version: 66.03
glider: 17
mission: 6
dive: 423
start: 10 22 108 7 5 22
data:
$ID,17
$MISSION,6
$DIVE,423
$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,-96659.195
$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,21
$R_STBD_OVSHOOT,37
$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
$GPS1,065932,6700.469,601.929,72,1.2,72,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-46.4
$GPS2,070450,6700.482,602.051,12,1.3,12,-2.0
$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,254.6,1732,-26.8,-6.875
$D_GRID,1271
$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,-47.20,0.000,6,0.000,0.000,57,2151,2910
$GC,77,-2.31,-71.3,2.0,-0.0,1,93,8.40,0.00,-5.03,0.000,6,0.186,0.000,1456,2151,3083
$GC,401,-2.31,-71.3,64.1,-19.4,9,402,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,2151,3087
$GC,727,-2.31,-71.3,120.1,-16.7,17,731,0.00,2.08,0.00,0.000,4,0.000,0.044,1456,991,3088
$GC,793,-2.31,-71.3,131.9,-17.4,18,797,0.00,2.00,0.00,0.000,6,0.000,0.034,1456,2125,3088
$GC,1131,-2.31,-71.3,186.0,-15.9,27,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,2125,3089
$GC,1456,-2.31,-71.3,238.1,-16.0,35,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,2124,3089
$GC,1782,-2.31,-71.3,289.9,-15.9,43,1785,0.00,2.08,0.00,0.000,4,0.000,0.052,1456,3258,3089
$GC,1853,-2.31,-71.3,302.1,-16.3,44,1857,0.00,2.00,0.00,0.000,6,0.000,0.036,1456,2127,3089
$GC,2186,-2.31,-71.3,355.2,-16.1,52,2189,0.00,2.05,0.00,0.000,4,0.000,0.052,1456,3250,3089
$GC,2236,-2.31,-71.3,363.7,-16.4,53,2240,0.00,1.98,0.00,0.000,6,0.000,0.037,1456,2132,3089
$GC,2549,-2.31,-71.3,413.4,-15.8,61,2553,0.00,2.08,0.00,0.000,4,0.000,0.052,1456,3255,3089
$GC,2621,-2.31,-71.3,425.0,-16.1,62,2625,0.00,1.98,0.00,0.000,6,0.000,0.038,1456,2136,3089
$GC,2955,-2.31,-71.3,475.1,-15.0,70,2956,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,2136,3089
$GC,3278,-2.31,-71.3,522.2,-14.3,78,3282,0.00,2.08,0.00,0.000,4,0.000,0.055,1456,3250,3089
$GC,3311,-2.31,-71.3,527.3,-15.6,78,3318,0.00,2.00,0.00,0.000,6,0.000,0.040,1455,2134,3089
$GC,3643,-2.31,-71.3,576.2,-15.1,87,3647,0.00,2.10,0.00,0.000,4,0.000,0.058,1456,3253,3089
$GC,3693,-2.31,-71.3,584.4,-16.4,88,3697,0.00,2.00,0.00,0.000,6,0.000,0.041,1456,2138,3089
$GC,4007,-2.31,-71.3,632.1,-14.6,96,4011,0.00,2.10,0.00,0.000,4,0.000,0.061,1456,3250,3089
$GC,4040,-2.31,-71.3,637.1,-14.9,96,4046,0.00,2.00,0.00,0.000,6,0.000,0.044,1456,2141,3089
$GC,4371,-2.31,-71.3,683.7,-14.0,105,4372,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,2141,3089
$GC,4697,-2.31,-71.3,728.2,-13.7,113,4701,0.00,2.10,0.00,0.000,4,0.000,0.065,1456,3249,3088
$GC,4747,-2.31,-71.3,735.5,-14.4,114,4750,0.00,1.98,0.00,0.000,6,0.000,0.046,1456,2150,3088
