version: 66.03
glider: 17
mission: 6
dive: 92
start: 7 15 108 13 46 50
data:
$ID,17
$MISSION,6
$DIVE,92
$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,540
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$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,-88061.898
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,62
$PITCH_MAX,3362
$C_PITCH,1935
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.059999999
$PITCH_ADJ_DBAND,1
$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
$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
$GPS1,134007,6616.618,330.771,37,1.3,42,-3.4
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-47.8
$GPS2,134632,6616.625,330.805,15,1.2,32,-3.4
$SPEED_LIMITS,0.119,0.230
$TGT_NAME,OWSM
$TGT_LATLONG,6600.000,200.000
$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,252.0,75012,-11.9,-6.875
$D_GRID,990
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.87,-116.7,0.0,0.0,0,69,0.00,0.00,-49.92,0.000,2,0.000,0.000,59,2122,3032
$GC,72,-0.87,-116.7,3.0,-5.2,7,94,10.18,2.10,-5.85,0.000,4,0.191,0.060,1740,994,3270
$GC,167,-0.87,-116.7,14.4,-8.1,23,173,0.00,1.98,0.00,0.000,6,0.000,0.034,1740,2121,3272
$GC,510,-0.95,-116.7,33.0,-3.9,84,517,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,2121,3273
$GC,855,-1.05,-116.7,52.9,-5.8,145,862,0.15,2.08,0.00,0.000,4,0.044,0.052,1697,3254,3275
$GC,903,-1.05,-116.7,56.1,-7.0,153,910,0.00,1.98,0.00,0.000,6,0.000,0.035,1697,2117,3275
$GC,1246,-1.05,-116.7,79.7,-7.4,214,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,1697,2117,3276
$GC,1590,-1.05,-116.7,104.5,-7.0,275,1596,0.00,2.08,0.00,0.000,4,0.000,0.052,1697,3251,3276
$GC,1681,-1.05,-116.7,110.9,-6.9,291,1688,0.00,1.95,0.00,0.000,6,0.000,0.035,1697,2129,3276
$GC,2024,-1.05,-116.7,133.3,-6.7,352,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,1697,2129,3276
$GC,2366,-1.05,-116.7,157.9,-7.4,404,2370,0.00,2.08,0.00,0.000,4,0.000,0.054,1697,3250,3276
$GC,2428,-1.05,-116.7,162.6,-7.7,409,2432,0.00,1.95,0.00,0.000,6,0.000,0.036,1697,2130,3276
$GC,2753,-1.05,-116.7,185.1,-6.8,439,2757,0.00,2.05,0.00,0.000,4,0.000,0.054,1697,3253,3276
$GC,2792,-1.05,-116.7,187.8,-7.1,442,2795,0.00,1.95,0.00,0.000,6,0.000,0.037,1697,2129,3276
$GC,3116,-1.05,-116.7,209.3,-6.5,472,3117,0.00,0.00,0.00,0.000,6,0.000,0.000,1697,2129,3276
$GC,3434,-1.05,-116.7,231.6,-7.0,502,3438,0.00,2.10,0.00,0.000,4,0.000,0.054,1697,3256,3276
$GC,3488,-1.05,-116.7,235.7,-7.4,506,3496,0.00,2.00,0.00,0.000,6,0.000,0.036,1697,2136,3276
$GC,3814,-1.05,-116.7,258.5,-7.2,537,3818,0.00,2.05,0.00,0.000,4,0.000,0.055,1697,3253,3276
$GC,3856,-1.05,-116.7,261.9,-7.5,540,3864,0.00,2.00,0.00,0.000,6,0.000,0.037,1697,2139,3276
$GC,4182,-1.05,-116.7,284.8,-7.1,571,4184,0.00,0.00,0.00,0.000,6,0.000,0.000,1697,2140,3276
