version: 66.03
glider: 17
mission: 6
dive: 220
start: 8 26 108 9 3 5
data:
$ID,17
$MISSION,6
$DIVE,220
$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,-91009.398
$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,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
$GPS1,085532,6603.041,538.022,43,1.7,43,-2.2
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-47.3
$GPS2,090239,6603.135,538.154,17,1.6,17,-2.2
$SPEED_LIMITS,0.119,0.230
$TGT_NAME,DEPLOY
$TGT_LATLONG,6600.000,600.000
$TGT_RADIUS,5000.000
$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,171.6,17450,-11.9,-6.875
$D_GRID,646
$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,23,-1.12,-116.7,0.0,0.0,0,72,0.00,0.00,-46.17,0.000,2,0.000,0.000,61,2144,2927
$GC,74,-1.12,-116.7,3.4,-6.9,7,95,10.00,0.00,-7.50,0.000,6,0.189,0.000,1715,2145,3270
$GC,434,-1.12,-116.7,41.9,-6.2,70,440,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2145,3274
$GC,777,-1.12,-116.7,65.2,-7.1,131,783,0.00,2.03,0.00,0.000,4,0.000,0.048,1715,3239,3276
$GC,835,-1.12,-116.7,69.5,-7.3,141,842,0.00,1.95,0.00,0.000,6,0.000,0.033,1715,2117,3277
$GC,1179,-1.12,-116.7,92.1,-6.6,202,1187,0.00,2.08,0.00,0.000,4,0.000,0.048,1715,3239,3278
$GC,1226,-1.12,-116.7,95.4,-7.2,210,1233,0.00,1.95,0.00,0.000,6,0.000,0.034,1715,2127,3278
$GC,1572,-1.12,-116.7,119.0,-6.7,271,1578,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2127,3278
$GC,1916,-1.12,-116.7,142.9,-7.2,332,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2127,3278
$GC,2252,-1.12,-116.7,166.9,-7.2,372,2256,0.00,2.08,0.00,0.000,4,0.000,0.051,1715,3242,3278
$GC,2295,-1.12,-116.7,170.3,-7.9,375,2302,0.00,1.98,0.00,0.000,6,0.000,0.035,1715,2136,3278
$GC,2622,-1.12,-116.7,192.7,-6.7,406,2624,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2136,3278
$GC,2941,-1.12,-116.7,213.1,-6.4,430,2944,0.00,2.03,0.00,0.000,4,0.000,0.052,1715,3239,3278
$GC,2973,-1.12,-116.7,215.4,-7.2,432,2977,0.00,1.95,0.00,0.000,6,0.000,0.036,1715,2129,3278
$GC,3298,-1.12,-116.7,236.2,-6.5,453,3301,0.00,2.05,0.00,0.000,4,0.000,0.053,1715,3241,3278
$GC,3342,-1.12,-116.7,239.2,-6.9,456,3346,0.00,1.92,0.00,0.000,6,0.000,0.036,1715,2140,3278
$GC,3666,-1.12,-116.7,261.1,-6.9,477,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2140,3278
$GC,3978,-1.12,-116.7,283.1,-7.1,497,3982,0.00,2.05,0.00,0.000,4,0.000,0.053,1715,3239,3278
$GC,4039,-1.12,-116.7,287.7,-7.8,501,4043,0.00,1.92,0.00,0.000,6,0.000,0.037,1714,2140,3278
$GC,4367,-1.12,-116.7,309.9,-6.6,520,4368,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2140,3277
$GC,4676,-1.12,-116.7,329.2,-6.1,535,4680,0.00,2.03,0.00,0.000,4,0.000,0.054,1715,3238,3276
$GC,4739,-1.12,-116.7,333.3,-6.5,538,4742,0.00,1.90,0.00,0.000,6,0.000,0.038,1715,2154,3276
$GC,5065,-1.12,-116.7,354.1,-6.4,554,5069,0.00,2.03,0.00,0.000,4,0.000,0.054,1715,3246,3276
$GC,5142,-1.12,-116.7,359.5,-6.8,557,5150,0.00,1.90,0.00,0.000,6,0.000,0.038,1715,2161,3276
$GC,5459,-1.12,-116.7,379.1,-6.2,573,5463,0.00,2.00,0.00,0.000,4,0.000,0.055,1715,3238,3276
$GC,5548,-1.12,-116.7,384.9,-6.7,577,5552,0.00,1.92,0.00,0.000,6,0.000,0.038,1715,2172,3274
