version: 66.03
glider: 17
mission: 6
dive: 417
start: 10 20 108 23 19 37
data:
$ID,17
$MISSION,6
$DIVE,417
$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,-96504.914
$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,22
$R_STBD_OVSHOOT,25
$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
$GPS1,230908,6659.450,559.263,24,1.9,24,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-45.5
$GPS2,231907,6659.403,559.301,39,1.0,45,-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,31.4,1217,-26.8,-6.875
$D_GRID,1284
$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,-2.27,-28.6,0.0,0.0,0,72,0.00,0.00,-45.95,0.000,6,0.000,0.000,53,2115,2910
$GC,76,-2.27,-35.2,1.6,-5.8,1,90,8.50,2.15,-0.73,0.000,4,0.187,0.062,1465,3260,2937
$GC,327,-2.27,-35.2,47.9,-16.2,6,331,0.00,2.00,0.00,0.000,6,0.000,0.036,1465,2125,2939
$GC,658,-2.27,-35.2,93.7,-14.0,14,662,0.00,2.00,0.00,0.000,4,0.000,0.046,1465,992,2941
$GC,730,-2.27,-35.2,103.8,-14.0,15,734,0.00,2.03,0.00,0.000,6,0.000,0.032,1465,2134,2940
$GC,1061,-2.27,-35.2,145.7,-12.5,23,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,2134,2941
$GC,1388,-2.27,-35.2,187.3,-12.8,31,1392,0.00,2.08,0.00,0.000,4,0.000,0.051,1465,3257,2942
$GC,1432,-2.27,-35.2,193.6,-13.2,32,1436,0.00,1.98,0.00,0.000,6,0.000,0.036,1465,2132,2942
$GC,1751,-2.27,-35.2,235.2,-13.1,40,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,2132,2943
$GC,2077,-2.27,-35.2,277.5,-12.9,48,2081,0.00,2.08,0.00,0.000,4,0.000,0.051,1465,3250,2943
$GC,2194,-2.27,-35.2,293.4,-13.3,50,2197,0.00,1.98,0.00,0.000,6,0.000,0.036,1464,2126,2943
$GC,2525,-2.27,-35.2,335.7,-12.7,58,2526,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,2126,2943
$GC,2851,-2.27,-35.2,376.2,-12.6,66,2852,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,2126,2943
$GC,3177,-2.27,-35.2,417.1,-12.8,74,3180,0.00,2.10,0.00,0.000,4,0.000,0.052,1465,3250,2943
$GC,3277,-2.27,-35.2,430.8,-13.6,76,3280,0.00,1.98,0.00,0.000,6,0.000,0.038,1465,2130,2943
$GC,3625,-2.27,-35.2,473.0,-12.0,85,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,2131,2943
$GC,3951,-2.27,-35.2,509.7,-11.0,93,3955,0.00,2.10,0.00,0.000,4,0.000,0.053,1464,3250,2943
$GC,4062,-2.27,-35.2,522.7,-11.7,95,4066,0.00,1.98,0.00,0.000,6,0.000,0.039,1464,2136,2942
$GC,4400,-2.27,-35.2,561.0,-11.3,104,4401,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,2135,2942
$GC,4726,-2.27,-35.2,598.0,-11.3,112,4727,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,2136,2942
$GC,5050,-2.27,-35.2,633.7,-10.9,120,5053,0.00,2.10,0.00,0.000,4,0.000,0.061,1465,3248,2941
$GC,5155,-2.27,-35.2,646.0,-11.6,122,5159,0.00,2.00,0.00,0.000,6,0.000,0.043,1465,2130,2941
$GC,5500,-2.27,-35.2,683.3,-10.8,131,5501,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,2129,2940
$GC,5823,-2.27,-35.2,719.9,-11.3,139,5827,0.00,2.08,0.00,0.000,4,0.000,0.061,1464,992,2939
$GC,5855,-2.27,-35.2,723.8,-11.7,139,5862,0.00,2.08,0.00,0.000,6,0.000,0.044,1465,2134,2939
$GC,6187,-2.27,-35.2,761.6,-11.3,148,6191,0.00,2.15,0.00,0.000,4,0.000,0.066,1464,3258,2938
$GC,6244,-2.27,-35.2,768.3,-12.1,149,6247,0.00,2.03,0.00,0.000,6,0.000,0.048,1465,2130,2937
$GC,6592,-2.27,-35.2,806.6,-11.0,158,6593,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,2129,2936
$GC,6917,-2.27,-35.2,841.2,-10.4,166,6921,0.00,2.15,0.00,0.000,4,0.000,0.065,1465,3257,2935
