version: 66.01
glider: 1
mission: 1
dive: 7
start: 7 6 107 1 7 49
data:
$ID,1
$MISSION,1
$DIVE,7
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,7.0000001e-06
$D_PITCH,1.5
$D_SAFE,100
$D_CALL,2
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,20
$SURFACE_URGENCY_FORCE,20
$T_DIVE,528
$T_MISSION,550
$T_ABORT,1440
$T_TURN,240
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,-1
$ICE_FREEZE_MARGIN,-2
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,0.94999993
$RHO,1.02765
$MASS,51747
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.00312
$HD_B,0.0099099996
$HD_C,2.4896e-05
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,1
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-445434.56
$T_RSLEEP,57
$RAFOS_PEAK_OFFSET,0.2
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,5400
$PITCH_MIN,679
$PITCH_MAX,3252
$C_PITCH,2263
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.045000002
$PITCH_GAIN,20
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,180
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,166
$ROLL_MAX,3791
$C_ROLL_DIVE,1978
$C_ROLL_CLIMB,1978
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,5
$R_STBD_OVSHOOT,2
$ROLL_AD_RATE,500
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,421
$VBD_MAX,3792
$C_VBD,2257
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,20
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,0.27000001
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,3.5
$ALTIM_PING_DEPTH,125
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,15
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,10
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,1
$PHONE_DEVICE,32
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042857998
$SEABIRD_T_H,0.00062588596
$SEABIRD_T_I,2.1643695e-05
$SEABIRD_T_J,2.0181028e-06
$SEABIRD_C_G,-10.005328
$SEABIRD_C_H,1.1235065
$SEABIRD_C_I,-0.0015880254
$SEABIRD_C_J,0.0001984441
$GPS1,010026,4702.472,-12551.063,24,1.1,24,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-50.0
$GPS2,010645,4702.560,-12551.072,31,1.1,32,18.0
$SPEED_LIMITS,0.103,0.183
$TGT_NAME,default
$TGT_LATLONG,47.600,-122.300
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.094,-0.169
$KALMAN_X,-5089.6,212.5,206.8,27379.4,-786.5
$KALMAN_Y,14158.6,-35.1,-95.9,-18296.8,3960.6
$MHEAD_RNG_PITCHd_Wd,132.9,14754784,-12.7,-6.250
$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,32,end surface,CONTROL_FINISHED_OK
$STATE,33,begin dive
$GC,39,-0.83,-116.8,0.0,0.0,0,109,0.00,0.00,-62.65,0.000,6,0.000,0.000,655,2195,2743
$GC,115,-0.83,-116.8,2.9,-4.8,10,133,7.25,3.22,0.00,0.000,4,0.000,0.000,2130,446,2743
$GC,426,-0.83,-116.8,38.9,-11.5,60,435,0.38,4.45,0.00,0.000,6,0.000,0.000,2053,2131,2741
$GC,797,-0.83,-116.8,80.7,-11.4,121,806,0.40,3.53,0.00,0.000,4,0.000,0.000,2136,452,2739
$GC,1092,-0.83,-116.8,112.0,-10.3,154,1098,0.40,2.60,0.00,0.000,6,0.000,0.000,2053,2114,2731
$GC,1417,-0.83,-116.8,141.7,-7.6,170,1424,0.38,3.10,0.00,0.000,4,0.000,0.000,2133,363,2735
$GC,1707,-0.83,-116.8,162.2,-6.7,182,1719,0.38,2.90,0.00,0.000,6,0.000,0.000,2053,2182,2737
