version: 66.03
glider: 17
mission: 6
dive: 93
start: 7 15 108 21 46 34
data:
$ID,17
$MISSION,6
$DIVE,93
$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,-88072.18
$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,19
$R_STBD_OVSHOOT,36
$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
$GPS1,213601,6614.688,320.422,36,1.1,42,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-48.1
$GPS2,214615,6614.552,320.304,9,1.7,9,-3.5
$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,253.5,66223,-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,-49.67,0.000,2,0.000,0.000,59,2146,3048
$GC,71,-0.87,-116.7,3.3,-6.1,7,93,10.40,2.15,-5.15,0.000,4,0.198,0.061,1740,997,3269
$GC,157,-0.94,-116.7,14.0,-6.7,21,163,0.00,1.98,0.00,0.000,6,0.000,0.035,1740,2122,3272
$GC,500,-1.03,-116.7,35.6,-4.5,82,508,0.15,2.10,0.00,0.000,4,0.045,0.052,1697,3260,3273
$GC,678,-0.96,-116.7,47.8,-8.2,113,685,0.15,1.98,0.00,0.000,6,0.100,0.034,1723,2123,3274
$GC,1022,-0.96,-116.7,71.3,-7.0,174,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,1723,2122,3275
$GC,1365,-0.96,-116.7,94.4,-6.2,235,1372,0.00,2.10,0.00,0.000,4,0.000,0.052,1723,3258,3276
$GC,1450,-0.96,-116.7,100.1,-6.7,250,1457,0.00,1.98,0.00,0.000,6,0.000,0.035,1723,2132,3276
$GC,1795,-0.96,-116.7,120.9,-6.2,311,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,1723,2132,3276
$GC,2139,-0.96,-116.7,142.1,-6.6,372,2146,0.00,2.10,0.00,0.000,4,0.000,0.054,1723,3254,3276
$GC,2230,-0.96,-116.7,148.6,-7.0,388,2237,0.00,1.98,0.00,0.000,6,0.000,0.036,1723,2130,3276
$GC,2565,-0.96,-116.7,170.4,-6.5,421,2566,0.00,0.00,0.00,0.000,6,0.000,0.000,1723,2130,3276
$GC,2881,-0.96,-116.7,190.7,-6.3,451,2885,0.00,2.05,0.00,0.000,4,0.000,0.054,1723,3251,3276
$GC,2924,-0.96,-116.7,193.7,-6.6,454,2931,0.00,1.98,0.00,0.000,6,0.000,0.036,1723,2142,3276
$GC,3251,-1.02,-116.7,213.9,-6.1,485,3252,0.00,0.00,0.00,0.000,6,0.000,0.000,1723,2142,3276
$GC,3569,-1.02,-116.7,233.3,-6.1,515,3573,0.00,2.03,0.00,0.000,4,0.000,0.054,1723,3251,3275
$GC,3623,-1.02,-116.7,237.0,-6.8,519,3631,0.00,1.98,0.00,0.000,6,0.000,0.036,1723,2145,3275
$GC,3950,-1.02,-116.7,257.7,-6.4,550,3953,0.00,2.03,0.00,0.000,4,0.000,0.055,1723,3249,3276
$GC,3992,-1.02,-116.7,260.7,-6.9,553,4000,0.00,1.98,0.00,0.000,6,0.000,0.037,1723,2140,3276
$GC,4319,-1.08,-116.7,282.3,-6.6,584,4321,0.12,0.00,0.00,0.000,6,0.053,0.000,1693,2140,3276
$GC,4635,-1.08,-116.7,307.6,-8.1,611,4638,0.00,2.03,0.00,0.000,4,0.000,0.055,1693,3252,3275
$GC,4722,-1.02,-116.7,315.1,-8.4,616,4730,0.00,1.98,0.00,0.000,6,0.000,0.037,1692,2142,3275
$GC,5042,-1.02,-116.7,339.1,-7.0,637,5045,0.00,2.03,0.00,0.000,4,0.000,0.056,1693,3251,3275
