version: 66.03
glider: 17
mission: 6
dive: 428
start: 10 23 108 9 56 22
data:
$ID,17
$MISSION,6
$DIVE,428
$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,-96793.352
$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,34
$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
$GPS1,094557,6700.355,601.876,33,2.3,52,-2.0
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-46.9
$GPS2,095553,6700.399,601.956,15,2.5,34,-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,250.8,1596,-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,-28.6,0.0,0.0,0,72,0.00,0.00,-46.03,0.000,6,0.000,0.000,53,2142,2909
$GC,76,-2.31,-71.3,2.2,-0.0,1,95,8.48,2.12,-5.03,0.000,4,0.189,0.059,1457,1001,3085
$GC,258,-2.31,-71.3,37.7,-19.2,5,261,0.00,2.00,0.00,0.000,6,0.000,0.032,1457,2127,3087
$GC,584,-2.31,-71.3,93.9,-16.2,13,588,0.00,2.08,0.00,0.000,4,0.000,0.051,1457,3255,3088
$GC,628,-2.31,-71.3,101.8,-16.8,14,632,0.00,1.98,0.00,0.000,6,0.000,0.035,1457,2136,3088
$GC,947,-2.31,-71.3,154.6,-16.7,22,951,0.00,2.10,0.00,0.000,4,0.000,0.049,1457,3257,3090
$GC,1002,-2.31,-71.3,164.5,-17.7,23,1006,0.00,1.98,0.00,0.000,6,0.000,0.035,1457,2141,3089
$GC,1352,-2.31,-71.3,221.5,-16.4,32,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,2141,3090
$GC,1676,-2.31,-71.3,272.7,-15.5,40,1680,0.00,2.05,0.00,0.000,4,0.000,0.051,1457,3252,3090
$GC,1742,-2.31,-71.3,283.4,-15.8,41,1746,0.00,1.95,0.00,0.000,6,0.000,0.036,1457,2136,3090
$GC,2081,-2.31,-71.3,336.3,-15.9,50,2085,0.00,2.05,0.00,0.000,4,0.000,0.051,1457,3250,3090
$GC,2121,-2.31,-71.3,343.2,-16.1,51,2124,0.00,1.95,0.00,0.000,6,0.000,0.037,1457,2149,3090
$GC,2445,-2.31,-71.3,392.7,-15.2,59,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,2149,3090
$GC,2770,-2.31,-71.3,441.2,-14.8,67,2774,0.00,2.08,0.00,0.000,4,0.000,0.054,1457,3254,3090
$GC,2821,-2.31,-71.3,449.0,-15.5,68,2824,0.00,1.95,0.00,0.000,6,0.000,0.038,1457,2156,3090
$GC,3134,-2.31,-71.3,493.1,-13.8,76,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,2156,3090
$GC,3459,-2.31,-71.3,539.5,-14.6,84,3462,0.00,2.08,0.00,0.000,4,0.000,0.057,1457,3251,3090
$GC,3504,-2.31,-71.3,546.2,-14.8,85,3508,0.00,1.95,0.00,0.000,6,0.000,0.041,1457,2159,3090
$GC,3823,-2.31,-71.3,590.8,-13.8,93,3826,0.00,2.08,0.00,0.000,4,0.000,0.061,1457,3254,3090
$GC,3867,-2.31,-71.3,597.3,-14.7,94,3871,0.00,1.98,0.00,0.000,6,0.000,0.043,1457,2154,3090
$GC,4187,-2.31,-71.3,642.1,-14.3,102,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,2153,3089
$GC,4511,-2.31,-71.3,690.3,-15.1,110,4514,0.00,2.10,0.00,0.000,4,0.000,0.065,1457,3255,3088
$GC,4551,-2.31,-71.3,696.4,-15.3,111,4554,0.00,1.98,0.00,0.000,6,0.000,0.047,1457,2160,3088
