version: 66.03
glider: 17
mission: 6
dive: 101
start: 7 18 108 14 21 23
data:
$ID,17
$MISSION,6
$DIVE,101
$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,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,-88251.516
$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,20
$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
$GPS1,141434,6600.701,204.407,43,1.2,45,-4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-48.1
$GPS2,142044,6600.696,204.378,14,1.2,14,-4.2
$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,216.5,3541,-20.6,-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,-1.34,-46.8,0.0,0.0,0,71,0.00,0.00,-47.45,0.000,6,0.000,0.000,52,2152,2983
$GC,73,-1.34,-50.9,3.8,-6.5,8,89,9.65,2.08,-0.43,0.000,4,0.193,0.063,1635,3244,3002
$GC,123,-0.93,-50.9,13.9,-18.3,16,131,0.50,1.98,0.00,0.000,6,0.115,0.036,1728,2120,3004
$GC,469,-1.42,-73.4,35.0,-4.7,77,477,0.45,2.12,-0.98,0.000,4,0.038,0.063,1616,3246,3097
$GC,624,-1.51,-73.4,49.5,-9.9,104,631,0.00,1.95,0.00,0.000,6,0.000,0.034,1616,2132,3098
$GC,969,-1.59,-73.4,80.5,-9.0,165,976,0.12,2.03,0.00,0.000,4,0.052,0.050,1585,3246,3099
$GC,1032,-1.59,-73.4,87.1,-10.8,176,1039,0.00,1.95,0.00,0.000,6,0.000,0.035,1585,2136,3100
$GC,1377,-1.59,-73.4,124.8,-11.2,237,1383,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2136,3101
$GC,1719,-1.59,-73.4,163.2,-10.8,288,1722,0.00,2.03,0.00,0.000,4,0.000,0.052,1585,3242,3101
$GC,1826,-1.59,-73.4,175.2,-11.7,297,1829,0.00,1.92,0.00,0.000,6,0.000,0.036,1585,2137,3101
$GC,2150,-1.59,-73.4,211.2,-11.5,327,2153,0.00,2.00,0.00,0.000,4,0.000,0.053,1585,3240,3101
$GC,2181,-1.59,-73.4,215.1,-11.9,329,2189,0.00,1.98,0.00,0.000,6,0.000,0.037,1585,2137,3101
$GC,2508,-1.59,-73.4,251.2,-10.7,360,2511,0.00,2.03,0.00,0.000,4,0.000,0.053,1585,3247,3101
$GC,2550,-1.59,-73.4,256.2,-11.2,363,2558,0.00,1.98,0.00,0.000,6,0.000,0.038,1584,2142,3101
$GC,2877,-1.59,-73.4,289.8,-9.9,394,2881,0.00,2.00,0.00,0.000,4,0.000,0.053,1585,3240,3101
$GC,2910,-1.59,-73.4,293.4,-10.6,396,2916,0.00,1.92,0.00,0.000,6,0.000,0.038,1585,2138,3101
$GC,3229,-1.59,-73.4,324.9,-9.7,419,3232,0.00,2.03,0.00,0.000,4,0.000,0.054,1585,3246,3101
$GC,3290,-1.59,-73.4,331.1,-10.2,423,3294,0.00,1.95,0.00,0.000,6,0.000,0.038,1585,2137,3101
$GC,3613,-1.59,-73.4,362.7,-9.8,444,3614,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2137,3101
$GC,3926,-1.59,-73.4,394.5,-10.1,464,3929,0.00,2.03,0.00,0.000,4,0.000,0.054,1585,3247,3101
$GC,3957,-1.59,-73.4,397.9,-10.6,466,3962,0.00,1.98,0.00,0.000,6,0.000,0.039,1585,2149,3101
$GC,4282,-1.59,-73.4,430.8,-10.1,487,4285,0.00,2.00,0.00,0.000,4,0.000,0.056,1585,3248,3101
$GC,4381,-1.59,-73.4,441.6,-10.8,493,4385,0.00,1.98,0.00,0.000,6,0.000,0.039,1584,2147,3101
