version: 66.03
glider: 17
mission: 6
dive: 374
start: 10 10 108 3 30 14
data:
$ID,17
$MISSION,6
$DIVE,374
$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,-95350.898
$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,20
$R_STBD_OVSHOOT,42
$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
$GPS1,031857,6609.188,603.305,27,3.3,46,-1.9
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-46.3
$GPS2,032947,6609.319,603.731,10,2.7,29,-1.9
$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,223.3,17486,-11.9,-6.875
$D_GRID,500
$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,24,-1.12,-116.7,0.0,0.0,0,74,0.00,0.00,-48.28,0.000,2,0.000,0.000,54,2157,3037
$GC,77,-1.12,-116.7,3.1,-5.3,7,98,9.85,0.00,-5.53,0.000,6,0.183,0.000,1713,2158,3270
$GC,437,-1.12,-116.7,42.2,-9.7,70,443,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2158,3272
$GC,783,-1.12,-116.7,69.7,-8.9,131,789,0.00,2.00,0.00,0.000,4,0.000,0.048,1713,3234,3273
$GC,902,-1.12,-116.7,79.5,-7.0,152,909,0.00,1.95,0.00,0.000,6,0.000,0.033,1713,2120,3273
$GC,1248,-1.12,-116.7,102.2,-6.8,213,1254,0.00,2.00,0.00,0.000,4,0.000,0.046,1713,996,3275
$GC,1300,-1.12,-116.7,105.8,-6.9,222,1307,0.00,2.00,0.00,0.000,6,0.000,0.032,1713,2114,3275
$GC,1647,-1.12,-116.7,127.9,-6.5,283,1653,0.00,2.10,0.00,0.000,4,0.000,0.051,1713,3249,3275
$GC,1697,-1.12,-116.7,131.3,-6.9,291,1704,0.00,1.95,0.00,0.000,6,0.000,0.034,1713,2129,3275
$GC,2038,-1.12,-116.7,154.7,-7.0,346,2042,0.00,2.08,0.00,0.000,4,0.000,0.050,1713,3250,3275
$GC,2072,-1.12,-116.7,157.2,-7.1,348,2079,0.00,1.98,0.00,0.000,6,0.000,0.035,1713,2122,3275
$GC,2400,-1.12,-116.7,179.0,-6.3,379,2404,0.00,2.08,0.00,0.000,4,0.000,0.050,1713,3256,3275
$GC,2441,-1.12,-116.7,181.9,-6.9,382,2444,0.00,1.95,0.00,0.000,6,0.000,0.035,1713,2137,3275
$GC,2778,-1.12,-116.7,203.2,-6.2,411,2779,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2137,3275
$GC,3084,-1.12,-116.7,223.1,-6.6,426,3086,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2137,3275
$GC,3393,-1.12,-116.7,244.1,-6.9,441,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2137,3275
$GC,3702,-1.12,-116.7,266.5,-7.3,456,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2138,3275
$GC,4012,-1.12,-116.7,289.5,-7.4,471,4013,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2137,3275
$GC,4322,-1.12,-116.7,313.0,-7.5,486,4323,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2137,3275
$GC,4630,-1.12,-116.7,336.3,-7.6,501,4631,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2137,3275
$GC,4940,-1.12,-116.7,358.4,-6.8,516,4941,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2137,3275
$GC,5250,-1.12,-116.7,378.5,-6.4,531,5251,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2137,3274
$GC,5558,-1.12,-116.7,398.0,-6.3,546,5559,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2137,3274
$GC,5884,-1.12,-116.7,418.5,-6.3,555,5885,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2137,3274
$GC,6209,-1.12,-116.7,439.5,-6.5,563,6210,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2137,3274
$GC,6535,-1.12,-116.7,460.7,-6.5,571,6536,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2137,3273
$GC,6859,-1.12,-116.7,481.9,-6.6,579,6860,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2137,3273
$STATE,7140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7140,begin apogee
$GC,7147,-0.42,0.0,500.3,6.3,586,7249,0.77,0.00,99.03,1.029,6,0.094,0.000,1869,2011,2792
$STATE,7250,end apogee,CONTROL_FINISHED_OK
$STATE,7250,begin climb
$GC,7254,1.12,116.7,502.5,0.0,588,7358,1.55,2.15,97.05,0.995,4,0.064,0.061,2207,889,2316
