version: 66.03
glider: 17
mission: 6
dive: 378
start: 10 10 108 20 39 24
data:
$ID,17
$MISSION,6
$DIVE,378
$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,-95446.336
$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,31
$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
$GPS1,202901,6619.927,606.960,45,1.5,45,-1.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-47.8
$GPS2,203857,6620.035,607.189,13,1.5,13,-1.9
$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,297.9,74199,-11.9,-6.875
$D_GRID,600
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,25,-1.12,-116.7,0.0,0.0,0,84,0.00,0.00,-56.55,0.000,6,0.000,0.000,60,2143,3269
$GC,87,-1.12,-116.7,2.2,-0.0,1,101,9.98,2.08,0.00,0.000,4,0.189,0.043,1716,992,3272
$GC,263,-1.12,-116.7,29.1,-10.2,5,267,0.00,2.03,0.00,0.000,6,0.000,0.033,1716,2133,3274
$GC,587,-1.12,-116.7,56.9,-9.2,13,591,0.00,2.00,0.00,0.000,4,0.000,0.043,1716,999,3275
$GC,664,-1.12,-116.7,63.1,-8.0,14,672,0.00,1.98,0.00,0.000,6,0.000,0.033,1716,2119,3276
$GC,998,-1.12,-116.7,88.8,-8.0,23,999,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2119,3276
$GC,1321,-1.12,-116.7,112.9,-7.0,31,1322,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2119,3278
$GC,1647,-1.12,-116.7,135.0,-6.8,39,1648,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2119,3278
$GC,1971,-1.12,-116.7,156.9,-6.6,47,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2119,3278
$GC,2296,-1.12,-116.7,176.9,-6.1,55,2297,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2119,3278
$GC,2623,-1.12,-116.7,198.2,-6.8,63,2626,0.00,2.00,0.00,0.000,4,0.000,0.047,1716,992,3278
$GC,2672,-1.12,-116.7,202.0,-7.5,64,2676,0.00,1.98,0.00,0.000,6,0.000,0.036,1716,2117,3278
$GC,2991,-1.12,-116.7,225.0,-7.5,72,2992,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2117,3278
$GC,3318,-1.12,-116.7,246.5,-6.3,80,3319,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2117,3278
$GC,3641,-1.12,-116.7,266.3,-6.0,88,3645,0.00,2.10,0.00,0.000,4,0.000,0.057,1716,3250,3278
$GC,3691,-1.12,-116.7,269.6,-6.6,89,3695,0.00,2.00,0.00,0.000,6,0.000,0.037,1716,2103,3278
$GC,4006,-1.12,-116.7,290.1,-6.7,97,4007,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2103,3278
$GC,4329,-1.12,-116.7,312.5,-7.2,105,4333,0.00,1.95,0.00,0.000,4,0.000,0.049,1716,996,3277
$GC,4362,-1.12,-116.7,315.1,-7.6,105,4369,0.00,1.98,0.00,0.000,6,0.000,0.037,1716,2111,3277
$GC,4694,-1.12,-116.7,339.0,-7.0,114,4697,0.00,2.12,0.00,0.000,4,0.000,0.058,1716,3257,3277
$GC,4727,-1.12,-116.7,341.5,-7.6,114,4734,0.00,2.00,0.00,0.000,6,0.000,0.039,1716,2110,3277
$GC,5059,-1.12,-116.7,363.2,-6.5,123,5062,0.00,1.98,0.00,0.000,4,0.000,0.051,1716,1001,3277
$GC,5091,-1.12,-116.7,365.5,-6.9,123,5098,0.00,2.00,0.00,0.000,6,0.000,0.038,1716,2117,3277
$GC,5423,-1.12,-116.7,386.2,-6.0,132,5427,0.00,2.12,0.00,0.000,4,0.000,0.061,1716,3258,3276
$GC,5464,-1.12,-116.7,388.6,-6.0,133,5468,0.00,2.03,0.00,0.000,6,0.000,0.040,1716,2115,3276
