version: 66.03
glider: 17
mission: 6
dive: 429
start: 10 23 108 14 50 45
data:
$ID,17
$MISSION,6
$DIVE,429
$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,-96809.812
$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,22
$R_STBD_OVSHOOT,36
$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
$GPS1,144001,6659.716,558.847,66,1.1,66,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-46.2
$GPS2,145015,6659.756,558.784,15,1.2,15,-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,66.6,989,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-2.27,-28.6,0.0,0.0,0,76,0.00,0.00,-46.47,0.000,6,0.000,0.000,63,2143,2910
$GC,80,-2.31,-71.3,2.1,-0.0,1,99,8.50,2.08,-4.97,0.000,4,0.193,0.064,1453,3237,3084
$GC,335,-2.31,-71.3,56.3,-20.5,6,338,0.00,1.95,0.00,0.000,6,0.000,0.035,1454,2124,3087
$GC,673,-2.31,-71.3,115.7,-16.9,15,677,0.00,1.98,0.00,0.000,4,0.000,0.045,1453,1002,3088
$GC,758,-2.31,-71.3,131.0,-17.8,17,762,0.00,1.98,0.00,0.000,6,0.000,0.034,1454,2124,3088
$GC,1083,-2.31,-71.3,183.6,-15.8,25,1086,0.00,2.05,0.00,0.000,4,0.000,0.051,1454,3250,3089
$GC,1161,-2.31,-71.3,196.2,-16.1,26,1168,0.00,1.95,0.00,0.000,6,0.000,0.036,1454,2133,3089
$GC,1493,-2.31,-71.3,247.8,-15.7,35,1494,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,2133,3090
$GC,1818,-2.31,-71.3,300.3,-16.4,43,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,2133,3090
$GC,2144,-2.31,-71.3,353.2,-16.2,51,2147,0.00,2.08,0.00,0.000,4,0.000,0.052,1454,3255,3090
$GC,2193,-2.31,-71.3,362.1,-17.3,52,2197,0.00,1.98,0.00,0.000,6,0.000,0.037,1453,2136,3090
$GC,2512,-2.31,-71.3,414.6,-16.8,60,2516,0.00,2.05,0.00,0.000,4,0.000,0.053,1454,3253,3090
$GC,2556,-2.31,-71.3,422.7,-17.9,61,2560,0.00,1.95,0.00,0.000,6,0.000,0.039,1453,2143,3090
$GC,2877,-2.31,-71.3,473.9,-15.8,69,2881,0.00,2.05,0.00,0.000,4,0.000,0.054,1454,3254,3090
$GC,2926,-2.31,-71.3,482.2,-15.8,70,2930,0.00,1.95,0.00,0.000,6,0.000,0.039,1454,2146,3090
$GC,3240,-2.31,-71.3,529.1,-14.7,78,3241,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,2146,3090
$GC,3566,-2.31,-71.3,574.3,-13.5,86,3570,0.00,2.08,0.00,0.000,4,0.000,0.058,1453,3256,3090
$GC,3626,-2.31,-71.3,583.4,-15.0,87,3630,0.00,1.95,0.00,0.000,6,0.000,0.042,1454,2155,3090
$GC,3969,-2.31,-71.3,635.0,-15.6,96,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,2155,3089
$GC,4294,-2.31,-71.3,687.3,-16.1,104,4298,0.00,2.08,0.00,0.000,4,0.000,0.065,1453,3254,3089
$GC,4362,-2.31,-71.3,698.5,-16.5,105,4365,0.00,1.95,0.00,0.000,6,0.000,0.046,1454,2160,3088
$GC,4699,-2.31,-71.3,748.2,-14.3,114,4700,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,2159,3088
