version: 66.03
glider: 17
mission: 6
dive: 403
start: 10 18 108 0 29 45
data:
$ID,17
$MISSION,6
$DIVE,403
$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,-96091.891
$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,17
$R_STBD_OVSHOOT,19
$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
$GPS1,002316,6659.479,559.742,44,2.2,63,-2.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-46.7
$GPS2,002917,6659.489,559.711,17,2.1,36,-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,17.3,970,-26.8,-6.875
$D_GRID,1284
$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,20,begin dive
$GC,24,-2.27,-28.6,0.0,0.0,0,71,0.00,0.00,-45.88,0.000,6,0.000,0.000,57,2131,2910
$GC,75,-2.31,-71.3,2.2,-0.0,1,94,8.27,2.12,-5.07,0.000,4,0.182,0.063,1455,3253,3086
$GC,346,-2.31,-71.3,54.3,-17.7,7,349,0.00,2.00,0.00,0.000,6,0.000,0.035,1455,2115,3087
$GC,671,-2.31,-71.3,109.7,-16.7,15,675,0.00,2.10,0.00,0.000,4,0.000,0.049,1455,3255,3088
$GC,839,-2.31,-71.3,139.1,-18.0,18,846,0.00,2.00,0.00,0.000,6,0.000,0.035,1455,2124,3089
$GC,1170,-2.31,-71.3,195.1,-16.8,27,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,2124,3089
$GC,1495,-2.31,-71.3,247.4,-16.1,35,1499,0.00,2.12,0.00,0.000,4,0.000,0.049,1455,3263,3090
$GC,1546,-2.31,-71.3,255.8,-16.2,36,1550,0.00,2.00,0.00,0.000,6,0.000,0.036,1455,2125,3090
$GC,1859,-2.31,-71.3,305.3,-15.9,44,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,2126,3090
$GC,2183,-2.31,-71.3,355.8,-15.5,52,2187,0.00,2.12,0.00,0.000,4,0.000,0.051,1455,3262,3090
$GC,2268,-2.31,-71.3,369.1,-16.3,54,2272,0.00,2.03,0.00,0.000,6,0.000,0.037,1455,2117,3090
$GC,2594,-2.31,-71.3,420.2,-15.7,62,2598,0.00,2.12,0.00,0.000,4,0.000,0.052,1455,3257,3091
$GC,2638,-2.31,-71.3,427.6,-16.2,63,2641,0.00,2.00,0.00,0.000,6,0.000,0.038,1455,2127,3090
$GC,2957,-2.31,-71.3,476.0,-15.1,71,2961,0.00,2.10,0.00,0.000,4,0.000,0.054,1455,3256,3090
$GC,2998,-2.31,-71.3,482.0,-14.9,72,3002,0.00,2.00,0.00,0.000,6,0.000,0.039,1455,2129,3090
$GC,3322,-2.31,-71.3,529.4,-14.5,80,3323,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,2129,3090
$GC,3647,-2.31,-71.3,577.7,-15.0,88,3651,0.00,2.15,0.00,0.000,4,0.000,0.058,1455,3254,3090
$GC,3810,-2.31,-71.3,603.1,-15.3,91,3814,0.00,1.98,0.00,0.000,6,0.000,0.041,1455,2150,3090
$GC,4141,-2.31,-71.3,653.2,-15.0,99,4145,0.00,2.10,0.00,0.000,4,0.000,0.064,1455,3254,3090
$GC,4190,-2.31,-71.3,660.9,-15.3,100,4194,0.00,2.00,0.00,0.000,6,0.000,0.045,1454,2142,3090
$GC,4505,-2.31,-71.3,708.0,-15.2,108,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,2142,3089
$GC,4829,-2.31,-71.3,757.9,-15.4,116,4832,0.00,2.10,0.00,0.000,4,0.000,0.067,1455,3254,3087
$GC,4895,-2.31,-71.3,768.5,-15.5,117,4899,0.00,2.00,0.00,0.000,6,0.000,0.048,1455,2146,3087
