version: 66.03
glider: 17
mission: 6
dive: 51
start: 7 12 108 9 53 13
data:
$ID,17
$MISSION,6
$DIVE,51
$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,360
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$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,-87098.57
$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,2170
$C_ROLL_CLIMB,2010
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,33
$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
$GPS1,094658,6625.464,437.230,30,2.9,49,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-46.1
$GPS2,095247,6625.423,437.155,14,3.2,33,-2.8
$SPEED_LIMITS,0.159,0.281
$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,266.6,127401,-14.2,-9.167
$D_GRID,1205
$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,-1.05,-145.9,0.0,0.0,0,74,0.00,0.00,-54.78,0.000,2,0.000,0.000,52,2187,3073
$GC,76,-1.05,-145.9,3.9,-8.3,8,99,10.18,2.15,-6.88,0.000,4,0.198,0.068,1700,3284,3389
$GC,352,-1.19,-145.9,40.7,-9.2,56,360,0.12,1.98,0.00,0.000,6,0.051,0.034,1671,2152,3393
$GC,697,-1.19,-145.9,71.9,-7.7,117,703,0.00,0.00,0.00,0.000,6,0.000,0.000,1671,2151,3396
$GC,1039,-1.19,-145.9,99.6,-8.0,178,1046,0.00,1.98,0.00,0.000,4,0.000,0.045,1671,1048,3396
$GC,1102,-1.19,-145.9,105.1,-8.8,189,1109,0.00,2.00,0.00,0.000,6,0.000,0.036,1671,2169,3397
$GC,1445,-1.19,-145.9,136.4,-9.0,250,1452,0.00,2.03,0.00,0.000,4,0.000,0.045,1671,1045,3397
$GC,1503,-1.25,-145.9,141.8,-9.4,260,1510,0.00,2.00,0.00,0.000,6,0.000,0.038,1671,2165,3397
$GC,1847,-1.25,-145.9,174.2,-9.3,321,1854,0.00,2.00,0.00,0.000,4,0.000,0.046,1671,1048,3397
$GC,1894,-1.25,-145.9,178.5,-9.1,329,1901,0.00,2.00,0.00,0.000,6,0.000,0.038,1671,2171,3397
$GC,2238,-1.25,-145.9,207.1,-8.3,383,2242,0.00,2.00,0.00,0.000,4,0.000,0.047,1671,1045,3397
$GC,2289,-1.33,-145.9,211.5,-8.9,387,2293,0.12,1.98,0.00,0.000,6,0.054,0.038,1639,2159,3397
$GC,2613,-1.25,-145.9,245.3,-10.7,417,2614,0.12,0.00,0.00,0.000,6,0.112,0.000,1660,2160,3397
$GC,2932,-1.25,-145.9,275.9,-9.3,447,2935,0.00,2.03,0.00,0.000,4,0.000,0.048,1661,1041,3397
$GC,2997,-1.25,-145.9,282.3,-9.1,452,3005,0.00,2.05,0.00,0.000,6,0.000,0.038,1660,2153,3398
$GC,3323,-1.25,-145.9,311.3,-8.9,483,3327,0.00,1.98,0.00,0.000,4,0.000,0.048,1661,1048,3397
$GC,3373,-1.25,-145.9,315.7,-8.6,487,3377,0.00,1.98,0.00,0.000,6,0.000,0.040,1661,2154,3397
$GC,3699,-1.25,-145.9,340.8,-8.0,517,3703,0.00,2.00,0.00,0.000,4,0.000,0.050,1661,1044,3397
$GC,3742,-1.25,-145.9,344.7,-8.4,520,3749,0.00,2.03,0.00,0.000,6,0.000,0.040,1660,2146,3397
$GC,4067,-1.25,-145.9,371.5,-8.4,551,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,1660,2146,3397
$GC,4385,-1.25,-145.9,402.0,-10.0,581,4389,0.00,1.98,0.00,0.000,4,0.000,0.051,1660,1051,3397
$GC,4428,-1.32,-145.9,406.3,-9.5,584,4436,0.00,2.05,0.00,0.000,6,0.000,0.043,1661,2156,3397
$GC,4754,-1.32,-145.9,436.0,-9.7,615,4755,0.00,0.00,0.00,0.000,6,0.000,0.000,1660,2156,3397
$GC,5071,-1.32,-145.9,466.4,-9.3,645,5072,0.00,0.00,0.00,0.000,6,0.000,0.000,1660,2156,3396
$GC,5390,-1.32,-145.9,496.5,-9.4,675,5394,0.00,2.03,0.00,0.000,4,0.000,0.056,1661,1042,3395
$GC,5429,-1.38,-145.9,500.1,-9.4,678,5434,0.12,2.03,0.00,0.000,6,0.061,0.048,1632,2154,3395
$GC,5754,-1.38,-145.9,532.5,-9.8,694,5758,0.00,2.00,0.00,0.000,4,0.000,0.058,1632,1052,3393
$GC,5779,-1.38,-145.9,535.2,-10.2,695,5784,0.00,2.05,0.00,0.000,6,0.000,0.048,1632,2148,3394
$GC,6101,-1.38,-145.9,568.2,-10.1,711,6102,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2149,3392
$GC,6411,-1.38,-145.9,598.7,-9.9,726,6414,0.00,2.03,0.00,0.000,4,0.000,0.061,1632,1044,3391
