version: 66.03
glider: 17
mission: 6
dive: 413
start: 10 20 108 3 30 7
data:
$ID,17
$MISSION,6
$DIVE,413
$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,-96381.734
$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,18
$R_STBD_OVSHOOT,44
$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
$GPS1,030456,6700.299,600.640,41,1.8,41,-2.0
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-41.8
$GPS2,032938,6700.617,600.557,40,1.9,40,-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,205.4,1211,-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,25,-2.27,-28.6,0.0,0.0,0,74,0.00,0.00,-46.60,0.000,6,0.000,0.000,61,2159,2909
$GC,77,-2.31,-71.3,1.7,-0.0,1,96,8.27,2.17,-5.03,0.000,4,0.182,0.061,1456,993,3085
$GC,233,-2.31,-71.3,38.4,-22.0,4,237,0.00,1.98,0.00,0.000,6,0.000,0.033,1456,2112,3087
$GC,577,-2.31,-71.3,100.7,-17.6,13,581,0.00,2.10,0.00,0.000,4,0.000,0.049,1456,3253,3088
$GC,621,-2.31,-71.3,109.1,-17.6,14,625,0.00,1.98,0.00,0.000,6,0.000,0.035,1456,2127,3087
$GC,946,-2.31,-71.3,165.7,-17.3,22,947,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,2127,3089
$GC,1271,-2.31,-71.3,219.1,-16.2,30,1275,0.00,2.08,0.00,0.000,4,0.000,0.051,1456,3252,3088
$GC,1321,-2.31,-71.3,227.7,-17.2,31,1325,0.00,2.00,0.00,0.000,6,0.000,0.035,1456,2123,3089
$GC,1634,-2.31,-71.3,279.7,-16.9,39,1638,0.00,2.10,0.00,0.000,4,0.000,0.050,1456,3248,3089
$GC,1700,-2.31,-71.3,290.7,-15.9,40,1704,0.00,1.98,0.00,0.000,6,0.000,0.036,1456,2134,3089
$GC,2038,-2.31,-71.3,343.0,-15.6,49,2042,0.00,2.08,0.00,0.000,4,0.000,0.051,1456,3248,3089
$GC,2105,-2.31,-71.3,353.9,-16.3,50,2108,0.00,1.95,0.00,0.000,6,0.000,0.037,1456,2137,3089
$GC,2448,-2.31,-71.3,404.0,-14.8,59,2452,0.00,2.08,0.00,0.000,4,0.000,0.052,1456,3253,3089
$GC,2510,-2.31,-71.3,413.9,-16.2,60,2514,0.00,1.92,0.00,0.000,6,0.000,0.038,1456,2151,3089
$GC,2853,-2.31,-71.3,467.9,-15.7,69,2854,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,2151,3088
$GC,3177,-2.31,-71.3,516.5,-14.8,77,3181,0.00,2.05,0.00,0.000,4,0.000,0.054,1456,3248,3088
$GC,3277,-2.31,-71.3,531.8,-14.9,79,3281,0.00,1.98,0.00,0.000,6,0.000,0.039,1456,2139,3088
$GC,3592,-2.31,-71.3,576.0,-14.1,87,3596,0.00,2.05,0.00,0.000,4,0.000,0.053,1456,1002,3088
$GC,3631,-2.31,-71.3,581.8,-14.0,88,3635,0.00,2.08,0.00,0.000,6,0.000,0.040,1456,2152,3088
$GC,3956,-2.31,-71.3,627.6,-14.1,96,3960,0.00,2.10,0.00,0.000,4,0.000,0.063,1456,3256,3088
$GC,3997,-2.31,-71.3,633.4,-14.3,97,4001,0.00,2.00,0.00,0.000,6,0.000,0.044,1456,2149,3088
$GC,4321,-2.31,-71.3,680.1,-14.5,105,4322,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,2148,3088
$GC,4646,-2.31,-71.3,727.9,-14.7,113,4649,0.00,2.10,0.00,0.000,4,0.000,0.064,1456,3250,3086