$GC,5232,-2.31,-71.3,819.0,-14.9,126,5236,0.00,2.10,0.00,0.000,4,0.000,0.067,1455,3254,3085
$GC,5283,-2.31,-71.3,826.8,-15.5,127,5287,0.00,1.98,0.00,0.000,6,0.000,0.048,1455,2155,3085
$GC,5596,-2.31,-71.3,873.2,-14.6,135,5600,0.00,2.05,0.00,0.000,4,0.000,0.068,1455,3254,3084
$GC,5640,-2.31,-71.3,880.1,-14.9,136,5643,0.00,1.98,0.00,0.000,6,0.000,0.049,1455,2154,3084
$GC,5966,-2.31,-71.3,926.8,-14.4,144,5967,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,2154,3083
$GC,6289,-2.31,-71.3,972.4,-13.8,152,6293,0.00,2.08,0.00,0.000,4,0.000,0.067,1455,3254,3082
$GC,6395,-2.31,-71.3,987.4,-13.8,154,6398,0.00,1.95,0.00,0.000,6,0.000,0.048,1455,2167,3081
$STATE,6416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6416,begin apogee
$GC,6424,-0.42,0.0,990.4,14.2,155,6493,2.25,0.00,64.82,1.407,6,0.141,0.000,1868,2002,2792
$STATE,6494,end apogee,CONTROL_FINISHED_OK
$STATE,6494,begin climb
$GC,6497,2.31,71.3,992.3,0.0,156,6570,2.85,2.20,64.95,1.391,4,0.066,0.068,2474,885,2501
$GC,6592,2.31,71.3,986.2,10.6,159,6596,0.00,2.05,0.00,0.000,6,0.000,0.048,2474,2016,2500
$GC,6906,2.31,71.3,943.5,13.7,167,6910,0.00,2.08,0.00,0.000,4,0.000,0.067,2474,3143,2499
$GC,7018,2.31,71.3,927.7,13.6,169,7022,0.00,2.03,0.00,0.000,6,0.000,0.051,2474,2023,2498
$GC,7355,2.31,71.3,882.7,13.3,178,7359,0.00,2.08,0.00,0.000,4,0.000,0.064,2474,3135,2496
$GC,7536,2.31,71.3,858.4,13.6,182,7540,0.00,2.00,0.00,0.000,6,0.000,0.051,2474,2025,2495
$GC,7855,2.31,71.3,816.6,13.0,190,7859,0.00,2.10,0.00,0.000,4,0.000,0.064,2474,3136,2494
$GC,8106,2.31,71.3,783.6,13.3,195,8110,0.00,2.00,0.00,0.000,6,0.000,0.051,2474,2030,2494
$GC,8444,2.31,71.3,742.0,12.3,204,8448,0.00,2.10,0.00,0.000,4,0.000,0.066,2474,3136,2493
$GC,8529,2.31,71.3,731.5,12.7,206,8533,0.00,2.00,0.00,0.000,6,0.000,0.053,2474,2034,2493
$GC,8855,2.31,71.3,692.5,11.9,214,8858,0.00,2.08,0.00,0.000,4,0.000,0.067,2474,3139,2492
$GC,9112,2.31,71.3,662.2,11.2,219,9119,0.00,2.00,0.00,0.000,6,0.000,0.052,2474,2039,2492
$GC,9445,2.31,71.3,627.0,10.5,228,9448,0.00,2.05,0.00,0.000,4,0.000,0.067,2474,3141,2492
$GC,9668,2.31,71.3,604.6,10.0,233,9672,0.00,2.00,0.00,0.000,6,0.000,0.051,2474,2038,2491
$GC,9994,2.31,71.3,573.6,9.3,241,9998,0.00,2.05,0.00,0.000,4,0.000,0.064,2474,3139,2491
$GC,10010,2.31,71.3,571.8,9.6,241,10014,0.00,2.00,0.00,0.000,6,0.000,0.051,2474,2041,2491
$GC,10359,2.31,71.3,539.1,9.2,250,10363,0.00,2.05,0.00,0.000,4,0.000,0.064,2474,3134,2491
$GC,10616,2.31,71.3,513.0,10.2,255,10623,0.00,1.95,0.00,0.000,6,0.000,0.049,2474,2059,2490
$GC,10948,2.31,71.3,483.9,8.6,264,10952,0.00,2.03,0.00,0.000,4,0.000,0.061,2474,3137,2490
$GC,11206,2.31,71.3,460.0,9.0,269,11213,0.00,1.95,0.00,0.000,6,0.000,0.047,2474,2056,2490
$GC,11538,2.31,71.3,431.1,8.7,278,11541,0.00,2.03,0.00,0.000,4,0.000,0.058,2474,3137,2490
