version: 66.03
glider: 17
mission: 6
dive: 182
start: 8 14 108 9 36 7
data:
$ID,17
$MISSION,6
$DIVE,182
$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,-90160.734
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,62
$PITCH_MAX,3362
$C_PITCH,1965
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$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,22
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,320
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.75
$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
$GPS1,092838,6600.551,157.324,39,1.4,39,-4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-48.2
$GPS2,093532,6600.572,157.244,16,1.4,33,-4.3
$SPEED_LIMITS,0.119,0.230
$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,146.9,2331,-15.8,-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,20,-1.39,-74.9,0.0,0.0,0,68,0.00,0.00,-46.17,0.000,2,0.000,0.000,60,2155,2997
$GC,71,-1.40,-81.6,3.3,-6.5,7,92,9.70,2.10,-3.03,0.000,4,0.193,0.060,1654,997,3128
$GC,345,-1.40,-81.6,43.7,-11.3,55,352,0.00,1.98,0.00,0.000,6,0.000,0.032,1654,2121,3132
$GC,689,-1.40,-81.6,77.9,-8.4,116,695,0.00,0.00,0.00,0.000,6,0.000,0.000,1654,2121,3134
$GC,1032,-1.40,-81.6,103.5,-7.8,177,1038,0.00,2.08,0.00,0.000,4,0.000,0.052,1654,3255,3135
$GC,1072,-1.40,-81.6,106.9,-8.4,184,1079,0.00,1.98,0.00,0.000,6,0.000,0.035,1654,2130,3135
$GC,1418,-1.40,-81.6,132.3,-7.1,245,1423,0.00,0.00,0.00,0.000,6,0.000,0.000,1654,2130,3136
$GC,1754,-1.40,-81.6,159.6,-8.7,296,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,1653,2130,3136
$GC,2072,-1.40,-81.6,185.9,-8.1,326,2076,0.00,2.08,0.00,0.000,4,0.000,0.053,1654,3248,3136
$GC,2116,-1.40,-81.6,189.8,-8.5,329,2123,0.00,2.00,0.00,0.000,6,0.000,0.036,1654,2104,3136
$GC,2442,-1.40,-81.6,217.6,-8.8,354,2445,0.00,2.12,0.00,0.000,4,0.000,0.053,1654,3250,3136
$GC,2520,-1.40,-81.6,225.0,-9.6,359,2524,0.00,1.95,0.00,0.000,6,0.000,0.037,1654,2136,3136
$GC,2844,-1.40,-81.6,253.5,-8.8,380,2845,0.00,0.00,0.00,0.000,6,0.000,0.000,1654,2136,3136
$GC,3156,-1.40,-81.6,280.5,-8.6,400,3157,0.00,0.00,0.00,0.000,6,0.000,0.000,1654,2136,3136
$GC,3468,-1.40,-81.6,305.3,-7.5,419,3469,0.00,0.00,0.00,0.000,6,0.000,0.000,1654,2136,3136
$GC,3777,-1.40,-81.6,327.6,-7.0,434,3780,0.00,2.08,0.00,0.000,4,0.000,0.054,1654,3249,3135
$GC,3808,-1.40,-81.6,330.1,-7.6,435,3816,0.00,2.00,0.00,0.000,6,0.000,0.038,1654,2138,3135
$GC,4124,-1.40,-81.6,352.9,-7.6,451,4128,0.00,2.05,0.00,0.000,4,0.000,0.055,1654,3248,3135
$GC,4164,-1.40,-81.6,356.0,-8.7,453,4168,0.00,1.95,0.00,0.000,6,0.000,0.038,1654,2139,3135
$GC,4490,-1.40,-81.6,383.2,-8.6,469,4493,0.00,2.08,0.00,0.000,4,0.000,0.056,1654,3253,3135
$GC,4529,-1.40,-81.6,386.8,-9.6,471,4532,0.00,1.95,0.00,0.000,6,0.000,0.040,1654,2147,3135
