version: 66.03
glider: 17
mission: 6
dive: 401
start: 10 17 108 13 32 39
data:
$ID,17
$MISSION,6
$DIVE,401
$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,-96018.758
$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,16
$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
$GPS1,132624,6701.120,600.600,24,1.0,40,-2.0
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-48.3
$GPS2,133209,6701.110,600.580,11,1.6,11,-2.0
$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,186.5,2099,-26.8,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,26,-2.27,-28.6,0.0,0.0,0,73,0.00,0.00,-44.95,0.000,6,0.000,0.000,60,2120,2910
$GC,76,-2.31,-71.3,2.2,-0.0,1,95,8.25,2.15,-4.75,0.000,4,0.180,0.062,1454,3252,3085
$GC,347,-2.31,-71.3,57.5,-18.6,7,351,0.00,2.00,0.00,0.000,6,0.000,0.035,1454,2115,3087
$GC,672,-2.31,-71.3,114.7,-17.4,15,676,0.00,2.10,0.00,0.000,4,0.000,0.049,1454,3257,3087
$GC,699,-2.31,-71.3,119.8,-18.1,15,702,0.00,1.98,0.00,0.000,6,0.000,0.036,1454,2125,3088
$GC,1037,-2.31,-71.3,175.8,-16.7,24,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,2125,3089
$GC,1361,-2.31,-71.3,229.8,-16.7,32,1365,0.00,2.10,0.00,0.000,4,0.000,0.050,1454,3259,3089
$GC,1405,-2.31,-71.3,237.4,-16.5,33,1408,0.00,1.98,0.00,0.000,6,0.000,0.036,1454,2131,3089
$GC,1731,-2.31,-71.3,289.7,-16.0,41,1735,0.00,2.08,0.00,0.000,4,0.000,0.051,1454,3261,3090
$GC,1763,-2.31,-71.3,295.3,-15.9,41,1770,0.00,2.00,0.00,0.000,6,0.000,0.037,1454,2130,3090
$GC,2095,-2.31,-71.3,347.4,-15.7,50,2099,0.00,2.05,0.00,0.000,4,0.000,0.051,1454,3254,3090
$GC,2161,-2.31,-71.3,358.1,-15.7,51,2165,0.00,1.95,0.00,0.000,6,0.000,0.037,1454,2135,3090
$GC,2506,-2.31,-71.3,409.1,-15.1,60,2509,0.00,2.05,0.00,0.000,4,0.000,0.051,1454,3254,3090
$GC,2594,-2.31,-71.3,423.8,-16.3,62,2598,0.00,1.95,0.00,0.000,6,0.000,0.037,1454,2152,3090
$GC,2919,-2.31,-71.3,474.3,-15.5,70,2923,0.00,2.05,0.00,0.000,4,0.000,0.053,1454,3261,3090
$GC,2976,-2.31,-71.3,483.3,-16.2,71,2979,0.00,1.95,0.00,0.000,6,0.000,0.038,1454,2161,3090
$GC,3324,-2.31,-71.3,536.0,-15.1,80,3325,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,2161,3090
$GC,3648,-2.31,-71.3,585.4,-15.3,88,3652,0.00,2.05,0.00,0.000,4,0.000,0.058,1454,3257,3090
$GC,3678,-2.31,-71.3,589.8,-16.1,88,3682,0.00,1.95,0.00,0.000,6,0.000,0.042,1454,2164,3090
$GC,4009,-2.31,-71.3,638.8,-14.6,96,4013,0.00,2.05,0.00,0.000,4,0.000,0.063,1454,3258,3090
$GC,4059,-2.31,-71.3,646.5,-15.1,97,4062,0.00,1.98,0.00,0.000,6,0.000,0.044,1454,2161,3090
$GC,4378,-2.31,-71.3,693.4,-14.8,105,4382,0.00,2.05,0.00,0.000,4,0.000,0.064,1454,3254,3089
$GC,4408,-2.31,-71.3,697.8,-15.7,105,4411,0.00,1.98,0.00,0.000,6,0.000,0.047,1454,2157,3089
$GC,4739,-2.31,-71.3,748.3,-15.2,113,4743,0.00,2.05,0.00,0.000,4,0.000,0.065,1454,3252,3088
