version: 66.03
glider: 17
mission: 6
dive: 117
start: 7 23 108 23 54 51
data:
$ID,17
$MISSION,6
$DIVE,117
$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,-88591.453
$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,41
$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
$GPS1,234402,6559.864,0.762,37,1.8,37,-5.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-48.1
$GPS2,235433,6559.937,1.005,16,1.9,16,-5.4
$SPEED_LIMITS,0.119,0.230
$TGT_NAME,DEPLOY
$TGT_LATLONG,6600.000,600.000
$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,117.9,270422,-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,-116.7,0.0,0.0,0,72,0.00,0.00,-51.90,0.000,2,0.000,0.000,60,2157,3135
$GC,75,-0.87,-116.7,3.5,-5.8,7,96,10.18,2.00,-3.10,0.000,4,0.190,0.064,1739,3234,3271
$GC,349,-0.87,-116.7,31.5,-8.4,55,356,0.00,1.95,0.00,0.000,6,0.000,0.034,1739,2117,3275
$GC,693,-0.95,-116.7,54.0,-6.3,116,700,0.00,2.05,0.00,0.000,4,0.000,0.049,1739,3240,3276
$GC,773,-1.02,-116.7,59.3,-6.6,130,781,0.10,1.98,0.00,0.000,6,0.035,0.034,1697,2121,3276
$GC,1119,-0.92,-116.7,84.2,-7.1,191,1125,0.15,0.00,0.00,0.000,6,0.097,0.000,1728,2121,3278
$GC,1462,-0.92,-116.7,104.0,-5.5,252,1469,0.00,2.08,0.00,0.000,4,0.000,0.052,1728,3242,3278
$GC,1492,-0.92,-116.7,105.7,-5.8,257,1499,0.00,1.95,0.00,0.000,6,0.000,0.036,1728,2127,3278
$GC,1837,-0.92,-116.7,125.4,-5.9,318,1844,0.00,2.05,0.00,0.000,4,0.000,0.053,1728,3239,3279
$GC,1883,-0.92,-116.7,128.3,-6.5,326,1890,0.00,1.95,0.00,0.000,6,0.000,0.037,1728,2131,3279
$GC,2228,-0.92,-116.7,150.2,-6.4,387,2231,0.00,2.03,0.00,0.000,4,0.000,0.054,1728,3236,3278
$GC,2278,-0.92,-116.7,153.6,-6.6,391,2282,0.00,1.95,0.00,0.000,6,0.000,0.038,1728,2121,3278
$GC,2604,-0.92,-116.7,174.8,-6.5,421,2608,0.00,2.05,0.00,0.000,4,0.000,0.054,1728,3236,3278
$GC,2647,-0.92,-116.7,178.0,-6.8,424,2655,0.00,1.98,0.00,0.000,6,0.000,0.038,1728,2135,3278
$GC,2974,-0.92,-116.7,198.6,-6.1,455,2977,0.00,2.05,0.00,0.000,4,0.000,0.054,1728,3240,3278
$GC,3005,-0.92,-116.7,200.8,-6.3,457,3013,0.00,1.98,0.00,0.000,6,0.000,0.038,1728,2138,3278
$GC,3332,-0.92,-116.7,219.4,-5.6,488,3336,0.00,2.03,0.00,0.000,4,0.000,0.055,1728,3237,3278
$GC,3371,-0.92,-116.7,221.7,-6.1,491,3375,0.00,1.95,0.00,0.000,6,0.000,0.038,1728,2135,3278
$GC,3696,-0.92,-116.7,240.1,-5.9,521,3697,0.00,0.00,0.00,0.000,6,0.000,0.000,1728,2135,3279
$GC,4015,-0.92,-116.7,259.3,-6.3,551,4018,0.00,2.03,0.00,0.000,4,0.000,0.057,1728,3240,3278
$GC,4099,-0.92,-116.7,264.9,-6.8,558,4103,0.00,1.92,0.00,0.000,6,0.000,0.040,1728,2146,3278
$GC,4424,-0.92,-116.7,285.6,-6.5,588,4427,0.00,2.00,0.00,0.000,4,0.000,0.057,1728,3233,3278
$GC,4466,-0.92,-116.7,288.8,-7.1,591,4474,0.00,1.95,0.00,0.000,6,0.000,0.040,1728,2152,3277
