version: 66.03
glider: 17
mission: 6
dive: 95
start: 7 16 108 13 37 51
data:
$ID,17
$MISSION,6
$DIVE,95
$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,-88123.844
$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,18
$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
$GPS1,132638,6610.864,258.039,38,1.1,38,-3.7
$_CALLS,2
$_XMS_NAKs,23
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-48.1
$GPS2,133732,6610.825,257.736,11,1.7,16,-3.7
$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,247.8,47889,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.87,-116.7,0.0,0.0,0,73,0.00,0.00,-52.65,0.000,2,0.000,0.000,61,2150,3145
$GC,75,-0.87,-116.7,3.6,-6.3,8,97,10.32,2.08,-2.80,0.000,4,0.196,0.067,1738,3240,3271
$GC,300,-0.87,-116.7,25.9,-7.1,47,307,0.00,1.95,0.00,0.000,6,0.000,0.034,1738,2117,3273
$GC,644,-0.95,-116.7,47.9,-5.5,108,651,0.00,2.00,0.00,0.000,4,0.000,0.047,1738,997,3274
$GC,687,-1.04,-116.7,50.4,-5.9,115,695,0.15,1.98,0.00,0.000,6,0.045,0.033,1699,2120,3275
$GC,1031,-1.04,-116.7,77.4,-8.2,176,1038,0.00,2.08,0.00,0.000,4,0.000,0.054,1699,3253,3276
$GC,1100,-0.98,-116.7,83.2,-8.4,188,1107,0.12,1.98,0.00,0.000,6,0.100,0.035,1720,2121,3276
$GC,1444,-0.98,-116.7,105.4,-6.4,249,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,1721,2122,3276
$GC,1786,-0.98,-116.7,130.1,-7.1,310,1793,0.00,2.10,0.00,0.000,4,0.000,0.053,1721,3249,3276
$GC,1822,-0.98,-116.7,132.6,-7.4,316,1829,0.00,1.98,0.00,0.000,6,0.000,0.036,1721,2124,3276
$GC,2168,-0.98,-116.7,152.9,-5.3,373,2169,0.00,0.00,0.00,0.000,6,0.000,0.000,1720,2124,3276
$GC,2487,-0.98,-116.7,171.0,-6.0,403,2491,0.00,2.08,0.00,0.000,4,0.000,0.053,1721,3248,3276
$GC,2517,-0.98,-116.7,172.7,-6.1,405,2520,0.00,1.95,0.00,0.000,6,0.000,0.037,1720,2128,3276
$GC,2842,-0.98,-116.7,193.0,-6.3,435,2845,0.00,2.05,0.00,0.000,4,0.000,0.053,1721,3251,3276
$GC,2881,-0.98,-116.7,195.7,-6.7,438,2884,0.00,1.98,0.00,0.000,6,0.000,0.037,1721,2129,3276
$GC,3207,-0.98,-116.7,215.6,-5.7,468,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,1721,2129,3276
$GC,3523,-0.98,-116.7,232.7,-5.2,498,3527,0.00,2.05,0.00,0.000,4,0.000,0.054,1721,3257,3276
$GC,3566,-0.98,-116.7,235.2,-5.6,501,3574,0.00,2.00,0.00,0.000,6,0.000,0.037,1721,2134,3276
$GC,3892,-0.98,-116.7,253.2,-6.0,532,3893,0.00,0.00,0.00,0.000,6,0.000,0.000,1721,2134,3275
$GC,4211,-0.98,-116.7,273.3,-6.5,562,4215,0.00,2.05,0.00,0.000,4,0.000,0.054,1721,3254,3275
$GC,4249,-0.98,-116.7,276.1,-7.1,565,4253,0.00,1.98,0.00,0.000,6,0.000,0.038,1721,2122,3275
$GC,4574,-0.98,-116.7,296.7,-6.0,595,4578,0.00,2.05,0.00,0.000,4,0.000,0.054,1721,3250,3275
$GC,4614,-0.98,-116.7,299.3,-6.6,598,4617,0.00,1.95,0.00,0.000,6,0.000,0.038,1721,2133,3275