$GC,6449,-1.38,-145.9,602.6,-10.1,728,6453,0.00,2.00,0.00,0.000,6,0.000,0.050,1632,2143,3391
$GC,6775,-1.38,-145.9,634.8,-9.8,744,6776,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2143,3390
$GC,7084,-1.38,-145.9,665.1,-9.9,759,7085,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2143,3389
$GC,7394,-1.38,-145.9,695.9,-9.9,774,7395,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2143,3388
$GC,7703,-1.38,-145.9,725.5,-9.2,789,7704,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2143,3387
$GC,8012,-1.38,-145.9,753.5,-9.0,804,8016,0.00,2.00,0.00,0.000,4,0.000,0.062,1632,1052,3386
$GC,8044,-1.38,-145.9,756.5,-9.3,805,8052,0.00,2.03,0.00,0.000,6,0.000,0.051,1632,2142,3386
$GC,8360,-1.38,-145.9,784.3,-8.8,821,8361,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2142,3385
$GC,8669,-1.38,-145.9,812.7,-9.6,836,8670,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2142,3384
$GC,8978,-1.38,-145.9,842.5,-9.6,851,8979,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2142,3383
$GC,9287,-1.38,-145.9,871.8,-9.3,866,9288,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2142,3382
$GC,9596,-1.38,-145.9,901.7,-9.9,881,9598,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2142,3382
$GC,9906,-1.38,-145.9,931.3,-9.5,896,9907,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2142,3382
$GC,10215,-1.38,-145.9,960.5,-9.3,911,10216,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2142,3381
$GC,10525,-1.38,-145.9,988.8,-9.0,926,10526,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2142,3380
$STATE,10545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10545,begin apogee
$GC,10549,-0.31,0.0,990.6,8.9,927,10687,1.20,0.00,129.77,1.595,6,0.118,0.000,1861,2009,2792
$STATE,10687,end apogee,CONTROL_FINISHED_OK
$STATE,10688,begin climb
$GC,10689,1.05,145.9,994.5,0.0,934,10828,1.48,0.00,129.88,1.516,6,0.076,0.000,2159,2009,2196
$GC,11135,1.05,145.9,959.7,9.6,956,11136,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2009,2194
$GC,11444,1.05,145.9,930.5,9.5,971,11448,0.00,2.10,0.00,0.000,4,0.000,0.070,2160,889,2193
$GC,11475,1.05,145.9,927.3,9.2,972,11483,0.00,2.12,0.00,0.000,6,0.000,0.051,2159,2011,2193
$GC,11791,1.05,145.9,898.1,9.3,988,11792,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2011,2193
$GC,12101,1.05,145.9,868.9,9.4,1003,12102,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2013,2192
$GC,12410,1.05,145.9,840.2,9.3,1018,12414,0.00,2.10,0.00,0.000,4,0.000,0.069,2160,894,2192
$GC,12464,1.05,145.9,834.8,10.1,1020,12472,0.00,2.08,0.00,0.000,6,0.000,0.051,2159,2012,2192
$GC,12780,1.05,148.5,806.2,9.1,1036,12781,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2013,2192
$GC,13089,1.06,157.4,778.5,8.8,1051,13102,0.00,0.00,10.57,1.332,6,0.000,0.000,2159,2013,2151
$GC,13398,1.06,157.4,749.5,9.5,1066,13402,0.00,2.10,0.00,0.000,4,0.000,0.069,2159,895,2150
$GC,13447,1.06,157.4,744.6,9.6,1068,13451,0.00,2.08,0.00,0.000,6,0.000,0.051,2159,2011,2150
$GC,13768,1.06,157.4,714.0,9.6,1084,13769,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2012,2149
$GC,14077,1.06,157.4,684.5,9.6,1099,14081,0.00,2.10,0.00,0.000,4,0.000,0.068,2159,895,2149
$GC,14127,1.06,157.4,679.5,9.6,1101,14131,0.00,2.05,0.00,0.000,6,0.000,0.051,2160,2011,2149
$GC,14442,1.06,157.4,649.8,9.3,1116,14446,0.00,2.10,0.00,0.000,4,0.000,0.069,2159,889,2149
$GC,14484,1.06,157.4,645.5,9.4,1118,14489,0.00,2.10,0.00,0.000,6,0.000,0.051,2160,2008,2149
$GC,14812,1.07,167.1,616.5,8.8,1134,14827,0.00,2.15,10.18,1.238,4,0.000,0.067,2160,888,2110
