version: 66.03
glider: 17
mission: 6
dive: 105
start: 7 19 108 20 57 11
data:
$ID,17
$MISSION,6
$DIVE,105
$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,-88349.141
$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,39
$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
$GPS1,204921,6558.439,133.975,41,2.4,60,-4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-48.3
$GPS2,205653,6558.436,133.978,14,2.3,33,-4.5
$SPEED_LIMITS,0.119,0.230
$TGT_NAME,WEST
$TGT_LATLONG,6600.000,-1.000
$TGT_RADIUS,5000.000
$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,277.8,71604,-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,-116.7,0.0,0.0,0,68,0.00,0.00,-47.28,0.000,2,0.000,0.000,53,2161,3010
$GC,70,-0.87,-116.7,3.3,-6.1,7,92,10.35,2.05,-6.00,0.000,4,0.196,0.066,1737,3236,3270
$GC,223,-0.87,-116.7,20.8,-8.2,33,229,0.00,1.95,0.00,0.000,6,0.000,0.035,1737,2114,3273
$GC,566,-0.87,-116.7,42.4,-5.8,94,573,0.00,0.00,0.00,0.000,6,0.000,0.000,1737,2113,3274
$GC,910,-0.94,-116.7,63.3,-6.4,155,915,0.00,0.00,0.00,0.000,6,0.000,0.000,1737,2113,3276
$GC,1252,-1.01,-116.7,84.0,-5.6,216,1260,0.00,2.10,0.00,0.000,4,0.000,0.052,1737,3237,3276
$GC,1355,-1.08,-116.7,90.1,-6.0,234,1363,0.17,1.98,0.00,0.000,6,0.044,0.035,1693,2113,3277
$GC,1701,-0.98,-116.7,113.6,-7.1,295,1708,0.15,2.10,0.00,0.000,4,0.099,0.051,1723,3244,3277
$GC,1754,-0.98,-116.7,117.0,-6.4,304,1761,0.00,1.98,0.00,0.000,6,0.000,0.035,1723,2120,3277
$GC,2099,-0.98,-116.7,137.4,-6.3,365,2106,0.00,2.10,0.00,0.000,4,0.000,0.053,1723,3242,3277
$GC,2140,-0.98,-116.7,140.2,-6.8,372,2147,0.00,1.98,0.00,0.000,6,0.000,0.035,1723,2120,3278
$GC,2473,-0.98,-116.7,162.1,-6.9,416,2477,0.00,2.08,0.00,0.000,4,0.000,0.053,1723,3242,3277
$GC,2537,-0.98,-116.7,166.5,-7.2,421,2541,0.00,1.95,0.00,0.000,6,0.000,0.036,1724,2127,3277
$GC,2862,-0.98,-116.7,188.0,-6.4,451,2866,0.00,2.05,0.00,0.000,4,0.000,0.054,1724,3236,3277
$GC,2891,-0.98,-116.7,189.9,-6.8,453,2895,0.00,1.95,0.00,0.000,6,0.000,0.038,1724,2123,3277
$GC,3216,-0.98,-116.7,211.3,-6.5,483,3219,0.00,2.05,0.00,0.000,4,0.000,0.053,1723,3236,3277
$GC,3255,-0.98,-116.7,213.8,-6.6,486,3258,0.00,1.95,0.00,0.000,6,0.000,0.038,1723,2123,3277
$GC,3580,-0.98,-116.7,234.3,-6.3,516,3584,0.00,2.03,0.00,0.000,4,0.000,0.053,1723,3237,3277
$GC,3619,-0.98,-116.7,237.0,-7.0,519,3623,0.00,1.95,0.00,0.000,6,0.000,0.038,1724,2122,3277
$GC,3944,-0.98,-116.7,257.7,-6.6,549,3948,0.00,2.05,0.00,0.000,4,0.000,0.054,1724,3240,3277
$GC,3987,-0.98,-116.7,261.0,-7.0,552,3994,0.00,1.98,0.00,0.000,6,0.000,0.038,1723,2138,3277
$GC,4313,-0.98,-116.7,281.8,-6.2,583,4317,0.00,2.00,0.00,0.000,4,0.000,0.054,1724,3236,3277
$GC,4368,-0.98,-116.7,285.5,-6.7,587,4375,0.00,1.98,0.00,0.000,6,0.000,0.038,1724,2135,3277
