version: 66.03
glider: 17
mission: 6
dive: 420
start: 10 21 108 16 21 50
data:
$ID,17
$MISSION,6
$DIVE,420
$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,-96556.773
$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,36
$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
$GPS1,161542,6700.442,602.075,41,1.5,51,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-43.6
$GPS2,162121,6700.505,602.124,21,1.6,21,-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,269.3,1800,-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,-28.6,0.0,0.0,0,71,0.00,0.00,-45.15,0.000,6,0.000,0.000,58,2147,2910
$GC,75,-2.31,-71.3,2.6,-0.0,1,94,8.52,2.15,-5.15,0.000,4,0.193,0.067,1456,1004,3084
$GC,111,-2.31,-71.3,8.4,-15.0,1,118,0.00,2.00,0.00,0.000,6,0.000,0.035,1456,2121,3086
$GC,443,-2.31,-71.3,68.8,-18.5,10,447,0.00,2.03,0.00,0.000,4,0.000,0.046,1456,991,3088
$GC,577,-2.31,-71.3,91.8,-16.8,13,581,0.00,1.98,0.00,0.000,6,0.000,0.033,1456,2106,3088
$GC,896,-2.31,-71.3,145.8,-17.0,21,900,0.00,2.10,0.00,0.000,4,0.000,0.052,1456,3256,3089
$GC,1003,-2.31,-71.3,164.5,-16.9,23,1007,0.00,2.00,0.00,0.000,6,0.000,0.035,1456,2109,3089
$GC,1346,-2.31,-71.3,220.5,-16.2,32,1350,0.00,2.10,0.00,0.000,4,0.000,0.050,1456,3255,3090
$GC,1395,-2.31,-71.3,228.8,-15.8,33,1399,0.00,2.00,0.00,0.000,6,0.000,0.036,1455,2115,3089
$GC,1710,-2.31,-71.3,278.2,-15.8,41,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,2115,3090
$GC,2034,-2.31,-71.3,327.0,-14.6,49,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,2115,3089
$GC,2359,-2.31,-71.3,374.8,-14.6,57,2363,0.00,2.10,0.00,0.000,4,0.000,0.051,1455,3255,3090
$GC,2414,-2.31,-71.3,383.6,-15.3,58,2418,0.00,2.03,0.00,0.000,6,0.000,0.038,1455,2116,3090
$GC,2764,-2.31,-71.3,435.2,-15.0,67,2765,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,2116,3090
$GC,3088,-2.31,-71.3,483.8,-15.2,75,3091,0.00,2.12,0.00,0.000,4,0.000,0.054,1456,3257,3089
$GC,3137,-2.31,-71.3,491.9,-15.5,76,3141,0.00,2.03,0.00,0.000,6,0.000,0.040,1455,2122,3089
$GC,3452,-2.31,-71.3,538.0,-14.8,84,3456,0.00,2.10,0.00,0.000,4,0.000,0.056,1456,3251,3089
$GC,3547,-2.31,-71.3,552.9,-15.3,86,3550,0.00,1.98,0.00,0.000,6,0.000,0.041,1455,2132,3090
$GC,3866,-2.31,-71.3,599.7,-14.8,94,3870,0.00,2.08,0.00,0.000,4,0.000,0.058,1455,3254,3089
$GC,3978,-2.31,-71.3,617.1,-15.1,96,3982,0.00,2.00,0.00,0.000,6,0.000,0.043,1456,2135,3089
$GC,4314,-2.31,-71.3,666.9,-14.9,105,4318,0.00,2.10,0.00,0.000,4,0.000,0.063,1456,3254,3089
$GC,4370,-2.31,-71.3,675.7,-15.6,106,4373,0.00,2.00,0.00,0.000,6,0.000,0.044,1456,2141,3089
$GC,4684,-2.31,-71.3,722.1,-14.9,114,4688,0.00,2.08,0.00,0.000,4,0.000,0.064,1456,3248,3089
