version: 66.03
glider: 17
mission: 6
dive: 406
start: 10 18 108 14 34 3
data:
$ID,17
$MISSION,6
$DIVE,406
$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,-96159.234
$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,21
$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
$GPS1,142801,6700.271,559.979,61,1.8,66,-2.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-47.7
$GPS2,143332,6700.273,559.994,11,1.9,16,-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,172.1,505,-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,-28.6,0.0,0.0,0,72,0.00,0.00,-46.30,0.000,6,0.000,0.000,54,2103,2909
$GC,75,-2.31,-71.3,2.2,-0.0,1,94,8.35,2.20,-4.82,0.000,4,0.183,0.061,1454,3253,3084
$GC,299,-2.31,-71.3,49.0,-21.8,6,302,0.00,2.00,0.00,0.000,6,0.000,0.035,1455,2115,3087
$GC,623,-2.31,-71.3,110.5,-18.1,14,627,0.00,1.98,0.00,0.000,4,0.000,0.045,1455,992,3088
$GC,689,-2.31,-71.3,122.9,-18.4,15,693,0.00,2.03,0.00,0.000,6,0.000,0.032,1455,2133,3089
$GC,1034,-2.31,-71.3,180.5,-16.5,24,1038,0.00,2.05,0.00,0.000,4,0.000,0.051,1455,3249,3090
$GC,1094,-2.31,-71.3,191.3,-17.0,25,1098,0.00,1.98,0.00,0.000,6,0.000,0.035,1454,2124,3090
$GC,1443,-2.31,-71.3,248.3,-16.5,34,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,2124,3091
$GC,1768,-2.31,-71.3,300.9,-16.0,42,1772,0.00,2.08,0.00,0.000,4,0.000,0.051,1454,3249,3091
$GC,1809,-2.31,-71.3,307.4,-16.2,43,1813,0.00,1.98,0.00,0.000,6,0.000,0.036,1455,2125,3091
$GC,2133,-2.31,-71.3,358.9,-15.9,51,2137,0.00,2.10,0.00,0.000,4,0.000,0.051,1455,3256,3091
$GC,2211,-2.31,-71.3,372.3,-16.7,52,2218,0.00,1.98,0.00,0.000,6,0.000,0.036,1455,2133,3091
$GC,2544,-2.31,-71.3,425.6,-15.8,61,2547,0.00,2.08,0.00,0.000,4,0.000,0.053,1454,3250,3091
$GC,2593,-2.31,-71.3,434.2,-17.1,62,2597,0.00,1.98,0.00,0.000,6,0.000,0.037,1455,2140,3091
$GC,2912,-2.31,-71.3,483.4,-15.3,70,2916,0.00,2.08,0.00,0.000,4,0.000,0.055,1454,3251,3091
$GC,2986,-2.31,-71.3,494.8,-15.7,71,2989,0.00,1.98,0.00,0.000,6,0.000,0.039,1454,2138,3091
$GC,3317,-2.31,-71.3,544.1,-14.4,79,3321,0.00,2.05,0.00,0.000,4,0.000,0.052,1455,1006,3091
$GC,3372,-2.31,-71.3,552.6,-15.1,80,3376,0.00,2.03,0.00,0.000,6,0.000,0.038,1454,2136,3091
$GC,3722,-2.31,-71.3,603.5,-15.0,89,3726,0.00,2.08,0.00,0.000,4,0.000,0.062,1455,3253,3091
$GC,3772,-2.31,-71.3,611.7,-15.8,90,3775,0.00,2.00,0.00,0.000,6,0.000,0.044,1455,2136,3091
$GC,4091,-2.31,-71.3,660.2,-15.4,98,4095,0.00,2.10,0.00,0.000,4,0.000,0.065,1454,3256,3091
$GC,4135,-2.31,-71.3,667.5,-15.8,99,4138,0.00,2.00,0.00,0.000,6,0.000,0.046,1454,2143,3091
$GC,4455,-2.31,-71.3,716.9,-15.6,107,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,2142,3091
