version: 66.03
glider: 17
mission: 6
dive: 426
start: 10 22 108 23 46 27
data:
$ID,17
$MISSION,6
$DIVE,426
$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,-96720.414
$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,37
$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
$GPS1,233923,6659.661,600.547,44,2.9,63,-2.0
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-42.4
$GPS2,234559,6659.605,600.696,12,2.7,31,-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,267.5,888,-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,26,-2.27,-28.6,0.0,0.0,0,73,0.00,0.00,-45.20,0.000,6,0.000,0.000,60,2156,2910
$GC,77,-2.31,-65.8,0.9,-0.9,1,95,8.60,2.10,-3.90,0.000,4,0.196,0.064,1455,3242,3064
$GC,234,-2.31,-65.8,31.6,-17.5,4,238,0.00,1.98,0.00,0.000,6,0.000,0.036,1455,2122,3065
$GC,577,-2.31,-65.8,96.1,-17.6,13,581,0.00,2.08,0.00,0.000,4,0.000,0.049,1455,3241,3067
$GC,734,-2.31,-65.8,122.2,-16.5,16,738,0.00,1.95,0.00,0.000,6,0.000,0.035,1455,2131,3067
$GC,1071,-2.31,-65.8,175.5,-15.6,25,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,2130,3067
$GC,1396,-2.31,-65.8,226.7,-15.8,33,1400,0.00,2.08,0.00,0.000,4,0.000,0.050,1455,3242,3068
$GC,1486,-2.31,-65.8,241.3,-16.5,35,1490,0.00,1.95,0.00,0.000,6,0.000,0.035,1455,2136,3068
$GC,1805,-2.31,-65.8,291.3,-15.9,43,1809,0.00,2.03,0.00,0.000,4,0.000,0.050,1455,3239,3068
$GC,1849,-2.31,-65.8,298.5,-15.5,44,1852,0.00,1.90,0.00,0.000,6,0.000,0.036,1455,2148,3069
$GC,2175,-2.31,-65.8,347.8,-15.2,52,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,2148,3068
$GC,2499,-2.31,-65.8,395.7,-14.9,60,2502,0.00,2.03,0.00,0.000,4,0.000,0.051,1455,3239,3068
$GC,2542,-2.31,-65.8,402.7,-15.4,61,2546,0.00,1.92,0.00,0.000,6,0.000,0.038,1455,2151,3068
$GC,2867,-2.31,-65.8,449.8,-15.0,69,2871,0.00,2.05,0.00,0.000,4,0.000,0.053,1455,3245,3068
$GC,2954,-2.31,-65.8,463.0,-15.4,71,2958,0.00,1.95,0.00,0.000,6,0.000,0.038,1455,2151,3068
$GC,3278,-2.31,-65.8,510.7,-14.5,79,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,2151,3068
$GC,3603,-2.31,-65.8,557.1,-14.1,87,3607,0.00,2.08,0.00,0.000,4,0.000,0.054,1455,1003,3068
$GC,3637,-2.31,-65.8,562.3,-14.8,87,3644,0.00,2.05,0.00,0.000,6,0.000,0.040,1455,2138,3068
$GC,3969,-2.31,-65.8,607.9,-13.6,96,3972,0.00,2.10,0.00,0.000,4,0.000,0.062,1455,3258,3068
$GC,4041,-2.31,-65.8,618.2,-14.2,97,4044,0.00,2.00,0.00,0.000,6,0.000,0.044,1455,2151,3068
$GC,4373,-2.31,-65.8,662.1,-13.3,105,4374,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,2150,3067
$GC,4699,-2.31,-65.8,705.6,-13.6,113,4702,0.00,2.12,0.00,0.000,4,0.000,0.066,1455,3259,3066
$GC,4739,-2.31,-65.8,711.4,-14.1,114,4742,0.00,2.00,0.00,0.000,6,0.000,0.047,1455,2158,3066
$GC,5063,-2.31,-65.8,755.8,-13.7,122,5064,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,2157,3066