$GC,4942,-0.98,-116.7,317.4,-5.2,619,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,1721,2133,3275
$GC,5254,-0.98,-116.7,333.8,-5.4,639,5258,0.00,2.05,0.00,0.000,4,0.000,0.055,1721,3251,3274
$GC,5317,-0.98,-116.7,337.5,-6.1,643,5320,0.00,1.95,0.00,0.000,6,0.000,0.038,1721,2135,3274
$GC,5640,-0.98,-116.7,356.4,-5.8,664,5641,0.00,0.00,0.00,0.000,6,0.000,0.000,1721,2135,3274
$GC,5952,-0.98,-116.7,374.2,-5.7,684,5956,0.00,2.05,0.00,0.000,4,0.000,0.056,1721,3253,3273
$GC,6014,-0.98,-116.7,378.0,-6.5,688,6018,0.00,1.98,0.00,0.000,6,0.000,0.038,1721,2132,3273
$GC,6338,-0.98,-116.7,396.8,-6.0,709,6339,0.00,0.00,0.00,0.000,6,0.000,0.000,1721,2132,3273
$GC,6649,-0.98,-116.7,416.3,-6.3,729,6653,0.00,2.05,0.00,0.000,4,0.000,0.057,1721,3253,3273
$GC,6686,-0.98,-116.7,418.9,-7.0,731,6694,0.00,2.00,0.00,0.000,6,0.000,0.039,1720,2140,3272
$GC,7006,-0.98,-116.7,440.0,-6.9,752,7007,0.00,0.00,0.00,0.000,6,0.000,0.000,1721,2140,3272
$GC,7318,-0.98,-116.7,461.7,-6.8,772,7322,0.00,2.05,0.00,0.000,4,0.000,0.058,1721,3254,3272
$GC,7389,-0.98,-116.7,466.7,-6.9,776,7397,0.00,2.00,0.00,0.000,6,0.000,0.040,1721,2142,3272
$GC,7709,-1.04,-116.7,484.4,-4.8,797,7710,0.00,0.00,0.00,0.000,6,0.000,0.000,1721,2142,3272
$GC,8021,-1.10,-116.7,496.6,-3.6,817,8023,0.12,0.00,0.00,0.000,6,0.054,0.000,1690,2142,3271
$GC,8333,-1.10,-116.7,513.2,-6.1,837,8337,0.00,2.05,0.00,0.000,4,0.000,0.061,1690,3248,3271
$GC,8388,-1.03,-116.7,517.1,-7.1,840,8395,0.00,2.00,0.00,0.000,6,0.000,0.042,1690,2141,3271
$GC,8706,-1.03,-116.7,541.0,-7.9,861,8707,0.00,0.00,0.00,0.000,6,0.000,0.000,1689,2141,3270
$GC,9019,-1.03,-116.7,566.3,-7.9,881,9023,0.00,2.08,0.00,0.000,4,0.000,0.062,1689,3254,3270
$GC,9073,-1.03,-116.7,571.0,-8.8,884,9081,0.00,2.00,0.00,0.000,6,0.000,0.043,1690,2150,3269
$GC,9392,-1.03,-116.7,595.5,-7.4,905,9393,0.00,0.00,0.00,0.000,6,0.000,0.000,1689,2150,3268
$GC,9715,-1.03,-116.7,616.3,-6.1,918,9719,0.00,2.03,0.00,0.000,4,0.000,0.064,1689,3247,3268
$GC,9763,-1.03,-116.7,619.4,-6.2,919,9768,0.00,2.00,0.00,0.000,6,0.000,0.044,1690,2142,3268
$GC,10082,-1.03,-116.7,636.9,-5.4,930,10086,0.00,2.05,0.00,0.000,4,0.000,0.067,1690,3250,3267
$GC,10114,-1.03,-116.7,638.7,-5.8,931,10118,0.00,2.03,0.00,0.000,6,0.000,0.046,1689,2113,3268
$GC,10449,-1.03,-116.7,658.4,-6.3,942,10453,0.00,2.12,0.00,0.000,4,0.000,0.069,1689,3251,3267
$GC,10486,-1.03,-116.7,661.1,-7.1,943,10490,0.00,2.00,0.00,0.000,6,0.000,0.047,1689,2155,3267
$GC,10816,-1.03,-116.7,684.5,-7.2,954,10817,0.00,0.00,0.00,0.000,6,0.000,0.000,1689,2154,3266
$GC,11122,-1.03,-116.7,706.8,-7.3,964,11125,0.00,2.05,0.00,0.000,4,0.000,0.069,1690,3245,3266
