version: 66.03
glider: 17
mission: 6
dive: 441
start: 10 27 108 6 7 1
data:
$ID,17
$MISSION,6
$DIVE,441
$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,-97181.148
$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,17
$R_STBD_OVSHOOT,26
$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
$GPS1,060038,6719.306,714.550,40,1.1,40,-1.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-46.8
$GPS2,060633,6719.302,714.568,12,1.3,12,-1.3
$SPEED_LIMITS,0.119,0.230
$TGT_NAME,HOLD_N
$TGT_LATLONG,6730.000,800.000
$TGT_RADIUS,4000.000
$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,49.1,37807,-11.9,-6.875
$D_GRID,1484
$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,25,-1.12,-116.7,0.0,0.0,0,84,0.00,0.00,-57.60,0.000,2,0.000,0.000,59,2142,3185
$GC,88,-1.12,-116.7,3.2,-5.5,2,106,9.88,2.15,-1.90,0.000,4,0.182,0.060,1715,995,3271
$GC,358,-1.12,-116.7,31.1,-8.1,8,362,0.00,2.03,0.00,0.000,6,0.000,0.035,1715,2128,3274
$GC,677,-1.12,-116.7,56.1,-7.9,16,681,0.00,2.05,0.00,0.000,4,0.000,0.046,1715,987,3275
$GC,764,-1.12,-116.7,63.1,-8.0,18,767,0.00,2.05,0.00,0.000,6,0.000,0.035,1715,2137,3275
$GC,1088,-1.12,-116.7,86.3,-6.9,26,1092,0.00,2.08,0.00,0.000,4,0.000,0.054,1714,3250,3275
$GC,1128,-1.12,-116.7,89.1,-7.1,27,1132,0.00,2.00,0.00,0.000,6,0.000,0.035,1714,2117,3275
$GC,1452,-1.12,-116.7,111.9,-7.1,35,1455,0.00,2.00,0.00,0.000,4,0.000,0.048,1715,1001,3275
$GC,1481,-1.12,-116.7,114.0,-7.7,35,1485,0.00,2.03,0.00,0.000,6,0.000,0.035,1715,2137,3276
$GC,1813,-1.12,-116.7,137.3,-6.7,43,1817,0.00,2.08,0.00,0.000,4,0.000,0.054,1715,3252,3276
$GC,1840,-1.12,-116.7,139.2,-7.0,43,1844,0.00,2.00,0.00,0.000,6,0.000,0.036,1714,2120,3276
$GC,2174,-1.12,-116.7,161.1,-6.7,51,2177,0.00,1.98,0.00,0.000,4,0.000,0.048,1715,1004,3276
$GC,2223,-1.12,-116.7,164.6,-6.8,52,2227,0.00,2.00,0.00,0.000,6,0.000,0.036,1714,2127,3276
$GC,2537,-1.12,-116.7,186.0,-6.9,60,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2127,3276
$GC,2862,-1.12,-116.7,208.1,-6.8,68,2863,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2127,3276
$GC,3188,-1.12,-116.7,230.8,-7.1,76,3192,0.00,2.03,0.00,0.000,4,0.000,0.048,1714,1004,3276
$GC,3254,-1.12,-116.7,235.8,-7.6,77,3258,0.00,2.00,0.00,0.000,6,0.000,0.036,1715,2119,3276
$GC,3592,-1.12,-116.7,259.7,-7.0,86,3596,0.00,2.12,0.00,0.000,4,0.000,0.055,1715,3259,3276
$GC,3637,-1.12,-116.7,263.1,-7.3,87,3641,0.00,2.00,0.00,0.000,6,0.000,0.038,1715,2123,3276
$GC,3956,-1.12,-116.7,284.9,-6.8,95,3960,0.00,2.00,0.00,0.000,4,0.000,0.049,1715,1005,3276
$GC,4012,-1.12,-116.7,288.9,-6.9,96,4015,0.00,2.00,0.00,0.000,6,0.000,0.035,1715,2127,3276
$GC,4362,-1.12,-116.7,312.3,-6.9,105,4363,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2127,3276