$GC,4779,-2.31,-71.3,767.4,-15.5,115,4783,0.00,2.10,0.00,0.000,4,0.000,0.066,1454,3256,3089
$GC,4811,-2.31,-71.3,772.8,-16.0,115,4818,0.00,2.03,0.00,0.000,6,0.000,0.048,1455,2142,3089
$GC,5145,-2.31,-71.3,823.1,-15.2,124,5148,0.00,2.10,0.00,0.000,4,0.000,0.067,1454,3258,3087
$GC,5185,-2.31,-71.3,829.6,-15.7,125,5188,0.00,2.03,0.00,0.000,6,0.000,0.049,1455,2146,3086
$GC,5509,-2.31,-71.3,878.8,-15.3,133,5513,0.00,2.08,0.00,0.000,4,0.000,0.067,1455,3256,3086
$GC,5537,-2.31,-71.3,883.3,-15.9,133,5541,0.00,2.00,0.00,0.000,6,0.000,0.050,1454,2156,3086
$GC,5870,-2.31,-71.3,933.2,-14.9,141,5874,0.00,2.10,0.00,0.000,4,0.000,0.067,1455,3260,3084
$GC,5897,-2.31,-71.3,937.7,-16.0,141,5900,0.00,2.03,0.00,0.000,6,0.000,0.049,1455,2153,3084
$GC,6234,-2.31,-71.3,986.0,-14.4,150,6238,0.00,2.08,0.00,0.000,4,0.000,0.067,1455,3255,3082
$STATE,6259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6259,begin apogee
$GC,6269,-0.42,0.0,990.3,15.5,150,6338,2.22,0.00,65.05,1.407,6,0.143,0.000,1868,2011,2792
$STATE,6339,end apogee,CONTROL_FINISHED_OK
$STATE,6339,begin climb
$GC,6342,2.31,71.3,992.8,0.0,152,6413,2.88,0.00,65.35,1.387,6,0.063,0.000,2469,2011,2501
$GC,6725,2.31,71.3,951.3,12.8,162,6726,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2011,2498
$GC,7050,2.31,71.3,909.8,12.7,170,7054,0.00,2.17,0.00,0.000,4,0.000,0.065,2469,3141,2497
$GC,7307,2.31,71.3,876.7,12.7,175,7314,0.00,2.10,0.00,0.000,6,0.000,0.052,2469,2004,2496
$GC,7639,2.31,71.3,835.8,12.4,184,7643,0.00,2.15,0.00,0.000,4,0.000,0.065,2469,3134,2495
$GC,7896,2.31,71.3,802.9,12.9,189,7903,0.00,2.05,0.00,0.000,6,0.000,0.052,2469,2009,2494
$GC,8228,2.31,71.3,762.9,12.0,198,8232,0.00,2.12,0.00,0.000,4,0.000,0.064,2469,3137,2494
$GC,8485,2.31,71.3,732.1,11.2,203,8492,0.00,2.05,0.00,0.000,6,0.000,0.052,2469,2010,2493
$GC,8817,2.31,71.3,696.7,10.5,212,8818,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2009,2492
$GC,9143,2.31,71.3,663.0,10.3,220,9147,0.00,2.12,0.00,0.000,4,0.000,0.066,2469,3134,2492
$GC,9349,2.31,71.3,640.9,10.6,224,9353,0.00,2.03,0.00,0.000,6,0.000,0.052,2469,2013,2492
$GC,9687,2.31,71.3,606.5,10.2,233,9691,0.00,2.10,0.00,0.000,4,0.000,0.066,2469,3134,2492
$GC,9944,2.31,71.3,577.6,11.4,238,9951,0.00,2.03,0.00,0.000,6,0.000,0.051,2469,2017,2491
$GC,10276,2.31,71.3,541.4,11.1,247,10280,0.00,2.10,0.00,0.000,4,0.000,0.063,2469,3136,2491
$GC,10532,2.31,71.3,513.4,10.6,252,10539,0.00,2.00,0.00,0.000,6,0.000,0.049,2469,2022,2491
$GC,10864,2.31,71.3,479.7,10.0,261,10868,0.00,2.10,0.00,0.000,4,0.000,0.060,2469,3141,2491
$GC,11121,2.31,71.3,455.5,8.7,266,11128,0.00,2.03,0.00,0.000,6,0.000,0.047,2469,2012,2490
