,555.9,-9.6,122,4983,0.00,2.08,0.00,0.000,6,0.000,0.040,1584,2161,3099
$GC,5300,-1.72,-73.7,584.0,-8.7,130,5303,0.00,2.05,0.00,0.000,4,0.000,0.062,1584,3253,3099
$GC,5366,-1.72,-73.7,590.9,-10.0,131,5370,0.00,1.95,0.00,0.000,6,0.000,0.042,1584,2156,3099
$GC,5709,-1.72,-73.7,623.2,-9.7,140,5710,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2155,3098
$GC,6035,-1.72,-73.7,656.7,-10.4,148,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2154,3097
$GC,6359,-1.72,-73.7,689.9,-10.1,156,6360,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2155,3096
$GC,6684,-1.72,-73.7,722.0,-9.7,164,6685,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2155,3095
$GC,7009,-1.72,-73.7,752.7,-9.5,172,7012,0.00,2.08,0.00,0.000,4,0.000,0.067,1584,3247,3094
$GC,7054,-1.72,-73.7,756.9,-9.5,173,7057,0.00,1.95,0.00,0.000,6,0.000,0.048,1584,2159,3093
$GC,7372,-1.72,-73.7,785.1,-8.9,181,7376,0.00,2.10,0.00,0.000,4,0.000,0.064,1584,998,3092
$GC,7411,-1.72,-73.7,788.6,-9.0,182,7415,0.00,2.10,0.00,0.000,6,0.000,0.048,1584,2162,3092
$GC,7737,-1.72,-73.7,816.9,-8.5,190,7741,0.00,2.05,0.00,0.000,4,0.000,0.069,1584,3258,3091
$GC,7786,-1.72,-73.7,821.5,-8.8,191,7790,0.00,1.98,0.00,0.000,6,0.000,0.048,1584,2158,3091
$GC,8105,-1.72,-73.7,848.7,-8.7,199,8106,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2158,3090
$GC,8430,-1.72,-73.7,877.8,-8.9,207,8431,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2158,3088
$GC,8757,-1.72,-73.7,907.4,-9.1,215,8758,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2158,3087
$GC,9080,-1.72,-73.7,937.1,-9.2,223,9084,0.00,2.08,0.00,0.000,4,0.000,0.069,1584,3257,3087
$GC,9120,-1.72,-73.7,940.9,-9.7,224,9124,0.00,1.98,0.00,0.000,6,0.000,0.050,1584,2158,3087
$GC,9444,-1.72,-73.7,970.2,-9.0,232,9448,0.00,2.10,0.00,0.000,4,0.000,0.064,1584,1004,3085
$GC,9485,-1.72,-73.7,974.0,-9.6,233,9489,0.00,2.12,0.00,0.000,6,0.000,0.048,1584,2175,3085
$STATE,9685,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9685,begin apogee
$GC,9692,-0.42,0.0,992.6,9.1,238,9761,1.50,0.00,65.55,1.427,6,0.121,0.000,1869,1999,2792
$STATE,9762,end apogee,CONTROL_FINISHED_OK
$STATE,9762,begin climb
$GC,9765,1.72,73.7,993.8,0.0,239,9840,2.22,2.15,67.10,1.406,4,0.068,0.067,2339,899,2491
$GC,9930,1.72,73.7,982.3,11.0,242,9937,0.00,2.03,0.00,0.000,6,0.000,0.048,2338,2015,2489
$GC,10262,1.72,73.7,947.7,10.4,251,10266,0.00,2.10,0.00,0.000,4,0.000,0.068,2338,3142,2488
$GC,10307,1.72,73.7,942.9,10.9,252,10310,0.00,2.03,0.00,0.000,6,0.000,0.051,2338,2023,2488
$GC,10625,1.72,73.7,910.5,10.1,260,10629,0.00,2.08,0.00,0.000,4,0.000,0.067,2338,3134,2487
$GC,10714,1.72,73.7,901.1,10.0,262,10718,0.00,2.03,0.00,0.000,6,0.000,0.051,2338,2016,2487
