version: 66.03
glider: 17
mission: 6
dive: 412
start: 10 19 108 22 20 23
data:
$ID,17
$MISSION,6
$DIVE,412
$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,-96340.219
$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,21
$R_STBD_OVSHOOT,38
$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
$GPS1,220958,6659.029,600.684,38,2.4,57,-2.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-46.4
$GPS2,221953,6659.053,600.632,17,2.1,36,-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,17.1,1812,-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,25,-2.27,-28.6,0.0,0.0,0,72,0.00,0.00,-45.75,0.000,6,0.000,0.000,57,2145,2909
$GC,75,-2.31,-71.3,2.1,-0.0,1,95,8.23,2.08,-5.00,0.000,4,0.178,0.062,1457,3235,3084
$GC,101,-2.31,-71.3,7.0,-16.0,1,105,0.00,1.98,0.00,0.000,6,0.000,0.035,1457,2115,3084
$GC,440,-2.31,-71.3,71.0,-18.5,10,443,0.00,2.00,0.00,0.000,4,0.000,0.046,1457,998,3086
$GC,697,-2.31,-71.3,116.2,-16.9,15,704,0.00,2.03,0.00,0.000,6,0.000,0.032,1457,2134,3087
$GC,1029,-2.31,-71.3,170.5,-16.3,24,1033,0.00,2.00,0.00,0.000,4,0.000,0.045,1457,1004,3088
$GC,1175,-2.31,-71.3,195.6,-16.9,27,1179,0.00,2.03,0.00,0.000,6,0.000,0.034,1457,2147,3088
$GC,1523,-2.31,-71.3,253.7,-16.5,36,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,2147,3089
$GC,1848,-2.31,-71.3,306.3,-15.9,44,1852,0.00,2.03,0.00,0.000,4,0.000,0.051,1457,3248,3089
$GC,1949,-2.31,-71.3,323.0,-16.4,46,1953,0.00,1.98,0.00,0.000,6,0.000,0.036,1457,2123,3089
$GC,2297,-2.31,-71.3,377.6,-15.6,55,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,2123,3089
$GC,2622,-2.31,-71.3,428.6,-15.6,63,2626,0.00,2.10,0.00,0.000,4,0.000,0.051,1457,3250,3089
$GC,2753,-2.31,-71.3,449.3,-15.8,66,2757,0.00,1.98,0.00,0.000,6,0.000,0.038,1457,2133,3089
$GC,3078,-2.31,-71.3,497.9,-14.9,74,3081,0.00,2.08,0.00,0.000,4,0.000,0.054,1457,3248,3089
$GC,3117,-2.31,-71.3,504.2,-15.9,75,3121,0.00,1.98,0.00,0.000,6,0.000,0.039,1457,2137,3089
$GC,3443,-2.31,-71.3,553.8,-15.2,83,3447,0.00,2.10,0.00,0.000,4,0.000,0.057,1457,3254,3089
$GC,3549,-2.31,-71.3,570.2,-15.3,85,3552,0.00,1.98,0.00,0.000,6,0.000,0.041,1457,2145,3089
$GC,3897,-2.31,-71.3,617.8,-13.5,94,3898,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,2144,3089
$GC,4224,-2.31,-71.3,662.4,-13.7,102,4227,0.00,2.10,0.00,0.000,4,0.000,0.063,1457,3247,3089
$GC,4279,-2.31,-71.3,670.7,-15.1,103,4282,0.00,1.98,0.00,0.000,6,0.000,0.044,1457,2153,3088
$GC,4592,-2.31,-71.3,714.6,-14.2,111,4596,0.00,2.10,0.00,0.000,4,0.000,0.065,1457,3250,3088
$GC,4649,-2.31,-71.3,722.9,-14.6,112,4652,0.00,1.98,0.00,0.000,6,0.000,0.046,1457,2150,3087
$GC,4997,-2.31,-71.3,770.2,-13.4,121,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,2150,3086
$GC,5321,-2.31,-71.3,812.7,-13.1,129,5325,0.00,2.10,0.00,0.000,4,0.000,0.067,1457,3251,3084