$GC,4703,-0.98,-116.7,305.8,-5.9,616,4704,0.00,0.00,0.00,0.000,6,0.000,0.000,1724,2135,3276
$GC,5014,-0.98,-116.7,324.8,-6.2,636,5018,0.00,2.03,0.00,0.000,4,0.000,0.055,1724,3238,3277
$GC,5051,-0.98,-116.7,327.4,-6.6,638,5058,0.00,1.98,0.00,0.000,6,0.000,0.038,1723,2135,3276
$GC,5370,-0.98,-116.7,347.1,-6.2,659,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,1724,2135,3276
$GC,5682,-0.98,-116.7,367.3,-6.5,679,5686,0.00,2.05,0.00,0.000,4,0.000,0.057,1724,3236,3276
$GC,5743,-0.98,-116.7,371.6,-7.1,683,5747,0.00,1.92,0.00,0.000,6,0.000,0.040,1723,2139,3276
$GC,6067,-0.98,-116.7,392.1,-6.2,704,6071,0.00,2.05,0.00,0.000,4,0.000,0.057,1723,3238,3275
$GC,6111,-0.98,-116.7,395.1,-6.8,707,6115,0.00,1.92,0.00,0.000,6,0.000,0.041,1724,2143,3275
$GC,6436,-1.05,-116.7,415.6,-6.4,728,6437,0.00,0.00,0.00,0.000,6,0.000,0.000,1724,2143,3274
$GC,6749,-1.11,-116.7,434.5,-5.9,748,6751,0.15,0.00,0.00,0.000,6,0.053,0.000,1686,2143,3274
$GC,7060,-1.04,-116.7,455.5,-6.5,768,7065,0.12,2.05,0.00,0.000,4,0.104,0.058,1709,3236,3274
$GC,7122,-1.04,-116.7,459.4,-6.2,772,7126,0.00,1.92,0.00,0.000,6,0.000,0.041,1709,2147,3274
$GC,7445,-1.04,-116.7,477.6,-5.5,793,7449,0.00,2.03,0.00,0.000,4,0.000,0.061,1709,3239,3274
$GC,7477,-1.04,-116.7,479.6,-6.0,795,7481,0.00,1.98,0.00,0.000,6,0.000,0.044,1709,2147,3274
$GC,7802,-1.04,-116.7,498.7,-6.2,816,7803,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,2147,3273
$GC,8114,-1.04,-116.7,518.6,-6.3,836,8115,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,2147,3272
$GC,8427,-1.04,-116.7,538.6,-6.5,856,8428,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,2147,3271
$GC,8739,-1.04,-116.7,557.8,-5.8,876,8743,0.00,2.05,0.00,0.000,4,0.000,0.064,1708,3243,3270
$GC,8767,-1.04,-116.7,559.4,-6.3,878,8771,0.00,1.95,0.00,0.000,6,0.000,0.046,1709,2145,3270
$GC,9090,-1.04,-116.7,577.8,-5.8,899,9091,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,2146,3270
$GC,9403,-1.04,-116.7,596.8,-6.4,919,9404,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,2146,3269
$GC,9712,-1.04,-116.7,616.7,-6.5,931,9713,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,2146,3268
$GC,10018,-1.04,-116.7,636.7,-6.6,941,10019,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,2146,3268
$GC,10324,-1.04,-116.7,656.6,-6.6,951,10325,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,2145,3267
$GC,10630,-1.04,-116.7,675.9,-6.3,961,10634,0.00,2.08,0.00,0.000,4,0.000,0.070,1709,3239,3266
$GC,10668,-1.04,-116.7,678.6,-6.8,962,10672,0.00,2.00,0.00,0.000,6,0.000,0.050,1709,2148,3265
$GC,10997,-1.04,-116.7,698.7,-6.0,973,10999,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,2147,3264