$GC,4705,-1.59,-73.4,476.0,-10.2,514,4709,0.00,2.00,0.00,0.000,4,0.000,0.058,1585,3240,3100
$GC,4750,-1.59,-73.4,480.8,-10.8,517,4753,0.00,1.92,0.00,0.000,6,0.000,0.041,1585,2146,3100
$GC,5073,-1.59,-73.4,511.9,-9.3,538,5074,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2146,3100
$GC,5385,-1.59,-73.4,540.8,-9.4,558,5389,0.00,2.00,0.00,0.000,4,0.000,0.061,1585,3238,3099
$GC,5446,-1.59,-73.4,546.8,-9.6,562,5450,0.00,1.92,0.00,0.000,6,0.000,0.044,1585,2156,3099
$GC,5770,-1.59,-73.4,579.0,-10.2,583,5774,0.00,2.03,0.00,0.000,4,0.000,0.063,1585,3246,3098
$GC,5824,-1.59,-73.4,585.1,-10.5,586,5832,0.00,1.95,0.00,0.000,6,0.000,0.044,1585,2172,3098
$GC,6155,-1.59,-73.4,618.9,-10.2,602,6159,0.00,1.98,0.00,0.000,4,0.000,0.064,1585,3237,3097
$GC,6184,-1.59,-73.4,621.7,-10.6,603,6187,0.00,1.92,0.00,0.000,6,0.000,0.046,1585,2157,3096
$GC,6518,-1.59,-73.4,655.4,-9.9,614,6521,0.00,2.00,0.00,0.000,4,0.000,0.067,1584,3236,3095
$GC,6554,-1.59,-73.4,659.4,-10.3,615,6559,0.00,1.95,0.00,0.000,6,0.000,0.047,1585,2169,3095
$GC,6885,-1.59,-73.4,690.2,-9.1,626,6888,0.00,1.98,0.00,0.000,4,0.000,0.068,1585,3236,3094
$GC,6938,-1.59,-73.4,695.6,-9.6,627,6946,0.00,1.98,0.00,0.000,6,0.000,0.048,1585,2156,3093
$GC,7251,-1.59,-73.4,724.7,-9.2,638,7255,0.00,2.00,0.00,0.000,4,0.000,0.067,1585,3238,3093
$GC,7283,-1.59,-73.4,728.0,-9.9,639,7287,0.00,1.95,0.00,0.000,6,0.000,0.048,1585,2172,3093
$GC,7618,-1.59,-73.4,759.1,-9.4,650,7619,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2172,3092
$GC,7924,-1.59,-73.4,788.4,-9.5,660,7926,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2172,3091
$GC,8230,-1.59,-73.4,817.0,-9.3,670,8234,0.00,1.98,0.00,0.000,4,0.000,0.067,1585,3236,3091
$GC,8296,-1.59,-73.4,823.5,-9.6,672,8300,0.00,1.95,0.00,0.000,6,0.000,0.048,1583,2169,3091
$GC,8631,-1.59,-73.4,854.7,-9.4,683,8633,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2168,3089
$GC,8939,-1.59,-73.4,882.9,-9.1,693,8942,0.00,2.00,0.00,0.000,4,0.000,0.068,1585,3241,3088
$GC,9015,-1.59,-73.4,890.5,-9.6,695,9019,0.00,1.95,0.00,0.000,6,0.000,0.049,1584,2177,3088
$GC,9339,-1.59,-73.4,919.6,-9.0,706,9340,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2177,3086
$GC,9645,-1.59,-73.4,946.7,-8.9,716,9646,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2177,3086
$GC,9952,-1.59,-73.4,973.2,-8.6,726,9953,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2177,3086
$STATE,10164,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10164,begin apogee
$GC,10169,-0.31,0.0,991.1,8.3,733,10238,1.48,0.00,65.68,1.572,6,0.125,0.000,1864,2000,2792
$STATE,10239,end apogee,CONTROL_FINISHED_OK
$STATE,10239,begin climb
$GC,10241,1.37,73.4,992.0,0.0,735,10312,1.80,0.00,67.15,1.520,6,0.072,0.000,2231,2000,2492
$GC,10593,1.47,73.4,964.7,9.0,747,10598,0.10,2.12,0.00,0.000,4,0.074,0.065,2253,3121,2490