$GC,5389,-2.31,-65.8,800.3,-13.8,130,5393,0.00,2.10,0.00,0.000,4,0.000,0.067,1455,3252,3064
$GC,5430,-2.31,-65.8,806.1,-14.3,131,5434,0.00,2.00,0.00,0.000,6,0.000,0.048,1455,2155,3064
$GC,5754,-2.31,-65.8,851.8,-14.2,139,5758,0.00,2.10,0.00,0.000,4,0.000,0.067,1455,3258,3061
$GC,5804,-2.31,-65.8,859.4,-14.6,140,5807,0.00,1.98,0.00,0.000,6,0.000,0.048,1455,2168,3061
$GC,6125,-2.31,-65.8,904.7,-14.2,148,6128,0.00,2.08,0.00,0.000,4,0.000,0.067,1455,3259,3060
$GC,6174,-2.31,-65.8,912.3,-14.5,149,6178,0.00,1.98,0.00,0.000,6,0.000,0.049,1455,2166,3060
$GC,6488,-2.31,-65.8,956.6,-14.1,157,6489,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,2165,3059
$STATE,6729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6729,begin apogee
$GC,6737,-0.42,0.0,990.6,14.0,163,6802,2.28,0.00,60.30,1.403,6,0.147,0.000,1869,2000,2792
$STATE,6803,end apogee,CONTROL_FINISHED_OK
$STATE,6803,begin climb
$GC,6806,2.31,65.8,992.8,0.0,164,6872,2.83,0.00,61.03,1.385,6,0.067,0.000,2466,2000,2524
$GC,7177,2.31,65.8,955.7,11.8,174,7181,0.00,2.15,0.00,0.000,4,0.000,0.064,2465,3134,2521
$GC,7434,2.31,65.8,925.3,11.8,179,7441,0.00,2.05,0.00,0.000,6,0.000,0.051,2465,2016,2520
$GC,7766,2.31,65.8,888.3,11.0,188,7770,0.00,2.10,0.00,0.000,4,0.000,0.065,2465,3144,2519
$GC,8022,2.31,65.8,859.6,11.6,193,8029,0.00,2.05,0.00,0.000,6,0.000,0.052,2465,2017,2519
$GC,8354,2.31,65.8,824.1,10.7,202,8358,0.00,2.10,0.00,0.000,4,0.000,0.065,2465,3144,2518
$GC,8611,2.31,65.8,796.2,11.0,207,8618,0.00,2.05,0.00,0.000,6,0.000,0.052,2465,2021,2517
$GC,8943,2.31,65.8,761.2,10.6,216,8947,0.00,2.10,0.00,0.000,4,0.000,0.065,2465,3143,2517
$GC,9199,2.31,65.8,733.4,10.8,221,9206,0.00,2.05,0.00,0.000,6,0.000,0.052,2465,2018,2516
$GC,9531,2.31,65.8,699.7,10.1,230,9535,0.00,2.08,0.00,0.000,4,0.000,0.064,2465,3136,2516
$GC,9771,2.31,65.8,675.1,10.2,235,9774,0.00,2.03,0.00,0.000,6,0.000,0.052,2465,2022,2515
$GC,10120,2.31,65.8,641.5,9.6,244,10123,0.00,2.08,0.00,0.000,4,0.000,0.065,2465,3141,2515
$GC,10332,2.31,65.8,620.5,10.1,248,10338,0.00,2.03,0.00,0.000,6,0.000,0.052,2465,2024,2514
$GC,10664,2.31,65.8,589.8,9.1,257,10667,0.00,2.10,0.00,0.000,4,0.000,0.065,2465,3144,2514
$GC,10920,2.31,65.8,565.8,9.5,262,10926,0.00,2.05,0.00,0.000,6,0.000,0.051,2465,2026,2514
$GC,11252,2.31,65.8,538.3,8.2,271,11255,0.00,2.10,0.00,0.000,4,0.000,0.063,2465,3141,2514
$GC,11323,2.31,65.8,531.9,8.8,272,11327,0.00,2.03,0.00,0.000,6,0.000,0.051,2465,2025,2514
$GC,11656,2.31,65.8,504.8,7.9,280,11657,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2025,2513
$GC,11980,2.31,65.8,479.1,8.0,288,11981,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2025,2513
$GC,12305,2.31,65.8,453.9,7.7,296,12309,0.00,2.10,0.00,0.000,4,0.000,0.059,2465,3138,2513
$GC,12383,2.31,65.8,447.6,7.8,297,12389,0.00,2.00,0.00,0.000,6,0.000,0.047,2465,2039,2513
