version: 66.03
glider: 17
mission: 6
dive: 427
start: 10 23 108 5 1 21
data:
$ID,17
$MISSION,6
$DIVE,427
$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,-96757.812
$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,42
$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
$GPS1,045458,6659.673,558.332,40,2.6,59,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-47.5
$GPS2,050053,6659.685,558.299,16,2.5,35,-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,69.5,1363,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-2.27,-28.6,0.0,0.0,0,73,0.00,0.00,-46.85,0.000,6,0.000,0.000,58,2160,2909
$GC,77,-2.31,-71.3,1.9,-0.0,1,96,8.62,2.15,-4.95,0.000,4,0.197,0.059,1456,1001,3084
$GC,348,-2.31,-71.3,58.2,-20.3,7,352,0.00,2.00,0.00,0.000,6,0.000,0.034,1456,2116,3087
$GC,673,-2.31,-71.3,115.3,-16.6,15,677,0.00,2.00,0.00,0.000,4,0.000,0.045,1456,992,3088
$GC,706,-2.31,-71.3,121.0,-16.6,15,713,0.00,2.05,0.00,0.000,6,0.000,0.034,1456,2147,3088
$GC,1039,-2.31,-71.3,173.5,-15.7,24,1043,0.00,2.05,0.00,0.000,4,0.000,0.051,1455,3258,3089
$GC,1117,-2.31,-71.3,186.9,-16.3,25,1124,0.00,1.98,0.00,0.000,6,0.000,0.035,1455,2135,3089
$GC,1449,-2.31,-71.3,240.1,-16.2,34,1452,0.00,2.08,0.00,0.000,4,0.000,0.051,1456,3255,3089
$GC,1521,-2.31,-71.3,252.4,-17.1,35,1525,0.00,1.92,0.00,0.000,6,0.000,0.035,1456,2153,3089
$GC,1853,-2.31,-71.3,305.8,-15.9,43,1857,0.00,2.03,0.00,0.000,4,0.000,0.050,1456,3253,3089
$GC,1914,-2.31,-71.3,316.2,-16.0,44,1917,0.00,1.92,0.00,0.000,6,0.000,0.036,1456,2157,3089
$GC,2258,-2.31,-71.3,370.9,-16.0,53,2262,0.00,2.03,0.00,0.000,4,0.000,0.048,1455,1008,3089
$GC,2279,-2.31,-71.3,374.9,-16.6,53,2283,0.00,2.05,0.00,0.000,6,0.000,0.035,1456,2164,3090
$GC,2623,-2.31,-71.3,430.7,-16.0,62,2626,0.00,2.00,0.00,0.000,4,0.000,0.054,1456,3251,3090
$GC,2650,-2.31,-71.3,435.4,-16.6,62,2653,0.00,1.95,0.00,0.000,6,0.000,0.038,1456,2153,3090
$GC,2983,-2.31,-71.3,484.9,-14.6,70,2984,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,2153,3090
$GC,3306,-2.31,-71.3,530.3,-14.3,78,3310,0.00,2.05,0.00,0.000,4,0.000,0.055,1456,3247,3090
$GC,3372,-2.31,-71.3,540.8,-15.6,79,3376,0.00,1.95,0.00,0.000,6,0.000,0.040,1456,2148,3089
$GC,3710,-2.31,-71.3,586.6,-12.8,88,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,2147,3090
$GC,4036,-2.31,-71.3,632.8,-14.5,96,4040,0.00,2.10,0.00,0.000,4,0.000,0.061,1456,3245,3089
$GC,4108,-2.31,-71.3,644.3,-15.3,97,4112,0.00,1.98,0.00,0.000,6,0.000,0.044,1456,2144,3089
$GC,4439,-2.31,-71.3,693.2,-14.7,105,4441,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,2144,3089
$GC,4766,-2.31,-71.3,740.0,-14.5,113,4767,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,2144,3088