$GC,4696,-2.31,-71.3,735.6,-14.9,114,4700,0.00,2.00,0.00,0.000,6,0.000,0.047,1456,2141,3087
$GC,5009,-2.31,-71.3,781.6,-14.7,122,5010,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,2140,3085
$GC,5334,-2.31,-71.3,827.8,-14.1,130,5338,0.00,2.12,0.00,0.000,4,0.000,0.067,1456,3254,3082
$GC,5389,-2.31,-71.3,835.8,-14.2,131,5392,0.00,2.00,0.00,0.000,6,0.000,0.048,1456,2148,3083
$GC,5704,-2.31,-71.3,877.7,-13.4,139,5707,0.00,2.10,0.00,0.000,4,0.000,0.067,1456,3255,3081
$GC,5743,-2.31,-71.3,883.4,-14.0,140,5747,0.00,2.00,0.00,0.000,6,0.000,0.049,1456,2153,3081
$GC,6068,-2.31,-71.3,928.3,-13.9,148,6072,0.00,2.08,0.00,0.000,4,0.000,0.067,1456,3256,3080
$GC,6124,-2.31,-71.3,936.6,-14.7,149,6128,0.00,2.00,0.00,0.000,6,0.000,0.049,1456,2148,3080
$GC,6472,-2.31,-71.3,985.7,-14.1,158,6476,0.00,2.05,0.00,0.000,4,0.000,0.067,1456,3251,3079
$STATE,6502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6502,begin apogee
$GC,6511,-0.42,0.0,990.7,14.5,158,6580,2.22,0.00,64.35,1.405,6,0.143,0.000,1870,2012,2792
$STATE,6581,end apogee,CONTROL_FINISHED_OK
$STATE,6581,begin climb
$GC,6585,2.31,71.3,992.9,0.0,160,6655,2.88,0.00,65.47,1.378,6,0.065,0.000,2469,2012,2501
$GC,6962,2.31,71.3,951.7,13.0,170,6966,0.00,2.10,0.00,0.000,4,0.000,0.065,2469,3139,2498
$GC,7220,2.31,71.3,917.5,13.0,175,7227,0.00,2.08,0.00,0.000,6,0.000,0.052,2469,2002,2497
$GC,7551,2.31,71.3,875.1,12.8,184,7555,0.00,2.12,0.00,0.000,4,0.000,0.064,2469,3140,2496
$GC,7810,2.31,71.3,840.7,13.6,189,7816,0.00,2.05,0.00,0.000,6,0.000,0.052,2470,2012,2495
$GC,8141,2.31,71.3,799.3,12.4,198,8145,0.00,2.10,0.00,0.000,4,0.000,0.066,2469,3142,2495
$GC,8399,2.31,71.3,767.3,12.4,203,8406,0.00,2.05,0.00,0.000,6,0.000,0.052,2469,2014,2494
$GC,8731,2.31,71.3,729.3,11.3,212,8732,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2014,2493
$GC,9056,2.31,71.3,694.7,10.5,220,9060,0.00,2.12,0.00,0.000,4,0.000,0.065,2469,3139,2492
$GC,9313,2.31,71.3,667.7,10.9,225,9320,0.00,2.05,0.00,0.000,6,0.000,0.052,2469,2018,2492
$GC,9645,2.31,71.3,633.8,10.3,234,9649,0.00,2.10,0.00,0.000,4,0.000,0.064,2469,3132,2491
$GC,9903,2.31,71.3,605.3,11.8,239,9910,0.00,2.05,0.00,0.000,6,0.000,0.052,2469,2014,2491
$GC,10234,2.31,71.3,568.8,11.0,248,10238,0.00,2.12,0.00,0.000,4,0.000,0.064,2469,3132,2491
$GC,10379,2.31,71.3,553.1,9.9,251,10383,0.00,2.05,0.00,0.000,6,0.000,0.051,2469,2011,2491
$GC,10695,2.31,71.3,523.4,9.6,259,10696,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2011,2491
$GC,11018,2.31,71.3,494.5,8.9,267,11022,0.00,2.10,0.00,0.000,4,0.000,0.061,2470,3132,2490
$GC,11123,2.31,71.3,485.3,8.4,269,11127,0.00,2.03,0.00,0.000,6,0.000,0.049,2469,2011,2490
