version: 66.03
glider: 17
mission: 6
dive: 405
start: 10 18 108 10 9 17
data:
$ID,17
$MISSION,6
$DIVE,405
$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,-96139.781
$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,24
$R_STBD_OVSHOOT,36
$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
$GPS1,100327,6658.970,556.850,38,2.1,57,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-45.4
$GPS2,100833,6658.971,556.828,14,1.6,14,-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,50.7,2984,-21.3,-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,-1.83,-43.8,0.0,0.0,0,74,0.00,0.00,-47.62,0.000,6,0.000,0.000,58,2151,2972
$GC,77,-1.90,-109.4,2.3,-0.0,1,98,8.90,2.05,-6.68,0.000,4,0.185,0.062,1546,3244,3240
$GC,351,-1.90,-109.4,50.3,-14.4,7,355,0.00,1.95,0.00,0.000,6,0.000,0.035,1546,2130,3242
$GC,664,-1.90,-109.4,97.0,-14.8,15,668,0.00,2.03,0.00,0.000,4,0.000,0.046,1546,994,3243
$GC,764,-1.90,-109.4,112.6,-15.3,17,768,0.00,1.98,0.00,0.000,6,0.000,0.031,1546,2112,3243
$GC,1079,-1.90,-109.4,158.7,-14.9,25,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,1546,2112,3244
$GC,1403,-1.90,-109.4,205.1,-14.1,33,1407,0.00,2.10,0.00,0.000,4,0.000,0.051,1546,3248,3244
$GC,1435,-1.90,-109.4,210.1,-14.7,33,1442,0.00,1.98,0.00,0.000,6,0.000,0.035,1546,2123,3244
$GC,1767,-1.90,-109.4,258.7,-14.9,42,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,1546,2123,3244
$GC,2093,-1.90,-109.4,306.0,-14.4,50,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,1546,2123,3245
$GC,2417,-1.90,-109.4,351.9,-14.1,58,2421,0.00,2.10,0.00,0.000,4,0.000,0.051,1546,3252,3245
$GC,2466,-1.90,-109.4,359.2,-14.5,59,2470,0.00,2.00,0.00,0.000,6,0.000,0.037,1546,2118,3245
$GC,2780,-1.90,-109.4,402.0,-13.7,67,2784,0.00,2.10,0.00,0.000,4,0.000,0.053,1546,3249,3245
$GC,2836,-1.90,-109.4,409.9,-14.1,68,2840,0.00,1.98,0.00,0.000,6,0.000,0.038,1545,2125,3245
$GC,3184,-1.90,-109.4,455.7,-13.2,77,3188,0.00,2.12,0.00,0.000,4,0.000,0.055,1545,3255,3245
$GC,3239,-1.90,-109.4,463.5,-13.8,78,3243,0.00,1.98,0.00,0.000,6,0.000,0.038,1546,2138,3245
$GC,3554,-1.90,-109.4,505.5,-13.5,86,3555,0.00,0.00,0.00,0.000,6,0.000,0.000,1546,2138,3245
$GC,3878,-1.90,-109.4,547.9,-12.9,94,3879,0.00,0.00,0.00,0.000,6,0.000,0.000,1546,2138,3245
$GC,4203,-1.90,-109.4,587.9,-12.4,102,4207,0.00,2.12,0.00,0.000,4,0.000,0.061,1546,3254,3244
$GC,4235,-1.90,-109.4,592.3,-13.2,102,4243,0.00,2.00,0.00,0.000,6,0.000,0.042,1546,2135,3245
$GC,4569,-1.90,-109.4,633.1,-12.3,111,4570,0.00,0.00,0.00,0.000,6,0.000,0.000,1546,2135,3244
$GC,4892,-1.90,-109.4,673.7,-12.5,119,4896,0.00,2.15,0.00,0.000,4,0.000,0.066,1546,3252,3244
