version: 66.03
glider: 17
mission: 6
dive: 402
start: 10 17 108 18 21 48
data:
$ID,17
$MISSION,6
$DIVE,402
$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,-96053.742
$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,27
$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
$GPS1,181508,6659.103,559.209,28,1.9,28,-2.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-47.9
$GPS2,182120,6659.103,559.170,17,2.0,34,-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,34.0,1766,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-2.27,-28.6,0.0,0.0,0,73,0.00,0.00,-45.25,0.000,6,0.000,0.000,54,2109,2910
$GC,76,-2.28,-40.1,2.8,-5.0,2,91,8.38,2.00,-1.27,0.000,4,0.183,0.061,1464,1003,2958
$GC,119,-2.28,-40.1,10.4,-14.4,3,123,0.00,2.03,0.00,0.000,6,0.000,0.032,1464,2142,2959
$GC,438,-2.28,-40.1,66.2,-17.1,11,442,0.00,2.03,0.00,0.000,4,0.000,0.044,1464,995,2962
$GC,695,-2.28,-40.1,104.6,-14.6,16,702,0.00,2.00,0.00,0.000,6,0.000,0.032,1464,2139,2961
$GC,1028,-2.28,-40.1,148.2,-13.1,25,1032,0.00,2.03,0.00,0.000,4,0.000,0.045,1464,1000,2962
$GC,1234,-2.28,-40.1,177.3,-14.1,29,1238,0.00,1.98,0.00,0.000,6,0.000,0.033,1464,2130,2962
$GC,1573,-2.28,-40.1,223.9,-14.0,38,1577,0.00,2.05,0.00,0.000,4,0.000,0.051,1464,3255,2963
$GC,1706,-2.28,-40.1,243.2,-14.2,41,1710,0.00,1.98,0.00,0.000,6,0.000,0.035,1464,2126,2963
$GC,2031,-2.28,-40.1,286.4,-13.0,49,2035,0.00,2.08,0.00,0.000,4,0.000,0.051,1464,3253,2963
$GC,2098,-2.28,-40.1,295.3,-13.0,50,2102,0.00,1.92,0.00,0.000,6,0.000,0.036,1464,2145,2963
$GC,2435,-2.28,-40.1,337.7,-12.4,59,2439,0.00,2.03,0.00,0.000,4,0.000,0.051,1464,3250,2964
$GC,2541,-2.28,-40.1,351.7,-12.6,61,2544,0.00,1.92,0.00,0.000,6,0.000,0.036,1464,2148,2964
$GC,2891,-2.28,-40.1,397.5,-13.1,70,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,2148,2964
$GC,3214,-2.28,-40.1,441.0,-13.5,78,3218,0.00,2.05,0.00,0.000,4,0.000,0.052,1464,3253,2964
$GC,3269,-2.28,-40.1,448.8,-14.1,79,3273,0.00,1.92,0.00,0.000,6,0.000,0.038,1464,2163,2964
$GC,3584,-2.28,-40.1,488.2,-12.4,87,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,2163,2964
$GC,3908,-2.28,-40.1,527.1,-11.9,95,3911,0.00,2.05,0.00,0.000,4,0.000,0.055,1464,3250,2964
$GC,4064,-2.28,-40.1,546.6,-12.2,98,4067,0.00,1.92,0.00,0.000,6,0.000,0.039,1464,2166,2964
$GC,4408,-2.28,-40.1,586.1,-11.6,107,4409,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,2166,2964
$GC,4732,-2.28,-40.1,623.4,-11.5,115,4735,0.00,2.10,0.00,0.000,4,0.000,0.057,1464,995,2963
$GC,4775,-2.28,-40.1,628.9,-12.1,116,4779,0.00,2.10,0.00,0.000,6,0.000,0.042,1464,2162,2963
$GC,5095,-2.28,-40.1,666.2,-11.9,124,5098,0.00,2.05,0.00,0.000,4,0.000,0.067,1464,3249,2962
$GC,5151,-2.28,-40.1,673.4,-12.7,125,5155,0.00,1.95,0.00,0.000,6,0.000,0.045,1464,2155,2962
$GC,5499,-2.28,-40.1,717.1,-12.9,134,5500,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,2154,2961
$GC,5824,-2.28,-40.1,759.6,-13.2,142,5827,0.00,2.08,0.00,0.000,4,0.000,0.064,1464,3251,2959
$GC,5885,-2.28,-40.1,768.1,-13.8,143,5889,0.00,1.95,0.00,0.000,6,0.000,0.047,1464,2162,2959
$GC,6228,-2.28,-40.1,812.7,-12.8,152,6229,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,2161,2958
$GC,6553,-2.28,-40.1,853.0,-12.3,160,6554,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,2161,2957