$GC,4740,-2.31,-71.3,731.2,-15.9,115,4743,0.00,1.98,0.00,0.000,6,0.000,0.046,1456,2146,3089
$GC,5053,-2.31,-71.3,777.1,-14.6,123,5057,0.00,2.05,0.00,0.000,4,0.000,0.066,1456,3247,3088
$GC,5139,-2.31,-71.3,790.0,-15.4,125,5143,0.00,1.98,0.00,0.000,6,0.000,0.048,1456,2157,3088
$GC,5464,-2.31,-71.3,836.6,-14.2,133,5468,0.00,2.05,0.00,0.000,4,0.000,0.067,1456,3248,3086
$GC,5513,-2.31,-71.3,843.9,-14.0,134,5517,0.00,1.98,0.00,0.000,6,0.000,0.048,1455,2161,3085
$GC,5834,-2.31,-71.3,887.8,-13.8,142,5837,0.00,2.05,0.00,0.000,4,0.000,0.067,1456,3247,3084
$GC,5874,-2.31,-71.3,893.6,-14.1,143,5877,0.00,1.98,0.00,0.000,6,0.000,0.050,1456,2161,3084
$GC,6198,-2.31,-71.3,937.9,-13.6,151,6199,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,2160,3082
$GC,6523,-2.31,-71.3,981.9,-13.4,159,6527,0.00,2.08,0.00,0.000,4,0.000,0.067,1456,3253,3081
$STATE,6581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6581,begin apogee
$GC,6591,-0.42,0.0,990.5,13.9,160,6661,2.22,0.00,65.03,1.409,6,0.146,0.000,1870,2009,2792
$STATE,6661,end apogee,CONTROL_FINISHED_OK
$STATE,6661,begin climb
$GC,6664,2.31,71.3,992.6,0.0,162,6738,2.88,2.20,65.43,1.382,4,0.063,0.063,2471,3136,2501
$GC,6821,2.31,71.3,978.8,13.9,166,6825,0.00,2.10,0.00,0.000,6,0.000,0.052,2471,2003,2499
$GC,7145,2.31,71.3,934.2,13.5,174,7149,0.00,2.12,0.00,0.000,4,0.000,0.065,2471,3131,2497
$GC,7308,2.31,71.3,912.1,13.6,177,7312,0.00,2.05,0.00,0.000,6,0.000,0.051,2471,2012,2496
$GC,7640,2.31,71.3,868.4,13.2,185,7643,0.00,2.10,0.00,0.000,4,0.000,0.065,2471,3129,2496
$GC,7769,2.31,71.3,851.5,13.2,188,7773,0.00,2.05,0.00,0.000,6,0.000,0.053,2471,2010,2495
$GC,8095,2.31,71.3,811.2,12.2,196,8099,0.00,2.12,0.00,0.000,4,0.000,0.066,2471,3132,2494
$GC,8352,2.31,71.3,778.8,12.3,201,8359,0.00,2.05,0.00,0.000,6,0.000,0.052,2471,2015,2493
$GC,8685,2.31,71.3,737.8,12.4,210,8689,0.00,2.12,0.00,0.000,4,0.000,0.064,2471,3135,2493
$GC,8942,2.31,71.3,706.1,12.2,215,8949,0.00,2.05,0.00,0.000,6,0.000,0.052,2471,2015,2492
$GC,9275,2.31,71.3,668.2,11.4,224,9279,0.00,2.12,0.00,0.000,4,0.000,0.065,2471,3136,2492
$GC,9533,2.31,71.3,640.2,10.8,229,9540,0.00,2.05,0.00,0.000,6,0.000,0.052,2471,2023,2492
$GC,9865,2.31,71.3,606.9,10.0,238,9868,0.00,2.10,0.00,0.000,4,0.000,0.064,2471,3133,2491
$GC,10122,2.31,71.3,579.9,10.3,243,10129,0.00,2.03,0.00,0.000,6,0.000,0.051,2471,2028,2491
$GC,10454,2.31,71.3,545.5,10.5,252,10457,0.00,2.08,0.00,0.000,4,0.000,0.064,2471,3131,2491
$GC,10710,2.31,71.3,519.7,9.8,257,10717,0.00,2.00,0.00,0.000,6,0.000,0.050,2471,2033,2490
$GC,11042,2.31,71.3,488.6,9.4,266,11046,0.00,2.08,0.00,0.000,4,0.000,0.062,2471,3137,2490
$GC,11298,2.31,71.3,464.4,9.7,271,11305,0.00,2.03,0.00,0.000,6,0.000,0.048,2471,2024,2490