$GC,4875,-2.31,-71.3,745.9,-15.5,119,4876,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,2159,3087
$GC,5201,-2.31,-71.3,796.3,-15.4,127,5205,0.00,2.05,0.00,0.000,4,0.000,0.067,1457,3250,3086
$GC,5246,-2.31,-71.3,803.7,-15.9,128,5249,0.00,1.98,0.00,0.000,6,0.000,0.048,1457,2159,3086
$GC,5565,-2.31,-71.3,851.7,-15.0,136,5569,0.00,2.05,0.00,0.000,4,0.000,0.067,1457,3254,3084
$GC,5610,-2.31,-71.3,858.7,-15.4,137,5614,0.00,1.95,0.00,0.000,6,0.000,0.048,1457,2169,3084
$GC,5929,-2.31,-71.3,906.3,-15.0,145,5933,0.00,2.03,0.00,0.000,4,0.000,0.068,1457,3255,3082
$GC,5984,-2.31,-71.3,915.1,-16.1,146,5987,0.00,1.98,0.00,0.000,6,0.000,0.048,1457,2160,3082
$GC,6332,-2.31,-71.3,966.4,-14.6,155,6336,0.00,2.03,0.00,0.000,4,0.000,0.068,1457,3248,3081
$GC,6373,-2.31,-71.3,972.4,-15.1,156,6377,0.00,1.95,0.00,0.000,6,0.000,0.050,1457,2169,3081
$STATE,6492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6492,begin apogee
$GC,6499,-0.42,0.0,990.2,14.5,159,6569,2.28,0.00,65.25,1.402,6,0.147,0.000,1869,2002,2793
$STATE,6570,end apogee,CONTROL_FINISHED_OK
$STATE,6570,begin climb
$GC,6573,2.31,71.3,992.5,0.0,160,6648,2.83,2.25,65.68,1.384,4,0.064,0.063,2473,3132,2501
$GC,6805,2.31,71.3,970.8,13.1,166,6809,0.00,2.05,0.00,0.000,6,0.000,0.051,2473,2017,2498
$GC,7119,2.31,71.3,931.8,12.3,174,7122,0.00,2.08,0.00,0.000,4,0.000,0.064,2473,3129,2496
$GC,7359,2.31,71.3,902.5,12.0,179,7362,0.00,2.05,0.00,0.000,6,0.000,0.052,2473,2010,2496
$GC,7702,2.31,71.3,862.2,11.9,188,7705,0.00,2.10,0.00,0.000,4,0.000,0.065,2473,3133,2495
$GC,7958,2.31,71.3,830.5,12.6,193,7965,0.00,2.05,0.00,0.000,6,0.000,0.053,2473,2010,2494
$GC,8290,2.31,71.3,791.5,11.8,202,8294,0.00,2.10,0.00,0.000,4,0.000,0.066,2473,3139,2493
$GC,8547,2.31,71.3,760.0,12.2,207,8554,0.00,2.05,0.00,0.000,6,0.000,0.053,2473,2011,2493
$GC,8879,2.31,71.3,720.3,12.0,216,8883,0.00,2.08,0.00,0.000,4,0.000,0.067,2473,3130,2493
$GC,9091,2.31,71.3,693.9,12.6,220,9098,0.00,2.03,0.00,0.000,6,0.000,0.053,2473,2021,2492
$GC,9423,2.31,71.3,654.2,12.2,229,9424,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2021,2492
$GC,9748,2.31,71.3,616.4,11.5,237,9752,0.00,2.08,0.00,0.000,4,0.000,0.065,2473,3136,2492
$GC,9994,2.31,71.3,588.6,10.5,242,9998,0.00,2.05,0.00,0.000,6,0.000,0.052,2473,2012,2491
$GC,10331,2.31,71.3,556.4,9.3,251,10335,0.00,2.10,0.00,0.000,4,0.000,0.064,2473,3139,2491
$GC,10466,2.31,71.3,544.1,8.9,254,10470,0.00,2.03,0.00,0.000,6,0.000,0.051,2472,2019,2491
$GC,10785,2.31,71.3,517.9,8.0,262,10786,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2020,2491
$GC,11110,2.31,71.3,491.7,8.1,270,11111,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2019,2491