$GC,7391,1.12,116.7,498.5,8.1,591,7395,0.00,2.05,0.00,0.000,6,0.000,0.040,2207,2007,2315
$GC,7705,1.12,116.7,471.2,8.7,599,7709,0.00,2.12,0.00,0.000,4,0.000,0.061,2207,3138,2313
$GC,7956,1.12,116.7,448.9,8.5,604,7959,0.00,2.00,0.00,0.000,6,0.000,0.044,2207,2025,2312
$GC,8293,1.12,116.7,421.7,7.9,613,8297,0.00,2.08,0.00,0.000,4,0.000,0.058,2207,3138,2311
$GC,8349,1.12,116.7,417.2,8.5,614,8353,0.00,2.00,0.00,0.000,6,0.000,0.044,2207,2024,2311
$GC,8678,1.12,116.7,393.3,7.1,624,8682,0.00,2.08,0.00,0.000,4,0.000,0.061,2207,886,2310
$GC,8727,1.12,116.7,389.4,7.9,626,8730,0.00,2.05,0.00,0.000,6,0.000,0.041,2207,2027,2310
$GC,9050,1.12,116.7,364.8,7.6,642,9053,0.00,2.05,0.00,0.000,4,0.000,0.060,2207,3133,2309
$GC,9116,1.12,116.7,359.4,7.6,645,9119,0.00,1.98,0.00,0.000,6,0.000,0.042,2207,2023,2309
$GC,9443,1.12,116.7,335.3,7.5,661,9444,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2023,2308
$GC,9753,1.12,116.7,312.5,7.4,676,9757,0.00,2.08,0.00,0.000,4,0.000,0.055,2207,3131,2308
$GC,9865,1.12,116.7,303.3,8.0,681,9868,0.00,1.95,0.00,0.000,6,0.000,0.041,2207,2035,2308
$GC,10192,1.12,116.7,277.4,8.0,697,10196,0.00,2.08,0.00,0.000,4,0.000,0.054,2207,3140,2308
$GC,10293,1.12,116.7,269.1,8.1,701,10299,0.00,1.98,0.00,0.000,6,0.000,0.040,2207,2034,2308
$GC,10608,1.12,116.7,244.2,8.0,717,10609,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2034,2308
$GC,10919,1.12,116.7,219.1,8.4,732,10923,0.00,2.08,0.00,0.000,4,0.000,0.052,2207,3142,2308
$GC,11015,1.12,116.7,210.9,8.5,736,11018,0.00,1.95,0.00,0.000,6,0.000,0.039,2207,2038,2308
$GC,11336,1.12,116.7,183.1,8.6,760,11338,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2038,2308
$GC,11656,1.12,116.7,156.2,8.1,790,11660,0.00,2.05,0.00,0.000,4,0.000,0.051,2207,3140,2308
$GC,11733,1.12,116.7,149.6,8.3,796,11741,0.00,1.98,0.00,0.000,6,0.000,0.038,2206,2047,2308
$GC,12080,1.12,116.7,123.7,7.5,857,12086,0.00,2.03,0.00,0.000,4,0.000,0.052,2207,3133,2308
$GC,12254,1.12,116.7,111.0,7.3,887,12260,0.00,1.90,0.00,0.000,6,0.000,0.038,2207,2052,2309
$GC,12598,1.12,116.7,85.2,8.3,948,12605,0.00,2.12,0.00,0.000,4,0.000,0.054,2207,876,2309
$GC,12642,1.12,116.7,81.3,9.1,955,12648,0.00,2.08,0.00,0.000,6,0.000,0.035,2207,2054,2309
$GC,12988,1.15,139.6,54.3,6.0,1016,13014,0.00,2.20,18.58,0.680,4,0.000,0.051,2207,876,2221
$GC,13078,1.15,139.6,48.1,7.1,1031,13084,0.00,2.10,0.00,0.000,6,0.000,0.034,2207,2052,2220
$GC,13423,1.15,139.6,23.4,7.5,1092,13430,0.00,2.00,0.00,0.000,4,0.000,0.051,2207,3129,2220
$GC,13549,1.15,139.6,12.9,8.0,1114,13556,0.00,1.92,0.00,0.000,6,0.000,0.037,2207,2047,2221
$STATE,13678,end climb,SURFACE_DEPTH_REACHED
$STATE,13678,begin surface coast
$FINISH,0.2,1.026778
$STATE,13706,end surface coast,CONTROL_FINISHED_OK
$STATE,13707,begin surface
$SM_CCo,13727,63.60,0.644,0,0,1772,250.21
$SM_GC,1.03,0.00,0.00,63.60,0.000,0.000,0.644,57,2146,1772,-8.77,0.45,250.21
$IRIDIUM_FIX,6543.17,602.77,040198,030354
$TT8_MAMPS,0.021476
$HUMID,2105
$INTERNAL_PRESSURE,8.26204
$TCM_TEMP,4.10
$XPDR_PINGS,-1
$24V_AH,23.4,50.598
$10V_AH,10.1,43.791
$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,21.800,73.500,214.650,63.600,0.000,53.421,78.299,298.259,0.000,0.000,0.000,30.353,2404.962,9204.443,437.158,1660.241,737.740,0.000,1361.116,0.000,1112.016,0.000,0.655
$DEVICE_MAMPS,182.546,61.360,1029.314,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1085.910,1049.569,798.822,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56885,1141
$CAP_FILE_SIZE,114544,0
$CFSIZE,256368640,221294592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.417, 31.5,1
$GPS,101008,072125,6610.704,605.238,42,1.8,42,-1.9