version: 66.03
glider: 17
mission: 6
dive: 26
start: 7 7 108 0 38 16
data:
$ID,17
$MISSION,6
$DIVE,26
$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,410
$T_MISSION,450
$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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,52301
$NAV_MODE,0
$FERRY_MAX,60
$KALMAN_USE,2
$HD_A,0.002048
$HD_B,0.0077960002
$HD_C,3.8187001e-05
$HEADING,200
$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,275
$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,-86563
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,62
$PITCH_MAX,3362
$C_PITCH,1950
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.059999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,153
$ROLL_MAX,3868
$ROLL_DEG,32
$C_ROLL_DIVE,2010
$C_ROLL_CLIMB,2010
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,320
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,452
$VBD_MAX,3835
$C_VBD,2550
$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,500
$ALTIM_PING_DELTA,40
$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
$GPS1,003108,6628.734,528.125,37,1.6,37,-2.3
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-46.7
$GPS2,003727,6628.807,528.068,13,2.0,13,-2.3
$SPEED_LIMITS,0.139,0.149
$TGT_NAME,HEADING
$TGT_LATLONG,6618.659,526.584
$TGT_RADIUS,1852.000
$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,202.3,20000,-24.1,-8.049
$D_GRID,907
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.56,-46.6,0.0,0.0,0,79,0.00,0.00,-50.88,0.000,6,0.000,0.000,60,2015,2741
$GC,81,-1.58,-63.9,3.2,-5.9,10,98,9.52,2.05,-1.88,0.000,4,0.199,0.066,1601,3137,2811
$GC,351,-1.74,-63.9,38.8,-8.6,58,358,0.15,2.00,0.00,0.000,6,0.058,0.035,1567,1993,2815
$GC,695,-1.84,-71.7,65.1,-7.1,119,701,0.00,2.10,-0.22,0.000,4,0.000,0.061,1567,3139,2847
$GC,954,-1.92,-75.8,83.8,-7.5,165,961,0.17,1.98,-0.15,0.000,6,0.055,0.035,1528,2001,2867
$GC,1296,-1.92,-75.8,114.8,-10.0,226,1303,0.00,2.12,0.00,0.000,4,0.000,0.050,1528,3130,2869
$GC,1555,-1.85,-75.8,140.4,-9.4,272,1562,0.00,2.00,0.00,0.000,6,0.000,0.038,1528,2011,2869
$GC,1899,-1.85,-75.8,172.3,-9.4,333,1904,0.00,2.08,0.00,0.000,4,0.000,0.051,1528,3136,2870
$GC,2157,-1.85,-75.8,196.9,-9.6,379,2162,0.00,1.98,0.00,0.000,6,0.000,0.038,1528,2008,2870
$GC,2482,-1.85,-75.8,224.9,-8.4,413,2486,0.00,2.08,0.00,0.000,4,0.000,0.052,1528,3141,2871
$GC,2558,-1.85,-75.8,231.8,-8.9,419,2565,0.00,2.05,0.00,0.000,6,0.000,0.037,1528,2003,2870
$GC,2883,-1.85,-75.8,259.9,-8.8,450,2885,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,2003,2870
$GC,3201,-1.85,-75.8,287.9,-8.6,480,3203,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,2003,2870
$GC,3520,-1.85,-75.8,316.6,-9.3,510,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,2003,2870
$GC,3839,-1.85,-75.8,347.0,-9.4,540,3842,0.00,2.00,0.00,0.000,4,0.000,0.052,1528,886,2870
$GC,3873,-1.85,-75.8,350.3,-9.8,543,3877,0.00,2.00,0.00,0.000,6,0.000,0.038,1528,2019,2871
$GC,4196,-1.85,-75.8,381.3,-9.5,573,4200,0.00,2.05,0.00,0.000,4,0.000,0.052,1528,887,2870
$GC,4268,-1.85,-75.8,388.5,-10.2,579,4272,0.00,2.03,0.00,0.000,6,0.000,0.039,1528,2010,2870
$GC,4598,-1.85,-75.8,418.1,-8.9,610,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,2010,2870
