version: 66.03
glider: 17
mission: 6
dive: 404
start: 10 18 108 5 19 4
data:
$ID,17
$MISSION,6
$DIVE,404
$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,-96124.289
$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,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
$GPS1,051226,6700.367,600.618,41,2.0,41,-2.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-46.6
$GPS2,051835,6700.372,600.612,11,2.5,30,-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,231.8,819,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-2.27,-28.6,0.0,0.0,0,72,0.00,0.00,-45.95,0.000,6,0.000,0.000,53,2114,2909
$GC,75,-2.31,-71.3,2.1,-0.0,1,94,8.38,2.05,-4.80,0.000,4,0.185,0.058,1454,995,3083
$GC,111,-2.31,-71.3,9.7,-17.5,1,119,0.00,2.03,0.00,0.000,6,0.000,0.034,1454,2133,3085
$GC,445,-2.31,-71.3,72.3,-18.9,10,446,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,2133,3086
$GC,768,-2.31,-71.3,126.2,-16.4,18,772,0.00,2.03,0.00,0.000,4,0.000,0.044,1454,995,3087
$GC,840,-2.31,-71.3,138.4,-16.9,19,844,0.00,1.98,0.00,0.000,6,0.000,0.033,1454,2124,3088
$GC,1179,-2.31,-71.3,192.5,-15.9,28,1183,0.00,2.08,0.00,0.000,4,0.000,0.051,1454,3256,3089
$GC,1206,-2.31,-71.3,197.5,-16.9,28,1210,0.00,2.00,0.00,0.000,6,0.000,0.035,1454,2120,3089
$GC,1543,-2.31,-71.3,252.1,-16.5,37,1547,0.00,2.10,0.00,0.000,4,0.000,0.050,1454,3251,3089
$GC,1615,-2.31,-71.3,264.5,-16.8,38,1618,0.00,2.00,0.00,0.000,6,0.000,0.035,1454,2123,3089
$GC,1953,-2.31,-71.3,319.3,-16.2,47,1955,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,2124,3089
$GC,2277,-2.31,-71.3,371.4,-15.9,55,2281,0.00,2.10,0.00,0.000,4,0.000,0.051,1454,3252,3089
$GC,2371,-2.31,-71.3,387.4,-16.9,57,2375,0.00,1.98,0.00,0.000,6,0.000,0.036,1454,2128,3089
$GC,2692,-2.31,-71.3,438.0,-15.8,65,2696,0.00,2.10,0.00,0.000,4,0.000,0.052,1454,3253,3089
$GC,2752,-2.31,-71.3,448.3,-16.6,66,2756,0.00,2.00,0.00,0.000,6,0.000,0.038,1454,2129,3089
$GC,3101,-2.31,-71.3,502.1,-15.3,75,3105,0.00,2.10,0.00,0.000,4,0.000,0.054,1454,3251,3089
$GC,3168,-2.31,-71.3,512.7,-16.0,76,3172,0.00,2.00,0.00,0.000,6,0.000,0.039,1454,2127,3089
$GC,3505,-2.31,-71.3,563.0,-14.5,85,3506,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,2127,3089
$GC,3830,-2.31,-71.3,610.7,-14.5,93,3834,0.00,2.12,0.00,0.000,4,0.000,0.059,1454,3250,3089
$GC,3915,-2.31,-71.3,623.7,-15.0,95,3919,0.00,1.98,0.00,0.000,6,0.000,0.043,1454,2151,3089
$GC,4240,-2.31,-71.3,671.8,-14.7,103,4244,0.00,2.10,0.00,0.000,4,0.000,0.064,1454,3251,3089
$GC,4284,-2.31,-71.3,678.7,-15.2,104,4288,0.00,2.00,0.00,0.000,6,0.000,0.044,1454,2142,3089
$GC,4609,-2.31,-71.3,725.5,-14.4,112,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,2140,3088
