version: 66.03
glider: 17
mission: 6
dive: 110
start: 7 21 108 13 57 2
data:
$ID,17
$MISSION,6
$DIVE,110
$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,-88462.016
$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
$GPS1,134952,6559.833,51.815,38,2.1,57,-4.9
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-48.4
$GPS2,135644,6559.845,51.841,12,1.3,29,-4.9
$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,259.4,39805,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.87,-116.7,0.0,0.0,0,73,0.00,0.00,-52.45,0.000,2,0.000,0.000,49,2145,3153
$GC,76,-0.87,-116.7,3.8,-6.0,8,98,10.25,2.08,-2.65,0.000,4,0.190,0.066,1740,3235,3271
$GC,143,-0.87,-116.7,14.4,-8.2,19,150,0.00,1.95,0.00,0.000,6,0.000,0.035,1740,2119,3273
$GC,487,-0.87,-116.7,36.6,-5.5,80,493,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,2119,3275
$GC,831,-0.94,-116.7,55.2,-5.0,141,836,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,2119,3276
$GC,1174,-1.02,-116.7,73.7,-5.3,202,1181,0.12,2.10,0.00,0.000,4,0.048,0.050,1705,3244,3278
$GC,1227,-0.96,-116.7,77.3,-7.2,211,1234,0.10,1.98,0.00,0.000,6,0.104,0.035,1722,2124,3278
$GC,1572,-0.96,-116.7,98.6,-6.4,272,1578,0.00,0.00,0.00,0.000,6,0.000,0.000,1722,2124,3278
$GC,1916,-0.96,-116.7,120.5,-6.2,333,1922,0.00,2.08,0.00,0.000,4,0.000,0.052,1722,3241,3279
$GC,1967,-0.96,-116.7,123.9,-6.7,342,1975,0.00,1.98,0.00,0.000,6,0.000,0.036,1722,2138,3279
$GC,2312,-0.96,-116.7,144.3,-6.0,403,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,1722,2138,3279
$GC,2641,-0.96,-116.7,164.1,-5.9,442,2642,0.00,0.00,0.00,0.000,6,0.000,0.000,1722,2138,3279
$GC,2959,-0.96,-116.7,182.3,-5.7,472,2963,0.00,2.05,0.00,0.000,4,0.000,0.054,1722,3241,3279
$GC,2991,-0.96,-116.7,184.4,-6.1,474,2999,0.00,1.98,0.00,0.000,6,0.000,0.038,1722,2138,3279
$GC,3317,-0.96,-116.7,203.5,-6.0,505,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,1722,2138,3278
$GC,3635,-0.96,-116.7,223.7,-6.5,535,3639,0.00,2.05,0.00,0.000,4,0.000,0.054,1722,3244,3278
$GC,3712,-0.96,-116.7,229.1,-6.8,541,3719,0.00,1.98,0.00,0.000,6,0.000,0.038,1722,2142,3278
$GC,4038,-0.96,-116.7,248.6,-5.9,572,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,1722,2142,3278
$GC,4356,-0.96,-116.7,267.1,-6.0,602,4360,0.00,2.03,0.00,0.000,4,0.000,0.056,1722,3239,3278
$GC,4418,-0.96,-116.7,271.2,-6.8,607,4421,0.00,1.92,0.00,0.000,6,0.000,0.038,1722,2139,3278
$GC,4743,-0.96,-116.7,290.1,-5.4,637,4744,0.00,0.00,0.00,0.000,6,0.000,0.000,1722,2139,3278
$GC,5068,-0.96,-116.7,309.1,-5.9,663,5072,0.00,2.03,0.00,0.000,4,0.000,0.057,1722,3239,3277
$GC,5105,-0.96,-116.7,311.5,-6.1,665,5113,0.00,1.98,0.00,0.000,6,0.000,0.041,1722,2143,3277
