version: 66.03
glider: 17
mission: 6
dive: 52
start: 7 12 108 15 50 19
data:
$ID,17
$MISSION,6
$DIVE,52
$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,-87133.891
$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,28
$R_STBD_OVSHOOT,21
$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
$GPS1,154357,6624.209,430.965,27,3.3,46,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-47.8
$GPS2,154953,6624.180,430.953,14,5.4,33,-2.9
$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,273.4,122210,-14.2,-9.167
$D_GRID,1234
$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,-145.9,0.0,0.0,0,71,0.00,0.00,-51.78,0.000,2,0.000,0.000,55,2177,2991
$GC,73,-1.05,-145.9,3.6,-7.8,8,101,10.27,2.12,-9.07,0.000,4,0.202,0.067,1699,3297,3392
$GC,355,-1.18,-145.9,34.1,-8.0,57,362,0.00,1.98,0.00,0.000,6,0.000,0.034,1699,2163,3395
$GC,700,-1.31,-145.9,59.5,-8.2,118,708,0.20,2.00,0.00,0.000,4,0.044,0.044,1646,1042,3397
$GC,742,-1.31,-145.9,63.5,-10.0,125,748,0.00,2.03,0.00,0.000,6,0.000,0.035,1645,2175,3397
$GC,1085,-1.25,-145.9,98.0,-9.5,186,1092,0.00,2.03,0.00,0.000,4,0.000,0.044,1645,1049,3398
$GC,1126,-1.25,-145.9,101.9,-9.6,193,1133,0.00,2.00,0.00,0.000,6,0.000,0.036,1645,2170,3398
$GC,1469,-1.25,-145.9,137.3,-10.7,254,1477,0.00,2.03,0.00,0.000,4,0.000,0.045,1645,1048,3399
$GC,1516,-1.25,-145.9,142.4,-10.8,262,1523,0.00,2.03,0.00,0.000,6,0.000,0.037,1645,2156,3399
$GC,1860,-1.25,-145.9,176.8,-9.9,323,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2156,3399
$GC,2202,-1.25,-145.9,210.8,-10.0,375,2206,0.00,2.00,0.00,0.000,4,0.000,0.046,1645,1044,3399
$GC,2267,-1.25,-145.9,217.6,-10.3,380,2275,0.00,2.03,0.00,0.000,6,0.000,0.037,1646,2153,3399
$GC,2595,-1.25,-145.9,248.8,-9.0,411,2598,0.00,1.98,0.00,0.000,4,0.000,0.047,1645,1047,3399
$GC,2649,-1.25,-145.9,254.0,-8.7,415,2657,0.00,2.03,0.00,0.000,6,0.000,0.037,1646,2153,3399
$GC,2976,-1.25,-145.9,283.9,-10.1,446,2979,0.00,1.98,0.00,0.000,4,0.000,0.048,1645,1049,3399
$GC,3007,-1.25,-145.9,287.6,-10.5,448,3015,0.00,2.05,0.00,0.000,6,0.000,0.038,1645,2163,3399
$GC,3333,-1.25,-145.9,323.7,-11.1,479,3337,0.00,2.00,0.00,0.000,4,0.000,0.048,1645,1043,3399
$GC,3375,-1.25,-145.9,328.8,-11.5,482,3383,0.00,2.05,0.00,0.000,6,0.000,0.038,1645,2153,3399
$GC,3701,-1.25,-145.9,362.4,-10.6,513,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2153,3399
$GC,4019,-1.25,-145.9,393.5,-9.1,543,4021,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2153,3399
$GC,4338,-1.25,-145.9,422.7,-9.7,573,4339,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2153,3399
$GC,4656,-1.25,-145.9,456.7,-10.8,603,4660,0.00,2.00,0.00,0.000,4,0.000,0.053,1645,1050,3398
$GC,4717,-1.25,-145.9,463.3,-10.7,608,4721,0.00,2.00,0.00,0.000,6,0.000,0.044,1645,2150,3398
$GC,5042,-1.25,-145.9,494.2,-9.0,638,5043,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2150,3397
$GC,5363,-1.25,-145.9,522.3,-8.6,657,5367,0.00,2.00,0.00,0.000,4,0.000,0.057,1645,1052,3396
$GC,5389,-1.25,-145.9,524.7,-9.2,658,5393,0.00,2.03,0.00,0.000,6,0.000,0.047,1645,2140,3396
$GC,5711,-1.25,-145.9,552.2,-8.6,674,5712,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2140,3394
$GC,6020,-1.25,-145.9,579.5,-8.8,689,6023,0.00,2.00,0.00,0.000,4,0.000,0.060,1645,1048,3393
$GC,6059,-1.25,-145.9,583.0,-8.9,691,6063,0.00,2.00,0.00,0.000,6,0.000,0.050,1645,2148,3393
$GC,6384,-1.25,-145.9,612.4,-9.2,707,6385,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2148,3391
$GC,6694,-1.25,-145.9,640.3,-8.6,722,6698,0.00,2.00,0.00,0.000,4,0.000,0.061,1645,1052,3390