$GC,5078,-1.02,-116.7,341.9,-7.2,639,5086,0.00,1.98,0.00,0.000,6,0.000,0.038,1693,2147,3275
$GC,5398,-1.02,-116.7,362.9,-6.5,660,5399,0.00,0.00,0.00,0.000,6,0.000,0.000,1693,2147,3274
$GC,5711,-1.02,-116.7,383.7,-6.8,680,5714,0.00,2.05,0.00,0.000,4,0.000,0.055,1693,3254,3273
$GC,5764,-1.02,-116.7,387.7,-7.7,683,5772,0.00,2.00,0.00,0.000,6,0.000,0.038,1692,2143,3274
$GC,6085,-1.02,-116.7,411.4,-7.8,704,6086,0.00,0.00,0.00,0.000,6,0.000,0.000,1692,2143,3273
$GC,6396,-1.02,-116.7,436.9,-8.1,724,6400,0.00,2.03,0.00,0.000,4,0.000,0.057,1692,3254,3273
$GC,6461,-1.02,-116.7,442.6,-9.1,728,6466,0.00,1.98,0.00,0.000,6,0.000,0.039,1692,2152,3273
$GC,6786,-1.02,-116.7,470.8,-8.8,749,6787,0.00,0.00,0.00,0.000,6,0.000,0.000,1692,2152,3273
$GC,7099,-1.02,-116.7,496.6,-7.6,769,7100,0.00,0.00,0.00,0.000,6,0.000,0.000,1692,2152,3273
$GC,7411,-1.02,-116.7,520.2,-7.7,789,7414,0.00,2.03,0.00,0.000,4,0.000,0.060,1693,3251,3272
$GC,7493,-1.02,-116.7,526.8,-8.2,794,7497,0.00,1.98,0.00,0.000,6,0.000,0.041,1693,2151,3272
$GC,7818,-1.02,-116.7,549.0,-6.5,815,7819,0.00,0.00,0.00,0.000,6,0.000,0.000,1693,2151,3272
$GC,8130,-1.02,-116.7,567.6,-5.7,835,8134,0.00,2.05,0.00,0.000,4,0.000,0.061,1692,3250,3271
$GC,8175,-1.02,-116.7,570.3,-6.1,838,8178,0.00,1.95,0.00,0.000,6,0.000,0.043,1692,2148,3271
$GC,8498,-1.02,-116.7,590.0,-6.1,859,8499,0.00,0.00,0.00,0.000,6,0.000,0.000,1692,2148,3271
$GC,8807,-1.02,-116.7,610.5,-6.9,874,8808,0.00,0.00,0.00,0.000,6,0.000,0.000,1693,2148,3270
$GC,9113,-1.02,-116.7,632.9,-7.5,884,9117,0.00,2.08,0.00,0.000,4,0.000,0.065,1692,3249,3269
$GC,9184,-1.02,-116.7,638.7,-7.8,886,9189,0.00,1.98,0.00,0.000,6,0.000,0.044,1692,2162,3269
$GC,9514,-1.02,-116.7,663.9,-7.7,897,9515,0.00,0.00,0.00,0.000,6,0.000,0.000,1692,2162,3268
$GC,9820,-1.02,-116.7,688.1,-8.1,907,9824,0.00,2.05,0.00,0.000,4,0.000,0.069,1692,3255,3267
$GC,9857,-1.02,-116.7,691.3,-8.4,908,9862,0.00,2.03,0.00,0.000,6,0.000,0.046,1693,2145,3267
$GC,10187,-1.02,-116.7,716.6,-7.5,919,10188,0.00,0.00,0.00,0.000,6,0.000,0.000,1692,2144,3266
$GC,10495,-1.02,-116.7,737.4,-6.6,929,10496,0.00,0.00,0.00,0.000,6,0.000,0.000,1693,2144,3266
$GC,10801,-1.02,-116.7,756.7,-6.2,939,10805,0.00,2.05,0.00,0.000,4,0.000,0.070,1692,3248,3265
$GC,10838,-1.02,-116.7,759.3,-6.7,940,10843,0.00,1.98,0.00,0.000,6,0.000,0.048,1692,2165,3265
$GC,11169,-1.02,-116.7,779.1,-6.0,951,11170,0.00,0.00,0.00,0.000,6,0.000,0.000,1693,2165,3263
$GC,11474,-1.02,-116.7,797.6,-6.0,961,11476,0.00,0.00,0.00,0.000,6,0.000,0.000,1692,2165,3263
$GC,11781,-1.02,-116.7,816.3,-6.2,971,11784,0.00,2.03,0.00,0.000,4,0.000,0.070,1692,3248,3262
$GC,11808,-1.02,-116.7,818.1,-6.8,972,11812,0.00,1.95,0.00,0.000,6,0.000,0.049,1692,2161,3262
