version: 66.01
glider: 1
mission: 1
dive: 9
start: 7 6 107 16 59 24
data:
$ID,1
$MISSION,1
$DIVE,9
$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,-445467
$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,7
$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
$GPS1,165214,4701.534,-12543.867,11,1.1,11,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-50.0
$GPS2,165819,4701.565,-12543.896,15,1.1,15,18.0
$SPEED_LIMITS,0.103,0.183
$TGT_NAME,default
$TGT_LATLONG,47.600,-122.300
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.047,-0.187
$KALMAN_X,-1859.9,208.1,161.1,33251.4,733.7
$KALMAN_Y,21996.7,30.0,101.6,-28248.4,4452.0
$MHEAD_RNG_PITCHd_Wd,147.8,14741688,-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,-63.22,0.000,6,0.000,0.000,651,1925,2738
$GC,116,-0.83,-116.8,3.0,-4.7,10,134,7.65,2.35,0.00,0.000,4,0.000,0.000,2148,392,2740
$GC,427,-0.83,-116.8,40.4,-12.2,60,436,0.43,3.00,0.00,0.000,6,0.000,0.000,2065,2142,2741
$GC,799,-0.83,-116.8,85.7,-12.1,121,807,0.00,3.10,0.00,0.000,4,0.000,0.000,2052,367,2741
$GC,1086,-0.83,-116.8,115.0,-8.0,149,1094,0.38,3.10,0.00,0.000,6,0.000,0.000,2160,2182,2748
$GC,1416,-0.83,-116.8,143.9,-9.6,165,1422,0.50,2.72,0.00,0.000,4,0.000,0.000,2080,392,2745
$GC,1701,-0.83,-116.8,169.9,-8.5,177,1713,0.00,3.62,0.00,0.000,6,0.000,0.000,2069,2162,2738
$GC,2024,-0.83,-116.8,195.1,-7.4,193,2032,0.03,3.92,0.00,0.000,4,0.000,0.000,2057,437,2742
$GC,2313,-0.83,-116.8,217.8,-8.1,205,2318,0.05,2.83,0.00,0.000,6,0.000,0.000,2053,2214,2743
$GC,2632,-0.83,-116.8,244.3,-8.3,220,2639,0.00,3.75,0.00,0.000,4,0.000,0.000,2056,428,2740
$GC,2921,-0.83,-116.8,267.2,-8.3,232,2926,0.05,2.80,0.00,0.000,6,0.000,0.000,2063,2185,2734
$GC,3240,-0.83,-116.8,292.0,-7.9,247,3246,0.00,3.30,0.00,0.000,4,0.000,0.000,2071,395,2740
$GC,3530,-0.83,-116.8,315.9,-7.8,259,3536,0.08,3.00,0.00,0.000,6,0.000,0.000,2051,2170,2738
$GC,3849,-0.83,-116.8,340.5,-7.6,274,3857,0.17,3.92,0.00,0.000,4,0.000,0.000,2045,369,2741
$GC,4138,-0.83,-116.8,362.2,-7.3,286,4150,0.00,3.30,0.00,0.000,6,0.000,0.000,2061,2179,2740
$GC,4461,-0.83,-116.8,385.7,-7.8,302,4469,0.30,3.62,0.00,0.000,4,0.000,0.000,2177,479,2736
$GC,4751,-0.83,-116.8,406.3,-7.0,314,4764,0.40,3.53,0.00,0.000,6,0.000,0.000,2072,2152,2746
$GC,5075,-0.83,-116.8,427.7,-6.6,330,5082,0.00,3.55,0.00,0.000,4,0.000,0.000,2054,358,2746
$GC,5360,-0.83,-116.8,447.1,-7.0,342,5372,0.03,3.58,0.00,0.000,6,0.000,0.000,2058,2037,2742
$GC,5683,-0.83,-116.8,469.3,-6.9,358,5689,0.03,2.90,0.00,0.000,4,0.000,0.000,2080,360,2748
$GC,5969,-0.83,-116.8,490.2,-7.5,370,5982,0.05,3.33,0.00,0.000,6,0.000,0.000,2082,2167,2739