$GC,5788,-1.12,-116.7,406.5,-5.3,141,5789,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2115,3275
$GC,6113,-1.12,-116.7,426.4,-6.6,149,6115,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2116,3275
$GC,6440,-1.12,-116.7,448.0,-6.7,157,6443,0.00,2.12,0.00,0.000,4,0.000,0.060,1716,3251,3274
$GC,6483,-1.12,-116.7,451.4,-7.4,158,6487,0.00,2.03,0.00,0.000,6,0.000,0.042,1716,2114,3274
$GC,6809,-1.12,-116.7,471.9,-6.1,166,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2114,3273
$GC,7134,-1.12,-116.7,491.7,-5.9,174,7137,0.00,2.10,0.00,0.000,4,0.000,0.062,1716,3250,3272
$GC,7229,-1.12,-116.7,497.4,-6.1,176,7233,0.00,2.03,0.00,0.000,6,0.000,0.044,1716,2112,3272
$GC,7543,-1.12,-116.7,514.1,-5.2,184,7544,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2112,3272
$GC,7868,-1.12,-116.7,534.0,-6.2,192,7869,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2112,3271
$GC,8194,-1.12,-116.7,554.5,-6.4,200,8195,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2112,3269
$GC,8517,-1.12,-116.7,574.6,-6.1,208,8521,0.00,2.00,0.00,0.000,4,0.000,0.062,1716,1005,3269
$GC,8545,-1.12,-116.7,576.4,-6.4,208,8548,0.00,2.03,0.00,0.000,6,0.000,0.046,1716,2122,3268
$GC,8878,-1.12,-116.7,597.4,-6.4,216,8881,0.00,2.12,0.00,0.000,4,0.000,0.069,1716,3257,3267
$GC,8910,-1.12,-116.7,599.7,-6.7,216,8917,0.00,2.05,0.00,0.000,6,0.000,0.048,1716,2112,3268
$STATE,8955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8955,begin apogee
$GC,8962,-0.42,0.0,602.6,6.3,218,9064,0.77,0.00,99.78,1.147,6,0.100,0.000,1870,2002,2792
$STATE,9065,end apogee,CONTROL_FINISHED_OK
$STATE,9065,begin climb
$GC,9068,1.12,116.7,605.3,0.0,220,9171,1.62,0.00,99.55,1.113,6,0.067,0.000,2206,2002,2316
$GC,9484,1.12,116.7,579.4,8.5,231,9488,0.00,2.20,0.00,0.000,4,0.000,0.065,2206,3143,2313
$GC,9613,1.12,116.7,568.3,8.4,234,9617,0.00,2.05,0.00,0.000,6,0.000,0.048,2206,2021,2313
$GC,9939,1.12,116.7,541.9,8.2,242,9940,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2022,2311
$GC,10263,1.12,116.7,514.9,8.3,250,10266,0.00,2.12,0.00,0.000,4,0.000,0.069,2206,882,2310
$GC,10289,1.12,116.7,512.3,8.7,250,10293,0.00,2.08,0.00,0.000,6,0.000,0.047,2206,2020,2310
$GC,10627,1.12,116.7,485.0,7.9,259,10631,0.00,2.12,0.00,0.000,4,0.000,0.066,2206,3143,2310
$GC,10668,1.12,116.7,481.8,8.3,260,10672,0.00,2.05,0.00,0.000,6,0.000,0.050,2206,2014,2310
$GC,10992,1.12,116.7,454.3,8.7,268,10996,0.00,2.12,0.00,0.000,4,0.000,0.062,2206,3134,2309
$GC,11077,1.12,116.7,446.4,9.2,270,11081,0.00,2.03,0.00,0.000,6,0.000,0.048,2206,2016,2309
$GC,11403,1.12,116.7,416.9,9.2,278,11406,0.00,2.10,0.00,0.000,4,0.000,0.061,2206,3136,2308
$GC,11442,1.12,116.7,412.9,9.7,279,11446,0.00,2.00,0.00,0.000,6,0.000,0.048,2206,2027,2308
$GC,11766,1.12,116.7,384.9,8.4,287,11767,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2027,2308
$GC,12093,1.12,116.7,360.1,7.4,295,12094,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2027,2307
