version: 66.03
glider: 17
mission: 6
dive: 430
start: 10 23 108 19 38 13
data:
$ID,17
$MISSION,6
$DIVE,430
$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,-96850.688
$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,29
$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
$GPS1,193026,6700.712,602.620,41,1.6,41,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-46.4
$GPS2,193727,6700.761,602.729,40,1.6,40,-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,243.6,2426,-25.8,-6.875
$D_GRID,1268
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-2.18,-30.8,0.0,0.0,0,76,0.00,0.00,-47.22,0.000,6,0.000,0.000,57,2140,2918
$GC,79,-2.23,-76.9,2.0,-0.0,1,98,8.75,2.08,-5.28,0.000,4,0.198,0.060,1472,994,3107
$GC,202,-2.23,-76.9,26.7,-20.3,3,205,0.00,2.00,0.00,0.000,6,0.000,0.035,1472,2132,3109
$GC,533,-2.23,-76.9,87.8,-17.4,11,534,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,2133,3110
$GC,858,-2.23,-76.9,142.0,-16.5,19,862,0.00,2.03,0.00,0.000,4,0.000,0.046,1472,995,3111
$GC,885,-2.23,-76.9,146.9,-17.4,19,889,0.00,2.00,0.00,0.000,6,0.000,0.035,1472,2137,3111
$GC,1218,-2.23,-76.9,202.3,-16.7,27,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,2137,3112
$GC,1541,-2.23,-76.9,256.0,-16.4,35,1545,0.00,2.05,0.00,0.000,4,0.000,0.051,1472,3251,3112
$GC,1574,-2.23,-76.9,261.9,-17.2,35,1581,0.00,2.00,0.00,0.000,6,0.000,0.035,1472,2114,3112
$GC,1907,-2.23,-76.9,316.8,-16.4,44,1911,0.00,2.08,0.00,0.000,4,0.000,0.051,1472,3254,3112
$GC,1949,-2.23,-76.9,323.7,-16.5,45,1952,0.00,1.98,0.00,0.000,6,0.000,0.037,1472,2123,3113
$GC,2273,-2.23,-76.9,375.0,-15.5,53,2277,0.00,2.00,0.00,0.000,4,0.000,0.048,1472,999,3113
$GC,2313,-2.23,-76.9,381.4,-16.1,54,2317,0.00,2.00,0.00,0.000,6,0.000,0.035,1471,2126,3113
$GC,2639,-2.23,-76.9,432.0,-15.4,62,2643,0.00,2.08,0.00,0.000,4,0.000,0.054,1472,3251,3113
$GC,2688,-2.23,-76.9,440.1,-15.5,63,2692,0.00,2.00,0.00,0.000,6,0.000,0.038,1472,2120,3112
$GC,3002,-2.23,-76.9,485.1,-14.1,71,3003,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,2120,3113
$GC,3328,-2.23,-76.9,529.1,-13.4,79,3332,0.00,2.10,0.00,0.000,4,0.000,0.055,1471,3250,3112
$GC,3467,-2.23,-76.9,549.1,-14.1,82,3471,0.00,2.00,0.00,0.000,6,0.000,0.041,1472,2128,3113
$GC,3780,-2.23,-76.9,593.4,-14.4,90,3784,0.00,2.10,0.00,0.000,4,0.000,0.061,1472,3250,3113
$GC,3814,-2.23,-76.9,598.5,-14.4,90,3821,0.00,2.03,0.00,0.000,6,0.000,0.044,1472,2120,3112
$GC,4146,-2.23,-76.9,645.9,-14.2,99,4149,0.00,2.12,0.00,0.000,4,0.000,0.063,1472,3250,3112
$GC,4195,-2.23,-76.9,653.5,-14.9,100,4199,0.00,2.03,0.00,0.000,6,0.000,0.045,1472,2126,3112
$GC,4510,-2.23,-76.9,700.1,-15.0,108,4511,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,2125,3111