$GC,11630,2.31,71.3,436.3,8.4,280,11634,0.00,2.08,0.00,0.000,4,0.000,0.058,2471,3135,2490
$GC,11887,2.31,71.3,412.1,9.8,285,11893,0.00,2.00,0.00,0.000,6,0.000,0.044,2471,2028,2490
$GC,12218,2.31,71.3,379.9,9.5,294,12222,0.00,2.05,0.00,0.000,4,0.000,0.056,2471,3131,2490
$GC,12475,2.31,71.3,355.5,9.3,299,12482,0.00,1.95,0.00,0.000,6,0.000,0.043,2471,2039,2490
$GC,12807,2.31,71.3,326.9,8.5,308,12810,0.00,2.03,0.00,0.000,4,0.000,0.054,2471,3130,2490
$GC,13063,2.31,71.3,304.6,8.2,313,13070,0.00,1.98,0.00,0.000,6,0.000,0.042,2471,2032,2491
$GC,13395,2.31,71.3,277.7,8.0,322,13399,0.00,2.05,0.00,0.000,4,0.000,0.054,2471,3137,2492
$GC,13652,2.31,71.3,255.6,8.5,327,13659,0.00,1.98,0.00,0.000,6,0.000,0.041,2471,2033,2492
$GC,13984,2.31,71.3,227.5,8.3,336,13988,0.00,2.03,0.00,0.000,4,0.000,0.052,2471,3129,2493
$GC,14242,2.31,71.3,204.4,8.9,341,14248,0.00,1.92,0.00,0.000,6,0.000,0.039,2471,2046,2494
$GC,14573,2.31,71.3,175.2,9.0,350,14577,0.00,2.00,0.00,0.000,4,0.000,0.051,2471,3129,2494
$GC,14831,2.31,71.3,151.7,9.0,355,14837,0.00,1.92,0.00,0.000,6,0.000,0.038,2471,2046,2495
$GC,15162,2.31,71.3,124.1,8.2,364,15166,0.00,2.00,0.00,0.000,4,0.000,0.051,2471,3137,2496
$GC,15383,2.31,71.3,105.9,8.8,369,15387,0.00,1.95,0.00,0.000,6,0.000,0.038,2471,2040,2496
$GC,15708,2.31,71.3,80.2,7.4,377,15711,0.00,2.05,0.00,0.000,4,0.000,0.054,2471,887,2496
$GC,15965,2.32,74.6,60.0,6.4,382,15975,0.00,2.03,4.12,0.521,6,0.000,0.033,2471,2051,2487
$GC,16297,2.33,88.6,43.8,4.6,391,16316,0.00,2.10,12.70,0.658,4,0.000,0.054,2471,3133,2430
$GC,16569,2.33,88.6,22.1,7.8,397,16572,0.00,1.92,0.00,0.000,6,0.000,0.035,2471,2036,2429
$STATE,16810,end climb,SURFACE_DEPTH_REACHED
$STATE,16810,begin surface coast
$FINISH,-0.2,1.027050
$STATE,16852,end surface coast,CONTROL_FINISHED_OK
$STATE,16852,begin surface
$SM_CCo,16876,109.30,0.649,0,0,1771,250.21
$SM_GC,0.69,0.00,0.00,109.30,0.000,0.000,0.649,58,2135,1771,-8.77,0.17,250.21
$IRIDIUM_FIX,6631.12,557.95,150198,101038
$TT8_MAMPS,0.021476
$HUMID,2098
$INTERNAL_PRESSURE,8.21321
$TCM_TEMP,3.00
$XPDR_PINGS,-1
$24V_AH,22.8,55.204
$10V_AH,10.1,46.465
$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,24.925,131.050,147.275,109.300,0.000,25.099,38.003,136.681,0.000,0.000,0.000,21.082,1300.804,13819.602,459.980,1233.412,521.961,0.000,1400.661,0.000,1129.790,0.000,0.654
$DEVICE_MAMPS,192.517,67.496,1408.979,648.882,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,382.620,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19057,404
$CAP_FILE_SIZE,120936,0
$CFSIZE,256368640,218853376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069, 80.0,1
$GPS,211008,210638,6700.383,559.948,63,1.9,63,-2.0