$GC,4801,-0.92,-116.7,310.0,-6.2,618,4805,0.00,2.00,0.00,0.000,4,0.000,0.058,1728,3233,3277
$GC,4855,-0.92,-116.7,313.9,-6.7,621,4863,0.00,1.95,0.00,0.000,6,0.000,0.041,1728,2153,3277
$GC,5175,-0.99,-116.7,334.3,-6.4,642,5179,0.00,2.10,0.00,0.000,4,0.000,0.057,1728,995,3276
$GC,5207,-1.05,-116.7,336.4,-6.7,644,5211,0.00,2.03,0.00,0.000,6,0.000,0.039,1728,2137,3276
$GC,5532,-1.12,-116.7,355.6,-5.7,665,5536,0.15,2.08,0.00,0.000,4,0.054,0.060,1687,3256,3275
$GC,5586,-1.01,-116.7,359.8,-7.8,668,5593,0.10,2.00,0.00,0.000,6,0.101,0.042,1709,2152,3275
$GC,5905,-1.01,-116.7,379.5,-6.2,689,5909,0.00,2.05,0.00,0.000,4,0.000,0.061,1709,3260,3274
$GC,5937,-1.01,-116.7,381.7,-6.9,691,5941,0.00,2.00,0.00,0.000,6,0.000,0.043,1709,2157,3274
$GC,6262,-1.01,-116.7,402.3,-6.4,712,6265,0.00,2.05,0.00,0.000,4,0.000,0.061,1709,3253,3273
$GC,6289,-1.01,-116.7,404.1,-7.0,714,6292,0.00,1.95,0.00,0.000,6,0.000,0.044,1709,2153,3273
$GC,6613,-1.01,-116.7,424.0,-6.1,735,6614,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,2153,3273
$GC,6925,-1.01,-116.7,442.4,-5.9,755,6929,0.00,2.08,0.00,0.000,4,0.000,0.062,1709,3258,3272
$GC,6955,-1.01,-116.7,444.2,-6.6,757,6958,0.00,1.98,0.00,0.000,6,0.000,0.044,1709,2151,3273
$GC,7278,-1.01,-116.7,464.3,-6.3,778,7279,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,2150,3271
$GC,7590,-1.01,-116.7,484.8,-6.7,798,7594,0.00,2.10,0.00,0.000,4,0.000,0.064,1709,3258,3270
$GC,7618,-1.01,-116.7,486.7,-7.8,800,7622,0.00,1.98,0.00,0.000,6,0.000,0.047,1709,2157,3270
$GC,7941,-1.01,-116.7,509.3,-7.1,821,7945,0.00,2.05,0.00,0.000,4,0.000,0.066,1709,3251,3269
$GC,7973,-1.01,-116.7,511.8,-7.6,823,7977,0.00,2.00,0.00,0.000,6,0.000,0.047,1709,2159,3269
$GC,8298,-1.01,-116.7,534.3,-6.9,844,8299,0.00,0.00,0.00,0.000,6,0.000,0.000,1708,2159,3268
$GC,8610,-1.01,-116.7,555.8,-7.0,864,8614,0.00,2.05,0.00,0.000,4,0.000,0.067,1709,3251,3267
$GC,8647,-1.01,-116.7,558.7,-7.8,866,8655,0.00,2.00,0.00,0.000,6,0.000,0.047,1709,2159,3267
$GC,8967,-1.01,-116.7,580.2,-6.7,887,8968,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,2160,3267
$GC,9279,-1.01,-116.7,600.9,-6.5,907,9282,0.00,2.05,0.00,0.000,4,0.000,0.068,1709,3251,3266
$GC,9327,-1.01,-116.7,604.4,-7.1,908,9332,0.00,2.00,0.00,0.000,6,0.000,0.048,1709,2162,3266
$GC,9648,-1.01,-116.7,625.0,-6.5,919,9652,0.00,2.08,0.00,0.000,4,0.000,0.069,1709,3257,3266
$GC,9675,-1.01,-116.7,626.9,-7.2,920,9679,0.00,1.95,0.00,0.000,6,0.000,0.049,1709,2168,3266
$GC,10009,-1.01,-116.7,648.8,-6.6,931,10011,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,2168,3265
$GC,10316,-1.01,-116.7,668.8,-6.5,941,10317,0.00,0.00,0.00,0.000,6,0.000,0.000,1708,2167,3264
$GC,10622,-1.01,-116.7,688.6,-6.4,951,10626,0.00,2.05,0.00,0.000,4,0.000,0.071,1709,3250,3263