$GC,4686,-1.12,-116.7,333.8,-6.5,113,4689,0.00,2.00,0.00,0.000,4,0.000,0.048,1714,1005,3276
$GC,4741,-1.12,-116.7,337.7,-7.0,114,4744,0.00,1.98,0.00,0.000,6,0.000,0.036,1715,2118,3276
$GC,5089,-1.12,-116.7,361.9,-7.1,123,5093,0.00,2.10,0.00,0.000,4,0.000,0.055,1715,3251,3276
$GC,5134,-1.12,-116.7,365.4,-7.9,124,5138,0.00,2.00,0.00,0.000,6,0.000,0.038,1714,2115,3276
$GC,5453,-1.12,-116.7,389.2,-7.4,132,5454,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2115,3276
$GC,5778,-1.12,-116.7,411.6,-6.8,140,5782,0.00,2.00,0.00,0.000,4,0.000,0.051,1715,998,3276
$GC,5835,-1.12,-116.7,415.4,-6.8,141,5838,0.00,2.00,0.00,0.000,6,0.000,0.038,1714,2118,3276
$GC,6183,-1.12,-116.7,437.2,-6.3,150,6184,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2118,3276
$GC,6508,-1.12,-116.7,457.2,-6.2,158,6509,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2118,3275
$GC,6835,-1.12,-116.7,475.6,-5.6,166,6838,0.00,2.00,0.00,0.000,4,0.000,0.052,1715,1006,3275
$GC,6907,-1.12,-116.7,480.2,-6.6,167,6911,0.00,1.98,0.00,0.000,6,0.000,0.039,1714,2108,3274
$GC,7239,-1.12,-116.7,501.1,-6.6,175,7240,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2109,3274
$GC,7563,-1.12,-116.7,523.7,-7.1,183,7565,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2109,3273
$GC,7889,-1.12,-116.7,547.0,-7.0,191,7891,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2109,3273
$GC,8213,-1.12,-116.7,567.1,-6.2,199,8215,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2109,3273
$GC,8538,-1.12,-116.7,588.3,-7.0,207,8542,0.00,2.03,0.00,0.000,4,0.000,0.058,1715,1004,3272
$GC,8588,-1.12,-116.7,591.6,-6.5,208,8592,0.00,2.00,0.00,0.000,6,0.000,0.044,1714,2106,3271
$GC,8903,-1.12,-116.7,609.7,-5.6,216,8904,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2106,3271
$GC,9227,-1.12,-116.7,627.7,-5.4,224,9231,0.00,2.03,0.00,0.000,4,0.000,0.060,1715,998,3271
$GC,9299,-1.12,-116.7,631.7,-5.4,225,9303,0.00,2.00,0.00,0.000,6,0.000,0.044,1715,2100,3270
$GC,9632,-1.12,-116.7,648.5,-5.1,233,9636,0.00,2.20,0.00,0.000,4,0.000,0.071,1714,3256,3270
$GC,9659,-1.12,-116.7,650.2,-5.9,233,9663,0.00,2.08,0.00,0.000,6,0.000,0.047,1715,2098,3270
$GC,9991,-1.12,-116.7,668.5,-5.6,241,9995,0.00,2.00,0.00,0.000,4,0.000,0.062,1715,1000,3268
$GC,10037,-1.12,-116.7,671.0,-5.5,242,10040,0.00,1.98,0.00,0.000,6,0.000,0.046,1714,2096,3268
$GC,10356,-1.12,-116.7,688.2,-5.5,250,10357,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2096,3268
$GC,10681,-1.12,-116.7,706.6,-5.8,258,10684,0.00,2.00,0.00,0.000,4,0.000,0.062,1715,998,3266
$GC,10715,-1.12,-116.7,708.7,-6.3,258,10722,0.00,1.98,0.00,0.000,6,0.000,0.047,1715,2095,3267
$GC,11047,-1.12,-116.7,728.6,-6.1,267,11048,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2095,3266
