version: 66.01
glider: 1
mission: 1
dive: 12
start: 7 7 107 17 13 52
data:
$ID,1
$MISSION,1
$DIVE,12
$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,-445524.34
$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,2
$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
$GPS1,170217,4659.188,-12531.579,31,1.1,31,18.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-50.0
$GPS2,171253,4659.217,-12531.555,22,1.1,23,18.0
$SPEED_LIMITS,0.103,0.183
$TGT_NAME,default
$TGT_LATLONG,47.600,-122.300
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.169,-0.093
$KALMAN_X,8759.6,-408.6,-520.8,39531.8,4149.5
$KALMAN_Y,32799.0,-428.0,-484.6,-42306.7,4776.6
$MHEAD_RNG_PITCHd_Wd,100.7,14718744,-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,37,end surface,CONTROL_FINISHED_OK
$STATE,38,begin dive
$GC,44,-0.83,-116.8,0.0,0.0,0,114,0.00,0.00,-62.80,0.000,6,0.000,0.000,660,1852,2738
$GC,121,-0.83,-116.8,2.8,-4.3,10,139,7.15,2.70,0.00,0.000,4,0.000,0.000,2106,3607,2743
$GC,255,-0.83,-116.8,18.6,-11.3,31,265,0.05,3.45,0.00,0.000,6,0.000,0.000,2110,1805,2743
$GC,627,-0.83,-116.8,59.8,-10.9,92,635,0.05,2.20,0.00,0.000,4,0.000,0.000,2098,404,2742
$GC,928,-0.83,-116.8,91.5,-9.9,141,937,0.00,2.67,0.00,0.000,6,0.000,0.000,2118,2087,2746
$GC,1259,-0.83,-116.8,123.6,-9.1,166,1264,0.00,3.05,0.00,0.000,4,0.000,0.000,2104,408,2740
$GC,1542,-0.83,-116.8,148.5,-9.0,178,1555,0.30,3.55,0.00,0.000,6,0.000,0.000,2043,2030,2745
$GC,1866,-0.83,-116.8,179.8,-10.1,194,1873,0.00,3.53,0.00,0.000,4,0.000,0.000,2070,428,2739
$GC,2152,-0.83,-116.8,202.4,-6.8,206,2164,0.00,3.75,0.00,0.000,6,0.000,0.000,2059,2187,2743
$GC,2476,-0.83,-116.8,226.1,-7.6,222,2481,0.00,3.03,0.00,0.000,4,0.000,0.000,2052,389,2739
$GC,2757,-0.83,-116.8,247.8,-7.4,234,2770,0.20,3.25,0.00,0.000,6,0.000,0.000,2113,2146,2740
$GC,3081,-0.83,-116.8,270.7,-7.4,250,3088,0.00,3.45,0.00,0.000,4,0.000,0.000,2112,402,2742
$GC,3370,-0.83,-116.8,292.0,-7.5,262,3375,0.00,3.10,0.00,0.000,6,0.000,0.000,2107,2174,2740
$GC,3689,-0.83,-116.8,316.5,-8.0,277,3696,0.00,3.65,0.00,0.000,4,0.000,0.000,2087,405,2741
$GC,3979,-0.83,-116.8,341.8,-8.4,289,3984,0.00,2.90,0.00,0.000,6,0.000,0.000,2107,2188,2745
$GC,4298,-0.83,-116.8,369.0,-8.9,304,4305,0.00,3.75,0.00,0.000,4,0.000,0.000,2111,412,2749
$GC,4586,-0.83,-116.8,393.0,-8.1,316,4591,0.00,2.72,0.00,0.000,6,0.000,0.000,2098,2087,2747
$GC,4905,-0.83,-116.8,420.5,-8.5,331,4910,0.00,2.83,0.00,0.000,4,0.000,0.000,2115,429,2747
$GC,5188,-0.83,-116.8,444.8,-8.7,343,5193,0.00,2.60,0.00,0.000,6,0.000,0.000,2102,2101,2745
$GC,5507,-0.83,-116.8,470.4,-8.0,358,5514,0.08,3.38,0.00,0.000,4,0.002,0.000,2119,465,2739