$GC,11468,2.31,71.3,456.0,8.7,278,11472,0.00,2.10,0.00,0.000,4,0.000,0.060,2470,3138,2490
$GC,11725,2.31,71.3,432.6,9.0,283,11732,0.00,2.00,0.00,0.000,6,0.000,0.045,2469,2027,2490
$GC,12058,2.31,71.3,404.1,8.8,292,12062,0.00,2.08,0.00,0.000,4,0.000,0.058,2469,3135,2490
$GC,12315,2.31,71.3,380.2,9.6,297,12322,0.00,1.98,0.00,0.000,6,0.000,0.044,2469,2033,2490
$GC,12648,2.31,71.3,347.9,9.6,306,12652,0.00,2.05,0.00,0.000,4,0.000,0.054,2469,3140,2490
$GC,12905,2.31,71.3,323.0,9.4,311,12912,0.00,1.95,0.00,0.000,6,0.000,0.042,2469,2040,2491
$GC,13238,2.31,71.3,295.0,8.1,320,13242,0.00,2.03,0.00,0.000,4,0.000,0.054,2469,3133,2491
$GC,13496,2.31,71.3,274.2,7.4,325,13502,0.00,1.92,0.00,0.000,6,0.000,0.041,2469,2037,2492
$GC,13829,2.31,71.3,248.5,7.9,334,13830,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2036,2493
$GC,14152,2.31,71.3,220.0,8.9,342,14153,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2036,2494
$GC,14477,2.31,71.3,190.8,8.9,350,14481,0.00,2.05,0.00,0.000,4,0.000,0.051,2470,3134,2494
$GC,14735,2.31,71.3,168.1,9.0,355,14741,0.00,1.98,0.00,0.000,6,0.000,0.038,2469,2024,2495
$GC,15066,2.31,71.3,138.7,8.7,364,15067,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2024,2496
$GC,15391,2.31,71.3,110.8,8.5,372,15395,0.00,2.05,0.00,0.000,4,0.000,0.050,2469,3138,2497
$GC,15614,2.31,71.3,90.4,8.6,377,15617,0.00,1.95,0.00,0.000,6,0.000,0.038,2469,2030,2497
$GC,15940,2.31,71.3,63.2,8.2,385,15944,0.00,2.03,0.00,0.000,4,0.000,0.049,2469,3135,2498
$GC,16197,2.35,106.0,47.6,1.3,390,16231,0.00,1.95,28.45,0.691,6,0.000,0.037,2469,2034,2359
$GC,16572,2.35,106.0,14.4,10.9,400,16575,0.00,2.08,0.00,0.000,4,0.000,0.049,2469,3142,2358
$STATE,16663,end climb,SURFACE_DEPTH_REACHED
$STATE,16663,begin surface coast
$FINISH,1.3,1.027016
$STATE,16670,end surface coast,CONTROL_FINISHED_OK
$STATE,16670,begin surface
$SM_CCo,16694,94.25,0.648,0,0,1771,250.21
$SM_GC,0.73,0.00,0.00,94.25,0.000,0.000,0.648,56,2115,1771,-8.78,-0.42,250.21
$IRIDIUM_FIX,6631.12,558.52,140198,030344
$TT8_MAMPS,0.021476
$HUMID,2109
$INTERNAL_PRESSURE,8.21321
$TCM_TEMP,3.00
$XPDR_PINGS,-1
$24V_AH,22.9,54.618
$10V_AH,10.1,46.066
$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,24.750,118.550,158.275,94.250,0.000,144.482,242.527,641.161,0.000,0.000,0.000,40.889,1244.649,14096.558,445.255,1104.736,1393.108,0.000,1281.382,0.000,991.245,0.000,0.655
$DEVICE_MAMPS,181.779,67.496,1405.144,648.115,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,379.279,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19075,402
$CAP_FILE_SIZE,122665,0
$CFSIZE,256368640,219217920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036,265.5,1
$GPS,201008,081137,6659.130,558.437,56,1.8,62,-2.1