$GC,4916,-1.85,-75.8,444.9,-8.4,640,4920,0.00,2.03,0.00,0.000,4,0.000,0.054,1528,887,2870
$GC,4954,-1.86,-78.9,447.9,-7.7,643,4961,0.00,2.03,0.00,0.000,6,0.000,0.040,1528,2013,2869
$GC,5279,-1.86,-79.2,474.4,-8.0,674,5283,0.00,2.05,0.00,0.000,4,0.000,0.054,1528,883,2869
$GC,5329,-1.86,-79.2,478.6,-8.4,678,5332,0.00,2.00,0.00,0.000,6,0.000,0.041,1528,2008,2869
$GC,5656,-1.86,-79.2,506.3,-8.8,706,5660,0.00,2.05,0.00,0.000,4,0.000,0.057,1528,885,2869
$GC,5699,-1.86,-79.2,510.5,-9.5,708,5704,0.00,2.05,0.00,0.000,6,0.000,0.041,1528,2010,2869
$GC,6026,-1.86,-79.2,539.1,-8.4,724,6027,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,2010,2868
$GC,6336,-1.86,-79.2,566.1,-9.0,739,6340,0.00,2.10,0.00,0.000,4,0.000,0.066,1528,3139,2867
$GC,6356,-1.86,-79.2,568.2,-9.8,740,6361,0.00,2.08,0.00,0.000,6,0.000,0.047,1528,2005,2867
$GC,6683,-1.86,-79.2,596.4,-8.6,756,6684,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,2005,2866
$GC,6992,-1.86,-79.2,621.9,-8.3,771,6993,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,2005,2864
$GC,7302,-1.86,-79.7,646.8,-8.0,786,7306,0.00,2.12,0.00,0.000,4,0.000,0.067,1528,3134,2864
$GC,7373,-1.86,-79.7,652.8,-8.6,789,7378,0.00,2.05,0.00,0.000,6,0.000,0.049,1528,2011,2863
$GC,7694,-1.86,-79.7,678.6,-8.1,805,7697,0.00,2.08,0.00,0.000,4,0.000,0.067,1528,3134,2863
$GC,7743,-1.86,-79.7,682.7,-8.6,807,7747,0.00,2.08,0.00,0.000,6,0.000,0.050,1528,2006,2863
$GC,8070,-1.86,-81.3,708.7,-7.9,823,8074,0.00,2.10,0.00,0.000,4,0.000,0.067,1528,3133,2862
$GC,8135,-1.86,-81.3,714.2,-8.6,826,8140,0.00,2.08,0.00,0.000,6,0.000,0.050,1528,2008,2861
$GC,8462,-1.86,-82.6,739.9,-7.9,842,8470,0.00,2.08,0.00,0.000,4,0.000,0.067,1528,3130,2861
$GC,8496,-1.86,-82.8,742.7,-8.0,843,8500,0.00,2.05,0.00,0.000,6,0.000,0.051,1528,2012,2861
$GC,8817,-1.87,-86.7,767.3,-7.6,859,8820,0.00,2.08,0.00,0.000,4,0.000,0.067,1528,3140,2860
$GC,8888,-1.87,-86.7,773.0,-8.3,862,8892,0.00,2.10,0.00,0.000,6,0.000,0.051,1528,2001,2860
$GC,9209,-1.87,-91.8,796.8,-7.4,878,9210,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,2001,2859
$GC,9520,-1.88,-95.5,820.5,-7.6,893,9523,0.00,2.12,0.00,0.000,4,0.000,0.067,1528,3134,2858
$GC,9596,-1.88,-95.5,826.8,-8.6,896,9603,0.00,2.05,0.00,0.000,6,0.000,0.051,1528,2015,2857
$GC,9911,-1.88,-100.0,850.5,-7.5,912,9913,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,2015,2857
$GC,10221,-1.89,-106.1,873.4,-7.3,927,10224,0.00,2.10,0.00,0.000,4,0.000,0.067,1528,3131,2856
$GC,10276,-1.89,-106.1,877.7,-8.1,929,10280,0.00,2.00,0.00,0.000,6,0.000,0.051,1528,2009,2856
$GC,10595,-1.90,-113.6,900.6,-7.1,944,10599,0.00,2.08,0.00,0.000,4,0.000,0.067,1528,3130,2856
$GC,10620,-1.90,-115.1,902.9,-7.9,945,10625,0.00,2.05,0.00,0.000,6,0.000,0.051,1528,2013,2856
$STATE,10693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10693,begin apogee
$GC,10696,-0.31,0.0,908.0,7.3,949,10768,1.88,0.00,67.93,1.543,6,0.136,0.000,1876,2013,2550
$STATE,10769,end apogee,CONTROL_FINISHED_OK
$STATE,10769,begin climb
$GC,10771,1.63,115.1,908.3,0.0,952,10878,2.05,0.00,102.32,1.496,6,0.075,0.000,2302,2013,2080
$GC,11185,1.78,115.1,847.6,16.3,973,11190,0.15,2.12,0.00,0.000,4,0.062,0.066,2340,3134,2075