$GC,6966,-2.27,-35.2,846.7,-10.8,167,6970,0.00,2.03,0.00,0.000,6,0.000,0.048,1464,2131,2934
$GC,7281,-2.27,-35.2,878.5,-10.1,175,7282,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,2130,2933
$GC,7605,-2.27,-35.2,910.2,-9.7,183,7609,0.00,2.15,0.00,0.000,4,0.000,0.065,1465,3261,2932
$GC,7671,-2.27,-35.2,917.1,-10.7,184,7675,0.00,2.03,0.00,0.000,6,0.000,0.049,1464,2136,2932
$GC,8010,-2.27,-35.2,950.0,-9.7,193,8011,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,2135,2931
$GC,8335,-2.27,-35.2,981.8,-9.8,201,8336,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,2135,2930
$STATE,8452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8452,begin apogee
$GC,8460,-0.42,0.0,993.8,9.9,204,8497,2.22,0.00,32.50,1.412,6,0.145,0.000,1871,2001,2792
$STATE,8497,end apogee,CONTROL_FINISHED_OK
$STATE,8498,begin climb
$GC,8500,2.27,35.2,994.9,0.0,205,8544,2.78,2.20,33.30,1.348,4,0.064,0.067,2461,886,2648
$GC,8717,2.27,35.2,981.0,7.3,209,8724,0.00,2.08,0.00,0.000,6,0.000,0.048,2461,2020,2646
$GC,9049,2.28,38.0,959.2,6.4,218,9050,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2020,2645
$GC,9375,2.28,43.2,939.0,6.0,226,9385,0.00,0.00,8.30,1.194,6,0.000,0.000,2461,2021,2615
$GC,9699,2.28,43.2,915.5,7.5,234,9702,0.00,2.10,0.00,0.000,4,0.000,0.066,2461,3136,2614
$GC,9715,2.28,43.2,914.1,7.4,234,9718,0.00,2.05,0.00,0.000,6,0.000,0.052,2460,2010,2614
$GC,10058,2.28,44.0,890.6,6.7,243,10062,0.00,2.12,0.00,0.000,4,0.000,0.066,2461,3133,2613
$GC,10315,2.29,45.9,873.2,6.6,248,10322,0.00,2.03,0.00,0.000,6,0.000,0.051,2461,2015,2612
$GC,10647,2.29,52.5,853.4,5.8,257,10661,0.00,2.15,9.25,1.188,4,0.000,0.064,2461,3136,2578
$GC,10875,2.29,52.5,836.6,7.7,262,10879,0.00,2.05,0.00,0.000,6,0.000,0.051,2461,2018,2578
$GC,11189,2.29,52.5,813.5,7.4,270,11192,0.00,2.10,0.00,0.000,4,0.000,0.065,2461,3136,2577
$GC,11312,2.29,52.5,804.0,7.9,272,11319,0.00,2.03,0.00,0.000,6,0.000,0.051,2461,2015,2577
$GC,11644,2.29,52.5,779.9,7.2,281,11648,0.00,2.10,0.00,0.000,4,0.000,0.067,2461,3139,2577
$GC,11745,2.29,52.5,772.4,7.1,283,11749,0.00,2.00,0.00,0.000,6,0.000,0.052,2461,2029,2577
$GC,12094,2.29,52.5,746.7,7.4,292,12097,0.00,2.05,0.00,0.000,4,0.000,0.067,2461,3134,2576
$GC,12109,2.29,52.5,745.3,7.4,292,12113,0.00,2.00,0.00,0.000,6,0.000,0.053,2461,2027,2576
$GC,12457,2.29,52.5,720.8,7.1,301,12461,0.00,2.08,0.00,0.000,4,0.000,0.066,2461,3139,2576
$GC,12716,2.29,52.5,701.6,7.4,306,12722,0.00,1.98,0.00,0.000,6,0.000,0.051,2461,2040,2576
$GC,13047,2.29,52.5,677.0,7.5,315,13051,0.00,2.05,0.00,0.000,4,0.000,0.067,2461,3141,2576
$GC,13254,2.29,52.5,661.1,7.5,319,13258,0.00,2.00,0.00,0.000,6,0.000,0.051,2461,2040,2576
$GC,13592,2.29,52.5,636.7,7.0,328,13596,0.00,2.12,0.00,0.000,4,0.000,0.072,2461,883,2575
$GC,13604,2.29,52.7,635.8,6.8,328,13608,0.00,2.12,0.00,0.000,6,0.000,0.049,2461,2046,2575
$GC,13954,2.30,60.0,614.2,5.7,337,13967,0.00,2.17,7.68,1.033,4,0.000,0.065,2461,3135,2547
$GC,14224,2.30,62.6,595.6,6.5,343,14232,0.00,1.95,4.15,0.807,6,0.000,0.050,2462,2069,2536
$GC,14554,2.30,62.6,572.8,7.0,351,14557,0.00,2.00,0.00,0.000,4,0.000,0.064,2462,3136,2536
$GC,14811,2.31,63.9,554.2,6.7,356,14817,0.00,1.92,0.00,0.000,6,0.000,0.048,2462,2077,2536
$GC,15142,2.31,63.9,531.5,7.4,365,15146,0.00,2.03,0.00,0.000,4,0.000,0.064,2461,3144,2536
$GC,15399,2.31,63.9,512.2,7.4,370,15406,0.00,1.92,0.00,0.000,6,0.000,0.048,2461,2080,2535
