version: 66.03
glider: 17
mission: 6
dive: 419
start: 10 21 108 10 27 7
data:
$ID,17
$MISSION,6
$DIVE,419
$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,-96535.062
$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,30
$R_STBD_OVSHOOT,23
$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
$GPS1,102108,6659.691,558.669,33,1.8,33,-2.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-45.8
$GPS2,102639,6659.654,558.792,16,1.6,16,-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,49.3,1084,-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,25,-2.27,-28.6,0.0,0.0,0,74,0.00,0.00,-47.85,0.000,6,0.000,0.000,59,2105,2909
$GC,78,-2.29,-45.9,1.3,-4.1,1,93,8.38,1.95,-2.10,0.000,4,0.183,0.056,1462,1009,2981
$GC,109,-2.29,-45.9,7.4,-13.9,1,116,0.00,2.00,0.00,0.000,6,0.000,0.035,1462,2136,2982
$GC,443,-2.29,-45.9,62.0,-15.3,10,446,0.00,2.00,0.00,0.000,4,0.000,0.046,1462,1009,2983
$GC,695,-2.29,-45.9,99.7,-14.8,15,699,0.00,2.05,0.00,0.000,6,0.000,0.034,1462,2164,2984
$GC,1027,-2.29,-45.9,147.2,-14.0,23,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,2164,2985
$GC,1351,-2.29,-45.9,192.8,-14.2,31,1355,0.00,2.00,0.00,0.000,4,0.000,0.051,1462,3250,2987
$GC,1391,-2.29,-45.9,198.7,-15.2,32,1395,0.00,1.92,0.00,0.000,6,0.000,0.035,1463,2156,2986
$GC,1715,-2.29,-45.9,244.6,-14.0,40,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,2157,2987
$GC,2041,-2.29,-45.9,288.1,-13.6,48,2045,0.00,2.08,0.00,0.000,4,0.000,0.047,1462,997,2987
$GC,2074,-2.29,-45.9,293.0,-13.7,48,2081,0.00,2.05,0.00,0.000,6,0.000,0.034,1462,2157,2987
$GC,2405,-2.29,-45.9,337.5,-13.1,57,2409,0.00,2.03,0.00,0.000,4,0.000,0.052,1462,3255,2987
$GC,2492,-2.29,-45.9,348.8,-13.6,59,2495,0.00,1.95,0.00,0.000,6,0.000,0.037,1462,2146,2987
$GC,2816,-2.29,-45.9,391.9,-13.3,67,2817,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,2146,2987
$GC,3141,-2.29,-45.9,432.7,-12.4,75,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,2146,2987
$GC,3466,-2.29,-45.9,474.2,-12.9,83,3469,0.00,2.05,0.00,0.000,4,0.000,0.052,1462,3252,2987
$GC,3561,-2.29,-45.9,487.2,-13.0,85,3565,0.00,1.95,0.00,0.000,6,0.000,0.039,1462,2146,2986
$GC,3874,-2.29,-45.9,526.4,-12.6,93,3878,0.00,2.05,0.00,0.000,4,0.000,0.054,1462,3248,2987
$GC,4068,-2.29,-45.9,550.6,-13.2,97,4071,0.00,1.92,0.00,0.000,6,0.000,0.041,1462,2159,2987
$GC,4416,-2.29,-45.9,595.0,-12.6,106,4417,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,2159,2987
$GC,4741,-2.29,-45.9,635.2,-12.2,114,4742,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,2158,2986
$GC,5066,-2.29,-45.9,675.1,-12.4,122,5067,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,2158,2985
$GC,5392,-2.29,-45.9,714.6,-12.2,130,5393,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,2158,2984
$GC,5715,-2.29,-45.9,755.9,-12.9,138,5719,0.00,2.10,0.00,0.000,4,0.000,0.066,1462,3247,2982
$GC,5787,-2.29,-45.9,765.7,-13.7,139,5791,0.00,1.95,0.00,0.000,6,0.000,0.046,1462,2168,2982
$GC,6125,-2.29,-45.9,807.6,-12.3,148,6126,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,2167,2981