$GC,10658,-1.01,-116.7,691.2,-7.6,952,10663,0.00,1.98,0.00,0.000,6,0.000,0.048,1709,2172,3263
$GC,10989,-1.01,-116.7,712.6,-6.5,963,10990,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,2171,3262
$GC,11295,-1.01,-116.7,732.8,-6.6,973,11297,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,2170,3262
$GC,11601,-1.01,-116.7,752.6,-6.3,983,11602,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,2171,3262
$GC,11907,-1.01,-116.7,771.8,-6.3,993,11909,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,2171,3262
$GC,12213,-1.01,-116.7,790.7,-6.2,1003,12214,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,2171,3261
$GC,12519,-1.01,-116.7,809.3,-5.9,1013,12520,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,2170,3261
$GC,12826,-1.01,-116.7,827.3,-5.8,1023,12827,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,2171,3260
$GC,13132,-1.01,-116.7,845.0,-5.9,1033,13136,0.00,2.05,0.00,0.000,4,0.000,0.071,1709,3251,3260
$GC,13159,-1.01,-116.7,846.7,-6.2,1034,13163,0.00,1.95,0.00,0.000,6,0.000,0.051,1709,2167,3260
$GC,13493,-1.01,-116.7,867.0,-6.0,1045,13494,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,2166,3259
$GC,13800,-1.01,-116.7,885.2,-6.0,1055,13801,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,2166,3259
$GC,14106,-1.01,-116.7,903.8,-6.2,1065,14107,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,2167,3259
$GC,14412,-1.01,-116.7,922.7,-6.2,1075,14413,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,2166,3259
$GC,14718,-1.01,-116.7,941.4,-6.1,1085,14720,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,2167,3258
$GC,15024,-1.01,-116.7,959.8,-6.0,1095,15025,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,2166,3258
$GC,15330,-1.01,-116.7,978.5,-6.1,1105,15331,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,2166,3258
$STATE,15543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15543,begin apogee
$GC,15547,-0.31,0.0,991.7,6.2,1112,15655,0.80,0.00,103.93,1.574,6,0.107,0.000,1865,2003,2792
$STATE,15655,end apogee,CONTROL_FINISHED_OK
$STATE,15655,begin climb
$GC,15657,0.87,116.7,994.6,0.0,1115,15769,1.25,2.17,104.45,1.507,4,0.077,0.071,2120,889,2316
$GC,15829,0.87,116.7,989.2,7.1,1120,15834,0.00,2.08,0.00,0.000,6,0.000,0.048,2120,2005,2315
$GC,16154,0.88,121.0,967.8,6.7,1131,16164,0.00,2.15,5.22,1.097,4,0.000,0.067,2120,3132,2298
$GC,16207,0.89,128.8,964.0,6.6,1132,16220,0.00,2.10,8.98,1.288,6,0.000,0.052,2120,2013,2266
$GC,16549,0.89,128.8,939.6,7.2,1144,16550,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2013,2265
$GC,16855,0.89,128.8,917.6,7.2,1154,16859,0.00,2.12,0.00,0.000,4,0.000,0.067,2120,3139,2264
$GC,16898,0.89,135.9,914.3,6.6,1155,16910,0.00,2.10,7.28,1.233,6,0.000,0.053,2120,2014,2238
$GC,17217,0.96,135.9,891.4,7.3,1165,17218,0.10,0.00,0.00,0.000,6,0.066,0.000,2143,2014,2238