$GC,4935,-2.31,-71.3,772.6,-14.5,120,4939,0.00,2.12,0.00,0.000,4,0.000,0.066,1454,3248,3086
$GC,4962,-2.31,-71.3,777.0,-15.7,120,4966,0.00,1.98,0.00,0.000,6,0.000,0.048,1454,2157,3086
$GC,5294,-2.31,-71.3,824.4,-14.3,128,5298,0.00,2.08,0.00,0.000,4,0.000,0.066,1454,3254,3085
$GC,5350,-2.31,-71.3,833.0,-14.9,129,5354,0.00,2.00,0.00,0.000,6,0.000,0.048,1454,2150,3085
$GC,5698,-2.31,-71.3,883.3,-14.5,138,5702,0.00,2.05,0.00,0.000,4,0.000,0.067,1454,3248,3083
$GC,5753,-2.31,-71.3,891.8,-15.0,139,5757,0.00,1.98,0.00,0.000,6,0.000,0.048,1454,2152,3083
$GC,6067,-2.31,-71.3,936.5,-14.3,147,6071,0.00,2.05,0.00,0.000,4,0.000,0.067,1454,3251,3081
$GC,6135,-2.31,-71.3,946.5,-15.1,148,6138,0.00,1.95,0.00,0.000,6,0.000,0.048,1454,2166,3081
$STATE,6469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6469,begin apogee
$GC,6476,-0.42,0.0,994.5,14.3,157,6545,2.28,0.00,64.57,1.415,6,0.146,0.000,1869,2000,2792
$STATE,6546,end apogee,CONTROL_FINISHED_OK
$STATE,6546,begin climb
$GC,6549,2.31,71.3,996.6,0.0,158,6619,2.83,0.00,65.10,1.394,6,0.064,0.000,2473,2000,2501
$GC,6921,2.31,71.3,956.8,12.8,168,6925,0.00,2.10,0.00,0.000,4,0.000,0.065,2473,3129,2498
$GC,7178,2.31,71.3,922.0,13.7,173,7185,0.00,2.05,0.00,0.000,6,0.000,0.052,2473,2010,2497
$GC,7511,2.31,71.3,880.3,12.5,182,7515,0.00,2.08,0.00,0.000,4,0.000,0.066,2473,3130,2495
$GC,7768,2.31,71.3,847.0,12.9,187,7775,0.00,2.08,0.00,0.000,6,0.000,0.051,2473,2006,2495
$GC,8101,2.31,71.3,806.4,12.2,196,8105,0.00,2.12,0.00,0.000,4,0.000,0.065,2473,3130,2493
$GC,8358,2.31,71.3,774.7,11.9,201,8365,0.00,2.08,0.00,0.000,6,0.000,0.052,2473,2003,2493
$GC,8691,2.31,71.3,737.0,11.3,210,8695,0.00,2.15,0.00,0.000,4,0.000,0.066,2473,3138,2492
$GC,8948,2.31,71.3,707.6,11.5,215,8955,0.00,2.08,0.00,0.000,6,0.000,0.052,2473,2007,2492
$GC,9281,2.31,71.3,671.8,10.7,224,9285,0.00,2.17,0.00,0.000,4,0.000,0.065,2473,3139,2492
$GC,9532,2.31,71.3,643.8,11.7,229,9536,0.00,2.08,0.00,0.000,6,0.000,0.052,2473,2006,2492
$GC,9871,2.31,71.3,607.7,10.8,238,9875,0.00,2.12,0.00,0.000,4,0.000,0.065,2473,3129,2491
$GC,10128,2.31,71.3,579.8,11.2,243,10135,0.00,2.05,0.00,0.000,6,0.000,0.051,2473,2009,2491
$GC,10461,2.31,71.3,546.6,9.9,252,10465,0.00,2.12,0.00,0.000,4,0.000,0.064,2473,3137,2491
$GC,10718,2.31,71.3,520.8,9.1,257,10724,0.00,2.05,0.00,0.000,6,0.000,0.049,2473,2012,2490
$GC,11051,2.31,71.3,491.5,8.9,266,11054,0.00,2.12,0.00,0.000,4,0.000,0.061,2473,3138,2490
$GC,11308,2.31,71.3,468.5,8.5,271,11315,0.00,2.05,0.00,0.000,6,0.000,0.046,2473,2013,2490
$GC,11641,2.31,71.3,439.2,9.0,280,11645,0.00,2.12,0.00,0.000,4,0.000,0.058,2473,3138,2490