$GC,5794,-0.83,-116.8,493.3,-7.4,370,5799,0.00,2.83,0.00,0.000,6,0.000,0.000,2095,2220,2744
$GC,6132,-0.83,-116.8,517.4,-7.0,380,6137,0.12,2.80,0.00,0.000,4,0.000,0.000,2098,401,2740
$GC,6412,-0.83,-116.8,536.9,-6.6,386,6417,0.00,2.75,0.00,0.000,6,0.000,0.000,2102,2206,2739
$GC,6729,-0.83,-116.8,556.8,-6.5,394,6733,0.00,2.70,0.00,0.000,4,0.000,0.000,2111,416,2742
$GC,7009,-0.83,-116.8,573.9,-6.1,400,7017,0.00,4.93,0.00,0.000,6,0.000,0.000,2102,2172,2744
$GC,7331,-0.83,-116.8,596.2,-7.1,408,7338,0.08,3.75,0.00,0.000,4,0.000,0.000,2092,368,2742
$GC,7616,-0.83,-116.8,618.2,-7.6,414,7622,0.22,2.80,0.00,0.000,6,0.000,0.000,2057,2138,2751
$GC,7933,-0.83,-116.8,642.4,-7.6,422,7938,0.00,2.90,0.00,0.000,4,0.000,0.000,2054,386,2743
$GC,8213,-0.83,-116.8,661.6,-6.4,428,8221,0.22,3.12,0.00,0.000,6,0.000,0.000,2121,2158,2743
$GC,8534,-0.83,-116.8,681.0,-6.0,436,8539,0.00,2.70,0.00,0.000,4,0.000,0.000,2101,311,2743
$GC,8815,-0.83,-116.8,700.0,-6.3,442,8820,0.00,3.00,0.00,0.000,6,0.000,0.000,2095,2222,2741
$GC,9131,-0.83,-116.8,720.9,-6.6,450,9136,0.03,2.72,0.00,0.000,4,0.000,0.000,2094,421,2747
$GC,9412,-0.83,-116.8,740.9,-7.8,456,9419,0.03,3.25,0.00,0.000,6,0.000,0.000,2077,1957,2739
$GC,9732,-0.83,-116.8,763.8,-6.9,464,9740,0.03,3.33,0.00,0.000,4,0.000,0.000,2107,439,2746
$GC,10017,-0.83,-116.8,783.7,-6.8,470,10022,0.00,2.60,0.00,0.000,6,0.000,0.000,2103,2121,2746
$GC,10333,-0.83,-116.8,805.2,-6.9,478,10341,0.05,3.58,0.00,0.000,4,0.000,0.000,2085,478,2747
$GC,10622,-0.83,-116.8,823.8,-6.4,484,10629,0.00,3.35,0.00,0.000,6,0.000,0.000,2106,2123,2737
$GC,10943,-0.83,-116.8,842.7,-5.7,492,10948,0.00,2.62,0.00,0.000,4,0.000,0.000,2104,443,2740
$GC,11230,-0.83,-116.8,859.3,-5.9,498,11235,0.00,2.60,0.00,0.000,6,0.000,0.000,2089,2132,2741
$GC,11547,-0.83,-116.8,876.5,-5.5,506,11555,0.00,3.75,0.00,0.000,4,0.000,0.000,2075,344,2745
$GC,11834,-0.83,-116.8,892.9,-6.1,512,11843,0.15,3.75,0.00,0.000,6,0.000,0.000,2046,2129,2746
$GC,12156,-0.83,-116.8,912.0,-5.9,520,12162,0.00,3.10,0.00,0.000,4,0.000,0.000,2051,474,2745
$GC,12440,-0.83,-116.8,927.7,-5.7,526,12445,0.40,2.50,0.00,0.000,6,0.000,0.000,2140,2174,2749
$GC,12757,-0.83,-116.8,945.3,-5.9,534,12765,0.45,3.83,0.00,0.000,4,0.000,0.000,2040,388,2745
$GC,13048,-0.83,-116.8,963.0,-5.7,540,13053,0.00,2.90,0.00,0.000,6,0.000,0.000,2062,2222,2744
$STATE,13359,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13359,begin apogee
$GC,13372,-0.25,0.0,981.9,6.0,548,13490,0.95,0.00,114.70,0.001,6,0.000,0.000,2237,1815,2261
$STATE,13490,end apogee,CONTROL_FINISHED_OK
$STATE,13490,begin climb
$GC,13496,0.83,116.8,989.0,0.0,551,13618,1.02,3.30,112.50,0.001,4,0.000,0.000,2466,3615,1788
