version: 66.03
glider: 17
mission: 6
dive: 421
start: 10 21 108 21 21 8
data:
$ID,17
$MISSION,6
$DIVE,421
$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,-96587.242
$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,22
$R_STBD_OVSHOOT,33
$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
$GPS1,210638,6700.383,559.948,63,1.9,63,-2.0
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-41.0
$GPS2,212039,6700.417,600.387,17,1.9,29,-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,232.3,822,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-2.27,-28.6,0.0,0.0,0,76,0.00,0.00,-47.58,0.000,6,0.000,0.000,57,2135,2909
$GC,79,-2.31,-71.3,1.8,-0.0,1,98,8.35,2.08,-4.75,0.000,4,0.185,0.056,1456,999,3084
$GC,207,-2.31,-71.3,28.9,-17.1,3,214,0.00,1.98,0.00,0.000,6,0.000,0.035,1456,2123,3085
$GC,538,-2.31,-71.3,89.4,-17.2,12,542,0.00,2.08,0.00,0.000,4,0.000,0.051,1456,3256,3087
$GC,588,-2.31,-71.3,98.2,-17.0,13,592,0.00,2.00,0.00,0.000,6,0.000,0.035,1456,2123,3087
$GC,903,-2.31,-71.3,148.6,-16.0,21,904,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,2123,3087
$GC,1226,-2.31,-71.3,199.9,-15.7,29,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,2123,3088
$GC,1551,-2.31,-71.3,252.4,-16.4,37,1555,0.00,2.10,0.00,0.000,4,0.000,0.051,1456,3254,3089
$GC,1583,-2.31,-71.3,258.1,-17.0,37,1590,0.00,1.98,0.00,0.000,6,0.000,0.035,1456,2127,3089
$GC,1917,-2.31,-71.3,310.7,-15.6,46,1920,0.00,2.08,0.00,0.000,4,0.000,0.053,1456,3250,3089
$GC,1960,-2.31,-71.3,318.1,-15.7,47,1964,0.00,1.95,0.00,0.000,6,0.000,0.035,1456,2134,3089
$GC,2280,-2.31,-71.3,365.8,-15.2,55,2281,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,2134,3089
$GC,2606,-2.31,-71.3,413.1,-14.0,63,2609,0.00,2.10,0.00,0.000,4,0.000,0.054,1456,3258,3089
$GC,2706,-2.31,-71.3,428.5,-14.7,65,2710,0.00,1.98,0.00,0.000,6,0.000,0.037,1456,2144,3089
$GC,3054,-2.31,-71.3,478.1,-14.1,74,3058,0.00,2.08,0.00,0.000,4,0.000,0.049,1456,1000,3089
$GC,3081,-2.31,-71.3,482.4,-15.2,74,3085,0.00,2.05,0.00,0.000,6,0.000,0.038,1456,2151,3089
$GC,3420,-2.31,-71.3,529.4,-13.9,83,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,2151,3089
$GC,3744,-2.31,-71.3,573.7,-13.7,91,3748,0.00,2.08,0.00,0.000,4,0.000,0.052,1456,1004,3088
$GC,3805,-2.31,-71.3,582.4,-14.2,92,3809,0.00,2.05,0.00,0.000,6,0.000,0.041,1456,2141,3089
$GC,4149,-2.31,-71.3,629.8,-13.8,101,4150,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,2141,3088
$GC,4473,-2.31,-71.3,674.5,-13.7,109,4474,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,2141,3088
$GC,4797,-2.31,-71.3,719.7,-13.9,117,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,2141,3086
$GC,5122,-2.31,-71.3,765.1,-14.1,125,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,2141,3085
$GC,5447,-2.31,-71.3,810.0,-13.9,133,5448,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,2141,3083
$GC,5772,-2.31,-71.3,854.6,-13.7,141,5776,0.00,2.12,0.00,0.000,4,0.000,0.070,1456,3255,3082
$GC,5800,-2.31,-71.3,858.6,-14.7,141,5804,0.00,2.03,0.00,0.000,6,0.000,0.048,1456,2137,3082
$GC,6131,-2.31,-71.3,902.6,-13.3,149,6135,0.00,2.12,0.00,0.000,4,0.000,0.067,1456,3254,3080
$GC,6160,-2.31,-71.3,906.5,-15.1,149,6163,0.00,2.03,0.00,0.000,6,0.000,0.049,1456,2135,3080
$GC,6491,-2.31,-71.3,949.4,-12.8,157,6492,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,2135,3079
$STATE,6813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6813,begin apogee
$GC,6820,-0.42,0.0,991.4,12.8,165,6889,2.25,0.00,64.47,1.404,6,0.144,0.000,1868,2001,2792
$STATE,6890,end apogee,CONTROL_FINISHED_OK
$STATE,6890,begin climb
$GC,6893,2.31,71.3,993.0,0.0,166,6968,2.85,2.33,65.47,1.385,4,0.067,0.062,2475,3142,2501
$GC,7091,2.31,71.3,972.1,14.7,171,7095,0.00,2.08,0.00,0.000,6,0.000,0.051,2475,2017,2499
$GC,7440,2.31,71.3,923.4,13.9,180,7441,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2017,2497
