version: 66.03
glider: 17
mission: 6
dive: 391
start: 10 14 108 9 35 52
data:
$ID,17
$MISSION,6
$DIVE,391
$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,-95816.266
$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,19
$R_STBD_OVSHOOT,38
$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
$GPS1,092938,6652.843,557.458,39,1.7,39,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-47.5
$GPS2,093526,6652.789,557.461,16,1.7,32,-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,16.5,13482,-11.9,-6.875
$D_GRID,1178
$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,-1.12,-116.7,0.0,0.0,0,83,0.00,0.00,-57.70,0.000,6,0.000,0.000,55,2155,3269
$GC,87,-1.12,-116.7,2.4,-0.0,1,101,10.07,2.12,0.00,0.000,4,0.193,0.046,1713,991,3272
$GC,186,-1.12,-116.7,20.0,-8.9,3,190,0.00,2.03,0.00,0.000,6,0.000,0.033,1713,2125,3274
$GC,534,-1.12,-116.7,50.4,-8.6,12,535,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2125,3275
$GC,859,-1.12,-116.7,76.5,-8.2,20,860,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2125,3276
$GC,1184,-1.12,-116.7,97.0,-5.6,28,1188,0.00,2.08,0.00,0.000,4,0.000,0.052,1713,3253,3277
$GC,1235,-1.12,-116.7,100.2,-6.3,29,1239,0.00,1.98,0.00,0.000,6,0.000,0.034,1713,2115,3277
$GC,1548,-1.12,-116.7,119.7,-6.3,37,1552,0.00,2.00,0.00,0.000,4,0.000,0.046,1713,998,3278
$GC,1597,-1.12,-116.7,123.0,-6.4,38,1601,0.00,1.98,0.00,0.000,6,0.000,0.034,1713,2126,3278
$GC,1912,-1.12,-116.7,143.5,-6.6,46,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2126,3278
$GC,2236,-1.12,-116.7,163.7,-6.2,54,2237,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2126,3278
$GC,2561,-1.12,-116.7,185.4,-6.6,62,2565,0.00,2.00,0.00,0.000,4,0.000,0.046,1713,1005,3278
$GC,2605,-1.12,-116.7,188.5,-7.0,63,2609,0.00,1.98,0.00,0.000,6,0.000,0.035,1713,2120,3278
$GC,2925,-1.12,-116.7,210.3,-7.0,71,2929,0.00,2.10,0.00,0.000,4,0.000,0.054,1713,3254,3278
$GC,2958,-1.12,-116.7,212.8,-6.9,71,2965,0.00,2.00,0.00,0.000,6,0.000,0.036,1713,2116,3278
$GC,3290,-1.12,-116.7,233.7,-6.2,80,3293,0.00,2.00,0.00,0.000,4,0.000,0.048,1713,999,3278
$GC,3324,-1.12,-116.7,236.0,-6.7,80,3330,0.00,1.98,0.00,0.000,6,0.000,0.035,1713,2124,3278
$GC,3655,-1.12,-116.7,258.7,-6.8,89,3659,0.00,2.10,0.00,0.000,4,0.000,0.055,1713,3253,3278
$GC,3688,-1.12,-116.7,261.2,-7.1,89,3694,0.00,2.00,0.00,0.000,6,0.000,0.036,1713,2116,3278
$GC,4019,-1.12,-116.7,284.2,-7.0,98,4023,0.00,1.98,0.00,0.000,4,0.000,0.048,1713,1004,3277
$GC,4060,-1.12,-116.7,287.2,-7.8,99,4064,0.00,2.00,0.00,0.000,6,0.000,0.035,1713,2126,3278
$GC,4385,-1.12,-116.7,310.2,-7.0,107,4388,0.00,2.10,0.00,0.000,4,0.000,0.057,1713,3254,3277
$GC,4445,-1.12,-116.7,314.7,-7.0,108,4449,0.00,2.00,0.00,0.000,6,0.000,0.037,1713,2119,3278
