version: 66.03
glider: 17
mission: 6
dive: 414
start: 10 20 108 8 17 52
data:
$ID,17
$MISSION,6
$DIVE,414
$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,-96416.422
$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,27
$R_STBD_OVSHOOT,23
$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
$GPS1,081137,6659.130,558.437,56,1.8,62,-2.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-45.5
$GPS2,081722,6659.136,558.561,11,2.5,30,-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,49.0,1910,-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,-28.6,0.0,0.0,0,74,0.00,0.00,-47.15,0.000,6,0.000,0.000,56,2114,2909
$GC,77,-2.30,-60.9,0.8,-1.7,1,95,8.40,2.17,-3.65,0.000,4,0.185,0.059,1456,3256,3042
$GC,348,-2.30,-60.9,56.3,-25.8,7,352,0.00,1.98,0.00,0.000,6,0.000,0.035,1456,2132,3044
$GC,673,-2.30,-60.9,111.9,-16.4,15,677,0.00,2.08,0.00,0.000,4,0.000,0.048,1456,3253,3046
$GC,919,-2.30,-60.9,152.2,-15.6,20,922,0.00,1.98,0.00,0.000,6,0.000,0.035,1456,2131,3046
$GC,1262,-2.30,-60.9,204.9,-15.4,29,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,2131,3047
$GC,1587,-2.30,-60.9,254.6,-15.4,37,1590,0.00,2.08,0.00,0.000,4,0.000,0.050,1456,3251,3047
$GC,1632,-2.30,-60.9,261.7,-15.7,38,1635,0.00,1.98,0.00,0.000,6,0.000,0.037,1457,2127,3048
$GC,1950,-2.30,-60.9,310.1,-15.2,46,1954,0.00,2.10,0.00,0.000,4,0.000,0.050,1456,3251,3048
$GC,2027,-2.30,-60.9,322.2,-15.4,47,2034,0.00,1.98,0.00,0.000,6,0.000,0.036,1456,2132,3048
$GC,2359,-2.30,-60.9,372.5,-15.1,56,2360,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,2133,3048
$GC,2685,-2.30,-60.9,421.4,-15.1,64,2689,0.00,2.00,0.00,0.000,4,0.000,0.050,1456,1006,3048
$GC,2729,-2.30,-60.9,428.6,-15.6,65,2732,0.00,2.03,0.00,0.000,6,0.000,0.036,1456,2137,3048
$GC,3054,-2.30,-60.9,476.8,-14.7,73,3055,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,2137,3048
$GC,3380,-2.30,-60.9,521.6,-13.3,81,3381,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,2137,3048
$GC,3704,-2.30,-60.9,562.9,-12.8,89,3707,0.00,2.10,0.00,0.000,4,0.000,0.058,1456,3251,3048
$GC,3865,-2.30,-60.9,585.2,-13.9,92,3869,0.00,2.03,0.00,0.000,6,0.000,0.041,1456,2120,3048
$GC,4204,-2.30,-60.9,630.1,-13.2,101,4205,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,2120,3048
$GC,4528,-2.30,-60.9,671.9,-12.9,109,4529,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,2120,3048
$GC,4853,-2.30,-60.9,714.7,-13.2,117,4857,0.00,2.17,0.00,0.000,4,0.000,0.064,1456,3252,3046
$GC,5021,-2.30,-60.9,738.6,-14.4,120,5028,0.00,2.03,0.00,0.000,6,0.000,0.047,1456,2124,3046
$GC,5353,-2.30,-60.9,783.5,-13.4,129,5357,0.00,2.15,0.00,0.000,4,0.000,0.065,1456,3253,3044
$GC,5408,-2.30,-60.9,791.3,-13.6,130,5411,0.00,2.03,0.00,0.000,6,0.000,0.048,1457,2130,3044
$GC,5721,-2.30,-60.9,832.7,-13.4,138,5723,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,2130,3042
$GC,6047,-2.30,-60.9,875.3,-13.0,146,6051,0.00,2.15,0.00,0.000,4,0.000,0.067,1456,3258,3041