$GC,4980,-1.90,-109.4,685.5,-13.3,121,4984,0.00,1.98,0.00,0.000,6,0.000,0.046,1546,2147,3243
$GC,5306,-1.90,-109.4,726.4,-12.7,129,5307,0.00,0.00,0.00,0.000,6,0.000,0.000,1546,2146,3242
$GC,5630,-1.90,-109.4,768.4,-13.1,137,5631,0.00,0.00,0.00,0.000,6,0.000,0.000,1546,2146,3241
$GC,5955,-1.90,-109.4,810.5,-13.0,145,5959,0.00,2.10,0.00,0.000,4,0.000,0.068,1546,3247,3239
$GC,6015,-1.90,-109.4,818.7,-13.8,146,6019,0.00,1.98,0.00,0.000,6,0.000,0.048,1546,2145,3238
$GC,6365,-1.90,-109.4,863.3,-12.8,155,6369,0.00,2.08,0.00,0.000,4,0.000,0.069,1545,3246,3237
$GC,6415,-1.90,-109.4,870.2,-12.9,156,6418,0.00,1.98,0.00,0.000,6,0.000,0.049,1545,2144,3236
$GC,6734,-1.90,-109.4,909.4,-12.3,164,6735,0.00,0.00,0.00,0.000,6,0.000,0.000,1546,2143,3236
$GC,7060,-1.90,-109.4,949.1,-12.2,172,7064,0.00,2.10,0.00,0.000,4,0.000,0.069,1546,3246,3234
$GC,7121,-1.90,-109.4,957.1,-13.1,173,7124,0.00,1.98,0.00,0.000,6,0.000,0.048,1546,2151,3234
$STATE,7426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7426,begin apogee
$GC,7433,-0.42,0.0,994.2,11.9,181,7535,1.70,0.00,98.03,1.411,6,0.125,0.000,1868,2002,2792
$STATE,7535,end apogee,CONTROL_FINISHED_OK
$STATE,7536,begin climb
$GC,7540,1.90,109.4,996.2,0.0,183,7646,2.42,2.20,97.05,1.389,4,0.069,0.068,2380,891,2346
$GC,7755,1.90,109.4,973.7,16.5,188,7759,0.00,2.03,0.00,0.000,6,0.000,0.048,2381,2011,2344
$GC,8081,1.90,109.4,923.1,15.5,196,8084,0.00,2.08,0.00,0.000,4,0.000,0.067,2380,3134,2342
$GC,8147,1.90,109.4,912.2,15.6,197,8151,0.00,2.03,0.00,0.000,6,0.000,0.051,2380,2020,2342
$GC,8485,1.90,109.4,861.6,15.0,206,8488,0.00,2.08,0.00,0.000,4,0.000,0.066,2380,3138,2341
$GC,8636,1.90,109.4,838.2,15.5,209,8640,0.00,2.03,0.00,0.000,6,0.000,0.051,2380,2021,2341
$GC,8979,1.90,109.4,788.5,14.4,218,8983,0.00,2.10,0.00,0.000,4,0.000,0.065,2380,3138,2340
$GC,9113,1.90,109.4,768.6,15.5,221,9116,0.00,2.00,0.00,0.000,6,0.000,0.051,2380,2035,2340
$GC,9439,1.90,109.4,723.1,13.9,229,9443,0.00,2.05,0.00,0.000,4,0.000,0.067,2380,3136,2340
$GC,9516,1.90,109.4,711.5,14.5,230,9523,0.00,2.00,0.00,0.000,6,0.000,0.052,2380,2034,2340
$GC,9848,1.90,109.4,665.4,13.9,239,9852,0.00,2.05,0.00,0.000,4,0.000,0.067,2380,3134,2339
$GC,9893,1.90,109.4,659.2,14.0,240,9896,0.00,1.98,0.00,0.000,6,0.000,0.053,2380,2047,2339
$GC,10211,1.90,109.4,615.5,13.7,248,10215,0.00,2.05,0.00,0.000,4,0.000,0.067,2380,3136,2338
$GC,10341,1.90,109.4,597.4,14.4,251,10345,0.00,1.98,0.00,0.000,6,0.000,0.053,2380,2048,2338
$GC,10666,1.90,109.4,553.2,13.8,259,10670,0.00,2.05,0.00,0.000,4,0.000,0.067,2380,3142,2338
$GC,10925,1.90,109.4,517.7,13.3,264,10931,0.00,1.92,0.00,0.000,6,0.000,0.051,2380,2069,2338
$GC,11257,1.90,109.4,476.3,12.2,273,11258,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2069,2337