$GC,4795,-1.12,-116.7,335.4,-5.7,117,4799,0.00,2.10,0.00,0.000,4,0.000,0.054,1713,3250,3277
$GC,4835,-1.12,-116.7,337.9,-6.1,118,4839,0.00,2.00,0.00,0.000,6,0.000,0.038,1713,2121,3277
$GC,5160,-1.12,-116.7,357.9,-6.4,126,5164,0.00,2.10,0.00,0.000,4,0.000,0.054,1713,3255,3277
$GC,5204,-1.12,-116.7,361.1,-7.2,127,5208,0.00,2.00,0.00,0.000,6,0.000,0.038,1713,2122,3276
$GC,5523,-1.12,-116.7,382.9,-6.9,135,5527,0.00,2.10,0.00,0.000,4,0.000,0.056,1713,3255,3276
$GC,5563,-1.12,-116.7,385.6,-6.8,136,5566,0.00,2.00,0.00,0.000,6,0.000,0.039,1713,2127,3276
$GC,5889,-1.12,-116.7,406.7,-6.5,144,5890,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2127,3275
$GC,6212,-1.12,-116.7,427.1,-6.4,152,6216,0.00,2.12,0.00,0.000,4,0.000,0.058,1713,3256,3275
$GC,6306,-1.12,-116.7,433.6,-6.6,154,6310,0.00,2.00,0.00,0.000,6,0.000,0.040,1713,2129,3275
$GC,6621,-1.12,-116.7,452.4,-6.0,162,6625,0.00,2.03,0.00,0.000,4,0.000,0.054,1713,1001,3275
$GC,6682,-1.12,-116.7,456.8,-7.0,163,6685,0.00,2.05,0.00,0.000,6,0.000,0.038,1713,2144,3275
$GC,7031,-1.12,-116.7,478.2,-6.2,172,7034,0.00,2.05,0.00,0.000,4,0.000,0.061,1713,3251,3275
$GC,7104,-1.12,-116.7,483.4,-7.2,173,7107,0.00,1.95,0.00,0.000,6,0.000,0.041,1713,2143,3275
$GC,7435,-1.12,-116.7,505.0,-6.5,181,7436,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2143,3273
$GC,7760,-1.12,-116.7,526.7,-6.8,189,7761,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2143,3273
$GC,8085,-1.12,-116.7,548.2,-6.7,197,8086,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2144,3272
$GC,8411,-1.12,-116.7,570.0,-6.4,205,8412,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2143,3271
$GC,8735,-1.12,-116.7,589.5,-5.9,213,8736,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2143,3271
$GC,9060,-1.12,-116.7,608.3,-5.7,221,9061,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2143,3269
$GC,9385,-1.12,-116.7,626.7,-5.6,229,9386,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2143,3269
$GC,9711,-1.12,-116.7,645.6,-6.0,237,9712,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2144,3268
$GC,10035,-1.12,-116.7,665.1,-6.1,245,10036,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2143,3267
$GC,10359,-1.12,-116.7,684.8,-5.9,253,10361,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2143,3265
$GC,10684,-1.12,-116.7,703.8,-5.8,261,10686,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2143,3265
$GC,11011,-1.12,-116.7,724.3,-6.4,269,11012,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2143,3264
$GC,11334,-1.12,-116.7,745.3,-6.5,277,11338,0.00,2.10,0.00,0.000,4,0.000,0.066,1713,1000,3263
$GC,11374,-1.12,-116.7,747.9,-7.0,278,11378,0.00,2.10,0.00,0.000,6,0.000,0.048,1713,2145,3263
$GC,11699,-1.12,-116.7,768.9,-6.4,286,11701,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2145,3263