$GC,11034,1.72,73.7,868.8,10.0,270,11038,0.00,2.10,0.00,0.000,4,0.000,0.067,2338,3142,2487
$GC,11119,1.72,73.7,860.0,10.5,272,11123,0.00,2.03,0.00,0.000,6,0.000,0.052,2338,2030,2486
$GC,11443,1.72,73.7,828.3,9.7,280,11447,0.00,2.05,0.00,0.000,4,0.000,0.067,2338,3141,2486
$GC,11453,1.72,73.7,827.1,9.6,280,11457,0.00,2.03,0.00,0.000,6,0.000,0.053,2338,2027,2486
$GC,11767,1.72,73.7,797.3,9.4,288,11771,0.00,2.08,0.00,0.000,4,0.000,0.067,2338,3136,2485
$GC,11867,1.72,73.7,787.3,9.7,290,11871,0.00,2.00,0.00,0.000,6,0.000,0.052,2338,2036,2485
$GC,12217,1.72,73.7,754.3,9.5,299,12220,0.00,2.10,0.00,0.000,4,0.000,0.066,2338,3136,2485
$GC,12266,1.72,73.7,749.3,9.5,300,12269,0.00,2.00,0.00,0.000,6,0.000,0.052,2338,2039,2485
$GC,12585,1.72,73.7,718.2,9.9,308,12589,0.00,2.08,0.00,0.000,4,0.000,0.066,2338,3134,2484
$GC,12692,1.72,73.7,707.5,9.7,310,12696,0.00,1.98,0.00,0.000,6,0.000,0.052,2338,2043,2484
$GC,13034,1.72,73.7,673.9,9.8,319,13038,0.00,2.08,0.00,0.000,4,0.000,0.067,2338,3139,2484
$GC,13123,1.72,73.7,664.8,10.0,321,13126,0.00,1.98,0.00,0.000,6,0.000,0.051,2338,2049,2484
$GC,13449,1.72,73.7,633.4,9.7,329,13453,0.00,2.03,0.00,0.000,4,0.000,0.067,2338,3133,2484
$GC,13520,1.72,73.7,626.1,9.9,330,13524,0.00,1.95,0.00,0.000,6,0.000,0.051,2338,2053,2484
$GC,13858,1.72,73.7,595.4,9.0,339,13862,0.00,2.03,0.00,0.000,4,0.000,0.067,2338,3141,2483
$GC,14036,1.72,73.7,580.1,8.7,343,14040,0.00,1.92,0.00,0.000,6,0.000,0.051,2338,2071,2483
$GC,14360,1.72,73.7,553.6,7.7,351,14364,0.00,1.98,0.00,0.000,4,0.000,0.066,2338,3134,2483
$GC,14579,1.72,73.7,536.5,7.8,356,14583,0.00,1.88,0.00,0.000,6,0.000,0.050,2338,2093,2483
$GC,14903,1.72,73.7,512.2,7.6,364,14907,0.00,1.95,0.00,0.000,4,0.000,0.064,2338,3133,2483
$GC,14988,1.72,73.7,505.8,7.4,366,14992,0.00,1.85,0.00,0.000,6,0.000,0.049,2338,2100,2483
$GC,15314,1.72,73.7,481.7,7.6,374,15317,0.00,1.90,0.00,0.000,4,0.000,0.062,2338,3136,2483
$GC,15500,1.72,73.7,466.6,8.0,378,15503,0.00,1.83,0.00,0.000,6,0.000,0.046,2338,2111,2483
$GC,15814,1.72,73.7,442.8,7.7,386,15818,0.00,1.90,0.00,0.000,4,0.000,0.060,2338,3140,2483
$GC,15824,1.72,73.7,441.8,7.9,386,15828,0.00,1.85,0.00,0.000,6,0.000,0.047,2338,2103,2483
$GC,16138,1.72,73.7,417.6,7.8,394,16139,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2103,2483
$GC,16462,1.72,73.7,393.1,7.4,402,16464,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2103,2483
$GC,16789,1.72,73.7,369.1,7.2,410,16790,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2103,2484
$GC,17112,1.72,73.7,346.1,7.1,418,17114,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2102,2485
$GC,17437,1.72,73.7,323.2,6.9,426,17441,0.00,1.92,0.00,0.000,4,0.000,0.055,2338,3144,2485