$GC,2030,-0.83,-116.8,187.8,-8.7,198,2035,0.03,2.70,0.00,0.000,4,0.000,0.000,2055,373,2737
$GC,2316,-0.83,-116.8,211.6,-7.5,210,2322,0.10,2.80,0.00,0.000,6,0.000,0.000,2104,2160,2735
$GC,2635,-0.83,-116.8,237.4,-8.2,225,2642,0.00,3.45,0.00,0.000,4,0.000,0.000,2084,473,2739
$GC,2925,-0.83,-116.8,261.8,-7.9,237,2937,0.00,3.35,0.00,0.000,6,0.000,0.000,2096,2135,2740
$GC,3248,-0.83,-116.8,286.5,-7.9,253,3253,0.00,2.80,0.00,0.000,4,0.000,0.000,2107,441,2740
$GC,3532,-0.83,-116.8,310.2,-8.1,265,3543,0.00,3.35,0.00,0.000,6,0.000,0.000,2117,2122,2736
$GC,3855,-0.83,-116.8,334.8,-7.6,281,3862,0.00,3.75,0.00,0.000,4,0.000,0.000,2068,323,2734
$GC,4141,-0.83,-116.8,356.8,-8.0,293,4153,0.03,3.55,0.00,0.000,6,0.000,0.000,2100,2094,2735
$GC,4464,-0.83,-116.8,383.3,-7.9,309,4472,0.05,4.32,0.00,0.000,4,0.000,0.000,2061,400,2741
$GC,4755,-0.83,-116.8,404.7,-6.6,321,4761,0.35,2.72,0.00,0.000,6,0.000,0.000,2135,2191,2734
$GC,5075,-0.83,-116.8,425.4,-6.3,336,5082,0.35,3.10,0.00,0.000,4,0.000,0.000,2040,418,2741
$GC,5365,-0.83,-116.8,444.3,-6.6,348,5377,0.35,2.92,0.00,0.000,6,0.000,0.000,2149,2085,2733
$GC,5688,-0.83,-116.8,465.2,-6.6,364,5694,0.35,2.90,0.00,0.000,4,0.000,0.000,2044,443,2734
$GC,5976,-0.83,-116.8,485.0,-6.9,376,5981,0.00,2.60,0.00,0.000,6,0.000,0.000,2044,2100,2743
$GC,6298,-0.83,-116.8,506.9,-7.1,389,6306,0.43,3.35,0.00,0.000,4,0.000,0.000,2149,475,2738
$GC,6581,-0.83,-116.8,527.3,-6.7,395,6588,0.40,2.90,0.00,0.000,6,0.000,0.000,2060,2150,2737
$GC,6901,-0.83,-116.8,547.9,-6.3,403,6908,0.35,3.10,0.00,0.000,4,0.000,0.000,2148,397,2733
$GC,7191,-0.83,-116.8,565.7,-5.9,409,7199,0.62,2.97,0.00,0.000,6,0.000,0.000,2018,2202,2736
$GC,7512,-0.83,-116.8,586.7,-6.6,417,7520,0.40,3.45,0.00,0.000,4,0.000,0.000,2099,430,2737
$GC,7795,-0.83,-116.8,606.1,-7.1,423,7800,0.00,2.90,0.00,0.000,6,0.000,0.000,2102,2194,2739
$GC,8111,-0.83,-116.8,629.1,-7.3,431,8116,0.00,3.00,0.00,0.000,4,0.000,0.000,2095,432,2734
$GC,8392,-0.83,-116.8,649.2,-6.6,437,8397,0.00,3.10,0.00,0.000,6,0.000,0.000,2098,2188,2731
$GC,8708,-0.83,-116.8,671.0,-7.1,445,8714,0.03,2.70,0.00,0.000,4,0.000,0.000,2108,392,2736
$GC,8993,-0.83,-116.8,690.0,-6.5,451,9001,0.03,3.92,0.00,0.000,6,0.000,0.000,2099,2199,2742
$GC,9314,-0.83,-116.8,711.2,-6.6,459,9322,0.00,3.62,0.00,0.000,4,0.000,0.000,2106,420,2732
$GC,9600,-0.83,-116.8,730.5,-6.3,465,9607,0.00,3.65,0.00,0.000,6,0.000,0.000,2115,2198,2737
$GC,9921,-0.83,-116.8,749.6,-5.9,473,9928,0.00,3.33,0.00,0.000,4,0.000,0.000,2096,436,2737
$GC,10203,-0.83,-116.8,767.5,-6.9,479,10210,0.00,3.42,0.00,0.000,6,0.000,0.000,2118,2130,2728
$GC,10524,-0.83,-116.8,787.3,-6.0,487,10529,0.00,2.70,0.00,0.000,4,0.000,0.000,2088,374,2737
$GC,10804,-0.83,-116.8,803.6,-5.7,493,10809,0.00,2.80,0.00,0.000,6,0.000,0.000,2107,2142,2743
$GC,11120,-0.83,-116.8,822.9,-6.5,501,11128,0.12,3.65,0.00,0.000,4,0.000,0.000,2056,408,2734
$GC,11411,-0.83,-116.8,842.2,-7.6,507,11417,0.12,2.80,0.00,0.000,6,0.000,0.000,2101,2194,2737
$GC,11728,-0.83,-116.8,865.6,-7.5,515,11733,0.00,3.20,0.00,0.000,4,0.000,0.000,2078,410,2741