$GC,12716,2.31,65.8,421.9,7.5,306,12719,0.00,2.10,0.00,0.000,4,0.000,0.058,2465,3145,2514
$GC,12756,2.31,65.8,418.8,7.5,307,12760,0.00,2.00,0.00,0.000,6,0.000,0.046,2465,2041,2513
$GC,13080,2.31,65.8,394.2,7.7,315,13084,0.00,2.08,0.00,0.000,4,0.000,0.057,2465,3141,2513
$GC,13337,2.31,65.8,375.1,7.0,320,13344,0.00,1.98,0.00,0.000,6,0.000,0.044,2465,2046,2513
$GC,13669,2.31,67.0,352.6,6.7,329,13673,0.00,2.05,0.00,0.000,4,0.000,0.056,2465,3141,2513
$GC,13925,2.31,67.0,334.0,7.3,334,13932,0.00,1.95,0.00,0.000,6,0.000,0.041,2465,2050,2514
$GC,14257,2.31,67.0,308.3,7.8,343,14261,0.00,2.03,0.00,0.000,4,0.000,0.055,2465,3145,2515
$GC,14513,2.31,67.0,287.3,8.4,348,14520,0.00,1.95,0.00,0.000,6,0.000,0.041,2465,2061,2516
$GC,14845,2.31,67.0,260.9,7.8,357,14849,0.00,2.00,0.00,0.000,4,0.000,0.054,2465,3135,2517
$GC,15102,2.31,67.0,240.6,7.8,362,15108,0.00,1.92,0.00,0.000,6,0.000,0.040,2465,2057,2517
$GC,15434,2.31,67.3,217.2,6.8,371,15437,0.00,1.98,0.00,0.000,4,0.000,0.053,2465,3137,2518
$GC,15691,2.31,68.8,199.9,6.6,376,15697,0.00,1.92,0.00,0.000,6,0.000,0.039,2465,2053,2518
$GC,16022,2.31,70.8,178.5,6.5,385,16032,0.00,2.00,5.22,0.646,4,0.000,0.051,2465,3134,2503
$GC,16285,2.31,70.8,157.8,8.5,391,16289,0.00,1.92,0.00,0.000,6,0.000,0.039,2465,2059,2503
$GC,16611,2.31,70.8,131.7,8.0,399,16612,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2059,2503
$GC,16934,2.31,70.8,107.0,7.4,407,16935,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2059,2504
$GC,17260,2.31,70.8,81.5,8.3,415,17263,0.00,1.98,0.00,0.000,4,0.000,0.050,2465,3137,2504
$GC,17349,2.31,70.8,74.3,7.3,417,17352,0.00,1.90,0.00,0.000,6,0.000,0.037,2465,2052,2504
$GC,17675,2.35,108.3,68.9,0.9,425,17716,0.00,2.12,31.65,0.713,4,0.000,0.048,2465,3134,2349
$GC,17970,2.35,108.3,39.8,12.6,431,17973,0.00,1.88,0.00,0.000,6,0.000,0.036,2465,2069,2349
$STATE,18263,end climb,SURFACE_DEPTH_REACHED
$STATE,18263,begin surface coast
$FINISH,-0.0,1.011913
$STATE,18305,end surface coast,CONTROL_FINISHED_OK
$STATE,18305,begin surface
$SM_CCo,18327,84.18,0.652,0,0,1772,250.21
$SM_GC,0.56,0.00,0.00,84.18,0.000,0.000,0.652,58,2161,1772,-8.77,0.88,250.21
$IRIDIUM_FIX,6631.12,603.42,160198,161611
$TT8_MAMPS,0.021476
$HUMID,2113
$INTERNAL_PRESSURE,8.21321
$TCM_TEMP,3.00
$XPDR_PINGS,-1
$24V_AH,22.8,55.759
$10V_AH,10.1,46.797
$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,24.550,122.000,158.200,84.175,0.000,23.374,32.252,193.036,0.000,0.000,0.000,32.644,1351.497,15237.288,447.360,1203.067,578.726,0.000,1358.590,0.000,1088.424,0.000,0.654
$DEVICE_MAMPS,196.352,67.496,1402.843,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,417.131,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19137,440
$CAP_FILE_SIZE,122313,0
$CFSIZE,256368640,218562560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069, 59.6,1
$GPS,231008,045458,6659.673,558.332,40,2.6,59,-2.1