$GC,5090,-2.31,-71.3,787.2,-14.6,121,5094,0.00,2.12,0.00,0.000,4,0.000,0.067,1456,3252,3087
$GC,5175,-2.31,-71.3,800.0,-14.6,123,5178,0.00,2.00,0.00,0.000,6,0.000,0.048,1456,2142,3087
$GC,5499,-2.31,-71.3,845.7,-13.8,131,5503,0.00,2.10,0.00,0.000,4,0.000,0.067,1456,3245,3085
$GC,5548,-2.31,-71.3,852.8,-13.8,132,5552,0.00,1.98,0.00,0.000,6,0.000,0.048,1456,2155,3085
$GC,5867,-2.31,-71.3,896.2,-13.7,140,5868,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,2155,3083
$GC,6192,-2.31,-71.3,940.1,-13.5,148,6196,0.00,2.10,0.00,0.000,4,0.000,0.067,1455,3252,3082
$GC,6259,-2.31,-71.3,949.5,-13.7,149,6263,0.00,1.98,0.00,0.000,6,0.000,0.049,1456,2155,3082
$STATE,6594,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6594,begin apogee
$GC,6601,-0.42,0.0,994.6,13.4,158,6671,2.28,0.00,65.32,1.407,6,0.145,0.000,1871,2007,2792
$STATE,6671,end apogee,CONTROL_FINISHED_OK
$STATE,6671,begin climb
$GC,6674,2.31,71.3,996.4,0.0,159,6749,2.80,2.20,65.20,1.387,4,0.063,0.067,2469,890,2501
$GC,6936,2.31,71.3,967.5,13.9,165,6940,0.00,2.00,0.00,0.000,6,0.000,0.048,2469,2004,2498
$GC,7261,2.31,71.3,924.1,13.2,173,7265,0.00,2.10,0.00,0.000,4,0.000,0.067,2469,3142,2497
$GC,7401,2.31,71.3,905.1,13.4,176,7405,0.00,2.05,0.00,0.000,6,0.000,0.052,2469,2016,2496
$GC,7714,2.31,71.3,865.1,12.7,184,7715,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2016,2496
$GC,8039,2.31,71.3,825.3,12.1,192,8043,0.00,2.08,0.00,0.000,4,0.000,0.065,2469,3133,2495
$GC,8296,2.31,71.3,794.2,12.0,197,8305,0.00,2.03,0.00,0.000,6,0.000,0.052,2469,2018,2494
$GC,8628,2.31,71.3,755.7,11.6,206,8632,0.00,2.12,0.00,0.000,4,0.000,0.065,2469,3140,2494
$GC,8885,2.31,71.3,725.7,11.9,211,8892,0.00,2.03,0.00,0.000,6,0.000,0.052,2469,2029,2493
$GC,9217,2.31,71.3,688.7,11.3,220,9221,0.00,2.08,0.00,0.000,4,0.000,0.067,2469,3136,2493
$GC,9393,2.31,71.3,669.3,11.6,224,9396,0.00,2.00,0.00,0.000,6,0.000,0.053,2469,2032,2492
$GC,9717,2.31,71.3,634.4,10.8,232,9721,0.00,2.12,0.00,0.000,4,0.000,0.066,2469,3140,2492
$GC,9813,2.31,71.3,623.5,11.2,234,9817,0.00,2.00,0.00,0.000,6,0.000,0.052,2469,2037,2492
$GC,10126,2.31,71.3,589.5,10.9,242,10130,0.00,2.10,0.00,0.000,4,0.000,0.065,2469,3143,2490
$GC,10367,2.31,71.3,564.7,10.8,247,10371,0.00,1.98,0.00,0.000,6,0.000,0.051,2469,2042,2491
$GC,10710,2.31,71.3,530.6,9.7,256,10714,0.00,2.15,0.00,0.000,4,0.000,0.070,2469,883,2491
$GC,10969,2.31,71.3,506.1,9.8,261,10975,0.00,2.05,0.00,0.000,6,0.000,0.047,2469,2041,2491
$GC,11300,2.31,71.3,473.5,10.2,270,11304,0.00,2.15,0.00,0.000,4,0.000,0.064,2469,881,2491
$GC,11327,2.31,71.3,470.6,9.7,270,11331,0.00,2.08,0.00,0.000,6,0.000,0.048,2469,2043,2491