$GC,6114,-2.30,-60.9,884.7,-13.4,147,6117,0.00,2.05,0.00,0.000,6,0.000,0.048,1456,2122,3041
$GC,6457,-2.30,-60.9,928.9,-12.8,156,6458,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,2121,3039
$GC,6782,-2.30,-60.9,970.3,-12.8,164,6785,0.00,2.12,0.00,0.000,4,0.000,0.067,1456,3251,3038
$GC,6877,-2.30,-60.9,983.2,-13.6,166,6881,0.00,2.00,0.00,0.000,6,0.000,0.050,1456,2134,3038
$STATE,6944,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6944,begin apogee
$GC,6951,-0.42,0.0,992.2,13.0,168,7018,2.25,0.00,57.90,1.374,6,0.144,0.000,1868,1998,2792
$STATE,7019,end apogee,CONTROL_FINISHED_OK
$STATE,7019,begin climb
$GC,7022,2.30,60.9,994.0,0.0,169,7087,2.83,2.17,55.92,1.391,4,0.063,0.067,2470,888,2543
$GC,7171,2.30,60.9,982.4,12.5,172,7175,0.00,2.03,0.00,0.000,6,0.000,0.048,2470,2009,2541
$GC,7520,2.30,60.9,941.5,11.7,181,7524,0.00,2.08,0.00,0.000,4,0.000,0.066,2470,3142,2540
$GC,7565,2.30,60.9,936.1,11.6,182,7569,0.00,2.05,0.00,0.000,6,0.000,0.052,2471,2009,2540
$GC,7884,2.30,60.9,899.9,11.3,190,7888,0.00,2.10,0.00,0.000,4,0.000,0.066,2470,3137,2539
$GC,8120,2.30,60.9,873.2,11.5,195,8124,0.00,2.03,0.00,0.000,6,0.000,0.051,2470,2011,2538
$GC,8468,2.30,60.9,834.8,11.0,204,8472,0.00,2.08,0.00,0.000,4,0.000,0.066,2470,3136,2538
$GC,8726,2.30,60.9,807.1,11.0,209,8733,0.00,2.03,0.00,0.000,6,0.000,0.052,2470,2016,2537
$GC,9058,2.30,60.9,773.5,10.0,218,9061,0.00,2.08,0.00,0.000,4,0.000,0.066,2470,3139,2536
$GC,9175,2.30,60.9,761.7,10.1,220,9178,0.00,2.03,0.00,0.000,6,0.000,0.052,2470,2020,2535
$GC,9508,2.30,60.9,730.1,9.4,228,9511,0.00,2.08,0.00,0.000,4,0.000,0.065,2470,3141,2535
$GC,9765,2.30,60.9,706.0,8.7,233,9772,0.00,2.03,0.00,0.000,6,0.000,0.051,2470,2022,2535
$GC,10098,2.30,60.9,676.7,8.9,242,10102,0.00,2.08,0.00,0.000,4,0.000,0.066,2470,3136,2534
$GC,10355,2.30,60.9,653.9,8.8,247,10362,0.00,2.00,0.00,0.000,6,0.000,0.051,2470,2030,2534
$GC,10688,2.30,60.9,627.3,7.8,256,10692,0.00,2.05,0.00,0.000,4,0.000,0.067,2470,3139,2534
$GC,10945,2.30,60.9,607.0,7.8,261,10952,0.00,1.98,0.00,0.000,6,0.000,0.051,2471,2039,2534
$GC,11277,2.30,60.9,580.8,8.0,270,11280,0.00,2.05,0.00,0.000,4,0.000,0.065,2470,3145,2534
$GC,11305,2.30,60.9,578.5,8.8,270,11309,0.00,2.00,0.00,0.000,6,0.000,0.052,2470,2030,2534
$GC,11636,2.30,60.9,551.2,8.2,278,11640,0.00,2.05,0.00,0.000,4,0.000,0.065,2470,3140,2534
$GC,11736,2.30,60.9,542.8,8.0,280,11740,0.00,1.98,0.00,0.000,6,0.000,0.050,2470,2042,2534
$GC,12051,2.30,60.9,520.0,7.1,288,12055,0.00,2.03,0.00,0.000,4,0.000,0.063,2470,3140,2534
$GC,12061,2.30,60.9,519.0,7.1,288,12065,0.00,1.95,0.00,0.000,6,0.000,0.050,2470,2050,2533
$GC,12375,2.30,60.9,496.8,7.0,296,12378,0.00,2.03,0.00,0.000,4,0.000,0.062,2470,3136,2533
$GC,12631,2.30,60.9,478.9,7.4,301,12638,0.00,1.90,0.00,0.000,6,0.000,0.047,2470,2080,2533
$GC,12964,2.31,62.9,457.0,6.6,310,12967,0.00,1.95,0.00,0.000,4,0.000,0.059,2470,3138,2533
