version: 66.03
glider: 17
mission: 6
dive: 416
start: 10 20 108 18 34 3
data:
$ID,17
$MISSION,6
$DIVE,416
$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,-96459.109
$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,20
$R_STBD_OVSHOOT,41
$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
$GPS1,182738,6700.636,602.107,38,2.0,50,-2.0
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-47.4
$GPS2,183334,6700.704,602.215,17,2.0,24,-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,225.2,2066,-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,24,-2.27,-28.6,0.0,0.0,0,74,0.00,0.00,-47.65,0.000,6,0.000,0.000,61,2151,2909
$GC,77,-2.31,-71.3,1.8,-0.0,1,96,8.45,2.15,-4.88,0.000,4,0.190,0.061,1455,998,3084
$GC,154,-2.31,-71.3,17.9,-19.2,2,158,0.00,2.00,0.00,0.000,6,0.000,0.035,1455,2118,3086
$GC,485,-2.31,-71.3,80.6,-17.7,10,489,0.00,2.08,0.00,0.000,4,0.000,0.050,1455,3250,3088
$GC,552,-2.31,-71.3,92.9,-17.4,11,556,0.00,1.98,0.00,0.000,6,0.000,0.035,1455,2122,3087
$GC,889,-2.31,-71.3,149.7,-16.7,20,890,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,2122,3088
$GC,1215,-2.31,-71.3,203.9,-16.6,28,1219,0.00,2.10,0.00,0.000,4,0.000,0.049,1455,3251,3089
$GC,1270,-2.31,-71.3,213.6,-16.7,29,1274,0.00,2.00,0.00,0.000,6,0.000,0.036,1455,2123,3089
$GC,1619,-2.31,-71.3,270.2,-16.1,38,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,2123,3089
$GC,1945,-2.31,-71.3,322.4,-16.2,46,1948,0.00,2.10,0.00,0.000,4,0.000,0.050,1455,3257,3089
$GC,2022,-2.31,-71.3,335.6,-15.9,47,2029,0.00,2.00,0.00,0.000,6,0.000,0.036,1455,2124,3089
$GC,2354,-2.31,-71.3,387.1,-15.3,56,2358,0.00,2.10,0.00,0.000,4,0.000,0.051,1455,3256,3089
$GC,2433,-2.31,-71.3,399.2,-15.4,57,2439,0.00,1.98,0.00,0.000,6,0.000,0.037,1455,2127,3089
$GC,2764,-2.31,-71.3,448.6,-15.0,66,2768,0.00,2.10,0.00,0.000,4,0.000,0.052,1455,3250,3089
$GC,2864,-2.31,-71.3,464.2,-15.1,68,2868,0.00,1.98,0.00,0.000,6,0.000,0.038,1455,2143,3089
$GC,3214,-2.31,-71.3,515.7,-14.7,77,3217,0.00,2.08,0.00,0.000,4,0.000,0.055,1455,3250,3089
$GC,3298,-2.31,-71.3,529.0,-14.8,79,3302,0.00,1.98,0.00,0.000,6,0.000,0.039,1455,2142,3089
$GC,3623,-2.31,-71.3,577.3,-14.6,87,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,2142,3089
$GC,3948,-2.31,-71.3,625.5,-14.9,95,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,2142,3089
$GC,4274,-2.31,-71.3,674.5,-15.1,103,4278,0.00,2.12,0.00,0.000,4,0.000,0.064,1455,3251,3089
$GC,4318,-2.31,-71.3,681.5,-15.4,104,4321,0.00,2.00,0.00,0.000,6,0.000,0.045,1455,2149,3090
$GC,4642,-2.31,-71.3,728.9,-14.6,112,4644,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,2149,3088