$GC,5388,-2.31,-71.3,821.9,-14.2,130,5391,0.00,1.95,0.00,0.000,6,0.000,0.048,1457,2163,3084
$GC,5726,-2.31,-71.3,866.2,-13.3,139,5727,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,2162,3082
$GC,6050,-2.31,-71.3,909.0,-13.3,147,6054,0.00,2.08,0.00,0.000,4,0.000,0.067,1457,3250,3081
$GC,6127,-2.31,-71.3,919.8,-13.9,148,6134,0.00,1.95,0.00,0.000,6,0.000,0.048,1457,2166,3080
$GC,6460,-2.31,-71.3,964.5,-13.6,157,6461,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,2165,3080
$STATE,6659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6659,begin apogee
$GC,6666,-0.42,0.0,992.2,13.7,162,6735,2.25,0.00,64.32,1.411,6,0.142,0.000,1870,2001,2792
$STATE,6736,end apogee,CONTROL_FINISHED_OK
$STATE,6736,begin climb
$GC,6739,2.31,71.3,994.1,0.0,163,6813,2.83,2.20,64.97,1.387,4,0.063,0.067,2472,887,2501
$GC,6911,2.31,71.3,979.0,13.7,167,6915,0.00,2.03,0.00,0.000,6,0.000,0.048,2473,2010,2499
$GC,7235,2.31,71.3,936.6,13.0,175,7239,0.00,2.15,0.00,0.000,4,0.000,0.065,2471,3143,2498
$GC,7262,2.31,71.3,932.9,12.8,175,7266,0.00,2.05,0.00,0.000,6,0.000,0.052,2472,2018,2497
$GC,7595,2.31,71.3,891.2,12.6,183,7599,0.00,2.10,0.00,0.000,4,0.000,0.064,2472,3134,2496
$GC,7852,2.31,71.3,857.6,13.3,188,7859,0.00,2.03,0.00,0.000,6,0.000,0.052,2472,2025,2495
$GC,8186,2.31,71.3,817.1,12.2,197,8189,0.00,2.08,0.00,0.000,4,0.000,0.065,2472,3142,2494
$GC,8443,2.31,71.3,784.3,12.1,202,8449,0.00,2.03,0.00,0.000,6,0.000,0.052,2472,2026,2494
$GC,8776,2.31,71.3,744.9,11.9,211,8780,0.00,2.05,0.00,0.000,4,0.000,0.067,2472,3136,2493
$GC,9033,2.31,71.3,713.7,12.2,216,9040,0.00,2.00,0.00,0.000,6,0.000,0.051,2472,2038,2493
$GC,9366,2.31,71.3,676.1,11.6,225,9370,0.00,2.05,0.00,0.000,4,0.000,0.067,2472,3139,2492
$GC,9552,2.31,71.3,655.0,11.5,229,9556,0.00,1.98,0.00,0.000,6,0.000,0.052,2472,2043,2492
$GC,9866,2.31,71.3,621.5,10.7,237,9869,0.00,2.03,0.00,0.000,4,0.000,0.066,2472,3138,2492
$GC,10122,2.31,71.3,592.7,11.7,242,10129,0.00,1.98,0.00,0.000,6,0.000,0.051,2472,2044,2492
$GC,10454,2.31,71.3,557.3,10.4,251,10458,0.00,2.05,0.00,0.000,4,0.000,0.064,2472,3135,2491
$GC,10711,2.31,71.3,530.8,10.4,256,10718,0.00,1.98,0.00,0.000,6,0.000,0.050,2472,2048,2491
$GC,11043,2.31,71.3,502.0,8.4,265,11047,0.00,2.05,0.00,0.000,4,0.000,0.061,2472,3138,2491
$GC,11055,2.31,71.3,500.8,8.8,265,11058,0.00,2.00,0.00,0.000,6,0.000,0.051,2471,2031,2491
$GC,11403,2.31,71.3,469.6,9.1,274,11407,0.00,2.08,0.00,0.000,4,0.000,0.061,2472,3139,2490
$GC,11436,2.31,71.3,466.4,9.3,274,11443,0.00,2.00,0.00,0.000,6,0.000,0.048,2472,2032,2490
$GC,11769,2.31,71.3,435.3,9.5,283,11773,0.00,2.08,0.00,0.000,4,0.000,0.059,2472,3136,2490
$GC,12027,2.31,71.3,409.0,9.7,288,12034,0.00,1.95,0.00,0.000,6,0.000,0.045,2472,2048,2491
$GC,12359,2.31,71.3,377.6,9.3,297,12362,0.00,2.08,0.00,0.000,4,0.000,0.056,2472,3142,2491