$GC,11153,-1.03,-116.7,709.3,-7.9,965,11158,0.00,2.00,0.00,0.000,6,0.000,0.048,1689,2150,3266
$GC,11491,-1.03,-116.7,731.4,-6.4,976,11492,0.00,0.00,0.00,0.000,6,0.000,0.000,1689,2150,3265
$GC,11795,-1.03,-116.7,751.6,-6.7,986,11797,0.00,0.00,0.00,0.000,6,0.000,0.000,1689,2150,3264
$GC,12103,-1.03,-116.7,772.7,-6.8,996,12104,0.00,0.00,0.00,0.000,6,0.000,0.000,1690,2150,3263
$GC,12409,-1.03,-116.7,792.9,-6.6,1006,12413,0.00,2.05,0.00,0.000,4,0.000,0.071,1690,3246,3262
$GC,12457,-1.03,-116.7,796.5,-7.1,1007,12462,0.00,2.00,0.00,0.000,6,0.000,0.048,1690,2154,3262
$GC,12776,-1.03,-116.7,818.4,-7.1,1018,12777,0.00,0.00,0.00,0.000,6,0.000,0.000,1689,2153,3261
$GC,13082,-1.03,-116.7,841.4,-7.7,1028,13086,0.00,2.03,0.00,0.000,4,0.000,0.070,1690,3245,3260
$GC,13110,-1.03,-116.7,843.7,-8.6,1029,13113,0.00,1.98,0.00,0.000,6,0.000,0.049,1690,2145,3260
$GC,13443,-1.03,-116.7,869.7,-7.7,1040,13445,0.00,0.00,0.00,0.000,6,0.000,0.000,1689,2145,3259
$GC,13750,-1.03,-116.7,892.3,-7.2,1050,13751,0.00,0.00,0.00,0.000,6,0.000,0.000,1689,2144,3259
$GC,14057,-1.03,-116.7,912.7,-6.3,1060,14058,0.00,0.00,0.00,0.000,6,0.000,0.000,1689,2144,3258
$GC,14363,-1.03,-116.7,929.8,-5.4,1070,14366,0.00,2.08,0.00,0.000,4,0.000,0.071,1690,3252,3257
$GC,14394,-1.03,-116.7,931.7,-6.0,1071,14399,0.00,2.00,0.00,0.000,6,0.000,0.049,1690,2158,3257
$GC,14730,-1.03,-116.7,949.8,-5.5,1082,14731,0.00,0.00,0.00,0.000,6,0.000,0.000,1690,2158,3257
$GC,15036,-1.03,-116.7,968.9,-6.5,1092,15037,0.00,0.00,0.00,0.000,6,0.000,0.000,1689,2157,3256
$STATE,15340,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15340,begin apogee
$GC,15345,-0.31,0.0,990.7,7.4,1102,15451,0.88,0.00,103.00,1.563,6,0.103,0.000,1862,2006,2792
$STATE,15452,end apogee,CONTROL_FINISHED_OK
$STATE,15452,begin climb
$GC,15454,0.87,116.7,993.9,0.0,1105,15562,1.27,0.00,104.15,1.500,6,0.075,0.000,2120,2006,2316
$GC,15858,0.89,134.6,975.7,6.2,1119,15881,0.00,2.25,16.80,1.404,4,0.000,0.066,2120,3127,2243
$GC,15950,0.89,134.6,969.5,7.2,1121,15957,0.00,2.05,0.00,0.000,6,0.000,0.052,2121,2017,2242
$GC,16262,0.89,134.6,948.1,6.9,1132,16263,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2017,2241
$GC,16568,0.89,134.6,925.4,7.6,1142,16571,0.00,2.12,0.00,0.000,4,0.000,0.066,2120,3131,2240
$GC,16616,0.89,134.6,921.5,8.5,1143,16620,0.00,2.08,0.00,0.000,6,0.000,0.052,2120,2020,2240
$GC,16935,0.89,134.6,896.9,7.9,1154,16936,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2019,2240
$GC,17241,0.89,134.6,871.7,8.3,1164,17242,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2020,2240
$GC,17547,0.89,134.6,845.8,8.5,1174,17551,0.00,2.10,0.00,0.000,4,0.000,0.066,2120,3128,2240
$GC,17601,0.89,134.6,841.1,8.5,1175,17609,0.00,2.08,0.00,0.000,6,0.000,0.053,2121,2017,2240