$GC,6310,-0.83,-116.8,515.2,-7.4,382,6315,0.00,2.80,0.00,0.000,4,0.000,0.000,2081,386,2750
$GC,6590,-0.83,-116.8,536.8,-7.5,388,6595,0.00,3.12,0.00,0.000,6,0.000,0.000,2067,2140,2742
$GC,6907,-0.83,-116.8,560.9,-7.6,396,6913,0.00,3.42,0.00,0.000,4,0.000,0.000,2082,467,2742
$GC,7191,-0.83,-116.8,582.3,-7.9,402,7198,0.03,3.53,0.00,0.000,6,0.000,0.000,2056,2118,2742
$GC,7511,-0.83,-116.8,604.8,-6.7,410,7517,0.03,2.80,0.00,0.000,4,0.000,0.000,2072,361,2739
$GC,7789,-0.83,-116.8,624.0,-7.1,416,7796,0.08,3.25,0.00,0.000,6,0.000,0.000,2071,2151,2749
$GC,8110,-0.83,-116.8,643.8,-6.1,424,8117,0.00,3.55,0.00,0.000,4,0.000,0.000,2071,377,2743
$GC,8395,-0.83,-116.8,660.5,-5.1,430,8401,0.03,3.00,0.00,0.000,6,0.000,0.000,2071,2173,2744
$GC,8712,-0.83,-116.8,679.2,-6.0,438,8720,0.00,3.62,0.00,0.000,4,0.000,0.000,2056,357,2744
$GC,8998,-0.83,-116.8,697.9,-5.7,444,9003,0.15,2.70,0.00,0.000,6,0.000,0.000,2103,2177,2742
$GC,9314,-0.83,-116.8,717.6,-6.3,452,9322,0.05,3.55,0.00,0.000,4,0.002,0.000,2121,411,2742
$GC,9599,-0.83,-116.8,735.2,-6.9,458,9607,0.25,3.25,0.00,0.000,6,0.000,0.000,2060,2094,2735
$GC,9920,-0.83,-116.8,755.2,-6.4,466,9927,0.28,3.55,0.00,0.000,4,0.000,0.000,2150,421,2742
$GC,10210,-0.83,-116.8,773.2,-6.1,472,10218,0.55,2.92,0.00,0.000,6,0.000,0.000,2061,2091,2740
$GC,10533,-0.83,-116.8,792.6,-5.9,480,10540,0.00,3.53,0.00,0.000,4,0.000,0.000,2056,446,2747
$GC,10825,-0.83,-116.8,810.7,-6.1,486,10830,0.00,2.60,0.00,0.000,6,0.000,0.000,2056,2123,2745
$GC,11141,-0.83,-116.8,829.3,-5.5,494,11146,0.00,2.62,0.00,0.000,4,0.000,0.000,2063,482,2744
$GC,11427,-0.83,-116.8,845.1,-5.3,500,11433,0.15,3.03,0.00,0.000,6,0.000,0.000,2117,2183,2739
$GC,11750,-0.83,-116.8,862.3,-5.4,508,11757,0.00,3.65,0.00,0.000,4,0.000,0.000,2115,397,2742
$GC,12040,-0.83,-116.8,878.8,-5.0,514,12046,0.03,3.12,0.00,0.000,6,0.000,0.000,2113,2187,2746
$GC,12358,-0.83,-116.8,897.0,-5.9,522,12365,0.12,3.25,0.00,0.000,4,0.000,0.000,2092,391,2748
$GC,12648,-0.83,-116.8,915.6,-7.0,528,12655,0.00,3.65,0.00,0.000,6,0.000,0.000,2099,2127,2739
$GC,12969,-0.83,-116.8,936.7,-6.3,536,12975,0.00,3.15,0.00,0.000,4,0.000,0.000,2072,469,2743
$GC,13255,-0.83,-116.8,954.4,-6.2,542,13264,0.00,3.10,0.00,0.000,6,0.000,0.000,2111,2140,2742
$GC,13581,-0.83,-116.8,974.4,-6.0,550,13588,0.32,3.28,0.00,0.000,4,0.000,0.000,2068,460,2742
$STATE,13683,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13683,begin apogee
$GC,13698,-0.25,0.0,980.5,5.7,552,13826,0.95,0.00,114.28,0.000,6,0.000,0.000,2247,2120,2255
$STATE,13827,end apogee,CONTROL_FINISHED_OK
$STATE,13827,begin climb
$GC,13838,0.83,116.8,986.6,0.0,555,13970,1.02,2.10,112.97,0.001,4,0.000,0.000,2436,3504,1784