$GC,11452,2.31,71.3,428.1,8.3,275,11456,0.00,2.10,0.00,0.000,4,0.000,0.058,2469,3138,2490
$GC,11709,2.31,71.3,407.5,7.9,280,11716,0.00,2.00,0.00,0.000,6,0.000,0.044,2469,2018,2490
$GC,12042,2.31,71.3,381.6,8.1,289,12043,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2018,2490
$GC,12367,2.31,71.3,352.7,9.1,297,12368,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2018,2491
$GC,12691,2.31,71.3,321.3,9.9,305,12692,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2018,2491
$GC,13016,2.31,71.3,289.6,9.6,313,13017,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2018,2492
$GC,13341,2.31,71.3,260.7,8.7,321,13345,0.00,2.10,0.00,0.000,4,0.000,0.053,2469,3136,2492
$GC,13598,2.31,71.3,238.6,8.9,326,13604,0.00,2.00,0.00,0.000,6,0.000,0.040,2469,2012,2493
$GC,13929,2.31,71.3,210.6,8.7,335,13933,0.00,2.03,0.00,0.000,4,0.000,0.058,2469,884,2494
$GC,14087,2.31,71.3,195.7,9.4,338,14091,0.00,1.98,0.00,0.000,6,0.000,0.037,2470,2022,2494
$GC,14424,2.31,71.3,165.6,8.7,347,14425,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2022,2495
$GC,14748,2.31,71.3,138.6,8.0,355,14752,0.00,2.08,0.00,0.000,4,0.000,0.054,2469,3135,2496
$GC,15005,2.31,71.3,117.3,8.2,360,15012,0.00,1.98,0.00,0.000,6,0.000,0.038,2469,2016,2497
$GC,15337,2.31,71.3,89.7,8.5,369,15338,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2016,2497
$GC,15663,2.31,71.3,63.2,8.0,377,15664,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2016,2498
$GC,15987,2.34,98.7,46.9,2.5,385,16016,0.00,2.12,22.77,0.688,4,0.000,0.051,2469,887,2388
$GC,16256,2.34,98.7,28.7,7.6,391,16259,0.00,2.03,0.00,0.000,6,0.000,0.033,2469,2024,2388
$STATE,16536,end climb,SURFACE_DEPTH_REACHED
$STATE,16536,begin surface coast
$FINISH,-0.1,1.026982
$STATE,16579,end surface coast,CONTROL_FINISHED_OK
$STATE,16579,begin surface
$SM_CCo,16601,94.95,0.647,0,0,1772,250.21
$SM_GC,0.52,0.00,0.00,94.95,0.000,0.000,0.647,57,2144,1772,-8.78,0.40,250.21
$IRIDIUM_FIX,6631.12,557.38,120198,101059
$TT8_MAMPS,0.021476
$HUMID,2109
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,3.50
$XPDR_PINGS,-1
$24V_AH,22.9,53.976
$10V_AH,10.1,45.656
$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,24.400,111.300,153.175,94.950,0.000,28.603,34.321,146.864,0.000,0.000,0.000,18.829,1206.610,13893.179,441.861,1005.013,499.229,0.000,1224.896,0.000,921.160,0.000,0.655
$DEVICE_MAMPS,182.546,67.496,1406.678,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,378.603,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19109,399
$CAP_FILE_SIZE,106613,0
$CFSIZE,256368640,219602944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.034,230.6,1
$GPS,181008,191338,6658.477,600.195,38,1.5,38,-2.0