$GC,5425,-0.96,-116.7,331.3,-6.7,686,5426,0.00,0.00,0.00,0.000,6,0.000,0.000,1722,2143,3277
$GC,5737,-0.96,-116.7,350.4,-5.6,706,5740,0.00,2.03,0.00,0.000,4,0.000,0.059,1722,3246,3276
$GC,5791,-0.96,-116.7,353.8,-6.2,709,5799,0.00,1.98,0.00,0.000,6,0.000,0.041,1722,2150,3276
$GC,6112,-0.96,-116.7,373.1,-6.3,730,6113,0.00,0.00,0.00,0.000,6,0.000,0.000,1722,2150,3276
$GC,6422,-0.96,-116.7,391.8,-5.8,750,6426,0.00,2.03,0.00,0.000,4,0.000,0.060,1722,3245,3275
$GC,6460,-0.96,-116.7,394.2,-6.6,752,6467,0.00,1.98,0.00,0.000,6,0.000,0.042,1722,2131,3275
$GC,6779,-0.96,-116.7,412.0,-5.7,773,6780,0.00,0.00,0.00,0.000,6,0.000,0.000,1722,2132,3274
$GC,7092,-0.96,-116.7,430.4,-5.9,793,7093,0.00,0.00,0.00,0.000,6,0.000,0.000,1722,2131,3273
$GC,7404,-0.96,-116.7,448.8,-5.7,813,7405,0.00,0.00,0.00,0.000,6,0.000,0.000,1722,2132,3273
$GC,7716,-0.96,-116.7,468.1,-6.3,833,7720,0.00,2.05,0.00,0.000,4,0.000,0.063,1722,3239,3272
$GC,7766,-0.96,-116.7,471.5,-6.8,836,7770,0.00,1.95,0.00,0.000,6,0.000,0.044,1722,2147,3272
$GC,8084,-1.02,-116.7,491.4,-5.9,856,8085,0.00,0.00,0.00,0.000,6,0.000,0.000,1722,2147,3271
$GC,8397,-1.08,-116.7,509.4,-5.6,876,8401,0.00,2.10,0.00,0.000,4,0.000,0.064,1722,997,3270
$GC,8429,-1.08,-116.7,511.4,-6.2,878,8433,0.00,2.08,0.00,0.000,6,0.000,0.044,1722,2135,3270
$GC,8754,-1.14,-116.7,528.3,-5.1,899,8756,0.17,0.00,0.00,0.000,6,0.054,0.000,1681,2135,3270
$GC,9067,-1.05,-116.7,549.2,-6.7,919,9069,0.12,0.00,0.00,0.000,6,0.110,0.000,1702,2134,3268
$GC,9378,-1.05,-116.7,567.9,-6.1,939,9382,0.00,2.08,0.00,0.000,4,0.000,0.068,1702,3253,3268
$GC,9410,-1.05,-116.7,570.1,-6.7,941,9414,0.00,1.98,0.00,0.000,6,0.000,0.048,1702,2151,3268
$GC,9735,-1.05,-116.7,590.3,-6.3,962,9736,0.00,0.00,0.00,0.000,6,0.000,0.000,1702,2151,3267
$GC,10059,-1.05,-116.7,609.6,-5.7,978,10063,0.00,2.12,0.00,0.000,4,0.000,0.067,1702,996,3266
$GC,10097,-1.05,-116.7,612.0,-6.4,979,10101,0.00,2.05,0.00,0.000,6,0.000,0.047,1702,2147,3266
$GC,10427,-1.05,-116.7,630.7,-5.7,990,10428,0.00,0.00,0.00,0.000,6,0.000,0.000,1702,2147,3266
$GC,10733,-1.05,-116.7,648.4,-5.8,1000,10736,0.00,2.12,0.00,0.000,4,0.000,0.066,1702,1001,3265
$GC,10787,-1.05,-116.7,651.8,-6.3,1001,10795,0.00,2.05,0.00,0.000,6,0.000,0.048,1702,2145,3265
$GC,11100,-1.05,-116.7,669.7,-5.7,1012,11101,0.00,0.00,0.00,0.000,6,0.000,0.000,1702,2144,3264
$GC,11406,-1.05,-116.7,686.8,-5.6,1022,11410,0.00,2.10,0.00,0.000,4,0.000,0.065,1702,1003,3264
$GC,11449,-1.05,-116.7,689.4,-6.2,1023,11453,0.00,2.05,0.00,0.000,6,0.000,0.047,1702,2153,3264
$GC,11773,-1.05,-116.7,707.8,-5.6,1034,11774,0.00,0.00,0.00,0.000,6,0.000,0.000,1702,2153,3263