$GC,11898,2.31,71.3,414.2,9.0,285,11905,0.00,2.03,0.00,0.000,6,0.000,0.044,2473,2016,2490
$GC,12231,2.31,71.3,384.1,9.3,294,12232,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2016,2490
$GC,12555,2.31,71.3,355.5,8.5,302,12558,0.00,2.10,0.00,0.000,4,0.000,0.054,2473,3138,2490
$GC,12812,2.31,71.3,333.8,8.0,307,12819,0.00,2.03,0.00,0.000,6,0.000,0.041,2473,2011,2491
$GC,13145,2.31,71.3,306.8,8.3,316,13149,0.00,2.10,0.00,0.000,4,0.000,0.054,2473,3140,2492
$GC,13402,2.31,71.3,284.1,8.8,321,13409,0.00,2.05,0.00,0.000,6,0.000,0.041,2473,1999,2492
$GC,13735,2.31,71.3,255.6,8.7,330,13736,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1999,2492
$GC,14059,2.31,71.3,226.8,9.0,338,14063,0.00,2.12,0.00,0.000,4,0.000,0.051,2473,3134,2493
$GC,14290,2.31,71.3,204.6,9.1,343,14294,0.00,2.03,0.00,0.000,6,0.000,0.039,2473,1998,2494
$GC,14604,2.31,71.3,174.4,9.5,351,14608,0.00,2.08,0.00,0.000,4,0.000,0.051,2473,3129,2495
$GC,14863,2.31,71.3,149.4,9.8,356,14869,0.00,2.00,0.00,0.000,6,0.000,0.038,2473,2007,2495
$GC,15194,2.31,71.3,121.0,8.3,365,15198,0.00,2.08,0.00,0.000,4,0.000,0.051,2473,3129,2496
$GC,15333,2.31,71.3,109.2,8.1,368,15337,0.00,2.00,0.00,0.000,6,0.000,0.038,2473,2008,2496
$GC,15648,2.31,71.3,83.9,8.1,376,15649,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2008,2497
$GC,15971,2.31,71.3,58.0,8.1,384,15975,0.00,2.08,0.00,0.000,4,0.000,0.049,2473,3131,2498
$GC,16202,2.33,86.6,42.9,4.4,389,16220,0.00,1.98,13.25,0.673,6,0.000,0.036,2473,2008,2438
$GC,16559,2.33,90.1,19.3,6.3,398,16566,0.00,0.00,4.85,0.535,6,0.000,0.000,2473,2008,2423
$STATE,16800,end climb,SURFACE_DEPTH_REACHED
$STATE,16800,begin surface coast
$FINISH,-0.1,1.026979
$STATE,16842,end surface coast,CONTROL_FINISHED_OK
$STATE,16842,begin surface
$SM_CCo,16865,99.82,0.650,0,0,1771,250.21
$SM_GC,0.52,0.00,0.00,99.82,0.000,0.000,0.650,58,2151,1771,-8.77,0.59,250.21
$IRIDIUM_FIX,6631.12,558.52,120198,000057
$TT8_MAMPS,0.021476
$HUMID,2103
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,3.40
$XPDR_PINGS,-1
$24V_AH,22.9,53.786
$10V_AH,10.1,45.560
$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,24.375,115.750,147.775,99.825,0.000,28.822,34.079,164.134,0.000,0.000,0.000,31.774,1251.216,14013.130,448.360,1107.895,528.613,0.000,1284.232,0.000,999.840,0.000,0.653
$DEVICE_MAMPS,184.847,66.729,1415.115,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,387.999,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19104,405
$CAP_FILE_SIZE,112159,0
$CFSIZE,256368640,219680768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044,224.8,1
$GPS,181008,100327,6658.970,556.850,38,2.1,57,-2.1