$GC,5023,-2.31,-71.3,793.3,-13.9,122,5025,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,2159,3086
$GC,5349,-2.31,-71.3,838.5,-14.0,130,5352,0.00,2.05,0.00,0.000,4,0.000,0.067,1454,3251,3085
$GC,5399,-2.31,-71.3,846.0,-14.7,131,5403,0.00,1.95,0.00,0.000,6,0.000,0.049,1454,2158,3085
$GC,5712,-2.31,-71.3,890.7,-14.4,139,5716,0.00,2.08,0.00,0.000,4,0.000,0.067,1454,3252,3083
$GC,5762,-2.31,-71.3,898.4,-14.8,140,5766,0.00,1.95,0.00,0.000,6,0.000,0.049,1454,2166,3083
$GC,6077,-2.31,-71.3,942.5,-14.0,148,6078,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,2165,3081
$GC,6401,-2.31,-71.3,987.6,-13.9,156,6404,0.00,2.08,0.00,0.000,4,0.000,0.068,1454,3254,3081
$STATE,6414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6414,begin apogee
$GC,6422,-0.42,0.0,990.0,13.8,156,6492,2.22,0.00,65.15,1.403,6,0.148,0.000,1868,2010,2792
$STATE,6493,end apogee,CONTROL_FINISHED_OK
$STATE,6493,begin climb
$GC,6497,2.31,71.3,992.3,0.0,158,6572,2.85,2.22,65.20,1.381,4,0.065,0.069,2470,883,2501
$GC,6730,2.31,71.3,967.5,14.6,163,6734,0.00,2.05,0.00,0.000,6,0.000,0.048,2470,2012,2498
$GC,7080,2.31,71.3,921.2,13.1,172,7084,0.00,2.10,0.00,0.000,4,0.000,0.065,2470,3144,2497
$GC,7146,2.31,71.3,912.3,13.0,173,7150,0.00,2.05,0.00,0.000,6,0.000,0.052,2470,2012,2496
$GC,7489,2.31,71.3,869.3,12.5,182,7493,0.00,2.08,0.00,0.000,4,0.000,0.067,2470,3135,2496
$GC,7690,2.31,71.3,843.1,12.7,186,7694,0.00,2.03,0.00,0.000,6,0.000,0.052,2470,2019,2495
$GC,8028,2.31,71.3,801.0,12.6,195,8031,0.00,2.10,0.00,0.000,4,0.000,0.065,2470,3138,2494
$GC,8210,2.31,71.3,778.3,12.9,199,8214,0.00,2.00,0.00,0.000,6,0.000,0.052,2470,2029,2494
$GC,8529,2.31,71.3,739.8,12.0,207,8533,0.00,2.08,0.00,0.000,4,0.000,0.067,2470,3143,2494
$GC,8698,2.31,71.3,719.0,12.5,210,8704,0.00,2.00,0.00,0.000,6,0.000,0.054,2470,2033,2493
$GC,9030,2.31,71.3,680.3,11.6,219,9034,0.00,2.05,0.00,0.000,4,0.000,0.067,2470,3134,2492
$GC,9046,2.31,71.3,678.2,11.2,219,9050,0.00,2.00,0.00,0.000,6,0.000,0.054,2470,2034,2492
$GC,9389,2.31,71.3,641.2,10.6,228,9393,0.00,2.05,0.00,0.000,4,0.000,0.067,2470,3143,2492
$GC,9590,2.31,71.3,620.4,10.2,232,9593,0.00,2.00,0.00,0.000,6,0.000,0.053,2470,2036,2492
$GC,9933,2.31,71.3,586.7,9.7,241,9937,0.00,2.05,0.00,0.000,4,0.000,0.066,2470,3141,2491
$GC,10190,2.31,71.3,559.8,10.9,246,10197,0.00,2.00,0.00,0.000,6,0.000,0.051,2470,2039,2491
$GC,10522,2.31,71.3,524.7,10.7,255,10526,0.00,2.15,0.00,0.000,4,0.000,0.070,2470,874,2491
$GC,10593,2.31,71.3,516.7,10.9,256,10597,0.00,2.05,0.00,0.000,6,0.000,0.049,2471,2027,2491
$GC,10927,2.31,71.3,483.4,10.0,264,10930,0.00,2.03,0.00,0.000,4,0.000,0.064,2470,3137,2491
$GC,10987,2.31,71.3,477.1,9.9,265,10991,0.00,1.98,0.00,0.000,6,0.000,0.049,2470,2037,2491