$GC,17522,0.96,135.9,867.1,7.9,1175,17526,0.00,2.12,0.00,0.000,4,0.000,0.065,2143,3137,2238
$GC,17559,0.96,135.9,863.8,8.0,1176,17563,0.00,2.10,0.00,0.000,6,0.000,0.053,2143,2012,2238
$GC,17890,0.96,135.9,837.3,8.2,1187,17891,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2012,2237
$GC,18195,0.96,135.9,812.6,8.0,1197,18199,0.00,2.12,0.00,0.000,4,0.000,0.065,2143,3132,2237
$GC,18244,0.96,135.9,808.4,8.1,1198,18248,0.00,2.08,0.00,0.000,6,0.000,0.052,2143,2022,2237
$GC,18562,0.96,135.9,782.8,8.1,1209,18563,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2022,2237
$GC,18869,0.96,135.9,758.0,8.1,1219,18873,0.00,2.08,0.00,0.000,4,0.000,0.067,2143,3132,2237
$GC,18906,0.96,135.9,754.6,7.9,1220,18910,0.00,2.08,0.00,0.000,6,0.000,0.053,2143,2020,2237
$GC,19236,0.96,135.9,727.5,8.3,1231,19240,0.00,2.10,0.00,0.000,4,0.000,0.067,2143,3142,2237
$GC,19268,0.96,135.9,724.6,8.6,1232,19272,0.00,2.10,0.00,0.000,6,0.000,0.054,2143,2015,2237
$GC,19603,0.96,135.9,697.0,8.2,1243,19604,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2015,2237
$GC,19910,0.96,135.9,672.8,7.9,1253,19914,0.00,2.10,0.00,0.000,4,0.000,0.067,2143,3138,2237
$GC,19964,0.96,135.9,668.1,8.5,1254,19972,0.00,2.08,0.00,0.000,6,0.000,0.053,2143,2023,2236
$GC,20277,0.96,135.9,643.5,7.8,1265,20278,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2023,2236
$GC,20583,0.96,135.9,619.4,7.9,1275,20587,0.00,2.08,0.00,0.000,4,0.000,0.067,2143,3133,2236
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$GC,23325,0.97,146.7,414.2,6.4,1442,23341,0.00,2.05,10.93,1.096,6,0.000,0.050,2144,2029,2193
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$STATE,28318,end climb,SURFACE_DEPTH_REACHED
$STATE,28318,begin surface coast
$FINISH,0.3,1.011779
$STATE,28354,end surface coast,CONTROL_FINISHED_OK
$STATE,28354,begin surface
$SM_CCo,28371,42.75,0.801,0,0,1772,250.21
$SM_GC,1.39,0.00,0.00,42.75,0.000,0.000,0.801,58,2151,1772,-8.64,0.59,250.21
$IRIDIUM_FIX,6532.72,0.00,171097,232343
$TT8_MAMPS,0.021476
$HUMID,2058
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,3.50
$XPDR_PINGS,-1
$24V_AH,22.9,18.627
$10V_AH,10.1,11.622
$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,22.450,167.525,278.600,42.750,0.000,57.222,62.581,317.998,0.000,0.000,0.000,16.890,4244.395,20937.197,587.295,2549.502,711.704,0.000,2209.511,0.000,1941.869,0.000,0.655
$DEVICE_MAMPS,190.216,71.331,1573.884,800.748,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1925.553,1462.288,653.976,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97715,2012
$CAP_FILE_SIZE,218595,0
$CFSIZE,256368640,244105216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.128,346.7,1
$GPS,240708,074938,6600.383,7.873,37,1.2,37,-5.4