$GC,11795,2.31,71.3,408.5,8.6,283,11801,0.00,1.92,0.00,0.000,6,0.000,0.044,2474,2066,2490
$GC,12126,2.31,71.3,378.5,9.3,292,12130,0.00,2.00,0.00,0.000,4,0.000,0.056,2474,3135,2490
$GC,12384,2.31,71.3,355.6,8.5,297,12390,0.00,1.92,0.00,0.000,6,0.000,0.042,2474,2065,2490
$GC,12716,2.31,71.3,326.5,8.9,306,12719,0.00,2.00,0.00,0.000,4,0.000,0.054,2475,3144,2491
$GC,12793,2.31,71.3,319.5,9.2,307,12800,0.00,1.92,0.00,0.000,6,0.000,0.042,2474,2056,2491
$GC,13126,2.31,71.3,291.4,8.7,316,13127,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2056,2492
$GC,13450,2.31,71.3,264.2,8.4,324,13451,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2056,2492
$GC,13775,2.31,71.3,236.9,8.4,332,13776,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2056,2493
$GC,14100,2.31,71.3,209.3,8.5,340,14103,0.00,2.00,0.00,0.000,4,0.000,0.052,2474,3141,2494
$GC,14186,2.31,71.3,201.7,8.6,342,14189,0.00,1.90,0.00,0.000,6,0.000,0.039,2474,2063,2494
$GC,14510,2.31,71.3,172.8,8.8,350,14511,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2063,2495
$GC,14835,2.31,71.3,143.1,9.1,358,14838,0.00,2.00,0.00,0.000,4,0.000,0.051,2474,3142,2496
$GC,14992,2.31,71.3,128.9,8.4,361,14996,0.00,1.90,0.00,0.000,6,0.000,0.038,2474,2062,2496
$GC,15329,2.31,71.3,101.2,7.6,370,15333,0.00,1.98,0.00,0.000,4,0.000,0.050,2474,3135,2496
$GC,15585,2.31,71.3,82.1,7.4,375,15592,0.00,1.85,0.00,0.000,6,0.000,0.036,2474,2079,2497
$GC,15918,2.31,71.3,58.7,7.2,384,15921,0.00,1.95,0.00,0.000,4,0.000,0.050,2474,3140,2498
$GC,16124,2.33,90.2,49.9,3.8,388,16144,0.00,1.83,16.08,0.682,6,0.000,0.035,2475,2096,2424
$GC,16458,2.33,90.2,24.0,8.8,397,16462,0.00,2.17,0.00,0.000,4,0.000,0.052,2475,884,2423
$GC,16652,2.33,90.2,5.1,10.5,401,16656,0.00,2.15,0.00,0.000,6,0.000,0.031,2475,2114,2424
$STATE,16714,end climb,SURFACE_DEPTH_REACHED
$STATE,16714,begin surface coast
$FINISH,-0.1,1.026988
$STATE,16756,end surface coast,CONTROL_FINISHED_OK
$STATE,16756,begin surface
$SM_CCo,16778,101.45,0.647,0,0,1771,250.21
$SM_GC,0.50,0.00,0.00,101.45,0.000,0.000,0.647,52,2113,1771,-8.80,-0.48,250.21
$IRIDIUM_FIX,6631.12,547.01,110198,181844
$TT8_MAMPS,0.021476
$HUMID,2085
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,3.50
$XPDR_PINGS,-1
$24V_AH,22.9,53.699
$10V_AH,10.1,45.507
$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,24.425,121.775,145.850,101.450,0.000,28.645,31.439,147.508,0.000,0.000,0.000,37.527,1247.589,13924.658,437.271,1125.841,515.322,0.000,1290.212,0.000,1010.721,0.000,0.654
$DEVICE_MAMPS,181.779,68.263,1407.445,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,383.568,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19086,404
$CAP_FILE_SIZE,115003,0
$CFSIZE,256368640,219729920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055,173.0,1
$GPS,181008,051226,6700.367,600.618,41,2.0,41,-2.0