$GC,12143,-1.02,-116.7,838.9,-6.2,983,12144,0.00,0.00,0.00,0.000,6,0.000,0.000,1692,2161,3261
$GC,12448,-1.02,-116.7,858.2,-6.4,993,12449,0.00,0.00,0.00,0.000,6,0.000,0.000,1692,2160,3261
$GC,12755,-1.02,-116.7,877.9,-6.4,1003,12756,0.00,0.00,0.00,0.000,6,0.000,0.000,1692,2159,3260
$GC,13062,-1.02,-116.7,897.6,-6.5,1013,13064,0.00,0.00,0.00,0.000,6,0.000,0.000,1693,2160,3260
$GC,13368,-1.02,-116.7,917.6,-6.6,1023,13369,0.00,0.00,0.00,0.000,6,0.000,0.000,1692,2159,3259
$GC,13675,-1.02,-116.7,937.6,-6.5,1033,13676,0.00,0.00,0.00,0.000,6,0.000,0.000,1692,2159,3259
$GC,13980,-1.02,-116.7,957.3,-6.5,1043,13984,0.00,2.12,0.00,0.000,4,0.000,0.067,1692,1003,3259
$GC,14011,-1.02,-116.7,959.6,-7.0,1044,14016,0.00,2.10,0.00,0.000,6,0.000,0.048,1692,2152,3258
$GC,14347,-1.02,-116.7,980.5,-6.3,1055,14348,0.00,0.00,0.00,0.000,6,0.000,0.000,1692,2152,3258
$STATE,14498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14498,begin apogee
$GC,14503,-0.31,0.0,990.1,6.3,1060,14609,0.88,0.00,103.20,1.561,6,0.107,0.000,1863,2005,2792
$STATE,14610,end apogee,CONTROL_FINISHED_OK
$STATE,14610,begin climb
$GC,14612,0.87,116.7,992.3,0.0,1063,14720,1.27,0.00,104.53,1.506,6,0.077,0.000,2121,2005,2316
$GC,15016,0.88,119.9,970.6,6.8,1077,15025,0.00,2.17,4.22,0.962,4,0.000,0.067,2121,3133,2303
$GC,15076,0.88,120.3,966.3,6.9,1078,15083,0.00,2.08,0.00,0.000,6,0.000,0.051,2121,2024,2303
$GC,15388,0.88,120.3,944.5,7.1,1089,15389,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2024,2302
$GC,15694,0.88,120.3,923.0,7.1,1099,15696,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2024,2302
$GC,16001,0.88,120.3,899.2,7.9,1109,16004,0.00,2.12,0.00,0.000,4,0.000,0.066,2121,3133,2301
$GC,16049,0.88,120.3,895.2,8.0,1110,16053,0.00,2.08,0.00,0.000,6,0.000,0.052,2121,2017,2301
$GC,16369,0.88,120.3,870.3,7.9,1121,16370,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2018,2301
$GC,16675,0.88,120.3,846.3,7.8,1131,16679,0.00,2.12,0.00,0.000,4,0.000,0.067,2121,3139,2301
$GC,16736,0.88,120.3,841.4,7.6,1133,16740,0.00,2.08,0.00,0.000,6,0.000,0.053,2121,2005,2300
$GC,17070,0.88,120.3,817.4,7.0,1144,17071,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2005,2300
$GC,17376,0.89,130.4,797.1,6.5,1154,17391,0.00,2.20,10.43,1.306,4,0.000,0.065,2121,3143,2260
$GC,17446,0.89,130.4,792.2,7.4,1156,17451,0.00,2.10,0.00,0.000,6,0.000,0.051,2121,2022,2259
$GC,17776,0.90,138.3,770.3,6.6,1167,17786,0.00,0.00,8.32,1.233,6,0.000,0.000,2121,2022,2228
$GC,18082,0.90,144.5,750.0,6.6,1177,18095,0.00,2.20,7.18,1.177,4,0.000,0.065,2121,3141,2203
$GC,18134,0.90,144.5,746.1,8.3,1178,18138,0.00,2.10,0.00,0.000,6,0.000,0.053,2121,2020,2203
