version: 66.03
glider: 17
mission: 6
dive: 46
start: 7 11 108 5 42 52
data:
$ID,17
$MISSION,6
$DIVE,46
$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,300
$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,200
$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,0.00138
$HD_B,0.0097200004
$HD_C,5.7299999e-06
$HEADING,240
$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,-86999.75
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,62
$PITCH_MAX,3362
$C_PITCH,1935
$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,2170
$C_ROLL_CLIMB,2010
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,320
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,452
$VBD_MAX,3835
$C_VBD,2690
$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
$GPS1,053557,6633.223,518.367,29,2.1,48,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-48.3
$GPS2,054224,6633.247,518.243,16,2.2,35,-2.4
$SPEED_LIMITS,0.191,0.300
$TGT_NAME,HEADING
$TGT_LATLONG,6627.847,514.509
$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,242.4,20000,-12.3,-11.000
$D_GRID,1001
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.98,-194.6,0.0,0.0,0,78,0.00,0.00,-52.28,0.000,2,0.000,0.000,57,2180,2835
$GC,80,-0.98,-194.6,3.3,-8.5,10,113,10.25,2.08,-15.50,0.000,4,0.198,0.067,1718,3295,3486
$GC,326,-0.98,-194.6,32.0,-10.2,54,332,0.00,2.00,0.00,0.000,6,0.000,0.033,1718,2169,3490
$GC,670,-1.08,-194.6,61.1,-7.5,115,675,0.00,2.00,0.00,0.000,4,0.000,0.044,1718,1042,3492
$GC,776,-1.20,-194.6,69.0,-7.4,134,783,0.22,1.98,0.00,0.000,6,0.040,0.035,1662,2168,3492
$GC,1121,-1.10,-194.6,102.8,-9.5,195,1127,0.15,2.00,0.00,0.000,4,0.102,0.044,1693,1042,3494
$GC,1193,-1.10,-194.6,108.8,-7.9,208,1200,0.00,2.03,0.00,0.000,6,0.000,0.037,1693,2164,3494
$GC,1537,-1.10,-194.6,135.8,-7.9,269,1542,0.00,2.00,0.00,0.000,4,0.000,0.045,1693,1044,3494
$GC,1609,-1.10,-194.6,141.9,-8.3,282,1616,0.00,2.03,0.00,0.000,6,0.000,0.038,1693,2161,3494
$GC,1953,-1.10,-194.6,168.4,-7.4,343,1958,0.00,2.00,0.00,0.000,4,0.000,0.046,1693,1044,3494
$GC,2037,-1.10,-194.6,175.0,-7.7,358,2043,0.00,2.00,0.00,0.000,6,0.000,0.038,1693,2156,3494
$GC,2384,-1.10,-194.6,201.2,-7.5,419,2388,0.00,1.98,0.00,0.000,4,0.000,0.045,1693,1048,3494
$GC,2461,-1.10,-194.6,207.7,-8.7,425,2468,0.00,2.00,0.00,0.000,6,0.000,0.038,1693,2152,3494
$GC,2787,-1.10,-194.6,235.9,-8.3,456,2790,0.00,1.98,0.00,0.000,4,0.000,0.046,1693,1044,3494
$GC,2870,-1.10,-194.6,242.9,-8.1,463,2874,0.00,1.98,0.00,0.000,6,0.000,0.038,1693,2148,3494
$GC,3196,-1.10,-194.6,267.0,-7.3,493,3199,0.00,1.98,0.00,0.000,4,0.000,0.047,1693,1043,3494
$GC,3292,-1.10,-194.6,274.2,-7.5,501,3295,0.00,1.98,0.00,0.000,6,0.000,0.039,1693,2144,3494
$GC,3616,-1.10,-194.6,299.4,-8.1,531,3619,0.00,1.95,0.00,0.000,4,0.000,0.047,1693,1045,3494
$GC,3670,-1.16,-194.6,304.0,-8.5,535,3676,0.00,1.95,0.00,0.000,6,0.000,0.038,1693,2136,3494
