version: 66.01
glider: 1
mission: 1
dive: 9
start: 10 9 106 10 4 52
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,240
$T_MISSION,300
$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,2
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.00312
$HD_B,0.0099099996
$HD_C,2.4896e-05
$HEADING,20
$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,450.37079
$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,-448811.34
$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,0.029999999
$PITCH_ADJ_DBAND,0.5
$ROLL_MIN,166
$ROLL_MAX,3791
$C_ROLL_DIVE,1978
$C_ROLL_CLIMB,1978
$HEAD_ERRBAND,8
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,167
$R_STBD_OVSHOOT,10
$ROLL_AD_RATE,500
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$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,-0.22280908
$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
$GPS1,095954,6635.250,-6031.240,33,1.1,33,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,100423,6635.250,-6031.240,16,1.1,16,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6645.398,-6029.783
$TGT_RADIUS,1852.000
$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,2.0,20000,-26.0,-13.750
$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,35,end surface,CONTROL_FINISHED_OK
$STATE,35,begin dive
$GC,41,-1.49,-116.8,0.0,0.0,0,128,0.00,0.00,-76.72,0.000,6,0.000,0.000,648,2014,2734
$GC,134,-1.49,-116.8,-0.0,-0.0,9,151,6.78,2.72,0.00,0.000,4,0.000,0.000,1995,3689,2741
$GC,221,-1.57,-116.8,15.6,-10.2,22,230,0.52,3.50,0.00,0.000,6,0.000,0.000,1855,1838,2736
$GC,589,-1.27,-116.8,66.7,-12.8,83,599,0.77,3.25,0.00,0.000,4,0.000,0.000,2058,3519,2739
$GC,703,-1.51,-116.8,74.0,-5.9,100,711,0.77,3.03,0.00,0.000,6,0.000,0.000,1877,1871,2747
$GC,1070,-1.27,-116.8,114.3,-11.5,145,1078,0.68,2.80,0.00,0.000,4,0.000,0.000,2081,3373,2739
$GC,1170,-1.51,-116.8,121.1,-5.2,149,1175,0.80,2.25,0.00,0.000,6,0.000,0.000,1903,2048,2742
$GC,1496,-1.24,-116.8,155.6,-10.6,165,1503,0.65,2.75,0.00,0.000,4,0.000,0.000,2070,3547,2740
$GC,1547,-1.51,-116.8,158.9,-5.0,167,1555,0.82,2.85,0.00,0.000,6,0.000,0.000,1934,2030,2741
$GC,1877,-1.51,-116.8,185.2,-8.3,183,1882,0.00,2.97,0.00,0.000,4,0.000,0.000,1953,3526,2736
$GC,1921,-1.43,-116.8,188.5,-8.2,185,1928,0.00,3.28,0.00,0.000,6,0.000,0.000,1941,1876,2735
$GC,2261,-1.33,-116.8,215.6,-7.9,201,2269,0.03,3.45,0.00,0.000,4,0.000,0.000,1943,3612,2740
$GC,2352,-1.26,-116.8,223.0,-7.8,204,2361,0.50,3.25,0.00,0.000,6,0.000,0.000,2057,1973,2744
$GC,2677,-1.47,-116.8,238.9,-4.7,220,2685,0.93,3.03,0.00,0.000,4,0.000,0.000,1867,3649,2739
$GC,2734,-1.23,-116.8,244.1,-9.6,222,2747,0.77,2.92,0.00,0.000,6,0.000,0.000,2068,1991,2741
$GC,3064,-1.44,-116.8,260.5,-4.5,238,3071,0.62,3.33,0.00,0.000,4,0.000,0.000,1894,3641,2741
$GC,3113,-1.21,-116.8,264.7,-9.3,240,3120,0.77,2.67,0.00,0.000,6,0.000,0.000,2065,2108,2740
$GC,3453,-1.41,-116.8,280.7,-4.5,256,3460,0.82,2.75,0.00,0.000,4,0.000,0.000,1880,3610,2738
$GC,3482,-1.26,-116.8,283.0,-8.2,257,3489,0.77,2.67,0.00,0.000,6,0.000,0.000,2069,2131,2737
$GC,3817,-1.47,-116.8,298.4,-4.5,273,3819,0.77,0.00,0.00,0.000,6,0.000,0.000,1873,2138,2739
$GC,4126,-1.15,-116.8,326.3,-9.2,288,4135,0.88,3.33,0.00,0.000,4,0.000,0.000,2056,3637,2738
$GC,4176,-1.37,-116.8,329.8,-4.8,290,4184,0.52,3.60,0.00,0.000,6,0.000,0.000,1937,1972,2747
$GC,4512,-1.21,-116.8,354.8,-7.5,306,4520,0.85,2.97,0.00,0.000,4,0.000,0.000,2041,3498,2741
$GC,4575,-1.42,-116.8,358.1,-4.5,308,4584,0.62,2.42,0.00,0.000,6,0.000,0.000,1929,2007,2738
$GC,4900,-1.27,-116.8,381.4,-7.5,324,4906,0.47,2.55,0.00,0.000,4,0.000,0.000,2058,3386,2745