$GC,4855,-1.40,-81.6,416.9,-9.1,487,4859,0.00,2.08,0.00,0.000,4,0.000,0.054,1654,999,3134
$GC,4894,-1.40,-81.6,420.7,-9.9,489,4898,0.00,2.03,0.00,0.000,6,0.000,0.038,1654,2141,3135
$GC,5220,-1.40,-81.6,449.3,-8.4,505,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,1654,2141,3134
$GC,5529,-1.40,-81.6,473.5,-7.4,520,5533,0.00,2.08,0.00,0.000,4,0.000,0.060,1654,3252,3134
$GC,5561,-1.40,-81.6,476.1,-7.9,521,5569,0.00,2.03,0.00,0.000,6,0.000,0.041,1654,2137,3134
$GC,5878,-1.41,-87.5,497.6,-6.5,537,5881,0.00,2.08,0.00,0.000,4,0.000,0.060,1654,3252,3133
$GC,5921,-1.41,-87.5,500.7,-7.2,539,5925,0.00,1.98,0.00,0.000,6,0.000,0.042,1654,2140,3133
$GC,6248,-1.42,-95.7,521.5,-6.4,555,6252,0.00,2.08,0.00,0.000,4,0.000,0.061,1654,3251,3132
$GC,6296,-1.42,-95.7,525.1,-7.1,557,6301,0.00,2.00,0.00,0.000,6,0.000,0.044,1654,2154,3132
$GC,6619,-1.42,-95.7,546.6,-6.9,573,6622,0.00,2.05,0.00,0.000,4,0.000,0.064,1654,3253,3131
$GC,6645,-1.42,-95.7,548.7,-7.8,574,6649,0.00,2.00,0.00,0.000,6,0.000,0.044,1654,2155,3131
$GC,6967,-1.42,-95.7,572.2,-7.5,590,6968,0.00,0.00,0.00,0.000,6,0.000,0.000,1654,2155,3131
$GC,7276,-1.42,-95.7,596.0,-7.7,605,7277,0.00,0.00,0.00,0.000,6,0.000,0.000,1654,2155,3130
$GC,7582,-1.42,-95.7,620.2,-8.0,616,7584,0.00,0.00,0.00,0.000,6,0.000,0.000,1654,2154,3129
$GC,7889,-1.42,-95.7,645.8,-8.4,626,7890,0.00,0.00,0.00,0.000,6,0.000,0.000,1654,2154,3127
$GC,8196,-1.42,-95.7,670.6,-7.9,636,8199,0.00,2.10,0.00,0.000,4,0.000,0.069,1654,3256,3126
$GC,8258,-1.42,-95.7,675.7,-8.6,638,8261,0.00,1.98,0.00,0.000,6,0.000,0.048,1654,2156,3126
$GC,8591,-1.42,-95.7,701.2,-7.5,649,8593,0.00,0.00,0.00,0.000,6,0.000,0.000,1654,2155,3125
$GC,8898,-1.42,-95.7,723.7,-7.3,659,8899,0.00,0.00,0.00,0.000,6,0.000,0.000,1654,2155,3125
$GC,9206,-1.42,-95.7,746.3,-7.4,669,9210,0.00,2.10,0.00,0.000,4,0.000,0.070,1654,3256,3124
$GC,9249,-1.42,-95.7,749.9,-8.0,670,9253,0.00,2.03,0.00,0.000,6,0.000,0.048,1654,2158,3124
$GC,9573,-1.42,-95.7,773.5,-7.3,681,9574,0.00,0.00,0.00,0.000,6,0.000,0.000,1654,2157,3123
$GC,9879,-1.42,-95.7,795.8,-7.3,691,9880,0.00,0.00,0.00,0.000,6,0.000,0.000,1654,2157,3122
$GC,10186,-1.42,-95.7,818.6,-7.4,701,10187,0.00,0.00,0.00,0.000,6,0.000,0.000,1654,2157,3121
$GC,10493,-1.42,-95.7,840.7,-7.2,711,10494,0.00,0.00,0.00,0.000,6,0.000,0.000,1654,2157,3121
$GC,10799,-1.42,-95.7,862.5,-7.0,721,10800,0.00,0.00,0.00,0.000,6,0.000,0.000,1654,2157,3120
$GC,11105,-1.42,-96.7,883.7,-6.8,731,11107,0.00,0.00,0.00,0.000,6,0.000,0.000,1654,2157,3119
$GC,11412,-1.42,-97.8,904.6,-6.8,741,11413,0.00,0.00,0.00,0.000,6,0.000,0.000,1654,2157,3119
$GC,11718,-1.42,-98.1,925.6,-6.9,751,11719,0.00,0.00,0.00,0.000,6,0.000,0.000,1654,2157,3118