$GC,11330,2.31,71.3,446.3,9.0,274,11334,0.00,2.05,0.00,0.000,4,0.000,0.061,2470,3142,2491
$GC,11488,2.31,71.3,432.2,8.6,277,11492,0.00,1.95,0.00,0.000,6,0.000,0.046,2470,2047,2490
$GC,11825,2.31,71.3,402.9,8.9,286,11828,0.00,2.03,0.00,0.000,4,0.000,0.058,2470,3144,2490
$GC,12082,2.31,71.3,379.7,9.5,291,12089,0.00,1.95,0.00,0.000,6,0.000,0.044,2470,2057,2491
$GC,12414,2.31,71.3,349.1,9.2,300,12417,0.00,2.00,0.00,0.000,4,0.000,0.056,2470,3138,2491
$GC,12670,2.31,71.3,325.4,8.6,305,12677,0.00,1.90,0.00,0.000,6,0.000,0.042,2470,2069,2491
$GC,13002,2.31,71.3,296.0,9.0,314,13006,0.00,1.98,0.00,0.000,4,0.000,0.054,2470,3135,2491
$GC,13259,2.31,71.3,272.9,9.1,319,13266,0.00,1.88,0.00,0.000,6,0.000,0.041,2470,2077,2492
$GC,13591,2.31,71.3,245.0,8.2,328,13595,0.00,1.98,0.00,0.000,4,0.000,0.054,2470,3140,2493
$GC,13848,2.31,71.3,222.3,8.3,333,13855,0.00,1.90,0.00,0.000,6,0.000,0.039,2470,2069,2493
$GC,14180,2.31,71.3,194.3,8.5,342,14183,0.00,1.98,0.00,0.000,4,0.000,0.052,2470,3135,2494
$GC,14437,2.31,71.3,172.8,7.9,347,14444,0.00,1.88,0.00,0.000,6,0.000,0.038,2470,2072,2495
$GC,14769,2.31,71.3,145.4,8.4,356,14772,0.00,1.95,0.00,0.000,4,0.000,0.051,2470,3141,2495
$GC,15026,2.31,71.3,123.9,7.9,361,15033,0.00,1.88,0.00,0.000,6,0.000,0.038,2470,2072,2496
$GC,15358,2.31,71.3,95.6,8.7,370,15361,0.00,1.98,0.00,0.000,4,0.000,0.051,2470,3144,2497
$GC,15614,2.31,71.3,70.1,8.3,375,15621,0.00,1.85,0.00,0.000,6,0.000,0.036,2470,2083,2497
$GC,15947,2.34,98.2,57.6,2.6,384,15975,0.00,2.05,22.35,0.699,4,0.000,0.048,2470,3141,2391
$GC,16229,2.34,98.2,32.2,8.5,390,16232,0.00,1.85,0.00,0.000,6,0.000,0.036,2470,2086,2391
$STATE,16540,end climb,SURFACE_DEPTH_REACHED
$STATE,16540,begin surface coast
$FINISH,-0.1,1.027105
$STATE,16581,end surface coast,CONTROL_FINISHED_OK
$STATE,16582,begin surface
$SM_CCo,16604,94.50,0.650,0,0,1770,250.21
$SM_GC,0.48,0.00,0.00,94.50,0.000,0.000,0.650,57,2140,1770,-8.78,0.25,250.21
$IRIDIUM_FIX,6631.12,553.05,170198,141440
$TT8_MAMPS,0.021476
$HUMID,2112
$INTERNAL_PRESSURE,8.21321
$TCM_TEMP,3.00
$XPDR_PINGS,-1
$24V_AH,22.8,56.037
$10V_AH,10.0,46.963
$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,24.550,120.650,152.700,94.500,0.000,62.385,72.267,286.899,0.000,0.000,0.000,15.837,1239.165,13816.587,430.655,1101.160,741.363,0.000,1288.846,0.000,1011.529,0.000,0.653
$DEVICE_MAMPS,193.284,72.865,1402.843,650.416,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,377.635,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19107,399
$CAP_FILE_SIZE,115560,0
$CFSIZE,256368640,218411008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.042, 76.2,1
$GPS,231008,193026,6700.712,602.620,41,1.6,41,-2.0