$GC,3995,-1.16,-194.6,331.7,-8.7,566,3999,0.00,1.95,0.00,0.000,4,0.000,0.048,1693,1045,3494
$GC,4039,-1.22,-194.6,335.7,-8.7,569,4045,0.12,1.98,0.00,0.000,6,0.053,0.039,1663,2141,3494
$GC,4363,-1.16,-194.6,365.9,-8.9,600,4367,0.00,1.95,0.00,0.000,4,0.000,0.048,1662,1049,3494
$GC,4424,-1.16,-194.6,371.3,-8.5,605,4428,0.00,1.95,0.00,0.000,6,0.000,0.041,1663,2127,3494
$GC,4754,-1.09,-194.6,399.8,-9.1,636,4756,0.17,0.00,0.00,0.000,6,0.105,0.000,1694,2128,3494
$GC,5073,-1.17,-194.6,425.8,-8.5,666,5077,0.00,1.98,0.00,0.000,4,0.000,0.052,1694,1043,3494
$GC,5168,-1.25,-194.6,434.3,-8.7,674,5172,0.15,1.98,0.00,0.000,6,0.054,0.044,1658,2134,3493
$GC,5492,-1.18,-194.6,465.9,-9.4,704,5496,0.00,1.98,0.00,0.000,4,0.000,0.054,1658,1047,3492
$GC,5535,-1.18,-194.6,470.2,-9.4,707,5541,0.00,1.98,0.00,0.000,6,0.000,0.044,1658,2121,3492
$GC,5861,-1.11,-194.6,499.6,-9.3,738,5868,0.15,1.92,0.00,0.000,4,0.113,0.054,1687,1058,3491
$GC,5908,-1.18,-194.6,503.5,-8.2,741,5911,0.00,1.95,0.00,0.000,6,0.000,0.048,1688,2133,3491
$GC,6234,-1.24,-194.6,529.1,-7.8,757,6238,0.12,2.00,0.00,0.000,4,0.059,0.058,1659,1046,3489
$GC,6276,-1.24,-194.6,533.2,-9.5,759,6280,0.00,1.98,0.00,0.000,6,0.000,0.048,1659,2118,3489
$GC,6603,-1.24,-194.6,562.6,-9.0,775,6606,0.00,1.98,0.00,0.000,4,0.000,0.059,1659,1051,3487
$GC,6646,-1.24,-194.6,566.6,-9.1,777,6650,0.00,2.00,0.00,0.000,6,0.000,0.049,1659,2121,3487
$GC,6972,-1.24,-194.6,594.5,-8.4,793,6973,0.00,0.00,0.00,0.000,6,0.000,0.000,1659,2122,3486
$GC,7282,-1.24,-194.6,619.8,-8.1,808,7286,0.00,1.98,0.00,0.000,4,0.000,0.062,1659,1052,3485
$GC,7330,-1.24,-194.6,623.9,-8.2,810,7334,0.00,1.98,0.00,0.000,6,0.000,0.051,1659,2118,3484
$GC,7657,-1.24,-194.6,651.3,-8.7,826,7658,0.00,0.00,0.00,0.000,6,0.000,0.000,1659,2118,3483
$GC,7966,-1.24,-194.6,678.7,-8.8,841,7969,0.00,1.98,0.00,0.000,4,0.000,0.063,1659,1047,3481
$GC,7998,-1.24,-194.6,681.8,-9.4,842,8002,0.00,2.00,0.00,0.000,6,0.000,0.051,1659,2117,3481
$GC,8319,-1.24,-194.6,711.4,-9.2,858,8320,0.00,0.00,0.00,0.000,6,0.000,0.000,1659,2117,3480
$GC,8629,-1.24,-194.6,739.5,-9.0,873,8632,0.00,1.98,0.00,0.000,4,0.000,0.063,1659,1048,3479
$GC,8655,-1.24,-194.6,742.0,-9.6,874,8659,0.00,1.98,0.00,0.000,6,0.000,0.051,1659,2116,3479
$GC,8976,-1.24,-194.6,769.2,-8.4,890,8977,0.00,0.00,0.00,0.000,6,0.000,0.000,1659,2116,3479
$GC,9285,-1.24,-194.6,794.6,-8.3,905,9289,0.00,1.98,0.00,0.000,4,0.000,0.062,1659,1045,3478
$GC,9317,-1.24,-194.6,797.4,-8.5,906,9324,0.00,1.98,0.00,0.000,6,0.000,0.051,1659,2115,3477
$GC,9633,-1.24,-194.6,823.3,-8.3,922,9634,0.00,0.00,0.00,0.000,6,0.000,0.000,1659,2115,3477
$GC,9942,-1.24,-194.6,847.8,-7.8,937,9946,0.00,1.98,0.00,0.000,4,0.000,0.062,1659,1045,3476
$GC,9968,-1.24,-194.6,850.1,-8.5,938,9972,0.00,1.98,0.00,0.000,6,0.000,0.051,1659,2115,3476
$GC,10289,-1.24,-194.6,874.9,-7.8,954,10290,0.00,0.00,0.00,0.000,6,0.000,0.000,1659,2115,3475