$GC,12079,-1.05,-116.7,725.4,-5.8,1044,12083,0.00,2.12,0.00,0.000,4,0.000,0.065,1702,999,3263
$GC,12122,-1.05,-116.7,728.0,-6.1,1045,12126,0.00,2.05,0.00,0.000,6,0.000,0.048,1703,2146,3262
$GC,12446,-1.05,-116.7,747.5,-6.0,1056,12447,0.00,0.00,0.00,0.000,6,0.000,0.000,1702,2146,3262
$GC,12752,-1.05,-116.7,766.1,-6.0,1066,12756,0.00,2.12,0.00,0.000,4,0.000,0.064,1702,999,3262
$GC,12783,-1.05,-116.7,768.1,-7.0,1067,12788,0.00,2.10,0.00,0.000,6,0.000,0.048,1702,2138,3262
$GC,13120,-1.05,-116.7,788.0,-6.0,1078,13121,0.00,0.00,0.00,0.000,6,0.000,0.000,1702,2138,3261
$GC,13425,-1.05,-116.7,806.6,-6.2,1088,13429,0.00,2.12,0.00,0.000,4,0.000,0.064,1702,998,3261
$GC,13457,-1.05,-116.7,808.8,-6.8,1089,13461,0.00,2.12,0.00,0.000,6,0.000,0.048,1702,2145,3261
$GC,13793,-1.05,-116.7,829.7,-6.2,1100,13794,0.00,0.00,0.00,0.000,6,0.000,0.000,1702,2145,3260
$GC,14100,-1.05,-116.7,848.9,-6.3,1110,14101,0.00,0.00,0.00,0.000,6,0.000,0.000,1702,2145,3260
$GC,14405,-1.05,-116.7,867.9,-6.0,1120,14409,0.00,2.12,0.00,0.000,4,0.000,0.065,1702,999,3260
$GC,14437,-1.05,-116.7,869.9,-6.0,1121,14441,0.00,2.08,0.00,0.000,6,0.000,0.048,1702,2144,3259
$GC,14772,-1.05,-116.7,889.1,-5.7,1132,14773,0.00,0.00,0.00,0.000,6,0.000,0.000,1702,2144,3259
$GC,15078,-1.05,-116.7,905.8,-5.4,1142,15079,0.00,0.00,0.00,0.000,6,0.000,0.000,1702,2144,3259
$GC,15385,-1.05,-116.7,922.5,-5.4,1152,15389,0.00,2.12,0.00,0.000,4,0.000,0.066,1702,999,3259
$GC,15416,-1.05,-116.7,924.4,-6.0,1153,15421,0.00,2.10,0.00,0.000,6,0.000,0.048,1702,2138,3259
$GC,15752,-1.05,-116.7,943.0,-5.6,1164,15753,0.00,0.00,0.00,0.000,6,0.000,0.000,1702,2138,3259
$GC,16058,-1.05,-116.7,960.2,-5.7,1174,16060,0.00,0.00,0.00,0.000,6,0.000,0.000,1702,2138,3259
$GC,16364,-1.05,-116.7,977.8,-5.7,1184,16365,0.00,0.00,0.00,0.000,6,0.000,0.000,1702,2138,3258
$STATE,16578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16578,begin apogee
$GC,16583,-0.31,0.0,990.1,5.8,1191,16689,0.82,0.00,103.53,1.563,6,0.101,0.000,1866,2004,2792
$STATE,16690,end apogee,CONTROL_FINISHED_OK
$STATE,16690,begin climb
$GC,16692,0.87,116.7,992.4,0.0,1194,16800,1.23,0.00,104.32,1.509,6,0.072,0.000,2121,2004,2316
$GC,17089,0.87,117.5,971.0,6.8,1207,17093,0.00,2.17,0.00,0.000,4,0.000,0.067,2121,3136,2313
$GC,17161,0.87,117.5,965.8,7.0,1209,17165,0.00,2.05,0.00,0.000,6,0.000,0.051,2121,2020,2313
$GC,17485,0.88,120.3,944.1,6.8,1220,17491,0.00,0.00,4.47,1.010,6,0.000,0.000,2121,2019,2301
$GC,17791,0.88,121.8,923.2,6.8,1230,17794,0.00,2.12,0.00,0.000,4,0.000,0.067,2121,3140,2301
$GC,17863,0.88,121.8,918.0,7.9,1232,17866,0.00,2.08,0.00,0.000,6,0.000,0.052,2121,2008,2301