$GC,10697,1.47,73.4,954.5,10.3,750,10702,0.00,2.08,0.00,0.000,6,0.000,0.052,2253,2015,2489
$GC,11029,1.47,73.4,924.2,9.2,761,11030,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2015,2489
$GC,11335,1.47,73.4,896.7,8.9,771,11339,0.00,2.10,0.00,0.000,4,0.000,0.067,2253,3125,2488
$GC,11411,1.47,73.4,889.5,9.2,773,11416,0.00,2.08,0.00,0.000,6,0.000,0.052,2253,2011,2488
$GC,11735,1.47,73.4,861.7,8.4,784,11737,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2011,2488
$GC,12042,1.47,73.4,836.2,8.3,794,12046,0.00,2.08,0.00,0.000,4,0.000,0.067,2253,3118,2488
$GC,12163,1.47,73.4,825.7,8.6,797,12170,0.00,2.05,0.00,0.000,6,0.000,0.052,2252,2017,2487
$GC,12476,1.47,73.4,799.8,8.2,808,12477,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2017,2487
$GC,12782,1.47,73.4,775.0,8.0,818,12786,0.00,2.10,0.00,0.000,4,0.000,0.066,2253,3128,2486
$GC,12853,1.47,73.4,768.9,8.3,820,12857,0.00,2.05,0.00,0.000,6,0.000,0.053,2253,2005,2486
$GC,13176,1.47,73.4,742.3,8.2,831,13178,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2004,2486
$GC,13483,1.47,73.4,717.6,8.0,841,13487,0.00,2.08,0.00,0.000,4,0.000,0.067,2253,3122,2485
$GC,13598,1.47,73.4,707.7,8.1,844,13603,0.00,2.05,0.00,0.000,6,0.000,0.053,2253,2015,2485
$GC,13917,1.47,73.4,681.3,8.4,855,13918,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2015,2485
$GC,14223,1.47,73.4,656.1,8.2,865,14227,0.00,2.08,0.00,0.000,4,0.000,0.067,2253,3124,2485
$GC,14345,1.47,73.4,646.0,7.6,868,14352,0.00,2.08,0.00,0.000,6,0.000,0.052,2253,2011,2485
$GC,14658,1.47,73.4,622.3,7.3,879,14659,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2011,2485
$GC,14964,1.47,73.4,600.9,7.0,889,14965,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2011,2485
$GC,15276,1.47,73.7,579.1,6.8,908,15280,0.00,2.10,0.00,0.000,4,0.000,0.066,2253,3125,2484
$GC,15422,1.47,74.0,568.4,6.9,917,15425,0.00,2.03,0.00,0.000,6,0.000,0.051,2253,2015,2485
$GC,15745,1.47,75.0,546.2,6.8,938,15749,0.00,2.05,0.00,0.000,4,0.000,0.064,2253,3122,2484
$GC,15884,1.48,79.9,536.5,6.4,946,15894,0.00,2.03,5.68,1.016,6,0.000,0.051,2253,2025,2466
$GC,16219,1.48,79.9,512.1,7.4,968,16221,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2025,2465
$GC,16531,1.48,79.9,488.7,7.2,988,16533,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2025,2465
$GC,16845,1.54,79.9,464.5,7.6,1008,16848,0.00,2.08,0.00,0.000,4,0.000,0.063,2253,3118,2465
$GC,16966,1.54,79.9,455.6,8.3,1015,16975,0.00,2.03,0.00,0.000,6,0.000,0.048,2253,2020,2465
$GC,17286,1.61,86.2,434.8,6.3,1036,17296,0.15,0.00,7.22,1.032,6,0.063,0.000,2287,2020,2440
$GC,17600,1.61,88.1,412.6,6.7,1056,17601,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2020,2440