$GC,11372,-1.12,-116.7,749.2,-6.3,275,11373,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2095,3265
$GC,11697,-1.12,-116.7,769.9,-6.5,283,11700,0.00,2.00,0.00,0.000,4,0.000,0.063,1715,1005,3264
$GC,11748,-1.12,-116.7,773.5,-7.0,284,11751,0.00,1.95,0.00,0.000,6,0.000,0.048,1715,2100,3264
$GC,12061,-1.12,-116.7,794.0,-6.4,292,12065,0.00,2.15,0.00,0.000,4,0.000,0.073,1715,3255,3263
$GC,12094,-1.12,-116.7,796.3,-6.7,292,12101,0.00,2.08,0.00,0.000,6,0.000,0.050,1715,2095,3263
$GC,12427,-1.12,-116.7,816.7,-6.1,301,12428,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2094,3263
$GC,12751,-1.12,-116.7,835.3,-5.6,309,12754,0.00,2.00,0.00,0.000,4,0.000,0.065,1715,993,3262
$GC,12791,-1.12,-116.7,837.6,-6.0,310,12795,0.00,1.98,0.00,0.000,6,0.000,0.047,1715,2092,3262
$GC,13117,-1.12,-116.7,856.3,-5.9,318,13121,0.00,2.20,0.00,0.000,4,0.000,0.072,1715,3257,3261
$GC,13144,-1.12,-116.7,858.2,-7.2,318,13148,0.00,2.12,0.00,0.000,6,0.000,0.051,1714,2081,3261
$GC,13477,-1.12,-116.7,879.1,-6.6,326,13478,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2081,3261
$GC,13801,-1.12,-116.7,901.6,-7.0,334,13802,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2080,3260
$GC,14127,-1.12,-116.7,925.3,-7.4,342,14131,0.00,2.25,0.00,0.000,4,0.000,0.071,1715,3257,3260
$GC,14159,-1.12,-116.7,928.0,-7.1,342,14166,0.00,2.10,0.00,0.000,6,0.000,0.051,1715,2092,3260
$GC,14491,-1.12,-116.7,951.9,-7.1,351,14495,0.00,2.03,0.00,0.000,4,0.000,0.066,1715,994,3259
$GC,14524,-1.12,-116.7,954.4,-7.5,351,14530,0.00,2.00,0.00,0.000,6,0.000,0.048,1715,2100,3259
$GC,14857,-1.12,-116.7,977.6,-6.9,360,14858,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2100,3259
$STATE,15055,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15055,begin apogee
$GC,15063,-0.42,0.0,991.1,6.6,365,15170,0.80,0.00,103.78,1.416,6,0.101,0.000,1873,1994,2793
$STATE,15170,end apogee,CONTROL_FINISHED_OK
$STATE,15170,begin climb
$GC,15173,1.12,116.7,994.2,0.0,367,15287,1.58,2.20,104.70,1.404,4,0.066,0.068,2209,892,2316
$GC,15360,1.12,116.7,987.7,9.1,371,15364,0.00,2.08,0.00,0.000,6,0.000,0.048,2209,2013,2315
$GC,15709,1.12,116.7,957.5,8.5,380,15713,0.00,2.12,0.00,0.000,4,0.000,0.069,2209,3133,2313
$GC,15782,1.12,116.7,951.0,8.4,381,15786,0.00,2.03,0.00,0.000,6,0.000,0.053,2209,2021,2313
$GC,16113,1.12,116.7,922.4,8.9,389,16117,0.00,2.10,0.00,0.000,4,0.000,0.067,2209,3138,2313
$GC,16157,1.12,116.7,918.2,8.8,390,16161,0.00,2.03,0.00,0.000,6,0.000,0.053,2209,2022,2312
$GC,16478,1.12,116.7,890.2,8.8,398,16482,0.00,2.10,0.00,0.000,4,0.000,0.067,2209,3143,2312
$GC,16511,1.12,116.7,886.9,9.5,398,16517,0.00,2.05,0.00,0.000,6,0.000,0.053,2209,2016,2312
$GC,16843,1.12,116.7,857.9,8.8,407,16846,0.00,2.12,0.00,0.000,4,0.000,0.068,2209,3138,2312