$GC,13898,0.83,116.8,981.1,7.8,559,13904,0.40,2.80,0.00,0.000,6,0.000,0.000,2383,1796,1786
$GC,14227,0.83,116.8,956.6,7.5,567,14234,0.32,3.33,0.00,0.000,4,0.000,0.000,2469,3506,1781
$GC,14516,0.83,116.8,934.7,8.2,573,14524,0.28,3.35,0.00,0.000,6,0.000,0.000,2430,1841,1786
$GC,14837,0.83,116.8,908.1,8.3,581,14845,0.00,3.95,0.00,0.000,4,0.000,0.000,2433,3501,1778
$GC,15123,0.83,116.8,884.3,8.1,587,15131,0.03,3.55,0.00,0.000,6,0.000,0.000,2436,1838,1783
$GC,15444,0.83,116.8,857.5,8.3,595,15445,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1847,1781
$GC,15769,0.83,116.8,830.7,8.1,603,15774,0.00,3.15,0.00,0.000,4,0.000,0.000,2428,3503,1781
$GC,16050,0.83,116.8,808.3,7.3,609,16057,0.00,3.45,0.00,0.000,6,0.000,0.000,2427,1891,1782
$GC,16371,0.83,116.8,783.4,7.8,617,16375,0.00,2.53,0.00,0.000,4,0.000,0.000,2419,3569,1790
$GC,16651,0.83,116.8,762.7,7.9,623,16659,0.10,3.75,0.00,0.000,6,0.000,0.000,2426,1791,1790
$GC,16973,0.83,123.1,742.4,6.0,631,16984,0.00,2.90,5.35,0.001,4,0.000,0.000,2427,3520,1761
$GC,17265,0.84,140.7,726.0,5.6,637,17293,0.00,2.58,16.00,0.000,6,0.000,0.000,2418,1874,1693
$GC,17619,0.87,140.7,703.6,6.7,646,17627,0.08,2.70,0.70,0.001,4,0.002,0.000,2469,3518,1689
$GC,17902,0.87,140.7,682.6,6.9,652,17907,0.00,2.90,0.00,0.000,6,0.000,0.000,2476,1878,1687
$GC,18219,0.87,140.7,658.6,7.7,660,18226,0.00,2.60,0.82,0.001,4,0.000,0.000,2452,3474,1685
$GC,18508,0.87,140.7,635.4,8.3,666,18514,0.10,2.70,0.00,0.000,6,0.000,0.000,2495,1860,1687
$GC,18825,0.87,140.7,610.7,7.5,674,18827,0.08,0.00,0.00,0.000,6,0.000,0.000,2468,1838,1685
$GC,19150,0.87,140.7,587.7,6.9,682,19155,0.00,2.92,0.00,0.000,4,0.000,0.000,2483,3600,1682
$GC,19430,0.87,140.7,568.8,7.5,688,19437,0.00,3.45,0.00,0.000,6,0.000,0.000,2478,1804,1688
$GC,19751,0.87,140.7,547.7,6.7,696,19759,0.50,3.55,0.00,0.000,4,0.000,0.000,2394,3562,1685
$GC,20041,0.87,140.7,527.0,6.7,702,20050,0.60,3.47,0.08,0.000,6,0.000,0.000,2508,1929,1687
$GC,20362,0.87,140.7,504.6,6.8,710,20370,0.68,3.35,0.00,0.000,4,0.000,0.000,2391,3467,1680
$GC,20645,0.87,140.7,485.7,7.0,720,20658,0.62,3.05,0.00,0.000,6,0.000,0.000,2522,1929,1680
$GC,20968,0.87,140.7,463.3,7.2,736,20976,0.52,3.25,0.00,0.000,4,0.000,0.000,2419,3582,1684
$GC,21251,0.87,140.7,442.3,8.1,748,21257,0.00,3.00,0.00,0.000,6,0.000,0.000,2407,1812,1689
$GC,21570,0.87,140.7,419.7,6.9,763,21576,0.03,3.10,0.00,0.000,4,0.000,0.000,2477,3574,1683
$GC,21857,0.87,140.7,400.7,6.3,775,21869,0.03,3.58,0.00,0.000,6,0.000,0.000,2463,1902,1679
$GC,22180,0.87,140.7,379.3,6.9,791,22186,0.32,2.92,0.00,0.000,4,0.000,0.000,2392,3556,1684
