version: 66.01
glider: 1
mission: 1
dive: 8
start: 7 6 107 8 58 24
data:
$ID,1
$MISSION,1
$DIVE,8
$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,-445450.25
$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,21
$R_STBD_OVSHOOT,4
$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
$GPS1,085117,4701.693,-12547.731,14,1.1,14,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-50.0
$GPS2,085719,4701.723,-12547.748,14,1.1,15,18.0
$SPEED_LIMITS,0.103,0.183
$TGT_NAME,default
$TGT_LATLONG,47.600,-122.300
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.106,-0.161
$KALMAN_X,-3898.4,328.0,331.9,30142.8,-537.6
$KALMAN_Y,17362.7,91.3,90.4,-23356.6,3408.5
$MHEAD_RNG_PITCHd_Wd,128.7,14748472,-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,33,end surface,CONTROL_FINISHED_OK
$STATE,33,begin dive
$GC,39,-0.83,-116.8,0.0,0.0,0,110,0.00,0.00,-63.08,0.000,6,0.000,0.000,611,2160,2740
$GC,116,-0.83,-116.8,2.8,-4.7,10,135,7.43,3.10,0.00,0.000,4,0.000,0.000,2138,375,2743
$GC,428,-0.83,-116.8,39.6,-11.5,60,437,0.38,3.55,0.00,0.000,6,0.000,0.000,2031,2033,2737
$GC,800,-0.83,-116.8,82.9,-11.4,121,809,0.40,2.90,0.00,0.000,4,0.000,0.000,2119,426,2740
$GC,1091,-0.83,-116.8,115.1,-9.7,151,1099,0.38,3.65,0.00,0.000,6,0.000,0.000,2018,2131,2743
$GC,1421,-0.83,-116.8,143.7,-8.3,167,1428,0.47,3.40,0.00,0.000,4,0.000,0.000,2126,482,2733
$GC,1712,-0.83,-116.8,167.8,-8.2,179,1724,0.35,3.22,0.00,0.000,6,0.000,0.000,2030,2179,2736
$GC,2035,-0.83,-116.8,194.7,-8.6,195,2041,0.35,2.90,0.00,0.000,4,0.000,0.000,2132,414,2737
$GC,2330,-0.83,-116.8,219.2,-8.4,207,2343,0.38,2.90,0.00,0.000,6,0.000,0.000,2034,2207,2736
$GC,2653,-0.83,-116.8,245.3,-8.0,223,2659,0.38,2.90,0.00,0.000,4,0.000,0.000,2152,454,2742
$GC,2937,-0.83,-116.8,268.7,-8.5,235,2950,0.40,3.42,0.00,0.000,6,0.000,0.000,2042,2120,2736
$GC,3261,-0.83,-116.8,295.0,-8.1,251,3269,0.40,3.55,0.00,0.000,4,0.000,0.000,2142,359,2736
$GC,3549,-0.83,-116.8,318.3,-7.5,263,3562,0.38,3.75,0.00,0.000,6,0.000,0.000,2038,2153,2739
$GC,3873,-0.83,-116.8,342.9,-7.7,279,3881,0.45,3.53,0.00,0.000,4,0.000,0.000,2128,351,2741
$GC,4164,-0.83,-116.8,365.2,-7.5,291,4170,0.38,2.80,0.00,0.000,6,0.000,0.000,2041,2153,2733
$GC,4483,-0.83,-116.8,389.6,-7.5,306,4491,0.38,3.75,0.00,0.000,4,0.000,0.000,2131,372,2741
$GC,4773,-0.83,-116.8,411.4,-6.9,318,4779,0.45,2.80,0.00,0.000,6,0.000,0.000,2021,2152,2738
$GC,5092,-0.83,-116.8,432.4,-6.6,333,5098,0.38,2.92,0.00,0.000,4,0.000,0.000,2142,357,2738
$GC,5380,-0.83,-116.8,450.1,-6.0,345,5392,0.38,3.58,0.00,0.000,6,0.000,0.000,2044,1995,2740
$GC,5704,-0.83,-116.8,469.1,-5.9,361,5709,0.43,2.70,0.00,0.000,4,0.000,0.000,2121,372,2741