$GC,11436,2.31,71.3,463.7,8.7,278,11440,0.00,2.05,0.00,0.000,4,0.000,0.061,2473,3132,2490
$GC,11693,2.31,71.3,439.1,9.6,283,11700,0.00,2.00,0.00,0.000,6,0.000,0.048,2473,2021,2490
$GC,12026,2.31,71.3,408.5,9.1,292,12030,0.00,2.05,0.00,0.000,4,0.000,0.058,2473,3138,2490
$GC,12283,2.31,71.3,383.6,9.2,297,12290,0.00,2.00,0.00,0.000,6,0.000,0.044,2473,2025,2490
$GC,12616,2.31,71.3,353.1,9.0,306,12620,0.00,2.05,0.00,0.000,4,0.000,0.058,2473,3134,2490
$GC,12873,2.31,71.3,329.9,9.4,311,12880,0.00,2.00,0.00,0.000,6,0.000,0.043,2473,2021,2490
$GC,13206,2.31,71.3,301.1,8.6,320,13210,0.00,2.05,0.00,0.000,4,0.000,0.054,2473,3136,2490
$GC,13464,2.31,71.3,278.6,8.2,325,13470,0.00,2.00,0.00,0.000,6,0.000,0.042,2473,2026,2491
$GC,13797,2.31,71.3,251.6,8.4,334,13801,0.00,2.08,0.00,0.000,4,0.000,0.054,2473,3137,2492
$GC,14054,2.31,71.3,228.4,8.7,339,14061,0.00,1.95,0.00,0.000,6,0.000,0.041,2473,2037,2493
$GC,14387,2.31,71.3,200.3,8.5,348,14391,0.00,2.03,0.00,0.000,4,0.000,0.054,2473,3131,2494
$GC,14644,2.31,71.3,178.3,8.2,353,14651,0.00,1.98,0.00,0.000,6,0.000,0.039,2473,2028,2494
$GC,14977,2.31,71.3,152.1,8.0,362,14981,0.00,2.03,0.00,0.000,4,0.000,0.052,2473,3130,2495
$GC,15235,2.31,71.3,131.1,8.1,367,15241,0.00,1.92,0.00,0.000,6,0.000,0.039,2473,2036,2495
$GC,15568,2.31,71.3,105.2,7.7,376,15572,0.00,2.03,0.00,0.000,4,0.000,0.051,2473,3135,2497
$GC,15825,2.31,71.3,83.6,8.7,381,15832,0.00,1.95,0.00,0.000,6,0.000,0.038,2473,2034,2497
$GC,16159,2.35,99.9,67.2,2.3,390,16187,0.00,2.08,23.88,0.709,4,0.000,0.049,2473,3130,2383
$GC,16441,2.35,99.9,40.6,14.0,396,16445,0.00,1.90,0.00,0.000,6,0.000,0.037,2473,2055,2383
$STATE,16752,end climb,SURFACE_DEPTH_REACHED
$STATE,16752,begin surface coast
$FINISH,0.1,1.027115
$STATE,16794,end surface coast,CONTROL_FINISHED_OK
$STATE,16794,begin surface
$SM_CCo,16818,94.78,0.653,0,0,1771,250.21
$SM_GC,0.69,0.00,0.00,94.78,0.000,0.000,0.653,63,2142,1771,-8.75,0.34,250.21
$IRIDIUM_FIX,6631.12,604.00,170198,090935
$TT8_MAMPS,0.021476
$HUMID,2118
$INTERNAL_PRESSURE,8.20344
$TCM_TEMP,3.00
$XPDR_PINGS,-1
$24V_AH,22.8,55.940
$10V_AH,10.1,46.907
$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,25.225,118.075,154.800,94.775,0.000,47.235,78.215,252.159,0.000,0.000,0.000,34.913,1271.221,13940.940,444.980,1159.393,706.873,0.000,1320.440,0.000,1048.798,0.000,0.654
$DEVICE_MAMPS,189.449,68.263,1402.076,653.484,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,383.944,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19041,405
$CAP_FILE_SIZE,117611,0
$CFSIZE,256368640,218460160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.013, 48.2,1
$GPS,231008,144001,6659.716,558.847,66,1.1,66,-2.1