$GC,11581,1.90,109.4,437.1,12.1,281,11584,0.00,2.00,0.00,0.000,4,0.000,0.061,2380,3142,2337
$GC,11703,1.90,109.4,421.7,13.0,283,11709,0.00,1.95,0.00,0.000,6,0.000,0.045,2380,2050,2337
$GC,12036,1.90,109.4,379.9,12.8,292,12039,0.00,2.00,0.00,0.000,4,0.000,0.058,2380,3135,2337
$GC,12136,1.90,109.4,367.0,12.2,294,12139,0.00,1.90,0.00,0.000,6,0.000,0.044,2381,2066,2337
$GC,12449,1.90,109.4,330.4,11.5,302,12453,0.00,2.00,0.00,0.000,4,0.000,0.055,2380,3141,2337
$GC,12494,1.90,109.4,325.1,11.4,303,12497,0.00,1.90,0.00,0.000,6,0.000,0.043,2380,2073,2337
$GC,12812,1.90,109.4,288.7,11.6,311,12816,0.00,1.98,0.00,0.000,4,0.000,0.056,2380,3140,2338
$GC,12852,1.90,109.4,284.0,11.5,312,12856,0.00,1.90,0.00,0.000,6,0.000,0.043,2381,2071,2338
$GC,13178,1.90,109.4,244.4,12.4,320,13182,0.00,2.20,0.00,0.000,4,0.000,0.060,2380,879,2338
$GC,13205,1.90,109.4,240.6,12.4,320,13209,0.00,2.12,0.00,0.000,6,0.000,0.040,2380,2079,2338
$GC,13537,1.90,109.4,197.8,13.0,328,13538,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2079,2339
$GC,13861,1.90,109.4,156.9,12.2,336,13865,0.00,1.95,0.00,0.000,4,0.000,0.058,2380,3132,2340
$GC,13878,1.90,109.4,154.7,12.2,336,13882,0.00,1.85,0.00,0.000,6,0.000,0.040,2380,2079,2340
$GC,14221,1.90,109.4,112.7,12.4,345,14224,0.00,1.95,0.00,0.000,4,0.000,0.051,2380,3139,2341
$GC,14360,1.90,109.4,93.9,13.0,348,14363,0.00,1.85,0.00,0.000,6,0.000,0.038,2381,2086,2341
$GC,14681,1.90,109.4,55.0,11.7,356,14684,0.00,1.92,0.00,0.000,4,0.000,0.051,2380,3139,2342
$GC,14932,1.90,109.4,31.4,8.6,361,14936,0.00,1.80,0.00,0.000,6,0.000,0.036,2380,2111,2342
$STATE,15267,end climb,SURFACE_DEPTH_REACHED
$STATE,15267,begin surface coast
$FINISH,-0.1,1.019533
$STATE,15309,end surface coast,CONTROL_FINISHED_OK
$STATE,15309,begin surface
$SM_CCo,15331,87.38,0.660,0,0,1771,250.21
$SM_GC,0.59,0.00,0.00,87.38,0.000,0.000,0.660,54,2103,1771,-8.79,-0.76,250.21
$IRIDIUM_FIX,6631.12,604.00,120198,050503
$TT8_MAMPS,0.021476
$HUMID,2124
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,3.00
$XPDR_PINGS,-1
$24V_AH,22.9,53.890
$10V_AH,10.0,45.605
$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,23.425,108.950,195.075,87.375,0.000,29.997,31.914,125.541,0.000,0.000,0.000,14.867,1102.718,12912.643,444.875,839.552,454.266,0.000,1120.747,0.000,765.951,0.000,0.654
$DEVICE_MAMPS,184.847,69.030,1410.513,659.620,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,353.221,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15976,371
$CAP_FILE_SIZE,97294,0
$CFSIZE,256368640,219656192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.025,229.5,1
$GPS,181008,142801,6700.271,559.979,61,1.8,66,-2.0