$GC,11304,-1.04,-116.7,716.5,-5.8,983,11305,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,2147,3264
$GC,11610,-1.04,-116.7,734.9,-6.0,993,11613,0.00,2.05,0.00,0.000,4,0.000,0.069,1709,3234,3263
$GC,11658,-1.04,-116.7,738.2,-6.8,994,11662,0.00,1.98,0.00,0.000,6,0.000,0.049,1709,2151,3263
$GC,11976,-1.04,-116.7,757.9,-6.1,1005,11978,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,2151,3262
$GC,12283,-1.04,-116.7,776.9,-6.3,1015,12287,0.00,2.05,0.00,0.000,4,0.000,0.068,1709,3235,3262
$GC,12320,-1.04,-116.7,779.5,-6.9,1016,12324,0.00,1.98,0.00,0.000,6,0.000,0.049,1709,2155,3261
$GC,12650,-1.04,-116.7,799.8,-6.2,1027,12651,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,2154,3261
$GC,12957,-1.04,-116.7,818.4,-6.0,1037,12960,0.00,2.05,0.00,0.000,4,0.000,0.069,1709,3241,3261
$GC,12989,-1.04,-116.7,820.5,-6.6,1038,12992,0.00,2.00,0.00,0.000,6,0.000,0.050,1709,2150,3261
$GC,13324,-1.04,-116.7,840.5,-6.0,1049,13325,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,2150,3261
$GC,13630,-1.04,-116.7,858.9,-5.9,1059,13631,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,2150,3260
$GC,13936,-1.04,-116.7,876.6,-5.7,1069,13940,0.00,2.03,0.00,0.000,4,0.000,0.070,1710,3237,3260
$GC,13973,-1.04,-116.7,879.0,-6.2,1070,13977,0.00,1.98,0.00,0.000,6,0.000,0.050,1709,2154,3260
$GC,14303,-1.04,-116.7,897.2,-5.5,1081,14304,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,2154,3260
$GC,14609,-1.04,-116.7,913.3,-5.3,1091,14613,0.00,2.03,0.00,0.000,4,0.000,0.069,1709,3236,3259
$GC,14641,-1.04,-116.7,915.2,-5.9,1092,14645,0.00,1.98,0.00,0.000,6,0.000,0.050,1709,2155,3259
$GC,14978,-1.04,-116.7,933.2,-5.4,1103,14979,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,2155,3259
$GC,15282,-1.04,-116.7,949.5,-5.4,1113,15286,0.00,2.03,0.00,0.000,4,0.000,0.070,1709,3239,3259
$GC,15320,-1.04,-116.7,951.7,-5.9,1114,15324,0.00,1.98,0.00,0.000,6,0.000,0.050,1709,2155,3259
$GC,15650,-1.04,-116.7,970.0,-5.6,1125,15651,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,2154,3258
$GC,15957,-1.04,-116.7,987.2,-5.7,1135,15961,0.00,2.03,0.00,0.000,4,0.000,0.069,1709,3235,3258
$GC,15989,-1.04,-116.7,989.4,-6.4,1136,15994,0.00,1.98,0.00,0.000,6,0.000,0.050,1709,2158,3258
$STATE,15998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15998,begin apogee
$GC,16002,-0.31,0.0,990.0,5.6,1136,16109,0.75,0.00,103.15,1.541,6,0.099,0.000,1861,2006,2792
$STATE,16110,end apogee,CONTROL_FINISHED_OK
$STATE,16110,begin climb
$GC,16112,0.87,116.7,993.0,0.0,1140,16222,1.27,0.00,103.65,1.511,6,0.082,0.000,2119,2006,2316
$GC,16547,0.87,116.7,968.8,6.9,1154,16550,0.00,2.10,0.00,0.000,4,0.000,0.065,2119,3118,2313
$GC,16601,0.87,116.7,964.8,7.0,1155,16608,0.00,2.05,0.00,0.000,6,0.000,0.052,2119,2017,2313