$GC,11659,2.31,71.3,438.4,9.7,278,11660,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2044,2491
$GC,11985,2.31,71.3,409.1,8.7,286,11989,0.00,2.08,0.00,0.000,4,0.000,0.061,2469,3137,2491
$GC,12242,2.31,71.3,386.3,8.0,291,12249,0.00,1.98,0.00,0.000,6,0.000,0.044,2469,2037,2491
$GC,12575,2.31,71.3,358.3,8.5,300,12579,0.00,2.08,0.00,0.000,4,0.000,0.057,2469,3143,2491
$GC,12832,2.31,71.3,334.2,9.3,305,12839,0.00,1.95,0.00,0.000,6,0.000,0.042,2469,2051,2491
$GC,13165,2.31,71.3,305.2,8.8,314,13169,0.00,2.03,0.00,0.000,4,0.000,0.054,2469,3143,2491
$GC,13423,2.31,71.3,281.1,8.8,319,13430,0.00,1.95,0.00,0.000,6,0.000,0.041,2469,2048,2492
$GC,13756,2.31,71.3,252.1,8.8,328,13760,0.00,2.03,0.00,0.000,4,0.000,0.054,2469,3135,2493
$GC,14013,2.31,71.3,228.6,8.7,333,14020,0.00,1.90,0.00,0.000,6,0.000,0.039,2469,2065,2493
$GC,14346,2.31,71.3,198.7,9.1,342,14350,0.00,2.00,0.00,0.000,4,0.000,0.052,2469,3140,2494
$GC,14604,2.31,71.3,174.4,9.8,347,14610,0.00,1.90,0.00,0.000,6,0.000,0.038,2469,2065,2495
$GC,14937,2.31,71.3,144.5,9.1,356,14940,0.00,1.98,0.00,0.000,4,0.000,0.051,2469,3137,2496
$GC,15194,2.31,71.3,120.4,8.8,361,15200,0.00,1.90,0.00,0.000,6,0.000,0.038,2469,2060,2496
$GC,15527,2.31,71.3,92.7,8.4,370,15531,0.00,2.00,0.00,0.000,4,0.000,0.049,2469,3142,2497
$GC,15571,2.31,71.3,88.4,9.2,371,15574,0.00,1.88,0.00,0.000,6,0.000,0.038,2469,2074,2497
$GC,15896,2.32,80.8,65.8,5.3,379,15907,0.00,0.00,8.88,0.659,6,0.000,0.000,2469,2074,2462
$GC,16221,2.33,83.8,48.5,6.4,387,16229,0.00,2.00,4.25,0.523,4,0.000,0.049,2469,3136,2449
$GC,16482,2.33,83.8,28.1,8.1,392,16489,0.00,1.88,0.00,0.000,6,0.000,0.036,2469,2069,2450
$STATE,16812,end climb,SURFACE_DEPTH_REACHED
$STATE,16812,begin surface coast
$FINISH,-0.1,1.027128
$STATE,16853,end surface coast,CONTROL_FINISHED_OK
$STATE,16854,begin surface
$SM_CCo,16878,105.82,0.653,0,0,1772,250.21
$SM_GC,0.66,0.00,0.00,105.82,0.000,0.000,0.653,53,2142,1772,-8.79,0.34,250.21
$IRIDIUM_FIX,6631.12,557.95,160198,232359
$TT8_MAMPS,0.021476
$HUMID,2107
$INTERNAL_PRESSURE,8.21321
$TCM_TEMP,3.00
$XPDR_PINGS,-1
$24V_AH,22.8,55.844
$10V_AH,10.0,46.851
$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,24.650,117.750,143.650,105.825,0.000,29.185,31.561,133.525,0.000,0.000,0.000,36.770,1245.345,14034.057,442.045,1118.266,509.126,0.000,1299.728,0.000,1011.127,0.000,0.655
$DEVICE_MAMPS,197.119,69.797,1406.678,653.484,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,381.233,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19133,402
$CAP_FILE_SIZE,113021,0
$CFSIZE,256368640,218517504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.027, 91.6,1
$GPS,231008,094557,6700.355,601.876,33,2.3,52,-2.0