$GC,5876,-1.12,-116.7,404.1,-5.9,593,5879,0.00,2.00,0.00,0.000,4,0.000,0.056,1715,3245,3275
$GC,5925,-1.12,-116.7,407.4,-6.6,595,5928,0.00,1.90,0.00,0.000,6,0.000,0.039,1715,2166,3275
$GC,6247,-1.12,-116.7,426.3,-5.8,611,6250,0.00,2.00,0.00,0.000,4,0.000,0.057,1715,3236,3275
$GC,6291,-1.12,-116.7,429.1,-6.6,613,6294,0.00,1.88,0.00,0.000,6,0.000,0.040,1715,2177,3274
$GC,6613,-1.12,-116.7,447.9,-6.0,629,6616,0.00,2.00,0.00,0.000,4,0.000,0.059,1715,3243,3274
$GC,6656,-1.12,-116.7,450.8,-6.7,631,6660,0.00,1.92,0.00,0.000,6,0.000,0.041,1715,2158,3274
$GC,6984,-1.12,-116.7,471.8,-6.5,647,6988,0.00,2.03,0.00,0.000,4,0.000,0.061,1715,3242,3273
$GC,7046,-1.12,-116.7,476.2,-7.1,650,7049,0.00,1.88,0.00,0.000,6,0.000,0.043,1715,2186,3273
$GC,7372,-1.12,-116.7,498.3,-6.8,666,7376,0.00,1.98,0.00,0.000,4,0.000,0.061,1715,3238,3271
$GC,7421,-1.12,-116.7,502.0,-7.7,668,7425,0.00,1.88,0.00,0.000,6,0.000,0.043,1715,2187,3271
$GC,7743,-1.12,-116.7,522.7,-6.1,684,7744,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2187,3270
$GC,8052,-1.12,-116.7,542.0,-6.4,699,8053,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2187,3270
$GC,8362,-1.12,-116.7,561.7,-6.4,714,8363,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2187,3269
$GC,8671,-1.12,-116.7,581.7,-6.4,729,8674,0.00,2.03,0.00,0.000,4,0.000,0.065,1715,3239,3268
$GC,8702,-1.12,-116.7,584.0,-7.2,730,8710,0.00,1.92,0.00,0.000,6,0.000,0.048,1715,2198,3268
$GC,9040,-1.12,-116.7,604.9,-6.2,746,9041,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2198,3267
$GC,9345,-1.12,-116.7,623.5,-5.9,756,9346,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2198,3266
$GC,9651,-1.12,-116.7,641.7,-6.0,766,9653,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2196,3264
$STATE,9741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9741,begin apogee
$GC,9747,-0.42,0.0,647.1,6.0,769,9850,0.77,0.00,100.53,1.241,6,0.099,0.000,1869,2007,2792
$STATE,9851,end apogee,CONTROL_FINISHED_OK
$STATE,9851,begin climb
$GC,9853,1.12,116.7,649.8,0.0,772,9961,1.60,2.22,100.05,1.205,4,0.073,0.072,2206,891,2316
$GC,10027,1.12,116.7,642.3,9.6,777,10031,0.00,2.05,0.00,0.000,6,0.000,0.048,2206,1986,2313
$GC,10352,1.12,116.7,612.6,9.1,788,10356,0.00,2.17,0.00,0.000,4,0.000,0.070,2206,3138,2312
$GC,10429,1.12,116.7,605.2,9.4,790,10433,0.00,2.10,0.00,0.000,6,0.000,0.052,2206,2014,2312
$GC,10756,1.12,116.7,576.1,9.0,805,10757,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2014,2310
$GC,11065,1.12,116.7,548.6,8.9,820,11069,0.00,2.15,0.00,0.000,4,0.000,0.065,2206,3133,2310
$GC,11130,1.12,116.7,542.4,9.3,823,11134,0.00,2.10,0.00,0.000,6,0.000,0.052,2206,2014,2310
$GC,11458,1.12,116.7,513.2,8.8,839,11459,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2015,2309
$GC,11766,1.12,116.7,486.6,8.6,854,11770,0.00,2.12,0.00,0.000,4,0.000,0.064,2206,3144,2308
$GC,11852,1.12,116.7,479.2,8.8,858,11856,0.00,2.05,0.00,0.000,6,0.000,0.051,2206,2015,2308
$GC,12179,1.12,116.7,451.9,7.9,874,12183,0.00,2.10,0.00,0.000,4,0.000,0.063,2206,3145,2308