$GC,6726,-1.25,-145.9,643.2,-9.1,723,6733,0.00,2.03,0.00,0.000,6,0.000,0.051,1645,2140,3390
$GC,7042,-1.25,-145.9,670.4,-8.7,739,7043,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2140,3389
$GC,7351,-1.25,-145.9,697.6,-8.7,754,7352,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2140,3387
$GC,7660,-1.25,-145.9,724.9,-8.9,769,7664,0.00,2.00,0.00,0.000,4,0.000,0.062,1645,1049,3387
$GC,7691,-1.25,-145.9,728.0,-9.4,770,7699,0.00,2.03,0.00,0.000,6,0.000,0.051,1645,2143,3387
$GC,8007,-1.25,-145.9,756.2,-8.9,786,8009,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2142,3387
$GC,8317,-1.25,-145.9,783.9,-9.0,801,8318,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2143,3385
$GC,8626,-1.25,-145.9,812.2,-9.3,816,8629,0.00,2.00,0.00,0.000,4,0.000,0.062,1645,1048,3384
$GC,8657,-1.25,-145.9,815.3,-9.8,817,8665,0.00,2.00,0.00,0.000,6,0.000,0.050,1645,2137,3384
$GC,8973,-1.25,-145.9,844.6,-9.2,833,8974,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2137,3384
$GC,9283,-1.25,-145.9,872.7,-9.0,848,9284,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2137,3383
$GC,9592,-1.25,-145.9,900.7,-9.1,863,9596,0.00,2.00,0.00,0.000,4,0.000,0.062,1645,1049,3382
$GC,9624,-1.25,-145.9,903.8,-9.8,864,9631,0.00,2.03,0.00,0.000,6,0.000,0.051,1645,2143,3382
$GC,9940,-1.25,-145.9,932.1,-9.0,880,9941,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2143,3381
$GC,10249,-1.25,-145.9,959.7,-8.9,895,10250,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2143,3380
$GC,10559,-1.25,-145.9,987.1,-8.9,910,10562,0.00,2.00,0.00,0.000,4,0.000,0.062,1645,1051,3380
$STATE,10588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10589,begin apogee
$GC,10594,-0.31,0.0,990.1,10.3,911,10727,1.08,0.00,129.32,1.536,6,0.117,0.000,1863,2011,2792
$STATE,10727,end apogee,CONTROL_FINISHED_OK
$STATE,10727,begin climb
$GC,10729,1.05,145.9,994.5,0.0,918,10863,1.48,0.00,129.88,1.489,6,0.074,0.000,2161,2011,2197
$GC,11169,1.05,149.2,963.1,9.0,940,11175,0.00,0.00,4.28,0.972,6,0.000,0.000,2161,2011,2183
$GC,11478,1.06,151.9,935.0,9.1,955,11486,0.00,2.12,4.18,0.969,4,0.000,0.067,2161,896,2172
$GC,11521,1.06,151.9,930.9,9.3,957,11525,0.00,2.05,0.00,0.000,6,0.000,0.051,2161,2011,2171
$GC,11847,1.06,153.9,901.2,9.1,973,11848,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2012,2171
$GC,12157,1.06,155.4,873.0,9.1,988,12166,0.00,2.12,4.62,1.035,4,0.000,0.068,2161,896,2158
$GC,12198,1.06,155.4,868.9,9.6,990,12203,0.00,2.08,0.00,0.000,6,0.000,0.051,2161,2007,2158
$GC,12526,1.06,157.0,839.0,9.1,1006,12527,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2007,2158
$GC,12835,1.07,162.3,811.1,8.9,1021,12848,0.00,2.15,7.97,1.233,4,0.000,0.067,2161,899,2130
$GC,12888,1.07,162.4,805.9,9.2,1023,12892,0.00,2.08,0.00,0.000,6,0.000,0.051,2162,2011,2129
$GC,13209,1.08,173.8,777.0,8.7,1039,13223,0.00,0.00,11.68,1.308,6,0.000,0.000,2162,2011,2083
$GC,13519,1.09,185.5,749.8,8.7,1054,13535,0.00,2.22,11.55,1.295,4,0.000,0.067,2162,889,2036
$GC,13572,1.09,185.5,744.7,9.3,1055,13580,0.00,2.12,0.00,0.000,6,0.000,0.050,2161,2008,2035
$GC,13889,1.10,193.1,716.7,8.8,1071,13899,0.00,0.00,8.23,1.206,6,0.000,0.000,2162,2008,2004
$GC,14198,1.18,193.1,688.2,9.5,1086,14203,0.12,2.10,0.00,0.000,4,0.062,0.067,2190,896,2004
$GC,14258,1.18,193.1,681.4,11.7,1089,14262,0.00,2.05,0.00,0.000,6,0.000,0.051,2190,2008,2004
$GC,14584,1.18,193.1,645.3,11.2,1105,14588,0.00,2.10,0.00,0.000,4,0.000,0.068,2190,896,2003
$GC,14627,1.18,193.1,640.1,11.5,1107,14631,0.00,2.05,0.00,0.000,6,0.000,0.051,2191,1994,2003