$GC,4969,-2.31,-71.3,776.3,-14.6,120,4970,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,2149,3087
$GC,5292,-2.31,-71.3,823.8,-14.9,128,5296,0.00,2.10,0.00,0.000,4,0.000,0.067,1455,3251,3086
$GC,5342,-2.31,-71.3,831.8,-15.6,129,5346,0.00,2.00,0.00,0.000,6,0.000,0.048,1455,2148,3085
$GC,5655,-2.31,-71.3,878.6,-15.0,137,5659,0.00,2.10,0.00,0.000,4,0.000,0.067,1455,3248,3084
$GC,5717,-2.31,-71.3,888.0,-15.1,138,5721,0.00,2.00,0.00,0.000,6,0.000,0.049,1455,2141,3083
$GC,6060,-2.31,-71.3,937.2,-14.0,147,6064,0.00,2.10,0.00,0.000,4,0.000,0.067,1455,3254,3082
$GC,6087,-2.31,-71.3,941.3,-15.0,147,6090,0.00,2.00,0.00,0.000,6,0.000,0.049,1455,2149,3082
$GC,6425,-2.31,-71.3,986.6,-13.4,156,6429,0.00,2.08,0.00,0.000,4,0.000,0.067,1455,3253,3081
$STATE,6450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6450,begin apogee
$GC,6459,-0.42,0.0,990.8,14.3,156,6529,2.22,0.00,65.07,1.403,6,0.145,0.000,1870,2004,2792
$STATE,6529,end apogee,CONTROL_FINISHED_OK
$STATE,6529,begin climb
$GC,6532,2.31,71.3,993.0,0.0,158,6603,2.88,0.00,65.53,1.382,6,0.061,0.000,2470,2004,2501
$GC,6916,2.31,71.3,948.7,13.5,168,6920,0.00,2.10,0.00,0.000,4,0.000,0.065,2470,3130,2497
$GC,7174,2.31,71.3,913.5,13.4,173,7180,0.00,2.05,0.00,0.000,6,0.000,0.051,2470,2005,2496
$GC,7506,2.31,71.3,870.9,12.8,182,7509,0.00,2.08,0.00,0.000,4,0.000,0.064,2470,3130,2496
$GC,7762,2.31,71.3,837.5,12.6,187,7769,0.00,2.05,0.00,0.000,6,0.000,0.052,2470,2006,2495
$GC,8094,2.31,71.3,797.3,12.1,196,8098,0.00,2.08,0.00,0.000,4,0.000,0.064,2470,3133,2494
$GC,8288,2.31,71.3,773.0,12.9,200,8292,0.00,2.03,0.00,0.000,6,0.000,0.052,2470,2008,2494
$GC,8637,2.31,71.3,731.5,12.0,209,8638,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2008,2493
$GC,8963,2.31,71.3,693.0,11.9,217,8967,0.00,2.12,0.00,0.000,4,0.000,0.066,2470,3141,2492
$GC,9140,2.31,71.3,672.0,12.0,221,9144,0.00,2.05,0.00,0.000,6,0.000,0.052,2470,2017,2492
$GC,9464,2.31,71.3,636.1,10.8,229,9465,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2017,2491
$GC,9790,2.31,71.3,602.0,10.7,237,9794,0.00,2.15,0.00,0.000,4,0.000,0.064,2470,3139,2491
$GC,10047,2.31,71.3,573.4,11.5,242,10054,0.00,2.08,0.00,0.000,6,0.000,0.051,2470,2007,2491
$GC,10380,2.31,71.3,539.6,10.1,251,10384,0.00,2.12,0.00,0.000,4,0.000,0.064,2470,3139,2491
$GC,10531,2.31,71.3,524.9,8.8,254,10535,0.00,2.05,0.00,0.000,6,0.000,0.049,2470,2015,2491
$GC,10874,2.31,71.3,494.9,8.8,263,10878,0.00,2.10,0.00,0.000,4,0.000,0.061,2470,3138,2491
$GC,10998,2.31,71.3,482.9,10.1,265,11004,0.00,2.03,0.00,0.000,6,0.000,0.048,2470,2021,2491