$GC,4834,-2.23,-76.9,748.6,-14.8,116,4837,0.00,2.12,0.00,0.000,4,0.000,0.067,1472,3255,3109
$GC,4906,-2.23,-76.9,759.8,-15.2,117,4909,0.00,2.03,0.00,0.000,6,0.000,0.048,1472,2133,3109
$GC,5237,-2.23,-76.9,808.7,-14.7,125,5241,0.00,2.08,0.00,0.000,4,0.000,0.066,1472,3247,3109
$GC,5266,-2.23,-76.9,813.0,-15.2,125,5269,0.00,2.00,0.00,0.000,6,0.000,0.048,1472,2132,3108
$GC,5597,-2.23,-76.9,860.9,-14.4,133,5601,0.00,2.08,0.00,0.000,4,0.000,0.066,1472,3253,3107
$GC,5646,-2.23,-76.9,868.5,-14.9,134,5650,0.00,2.00,0.00,0.000,6,0.000,0.048,1472,2138,3107
$GC,5960,-2.23,-76.9,913.1,-14.1,142,5964,0.00,2.05,0.00,0.000,4,0.000,0.067,1472,3248,3105
$GC,6022,-2.23,-76.9,922.0,-14.2,143,6026,0.00,2.00,0.00,0.000,6,0.000,0.049,1472,2132,3104
$GC,6365,-2.23,-76.9,969.4,-13.7,152,6368,0.00,2.08,0.00,0.000,4,0.000,0.067,1471,3254,3104
$GC,6405,-2.23,-76.9,975.0,-14.2,153,6409,0.00,2.00,0.00,0.000,6,0.000,0.050,1472,2138,3104
$STATE,6523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6523,begin apogee
$GC,6532,-0.42,0.0,991.8,13.9,156,6607,2.15,0.00,70.53,1.404,6,0.139,0.000,1868,2001,2792
$STATE,6608,end apogee,CONTROL_FINISHED_OK
$STATE,6608,begin climb
$GC,6611,2.23,76.9,994.6,0.0,158,6690,2.80,2.20,70.40,1.380,4,0.065,0.062,2451,3129,2478
$GC,6748,2.23,76.9,984.1,13.1,161,6752,0.00,2.05,0.00,0.000,6,0.000,0.051,2451,2013,2476
$GC,7097,2.23,76.9,937.1,13.4,170,7101,0.00,2.08,0.00,0.000,4,0.000,0.065,2451,3129,2475
$GC,7298,2.23,76.9,909.6,13.1,174,7302,0.00,2.03,0.00,0.000,6,0.000,0.052,2451,2009,2473
$GC,7637,2.23,76.9,866.3,12.9,183,7641,0.00,2.10,0.00,0.000,4,0.000,0.064,2451,3135,2473
$GC,7829,2.23,76.9,841.0,13.5,187,7833,0.00,2.05,0.00,0.000,6,0.000,0.053,2451,2016,2472
$GC,8178,2.23,76.9,797.6,12.2,196,8182,0.00,2.10,0.00,0.000,4,0.000,0.065,2451,3129,2472
$GC,8384,2.23,76.9,771.5,12.9,200,8388,0.00,2.05,0.00,0.000,6,0.000,0.052,2451,2011,2471
$GC,8718,2.23,76.9,731.8,12.0,208,8719,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2012,2470
$GC,9041,2.23,76.9,693.2,11.8,216,9045,0.00,2.15,0.00,0.000,4,0.000,0.065,2451,3138,2470
$GC,9264,2.23,76.9,665.7,12.1,221,9268,0.00,2.03,0.00,0.000,6,0.000,0.052,2451,2020,2469
$GC,9585,2.23,76.9,626.6,12.4,229,9589,0.00,2.12,0.00,0.000,4,0.000,0.064,2451,3135,2469
$GC,9786,2.23,76.9,600.9,12.7,233,9789,0.00,2.05,0.00,0.000,6,0.000,0.052,2451,2013,2469
$GC,10130,2.23,76.9,559.7,11.8,242,10131,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2013,2469
$GC,10454,2.23,76.9,524.0,10.9,250,10458,0.00,2.12,0.00,0.000,4,0.000,0.063,2451,3133,2468
$GC,10711,2.23,76.9,497.0,9.8,255,10718,0.00,2.03,0.00,0.000,6,0.000,0.050,2451,2018,2468