$GC,6451,-2.29,-45.9,846.7,-12.1,156,6452,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,2167,2980
$GC,6775,-2.29,-45.9,885.1,-11.8,164,6776,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,2167,2978
$GC,7099,-2.29,-45.9,922.2,-11.3,172,7103,0.00,2.05,0.00,0.000,4,0.000,0.067,1462,3251,2978
$GC,7154,-2.29,-45.9,928.6,-11.6,173,7158,0.00,1.95,0.00,0.000,6,0.000,0.048,1462,2164,2977
$GC,7504,-2.29,-45.9,966.7,-10.8,182,7505,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,2163,2976
$STATE,7744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7744,begin apogee
$GC,7751,-0.42,0.0,993.6,11.0,188,7798,2.22,0.00,42.40,1.410,6,0.146,0.000,1868,2002,2792
$STATE,7799,end apogee,CONTROL_FINISHED_OK
$STATE,7799,begin climb
$GC,7802,2.29,45.9,995.0,0.0,189,7853,2.80,2.15,43.30,1.397,4,0.064,0.067,2465,885,2604
$GC,7971,2.29,45.9,982.3,9.8,193,7975,0.00,2.08,0.00,0.000,6,0.000,0.047,2465,2012,2602
$GC,8298,2.29,45.9,951.3,9.5,201,8299,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2012,2601
$GC,8622,2.29,45.9,921.3,9.2,209,8626,0.00,2.15,0.00,0.000,4,0.000,0.065,2465,3143,2600
$GC,8880,2.29,45.9,898.2,8.4,214,8887,0.00,2.05,0.00,0.000,6,0.000,0.051,2465,2017,2599
$GC,9213,2.29,45.9,871.1,8.0,223,9217,0.00,2.10,0.00,0.000,4,0.000,0.064,2465,3135,2598
$GC,9319,2.29,45.9,862.5,8.0,225,9323,0.00,2.05,0.00,0.000,6,0.000,0.051,2465,2012,2598
$GC,9662,2.29,45.9,836.8,7.4,234,9666,0.00,2.12,0.00,0.000,4,0.000,0.065,2465,3136,2597
$GC,9776,2.29,45.9,828.4,7.7,236,9779,0.00,2.03,0.00,0.000,6,0.000,0.052,2465,2014,2597
$GC,10113,2.29,45.9,804.6,7.0,245,10117,0.00,2.10,0.00,0.000,4,0.000,0.066,2465,3140,2597
$GC,10185,2.29,45.9,799.3,7.5,246,10189,0.00,2.03,0.00,0.000,6,0.000,0.052,2465,2018,2597
$GC,10518,2.29,45.9,775.7,7.1,254,10522,0.00,2.12,0.00,0.000,4,0.000,0.065,2465,3139,2596
$GC,10541,2.29,45.9,774.0,7.0,254,10544,0.00,2.03,0.00,0.000,6,0.000,0.053,2464,2019,2596
$GC,10878,2.29,45.9,750.6,7.0,263,10881,0.00,2.10,0.00,0.000,4,0.000,0.065,2465,3135,2596
$GC,10927,2.29,45.9,747.0,7.1,264,10931,0.00,2.03,0.00,0.000,6,0.000,0.052,2465,2016,2595
$GC,11243,2.29,47.7,726.2,6.6,272,11246,0.00,2.12,0.00,0.000,4,0.000,0.064,2465,3139,2596
$GC,11500,2.29,53.0,709.4,6.0,277,11511,0.00,2.00,6.18,1.016,6,0.000,0.051,2465,2031,2575
$GC,11831,2.29,53.0,686.8,6.9,286,11835,0.00,2.08,0.00,0.000,4,0.000,0.064,2465,3135,2574
$GC,12091,2.30,58.1,670.2,6.1,291,12101,0.00,1.98,6.07,0.992,6,0.000,0.051,2464,2044,2554
$GC,12420,2.30,58.1,647.3,6.9,300,12424,0.00,2.05,0.00,0.000,4,0.000,0.064,2465,3136,2554
$GC,12662,2.30,62.6,630.9,6.2,305,12672,0.00,1.95,5.57,0.941,6,0.000,0.051,2465,2053,2536
$GC,13003,2.30,62.6,606.9,7.4,314,13007,0.00,2.03,0.00,0.000,4,0.000,0.064,2465,3137,2536
$GC,13262,2.30,62.6,585.5,7.8,319,13268,0.00,1.95,0.00,0.000,6,0.000,0.051,2465,2065,2536
$GC,13593,2.30,62.6,559.2,8.0,328,13597,0.00,2.03,0.00,0.000,4,0.000,0.064,2465,3138,2535
$GC,13763,2.30,62.6,545.3,9.0,331,13769,0.00,1.92,0.00,0.000,6,0.000,0.049,2465,2063,2535
$GC,14095,2.30,62.6,520.1,7.2,340,14099,0.00,2.17,0.00,0.000,4,0.000,0.068,2465,885,2535