$GC,5990,-0.83,-116.8,488.4,-6.7,373,5996,0.38,2.80,0.00,0.000,6,0.000,0.000,2031,2188,2739
$GC,6331,-0.83,-116.8,511.5,-6.9,385,6338,0.35,2.92,0.00,0.000,4,0.000,0.000,2128,402,2740
$GC,6618,-0.83,-116.8,530.7,-6.6,391,6624,0.38,2.80,0.00,0.000,6,0.000,0.000,2049,2166,2739
$GC,6935,-0.83,-116.8,551.5,-6.4,399,6940,0.00,2.83,0.00,0.000,4,0.000,0.000,2050,383,2743
$GC,7215,-0.83,-116.8,569.0,-6.0,405,7224,0.38,3.75,0.00,0.000,6,0.000,0.000,2123,2122,2744
$GC,7537,-0.83,-116.8,587.2,-5.8,413,7543,0.40,2.90,0.00,0.000,4,0.000,0.000,2041,360,2736
$GC,7816,-0.83,-116.8,604.9,-6.4,419,7822,0.38,2.70,0.00,0.000,6,0.000,0.000,2142,2123,2740
$GC,8133,-0.83,-116.8,625.8,-6.8,427,8139,0.43,2.53,0.00,0.000,4,0.000,0.000,2053,449,2742
$GC,8412,-0.83,-116.8,645.2,-6.7,433,8418,0.35,2.95,0.00,0.000,6,0.000,0.000,2129,2080,2741
$GC,8730,-0.83,-116.8,667.4,-7.0,441,8736,0.45,2.83,0.00,0.000,4,0.000,0.000,2043,427,2737
$GC,9010,-0.83,-116.8,686.3,-7.2,447,9018,0.25,3.38,0.00,0.000,6,0.000,0.000,2086,1949,2743
$GC,9331,-0.83,-116.8,708.3,-6.9,455,9336,0.00,3.03,0.00,0.000,4,0.000,0.000,2085,386,2737
$GC,9612,-0.83,-116.8,729.1,-6.9,461,9618,0.05,3.12,0.00,0.000,6,0.000,0.000,2034,2207,2742
$GC,9929,-0.83,-116.8,752.0,-7.3,469,9938,0.32,4.90,0.00,0.000,4,0.000,0.000,2166,453,2743
$GC,10220,-0.83,-116.8,771.1,-6.5,475,10227,0.52,2.90,0.00,0.000,6,0.000,0.000,2044,2093,2743
$GC,10542,-0.83,-116.8,791.3,-6.2,483,10548,0.00,3.28,0.00,0.000,4,0.000,0.000,2067,455,2735
$GC,10831,-0.83,-116.8,808.2,-5.1,489,10837,0.00,3.35,0.00,0.000,6,0.000,0.000,2063,2109,2743
$GC,11157,-0.83,-116.8,826.7,-5.8,497,11164,0.17,3.45,0.00,0.000,4,0.000,0.000,2114,443,2741
$GC,11440,-0.83,-116.8,844.2,-6.4,503,11446,0.00,3.12,0.00,0.000,6,0.000,0.000,2111,2086,2747
$GC,11762,-0.83,-116.8,863.8,-6.2,511,11770,0.28,3.35,0.00,0.000,4,0.000,0.000,2067,432,2743
$GC,12046,-0.83,-116.8,883.0,-6.4,517,12051,0.00,3.03,0.00,0.000,6,0.000,0.000,2037,2108,2733
$GC,12366,-0.83,-116.8,903.4,-6.6,525,12372,0.40,2.60,0.00,0.000,4,0.000,0.000,2101,452,2741
$GC,12653,-0.83,-116.8,921.0,-5.6,531,12659,0.10,2.90,0.00,0.000,6,0.000,0.000,2124,2104,2737
$GC,12974,-0.83,-116.8,939.2,-5.6,539,12981,0.00,3.53,0.00,0.000,4,0.000,0.000,2091,466,2739
$GC,13265,-0.83,-116.8,954.1,-5.0,545,13269,0.00,2.60,0.00,0.000,6,0.000,0.000,2101,2097,2738
$GC,13581,-0.83,-116.8,969.5,-4.8,553,13587,0.38,2.60,0.00,0.000,4,0.000,0.000,2050,454,2734
$STATE,13812,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13812,begin apogee
$GC,13828,-0.25,0.0,980.2,4.4,558,13955,0.95,0.00,112.93,0.000,6,0.000,0.000,2261,1959,2261
$STATE,13955,end apogee,CONTROL_FINISHED_OK
$STATE,13960,begin climb
$GC,13966,0.83,116.8,985.4,0.0,561,14098,1.08,2.50,112.72,0.001,4,0.000,0.000,2502,3646,1780