$GC,6878,-2.28,-40.1,892.4,-11.9,168,6879,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,2161,2955
$GC,7204,-2.28,-40.1,930.1,-11.4,176,7205,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,2161,2954
$GC,7527,-2.28,-40.1,965.6,-10.8,184,7531,0.00,2.08,0.00,0.000,4,0.000,0.066,1464,3254,2953
$GC,7594,-2.28,-40.1,973.1,-10.9,185,7597,0.00,1.98,0.00,0.000,6,0.000,0.048,1464,2156,2952
$STATE,7771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7771,begin apogee
$GC,7778,-0.42,0.0,992.5,10.9,190,7820,2.20,0.00,37.17,1.442,6,0.143,0.000,1867,2007,2792
$STATE,7821,end apogee,CONTROL_FINISHED_OK
$STATE,7821,begin climb
$GC,7825,2.28,40.1,994.0,0.0,191,7872,2.85,2.20,37.78,1.387,4,0.066,0.067,2461,889,2628
$GC,7906,2.28,41.9,989.9,6.6,193,7910,0.00,2.05,0.00,0.000,6,0.000,0.048,2461,2009,2627
$GC,8220,2.28,41.9,966.2,7.7,201,8221,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2009,2626
$GC,8546,2.28,41.9,941.4,7.5,209,8549,0.00,2.08,0.00,0.000,4,0.000,0.065,2461,3134,2625
$GC,8640,2.28,41.9,934.0,7.4,211,8644,0.00,2.03,0.00,0.000,6,0.000,0.051,2461,2011,2624
$GC,8954,2.28,41.9,911.4,7.2,219,8958,0.00,2.08,0.00,0.000,4,0.000,0.065,2461,3135,2623
$GC,9106,2.28,41.9,900.6,7.7,222,9109,0.00,2.05,0.00,0.000,6,0.000,0.051,2461,2012,2623
$GC,9448,2.28,42.2,877.2,6.8,231,9452,0.00,2.12,0.00,0.000,4,0.000,0.065,2462,3136,2622
$GC,9689,2.28,43.4,860.5,6.7,236,9693,0.00,2.05,0.00,0.000,6,0.000,0.051,2461,2016,2622
$GC,10032,2.29,44.7,837.5,6.7,245,10041,0.00,2.15,4.82,0.978,4,0.000,0.064,2461,3134,2609
$GC,10109,2.29,44.7,832.1,7.6,246,10116,0.00,2.03,0.00,0.000,6,0.000,0.051,2461,2023,2609
$GC,10441,2.29,44.7,807.6,7.3,255,10444,0.00,2.10,0.00,0.000,4,0.000,0.066,2461,3144,2608
$GC,10518,2.29,44.7,801.9,7.1,256,10525,0.00,2.03,0.00,0.000,6,0.000,0.052,2461,2028,2607
$GC,10852,2.29,45.9,779.4,6.7,265,10855,0.00,2.08,0.00,0.000,4,0.000,0.067,2461,3136,2607
$GC,11109,2.29,51.2,763.1,6.0,270,11120,0.00,2.00,6.85,1.083,6,0.000,0.052,2461,2031,2583
$GC,11440,2.29,51.2,740.5,6.9,279,11444,0.00,2.08,0.00,0.000,4,0.000,0.066,2461,3135,2582
$GC,11541,2.29,52.3,733.4,6.7,281,11544,0.00,2.03,0.00,0.000,6,0.000,0.052,2461,2028,2582
$GC,11889,2.29,52.5,709.5,6.8,290,11893,0.00,2.10,0.00,0.000,4,0.000,0.066,2461,3144,2582
$GC,12118,2.29,53.3,693.6,6.8,295,12121,0.00,2.00,0.00,0.000,6,0.000,0.052,2461,2041,2582
$GC,12431,2.30,55.2,673.3,6.6,303,12441,0.00,2.10,5.00,0.937,4,0.000,0.064,2461,3136,2567
$GC,12584,2.30,55.2,662.1,7.7,306,12588,0.00,2.00,0.00,0.000,6,0.000,0.051,2461,2033,2567
$GC,12927,2.30,55.2,637.0,7.1,315,12928,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2032,2567
$GC,13252,2.30,57.8,615.7,6.4,323,13260,0.00,2.08,4.20,0.833,4,0.000,0.066,2461,3134,2555
$GC,13514,2.30,57.8,596.3,7.1,328,13520,0.00,2.03,0.00,0.000,6,0.000,0.051,2461,2028,2555
$GC,13847,2.30,57.8,573.0,7.1,337,13850,0.00,2.10,0.00,0.000,4,0.000,0.065,2461,3135,2555
$GC,14104,2.30,60.8,554.8,6.4,342,14114,0.00,2.00,4.28,0.810,6,0.000,0.050,2461,2038,2544
$GC,14441,2.30,60.8,530.8,7.2,351,14445,0.00,2.12,0.00,0.000,4,0.000,0.069,2461,884,2544
$GC,14700,2.30,60.8,512.2,7.1,356,14707,0.00,2.10,0.00,0.000,6,0.000,0.047,2461,2065,2543
$GC,15033,2.31,68.6,492.8,5.6,365,15046,0.00,2.28,8.50,0.984,4,0.000,0.062,2461,878,2512