$GC,15731,2.31,63.9,487.3,7.4,379,15735,0.00,2.03,0.00,0.000,4,0.000,0.061,2461,3145,2535
$GC,15989,2.31,63.9,467.7,7.2,384,15995,0.00,1.92,0.00,0.000,6,0.000,0.046,2461,2078,2535
$GC,16322,2.31,65.3,445.2,6.7,393,16331,0.00,2.00,4.07,0.724,4,0.000,0.058,2461,3137,2525
$GC,16584,2.31,65.3,427.1,7.0,398,16591,0.00,1.90,0.00,0.000,6,0.000,0.044,2462,2082,2525
$GC,16916,2.31,65.3,403.9,7.0,407,16919,0.00,1.98,0.00,0.000,4,0.000,0.057,2461,3141,2525
$GC,17173,2.31,66.7,386.6,6.6,412,17179,0.00,1.90,0.00,0.000,6,0.000,0.043,2462,2077,2525
$GC,17505,2.31,67.1,364.5,6.8,421,17508,0.00,1.95,0.00,0.000,4,0.000,0.055,2461,3137,2526
$GC,17761,2.31,67.1,345.2,7.9,426,17768,0.00,1.90,0.00,0.000,6,0.000,0.042,2461,2071,2526
$GC,18093,2.31,67.1,319.7,7.9,435,18101,0.00,2.00,4.15,0.663,4,0.000,0.054,2462,3137,2518
$GC,18355,2.31,67.1,298.7,7.6,440,18362,0.00,1.88,0.00,0.000,6,0.000,0.041,2462,2088,2518
$GC,18687,2.31,67.1,274.2,7.5,449,18690,0.00,1.95,0.00,0.000,4,0.000,0.053,2461,3147,2519
$GC,18776,2.31,67.1,267.2,8.3,451,18779,0.00,1.85,0.00,0.000,6,0.000,0.041,2461,2099,2519
$GC,19096,2.31,67.1,243.4,7.3,459,19100,0.00,2.20,0.00,0.000,4,0.000,0.058,2461,878,2519
$GC,19190,2.31,67.1,235.9,7.5,461,19194,0.00,2.20,0.00,0.000,6,0.000,0.038,2462,2109,2519
$GC,19503,2.31,67.1,213.4,7.0,469,19505,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2110,2519
$GC,19830,2.31,67.4,191.4,6.8,477,19834,0.00,1.90,0.00,0.000,4,0.000,0.058,2461,3135,2520
$GC,19919,2.31,67.4,185.0,7.1,479,19922,0.00,1.83,0.00,0.000,6,0.000,0.038,2460,2093,2520
$GC,20244,2.31,67.4,162.8,6.9,487,20248,0.00,1.92,0.00,0.000,4,0.000,0.051,2461,3142,2520
$GC,20261,2.31,69.4,161.6,6.6,487,20270,0.00,1.83,4.38,0.585,6,0.000,0.039,2462,2100,2509
$GC,20609,2.31,69.4,133.0,8.5,496,20612,0.00,1.92,0.00,0.000,4,0.000,0.051,2462,3144,2509
$GC,20675,2.31,69.4,126.6,8.6,497,20679,0.00,1.83,0.00,0.000,6,0.000,0.037,2462,2110,2508
$GC,21019,2.31,69.4,97.9,8.3,506,21023,0.00,1.90,0.00,0.000,4,0.000,0.051,2461,3140,2510
$GC,21277,2.31,69.4,77.7,8.3,511,21283,0.00,1.83,0.00,0.000,6,0.000,0.036,2462,2098,2510
$GC,21608,2.31,69.4,54.6,6.9,520,21609,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2098,2511
$GC,21934,2.36,109.5,50.5,0.4,528,21976,0.00,2.30,33.60,0.693,4,0.000,0.052,2462,877,2345
$GC,22043,2.36,109.5,43.4,8.6,530,22046,0.00,2.20,0.00,0.000,6,0.000,0.034,2462,2101,2345
$STATE,22348,end climb,SURFACE_DEPTH_REACHED
$STATE,22348,begin surface coast
$FINISH,-0.3,1.027012
$STATE,22390,end surface coast,CONTROL_FINISHED_OK
$STATE,22390,begin surface
$SM_CCo,22413,86.38,0.641,0,0,1771,250.21
$SM_GC,0.48,0.00,0.00,86.38,0.000,0.000,0.641,56,2103,1771,-8.78,-0.76,250.21
$IRIDIUM_FIX,6631.12,604.00,140198,232343
$TT8_MAMPS,0.021476
$HUMID,2097
$INTERNAL_PRESSURE,8.21321
$TCM_TEMP,3.00
$XPDR_PINGS,-1
$24V_AH,22.9,54.950
$10V_AH,10.1,46.296
$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,24.425,145.950,141.375,86.375,0.000,54.744,66.993,260.622,0.000,0.000,0.000,45.178,1595.713,18929.535,439.402,1389.864,759.761,0.000,1490.998,0.000,1238.826,0.000,0.654
$DEVICE_MAMPS,187.148,72.098,1412.047,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,512.060,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25407,539
$CAP_FILE_SIZE,145927,0
$CFSIZE,256368640,218980352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.040, 99.1,1
$GPS,211008,053602,6700.535,601.646,44,1.3,45,-2.0