version: 66.03
glider: 17
mission: 6
dive: 361
start: 10 7 108 11 49 36
data:
$ID,17
$MISSION,6
$DIVE,361
$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,-94980.023
$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,18
$R_STBD_OVSHOOT,46
$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
$GPS1,114208,6602.782,518.207,41,1.4,41,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-47.7
$GPS2,114907,6602.847,518.199,14,1.4,30,-2.3
$SPEED_LIMITS,0.119,0.230
$TGT_NAME,DEPLOY
$TGT_LATLONG,6600.000,600.000
$TGT_RADIUS,5000.000
$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,145.3,31926,-11.9,-6.875
$D_GRID,720
$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,23,-1.12,-116.7,0.0,0.0,0,73,0.00,0.00,-47.00,0.000,2,0.000,0.000,61,2160,3015
$GC,77,-1.12,-116.7,3.2,-5.7,7,98,9.93,0.00,-5.88,0.000,6,0.185,0.000,1717,2161,3270
$GC,435,-1.12,-116.7,40.1,-8.9,70,442,0.00,2.10,0.00,0.000,4,0.000,0.042,1717,993,3273
$GC,606,-1.12,-116.7,54.3,-8.4,100,614,0.00,2.00,0.00,0.000,6,0.000,0.034,1716,2112,3274
$GC,953,-1.12,-116.7,79.5,-7.6,161,958,0.00,0.00,0.00,0.000,6,0.000,0.000,1717,2112,3276
$GC,1295,-1.12,-116.7,104.4,-6.9,222,1302,0.00,2.00,0.00,0.000,4,0.000,0.042,1716,997,3276
$GC,1399,-1.12,-116.7,111.5,-7.0,240,1406,0.00,2.00,0.00,0.000,6,0.000,0.035,1716,2110,3277
$GC,1746,-1.12,-116.7,134.2,-6.6,301,1752,0.00,2.00,0.00,0.000,4,0.000,0.044,1717,997,3278
$GC,1844,-1.12,-116.7,141.0,-6.8,318,1851,0.00,2.00,0.00,0.000,6,0.000,0.035,1717,2109,3278
$GC,2179,-1.12,-116.7,161.9,-6.2,361,2183,0.00,2.00,0.00,0.000,4,0.000,0.044,1716,998,3278
$GC,2257,-1.12,-116.7,167.2,-6.5,367,2264,0.00,2.00,0.00,0.000,6,0.000,0.036,1717,2094,3278
$GC,2587,-1.12,-116.7,188.1,-6.9,398,2591,0.00,1.98,0.00,0.000,4,0.000,0.045,1717,992,3278
$GC,2628,-1.12,-116.7,191.2,-7.4,401,2632,0.00,1.98,0.00,0.000,6,0.000,0.037,1716,2097,3278
$GC,2947,-1.12,-116.7,212.6,-6.7,422,2951,0.00,1.98,0.00,0.000,4,0.000,0.045,1717,993,3278
$GC,3033,-1.12,-116.7,218.4,-6.9,426,3037,0.00,1.95,0.00,0.000,6,0.000,0.037,1717,2084,3278
$GC,3360,-1.12,-116.7,239.4,-6.2,442,3364,0.00,1.98,0.00,0.000,4,0.000,0.047,1716,992,3278
$GC,3411,-1.12,-116.7,242.6,-6.1,444,3415,0.00,1.92,0.00,0.000,6,0.000,0.037,1716,2076,3278
$GC,3727,-1.12,-116.7,261.4,-5.9,459,3728,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2077,3278
$GC,4036,-1.12,-116.7,279.3,-5.7,474,4040,0.00,1.92,0.00,0.000,4,0.000,0.047,1717,991,3278
$GC,4138,-1.12,-116.7,285.1,-5.7,478,4144,0.00,1.92,0.00,0.000,6,0.000,0.038,1716,2066,3278
$GC,4453,-1.12,-116.7,302.5,-5.6,494,4457,0.00,1.92,0.00,0.000,4,0.000,0.049,1717,992,3277
$GC,4525,-1.12,-116.7,306.7,-6.0,497,4529,0.00,1.90,0.00,0.000,6,0.000,0.039,1717,2055,3277
$GC,4848,-1.12,-116.7,324.4,-5.6,513,4852,0.00,1.90,0.00,0.000,4,0.000,0.049,1716,999,3277
$GC,4892,-1.12,-116.7,327.4,-6.3,515,4896,0.00,1.90,0.00,0.000,6,0.000,0.040,1716,2055,3277
$GC,5221,-1.12,-116.7,348.1,-6.8,531,5224,0.00,1.90,0.00,0.000,4,0.000,0.050,1717,991,3277
$GC,5253,-1.12,-116.7,350.6,-7.2,532,5260,0.00,1.90,0.00,0.000,6,0.000,0.041,1717,2050,3277
$GC,5569,-1.12,-116.7,372.7,-7.2,548,5570,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2050,3276
$GC,5879,-1.12,-116.7,394.2,-7.0,563,5880,0.00,0.00,0.00,0.000,6,0.000,0.000,1717,2050,3276
$GC,6186,-1.12,-116.7,415.1,-6.7,573,6190,0.00,1.90,0.00,0.000,4,0.000,0.052,1716,1000,3275