$GC,4765,-2.31,-71.3,752.7,-15.5,113,4769,0.00,1.98,0.00,0.000,6,0.000,0.048,1454,2160,3088
$GC,5104,-2.31,-71.3,802.6,-14.7,122,5108,0.00,2.05,0.00,0.000,4,0.000,0.066,1454,3259,3086
$GC,5153,-2.31,-71.3,810.4,-15.4,123,5157,0.00,1.98,0.00,0.000,6,0.000,0.048,1454,2169,3085
$GC,5473,-2.31,-71.3,856.5,-14.4,131,5476,0.00,2.03,0.00,0.000,4,0.000,0.067,1454,3254,3084
$GC,5514,-2.31,-71.3,862.3,-14.6,132,5518,0.00,1.95,0.00,0.000,6,0.000,0.048,1454,2177,3084
$GC,5840,-2.31,-71.3,908.0,-14.0,140,5843,0.00,2.00,0.00,0.000,4,0.000,0.067,1454,3252,3083
$GC,5861,-2.31,-71.3,911.5,-14.3,140,5864,0.00,1.95,0.00,0.000,6,0.000,0.049,1454,2176,3083
$GC,6204,-2.31,-71.3,959.0,-13.9,149,6208,0.00,2.03,0.00,0.000,4,0.000,0.067,1454,3253,3081
$GC,6245,-2.31,-71.3,964.7,-14.5,150,6249,0.00,1.95,0.00,0.000,6,0.000,0.049,1454,2179,3082
$STATE,6445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6445,begin apogee
$GC,6452,-0.42,0.0,992.6,13.7,155,6521,2.25,0.00,64.95,1.433,6,0.139,0.000,1870,2000,2792
$STATE,6522,end apogee,CONTROL_FINISHED_OK
$STATE,6522,begin climb
$GC,6525,2.31,71.3,994.5,0.0,156,6596,2.83,0.00,65.15,1.406,6,0.064,0.000,2469,2000,2501
$GC,6901,2.31,71.3,952.7,13.2,166,6902,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2001,2499
$GC,7224,2.31,71.3,911.6,12.5,174,7228,0.00,2.15,0.00,0.000,4,0.000,0.064,2469,3138,2497
$GC,7482,2.31,71.3,879.3,12.2,179,7488,0.00,2.05,0.00,0.000,6,0.000,0.051,2470,2017,2496
$GC,7813,2.31,71.3,840.0,11.8,188,7817,0.00,2.12,0.00,0.000,4,0.000,0.064,2469,3133,2495
$GC,8071,2.31,71.3,809.2,11.9,193,8077,0.00,2.05,0.00,0.000,6,0.000,0.051,2469,2014,2494
$GC,8402,2.31,71.3,770.2,11.9,202,8406,0.00,2.12,0.00,0.000,4,0.000,0.065,2470,3140,2493
$GC,8642,2.31,71.3,740.3,12.7,207,8646,0.00,2.05,0.00,0.000,6,0.000,0.051,2470,2015,2493
$GC,8992,2.31,71.3,698.5,12.1,216,8993,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2015,2493
$GC,9316,2.31,71.3,660.3,11.7,224,9320,0.00,2.10,0.00,0.000,4,0.000,0.065,2470,3133,2492
$GC,9573,2.31,71.3,629.8,12.1,229,9580,0.00,2.05,0.00,0.000,6,0.000,0.051,2470,2018,2492
$GC,9905,2.31,71.3,594.8,10.3,238,9909,0.00,2.12,0.00,0.000,4,0.000,0.064,2470,3138,2491
$GC,10163,2.31,71.3,569.6,9.8,243,10169,0.00,2.03,0.00,0.000,6,0.000,0.051,2469,2024,2491
$GC,10494,2.31,71.3,539.7,8.9,252,10498,0.00,2.12,0.00,0.000,4,0.000,0.064,2469,3142,2491
$GC,10752,2.31,71.3,515.3,9.6,257,10758,0.00,2.03,0.00,0.000,6,0.000,0.049,2469,2026,2490
$GC,11083,2.31,71.3,482.6,9.9,266,11087,0.00,2.10,0.00,0.000,4,0.000,0.061,2470,3140,2490
$GC,11341,2.31,71.3,457.1,9.4,271,11348,0.00,2.00,0.00,0.000,6,0.000,0.046,2470,2029,2490
$GC,11673,2.31,71.3,426.2,9.4,280,11674,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2028,2490
