version: 66.03
glider: 17
mission: 6
dive: 422
start: 10 22 108 2 16 17
data:
$ID,17
$MISSION,6
$DIVE,422
$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,-96645.594
$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,21
$R_STBD_OVSHOOT,38
$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
$GPS1,020558,6659.426,558.352,32,2.1,51,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-45.2
$GPS2,021549,6659.451,558.222,37,2.7,56,-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,50.5,1640,-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,27,-2.27,-28.6,0.0,0.0,0,77,0.00,0.00,-48.62,0.000,6,0.000,0.000,63,2152,2909
$GC,81,-2.31,-71.3,1.5,-0.0,1,97,8.50,0.00,-5.43,0.000,6,0.188,0.000,1454,2152,3084
$GC,392,-2.31,-71.3,61.2,-20.1,9,395,0.00,2.00,0.00,0.000,4,0.000,0.049,1454,3242,3088
$GC,531,-2.31,-71.3,86.4,-17.3,12,535,0.00,1.98,0.00,0.000,6,0.000,0.035,1454,2123,3087
$GC,851,-2.31,-71.3,141.2,-17.0,20,852,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,2123,3088
$GC,1175,-2.31,-71.3,194.4,-16.3,28,1179,0.00,2.05,0.00,0.000,4,0.000,0.049,1454,3242,3088
$GC,1297,-2.31,-71.3,215.5,-16.8,30,1304,0.00,1.95,0.00,0.000,6,0.000,0.035,1454,2128,3089
$GC,1630,-2.31,-71.3,268.4,-16.2,39,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,2128,3089
$GC,1954,-2.31,-71.3,321.0,-16.1,47,1958,0.00,2.05,0.00,0.000,4,0.000,0.051,1454,3242,3089
$GC,2039,-2.31,-71.3,335.3,-17.3,49,2043,0.00,1.95,0.00,0.000,6,0.000,0.037,1454,2132,3089
$GC,2365,-2.31,-71.3,389.3,-16.7,57,2368,0.00,2.03,0.00,0.000,4,0.000,0.051,1454,3238,3089
$GC,2414,-2.31,-71.3,398.0,-16.1,58,2418,0.00,1.92,0.00,0.000,6,0.000,0.037,1454,2146,3089
$GC,2733,-2.31,-71.3,448.4,-15.6,66,2737,0.00,2.03,0.00,0.000,4,0.000,0.052,1454,3243,3089
$GC,2840,-2.31,-71.3,465.3,-15.6,68,2844,0.00,1.90,0.00,0.000,6,0.000,0.038,1454,2160,3089
$GC,3182,-2.31,-71.3,516.4,-14.9,77,3184,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,2160,3089
$GC,3507,-2.31,-71.3,567.2,-15.6,85,3508,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,2160,3089
$GC,3832,-2.31,-71.3,615.0,-14.5,93,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,2160,3090
$GC,4159,-2.31,-71.3,661.7,-14.4,101,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,2160,3089
$GC,4482,-2.31,-71.3,707.5,-14.2,109,4486,0.00,2.05,0.00,0.000,4,0.000,0.065,1454,3242,3088
$GC,4537,-2.31,-71.3,715.7,-14.8,110,4541,0.00,1.92,0.00,0.000,6,0.000,0.045,1454,2171,3088
$GC,4851,-2.31,-71.3,760.0,-14.2,118,4852,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,2170,3087
$GC,5177,-2.31,-71.3,807.3,-14.6,126,5179,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,2170,3086
$GC,5501,-2.31,-71.3,854.6,-14.5,134,5504,0.00,2.03,0.00,0.000,4,0.000,0.067,1454,3238,3084
$GC,5545,-2.31,-71.3,861.4,-15.1,135,5548,0.00,1.92,0.00,0.000,6,0.000,0.049,1454,2168,3084
$GC,5871,-2.31,-71.3,907.6,-14.3,143,5872,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,2167,3082
$GC,6194,-2.31,-71.3,952.7,-13.9,151,6198,0.00,2.03,0.00,0.000,4,0.000,0.067,1454,3237,3081
$GC,6255,-2.31,-71.3,961.7,-14.5,152,6258,0.00,1.90,0.00,0.000,6,0.000,0.049,1454,2176,3081
$STATE,6479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6479,begin apogee
$GC,6486,-0.42,0.0,993.1,13.9,158,6556,2.28,0.00,65.22,1.407,6,0.146,0.000,1868,1997,2792
$STATE,6556,end apogee,CONTROL_FINISHED_OK
$STATE,6556,begin climb
$GC,6561,2.31,71.3,995.1,0.0,159,6635,2.83,2.20,65.12,1.384,4,0.066,0.067,2470,884,2501
$GC,6720,2.31,71.3,981.5,14.0,162,6724,0.00,2.00,0.00,0.000,6,0.000,0.047,2470,1994,2500
$GC,7059,2.31,71.3,937.3,13.1,171,7063,0.00,2.10,0.00,0.000,4,0.000,0.067,2470,3134,2497
$GC,7081,2.31,71.3,934.1,13.3,171,7085,0.00,2.05,0.00,0.000,6,0.000,0.051,2469,2011,2497
$GC,7418,2.31,71.3,891.2,12.6,180,7422,0.00,2.10,0.00,0.000,4,0.000,0.066,2470,3135,2496
$GC,7606,2.31,71.3,867.2,13.1,184,7610,0.00,2.03,0.00,0.000,6,0.000,0.051,2470,2017,2496
$GC,7919,2.31,71.3,827.8,12.5,192,7922,0.00,2.12,0.00,0.000,4,0.000,0.064,2470,3133,2495