$GC,12023,-1.12,-116.7,788.9,-6.2,294,12024,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2145,3262
$GC,12348,-1.12,-116.7,809.3,-6.3,302,12352,0.00,2.12,0.00,0.000,4,0.000,0.064,1713,1001,3261
$GC,12387,-1.12,-116.7,811.9,-7.1,303,12391,0.00,2.12,0.00,0.000,6,0.000,0.048,1713,2156,3261
$GC,12713,-1.12,-116.7,832.4,-6.3,311,12714,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2157,3261
$GC,13037,-1.12,-116.7,851.8,-5.9,319,13041,0.00,2.12,0.00,0.000,4,0.000,0.064,1713,1003,3260
$GC,13077,-1.12,-116.7,854.3,-6.2,320,13081,0.00,2.10,0.00,0.000,6,0.000,0.048,1713,2149,3260
$GC,13403,-1.12,-116.7,873.4,-5.9,328,13404,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2149,3259
$GC,13726,-1.12,-116.7,892.2,-5.8,336,13727,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2149,3259
$GC,14052,-1.12,-116.7,911.6,-6.0,344,14055,0.00,2.12,0.00,0.000,4,0.000,0.064,1713,1007,3258
$GC,14108,-1.12,-116.7,915.2,-6.3,345,14112,0.00,2.08,0.00,0.000,6,0.000,0.048,1713,2147,3258
$GC,14457,-1.12,-116.7,936.0,-5.9,354,14458,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2147,3258
$GC,14781,-1.12,-116.7,954.9,-5.8,362,14785,0.00,2.10,0.00,0.000,4,0.000,0.063,1713,1005,3258
$GC,14822,-1.12,-116.7,957.3,-6.3,363,14825,0.00,2.08,0.00,0.000,6,0.000,0.048,1713,2141,3258
$GC,15147,-1.12,-116.7,975.5,-5.5,371,15149,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2142,3257
$STATE,15428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15428,begin apogee
$GC,15434,-0.42,0.0,990.9,5.4,378,15541,0.80,0.00,103.57,1.427,6,0.097,0.000,1872,2009,2792
$STATE,15542,end apogee,CONTROL_FINISHED_OK
$STATE,15542,begin climb
$GC,15545,1.12,116.7,992.7,0.0,380,15657,1.58,2.22,104.45,1.420,4,0.069,0.067,2210,894,2316
$GC,15685,1.12,116.7,987.6,9.0,384,15688,0.00,2.08,0.00,0.000,6,0.000,0.048,2210,2017,2315
$GC,16004,1.12,116.7,955.0,10.2,392,16008,0.00,2.12,0.00,0.000,4,0.000,0.068,2210,3139,2314
$GC,16021,1.12,116.7,953.2,10.4,392,16025,0.00,2.05,0.00,0.000,6,0.000,0.053,2210,2020,2313
$GC,16363,1.12,116.7,918.7,10.0,401,16367,0.00,2.10,0.00,0.000,4,0.000,0.066,2210,3138,2313
$GC,16384,1.12,116.7,916.4,9.9,401,16388,0.00,2.08,0.00,0.000,6,0.000,0.053,2210,2009,2313
$GC,16727,1.12,116.7,883.3,9.6,410,16731,0.00,2.12,0.00,0.000,4,0.000,0.067,2210,3137,2313
$GC,16771,1.12,116.7,878.9,11.1,411,16775,0.00,2.05,0.00,0.000,6,0.000,0.053,2210,2018,2312
$GC,17090,1.12,116.7,848.2,9.7,419,17094,0.00,2.12,0.00,0.000,4,0.000,0.067,2210,3145,2312
$GC,17122,1.12,116.7,844.9,9.5,419,17129,0.00,2.03,0.00,0.000,6,0.000,0.053,2210,2032,2312
$GC,17455,1.12,116.7,812.9,9.7,428,17459,0.00,2.08,0.00,0.000,4,0.000,0.068,2210,3137,2312
$GC,17495,1.12,116.7,808.8,9.9,429,17499,0.00,2.00,0.00,0.000,6,0.000,0.054,2210,2040,2312