$GC,11998,2.31,71.3,398.3,8.3,288,12001,0.00,2.08,0.00,0.000,4,0.000,0.058,2470,3144,2490
$GC,12144,2.31,71.3,386.5,7.8,291,12148,0.00,2.00,0.00,0.000,6,0.000,0.044,2469,2027,2490
$GC,12491,2.31,71.3,357.3,8.6,300,12492,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2027,2490
$GC,12817,2.31,71.3,329.5,8.6,308,12818,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2027,2491
$GC,13141,2.31,71.3,301.2,8.9,316,13142,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2027,2491
$GC,13467,2.31,71.3,274.8,8.0,324,13471,0.00,2.05,0.00,0.000,4,0.000,0.053,2470,3140,2492
$GC,13597,2.31,71.3,263.9,8.2,327,13601,0.00,2.00,0.00,0.000,6,0.000,0.041,2469,2023,2492
$GC,13922,2.31,71.3,238.1,7.9,335,13923,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2023,2493
$GC,14246,2.31,71.3,210.2,8.8,343,14247,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2023,2494
$GC,14571,2.31,71.3,181.0,9.1,351,14572,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2023,2495
$GC,14896,2.31,71.3,151.6,9.3,359,14897,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2023,2495
$GC,15221,2.31,71.3,122.7,8.8,367,15222,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2023,2497
$GC,15547,2.31,71.3,94.8,8.5,375,15550,0.00,2.08,0.00,0.000,4,0.000,0.051,2469,3142,2497
$GC,15619,2.31,71.3,88.5,8.5,376,15622,0.00,1.98,0.00,0.000,6,0.000,0.038,2470,2030,2497
$GC,15956,2.31,71.3,62.5,7.7,385,15960,0.00,2.03,0.00,0.000,4,0.000,0.049,2469,3140,2498
$GC,16213,2.34,92.8,45.6,3.4,390,16237,0.00,1.92,18.35,0.696,6,0.000,0.036,2469,2038,2413
$GC,16547,2.34,92.8,22.1,8.2,399,16551,0.00,2.05,0.00,0.000,4,0.000,0.048,2469,3143,2413
$STATE,16751,end climb,SURFACE_DEPTH_REACHED
$STATE,16751,begin surface coast
$FINISH,1.0,1.027012
$STATE,16758,end surface coast,CONTROL_FINISHED_OK
$STATE,16758,begin surface
$SM_CCo,16782,98.80,0.677,0,0,1772,250.21
$SM_GC,0.72,0.00,0.00,98.80,0.000,0.000,0.677,55,2111,1772,-8.78,-0.54,250.21
$IRIDIUM_FIX,6631.12,552.48,110198,070722
$TT8_MAMPS,0.021476
$HUMID,2092
$INTERNAL_PRESSURE,8.21321
$TCM_TEMP,3.50
$XPDR_PINGS,-1
$24V_AH,22.9,53.536
$10V_AH,10.1,45.390
$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,24.350,109.825,148.450,98.800,0.000,31.183,32.787,160.615,0.000,0.000,0.000,11.778,1209.129,14117.933,422.636,972.653,518.078,0.000,1184.082,0.000,889.391,0.000,0.654
$DEVICE_MAMPS,180.245,67.496,1432.756,677.261,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,385.625,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19058,403
$CAP_FILE_SIZE,107039,0
$CFSIZE,256368640,219840512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059,225.1,1
$GPS,171008,181508,6659.103,559.209,28,1.9,28,-2.1