$GC,22460,0.87,140.7,360.3,7.6,803,22472,0.43,3.00,0.00,0.000,6,0.000,0.000,2470,1763,1686
$GC,22783,0.87,140.7,338.4,6.7,819,22791,0.05,3.72,0.00,0.000,4,0.000,0.000,2484,3520,1685
$GC,23074,0.87,145.0,318.3,6.1,831,23088,0.38,3.30,2.80,0.001,6,0.000,0.000,2387,1750,1668
$GC,23398,0.88,145.0,295.8,6.9,847,23406,0.38,3.62,0.00,0.000,4,0.000,0.000,2477,3535,1674
$GC,23682,0.88,145.0,276.5,7.1,859,23687,0.17,2.62,0.00,0.000,6,0.000,0.000,2450,1861,1675
$GC,24001,0.88,146.3,256.8,6.2,874,24010,0.08,2.60,1.52,0.001,4,0.000,0.000,2497,3532,1662
$GC,24285,0.88,156.7,239.6,5.9,886,24301,0.00,3.22,10.20,0.001,6,0.000,0.000,2497,1774,1622
$GC,24632,0.90,156.7,218.4,6.4,903,24640,0.08,3.75,0.00,0.000,4,0.000,0.000,2473,3586,1628
$GC,24927,0.90,156.7,199.3,6.3,915,24939,0.03,3.65,0.00,0.000,6,0.000,0.000,2488,1773,1625
$GC,25250,0.90,156.7,177.3,6.4,931,25257,0.00,3.40,0.00,0.000,4,0.000,0.000,2476,3622,1622
$GC,25540,0.90,156.7,157.1,7.5,943,25545,0.12,2.70,0.00,0.000,6,0.000,0.000,2430,1851,1624
$GC,25859,0.90,156.7,135.1,6.9,958,25866,0.00,3.35,0.00,0.000,4,0.000,0.000,2448,3524,1618
$GC,26050,0.90,195.9,122.0,4.8,966,26091,0.00,2.62,31.67,0.001,6,0.000,0.000,2443,1842,1464
$GC,26407,0.96,201.0,100.8,6.1,983,26423,0.40,0.00,4.05,0.001,6,0.000,0.000,2540,1833,1440
$GC,26799,0.97,203.0,81.7,6.2,1044,26807,0.30,0.00,1.60,0.001,6,0.000,0.000,2480,1824,1430
$GC,27170,0.97,203.0,53.7,8.9,1105,27178,0.00,2.50,0.00,0.000,4,0.000,0.000,2455,3504,1436
$GC,27471,0.97,203.0,29.0,7.9,1154,27480,0.00,2.70,0.00,0.000,6,0.000,0.000,2471,1820,1432
$STATE,27803,end climb,SURFACE_DEPTH_REACHED
$STATE,27803,begin surface coast
$FINISH,0.5,1.026091
$STATE,27827,end surface coast,CONTROL_FINISHED_OK
$STATE,27827,begin surface
$SM_CCo,27855,92.07,0.001,0,0,833,350.04
$SM_GC,0.34,0.00,0.00,92.07,0.000,0.000,0.001,629,2075,833,-7.55,2.80,350.04
$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,2104
$INTERNAL_PRESSURE,26.0748
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.7,18.9
$ALTIM_BOTTOM_PING,900.1,91.1
$24V_AH,23.7,26.642
$10V_AH,9.6,3.967
$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,27.500,270.525,302.000,92.075,0.000,0.000,0.000,111.863,8.500,23.092,4253.685,18910.305,814.091,2547.627,2014.113,33.374,2821.233,0.000,2456.961,3240.000,47.122
$DEVICE_MAMPS,119.000,60.000,0.767,0.767,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1176.693,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40998,1213
$CFSIZE,255582208,241524736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,48,1814,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.031,226.3,1
$GPS,080707,010117,4659.042,-12527.339,32,1.1,32,18.0