$GC,14218,2.30,62.6,511.2,6.9,342,14225,0.00,2.10,0.00,0.000,6,0.000,0.047,2465,2053,2535
$GC,14551,2.31,65.1,489.5,6.5,351,14559,0.00,2.00,3.85,0.720,4,0.000,0.063,2465,3135,2526
$GC,14813,2.31,65.1,469.6,7.7,356,14820,0.00,1.95,0.00,0.000,6,0.000,0.046,2465,2042,2526
$GC,15147,2.31,65.1,443.8,7.8,365,15150,0.00,2.05,0.00,0.000,4,0.000,0.058,2465,3141,2526
$GC,15404,2.31,65.1,422.7,8.1,370,15411,0.00,1.95,0.00,0.000,6,0.000,0.044,2465,2055,2525
$GC,15737,2.31,65.1,397.9,7.2,379,15741,0.00,2.05,0.00,0.000,4,0.000,0.056,2465,3145,2526
$GC,15995,2.31,65.1,379.1,7.3,384,16001,0.00,1.92,0.00,0.000,6,0.000,0.043,2465,2067,2526
$GC,16328,2.31,68.2,358.0,6.4,393,16337,0.00,2.03,4.90,0.742,4,0.000,0.055,2465,3141,2513
$GC,16592,2.31,70.9,339.2,6.4,399,16600,0.00,1.90,4.30,0.683,6,0.000,0.041,2465,2071,2502
$GC,16922,2.31,70.9,314.4,7.9,407,16926,0.00,1.98,0.00,0.000,4,0.000,0.054,2465,3138,2502
$GC,17181,2.31,70.9,293.8,8.1,412,17188,0.00,1.88,0.00,0.000,6,0.000,0.041,2465,2080,2501
$GC,17514,2.31,70.9,267.1,8.4,421,17517,0.00,1.95,0.00,0.000,4,0.000,0.053,2465,3142,2503
$GC,17771,2.31,70.9,244.6,7.8,426,17778,0.00,1.90,0.00,0.000,6,0.000,0.039,2465,2066,2503
$GC,18104,2.31,70.9,217.9,7.9,435,18108,0.00,1.98,0.00,0.000,4,0.000,0.052,2465,3140,2504
$GC,18361,2.31,70.9,197.4,7.7,440,18368,0.00,1.88,0.00,0.000,6,0.000,0.038,2465,2073,2504
$GC,18695,2.31,70.9,172.2,7.7,449,18698,0.00,1.95,0.00,0.000,4,0.000,0.052,2465,3136,2505
$GC,18952,2.31,70.9,150.7,8.4,454,18959,0.00,1.88,0.00,0.000,6,0.000,0.038,2465,2070,2505
$GC,19285,2.31,70.9,121.9,8.7,463,19289,0.00,1.98,0.00,0.000,4,0.000,0.051,2465,3143,2506
$GC,19543,2.31,70.9,99.0,9.8,468,19549,0.00,1.88,0.00,0.000,6,0.000,0.037,2465,2072,2507
$GC,19876,2.31,70.9,71.1,8.2,477,19880,0.00,1.95,0.00,0.000,4,0.000,0.050,2465,3141,2508
$GC,19948,2.31,70.9,64.9,8.2,478,19951,0.00,1.85,0.00,0.000,6,0.000,0.036,2465,2079,2508
$GC,20286,2.36,108.7,51.0,0.8,487,20328,0.00,2.05,32.40,0.696,4,0.000,0.048,2465,3134,2347
$GC,20546,2.36,108.7,17.2,17.6,492,20553,0.00,1.85,0.00,0.000,6,0.000,0.036,2465,2084,2347
$STATE,20672,end climb,SURFACE_DEPTH_REACHED
$STATE,20672,begin surface coast
$FINISH,-0.3,1.027047
$STATE,20714,end surface coast,CONTROL_FINISHED_OK
$STATE,20714,begin surface
$SM_CCo,20736,86.78,0.647,0,0,1772,250.21
$SM_GC,0.58,0.00,0.00,86.78,0.000,0.000,0.647,58,2147,1772,-8.77,0.48,250.21
$IRIDIUM_FIX,6631.12,557.95,150198,050558
$TT8_MAMPS,0.021476
$HUMID,2103
$INTERNAL_PRESSURE,8.21321
$TCM_TEMP,3.00
$XPDR_PINGS,-1
$24V_AH,22.8,55.117
$10V_AH,10.1,46.409
$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,24.350,132.725,148.975,86.775,0.000,25.339,31.897,147.090,0.000,0.000,0.000,16.916,1512.248,17290.801,443.183,1361.568,560.235,0.000,1490.136,0.000,1247.613,0.000,0.654
$DEVICE_MAMPS,183.313,68.263,1409.746,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,470.605,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22263,497
$CAP_FILE_SIZE,136130,0
$CFSIZE,256368640,218890240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065,120.6,1
$GPS,211008,161542,6700.442,602.075,41,1.5,51,-2.0