$GC,17504,1.72,73.7,318.2,7.4,427,17507,0.00,1.85,0.00,0.000,6,0.000,0.042,2338,2094,2485
$GC,17842,1.72,73.7,294.2,6.9,436,17846,0.00,2.22,0.00,0.000,4,0.000,0.059,2338,878,2486
$GC,17883,1.73,82.6,291.4,6.1,437,17896,0.00,2.22,8.15,0.806,6,0.000,0.041,2337,2112,2454
$GC,18212,1.73,82.6,265.7,8.0,445,18215,0.00,1.90,0.00,0.000,4,0.000,0.058,2338,3140,2454
$GC,18369,1.73,82.6,253.0,7.4,448,18372,0.00,1.83,0.00,0.000,6,0.000,0.039,2338,2100,2455
$GC,18706,1.73,82.6,226.5,7.9,457,18707,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2100,2456
$GC,19032,1.73,82.6,199.4,8.4,465,19036,0.00,2.20,0.00,0.000,4,0.000,0.054,2338,876,2456
$GC,19048,1.73,82.6,197.9,8.2,465,19052,0.00,2.17,0.00,0.000,6,0.000,0.038,2338,2110,2456
$GC,19391,1.73,82.6,168.9,8.5,474,19394,0.00,1.90,0.00,0.000,4,0.000,0.056,2338,3138,2458
$GC,19457,1.73,82.6,162.7,9.6,475,19460,0.00,1.80,0.00,0.000,6,0.000,0.038,2338,2106,2457
$GC,19801,1.73,82.6,133.0,8.4,484,19805,0.00,2.20,0.00,0.000,4,0.000,0.052,2338,872,2458
$GC,19828,1.73,82.6,130.5,8.3,484,19832,0.00,2.20,0.00,0.000,6,0.000,0.036,2338,2110,2458
$GC,20160,1.73,82.6,104.1,7.9,492,20164,0.00,1.88,0.00,0.000,4,0.000,0.058,2338,3130,2459
$GC,20267,1.73,82.6,95.7,8.0,494,20271,0.00,1.80,0.00,0.000,6,0.000,0.037,2338,2097,2459
$GC,20609,1.73,82.6,70.0,7.5,503,20613,0.00,1.90,0.00,0.000,4,0.000,0.050,2338,3137,2460
$GC,20739,1.73,82.6,59.8,7.1,506,20743,0.00,1.80,0.00,0.000,6,0.000,0.036,2338,2110,2461
$GC,21065,1.74,95.5,38.6,5.7,514,21083,0.00,1.95,13.23,0.668,4,0.000,0.049,2338,3133,2401
$GC,21233,1.75,105.0,28.6,6.0,517,21247,0.00,1.75,9.20,0.631,6,0.000,0.035,2338,2128,2363
$STATE,21571,end climb,SURFACE_DEPTH_REACHED
$STATE,21571,begin surface coast
$FINISH,0.0,1.026875
$STATE,21616,end surface coast,CONTROL_FINISHED_OK
$STATE,21616,begin surface
$SM_CCo,21637,96.22,0.669,0,0,1772,250.21
$SM_GC,0.63,0.00,0.00,96.22,0.000,0.000,0.669,60,2123,1772,-8.76,-0.23,250.21
$IRIDIUM_FIX,6631.12,557.38,110198,000042
$TT8_MAMPS,0.021476
$HUMID,2101
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,3.50
$XPDR_PINGS,-1
$24V_AH,22.9,53.448
$10V_AH,10.1,45.341
$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,22.925,152.550,163.225,96.225,0.000,30.730,28.854,137.864,0.000,0.000,0.000,12.670,1523.158,18440.176,447.857,1122.318,552.339,0.000,1351.926,0.000,1021.454,0.000,0.654
$DEVICE_MAMPS,174.109,69.030,1427.387,668.824,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,504.409,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25327,527
$CAP_FILE_SIZE,134257,0
$CFSIZE,256368640,219860992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.056,206.6,1
$GPS,171008,132624,6701.120,600.600,24,1.0,40,-2.0