$GC,12227,1.12,116.7,447.7,8.7,876,12231,0.00,2.08,0.00,0.000,6,0.000,0.051,2206,2020,2307
$GC,12549,1.12,116.7,422.6,7.9,892,12550,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2020,2307
$GC,12859,1.12,116.7,399.1,7.3,907,12860,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2020,2306
$GC,13168,1.12,116.7,377.0,7.2,922,13171,0.00,2.08,0.00,0.000,4,0.000,0.060,2206,3138,2306
$GC,13278,1.12,116.7,368.1,7.5,927,13282,0.00,2.05,0.00,0.000,6,0.000,0.046,2206,2023,2305
$GC,13607,1.12,116.7,342.2,8.2,943,13608,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2023,2305
$GC,13915,1.12,116.7,316.3,8.6,958,13919,0.00,2.12,0.00,0.000,4,0.000,0.056,2206,3142,2305
$GC,14023,1.12,116.7,306.7,8.6,963,14027,0.00,2.00,0.00,0.000,6,0.000,0.044,2206,2026,2305
$GC,14340,1.12,116.7,280.1,8.3,982,14342,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2026,2306
$GC,14653,1.12,116.7,253.1,8.6,1002,14654,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2026,2306
$GC,14966,1.12,116.7,226.7,8.2,1022,14967,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2026,2307
$GC,15277,1.12,116.7,201.0,8.3,1042,15278,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2026,2308
$GC,15602,1.12,116.7,173.9,8.1,1072,15605,0.00,2.08,0.00,0.000,4,0.000,0.053,2206,3135,2309
$GC,15680,1.12,116.7,167.3,8.1,1078,15686,0.00,1.95,0.00,0.000,6,0.000,0.041,2206,2032,2309
$GC,16011,1.12,116.7,141.0,7.9,1119,16016,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2032,2310
$GC,16354,1.12,116.7,112.5,8.7,1180,16360,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2032,2310
$GC,16698,1.12,116.7,83.1,8.3,1241,16704,0.00,2.08,0.00,0.000,4,0.000,0.052,2206,3145,2311
$GC,16835,1.12,116.7,71.9,8.1,1265,16841,0.00,1.98,0.00,0.000,6,0.000,0.038,2206,2031,2311
$GC,17179,1.12,116.7,46.6,7.5,1326,17186,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2031,2312
$GC,17524,1.22,205.3,26.8,3.4,1387,17602,0.10,2.20,70.30,0.737,4,0.057,0.053,2232,885,1955
$GC,17681,1.22,205.3,17.7,7.7,1413,17687,0.00,2.05,0.00,0.000,6,0.000,0.033,2232,2035,1954
$STATE,17949,end climb,SURFACE_DEPTH_REACHED
$STATE,17950,begin surface coast
$FINISH,0.3,1.025150
$STATE,17990,end surface coast,CONTROL_FINISHED_OK
$STATE,17990,begin surface
$SM_CCo,18008,34.55,0.699,0,0,1773,250.21
$SM_GC,1.89,0.00,0.00,34.55,0.000,0.000,0.699,59,2150,1773,-8.76,0.57,250.21
$IRIDIUM_FIX,6532.72,528.43,201197,030354
$TT8_MAMPS,0.020709
$HUMID,2091
$INTERNAL_PRESSURE,8.2718
$TCM_TEMP,6.00
$XPDR_PINGS,-1
$24V_AH,23.1,32.163
$10V_AH,10.1,25.506
$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,22.175,101.400,270.875,34.550,0.000,30.336,33.268,228.996,0.000,0.000,0.000,17.442,3081.162,12372.504,483.200,1974.577,559.891,0.000,1680.276,0.000,1439.824,0.000,0.654
$DEVICE_MAMPS,188.682,72.098,1241.006,698.737,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1393.570,1169.004,669.832,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72672,1468
$CAP_FILE_SIZE,147475,0
$CFSIZE,256368640,233598976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.253, 27.5,1
$GPS,260808,140537,6603.249,541.910,73,1.8,73,-2.1