$GC,5066,-2.31,-71.3,778.3,-13.3,122,5070,0.00,2.05,0.00,0.000,4,0.000,0.067,1456,3249,3087
$GC,5107,-2.31,-71.3,783.8,-13.7,123,5111,0.00,1.98,0.00,0.000,6,0.000,0.048,1456,2156,3087
$GC,5432,-2.31,-71.3,828.4,-13.8,131,5433,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,2155,3085
$GC,5756,-2.31,-71.3,874.4,-14.2,139,5760,0.00,2.08,0.00,0.000,4,0.000,0.067,1456,3253,3084
$GC,5789,-2.31,-71.3,879.4,-14.6,139,5796,0.00,2.00,0.00,0.000,6,0.000,0.048,1456,2148,3083
$GC,6122,-2.31,-71.3,925.3,-13.9,148,6126,0.00,2.08,0.00,0.000,4,0.000,0.067,1456,3248,3082
$GC,6171,-2.31,-71.3,932.8,-14.4,149,6175,0.00,1.98,0.00,0.000,6,0.000,0.048,1456,2158,3082
$GC,6485,-2.31,-71.3,975.9,-13.6,157,6489,0.00,2.08,0.00,0.000,4,0.000,0.067,1456,3253,3081
$GC,6530,-2.31,-71.3,982.1,-13.8,158,6533,0.00,1.98,0.00,0.000,6,0.000,0.049,1456,2162,3081
$STATE,6602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6602,begin apogee
$GC,6609,-0.42,0.0,992.1,13.2,160,6679,2.28,0.00,65.35,1.401,6,0.146,0.000,1870,1997,2792
$STATE,6680,end apogee,CONTROL_FINISHED_OK
$STATE,6680,begin climb
$GC,6683,2.31,71.3,993.8,0.0,161,6757,2.83,2.28,65.45,1.386,4,0.064,0.062,2471,3138,2501
$GC,6868,2.31,71.3,975.5,14.6,166,6872,0.00,2.08,0.00,0.000,6,0.000,0.051,2471,2009,2499
$GC,7186,2.31,71.3,931.1,13.7,174,7190,0.00,2.12,0.00,0.000,4,0.000,0.064,2472,3132,2497
$GC,7443,2.31,71.3,895.3,13.6,179,7450,0.00,2.08,0.00,0.000,6,0.000,0.051,2471,2005,2496
$GC,7775,2.31,71.3,851.4,13.2,188,7779,0.00,2.10,0.00,0.000,4,0.000,0.065,2471,3130,2496
$GC,8031,2.31,71.3,816.8,13.4,193,8038,0.00,2.05,0.00,0.000,6,0.000,0.052,2471,2007,2495
$GC,8363,2.31,71.3,773.6,13.1,202,8364,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2007,2494
$GC,8688,2.31,71.3,732.5,12.5,210,8692,0.00,2.10,0.00,0.000,4,0.000,0.065,2471,3133,2494
$GC,8870,2.31,71.3,710.1,11.9,214,8874,0.00,2.05,0.00,0.000,6,0.000,0.051,2471,2007,2493
$GC,9189,2.31,71.3,673.0,11.3,222,9193,0.00,2.12,0.00,0.000,4,0.000,0.065,2471,3139,2493
$GC,9289,2.31,71.3,661.5,11.2,224,9293,0.00,2.05,0.00,0.000,6,0.000,0.052,2471,2013,2493
$GC,9639,2.31,71.3,624.1,10.5,233,9643,0.00,2.10,0.00,0.000,4,0.000,0.065,2471,3130,2492
$GC,9868,2.31,71.3,599.4,10.6,238,9872,0.00,2.03,0.00,0.000,6,0.000,0.051,2471,2022,2492
$GC,10189,2.31,71.3,566.9,10.2,246,10190,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2022,2491
$GC,10512,2.31,71.3,533.3,10.4,254,10516,0.00,2.08,0.00,0.000,4,0.000,0.063,2471,3132,2491
$GC,10694,2.31,71.3,514.2,10.5,258,10698,0.00,2.00,0.00,0.000,6,0.000,0.050,2471,2025,2491
$GC,11013,2.31,71.3,481.3,10.0,266,11014,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2025,2491
$GC,11338,2.31,71.3,451.0,9.1,274,11342,0.00,2.05,0.00,0.000,4,0.000,0.061,2471,3132,2491