$GC,11268,1.78,115.1,832.6,18.1,977,11272,0.00,2.08,0.00,0.000,6,0.000,0.054,2340,2002,2075
$GC,11599,1.78,115.1,774.0,17.4,993,11602,0.00,2.12,0.00,0.000,4,0.000,0.067,2340,3136,2075
$GC,11670,1.78,115.1,761.1,17.5,996,11675,0.00,2.10,0.00,0.000,6,0.000,0.054,2340,2011,2074
$GC,11997,1.78,115.1,705.4,16.7,1012,11998,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2011,2073
$GC,12306,1.78,115.1,654.1,16.6,1027,12310,0.00,2.10,0.00,0.000,4,0.000,0.067,2340,3136,2073
$GC,12418,1.78,115.1,634.9,16.6,1032,12421,0.00,2.08,0.00,0.000,6,0.000,0.055,2340,2006,2073
$GC,12749,1.78,115.1,579.1,17.0,1048,12750,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2006,2073
$GC,13058,1.78,115.1,527.6,16.5,1063,13062,0.00,2.12,0.00,0.000,4,0.000,0.068,2340,3141,2072
$GC,13118,1.78,115.1,517.3,16.5,1065,13125,0.00,2.10,0.00,0.000,6,0.000,0.053,2340,2008,2072
$GC,13440,1.78,115.1,463.2,16.6,1091,13441,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2008,2072
$GC,13760,1.78,115.1,411.2,15.9,1121,13764,0.00,2.10,0.00,0.000,4,0.000,0.070,2340,883,2071
$GC,13859,1.78,115.1,394.7,16.2,1129,13866,0.00,2.05,0.00,0.000,6,0.000,0.047,2340,2007,2071
$GC,14184,1.78,115.1,344.3,15.7,1160,14185,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2007,2071
$GC,14502,1.78,115.1,292.4,15.9,1190,14503,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2007,2071
$GC,14821,1.78,115.1,240.7,16.6,1220,14825,0.00,2.08,0.00,0.000,4,0.000,0.061,2340,880,2071
$GC,14881,1.78,115.1,230.5,16.5,1225,14885,0.00,2.00,0.00,0.000,6,0.000,0.042,2340,2011,2071
$GC,15213,1.78,115.1,174.3,17.4,1268,15219,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2012,2072
$GC,15555,1.78,115.1,116.1,16.4,1329,15560,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2012,2073
$GC,15896,1.78,115.1,59.1,16.3,1390,15903,0.00,2.15,0.00,0.000,4,0.000,0.058,2340,3133,2074
$GC,15959,1.78,115.1,49.8,15.3,1401,15965,0.00,2.00,0.00,0.000,6,0.000,0.041,2340,2005,2074
$GC,16301,1.92,115.1,10.7,8.1,1462,16308,0.12,2.08,0.00,0.000,4,0.053,0.051,2372,3135,2075
$STATE,16390,end climb,SURFACE_DEPTH_REACHED
$STATE,16390,begin surface coast
$FINISH,0.2,1.025814
$STATE,16409,end surface coast,CONTROL_FINISHED_OK
$STATE,16409,begin surface
$SM_CCo,16428,98.80,0.828,0,0,1428,275.23
$SM_GC,1.19,0.00,0.00,98.80,0.000,0.000,0.828,57,1997,1428,-8.70,-0.37,275.23
$IRIDIUM_FIX,6558.99,528.72,300997,191942
$TT8_MAMPS,0.021476
$HUMID,2089
$INTERNAL_PRESSURE,8.18391
$TCM_TEMP,3.50
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,900.6,73.4
$24V_AH,23.0,7.600
$10V_AH,10.1,3.663
$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,24.500,111.425,170.250,98.800,0.000,23.860,33.089,228.603,3.000,0.000,0.000,13.928,2443.744,11724.090,473.153,1875.772,418.081,0.000,1634.266,0.000,1414.285,0.000,23.890
$DEVICE_MAMPS,198.653,69.797,1543.204,828.360,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1389.441,974.373,536.001,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72477,1481
$CAP_FILE_SIZE,143420,0
$CFSIZE,256368640,250118144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070708,051456,6629.144,530.599,40,1.3,40,-2.3