$GC,15302,2.31,68.6,471.0,8.8,371,15306,0.00,2.12,0.00,0.000,6,0.000,0.046,2461,2060,2512
$GC,15628,2.31,68.6,445.2,8.1,379,15632,0.00,2.17,0.00,0.000,4,0.000,0.061,2461,876,2512
$GC,15885,2.31,68.6,423.1,8.2,384,15892,0.00,2.12,0.00,0.000,6,0.000,0.044,2461,2066,2512
$GC,16218,2.31,68.6,396.2,7.9,393,16222,0.00,2.17,0.00,0.000,4,0.000,0.059,2461,878,2512
$GC,16250,2.31,68.6,393.2,8.7,393,16258,0.00,2.15,0.00,0.000,6,0.000,0.043,2461,2076,2512
$GC,16583,2.31,68.6,367.6,7.8,402,16586,0.00,1.95,0.00,0.000,4,0.000,0.058,2461,3137,2512
$GC,16745,2.31,68.6,354.1,8.8,405,16749,0.00,1.88,0.00,0.000,6,0.000,0.042,2461,2070,2512
$GC,17077,2.31,68.6,327.7,8.0,413,17080,0.00,2.00,0.00,0.000,4,0.000,0.054,2461,3144,2512
$GC,17087,2.31,68.6,326.7,8.1,413,17090,0.00,1.92,0.00,0.000,6,0.000,0.042,2461,2066,2513
$GC,17402,2.31,68.6,301.4,8.2,421,17405,0.00,1.98,0.00,0.000,4,0.000,0.054,2461,3136,2513
$GC,17660,2.31,68.6,281.5,7.0,426,17667,0.00,1.88,0.00,0.000,6,0.000,0.041,2461,2069,2514
$GC,17993,2.31,68.6,256.8,7.5,435,17997,0.00,1.98,0.00,0.000,4,0.000,0.052,2461,3143,2515
$GC,18212,2.31,68.6,240.1,7.0,440,18216,0.00,1.90,0.00,0.000,6,0.000,0.039,2461,2068,2515
$GC,18538,2.31,68.6,215.5,7.8,448,18542,0.00,1.98,0.00,0.000,4,0.000,0.051,2461,3140,2516
$GC,18553,2.31,68.6,214.0,7.9,448,18557,0.00,1.90,0.00,0.000,6,0.000,0.039,2461,2067,2516
$GC,18902,2.31,68.6,187.6,7.4,457,18906,0.00,1.98,0.00,0.000,4,0.000,0.051,2461,3134,2518
$GC,18980,2.31,68.6,181.6,7.0,458,18986,0.00,1.88,0.00,0.000,6,0.000,0.038,2461,2074,2518
$GC,19313,2.31,68.6,158.0,7.2,467,19314,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2074,2518
$GC,19636,2.31,68.6,133.1,7.6,475,19637,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2074,2518
$GC,19962,2.31,70.7,110.5,6.5,483,19971,0.00,1.98,5.35,0.608,4,0.000,0.049,2461,3138,2502
$GC,20224,2.31,70.7,89.4,7.9,489,20228,0.00,1.90,0.00,0.000,6,0.000,0.037,2461,2063,2502
$GC,20548,2.31,70.7,63.1,8.3,497,20552,0.00,1.98,0.00,0.000,4,0.000,0.050,2461,3135,2503
$GC,20755,2.31,70.7,45.5,7.8,501,20758,0.00,1.85,0.00,0.000,6,0.000,0.036,2461,2078,2503
$GC,21093,2.34,94.5,31.7,3.1,510,21115,0.00,0.00,20.52,0.666,6,0.000,0.000,2461,2078,2406
$GC,21417,2.34,94.5,4.9,9.7,518,21421,0.00,2.15,0.00,0.000,4,0.000,0.051,2461,879,2405
$STATE,21447,end climb,SURFACE_DEPTH_REACHED
$STATE,21447,begin surface coast
$FINISH,1.5,1.027001
$STATE,21456,end surface coast,CONTROL_FINISHED_OK
$STATE,21456,begin surface
$SM_CCo,21481,102.30,0.644,0,0,1772,250.21
$SM_GC,0.58,0.00,0.00,102.30,0.000,0.000,0.644,57,2132,1772,-8.78,0.06,250.21
$IRIDIUM_FIX,6631.12,604.00,110198,131306
$TT8_MAMPS,0.020709
$HUMID,2098
$INTERNAL_PRESSURE,8.21321
$TCM_TEMP,3.00
$XPDR_PINGS,-1
$24V_AH,22.9,53.614
$10V_AH,10.1,45.454
$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,24.775,150.625,134.475,102.300,0.000,29.092,37.387,167.758,0.000,0.000,0.000,34.362,1570.986,17982.018,449.074,1380.420,587.512,0.000,1499.834,0.000,1245.662,0.000,0.654
$DEVICE_MAMPS,182.546,69.030,1441.960,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,494.013,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25368,519
$CAP_FILE_SIZE,142687,0
$CFSIZE,256368640,219750400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.064,197.7,1
$GPS,181008,002316,6659.479,559.742,44,2.2,63,-2.0