$GC,13220,2.31,62.9,437.3,7.2,315,13227,0.00,1.88,0.00,0.000,6,0.000,0.045,2470,2090,2533
$GC,13552,2.31,62.9,413.6,7.0,324,13556,0.00,1.92,0.00,0.000,4,0.000,0.058,2470,3138,2533
$GC,13810,2.31,63.1,395.4,6.8,329,13816,0.00,1.85,0.00,0.000,6,0.000,0.044,2470,2093,2533
$GC,14142,2.31,64.9,373.2,6.6,338,14145,0.00,1.90,0.00,0.000,4,0.000,0.057,2470,3138,2534
$GC,14399,2.31,68.9,355.7,6.2,343,14410,0.00,1.83,6.65,0.821,6,0.000,0.042,2471,2097,2511
$GC,14729,2.31,68.9,332.6,7.4,352,14732,0.00,1.88,0.00,0.000,4,0.000,0.056,2470,3138,2511
$GC,14985,2.31,68.9,311.7,9.0,357,14992,0.00,1.83,0.00,0.000,6,0.000,0.041,2470,2091,2511
$GC,15317,2.31,68.9,284.7,8.1,366,15321,0.00,1.88,0.00,0.000,4,0.000,0.054,2470,3138,2512
$GC,15574,2.31,68.9,263.5,8.2,371,15581,0.00,1.85,0.00,0.000,6,0.000,0.041,2470,2079,2513
$GC,15906,2.31,68.9,239.5,7.2,380,15910,0.00,1.92,0.00,0.000,4,0.000,0.054,2470,3148,2513
$GC,16165,2.31,68.9,220.1,7.7,385,16171,0.00,1.90,0.00,0.000,6,0.000,0.039,2470,2074,2514
$GC,16496,2.31,68.9,194.3,8.0,394,16500,0.00,1.98,0.00,0.000,4,0.000,0.052,2470,3146,2515
$GC,16753,2.31,68.9,172.9,8.0,399,16760,0.00,1.88,0.00,0.000,6,0.000,0.038,2471,2085,2516
$GC,17085,2.31,68.9,145.7,8.1,408,17089,0.00,1.92,0.00,0.000,4,0.000,0.051,2471,3140,2517
$GC,17343,2.31,68.9,124.9,8.0,413,17349,0.00,1.85,0.00,0.000,6,0.000,0.037,2470,2090,2517
$GC,17674,2.31,68.9,100.0,7.4,422,17678,0.00,1.90,0.00,0.000,4,0.000,0.051,2471,3138,2517
$GC,17932,2.31,68.9,80.0,7.2,427,17939,0.00,1.83,0.00,0.000,6,0.000,0.037,2471,2088,2517
$GC,18264,2.31,68.9,55.7,7.0,436,18267,0.00,1.92,0.00,0.000,4,0.000,0.049,2470,3136,2518
$GC,18320,2.31,68.9,51.8,6.9,437,18324,0.00,1.83,0.00,0.000,6,0.000,0.037,2470,2089,2518
$GC,18670,2.37,124.8,48.1,-2.1,446,18722,0.00,2.30,47.10,0.692,4,0.000,0.051,2470,884,2282
$GC,18977,2.37,124.8,9.4,14.6,453,18980,0.00,2.17,0.00,0.000,6,0.000,0.034,2470,2114,2281
$STATE,19054,end climb,SURFACE_DEPTH_REACHED
$STATE,19055,begin surface coast
$FINISH,0.0,1.026979
$STATE,19097,end surface coast,CONTROL_FINISHED_OK
$STATE,19097,begin surface
$SM_CCo,19118,69.30,0.638,0,0,1772,250.21
$SM_GC,0.55,0.00,0.00,69.30,0.000,0.000,0.638,54,2115,1772,-8.79,-0.42,250.21
$IRIDIUM_FIX,6631.12,559.10,140198,030302
$TT8_MAMPS,0.021476
$HUMID,2098
$INTERNAL_PRESSURE,8.21321
$TCM_TEMP,3.50
$XPDR_PINGS,-1
$24V_AH,22.9,54.698
$10V_AH,10.1,46.127
$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,24.100,132.400,167.575,69.300,0.000,29.184,34.164,138.719,0.000,0.000,0.000,34.065,1445.318,15738.184,443.520,1377.492,542.463,0.000,1492.044,0.000,1256.460,0.000,0.653
$DEVICE_MAMPS,184.847,67.496,1390.571,638.144,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,430.111,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22252,456
$CAP_FILE_SIZE,131344,0
$CFSIZE,256368640,219152384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.031,254.6,1
$GPS,201008,133926,6659.838,559.367,66,1.1,66,-2.1