$GC,10599,-1.24,-194.6,899.6,-8.1,969,10603,0.00,1.98,0.00,0.000,4,0.000,0.063,1659,1045,3474
$GC,10637,-1.24,-194.6,902.8,-9.5,971,10641,0.00,1.95,0.00,0.000,6,0.000,0.051,1659,2121,3474
$GC,10969,-1.24,-194.6,930.1,-8.3,987,10970,0.00,0.00,0.00,0.000,6,0.000,0.000,1659,2121,3474
$GC,11278,-1.24,-194.6,955.7,-8.2,1002,11282,0.00,1.98,0.00,0.000,4,0.000,0.062,1659,1051,3473
$GC,11316,-1.24,-194.6,959.0,-8.8,1004,11320,0.00,1.92,0.00,0.000,6,0.000,0.051,1659,2109,3473
$GC,11648,-1.24,-194.6,987.3,-8.7,1020,11649,0.00,0.00,0.00,0.000,6,0.000,0.000,1659,2109,3473
$STATE,11689,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11689,begin apogee
$GC,11692,-0.31,0.0,990.9,8.6,1022,11870,1.08,0.00,171.15,1.566,6,0.116,0.000,1865,2002,2690
$STATE,11871,end apogee,CONTROL_FINISHED_OK
$STATE,11871,begin climb
$GC,11872,0.98,194.6,997.4,0.0,1031,12056,1.35,2.30,170.43,1.493,4,0.083,0.068,2144,3139,1895
$GC,12127,1.01,219.3,979.7,10.0,1043,12155,0.00,2.10,23.27,1.405,6,0.000,0.051,2144,2020,1795
$GC,12470,1.03,240.2,944.4,10.2,1060,12494,0.00,2.22,19.73,1.411,4,0.000,0.070,2144,886,1710
$GC,12566,1.04,249.7,933.9,10.6,1064,12581,0.00,2.10,9.88,1.285,6,0.000,0.048,2143,2005,1672
$GC,12903,1.06,266.6,898.9,10.3,1081,12923,0.00,0.00,16.42,1.384,6,0.000,0.000,2144,2006,1602
$GC,13232,1.15,266.6,862.9,11.0,1097,13237,0.20,2.12,0.00,0.000,4,0.054,0.070,2190,879,1601
$GC,13275,1.03,266.6,856.9,15.0,1099,13280,0.12,2.10,0.00,0.000,6,0.099,0.051,2164,2004,1600
$GC,13602,1.03,266.6,816.3,12.2,1115,13606,0.00,2.12,0.00,0.000,4,0.000,0.070,2163,886,1600
$GC,13640,1.03,266.6,811.5,12.4,1117,13644,0.00,2.08,0.00,0.000,6,0.000,0.050,2163,2005,1600
$GC,13972,1.03,266.6,772.7,11.7,1133,13973,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2006,1599
$GC,14281,1.03,266.6,737.5,11.4,1148,14285,0.00,2.12,0.00,0.000,4,0.000,0.069,2163,885,1599
$GC,14346,1.03,266.6,729.7,11.6,1151,14351,0.00,2.10,0.00,0.000,6,0.000,0.050,2163,2006,1599
$GC,14673,1.03,266.6,693.2,11.1,1167,14677,0.00,2.12,0.00,0.000,4,0.000,0.070,2163,882,1599
$GC,14705,1.03,266.6,689.3,11.7,1168,14712,0.00,2.08,0.00,0.000,6,0.000,0.051,2163,2000,1599
$GC,15021,1.03,266.6,653.6,11.4,1184,15024,0.00,2.10,0.00,0.000,4,0.000,0.069,2163,882,1599
$GC,15054,1.03,266.6,649.7,11.7,1185,15060,0.00,2.05,0.00,0.000,6,0.000,0.051,2163,1999,1598
$GC,15368,1.03,266.6,613.3,11.5,1201,15372,0.00,2.12,0.00,0.000,4,0.000,0.071,2163,877,1599
$GC,15407,1.03,266.6,608.6,11.2,1203,15410,0.00,2.08,0.00,0.000,6,0.000,0.052,2163,2001,1598
$GC,15738,1.03,266.6,570.6,11.6,1219,15742,0.00,2.12,0.00,0.000,4,0.000,0.071,2164,878,1598
$GC,15781,1.03,266.6,565.2,12.4,1221,15786,0.00,2.10,0.00,0.000,6,0.000,0.052,2163,1995,1598
$GC,16108,1.03,266.6,525.3,12.4,1237,16112,0.00,2.10,0.00,0.000,4,0.000,0.070,2163,884,1598