$GC,12587,2.31,71.3,357.0,8.8,302,12591,0.00,1.95,0.00,0.000,6,0.000,0.042,2472,2051,2491
$GC,12907,2.31,71.3,328.6,9.0,310,12910,0.00,2.03,0.00,0.000,4,0.000,0.055,2472,3136,2492
$GC,13163,2.31,71.3,304.3,10.0,315,13170,0.00,1.92,0.00,0.000,6,0.000,0.042,2472,2062,2492
$GC,13495,2.31,71.3,273.4,9.5,324,13499,0.00,2.03,0.00,0.000,4,0.000,0.054,2472,3144,2492
$GC,13684,2.31,71.3,254.6,9.4,328,13687,0.00,1.92,0.00,0.000,6,0.000,0.040,2472,2063,2493
$GC,13997,2.31,71.3,224.7,9.7,336,14001,0.00,2.00,0.00,0.000,4,0.000,0.053,2472,3143,2493
$GC,14048,2.31,71.3,219.8,9.1,337,14052,0.00,1.90,0.00,0.000,6,0.000,0.040,2472,2070,2493
$GC,14361,2.31,71.3,190.8,9.2,345,14365,0.00,1.98,0.00,0.000,4,0.000,0.051,2472,3134,2495
$GC,14501,2.31,71.3,178.4,8.5,348,14504,0.00,1.90,0.00,0.000,6,0.000,0.038,2472,2069,2495
$GC,14821,2.31,71.3,152.4,8.2,356,14825,0.00,1.98,0.00,0.000,4,0.000,0.051,2472,3134,2496
$GC,14831,2.31,71.3,151.2,8.5,356,14835,0.00,1.90,0.00,0.000,6,0.000,0.039,2472,2067,2496
$GC,15145,2.31,71.3,126.3,7.9,364,15148,0.00,1.98,0.00,0.000,4,0.000,0.051,2472,3141,2496
$GC,15401,2.31,71.3,104.7,8.4,369,15408,0.00,1.88,0.00,0.000,6,0.000,0.038,2472,2074,2497
$GC,15733,2.31,71.3,77.8,7.9,378,15737,0.00,1.95,0.00,0.000,4,0.000,0.051,2472,3137,2498
$GC,15851,2.31,71.3,68.7,7.0,380,15855,0.00,1.83,0.00,0.000,6,0.000,0.037,2472,2092,2498
$GC,16183,2.34,96.2,54.4,2.9,388,16209,0.00,2.25,21.02,0.694,4,0.000,0.051,2472,883,2399
$GC,16287,2.34,96.2,49.1,7.8,390,16291,0.00,2.15,0.00,0.000,6,0.000,0.033,2472,2086,2398
$GC,16631,2.34,96.2,17.6,7.1,399,16635,0.00,1.92,0.00,0.000,4,0.000,0.053,2472,3133,2398
$GC,16743,2.36,109.0,8.8,4.8,401,16761,0.00,1.83,11.50,0.623,6,0.000,0.035,2472,2087,2347
$STATE,16838,end climb,SURFACE_DEPTH_REACHED
$STATE,16838,begin surface coast
$FINISH,-0.2,1.026975
$STATE,16880,end surface coast,CONTROL_FINISHED_OK
$STATE,16880,begin surface
$SM_CCo,16904,87.80,0.647,0,0,1770,250.21
$SM_GC,0.61,0.00,0.00,87.80,0.000,0.000,0.647,62,2159,1770,-8.75,0.79,250.21
$IRIDIUM_FIX,6631.12,552.48,130198,222239
$TT8_MAMPS,0.021476
$HUMID,2099
$INTERNAL_PRESSURE,8.21321
$TCM_TEMP,3.50
$XPDR_PINGS,-1
$24V_AH,22.9,54.488
$10V_AH,10.1,46.002
$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,24.625,129.175,161.825,87.800,0.000,65.848,65.514,247.460,0.000,0.000,0.000,37.182,1267.250,14046.603,447.537,1141.451,699.546,0.000,1322.902,0.000,1031.719,0.000,0.653
$DEVICE_MAMPS,177.944,67.496,1411.280,646.581,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,385.351,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19075,405
$CAP_FILE_SIZE,120896,0
$CFSIZE,256368640,219271168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.009,131.5,1
$GPS,201008,030456,6700.299,600.640,41,1.8,41,-2.0