$GC,4959,-1.48,-116.8,385.0,-4.4,326,4968,0.80,2.50,0.00,0.000,6,0.000,0.000,1883,2042,2739
$GC,5284,-1.19,-116.8,412.2,-8.6,342,5291,0.70,2.75,0.00,0.000,4,0.000,0.000,2045,3575,2736
$GC,5332,-1.42,-116.8,415.3,-4.3,344,5340,0.77,3.08,0.00,0.000,6,0.000,0.000,1897,2081,2749
$GC,5668,-1.14,-116.8,443.1,-8.4,360,5675,0.68,2.97,0.00,0.000,4,0.000,0.000,2038,3570,2740
$GC,5703,-1.40,-116.8,445.1,-4.2,361,5717,0.77,3.28,0.00,0.000,6,0.000,0.000,1890,1938,2746
$GC,6027,-1.13,-116.8,471.2,-8.3,377,6036,1.12,3.45,0.00,0.000,4,0.000,0.000,2084,3418,2734
$GC,6119,-1.37,-116.8,475.3,-4.0,380,6128,0.77,3.12,0.00,0.000,6,0.000,0.000,1874,1891,2734
$STATE,6267,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6267,begin apogee
$GC,6280,-0.25,0.0,487.3,8.3,388,6424,2.08,0.00,113.32,0.000,6,0.000,0.000,2257,2229,2260
$STATE,6424,end apogee,CONTROL_FINISHED_OK
$STATE,6424,begin climb
$GC,6430,1.49,116.8,487.5,0.0,395,6569,1.62,3.85,112.47,0.001,4,0.000,0.000,2632,385,1790
$GC,6578,1.30,116.8,462.2,21.7,401,6586,0.52,3.47,0.00,0.000,6,0.000,0.000,2520,2234,1780
$GC,6913,1.41,126.5,418.2,13.0,417,6929,0.35,2.17,10.00,0.001,4,0.000,0.000,2625,3424,1740
$GC,6998,1.19,126.5,400.0,22.6,419,7007,0.77,2.67,0.00,0.000,6,0.000,0.000,2462,1930,1738
$GC,7323,1.44,126.5,361.6,15.5,435,7331,0.77,3.70,0.00,0.000,4,0.000,0.000,2624,3597,1740
$GC,7428,1.07,126.5,338.8,23.0,439,7440,0.77,3.03,0.00,0.000,6,0.000,0.000,2455,1876,1737
$GC,7757,1.43,181.4,305.3,9.4,455,7826,1.10,3.40,51.62,0.001,4,0.000,0.000,2610,3564,1514
$GC,7952,1.23,181.4,257.3,26.1,463,7960,0.77,3.25,0.00,0.000,6,0.000,0.000,2450,1879,1526
$GC,8287,1.55,216.3,218.5,11.0,479,8333,1.17,2.45,32.58,0.001,4,0.000,0.000,2675,3404,1390
$GC,8476,1.17,216.3,157.4,33.9,487,8485,1.08,3.08,1.55,0.001,6,0.000,0.000,2428,2093,1379
$GC,8806,1.28,216.3,114.1,15.5,503,8814,0.77,3.17,0.00,0.000,4,0.000,0.000,2623,3627,1377
$GC,8863,1.08,216.3,100.9,27.1,505,8876,0.85,3.15,0.00,0.000,6,0.000,0.000,2443,1929,1377
$GC,9235,1.38,244.4,50.1,11.5,566,9266,0.77,2.45,22.05,0.001,4,0.000,0.000,2616,3587,1270
$GC,9393,1.15,244.4,9.7,27.9,590,9403,0.93,3.38,0.20,0.001,6,0.000,0.000,2455,2063,1261
$STATE,9419,end climb,SURFACE_DEPTH_REACHED
$STATE,9419,begin surface coast
$FINISH,1.3,1.024460
$STATE,9431,end surface coast,CONTROL_FINISHED_OK
$STATE,9431,begin surface
$SM_CCo,9459,129.25,0.000,1,0,422,450.37
$SM_GC,-0.00,0.00,0.00,129.25,0.000,0.000,0.000,632,2058,422,-7.45,2.37,450.37
$RAFOS_CLK,0
$RAFOS,3,1160397242,12.583333,12.567223,80,0,0,0,0,0,776,0,0,0,0,0
$RAFOS,2,1160396645,12.416667,12.401389,80,0,0,0,0,0,989,0,0,0,0,0
$RAFOS,1,1160396053,12.250000,12.236944,80,0,0,0,0,0,723,0,0,0,0,0
$RAFOS,0,1160395458,12.083333,12.071667,80,0,0,0,0,0,539,0,0,0,0,0
$RAFOS_FIX,6634.697754,-6027.277344,091006,121220,4,80,0.38
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2469
$INTERNAL_PRESSURE,25.9576
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,18.8,18.4
$ALTIM_BOTTOM_PING,450.7,46.2
$24V_AH,23.8,55.126
$10V_AH,9.7,8.433
$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,49.950,133.375,343.800,129.250,0.000,0.000,0.000,87.940,4.250,17.101,1813.691,5737.322,799.971,711.899,816.757,0.000,1430.618,0.000,605.483,1440.000,36.271
$DEVICE_MAMPS,119.000,60.000,1300.000,600.000,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,480.823,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18994,595
$CFSIZE,255582208,243662848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,116,1038,7,0
$SOUNDSPEED,1468.7
$CURRENT,0.058,252.1,1
$GPS,091006,124632,6636.000,-6031.475,27,1.1,27,18.0