$GC,14954,1.18,193.1,603.8,11.2,1123,14958,0.00,2.08,0.00,0.000,4,0.000,0.068,2190,888,2004
$GC,14985,1.18,193.1,599.9,11.7,1124,14994,0.00,2.10,0.00,0.000,6,0.000,0.052,2190,2003,2003
$GC,15302,1.18,193.1,564.0,11.3,1140,15303,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2004,2003
$GC,15611,1.18,193.1,529.1,11.3,1155,15615,0.00,2.05,0.00,0.000,4,0.000,0.067,2190,896,2003
$GC,15659,1.18,193.1,523.5,10.9,1157,15664,0.00,2.08,0.00,0.000,6,0.000,0.051,2190,2002,2003
$GC,15984,1.18,193.1,488.8,10.8,1178,15988,0.00,2.08,0.00,0.000,4,0.000,0.067,2190,888,2003
$GC,16023,1.18,193.1,484.5,10.9,1181,16026,0.00,2.03,0.00,0.000,6,0.000,0.051,2191,2001,2003
$GC,16346,1.18,193.1,451.4,10.1,1211,16347,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2002,2003
$GC,16665,1.18,193.1,417.2,11.8,1241,16669,0.00,2.05,0.00,0.000,4,0.000,0.066,2190,892,2003
$GC,16738,1.18,193.1,408.6,12.6,1247,16742,0.00,2.03,0.00,0.000,6,0.000,0.049,2190,2002,2003
$GC,17061,1.18,193.1,371.2,11.3,1277,17065,0.00,2.15,0.00,0.000,4,0.000,0.068,2190,3135,2003
$GC,17093,1.18,193.1,367.4,10.4,1279,17102,0.00,2.08,0.00,0.000,6,0.000,0.048,2190,2005,2003
$GC,17419,1.18,193.1,332.9,10.1,1310,17423,0.00,2.08,0.00,0.000,4,0.000,0.064,2190,882,2003
$GC,17450,1.18,193.1,329.3,11.0,1312,17458,0.00,2.05,0.00,0.000,6,0.000,0.045,2190,1993,2003
$GC,17777,1.18,193.1,295.6,10.2,1343,17778,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,1993,2003
$GC,18094,1.18,193.1,262.8,10.5,1373,18095,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,1993,2003
$GC,18415,1.18,193.1,229.2,10.7,1403,18419,0.00,2.05,0.00,0.000,4,0.000,0.057,2190,882,2004
$GC,18457,1.18,193.1,224.3,10.8,1406,18466,0.00,2.05,0.00,0.000,6,0.000,0.041,2191,1995,2004
$GC,18788,1.18,193.1,189.5,11.0,1445,18793,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,1995,2004
$GC,19130,1.18,193.1,153.5,9.7,1506,19136,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,1995,2005
$GC,19473,1.18,193.1,118.7,10.6,1567,19479,0.00,2.03,0.00,0.000,4,0.000,0.054,2191,882,2006
$GC,19524,1.18,193.1,112.9,11.4,1576,19531,0.00,2.00,0.00,0.000,6,0.000,0.038,2190,1999,2007
$GC,19869,1.18,193.1,74.0,10.8,1637,19875,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,1999,2007
$GC,20211,1.18,193.1,40.8,10.5,1698,20218,0.00,2.03,0.00,0.000,4,0.000,0.051,2190,879,2008
$GC,20274,1.18,193.1,34.5,9.6,1709,20281,0.00,1.98,0.00,0.000,6,0.000,0.038,2191,1986,2008
$GC,20618,1.41,277.5,11.8,5.6,1770,20695,0.20,2.22,69.25,0.808,4,0.046,0.054,2246,3131,1660
$STATE,20723,end climb,SURFACE_DEPTH_REACHED
$STATE,20723,begin surface coast
$FINISH,0.2,1.025936
$STATE,20740,end surface coast,CONTROL_FINISHED_OK
$STATE,20740,begin surface
$SM_CCo,20818,0.00,0.000,0,0,1656,278.66
$SM_GC,0.91,9.93,0.00,0.00,0.040,0.000,0.000,59,2160,1656,-8.57,-0.28,278.66
$IRIDIUM_FIX,6558.99,434.22,061097,090921
$TT8_MAMPS,0.021476
$HUMID,2045
$INTERNAL_PRESSURE,8.21321
$TCM_TEMP,4.00
$XPDR_PINGS,-1
$24V_AH,22.9,11.982
$10V_AH,10.1,6.495
$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,23.275,130.375,380.950,0.000,0.000,24.805,39.563,168.057,0.000,0.000,0.000,34.693,3671.460,14225.839,643.147,2222.724,409.508,0.000,2013.506,0.000,1650.604,0.000,0.654
$DEVICE_MAMPS,202.488,68.263,1535.534,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1704.277,1186.334,623.163,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88281,1790
$CAP_FILE_SIZE,172504,0
$CFSIZE,256368640,247947264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.091,113.9,1
$GPS,120708,213852,6623.848,425.274,43,2.3,62,-2.9