$GC,6275,-1.12,-116.7,421.3,-7.2,575,6278,0.00,1.88,0.00,0.000,6,0.000,0.043,1716,2039,3274
$GC,6600,-1.12,-116.7,443.0,-6.7,583,6604,0.00,1.88,0.00,0.000,4,0.000,0.054,1716,999,3274
$GC,6656,-1.12,-116.7,447.0,-7.4,584,6660,0.00,1.88,0.00,0.000,6,0.000,0.044,1716,2034,3274
$GC,7004,-1.12,-116.7,471.1,-6.9,593,7008,0.00,1.90,0.00,0.000,4,0.000,0.055,1716,999,3273
$GC,7044,-1.12,-116.7,473.9,-7.1,594,7048,0.00,1.88,0.00,0.000,6,0.000,0.045,1716,2025,3273
$GC,7369,-1.12,-116.7,496.7,-7.1,602,7373,0.00,1.88,0.00,0.000,4,0.000,0.057,1717,997,3272
$GC,7413,-1.12,-116.7,500.1,-7.5,603,7417,0.00,1.85,0.00,0.000,6,0.000,0.046,1717,2020,3272
$GC,7738,-1.12,-116.7,521.5,-6.4,611,7739,0.00,0.00,0.00,0.000,6,0.000,0.000,1717,2020,3271
$GC,8065,-1.12,-116.7,540.8,-5.8,619,8068,0.00,1.88,0.00,0.000,4,0.000,0.060,1716,991,3269
$GC,8109,-1.12,-116.7,543.5,-6.0,620,8112,0.00,1.85,0.00,0.000,6,0.000,0.048,1717,2014,3269
$GC,8434,-1.12,-116.7,562.0,-5.8,628,8435,0.00,0.00,0.00,0.000,6,0.000,0.000,1717,2014,3268
$GC,8759,-1.12,-116.7,581.8,-6.2,636,8762,0.00,1.85,0.00,0.000,4,0.000,0.061,1716,999,3267
$GC,8820,-1.12,-116.7,586.0,-7.0,637,8824,0.00,1.85,0.00,0.000,6,0.000,0.048,1717,2015,3267
$GC,9163,-1.12,-116.7,608.2,-6.4,646,9164,0.00,0.00,0.00,0.000,6,0.000,0.000,1717,2015,3266
$GC,9488,-1.12,-116.7,627.6,-5.8,654,9491,0.00,1.88,0.00,0.000,4,0.000,0.062,1716,994,3265
$GC,9533,-1.12,-116.7,630.4,-6.2,655,9536,0.00,1.85,0.00,0.000,6,0.000,0.051,1716,2015,3265
$GC,9852,-1.12,-116.7,649.7,-6.2,663,9853,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2016,3264
$GC,10177,-1.12,-116.7,671.4,-6.7,671,10180,0.00,1.88,0.00,0.000,4,0.000,0.062,1716,995,3264
$GC,10233,-1.12,-116.7,675.3,-7.1,672,10236,0.00,1.83,0.00,0.000,6,0.000,0.050,1717,2002,3263
$GC,10581,-1.12,-116.7,696.7,-6.0,681,10582,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2002,3263
$GC,10907,-1.12,-116.7,716.4,-6.0,689,10908,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2002,3262
$STATE,10984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10984,begin apogee
$GC,10992,-0.42,0.0,721.3,6.0,691,11096,0.77,0.00,101.03,1.271,6,0.103,0.000,1869,2002,2792
$STATE,11096,end apogee,CONTROL_FINISHED_OK
$STATE,11096,begin climb
$GC,11099,1.12,116.7,723.7,0.0,693,11208,1.60,2.33,100.93,1.250,4,0.071,0.071,2208,3126,2316
$GC,11287,1.12,116.7,716.3,9.4,697,11290,0.00,2.08,0.00,0.000,6,0.000,0.051,2208,2005,2314
$GC,11602,1.12,116.7,688.1,9.0,705,11603,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2005,2313
$GC,11926,1.12,116.7,658.1,9.2,713,11927,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2005,2312
$GC,12250,1.12,116.7,627.9,9.3,721,12254,0.00,2.08,0.00,0.000,4,0.000,0.070,2208,884,2312
$GC,12312,1.12,116.7,622.0,9.1,722,12316,0.00,2.08,0.00,0.000,6,0.000,0.051,2208,2006,2312
$GC,12654,1.12,116.7,591.3,8.9,731,12655,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2007,2312
$GC,12979,1.12,116.7,563.0,8.6,739,12983,0.00,2.12,0.00,0.000,4,0.000,0.067,2208,882,2311
$GC,13034,1.12,116.7,558.0,8.9,740,13037,0.00,2.10,0.00,0.000,6,0.000,0.051,2208,2012,2311
$GC,13348,1.12,116.7,532.1,8.2,748,13349,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2012,2311
$GC,13673,1.12,116.7,504.5,8.5,756,13674,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2012,2310
$GC,13997,1.12,116.7,478.1,8.3,764,13998,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2012,2310