$GC,4503,-1.05,-116.7,308.5,-7.6,598,4507,0.00,2.08,0.00,0.000,4,0.000,0.054,1697,3248,3276
$GC,4535,-1.05,-116.7,311.1,-8.0,600,4539,0.00,1.98,0.00,0.000,6,0.000,0.038,1697,2147,3276
$GC,4860,-1.05,-116.7,336.0,-7.6,621,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,1697,2146,3276
$GC,5172,-1.05,-116.7,359.9,-7.9,641,5175,0.00,2.05,0.00,0.000,4,0.000,0.056,1697,3254,3276
$GC,5203,-1.05,-116.7,362.7,-8.3,643,5208,0.00,2.00,0.00,0.000,6,0.000,0.038,1697,2137,3276
$GC,5528,-1.05,-116.7,388.0,-7.7,664,5532,0.00,2.05,0.00,0.000,4,0.000,0.056,1697,3250,3276
$GC,5572,-1.05,-116.7,391.6,-7.8,667,5576,0.00,1.95,0.00,0.000,6,0.000,0.040,1697,2145,3276
$GC,5896,-1.05,-116.7,414.8,-7.0,688,5900,0.00,2.03,0.00,0.000,4,0.000,0.057,1697,3250,3275
$GC,5934,-1.05,-116.7,417.7,-7.5,690,5941,0.00,1.95,0.00,0.000,6,0.000,0.040,1697,2142,3275
$GC,6252,-1.05,-116.7,441.5,-7.8,711,6253,0.00,0.00,0.00,0.000,6,0.000,0.000,1697,2142,3275
$GC,6564,-1.05,-116.7,465.1,-7.0,731,6568,0.00,2.05,0.00,0.000,4,0.000,0.058,1697,3249,3275
$GC,6618,-1.05,-116.7,469.2,-7.2,734,6626,0.00,1.98,0.00,0.000,6,0.000,0.040,1697,2150,3275
$GC,6937,-1.05,-116.7,489.9,-6.3,755,6939,0.00,0.00,0.00,0.000,6,0.000,0.000,1697,2150,3274
$GC,7250,-1.05,-116.7,509.3,-6.5,775,7254,0.00,2.03,0.00,0.000,4,0.000,0.059,1697,3247,3274
$GC,7303,-1.05,-116.7,513.3,-7.3,778,7311,0.00,1.98,0.00,0.000,6,0.000,0.041,1697,2153,3274
$GC,7623,-1.05,-116.7,534.9,-6.8,799,7624,0.00,0.00,0.00,0.000,6,0.000,0.000,1697,2153,3273
$GC,7936,-1.05,-116.7,555.0,-6.4,819,7939,0.00,2.03,0.00,0.000,4,0.000,0.062,1697,3250,3272
$GC,8023,-1.05,-116.7,561.0,-7.1,824,8031,0.00,1.95,0.00,0.000,6,0.000,0.042,1697,2165,3272
$GC,8344,-1.05,-116.7,581.2,-6.3,845,8345,0.00,0.00,0.00,0.000,6,0.000,0.000,1697,2165,3272
$GC,8670,-1.05,-116.7,602.1,-6.3,865,8671,0.00,0.00,0.00,0.000,6,0.000,0.000,1697,2165,3271
$GC,8976,-1.05,-116.7,620.0,-5.8,875,8977,0.00,0.00,0.00,0.000,6,0.000,0.000,1697,2165,3270
$GC,9284,-1.05,-116.7,638.4,-6.1,885,9285,0.00,0.00,0.00,0.000,6,0.000,0.000,1697,2164,3270
$GC,9590,-1.05,-116.7,658.7,-6.8,895,9594,0.00,2.05,0.00,0.000,4,0.000,0.068,1697,3245,3269
$GC,9634,-1.05,-116.7,662.1,-7.4,896,9638,0.00,1.95,0.00,0.000,6,0.000,0.047,1697,2152,3269
$GC,9951,-1.05,-116.7,684.5,-7.1,907,9952,0.00,0.00,0.00,0.000,6,0.000,0.000,1697,2151,3268
$GC,10258,-1.05,-116.7,706.0,-6.9,917,10262,0.00,2.05,0.00,0.000,4,0.000,0.069,1697,3247,3267
$GC,10289,-1.05,-116.7,708.3,-7.6,918,10293,0.00,1.98,0.00,0.000,6,0.000,0.048,1697,2164,3267
$GC,10625,-1.05,-116.7,730.8,-6.7,929,10626,0.00,0.00,0.00,0.000,6,0.000,0.000,1697,2163,3266
$GC,10931,-1.05,-116.7,750.9,-6.6,939,10932,0.00,0.00,0.00,0.000,6,0.000,0.000,1697,2163,3265
$GC,11237,-1.05,-116.7,770.8,-6.6,949,11241,0.00,2.05,0.00,0.000,4,0.000,0.070,1697,3253,3264
$GC,11264,-1.05,-116.7,772.7,-7.2,950,11268,0.00,1.95,0.00,0.000,6,0.000,0.048,1697,2162,3264