$GC,12007,-0.83,-116.8,886.3,-6.8,521,12014,0.00,3.58,0.00,0.000,6,0.000,0.000,2090,2077,2741
$GC,12328,-0.83,-116.8,909.3,-6.9,529,12332,0.00,2.50,0.00,0.000,4,0.000,0.000,2096,408,2740
$GC,12608,-0.83,-116.8,927.4,-6.2,535,12615,0.00,3.55,0.00,0.000,6,0.000,0.000,2105,2130,2730
$GC,12929,-0.83,-116.8,946.0,-5.6,543,12937,0.00,3.62,0.00,0.000,4,0.000,0.000,2108,355,2739
$GC,13215,-0.83,-116.8,962.4,-5.7,549,13222,0.00,3.45,0.00,0.000,6,0.000,0.000,2111,2080,2737
$GC,13537,-0.83,-116.8,979.2,-5.1,557,13542,0.00,2.70,0.00,0.000,4,0.000,0.000,2107,444,2739
$STATE,13561,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13561,begin apogee
$GC,13576,-0.25,0.0,980.7,5.1,557,13696,0.55,0.00,111.90,0.000,6,0.000,0.000,2256,2111,2261
$STATE,13696,end apogee,CONTROL_FINISHED_OK
$STATE,13696,begin climb
$GC,13702,0.83,116.8,985.5,0.0,560,13824,1.23,2.83,112.97,0.001,4,0.000,0.000,2476,3536,1791
$GC,14104,0.83,116.8,980.8,9.0,568,14111,0.00,3.35,0.00,0.000,6,0.000,0.000,2465,1833,1781
$GC,14437,0.83,116.8,950.4,8.9,576,14444,0.00,3.55,0.03,0.001,4,0.000,0.000,2468,3514,1788
$GC,14726,0.83,116.8,923.9,8.8,582,14733,0.00,3.25,0.00,0.000,6,0.000,0.000,2457,1830,1789
$GC,15047,0.83,116.8,893.8,9.3,590,15052,0.00,2.80,0.00,0.000,4,0.000,0.000,2462,3525,1782
$GC,15325,0.83,116.8,868.2,8.9,596,15330,0.05,2.60,0.00,0.000,6,0.000,0.000,2450,1837,1787
$GC,15641,0.83,116.8,842.4,8.1,604,15649,0.08,3.42,0.00,0.000,4,0.000,0.000,2457,3501,1789
$GC,15931,0.83,116.8,819.9,7.5,610,15939,0.03,4.03,0.00,0.000,6,0.000,0.000,2460,1853,1780
$GC,16253,0.83,116.8,794.3,7.8,618,16258,0.00,2.72,0.00,0.000,4,0.000,0.000,2478,3594,1785
$GC,16533,0.83,116.8,773.7,6.9,624,16541,0.10,3.75,0.00,0.000,6,0.000,0.000,2422,1841,1784
$GC,16854,0.83,116.8,751.7,6.6,632,16859,0.00,2.70,0.00,0.000,4,0.000,0.000,2424,3523,1787
$GC,17133,0.83,116.8,733.6,6.4,638,17140,0.00,3.50,0.00,0.000,6,0.000,0.000,2410,2012,1781
$GC,17454,0.83,127.1,715.0,5.9,646,17470,0.08,2.40,9.88,0.000,4,0.000,0.000,2410,3524,1746
$GC,17746,0.85,127.1,696.5,6.7,652,17753,0.03,3.45,0.00,0.000,6,0.000,0.000,2409,1854,1739
$GC,18098,0.85,127.1,673.2,6.8,661,18105,0.35,3.15,0.00,0.000,4,0.000,0.000,2505,3377,1740
$GC,18387,0.85,127.1,652.7,6.3,667,18392,0.35,2.33,0.00,0.000,6,0.000,0.000,2404,1837,1745
$GC,18703,0.85,127.1,631.0,6.6,675,18708,0.00,2.70,0.00,0.000,4,0.000,0.000,2421,3615,1752
$GC,18983,0.85,127.1,611.6,6.7,681,18989,0.00,3.20,0.00,0.000,6,0.000,0.000,2415,1831,1745
$GC,19300,0.85,127.1,589.4,7.2,689,19306,0.22,2.92,0.00,0.000,4,0.000,0.000,2478,3605,1744
$GC,19586,0.85,127.1,569.5,7.3,695,19593,0.22,2.70,0.10,0.000,6,0.000,0.000,2437,1847,1742
$GC,19904,0.85,127.1,547.6,6.7,703,19909,0.12,2.72,0.00,0.000,4,0.000,0.000,2469,3609,1738
$GC,20190,0.85,135.5,528.1,5.9,709,20204,0.20,3.35,7.68,0.000,6,0.000,0.000,2425,1794,1704
$GC,20545,0.86,135.5,504.7,6.5,718,20553,0.17,3.55,0.00,0.000,4,0.000,0.000,2407,3474,1706
$GC,20829,0.86,136.0,486.7,6.2,728,20841,0.00,3.35,0.28,0.000,6,0.000,0.000,2417,1839,1709