$GC,16914,0.88,118.1,943.5,6.8,1166,16915,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2017,2313
$GC,17220,0.88,120.6,922.7,6.8,1176,17229,0.00,2.10,4.53,1.035,4,0.000,0.066,2119,3117,2300
$GC,17273,0.88,120.6,918.8,7.3,1177,17280,0.00,2.08,0.00,0.000,6,0.000,0.053,2119,2009,2300
$GC,17586,0.88,120.6,897.0,7.0,1188,17589,0.00,2.10,0.00,0.000,4,0.000,0.066,2119,3122,2300
$GC,17628,0.88,120.6,893.8,7.0,1189,17633,0.00,2.05,0.00,0.000,6,0.000,0.053,2119,2018,2300
$GC,17953,0.88,120.6,871.3,7.0,1200,17957,0.00,2.05,0.00,0.000,4,0.000,0.066,2119,3117,2300
$GC,17990,0.88,120.6,868.4,7.5,1201,17994,0.00,2.05,0.00,0.000,6,0.000,0.053,2119,2013,2300
$GC,18320,0.88,120.7,845.4,6.9,1212,18321,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2013,2300
$GC,18627,0.89,131.9,825.5,6.4,1222,18644,0.00,2.22,11.52,1.345,4,0.000,0.064,2119,3124,2254
$GC,18681,0.89,131.9,821.6,7.2,1223,18689,0.00,2.08,0.00,0.000,6,0.000,0.052,2119,2023,2253
$GC,18994,0.96,131.9,800.1,7.0,1234,18996,0.12,0.00,0.00,0.000,6,0.061,0.000,2149,2023,2253
$GC,19300,0.96,131.9,775.7,8.0,1244,19304,0.00,2.05,0.00,0.000,4,0.000,0.066,2149,3115,2252
$GC,19349,0.89,131.9,771.7,8.1,1245,19352,0.00,2.00,0.00,0.000,6,0.000,0.053,2149,2022,2253
$GC,19666,0.89,131.9,746.9,7.8,1256,19670,0.00,2.03,0.00,0.000,4,0.000,0.066,2148,3115,2253
$GC,19709,0.89,131.9,743.3,9.5,1257,19714,0.00,2.03,0.00,0.000,6,0.000,0.054,2149,2025,2253
$GC,20034,0.89,131.9,718.6,7.6,1268,20035,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2025,2252
$GC,20340,0.89,131.9,695.3,7.7,1278,20343,0.00,2.08,0.00,0.000,4,0.000,0.066,2149,3117,2252
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$STATE,29635,end climb,SURFACE_DEPTH_REACHED
$STATE,29635,begin surface coast
$FINISH,0.1,1.026468
$STATE,29665,end surface coast,CONTROL_FINISHED_OK
$STATE,29665,begin surface
$SM_CCo,29682,36.92,0.772,0,0,1772,250.21
$SM_GC,0.83,0.00,0.00,36.92,0.000,0.000,0.772,53,2146,1772,-8.66,0.45,250.21
$IRIDIUM_FIX,6532.72,145.58,131097,121218
$TT8_MAMPS,0.021476
$HUMID,2037
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$TCM_TEMP,3.50
$XPDR_PINGS,-1
$24V_AH,22.9,16.917
$10V_AH,10.1,9.928
$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
$DEVICE_SECS,22.625,182.750,283.825,36.925,0.000,25.766,36.779,250.309,0.000,0.000,0.000,34.540,4517.120,21720.945,619.045,2721.936,578.441,0.000,2347.501,0.000,2055.586,0.000,0.654
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,2026.406,1548.867,706.796,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,103925,2128
$CAP_FILE_SIZE,231265,0
$CFSIZE,256368640,245276672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.026, 53.4,1
$GPS,200708,051338,6558.918,126.007,32,1.6,32,-4.6