$GC,17911,1.61,88.1,389.9,7.7,1076,17912,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2019,2440
$GC,18223,1.61,88.1,365.4,7.7,1096,18224,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2019,2440
$GC,18535,1.61,88.1,338.8,8.5,1116,18536,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2020,2440
$GC,18848,1.61,88.1,312.2,8.5,1136,18849,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2020,2440
$GC,19163,1.61,88.1,285.4,8.6,1161,19164,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2020,2440
$GC,19482,1.61,88.1,258.7,8.1,1191,19485,0.00,2.05,0.00,0.000,4,0.000,0.055,2287,3126,2441
$GC,19659,1.55,88.1,243.1,9.1,1206,19668,0.00,2.00,3.78,0.668,6,0.000,0.042,2287,2022,2433
$GC,19984,1.55,88.1,214.4,8.6,1237,19985,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2022,2433
$GC,20303,1.55,88.1,186.0,8.7,1267,20307,0.00,2.03,0.00,0.000,4,0.000,0.055,2287,3123,2434
$GC,20436,1.55,88.1,173.9,8.8,1278,20443,0.00,2.00,0.00,0.000,6,0.000,0.040,2287,2017,2434
$GC,20763,1.55,88.1,145.1,8.2,1314,20770,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2017,2435
$GC,21106,1.55,88.1,117.0,8.1,1375,21112,0.00,2.05,0.00,0.000,4,0.000,0.052,2287,3125,2435
$GC,21265,1.55,88.1,103.3,8.5,1403,21272,0.00,1.98,0.00,0.000,6,0.000,0.040,2287,2014,2436
$GC,21609,1.55,88.1,72.0,10.0,1464,21616,0.00,2.05,0.00,0.000,4,0.000,0.051,2287,3126,2437
$GC,21786,1.55,88.1,55.2,9.1,1495,21793,0.00,1.98,0.00,0.000,6,0.000,0.040,2287,2017,2437
$GC,22129,1.55,91.4,28.9,6.5,1556,22142,0.00,2.03,5.70,0.678,4,0.000,0.051,2287,3125,2419
$GC,22176,1.58,112.4,26.6,4.8,1564,22203,0.00,1.95,18.40,0.805,6,0.000,0.040,2287,2030,2333
$GC,22541,1.69,148.8,11.7,3.3,1628,22580,0.00,2.10,30.15,0.801,4,0.000,0.051,2287,3122,2185
$STATE,22669,end climb,SURFACE_DEPTH_REACHED
$STATE,22669,begin surface coast
$FINISH,0.2,1.012107
$STATE,22692,end surface coast,CONTROL_FINISHED_OK
$STATE,22692,begin surface
$SM_CCo,22710,63.83,0.773,0,0,1771,250.21
$SM_GC,1.28,0.00,0.00,63.83,0.000,0.000,0.773,58,2114,1771,-8.63,-0.45,250.21
$IRIDIUM_FIX,6532.72,207.07,121097,060606
$TT8_MAMPS,0.021476
$HUMID,2023
$INTERNAL_PRESSURE,8.21321
$TCM_TEMP,4.00
$XPDR_PINGS,-1
$24V_AH,23.0,16.358
$10V_AH,10.1,9.368
$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,24.350,136.925,203.750,63.825,0.000,27.515,31.738,192.183,0.000,0.000,0.000,14.927,3540.999,16443.141,521.085,2187.549,459.281,0.000,1907.698,0.000,1672.077,0.000,0.653
$DEVICE_MAMPS,192.517,68.263,1571.583,773.136,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1571.232,1206.732,576.724,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82052,1654
$CAP_FILE_SIZE,176226,0
$CFSIZE,256368640,245731328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.061,317.2,1
$GPS,180708,204208,6559.249,159.871,35,1.2,36,-4.3