$GC,12024,-1.42,-98.4,946.5,-6.9,761,12028,0.00,2.10,0.00,0.000,4,0.000,0.071,1654,3254,3118
$GC,12057,-1.42,-98.5,949.0,-6.9,762,12060,0.00,2.00,0.00,0.000,6,0.000,0.050,1654,2150,3118
$GC,12391,-1.42,-99.5,971.7,-6.8,773,12393,0.00,0.00,0.00,0.000,6,0.000,0.000,1654,2150,3117
$STATE,12665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12665,begin apogee
$GC,12670,-0.42,0.0,990.4,6.7,782,12759,1.12,0.00,75.78,1.517,6,0.114,0.000,1872,2003,2792
$STATE,12760,end apogee,CONTROL_FINISHED_OK
$STATE,12760,begin climb
$GC,12763,1.42,99.5,991.9,0.0,785,12858,1.98,0.00,90.85,1.509,6,0.074,0.000,2274,2002,2386
$GC,13153,1.42,99.5,954.8,11.5,798,13154,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2002,2383
$GC,13459,1.42,99.5,920.1,11.3,808,13463,0.00,2.15,0.00,0.000,4,0.000,0.066,2274,3133,2382
$GC,13604,1.42,99.5,903.3,12.2,812,13608,0.00,2.03,0.00,0.000,6,0.000,0.052,2274,2021,2382
$GC,13928,1.42,99.5,867.3,11.1,823,13929,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2021,2383
$GC,14234,1.42,99.5,833.7,11.0,833,14237,0.00,2.12,0.00,0.000,4,0.000,0.067,2274,3141,2382
$GC,14384,1.42,99.5,816.9,10.5,837,14388,0.00,2.08,0.00,0.000,6,0.000,0.053,2274,2015,2381
$GC,14702,1.42,99.5,783.0,10.6,848,14703,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2015,2381
$GC,15008,1.42,99.5,751.4,10.1,858,15012,0.00,2.10,0.00,0.000,4,0.000,0.067,2274,3133,2381
$GC,15130,1.42,99.5,738.4,10.6,861,15137,0.00,2.05,0.00,0.000,6,0.000,0.053,2274,2017,2381
$GC,15442,1.42,99.5,707.0,10.1,872,15443,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2017,2380
$GC,15748,1.42,99.5,676.2,10.1,882,15752,0.00,2.10,0.00,0.000,4,0.000,0.067,2274,3141,2381
$GC,15859,1.42,99.5,664.6,10.6,885,15863,0.00,2.05,0.00,0.000,6,0.000,0.052,2273,2017,2380
$GC,16183,1.42,99.5,631.6,10.2,896,16184,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2017,2381
$GC,16489,1.42,99.5,600.5,10.1,906,16493,0.00,2.10,0.00,0.000,4,0.000,0.067,2274,3134,2380
$GC,16641,1.42,99.5,585.0,9.7,913,16645,0.00,2.03,0.00,0.000,6,0.000,0.053,2273,2021,2380
$GC,16967,1.42,99.5,552.9,9.5,929,16971,0.00,2.08,0.00,0.000,4,0.000,0.067,2274,3136,2380
$GC,17089,1.42,99.5,541.0,9.9,934,17096,0.00,2.03,0.00,0.000,6,0.000,0.051,2274,2023,2380
$GC,17404,1.42,99.5,512.5,9.1,950,17405,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2023,2380
$GC,17714,1.42,99.5,485.5,8.6,965,17715,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2024,2380
$GC,18023,1.42,99.5,459.8,8.3,980,18025,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2023,2380
$GC,18332,1.42,99.5,433.0,9.0,995,18336,0.00,2.08,0.00,0.000,4,0.000,0.064,2274,3142,2380
$GC,18439,1.42,99.5,423.1,9.7,1000,18443,0.00,2.03,0.00,0.000,6,0.000,0.050,2274,2027,2380