$GC,14322,1.12,116.7,452.2,8.0,772,14326,0.00,2.12,0.00,0.000,4,0.000,0.065,2208,877,2309
$GC,14412,1.12,116.7,444.5,8.6,774,14415,0.00,2.10,0.00,0.000,6,0.000,0.048,2208,2008,2309
$GC,14730,1.12,116.7,418.6,7.9,782,14734,0.00,2.15,0.00,0.000,4,0.000,0.069,2208,3136,2309
$GC,14779,1.12,116.7,414.6,7.9,783,14782,0.00,2.05,0.00,0.000,6,0.000,0.048,2208,2002,2309
$GC,15101,1.12,116.7,389.8,7.9,794,15105,0.00,2.05,0.00,0.000,4,0.000,0.064,2208,883,2309
$GC,15172,1.12,116.7,383.8,7.7,797,15176,0.00,2.03,0.00,0.000,6,0.000,0.046,2208,2011,2308
$GC,15495,1.12,116.7,359.2,7.8,813,15496,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2011,2309
$GC,15803,1.12,116.7,335.4,7.9,828,15804,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2011,2309
$GC,16112,1.12,116.7,309.9,8.4,843,16116,0.00,2.10,0.00,0.000,4,0.000,0.064,2208,3133,2309
$GC,16225,1.12,116.7,300.1,8.3,848,16229,0.00,2.00,0.00,0.000,6,0.000,0.044,2208,2008,2309
$GC,16546,1.12,116.7,274.5,7.5,864,16547,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2007,2309
$GC,16855,1.12,116.7,251.2,7.6,879,16856,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2007,2309
$GC,17165,1.12,116.7,228.0,7.4,894,17169,0.00,2.15,0.00,0.000,4,0.000,0.058,2208,3137,2310
$GC,17231,1.12,116.7,222.7,7.5,897,17235,0.00,2.00,0.00,0.000,6,0.000,0.041,2208,2015,2310
$GC,17549,1.12,116.7,199.2,7.3,913,17550,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2016,2311
$GC,17869,1.12,116.7,175.5,7.4,943,17870,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2016,2311
$GC,18187,1.12,116.7,150.4,8.0,973,18191,0.00,2.12,0.00,0.000,4,0.000,0.054,2208,3139,2312
$GC,18313,1.12,116.7,139.2,9.2,994,18320,0.00,2.03,0.00,0.000,6,0.000,0.039,2209,2012,2312
$GC,18658,1.12,116.7,108.4,8.4,1055,18663,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2011,2313
$GC,19002,1.12,116.7,80.6,7.7,1116,19009,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2011,2314
$GC,19347,1.13,124.7,54.3,6.6,1177,19361,0.00,2.12,8.20,0.671,4,0.000,0.053,2208,886,2283
$GC,19616,1.16,152.8,39.0,5.8,1224,19649,0.00,2.03,23.65,0.716,6,0.000,0.035,2208,2019,2168
$GC,19990,1.17,158.1,12.4,6.7,1289,20005,0.00,2.12,6.15,0.582,4,0.000,0.048,2208,889,2147
$GC,20069,1.17,158.1,6.2,7.8,1302,20076,0.00,2.05,0.00,0.000,6,0.000,0.035,2208,2014,2147
$STATE,20125,end climb,SURFACE_DEPTH_REACHED
$STATE,20125,begin surface coast
$FINISH,0.2,1.004651
$STATE,20156,end surface coast,CONTROL_FINISHED_OK
$STATE,20156,begin surface
$SM_CCo,20176,59.97,0.682,0,0,1771,250.21
$SM_GC,1.61,0.00,0.00,59.97,0.000,0.000,0.682,54,2143,1771,-8.79,0.37,250.21
$IRIDIUM_FIX,6532.72,507.35,010198,050522
$TT8_MAMPS,0.019175
$HUMID,2093
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,4.00
$XPDR_PINGS,-1
$24V_AH,23.0,49.320
$10V_AH,10.0,42.431
$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,21.900,119.225,239.950,59.975,0.000,30.687,32.636,183.075,0.000,0.000,0.000,30.140,2854.957,14703.965,486.231,1983.032,628.871,0.000,1664.293,0.000,1391.746,0.000,0.653
$DEVICE_MAMPS,184.847,70.564,1270.919,681.863,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1264.873,1150.157,814.179,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66317,1317
$CAP_FILE_SIZE,151354,0
$CFSIZE,256368640,222117888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.173, 11.3,1
$GPS,071008,172807,6602.983,522.941,35,1.1,35,-2.3