$GC,8177,2.31,71.3,795.8,12.0,197,8185,0.00,2.00,0.00,0.000,6,0.000,0.051,2470,2030,2494
$GC,8508,2.31,71.3,757.3,11.5,206,8512,0.00,2.10,0.00,0.000,4,0.000,0.066,2470,3142,2493
$GC,8767,2.31,71.3,727.0,11.8,211,8773,0.00,2.00,0.00,0.000,6,0.000,0.051,2470,2034,2493
$GC,9098,2.31,71.3,690.5,10.9,220,9102,0.00,2.10,0.00,0.000,4,0.000,0.066,2470,3133,2492
$GC,9357,2.31,71.3,660.9,11.9,225,9363,0.00,1.98,0.00,0.000,6,0.000,0.051,2470,2036,2492
$GC,9688,2.31,71.3,624.9,10.7,234,9692,0.00,2.08,0.00,0.000,4,0.000,0.065,2470,3139,2492
$GC,9945,2.31,71.3,597.6,9.9,239,9952,0.00,1.98,0.00,0.000,6,0.000,0.051,2470,2046,2491
$GC,10278,2.31,71.3,566.9,9.1,248,10282,0.00,2.05,0.00,0.000,4,0.000,0.064,2470,3137,2491
$GC,10423,2.31,71.3,553.7,8.3,251,10426,0.00,2.00,0.00,0.000,6,0.000,0.050,2470,2036,2491
$GC,10738,2.31,71.3,525.9,9.2,259,10739,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2036,2491
$GC,11061,2.31,71.3,496.7,8.9,267,11065,0.00,2.10,0.00,0.000,4,0.000,0.061,2470,3142,2491
$GC,11319,2.31,71.3,471.7,9.6,272,11325,0.00,1.98,0.00,0.000,6,0.000,0.046,2470,2043,2491
$GC,11652,2.31,71.3,438.7,9.9,281,11656,0.00,2.05,0.00,0.000,4,0.000,0.059,2470,3141,2491
$GC,11763,2.31,71.3,427.9,9.6,283,11766,0.00,1.95,0.00,0.000,6,0.000,0.045,2470,2046,2490
$GC,12106,2.31,71.3,397.4,8.9,292,12107,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2046,2491
$GC,12432,2.31,71.3,369.2,8.7,300,12436,0.00,2.05,0.00,0.000,4,0.000,0.055,2469,3138,2491
$GC,12549,2.31,71.3,358.3,8.8,302,12553,0.00,1.95,0.00,0.000,6,0.000,0.043,2470,2040,2491
$GC,12881,2.31,71.3,330.3,8.3,310,12885,0.00,2.03,0.00,0.000,4,0.000,0.054,2470,3138,2491
$GC,12922,2.31,71.3,326.7,8.6,311,12926,0.00,1.95,0.00,0.000,6,0.000,0.042,2470,2044,2491
$GC,13247,2.31,71.3,298.3,8.6,319,13248,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2044,2492
$GC,13572,2.31,71.3,268.4,9.3,327,13575,0.00,2.03,0.00,0.000,4,0.000,0.054,2470,3135,2493
$GC,13662,2.31,71.3,259.9,9.4,329,13665,0.00,1.92,0.00,0.000,6,0.000,0.041,2470,2045,2493
$GC,13980,2.31,71.3,231.4,8.7,337,13981,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2045,2493
$GC,14305,2.31,71.3,203.1,8.5,345,14306,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2045,2494
$GC,14630,2.31,71.3,176.0,8.2,353,14631,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2045,2495
$GC,14956,2.31,71.3,147.2,9.2,361,14960,0.00,2.03,0.00,0.000,4,0.000,0.052,2470,3141,2496
$GC,15214,2.31,71.3,122.8,9.1,366,15220,0.00,1.95,0.00,0.000,6,0.000,0.038,2470,2038,2496
$GC,15547,2.31,71.3,93.4,8.5,375,15550,0.00,2.03,0.00,0.000,4,0.000,0.050,2470,3135,2497
$GC,15804,2.31,71.3,71.7,9.0,380,15811,0.00,1.90,0.00,0.000,6,0.000,0.037,2470,2056,2497
$GC,16138,2.34,94.8,52.8,3.1,389,16162,0.00,2.17,19.62,0.691,4,0.000,0.053,2470,886,2405
$GC,16414,2.34,94.8,31.7,10.1,395,16418,0.00,2.05,0.00,0.000,6,0.000,0.033,2470,2041,2404
$STATE,16720,end climb,SURFACE_DEPTH_REACHED
$STATE,16720,begin surface coast
$FINISH,-0.3,1.027092
$STATE,16762,end surface coast,CONTROL_FINISHED_OK
$STATE,16762,begin surface
$SM_CCo,16785,98.40,0.650,0,0,1771,250.21
$SM_GC,0.36,0.00,0.00,98.40,0.000,0.000,0.650,57,2151,1771,-8.78,0.59,250.21
$IRIDIUM_FIX,6631.12,552.48,160198,020235
$TT8_MAMPS,0.021476
$HUMID,2104
$INTERNAL_PRESSURE,8.20344
$TCM_TEMP,3.00
$XPDR_PINGS,-1
$24V_AH,22.8,55.400
$10V_AH,10.1,46.573
$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,24.450,97.200,149.975,98.400,0.000,58.898,68.607,233.456,0.000,0.000,0.000,57.729,1192.941,14203.231,417.912,1018.889,655.214,0.000,1184.615,0.000,894.390,0.000,0.654
$DEVICE_MAMPS,187.915,67.496,1407.445,650.416,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,386.136,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19110,404
$CAP_FILE_SIZE,105878,0
$CFSIZE,256368640,218771456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.043, 99.6,1
$GPS,221008,065932,6700.469,601.929,72,1.2,72,-2.0