$GC,7766,2.31,71.3,879.7,13.4,188,7769,0.00,2.12,0.00,0.000,4,0.000,0.064,2475,3135,2496
$GC,8023,2.31,71.3,845.2,13.1,193,8030,0.00,2.08,0.00,0.000,6,0.000,0.051,2474,2004,2496
$GC,8355,2.31,71.3,803.9,12.4,202,8359,0.00,2.15,0.00,0.000,4,0.000,0.064,2475,3140,2495
$GC,8612,2.31,71.3,771.6,12.4,207,8619,0.00,2.08,0.00,0.000,6,0.000,0.051,2475,2010,2494
$GC,8945,2.31,71.3,732.8,11.6,216,8949,0.00,2.15,0.00,0.000,4,0.000,0.065,2475,3138,2494
$GC,9202,2.31,71.3,702.4,11.9,221,9209,0.00,2.08,0.00,0.000,6,0.000,0.051,2475,2006,2493
$GC,9534,2.31,71.3,665.8,11.0,230,9538,0.00,2.12,0.00,0.000,4,0.000,0.066,2475,3140,2492
$GC,9791,2.31,71.3,637.2,10.7,235,9798,0.00,2.05,0.00,0.000,6,0.000,0.052,2475,2012,2492
$GC,10123,2.31,71.3,602.5,10.5,244,10127,0.00,2.10,0.00,0.000,4,0.000,0.065,2475,3136,2492
$GC,10380,2.31,71.3,575.0,10.7,249,10387,0.00,2.03,0.00,0.000,6,0.000,0.051,2475,2023,2492
$GC,10712,2.31,71.3,542.4,9.7,258,10715,0.00,2.08,0.00,0.000,4,0.000,0.064,2475,3146,2491
$GC,10968,2.31,71.3,516.5,10.9,263,10975,0.00,2.05,0.00,0.000,6,0.000,0.050,2475,2023,2491
$GC,11300,2.31,71.3,485.5,9.2,272,11304,0.00,2.12,0.00,0.000,4,0.000,0.061,2475,3138,2491
$GC,11558,2.31,71.3,461.3,9.2,277,11564,0.00,2.03,0.00,0.000,6,0.000,0.048,2475,2025,2491
$GC,11889,2.31,71.3,434.3,7.8,286,11893,0.00,2.10,0.00,0.000,4,0.000,0.058,2475,3137,2490
$GC,12024,2.31,71.3,423.6,7.5,289,12028,0.00,2.00,0.00,0.000,6,0.000,0.045,2475,2032,2491
$GC,12343,2.31,71.3,398.2,8.1,297,12344,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2032,2490
$GC,12668,2.31,71.3,371.3,8.5,305,12672,0.00,2.08,0.00,0.000,4,0.000,0.057,2475,3141,2491
$GC,12857,2.31,71.3,354.1,9.4,309,12860,0.00,1.98,0.00,0.000,6,0.000,0.043,2475,2040,2491
$GC,13170,2.31,71.3,325.8,9.1,317,13172,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2040,2491
$GC,13497,2.31,71.3,295.0,9.3,325,13498,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2040,2492
$GC,13820,2.31,71.3,266.0,9.0,333,13821,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2040,2493
$GC,14146,2.31,71.3,236.5,9.1,341,14147,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2040,2493
$GC,14470,2.31,71.3,207.5,8.9,349,14474,0.00,2.05,0.00,0.000,4,0.000,0.053,2475,3140,2494
$GC,14727,2.31,71.3,182.8,9.2,354,14734,0.00,1.98,0.00,0.000,6,0.000,0.038,2475,2038,2494
$GC,15059,2.31,71.3,152.9,8.9,363,15062,0.00,2.03,0.00,0.000,4,0.000,0.051,2475,3141,2495
$GC,15315,2.31,71.3,129.4,9.2,368,15322,0.00,1.95,0.00,0.000,6,0.000,0.038,2475,2043,2496
$GC,15647,2.31,71.3,99.1,9.0,377,15651,0.00,2.00,0.00,0.000,4,0.000,0.050,2475,3138,2497
$GC,15904,2.31,71.3,76.7,8.5,382,15911,0.00,1.95,0.00,0.000,6,0.000,0.038,2475,2041,2497
$GC,16236,2.33,86.7,55.6,4.4,391,16255,0.00,2.10,13.35,0.682,4,0.000,0.048,2475,3140,2438
$GC,16508,2.33,86.7,37.6,8.9,397,16511,0.00,1.92,0.00,0.000,6,0.000,0.036,2475,2048,2438
$STATE,16830,end climb,SURFACE_DEPTH_REACHED
$STATE,16830,begin surface coast
$FINISH,-0.3,1.027081
$STATE,16872,end surface coast,CONTROL_FINISHED_OK
$STATE,16872,begin surface
$SM_CCo,16897,102.53,0.652,0,0,1771,250.21
$SM_GC,0.47,0.00,0.00,102.53,0.000,0.000,0.652,63,2153,1771,-8.75,0.62,250.21
$IRIDIUM_FIX,6636.54,548.12,150198,212112
$TT8_MAMPS,0.021476
$HUMID,2104
$INTERNAL_PRESSURE,8.20344
$TCM_TEMP,3.00
$XPDR_PINGS,-1
$24V_AH,22.8,55.306
$10V_AH,10.1,46.520
$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,24.600,95.025,143.300,102.525,0.000,90.048,158.835,316.967,0.000,0.000,0.000,29.847,1203.005,14336.445,431.278,1008.566,873.880,0.000,1199.767,0.000,911.311,0.000,0.653
$DEVICE_MAMPS,184.847,69.797,1404.377,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,383.094,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19076,406
$CAP_FILE_SIZE,108437,0
$CFSIZE,256368640,218812416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.042, 60.9,1
$GPS,221008,020558,6659.426,558.352,32,2.1,51,-2.1