$GC,18186,0.88,121.8,895.7,7.0,1243,18187,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2008,2301
$GC,18492,0.88,121.8,874.2,6.9,1253,18495,0.00,2.12,0.00,0.000,4,0.000,0.067,2121,3136,2301
$GC,18553,0.88,121.8,869.8,7.1,1255,18557,0.00,2.05,0.00,0.000,6,0.000,0.054,2121,2017,2300
$GC,18888,0.88,121.8,846.7,6.9,1266,18890,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2017,2301
$GC,19193,0.88,121.8,825.5,7.0,1276,19197,0.00,2.12,0.00,0.000,4,0.000,0.067,2121,3137,2300
$GC,19258,0.88,121.8,820.6,7.7,1278,19263,0.00,2.08,0.00,0.000,6,0.000,0.052,2121,2024,2300
$GC,19595,0.88,121.8,796.9,7.0,1289,19596,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2024,2300
$GC,19901,0.88,123.8,775.8,6.8,1299,19910,0.00,2.17,4.72,1.019,4,0.000,0.066,2121,3145,2287
$GC,19962,0.89,131.0,771.4,6.6,1301,19976,0.00,2.08,8.02,1.218,6,0.000,0.053,2121,2019,2258
$GC,20301,0.89,136.4,748.3,6.7,1312,20309,0.00,0.00,6.32,1.135,6,0.000,0.000,2122,2019,2236
$GC,20607,0.99,148.8,728.5,6.4,1322,20626,0.12,2.22,12.65,1.291,4,0.061,0.064,2150,3133,2185
$GC,20665,0.99,148.8,724.0,7.5,1323,20673,0.00,2.10,0.00,0.000,6,0.000,0.052,2150,2022,2185
$GC,20978,0.99,148.8,700.7,7.5,1334,20982,0.00,2.10,0.00,0.000,4,0.000,0.067,2150,3136,2185
$GC,21021,0.99,148.8,697.2,7.4,1335,21025,0.00,2.08,0.00,0.000,6,0.000,0.054,2150,2027,2185
$GC,21345,0.99,148.8,672.4,7.8,1346,21346,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2027,2185
$GC,21652,0.99,148.8,648.7,7.7,1356,21655,0.00,2.10,0.00,0.000,4,0.000,0.067,2150,3142,2184
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$STATE,30112,end climb,SURFACE_DEPTH_REACHED
$STATE,30112,begin surface coast
$FINISH,0.2,1.012696
$STATE,30144,end surface coast,CONTROL_FINISHED_OK
$STATE,30144,begin surface
$SM_CCo,30160,55.40,0.790,0,0,1772,250.21
$SM_GC,1.59,0.00,0.00,55.40,0.000,0.000,0.790,58,2149,1772,-8.63,0.51,250.21
$IRIDIUM_FIX,6532.72,103.46,151097,050541
$TT8_MAMPS,0.021476
$HUMID,2050
$INTERNAL_PRESSURE,8.20344
$TCM_TEMP,3.50
$XPDR_PINGS,-1
$24V_AH,22.9,17.605
$10V_AH,10.1,10.635
$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,22.525,152.850,263.500,55.400,0.000,28.692,31.293,215.766,0.000,0.000,0.000,29.763,4561.862,22174.348,607.835,2729.006,540.391,0.000,2310.309,0.000,2057.252,0.000,0.653
$DEVICE_MAMPS,190.216,68.263,1563.146,790.010,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,2055.862,1575.091,710.808,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107073,2153
$CAP_FILE_SIZE,226188,0
$CFSIZE,256368640,244776960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.041,  5.7,1
$GPS,210708,222155,6559.378,43.690,41,1.9,41,-5.0