$GC,11044,2.23,76.9,466.1,9.4,264,11048,0.00,2.10,0.00,0.000,4,0.000,0.061,2451,3140,2467
$GC,11303,2.23,76.9,441.0,10.3,269,11309,0.00,2.00,0.00,0.000,6,0.000,0.047,2451,2030,2467
$GC,11634,2.23,76.9,408.5,10.0,278,11638,0.00,2.08,0.00,0.000,4,0.000,0.058,2451,3132,2467
$GC,11892,2.23,76.9,381.0,11.6,283,11898,0.00,1.98,0.00,0.000,6,0.000,0.044,2451,2038,2467
$GC,12225,2.23,76.9,346.9,10.5,292,12228,0.00,2.05,0.00,0.000,4,0.000,0.055,2451,3134,2467
$GC,12325,2.23,76.9,336.0,10.2,294,12329,0.00,1.98,0.00,0.000,6,0.000,0.044,2451,2033,2467
$GC,12673,2.23,76.9,301.7,9.9,303,12674,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2032,2468
$GC,13000,2.23,76.9,269.7,9.7,311,13004,0.00,2.08,0.00,0.000,4,0.000,0.054,2452,3137,2468
$GC,13257,2.23,76.9,243.5,9.7,316,13264,0.00,1.95,0.00,0.000,6,0.000,0.041,2451,2043,2469
$GC,13590,2.23,76.9,212.2,9.5,325,13594,0.00,2.03,0.00,0.000,4,0.000,0.053,2451,3138,2470
$GC,13831,2.23,76.9,187.5,9.6,330,13834,0.00,1.92,0.00,0.000,6,0.000,0.040,2451,2046,2470
$GC,14181,2.23,76.9,154.6,9.4,339,14182,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2046,2471
$GC,14505,2.23,76.9,124.3,9.4,347,14506,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2046,2472
$GC,14829,2.23,76.9,93.2,9.7,355,14833,0.00,2.00,0.00,0.000,4,0.000,0.051,2451,3131,2473
$GC,15086,2.23,76.9,69.8,8.7,360,15093,0.00,1.90,0.00,0.000,6,0.000,0.038,2451,2049,2473
$GC,15418,2.25,91.9,53.3,4.6,369,15437,0.00,2.08,12.95,0.675,4,0.000,0.050,2451,3127,2417
$GC,15583,2.25,91.9,40.0,10.2,372,15587,0.00,1.92,0.00,0.000,6,0.000,0.036,2451,2034,2417
$STATE,15918,end climb,SURFACE_DEPTH_REACHED
$STATE,15918,begin surface coast
$FINISH,-0.2,1.027104
$STATE,15959,end surface coast,CONTROL_FINISHED_OK
$STATE,15959,begin surface
$SM_CCo,15982,103.43,0.659,0,0,1772,250.21
$SM_GC,0.72,0.00,0.00,103.43,0.000,0.000,0.659,57,2150,1772,-8.78,0.57,250.21
$IRIDIUM_FIX,6631.12,557.95,170198,141413
$TT8_MAMPS,0.021476
$HUMID,2117
$INTERNAL_PRESSURE,8.21321
$TCM_TEMP,3.00
$XPDR_PINGS,-1
$24V_AH,22.8,56.131
$10V_AH,10.0,47.013
$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,24.650,114.725,153.875,103.425,0.000,24.447,33.329,209.094,0.000,0.000,0.000,40.252,1194.151,13326.837,438.648,1003.314,575.714,0.000,1202.346,0.000,894.886,0.000,0.655
$DEVICE_MAMPS,197.886,67.496,1403.610,658.853,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,365.535,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15970,382
$CAP_FILE_SIZE,107117,0
$CFSIZE,256368640,218374144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055, 50.4,1
$GPS,241008,000758,6700.229,559.845,39,2.2,58,-2.0