$GC,21152,0.86,157.5,469.0,5.4,744,21180,0.03,3.03,20.90,0.000,4,0.000,0.000,2412,3530,1624
$GC,21454,0.90,185.4,452.1,5.2,757,21490,0.35,2.72,27.00,0.000,6,0.000,0.000,2523,1853,1500
$GC,21802,0.94,185.4,429.4,7.0,774,21811,0.45,3.45,0.03,0.001,4,0.000,0.000,2431,3493,1503
$GC,22086,0.94,185.4,409.6,6.9,786,22092,0.40,2.70,0.00,0.000,6,0.000,0.000,2515,1822,1508
$GC,22405,0.94,185.4,383.5,9.0,801,22412,0.35,3.17,0.00,0.000,4,0.000,0.000,2417,3370,1509
$GC,22695,0.94,185.4,355.1,10.0,813,22707,0.38,3.12,0.00,0.000,6,0.000,0.000,2523,1845,1495
$GC,23019,0.94,185.4,324.2,9.4,829,23026,0.38,3.15,0.00,0.000,4,0.000,0.000,2410,3471,1508
$GC,23302,0.94,185.4,299.1,8.0,841,23314,0.40,3.00,0.00,0.000,6,0.000,0.000,2525,1832,1506
$GC,23625,0.94,185.4,274.5,7.3,857,23627,0.38,0.00,0.00,0.000,6,0.000,0.000,2431,1820,1505
$GC,23934,0.94,185.4,251.4,7.4,872,23940,0.38,2.70,0.05,0.001,4,0.000,0.000,2540,3594,1509
$GC,24214,0.94,185.4,230.4,7.2,884,24220,0.43,2.80,0.05,0.000,6,0.000,0.000,2443,1806,1496
$GC,24535,0.94,185.4,206.1,7.7,899,24543,0.30,2.70,0.47,0.001,4,0.000,0.000,2521,3571,1505
$GC,24818,0.94,185.4,183.7,7.5,911,24823,0.32,2.53,0.00,0.000,6,0.000,0.000,2434,1882,1499
$GC,25137,0.94,185.4,158.5,7.6,926,25143,0.00,2.80,0.08,0.000,4,0.000,0.000,2434,3511,1502
$GC,25428,0.94,220.9,137.1,4.9,938,25465,0.38,3.17,28.50,0.000,6,0.000,0.000,2522,1968,1360
$GC,25781,1.00,220.9,112.3,7.0,955,25787,0.45,2.72,0.00,0.000,4,0.000,0.000,2439,3602,1368
$GC,26079,1.00,233.9,94.0,5.8,978,26096,0.38,2.80,10.18,0.000,6,0.000,0.000,2532,1808,1305
$GC,26468,1.03,264.5,73.9,5.1,1040,26500,0.30,2.80,24.67,0.000,4,0.000,0.000,2486,3575,1184
$GC,26805,1.08,281.3,56.3,5.6,1092,26829,0.00,2.67,13.18,0.000,6,0.000,0.000,2490,1761,1117
$GC,27202,1.11,289.8,32.5,5.9,1155,27218,0.00,2.80,8.35,0.000,4,0.000,0.000,2487,3574,1077
$GC,27510,1.12,289.8,12.6,7.5,1205,27519,0.00,3.55,0.00,0.000,6,0.000,0.000,2494,1781,1079
$STATE,27636,end climb,SURFACE_DEPTH_REACHED
$STATE,27636,begin surface coast
$FINISH,0.3,0.999486
$STATE,27662,end surface coast,CONTROL_FINISHED_OK
$STATE,27662,begin surface
$SM_CCo,27692,37.15,0.000,0,0,838,351.02
$SM_GC,0.34,0.00,0.00,37.15,0.000,0.000,0.000,615,2159,838,-7.65,4.78,351.02
$RAFOS_CLK,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2154
$INTERNAL_PRESSURE,26.0748
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.6,20.0
$ALTIM_BOTTOM_PING,901.0,89.6
$24V_AH,23.8,22.339
$10V_AH,9.6,3.293
$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,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,32.325,280.250,376.275,37.150,0.000,0.000,0.000,106.747,8.500,32.420,4350.782,18397.961,827.329,2596.731,1895.416,33.364,2864.164,0.000,2557.281,3240.000,56.588
$DEVICE_MAMPS,119.000,60.000,1300.000,600.000,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1226.993,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40961,1230
$CFSIZE,255582208,242507776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,56,1876,1,0
$SOUNDSPEED,1465.0
$CURRENT,0.047,283.3,1
$GPS,060707,085117,4701.693,-12547.731,14,1.1,14,18.0