$GC,18453,0.97,144.5,723.3,7.2,1189,18455,0.12,0.00,0.00,0.000,6,0.061,0.000,2150,2019,2202
$GC,18759,0.97,144.5,697.9,8.5,1199,18760,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2020,2202
$GC,19065,0.97,144.5,671.9,8.4,1209,19069,0.00,2.12,0.00,0.000,4,0.000,0.065,2150,3139,2202
$GC,19114,0.91,144.5,667.6,8.0,1210,19118,0.00,2.08,0.00,0.000,6,0.000,0.052,2151,2022,2202
$GC,19434,0.91,144.5,642.4,7.8,1221,19435,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2022,2202
$GC,19739,0.91,144.5,618.2,7.8,1231,19742,0.00,2.10,0.00,0.000,4,0.000,0.064,2151,3134,2202
$GC,19804,0.91,144.5,612.8,8.0,1233,19808,0.00,2.08,0.00,0.000,6,0.000,0.051,2151,2018,2202
$GC,20127,0.91,144.5,588.6,7.3,1248,20128,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2018,2202
$GC,20439,0.91,144.5,566.3,7.2,1268,20443,0.00,2.08,0.00,0.000,4,0.000,0.064,2151,3134,2202
$GC,20475,0.91,144.5,563.4,8.0,1270,20483,0.00,2.05,0.00,0.000,6,0.000,0.051,2150,2022,2202
$GC,20795,0.91,144.5,539.6,7.3,1291,20796,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2022,2201
$GC,21107,0.91,144.5,515.8,7.6,1311,21111,0.00,2.08,0.00,0.000,4,0.000,0.061,2150,3143,2202
$GC,21152,0.91,144.5,512.2,8.1,1314,21155,0.00,2.03,0.00,0.000,6,0.000,0.049,2150,2020,2202
$GC,21475,0.91,144.5,487.6,8.0,1335,21479,0.00,2.10,0.00,0.000,4,0.000,0.069,2151,882,2202
$GC,21512,0.91,144.5,484.3,9.1,1337,21520,0.00,2.08,0.00,0.000,6,0.000,0.044,2151,2028,2202
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$GC,22825,0.91,144.5,379.4,9.1,1422,22828,0.00,2.08,0.00,0.000,4,0.000,0.056,2151,3135,2203
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$STATE,27889,end climb,SURFACE_DEPTH_REACHED
$STATE,27889,begin surface coast
$FINISH,-0.0,1.002947
$STATE,27931,end surface coast,CONTROL_FINISHED_OK
$STATE,27931,begin surface
$SM_CCo,27947,60.38,0.772,0,0,1771,250.21
$SM_GC,1.49,0.00,0.00,60.38,0.000,0.000,0.772,50,2151,1771,-8.67,0.59,250.21
$IRIDIUM_FIX,6548.42,322.93,091097,212136
$TT8_MAMPS,0.021476
$HUMID,2023
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,4.00
$XPDR_PINGS,-1
$24V_AH,22.8,15.122
$10V_AH,10.1,8.265
$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,22.300,147.475,243.125,60.375,0.000,56.745,76.860,300.083,0.000,0.000,0.000,9.655,4315.218,20466.426,590.104,2564.780,672.848,0.000,2195.936,0.000,1939.749,0.000,0.654
$DEVICE_MAMPS,197.886,69.797,1560.845,772.369,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1948.321,1511.717,716.256,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100829,2045
$CAP_FILE_SIZE,209567,0
$CFSIZE,256368640,246456320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.087,225.2,1
$GPS,160708,053438,6612.486,309.699,41,2.0,41,-3.6