$GC,12416,1.12,116.7,335.3,8.0,303,12420,0.00,2.10,0.00,0.000,4,0.000,0.062,2206,883,2307
$GC,12522,1.12,116.7,326.1,8.6,305,12525,0.00,2.05,0.00,0.000,6,0.000,0.041,2206,2044,2307
$GC,12871,1.12,116.7,297.2,8.3,314,12872,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2044,2307
$GC,13195,1.12,116.7,269.8,8.4,322,13199,0.00,2.12,0.00,0.000,4,0.000,0.058,2206,884,2307
$GC,13222,1.12,116.7,267.4,8.6,322,13225,0.00,2.03,0.00,0.000,6,0.000,0.041,2206,2033,2307
$GC,13559,1.12,116.7,240.6,7.9,331,13563,0.00,2.05,0.00,0.000,4,0.000,0.061,2206,3130,2307
$GC,13654,1.12,116.7,233.1,7.6,333,13658,0.00,1.92,0.00,0.000,6,0.000,0.041,2206,2037,2307
$GC,13967,1.12,116.7,209.3,7.6,341,13971,0.00,2.08,0.00,0.000,4,0.000,0.056,2206,886,2307
$GC,14007,1.12,116.7,206.0,8.4,342,14011,0.00,2.08,0.00,0.000,6,0.000,0.038,2206,2044,2307
$GC,14332,1.12,116.7,180.8,7.7,350,14333,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2044,2308
$GC,14656,1.12,116.7,155.2,7.9,358,14659,0.00,2.00,0.00,0.000,4,0.000,0.056,2206,3135,2309
$GC,14711,1.12,116.7,150.5,8.1,359,14714,0.00,1.92,0.00,0.000,6,0.000,0.039,2206,2039,2309
$GC,15025,1.12,116.7,125.6,8.0,367,15029,0.00,2.00,0.00,0.000,4,0.000,0.052,2206,3134,2310
$GC,15065,1.12,116.7,122.3,7.9,368,15069,0.00,1.92,0.00,0.000,6,0.000,0.039,2206,2039,2309
$GC,15389,1.12,116.7,97.9,7.4,376,15393,0.00,2.03,0.00,0.000,4,0.000,0.051,2206,3139,2310
$GC,15502,1.12,116.7,89.3,7.9,378,15505,0.00,1.92,0.00,0.000,6,0.000,0.038,2206,2043,2310
$GC,15838,1.12,116.7,63.7,7.6,387,15839,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2043,2311
$GC,16164,1.15,143.6,45.5,5.8,395,16192,0.00,2.22,22.08,0.700,4,0.000,0.052,2206,883,2205
$GC,16273,1.15,143.6,37.4,8.6,397,16277,0.00,2.10,0.00,0.000,6,0.000,0.034,2206,2057,2205
$GC,16615,1.15,143.6,7.6,7.3,406,16619,0.00,2.10,0.00,0.000,4,0.000,0.048,2206,885,2205
$STATE,16690,end climb,SURFACE_DEPTH_REACHED
$STATE,16690,begin surface coast
$FINISH,1.6,1.026785
$STATE,16698,end surface coast,CONTROL_FINISHED_OK
$STATE,16699,begin surface
$SM_CCo,16722,69.03,0.667,0,0,1772,250.21
$SM_GC,1.14,0.00,0.00,69.03,0.000,0.000,0.667,61,2137,1772,-8.76,0.20,250.21
$IRIDIUM_FIX,6553.70,610.35,040198,202029
$TT8_MAMPS,0.021476
$HUMID,2149
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,4.00
$XPDR_PINGS,-1
$24V_AH,22.6,50.984
$10V_AH,10.1,43.963
$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,22.275,106.775,221.400,69.025,0.000,60.335,69.011,288.070,0.000,0.000,0.000,13.156,1143.798,14364.752,469.557,733.823,689.438,0.000,1071.781,0.000,662.145,0.000,0.653
$DEVICE_MAMPS,188.682,69.030,1147.432,667.290,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,388.988,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19117,408
$CAP_FILE_SIZE,103718,0
$CFSIZE,256368640,221163520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.217, 40.8,1
$GPS,111008,012055,6622.375,606.117,44,2.0,61,-1.9