$GC,18764,1.42,99.5,393.4,9.1,1016,18768,0.00,2.05,0.00,0.000,4,0.000,0.062,2274,3134,2380
$GC,18875,1.42,99.5,383.1,9.1,1021,18879,0.00,2.03,0.00,0.000,6,0.000,0.048,2274,2031,2380
$GC,19203,1.42,99.5,353.9,9.0,1037,19204,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2031,2380
$GC,19511,1.42,99.5,326.3,9.0,1052,19515,0.00,2.08,0.00,0.000,4,0.000,0.059,2274,3141,2380
$GC,19619,1.42,99.5,316.5,9.9,1057,19623,0.00,1.98,0.00,0.000,6,0.000,0.045,2274,2037,2380
$GC,19941,1.42,99.5,286.7,9.4,1075,19942,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2037,2381
$GC,20253,1.42,99.5,257.6,9.4,1095,20254,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2037,2381
$GC,20566,1.42,99.5,228.5,9.2,1115,20570,0.00,2.03,0.00,0.000,4,0.000,0.058,2274,3133,2382
$GC,20715,1.42,99.5,214.1,9.2,1124,20719,0.00,2.00,0.00,0.000,6,0.000,0.042,2274,2037,2382
$GC,21044,1.42,99.5,184.4,9.1,1150,21045,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2037,2383
$GC,21363,1.42,99.5,156.4,8.7,1180,21366,0.00,2.03,0.00,0.000,4,0.000,0.054,2274,3132,2384
$GC,21498,1.42,99.5,144.3,9.0,1197,21505,0.00,1.95,0.00,0.000,6,0.000,0.041,2274,2038,2384
$GC,21842,1.42,99.5,115.7,8.4,1258,21849,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2038,2385
$GC,22186,1.42,99.5,85.0,9.1,1319,22192,0.00,2.03,0.00,0.000,4,0.000,0.053,2274,3136,2386
$GC,22316,1.42,99.5,72.9,9.1,1342,22323,0.00,1.95,0.00,0.000,6,0.000,0.040,2274,2042,2386
$GC,22661,1.42,99.5,42.5,8.2,1403,22667,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2041,2387
$GC,23003,1.56,223.5,25.8,-0.7,1464,23107,0.12,0.00,100.50,0.792,6,0.054,0.000,2306,2041,1879
$STATE,23257,end climb,SURFACE_DEPTH_REACHED
$STATE,23258,begin surface coast
$FINISH,0.1,1.012981
$STATE,23275,end surface coast,CONTROL_FINISHED_OK
$STATE,23275,begin surface
$SM_CCo,23294,20.27,0.732,0,0,1772,250.21
$SM_GC,2.13,0.00,0.00,20.27,0.000,0.000,0.732,54,2141,1772,-8.79,0.31,250.21
$IRIDIUM_FIX,6532.72,156.31,081197,010149
$TT8_MAMPS,0.021476
$HUMID,2077
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,3.50
$XPDR_PINGS,-1
$24V_AH,22.9,27.241
$10V_AH,10.1,20.707
$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,23.075,110.600,267.125,20.275,0.000,31.554,31.897,202.348,0.000,0.000,0.000,33.741,3219.614,17454.020,494.696,2050.409,516.437,0.000,1773.776,0.000,1539.522,0.000,0.654
$DEVICE_MAMPS,192.517,70.564,1517.126,731.718,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1438.856,1120.382,568.001,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75726,1508
$CAP_FILE_SIZE,161343,0
$CFSIZE,256368640,237731840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.108,324.3,1
$GPS,140808,160601,6559.668,159.419,37,1.0,44,-4.3