$GC,14252,0.83,116.8,987.6,7.9,564,14259,0.00,3.35,0.00,0.000,6,0.000,0.000,2456,1967,1783
$GC,14585,0.83,116.8,959.6,8.1,572,14590,0.00,2.83,0.00,0.000,4,0.000,0.000,2475,3498,1782
$GC,14865,0.83,116.8,936.4,7.7,578,14871,0.05,2.62,0.00,0.000,6,0.000,0.000,2422,1812,1779
$GC,15182,0.83,116.8,911.7,7.7,586,15187,0.05,2.90,0.00,0.000,4,0.000,0.000,2464,3633,1783
$GC,15467,0.83,116.8,889.4,7.8,592,15475,0.35,3.12,0.00,0.000,6,0.000,0.000,2376,1854,1778
$GC,15788,0.83,116.8,862.8,8.4,600,15795,0.38,3.15,0.00,0.000,4,0.000,0.000,2465,3535,1782
$GC,16077,0.83,116.8,840.6,7.7,606,16082,0.00,2.83,0.00,0.000,6,0.000,0.000,2451,1836,1781
$GC,16394,0.83,116.8,817.5,7.3,614,16399,0.20,2.83,0.00,0.000,4,0.000,0.000,2396,3516,1783
$GC,16676,0.83,116.8,796.7,7.0,620,16681,0.00,3.25,0.00,0.000,6,0.000,0.000,2441,1860,1793
$GC,16992,0.83,116.8,771.9,8.1,628,16998,0.05,2.53,0.00,0.000,4,0.000,0.000,2433,3557,1788
$GC,17277,0.83,116.8,748.8,8.0,634,17284,0.00,3.53,0.10,0.000,6,0.000,0.000,2418,1869,1787
$GC,17597,0.83,116.8,722.7,8.1,642,17602,0.10,2.50,0.00,0.000,4,0.000,0.000,2471,3524,1782
$GC,17882,0.83,116.8,700.5,7.3,648,17888,0.10,3.10,0.00,0.000,6,0.000,0.000,2422,1771,1780
$GC,18199,0.83,116.8,675.4,7.7,656,18206,0.00,3.65,0.00,0.000,4,0.000,0.000,2430,3530,1784
$GC,18485,0.83,116.8,655.9,6.6,662,18490,0.00,2.70,0.00,0.000,6,0.000,0.000,2425,1763,1782
$GC,18801,0.83,126.3,637.4,5.9,670,18816,0.00,3.62,8.62,0.001,4,0.000,0.000,2434,3567,1743
$GC,19097,0.85,126.3,620.0,6.5,676,19104,0.03,3.62,0.00,0.000,6,0.000,0.000,2425,1890,1744
$GC,19448,0.85,126.3,598.3,6.3,685,19454,0.05,2.80,0.00,0.000,4,0.000,0.000,2427,3553,1743
$GC,19734,0.85,126.3,578.6,7.6,691,19742,0.00,3.75,0.00,0.000,6,0.000,0.000,2412,1779,1744
$GC,20055,0.85,126.3,554.5,7.1,699,20063,0.10,4.45,0.00,0.000,4,0.000,0.000,2415,3485,1743
$GC,20345,0.85,126.3,534.4,6.8,705,20353,0.03,3.33,0.00,0.000,6,0.000,0.000,2424,1853,1742
$GC,20666,0.85,126.3,511.0,7.3,713,20672,0.03,2.70,0.00,0.000,4,0.000,0.000,2479,3513,1742
$GC,20950,0.85,126.3,490.5,7.4,721,20956,0.10,2.70,0.00,0.000,6,0.000,0.000,2410,1852,1740
$GC,21269,0.85,126.3,467.4,7.1,736,21277,0.12,3.42,0.00,0.000,4,0.000,0.000,2409,3518,1739
$GC,21552,0.85,126.3,447.6,6.4,748,21557,0.10,2.83,0.00,0.000,6,0.000,0.000,2469,1888,1745
$GC,21871,0.85,126.3,426.5,6.7,763,21875,0.00,2.50,0.00,0.000,4,0.000,0.000,2486,3577,1743
$GC,22156,0.85,126.3,407.1,6.8,775,22168,0.20,3.55,0.00,0.000,6,0.000,0.000,2418,1810,1750
$GC,22480,0.85,128.3,386.6,6.2,791,22488,0.12,3.33,2.28,0.000,4,0.000,0.000,2451,3484,1734
$GC,22763,0.85,128.3,368.1,7.0,803,22769,0.00,3.25,0.00,0.000,6,0.000,0.000,2471,1925,1733