$GC,11604,-1.05,-116.7,795.0,-6.6,961,11605,0.00,0.00,0.00,0.000,6,0.000,0.000,1697,2162,3263
$GC,11911,-1.05,-116.7,814.6,-6.4,971,11912,0.00,0.00,0.00,0.000,6,0.000,0.000,1697,2162,3262
$GC,12217,-1.05,-116.7,834.0,-6.4,981,12218,0.00,0.00,0.00,0.000,6,0.000,0.000,1697,2162,3262
$GC,12524,-1.05,-116.7,853.8,-6.4,991,12525,0.00,0.00,0.00,0.000,6,0.000,0.000,1697,2162,3261
$GC,12831,-1.05,-116.7,873.0,-6.1,1001,12832,0.00,0.00,0.00,0.000,6,0.000,0.000,1697,2162,3261
$GC,13136,-1.05,-116.7,891.3,-6.0,1011,13137,0.00,0.00,0.00,0.000,6,0.000,0.000,1697,2162,3260
$GC,13443,-1.05,-116.7,909.2,-5.9,1021,13444,0.00,0.00,0.00,0.000,6,0.000,0.000,1697,2162,3260
$GC,13749,-1.05,-116.7,928.2,-6.4,1031,13753,0.00,2.05,0.00,0.000,4,0.000,0.071,1697,3250,3260
$GC,13776,-1.05,-116.7,930.1,-7.1,1032,13780,0.00,1.98,0.00,0.000,6,0.000,0.051,1697,2159,3260
$GC,14110,-1.05,-116.7,951.9,-6.6,1043,14112,0.00,0.00,0.00,0.000,6,0.000,0.000,1697,2159,3260
$GC,14417,-1.05,-116.7,971.9,-6.5,1053,14418,0.00,0.00,0.00,0.000,6,0.000,0.000,1697,2160,3259
$STATE,14723,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14723,begin apogee
$GC,14727,-0.31,0.0,991.4,6.3,1063,14834,0.85,0.00,103.45,1.576,6,0.108,0.000,1863,1996,2792
$STATE,14835,end apogee,CONTROL_FINISHED_OK
$STATE,14835,begin climb
$GC,14836,0.87,116.7,993.9,0.0,1066,14945,1.30,0.00,103.85,1.518,6,0.083,0.000,2122,1995,2316
$GC,15244,0.87,116.7,971.2,7.2,1080,15248,0.00,2.17,0.00,0.000,4,0.000,0.067,2122,3137,2314
$GC,15292,0.87,116.7,967.4,7.5,1081,15297,0.00,2.10,0.00,0.000,6,0.000,0.051,2122,2014,2313
$GC,15611,0.87,116.7,943.9,7.6,1092,15612,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2014,2313
$GC,15917,0.87,116.7,920.8,7.6,1102,15921,0.00,2.12,0.00,0.000,4,0.000,0.067,2122,3138,2312
$GC,15971,0.87,116.7,916.4,7.3,1103,15979,0.00,2.08,0.00,0.000,6,0.000,0.051,2122,2019,2313
$GC,16284,0.87,116.7,893.5,7.2,1114,16285,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2019,2312
$GC,16590,0.88,123.6,873.0,6.6,1124,16603,0.00,2.17,7.15,1.247,4,0.000,0.065,2122,3128,2288
$GC,16637,0.88,123.6,869.6,7.4,1125,16641,0.00,2.08,0.00,0.000,6,0.000,0.052,2122,2018,2288
$GC,16961,0.89,129.6,847.8,6.6,1136,16970,0.00,0.00,7.10,1.232,6,0.000,0.000,2122,2018,2263
$GC,17268,0.89,134.4,827.5,6.7,1146,17276,0.00,0.00,5.88,1.148,6,0.000,0.000,2122,2018,2243
$GC,17574,0.89,134.4,806.5,6.9,1156,17577,0.00,2.08,0.00,0.000,4,0.000,0.066,2122,3128,2243
$GC,17646,0.90,137.8,801.3,6.7,1158,17655,0.00,2.05,4.53,1.009,6,0.000,0.053,2122,2012,2230
$GC,17969,0.90,137.8,779.0,7.0,1169,17970,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2012,2230
$GC,18275,0.90,137.8,757.3,7.1,1179,18279,0.00,2.12,0.00,0.000,4,0.000,0.066,2122,3129,2230
$GC,18323,0.90,137.8,753.6,7.1,1180,18328,0.00,2.08,0.00,0.000,6,0.000,0.052,2123,2016,2230