$GC,11329,2.31,71.3,451.2,9.7,274,11333,0.00,2.10,0.00,0.000,4,0.000,0.059,2470,3142,2490
$GC,11586,2.31,71.3,425.8,9.8,279,11593,0.00,2.00,0.00,0.000,6,0.000,0.045,2470,2032,2490
$GC,11918,2.31,71.3,394.7,9.3,288,11922,0.00,2.08,0.00,0.000,4,0.000,0.056,2470,3131,2490
$GC,12176,2.31,71.3,369.8,9.1,293,12182,0.00,1.98,0.00,0.000,6,0.000,0.044,2470,2033,2490
$GC,12507,2.31,71.3,339.9,9.1,302,12511,0.00,2.05,0.00,0.000,4,0.000,0.055,2470,3135,2491
$GC,12764,2.31,71.3,315.6,9.1,307,12771,0.00,1.98,0.00,0.000,6,0.000,0.042,2470,2039,2491
$GC,13096,2.31,71.3,286.0,8.7,316,13100,0.00,2.03,0.00,0.000,4,0.000,0.053,2470,3131,2492
$GC,13353,2.31,71.3,262.5,8.8,321,13360,0.00,1.95,0.00,0.000,6,0.000,0.041,2470,2040,2492
$GC,13685,2.31,71.3,234.6,8.4,330,13686,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2041,2493
$GC,14009,2.31,71.3,207.0,8.5,338,14010,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2041,2494
$GC,14335,2.31,71.3,177.9,9.1,346,14339,0.00,2.03,0.00,0.000,4,0.000,0.051,2470,3136,2494
$GC,14593,2.31,71.3,153.7,9.2,351,14600,0.00,1.98,0.00,0.000,6,0.000,0.038,2470,2029,2495
$GC,14926,2.31,71.3,122.9,9.2,360,14930,0.00,2.05,0.00,0.000,4,0.000,0.051,2470,3136,2496
$GC,15183,2.31,71.3,98.8,8.6,365,15190,0.00,1.92,0.00,0.000,6,0.000,0.038,2470,2045,2496
$GC,15516,2.31,71.3,67.5,9.4,374,15520,0.00,2.00,0.00,0.000,4,0.000,0.051,2470,3130,2497
$GC,15774,2.34,99.0,51.5,2.4,379,15801,0.00,1.92,22.85,0.699,6,0.000,0.036,2470,2037,2388
$GC,16145,2.34,99.0,22.7,9.3,389,16149,0.00,2.05,0.00,0.000,4,0.000,0.052,2470,3133,2388
$STATE,16323,end climb,SURFACE_DEPTH_REACHED
$STATE,16323,begin surface coast
$FINISH,0.7,1.027006
$STATE,16327,end surface coast,CONTROL_FINISHED_OK
$STATE,16327,begin surface
$SM_CCo,16353,89.25,0.649,0,0,1772,250.21
$SM_GC,0.35,0.00,0.00,89.25,0.000,0.000,0.649,54,2117,1772,-8.79,-0.34,250.21
$IRIDIUM_FIX,6631.12,557.95,140198,131305
$TT8_MAMPS,0.021476
$HUMID,2110
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,3.00
$XPDR_PINGS,-1
$24V_AH,22.9,54.869
$10V_AH,10.1,46.230
$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,24.850,110.450,153.450,89.250,0.000,31.259,32.255,157.123,0.000,0.000,0.000,24.328,1199.823,13609.528,438.662,1045.111,519.454,0.000,1236.815,0.000,949.841,0.000,0.653
$DEVICE_MAMPS,190.216,67.496,1402.843,648.882,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,371.488,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19126,393
$CAP_FILE_SIZE,107853,0
$CFSIZE,256368640,219074560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.014,247.2,1
$GPS,201008,230908,6659.450,559.263,24,1.9,24,-2.1