$GC,23082,0.85,128.3,346.1,7.2,818,23088,0.05,2.60,0.03,0.002,4,0.000,0.000,2466,3611,1737
$GC,23361,0.85,128.3,325.8,7.3,830,23373,0.03,3.45,0.00,0.000,6,0.000,0.000,2475,1809,1732
$GC,23684,0.85,128.3,302.4,7.0,846,23692,0.03,3.83,0.00,0.000,4,0.000,0.000,2454,3618,1732
$GC,23975,0.85,137.4,282.6,5.9,858,23990,0.00,3.22,7.35,0.000,6,0.000,0.000,2462,1844,1708
$GC,24300,0.86,137.4,262.0,6.5,874,24305,0.05,3.00,0.00,0.000,4,0.000,0.000,2467,3591,1710
$GC,24586,0.86,137.4,241.6,6.7,886,24598,0.00,3.62,0.00,0.000,6,0.000,0.000,2470,1791,1707
$GC,24910,0.86,155.5,222.0,5.6,902,24936,0.00,4.12,18.40,0.001,4,0.000,0.000,2472,3483,1630
$GC,25220,0.89,163.2,203.8,6.0,915,25238,0.00,3.42,7.97,0.000,6,0.000,0.000,2452,1835,1600
$GC,25549,0.91,163.2,182.1,7.0,931,25556,0.00,3.55,0.00,0.000,4,0.000,0.000,2463,3629,1586
$GC,25837,0.91,163.2,160.2,6.6,943,25849,0.00,3.55,0.00,0.000,6,0.000,0.000,2464,1856,1597
$GC,26161,0.91,163.2,138.6,6.7,959,26166,0.00,2.80,0.00,0.000,4,0.000,0.000,2469,3633,1590
$GC,26443,0.91,204.8,123.8,4.7,971,26483,0.00,3.10,33.35,0.001,6,0.000,0.000,2466,1817,1426
$GC,26819,0.98,204.8,99.0,8.2,989,26828,0.00,3.75,0.00,0.000,4,0.000,0.000,2459,3579,1418
$GC,27128,0.98,213.9,77.2,5.9,1038,27144,0.00,3.45,7.30,0.001,6,0.000,0.000,2466,1781,1397
$GC,27512,0.99,213.9,54.6,6.3,1100,27521,0.00,2.80,0.00,0.000,4,0.000,0.000,2465,3580,1392
$GC,27820,0.99,213.9,34.4,6.5,1149,27829,0.03,2.80,0.00,0.000,6,0.000,0.000,2463,1798,1398
$GC,28197,0.99,213.9,9.8,6.6,1210,28205,0.15,2.70,0.00,0.000,4,0.000,0.000,2520,3613,1395
$STATE,28312,end climb,SURFACE_DEPTH_REACHED
$STATE,28312,begin surface coast
$FINISH,0.3,0.999513
$STATE,28348,end surface coast,CONTROL_FINISHED_OK
$STATE,28348,begin surface
$SM_CCo,28381,84.72,0.000,2,0,836,350.04
$SM_GC,0.34,0.00,0.00,84.72,0.000,0.000,0.000,627,1838,836,-7.52,-3.82,350.04
$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,2107
$INTERNAL_PRESSURE,26.0553
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.9,20.9
$ALTIM_BOTTOM_PING,900.3,90.2
$24V_AH,23.7,24.108
$10V_AH,9.6,3.565
$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,26.300,299.200,312.650,84.725,0.000,0.000,0.000,107.434,8.500,16.114,4338.385,18991.895,864.329,2652.745,1953.569,33.371,2960.014,0.000,2619.154,3240.000,57.157
$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,1230.647,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40971,1235
$CFSIZE,255582208,242102272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,35,2021,6,0
$SOUNDSPEED,1465.0
$CURRENT,0.030,246.7,1
$GPS,070707,005539,4700.585,-12540.055,34,1.1,34,18.0