$GC,11595,2.31,71.3,426.5,9.7,279,11602,0.00,2.00,0.00,0.000,6,0.000,0.046,2471,2023,2491
$GC,11927,2.31,71.3,397.6,8.6,288,11931,0.00,2.08,0.00,0.000,4,0.000,0.057,2471,3142,2491
$GC,12068,2.31,71.3,385.3,8.4,291,12072,0.00,1.98,0.00,0.000,6,0.000,0.044,2470,2034,2491
$GC,12381,2.31,71.3,358.4,8.6,299,12385,0.00,2.05,0.00,0.000,4,0.000,0.056,2471,3140,2491
$GC,12641,2.31,71.3,334.4,9.1,304,12647,0.00,1.98,0.00,0.000,6,0.000,0.042,2471,2036,2491
$GC,12973,2.31,71.3,304.2,9.2,313,12977,0.00,2.05,0.00,0.000,4,0.000,0.054,2471,3134,2491
$GC,13232,2.31,71.3,279.9,9.7,318,13238,0.00,1.92,0.00,0.000,6,0.000,0.041,2471,2051,2492
$GC,13563,2.31,71.3,250.7,8.6,327,13567,0.00,2.00,0.00,0.000,4,0.000,0.054,2471,3131,2493
$GC,13822,2.31,71.3,227.2,9.1,332,13828,0.00,1.90,0.00,0.000,6,0.000,0.040,2471,2058,2494
$GC,14154,2.31,71.3,198.0,8.8,341,14157,0.00,2.00,0.00,0.000,4,0.000,0.052,2471,3133,2494
$GC,14412,2.31,71.3,175.5,8.8,346,14419,0.00,1.90,0.00,0.000,6,0.000,0.039,2471,2062,2495
$GC,14744,2.31,71.3,147.0,8.6,355,14747,0.00,1.95,0.00,0.000,4,0.000,0.051,2471,3132,2495
$GC,14986,2.31,71.3,125.8,8.7,360,14989,0.00,1.90,0.00,0.000,6,0.000,0.038,2471,2060,2496
$GC,15328,2.31,71.3,95.5,8.9,369,15329,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2060,2497
$GC,15653,2.31,71.3,69.2,8.0,377,15657,0.00,1.98,0.00,0.000,4,0.000,0.049,2471,3137,2497
$GC,15910,2.32,78.8,61.3,5.7,382,15921,0.00,1.90,7.30,0.628,6,0.000,0.036,2471,2063,2470
$GC,16241,2.32,80.3,43.8,6.6,391,16245,0.00,1.98,0.00,0.000,4,0.000,0.048,2471,3135,2470
$GC,16498,2.33,87.0,33.9,5.8,396,16510,0.00,1.88,8.32,0.616,6,0.000,0.036,2471,2065,2437
$STATE,16827,end climb,SURFACE_DEPTH_REACHED
$STATE,16827,begin surface coast
$FINISH,-0.0,1.027077
$STATE,16871,end surface coast,CONTROL_FINISHED_OK
$STATE,16871,begin surface
$SM_CCo,16895,100.57,0.645,0,0,1771,250.21
$SM_GC,0.55,0.00,0.00,100.57,0.000,0.000,0.645,58,2139,1771,-8.77,0.25,250.21
$IRIDIUM_FIX,6631.12,604.00,160198,020221
$TT8_MAMPS,0.021476
$HUMID,2102
$INTERNAL_PRESSURE,8.21321
$TCM_TEMP,3.00
$XPDR_PINGS,-1
$24V_AH,22.8,55.484
$10V_AH,10.1,46.625
$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,24.850,113.925,146.425,100.575,0.000,24.149,48.449,123.602,0.000,0.000,0.000,12.980,1255.803,14058.947,437.149,1070.719,507.756,0.000,1270.452,0.000,987.348,0.000,0.654
$DEVICE_MAMPS,185.614,67.496,1401.309,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,386.798,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19138,406
$CAP_FILE_SIZE,112444,0
$CFSIZE,256368640,218718208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.064, 65.5,1
$GPS,221008,115007,6700.138,559.543,39,1.4,50,-2.0