$GC,16892,1.12,116.7,853.1,9.6,408,16896,0.00,2.00,0.00,0.000,6,0.000,0.053,2209,2038,2312
$GC,17207,1.12,116.7,824.9,9.0,416,17211,0.00,2.08,0.00,0.000,4,0.000,0.067,2209,3139,2311
$GC,17222,1.12,116.7,823.2,8.8,416,17226,0.00,2.03,0.00,0.000,6,0.000,0.054,2209,2032,2311
$GC,17565,1.12,116.7,793.3,8.8,425,17569,0.00,2.08,0.00,0.000,4,0.000,0.067,2209,3135,2311
$GC,17607,1.12,116.7,789.7,8.2,426,17611,0.00,1.98,0.00,0.000,6,0.000,0.054,2209,2048,2311
$GC,17931,1.12,116.7,760.5,9.1,434,17935,0.00,2.05,0.00,0.000,4,0.000,0.068,2209,3133,2311
$GC,18003,1.12,116.7,753.5,10.1,435,18007,0.00,1.98,0.00,0.000,6,0.000,0.053,2209,2049,2311
$GC,18342,1.12,116.7,722.0,9.5,444,18346,0.00,2.05,0.00,0.000,4,0.000,0.068,2209,3143,2311
$GC,18397,1.12,116.7,716.4,9.7,445,18401,0.00,1.95,0.00,0.000,6,0.000,0.053,2209,2068,2311
$GC,18710,1.12,116.7,687.5,9.1,453,18712,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2068,2311
$GC,19036,1.12,116.7,659.9,8.4,461,19039,0.00,1.98,0.00,0.000,4,0.000,0.068,2209,3140,2311
$GC,19092,1.12,116.7,654.8,9.4,462,19096,0.00,1.90,0.00,0.000,6,0.000,0.052,2209,2081,2311
$GC,19440,1.12,116.7,624.4,8.9,471,19444,0.00,1.98,0.00,0.000,4,0.000,0.067,2209,3144,2311
$GC,19518,1.12,116.7,617.0,9.7,472,19525,0.00,1.90,0.00,0.000,6,0.000,0.052,2209,2090,2311
$GC,19851,1.12,116.7,589.4,7.8,481,19855,0.00,1.95,0.00,0.000,4,0.000,0.067,2209,3139,2311
$GC,19867,1.12,116.7,587.8,8.1,481,19871,0.00,1.90,0.00,0.000,6,0.000,0.052,2209,2087,2311
$GC,20216,1.12,116.7,558.1,8.9,490,20220,0.00,1.95,0.00,0.000,4,0.000,0.066,2209,3140,2311
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$STATE,27105,end climb,SURFACE_DEPTH_REACHED
$STATE,27105,begin surface coast
$FINISH,-0.2,1.014277
$STATE,27147,end surface coast,CONTROL_FINISHED_OK
$STATE,27148,begin surface
$SM_CCo,27168,67.10,0.647,0,0,1772,250.21
$SM_GC,1.09,0.00,0.00,67.10,0.000,0.000,0.647,57,2114,1772,-8.78,-0.45,250.21
$IRIDIUM_FIX,6647.44,704.74,200198,222230
$TT8_MAMPS,0.021476
$HUMID,2116
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$TCM_TEMP,3.00
$XPDR_PINGS,-1
$24V_AH,22.7,57.460
$10V_AH,10.0,47.780
$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,21.900,212.975,234.100,67.100,0.000,31.656,32.341,155.555,0.000,0.000,0.000,12.713,1821.896,23319.018,556.225,1219.821,680.489,0.000,1565.915,0.000,1092.193,0.000,0.655
$DEVICE_MAMPS,181.779,72.865,1415.882,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,629.336,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31630,660
$CAP_FILE_SIZE,166975,0
$CFSIZE,256368640,217636864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.027, 85.7,1
$GPS,271008,134257,6721.256,720.309,59,2.4,78,-1.3