$GC,14853,1.08,172.5,612.7,8.9,1135,14864,0.00,2.10,6.45,1.097,6,0.000,0.051,2160,1998,2088
$GC,15176,1.15,186.4,584.9,8.6,1150,15196,0.12,0.00,13.35,1.256,6,0.062,0.000,2188,1998,2032
$GC,15503,1.15,186.4,551.4,10.2,1166,15507,0.00,2.08,0.00,0.000,4,0.000,0.067,2188,896,2031
$GC,15535,1.15,186.4,547.8,11.2,1167,15543,0.00,2.10,0.00,0.000,6,0.000,0.051,2188,2007,2031
$GC,15851,1.15,186.4,515.9,10.1,1183,15855,0.00,2.08,0.00,0.000,4,0.000,0.067,2188,895,2031
$GC,15894,1.15,186.4,511.3,10.0,1185,15899,0.00,2.08,0.00,0.000,6,0.000,0.051,2188,2003,2031
$GC,16217,1.15,186.4,479.2,10.2,1210,16218,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2003,2031
$GC,16535,1.15,186.4,446.7,10.4,1240,16539,0.00,2.08,0.00,0.000,4,0.000,0.066,2188,896,2030
$GC,16578,1.15,186.4,441.9,9.7,1243,16586,0.00,2.08,0.00,0.000,6,0.000,0.050,2188,2001,2031
$GC,16904,1.15,186.4,407.8,10.6,1274,16905,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2001,2031
$GC,17222,1.15,186.4,374.4,10.8,1304,17226,0.00,2.08,0.00,0.000,4,0.000,0.064,2188,889,2031
$GC,17275,1.15,186.4,368.2,12.4,1308,17283,0.00,2.05,0.00,0.000,6,0.000,0.048,2188,1994,2031
$GC,17601,1.15,186.4,333.3,10.9,1339,17602,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,1994,2031
$GC,17919,1.15,186.4,301.1,9.4,1369,17921,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,1994,2031
$GC,18238,1.15,186.4,270.4,9.5,1399,18241,0.00,2.05,0.00,0.000,4,0.000,0.059,2188,888,2031
$GC,18299,1.15,186.4,264.1,10.0,1404,18302,0.00,2.00,0.00,0.000,6,0.000,0.044,2188,1998,2031
$GC,18628,1.15,186.4,232.4,9.3,1435,18629,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,1998,2031
$GC,18949,1.15,186.4,201.0,10.0,1465,18953,0.00,2.03,0.00,0.000,4,0.000,0.055,2188,892,2032
$GC,19010,1.15,186.4,194.4,10.5,1474,19017,0.00,2.00,0.00,0.000,6,0.000,0.041,2188,1987,2032
$GC,19355,1.15,186.4,159.9,9.5,1535,19360,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,1987,2033
$GC,19698,1.15,186.4,123.5,10.6,1596,19705,0.00,2.00,0.00,0.000,4,0.000,0.052,2188,890,2034
$GC,19740,1.15,186.4,118.7,11.7,1603,19746,0.00,1.98,0.00,0.000,6,0.000,0.038,2188,1986,2034
$GC,20082,1.15,186.4,80.6,11.4,1664,20089,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,1986,2035
$GC,20426,1.15,186.4,41.6,10.1,1725,20432,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,1986,2036
$GC,20769,1.39,280.8,10.6,5.2,1786,20852,0.17,2.12,77.15,0.823,4,0.048,0.049,2238,887,1646
$STATE,20867,end climb,SURFACE_DEPTH_REACHED
$STATE,20868,begin surface coast
$FINISH,0.1,1.019689
$STATE,20887,end surface coast,CONTROL_FINISHED_OK
$STATE,20887,begin surface
$SM_CCo,20966,0.00,0.000,0,0,1643,281.85
$SM_GC,0.87,9.90,0.00,0.00,0.040,0.000,0.000,55,2177,1643,-8.57,0.20,281.85
$IRIDIUM_FIX,6558.99,440.45,061097,040440
$TT8_MAMPS,0.020709
$HUMID,2055
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,3.00
$XPDR_PINGS,-1
$24V_AH,22.9,11.825
$10V_AH,10.0,6.376
$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,23.550,110.950,377.350,0.000,0.000,29.857,36.753,161.619,0.000,0.000,0.000,34.728,3691.706,14392.496,618.784,2212.142,401.314,0.000,1975.443,0.000,1640.889,0.000,0.654
$DEVICE_MAMPS,197.886,69.797,1594.593,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1722.209,1184.946,614.387,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88311,1805
$CAP_FILE_SIZE,167560,0
$CFSIZE,256368640,248041472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.110,141.4,1
$GPS,120708,154357,6624.209,430.965,27,3.3,46,-2.9