$GC,17819,1.12,116.7,777.9,9.4,437,17823,0.00,2.05,0.00,0.000,4,0.000,0.068,2210,3142,2312
$GC,17840,1.12,116.7,775.8,9.5,437,17843,0.00,2.00,0.00,0.000,6,0.000,0.053,2211,2044,2312
$GC,18184,1.12,116.7,745.4,8.7,446,18188,0.00,2.08,0.00,0.000,4,0.000,0.066,2210,3135,2312
$GC,18205,1.12,116.7,743.2,8.2,446,18209,0.00,2.00,0.00,0.000,6,0.000,0.053,2211,2039,2312
$GC,18548,1.12,116.7,714.0,8.5,455,18552,0.00,2.10,0.00,0.000,4,0.000,0.067,2210,3137,2312
$GC,18571,1.12,116.7,712.1,8.1,455,18574,0.00,2.00,0.00,0.000,6,0.000,0.053,2210,2041,2312
$GC,18907,1.12,116.7,684.3,8.2,464,18911,0.00,2.08,0.00,0.000,4,0.000,0.067,2210,3140,2312
$GC,18979,1.12,116.7,678.1,8.2,465,18983,0.00,1.98,0.00,0.000,6,0.000,0.052,2210,2052,2312
$GC,19317,1.12,116.7,649.8,8.5,474,19320,0.00,2.03,0.00,0.000,4,0.000,0.067,2210,3136,2312
$GC,19378,1.12,116.7,643.9,10.3,475,19381,0.00,1.95,0.00,0.000,6,0.000,0.053,2211,2053,2312
$GC,19721,1.12,116.7,613.2,8.8,484,19722,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2053,2312
$GC,20045,1.12,116.7,584.8,8.6,492,20049,0.00,2.05,0.00,0.000,4,0.000,0.067,2210,3139,2312
$GC,20096,1.12,116.7,580.6,7.4,493,20099,0.00,1.95,0.00,0.000,6,0.000,0.053,2210,2058,2312
$GC,20409,1.12,116.7,554.8,8.3,501,20412,0.00,2.03,0.00,0.000,4,0.000,0.066,2210,3135,2311
$GC,20424,1.12,116.7,553.4,8.7,501,20428,0.00,1.98,0.00,0.000,6,0.000,0.053,2210,2048,2311
$GC,20774,1.12,116.7,524.9,8.3,510,20778,0.00,2.05,0.00,0.000,4,0.000,0.066,2210,3135,2311
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$GC,22786,1.12,116.7,358.6,7.8,559,22790,0.00,2.25,0.00,0.000,4,0.000,0.063,2211,882,2312
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$STATE,27414,end climb,SURFACE_DEPTH_REACHED
$STATE,27415,begin surface coast
$FINISH,0.0,1.026524
$STATE,27457,end surface coast,CONTROL_FINISHED_OK
$STATE,27457,begin surface
$SM_CCo,27478,56.78,0.646,0,0,1772,250.21
$SM_GC,1.24,0.00,0.00,56.78,0.000,0.000,0.646,52,2152,1772,-8.80,0.62,250.21
$IRIDIUM_FIX,6620.33,601.11,080198,020241
$TT8_MAMPS,0.021476
$HUMID,2118
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,3.50
$XPDR_PINGS,-1
$24V_AH,22.8,52.414
$10V_AH,10.0,44.746
$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,22.050,191.575,245.950,56.775,0.000,27.607,31.174,139.690,0.000,0.000,0.000,32.869,1806.865,23736.967,538.765,1193.473,612.648,0.000,1503.222,0.000,1046.453,0.000,0.654
$DEVICE_MAMPS,192.517,74.399,1427.387,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,641.485,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31700,673
$CAP_FILE_SIZE,161815,0
$CFSIZE,256368640,220372992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.117,199.5,1
$GPS,141008,171608,6654.243,557.541,40,1.3,40,-2.1