$GC,17915,0.96,134.6,817.4,7.2,1186,17916,0.10,0.00,0.00,0.000,6,0.063,0.000,2146,2017,2240
$GC,18220,0.97,144.5,796.1,6.5,1196,18235,0.00,2.17,9.85,1.285,4,0.000,0.064,2145,3130,2202
$GC,18273,0.97,144.5,792.5,7.3,1197,18281,0.00,2.10,0.00,0.000,6,0.000,0.052,2146,2017,2202
$GC,18587,0.99,161.9,773.1,6.2,1208,18605,0.00,0.00,16.52,1.356,6,0.000,0.000,2146,2016,2132
$GC,18892,0.99,161.9,749.7,8.3,1218,18896,0.00,2.10,0.00,0.000,4,0.000,0.065,2146,3128,2131
$GC,18935,0.99,161.9,745.6,8.8,1219,18939,0.00,2.08,0.00,0.000,6,0.000,0.053,2146,2017,2131
$GC,19259,0.99,161.9,714.0,10.1,1230,19260,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2017,2130
$GC,19565,0.99,161.9,683.9,9.5,1240,19569,0.00,2.10,0.00,0.000,4,0.000,0.064,2146,3127,2130
$GC,19630,0.99,161.9,677.7,8.5,1242,19634,0.00,2.08,0.00,0.000,6,0.000,0.052,2146,2016,2131
$GC,19965,0.99,161.9,650.3,7.8,1253,19967,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2016,2131
$GC,20272,0.99,165.2,629.2,6.7,1263,20281,0.00,2.12,4.78,0.965,4,0.000,0.064,2146,3127,2118
$GC,20335,0.99,165.2,624.5,7.4,1265,20340,0.00,2.08,0.00,0.000,6,0.000,0.051,2146,2018,2118
$GC,20671,0.99,165.2,599.2,8.0,1276,20672,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2018,2118
$GC,20983,0.99,165.2,570.6,9.7,1296,20987,0.00,2.08,0.00,0.000,4,0.000,0.062,2146,3128,2118
$GC,21062,0.99,165.2,563.0,8.9,1301,21065,0.00,2.03,0.00,0.000,6,0.000,0.051,2146,2018,2118
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$GC,27935,1.13,190.2,9.2,5.9,1989,27961,0.00,2.12,21.30,0.782,4,0.000,0.049,2161,3132,2016
$STATE,28039,end climb,SURFACE_DEPTH_REACHED
$STATE,28039,begin surface coast
$FINISH,1.0,1.026525
$STATE,28052,end surface coast,CONTROL_FINISHED_OK
$STATE,28053,begin surface
$SM_CCo,28070,40.05,0.772,0,0,1772,250.21
$SM_GC,1.09,0.00,0.00,40.05,0.000,0.000,0.772,61,2116,1772,-8.62,-0.37,250.21
$IRIDIUM_FIX,6543.17,255.46,101097,131307
$TT8_MAMPS,0.021476
$HUMID,2027
$INTERNAL_PRESSURE,8.21321
$TCM_TEMP,3.00
$XPDR_PINGS,-1
$24V_AH,22.9,15.415
$10V_AH,10.1,8.541
$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,23.025,159.325,280.075,40.050,0.000,58.160,66.235,342.966,0.000,0.000,0.000,16.513,4254.400,20662.258,609.445,2513.847,712.745,0.000,2203.731,0.000,1911.794,0.000,0.653
$DEVICE_MAMPS,196.352,70.564,1563.146,771.602,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1910.346,1466.278,649.206,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97780,2009
$CAP_FILE_SIZE,215835,0
$CFSIZE,256368640,246263808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.156,270.0,1
$GPS,160708,212738,6609.288,243.817,41,1.1,41,-3.9