$GC,14380,0.83,116.8,981.4,9.5,570,14389,0.40,3.85,0.12,0.001,6,0.000,0.000,2380,1844,1784
$GC,14712,0.83,116.8,950.4,9.1,578,14718,0.35,2.72,0.00,0.000,4,0.000,0.000,2490,3509,1791
$GC,14998,0.83,116.8,925.8,8.3,584,15004,0.30,2.80,0.00,0.000,6,0.000,0.000,2380,1883,1783
$GC,15315,0.83,116.8,899.2,8.3,592,15320,0.00,2.70,0.00,0.000,4,0.000,0.000,2397,3533,1793
$GC,15595,0.83,116.8,877.1,7.2,598,15601,0.40,2.70,0.03,0.001,6,0.000,0.000,2475,1867,1788
$GC,15912,0.83,116.8,853.4,7.4,606,15915,0.50,0.00,0.00,0.000,6,0.000,0.000,2398,1870,1782
$GC,16237,0.83,116.8,830.0,7.3,614,16243,0.40,2.95,0.00,0.000,4,0.000,0.000,2457,3397,1783
$GC,16523,0.83,116.8,811.0,6.4,620,16531,0.32,3.05,0.00,0.000,6,0.000,0.000,2368,1856,1786
$GC,16844,0.83,116.8,789.0,6.8,628,16852,0.40,3.40,0.00,0.000,4,0.000,0.000,2475,3496,1785
$GC,17134,0.83,116.8,768.3,6.9,634,17142,0.38,3.35,0.00,0.000,6,0.000,0.000,2369,1819,1790
$GC,17455,0.83,116.8,744.0,7.6,642,17460,0.43,2.53,0.00,0.000,4,0.000,0.000,2455,3488,1783
$GC,17740,0.83,116.8,722.4,6.8,648,17748,0.38,3.45,0.00,0.000,6,0.000,0.000,2386,1851,1783
$GC,18061,0.83,116.8,699.3,7.0,656,18069,0.50,3.12,0.00,0.000,4,0.000,0.000,2483,3602,1783
$GC,18351,0.83,116.8,680.1,6.6,662,18359,0.15,3.72,0.00,0.000,6,0.000,0.000,2422,1830,1784
$GC,18672,0.83,116.8,658.8,6.4,670,18679,0.00,3.62,0.00,0.000,4,0.000,0.000,2414,3590,1794
$GC,18957,0.83,116.8,640.7,6.3,676,18965,0.05,3.75,0.00,0.000,6,0.000,0.000,2421,1818,1790
$GC,19278,0.83,116.8,620.0,6.4,684,19285,0.28,3.12,0.00,0.000,4,0.000,0.000,2469,3587,1787
$GC,19568,0.83,116.8,601.6,7.2,690,19575,0.03,3.65,0.00,0.000,6,0.000,0.000,2467,1838,1787
$GC,19888,0.83,116.8,579.0,7.2,698,19890,0.32,0.00,0.00,0.000,6,0.000,0.000,2423,1816,1790
$GC,20213,0.83,116.8,553.4,7.9,706,20221,0.03,3.92,0.00,0.000,4,0.000,0.000,2429,3591,1784
$GC,20504,0.83,116.8,531.4,7.7,712,20509,0.00,3.10,0.00,0.000,6,0.000,0.000,2417,1834,1786
$GC,20820,0.83,116.8,507.6,7.4,720,20828,0.03,3.35,0.50,0.001,4,0.000,0.000,2415,3369,1788
$GC,21103,0.83,116.8,487.9,6.9,729,21109,0.30,2.40,0.00,0.000,6,0.000,0.000,2473,1830,1781
$GC,21422,0.83,122.1,468.2,6.0,744,21434,0.03,2.80,5.20,0.000,4,0.000,0.000,2415,3606,1758
$GC,21707,0.84,129.5,450.1,6.0,756,21720,0.00,2.70,6.85,0.001,6,0.000,0.000,2424,1786,1734
$GC,22046,0.85,129.5,428.3,6.4,773,22054,0.12,3.65,0.00,0.000,4,0.000,0.000,2459,3513,1734
$GC,22337,0.85,142.7,410.5,5.8,785,22355,0.03,2.70,12.05,0.000,6,0.000,0.000,2446,1846,1676
$GC,22680,0.87,142.7,390.3,6.6,802,22686,0.00,2.80,0.12,0.000,4,0.000,0.000,2440,3494,1679
$GC,22967,0.87,146.3,370.8,6.1,814,22980,0.00,2.50,3.47,0.001,6,0.000,0.000,2466,1851,1664