$GC,18642,0.90,140.6,732.3,6.8,1191,18648,0.00,0.00,4.35,0.971,6,0.000,0.000,2122,2016,2218
$GC,18948,0.97,148.8,712.3,6.6,1201,18963,0.10,2.15,8.98,1.237,4,0.065,0.064,2147,3128,2185
$GC,19007,0.97,148.8,707.7,7.5,1202,19015,0.00,2.08,0.00,0.000,6,0.000,0.051,2148,2023,2185
$GC,19320,0.97,148.8,682.6,8.4,1213,19321,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2023,2184
$GC,19626,0.97,148.8,656.0,8.7,1223,19628,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2023,2184
$GC,19932,0.97,148.8,629.3,8.6,1233,19936,0.00,2.08,0.00,0.000,4,0.000,0.065,2148,3128,2184
$GC,19986,0.97,148.8,624.5,7.7,1234,19994,0.00,2.05,0.00,0.000,6,0.000,0.052,2147,2025,2184
$GC,20299,0.97,148.8,600.3,7.6,1245,20300,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2025,2184
$GC,20611,0.97,150.1,579.5,6.8,1264,20612,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2025,2184
$GC,20923,0.97,150.1,557.0,7.4,1284,20924,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2025,2184
$GC,21237,0.97,150.1,533.7,7.4,1304,21241,0.00,2.08,0.00,0.000,4,0.000,0.063,2147,3128,2184
$GC,21298,0.97,150.1,528.8,8.4,1308,21302,0.00,2.00,0.00,0.000,6,0.000,0.050,2148,2025,2184
$GC,21622,0.97,150.1,502.6,8.7,1329,21625,0.00,2.08,0.00,0.000,4,0.000,0.061,2147,3135,2184
$GC,21683,0.97,150.1,496.8,10.3,1333,21686,0.00,2.03,0.00,0.000,6,0.000,0.048,2147,2019,2184
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$GC,23119,0.97,150.1,377.2,7.3,1425,23127,0.00,2.00,0.00,0.000,6,0.000,0.044,2148,2032,2184
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$GC,27769,1.11,205.8,18.8,4.9,1963,27821,0.12,2.10,41.40,0.802,4,0.050,0.051,2180,3125,1952
$GC,27956,1.11,205.8,5.4,7.1,1995,27962,0.00,1.92,0.00,0.000,6,0.000,0.038,2180,2045,1951
$STATE,28002,end climb,SURFACE_DEPTH_REACHED
$STATE,28002,begin surface coast
$FINISH,-0.1,1.026525
$STATE,28026,end surface coast,CONTROL_FINISHED_OK
$STATE,28026,begin surface
$SM_CCo,28043,30.67,0.766,0,0,1771,250.21
$SM_GC,0.55,0.00,0.00,30.67,0.000,0.000,0.766,59,2146,1771,-8.62,0.45,250.21
$IRIDIUM_FIX,6553.70,339.59,091097,060646
$TT8_MAMPS,0.021476
$HUMID,2023
$INTERNAL_PRESSURE,8.21321
$TCM_TEMP,3.00
$XPDR_PINGS,-1
$24V_AH,22.9,14.983
$10V_AH,10.1,8.123
$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,22.325,146.525,299.250,30.675,0.000,25.615,31.804,193.433,0.000,0.000,0.000,32.842,4224.450,20592.111,607.882,2540.652,481.694,0.000,2201.893,0.000,1910.799,0.000,0.653
$DEVICE_MAMPS,190.983,70.564,1576.185,766.233,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1907.558,1464.193,673.210,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97671,2007
$CAP_FILE_SIZE,206842,0
$CFSIZE,256368640,246558720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072,233.3,1
$GPS,150708,213601,6614.688,320.422,36,1.1,42,-3.5