$GC,16162,1.03,266.6,518.3,12.9,1239,16169,0.00,2.08,0.00,0.000,6,0.000,0.051,2163,1990,1598
$GC,16483,1.03,266.6,481.6,11.3,1262,16486,0.00,2.10,0.00,0.000,4,0.000,0.070,2163,879,1598
$GC,16536,1.03,266.6,475.4,11.1,1266,16543,0.00,2.10,0.00,0.000,6,0.000,0.051,2163,1990,1598
$GC,16862,1.06,290.6,441.3,10.1,1297,16888,0.00,2.20,21.27,1.227,4,0.000,0.067,2163,886,1505
$GC,16959,1.09,320.0,430.5,9.8,1305,16991,0.00,2.05,27.20,1.213,6,0.000,0.049,2163,1973,1385
$GC,17310,1.15,320.0,390.2,11.2,1338,17314,0.10,2.05,0.00,0.000,4,0.067,0.066,2186,876,1379
$GC,17404,1.15,320.0,377.0,14.3,1346,17407,0.00,2.00,0.00,0.000,6,0.000,0.048,2186,1967,1379
$GC,17734,1.15,320.0,332.5,13.4,1377,17737,0.00,2.03,0.00,0.000,4,0.000,0.064,2186,885,1378
$GC,17816,1.15,320.0,320.7,13.7,1384,17820,0.00,1.98,0.00,0.000,6,0.000,0.045,2187,1970,1378
$GC,18146,1.15,320.0,275.8,13.6,1415,18149,0.00,2.00,0.00,0.000,4,0.000,0.061,2187,885,1378
$GC,18239,1.15,320.0,263.0,13.8,1423,18246,0.00,1.98,0.00,0.000,6,0.000,0.043,2186,1953,1378
$GC,18565,1.15,320.0,220.6,13.6,1454,18569,0.00,1.98,0.00,0.000,4,0.000,0.058,2186,885,1378
$GC,18626,1.15,320.0,212.3,13.7,1459,18629,0.00,1.92,0.00,0.000,6,0.000,0.041,2187,1950,1378
$GC,18964,1.15,320.0,168.0,11.9,1511,18969,0.00,1.95,0.00,0.000,4,0.000,0.056,2186,883,1379
$GC,19042,1.15,320.0,157.3,13.9,1525,19047,0.00,1.90,0.00,0.000,6,0.000,0.040,2187,1947,1379
$GC,19383,1.15,320.0,109.2,16.0,1586,19390,0.00,2.00,0.00,0.000,4,0.000,0.055,2186,880,1379
$GC,19451,1.15,320.0,99.3,13.8,1598,19457,0.00,1.95,0.00,0.000,6,0.000,0.038,2187,1943,1379
$GC,19794,1.15,320.0,51.0,14.0,1659,19800,0.00,1.92,0.00,0.000,4,0.000,0.054,2187,883,1380
$GC,19873,1.15,320.0,39.2,13.3,1673,19878,0.00,1.88,0.00,0.000,6,0.000,0.038,2187,1934,1381
$STATE,20208,end climb,SURFACE_DEPTH_REACHED
$STATE,20208,begin surface coast
$FINISH,0.2,1.025906
$STATE,20226,end surface coast,CONTROL_FINISHED_OK
$STATE,20226,begin surface
$SM_CCo,20302,0.00,0.000,0,0,1379,321.34
$SM_GC,1.08,9.57,0.00,0.00,0.043,0.000,0.000,60,2176,1379,-8.57,0.17,321.34
$IRIDIUM_FIX,6609.62,519.50,051097,000015
$TT8_MAMPS,0.021476
$HUMID,2089
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,3.50
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,980.2,72.5
$24V_AH,22.9,10.878
$10V_AH,10.0,5.813
$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,23.775,169.975,459.350,0.000,0.000,29.379,32.524,198.030,3.500,0.000,0.000,36.794,2860.735,14418.109,684.390,2288.823,437.463,0.000,2135.114,0.000,1729.846,0.000,27.526
$DEVICE_MAMPS,197.886,70.564,1566.214,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1624.148,1114.771,588.945,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85242,1736
$CAP_FILE_SIZE,190462,0
$CFSIZE,256368640,248446976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110708,112226,6631.780,509.913,41,1.5,41,-2.5