$GC,23291,0.88,146.3,348.0,7.0,830,23297,0.00,3.22,0.00,0.000,4,0.000,0.000,2462,3538,1659
$GC,23543,0.88,146.3,330.0,7.9,841,23552,0.00,3.55,0.52,0.001,6,0.000,0.000,2479,1872,1668
$GC,23878,0.88,146.3,304.9,8.0,857,23885,0.00,3.35,0.00,0.000,4,0.000,0.000,2459,3527,1654
$GC,24168,0.88,146.3,282.5,6.4,869,24173,0.00,2.70,0.00,0.000,6,0.000,0.000,2483,1834,1663
$GC,24487,0.88,146.3,258.9,7.4,884,24494,0.00,3.55,0.00,0.000,4,0.000,0.000,2477,3623,1658
$GC,24724,0.88,146.3,240.8,6.7,894,24729,0.00,2.80,0.00,0.000,6,0.000,0.000,2449,1837,1659
$GC,25048,0.88,146.3,216.2,7.6,910,25050,0.08,0.00,0.00,0.000,6,0.000,0.000,2476,1835,1655
$GC,25357,0.88,146.3,192.6,7.2,925,25362,0.00,2.80,0.00,0.000,4,0.000,0.000,2465,3587,1666
$GC,25642,0.88,146.3,170.9,7.5,937,25648,0.00,3.10,0.00,0.000,6,0.000,0.000,2458,1805,1664
$GC,25961,0.88,146.3,147.7,7.3,952,25966,0.00,2.55,0.00,0.000,4,0.000,0.000,2448,516,1669
$GC,26052,0.88,146.3,141.2,6.6,956,26059,0.00,3.42,0.00,0.000,6,0.000,0.000,2462,2173,1665
$GC,26387,0.88,146.3,119.5,6.3,972,26391,0.00,2.12,0.00,0.000,4,0.000,0.000,2452,3558,1664
$GC,26534,0.88,171.7,110.2,5.3,978,26560,0.00,3.10,19.75,0.000,6,0.000,0.000,2459,1784,1562
$GC,26908,0.92,198.1,88.8,5.3,1018,26939,0.00,3.28,21.62,0.000,4,0.000,0.000,2453,3448,1453
$GC,26981,0.97,235.6,85.3,4.8,1028,27025,0.00,2.67,29.67,0.000,6,0.000,0.000,2458,1899,1306
$GC,27395,1.03,235.6,59.4,6.8,1093,27405,0.03,3.55,0.22,0.001,4,0.000,0.000,2448,3569,1300
$GC,27700,1.03,235.6,38.3,6.8,1142,27709,0.05,3.55,0.00,0.000,6,0.000,0.000,2447,1786,1305
$GC,28078,1.03,235.6,11.8,7.2,1203,28087,0.00,3.35,0.00,0.000,4,0.000,0.000,2458,3449,1303
$STATE,28217,end climb,SURFACE_DEPTH_REACHED
$STATE,28217,begin surface coast
$FINISH,0.3,0.999492
$STATE,28243,end surface coast,CONTROL_FINISHED_OK
$STATE,28243,begin surface
$SM_CCo,28275,72.80,0.000,1,0,832,350.29
$SM_GC,0.35,0.00,0.00,72.80,0.000,0.000,0.000,621,1917,832,-7.59,-1.30,350.29
$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,1625
$INTERNAL_PRESSURE,26.0358
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.7,19.8
$ALTIM_BOTTOM_PING,900.9,89.1
$24V_AH,23.7,23.214
$10V_AH,9.6,3.428
$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,37.575,287.200,325.800,72.800,0.000,0.000,0.000,107.213,8.500,15.049,4356.122,18978.104,840.856,2565.623,1934.664,33.366,2870.311,0.000,2503.629,3600.000,47.167
$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,1225.118,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40988,1230
$CFSIZE,255582208,242307072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,81,1934,4,0
$SOUNDSPEED,1465.0
$CURRENT,0.023,293.5,1
$GPS,060707,165214,4701.534,-12543.867,11,1.1,11,18.0