version: 66.01
glider: 1
mission: 1
dive: 24
start: 10 11 106 5 44 49
data:
$ID,1
$MISSION,1
$DIVE,24
$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,-449191.44
$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,18
$R_STBD_OVSHOOT,154
$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
$GPS1,053926,6646.689,-6034.966,34,1.1,35,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,054420,6646.689,-6034.966,25,1.1,25,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6656.837,-6033.520
$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,-116.8,0.0,0.0,0,122,0.00,0.00,-76.80,0.000,6,0.000,0.000,639,1797,2745
$GC,133,-1.49,-116.8,-0.0,0.0,9,151,6.78,3.42,0.00,0.000,4,0.000,0.000,1994,3491,2737
$GC,441,-1.52,-116.8,37.4,-9.1,59,449,0.50,3.22,0.00,0.000,6,0.000,0.000,1874,1841,2743
$GC,809,-1.22,-116.8,84.9,-12.0,120,818,0.62,3.03,0.00,0.000,4,0.000,0.000,2082,3511,2743
$GC,983,-1.44,-116.8,96.1,-5.6,148,992,0.77,3.42,0.00,0.000,6,0.000,0.000,1865,1829,2742
$GC,1315,-1.14,-116.8,133.9,-11.5,168,1323,0.75,3.28,0.00,0.000,4,0.000,0.000,2049,362,2746
$GC,1356,-1.37,-116.8,137.4,-5.3,169,1365,0.57,3.35,0.00,0.000,6,0.000,0.000,1918,2055,2740
$GC,1680,-1.23,-116.8,165.4,-8.9,185,1682,0.43,0.00,0.00,0.000,6,0.000,0.000,2056,2047,2745
$GC,1989,-1.43,-116.8,183.0,-5.2,200,1995,0.68,2.65,0.00,0.000,4,0.000,0.000,1937,521,2743
$GC,2071,-1.31,-116.8,189.6,-8.8,203,2083,0.52,2.88,0.00,0.000,6,0.000,0.000,2030,1990,2747
$GC,2395,-1.48,-116.8,207.4,-5.5,219,2402,0.70,3.00,0.00,0.000,4,0.000,0.000,1872,279,2744
$GC,2430,-1.20,-116.8,210.5,-10.2,220,2443,0.77,3.65,0.00,0.000,6,0.000,0.000,2057,2098,2741
$GC,2759,-1.39,-116.8,227.4,-5.0,236,2767,1.05,3.30,0.00,0.000,4,0.000,0.000,1934,411,2747
$GC,2836,-1.27,-116.8,232.9,-8.1,239,2844,0.55,3.53,0.00,0.000,6,0.000,0.000,2048,2073,2743
$GC,3177,-1.45,-116.8,250.8,-4.9,255,3186,0.68,3.58,0.00,0.000,4,0.000,0.000,1932,581,2745
$GC,3219,-1.33,-116.8,254.1,-7.9,256,3228,0.47,2.85,0.00,0.000,6,0.000,0.000,2047,1945,2740
$GC,3544,-1.52,-116.8,269.8,-4.7,272,3552,0.80,3.03,0.00,0.000,4,0.000,0.000,1923,420,2738
$GC,3596,-1.41,-116.8,273.7,-7.9,274,3602,0.00,3.15,0.00,0.000,6,0.000,0.000,1941,1933,2748
$GC,3927,-1.69,-116.8,298.7,-7.5,290,3929,0.40,0.00,0.00,0.000,6,0.000,0.000,1818,1926,2738
$GC,4236,-1.21,-116.8,331.5,-10.7,305,4244,1.42,2.78,0.00,0.000,4,0.000,0.000,2052,442,2743
$GC,4288,-1.44,-116.8,335.5,-4.5,307,4296,0.57,3.00,0.00,0.000,6,0.000,0.000,1908,1936,2746
$GC,4618,-1.29,-116.8,359.7,-7.5,323,4620,0.40,0.00,0.00,0.000,6,0.000,0.000,2044,1967,2749
$GC,4932,-1.47,-116.8,374.5,-4.6,338,4938,0.75,2.22,0.00,0.000,4,0.000,0.000,1851,414,2740
$GC,5004,-1.20,-116.8,380.0,-8.9,341,5013,0.82,3.15,0.00,0.000,6,0.000,0.000,2048,1930,2741
$GC,5345,-1.38,-116.8,396.4,-4.5,357,5352,0.40,2.97,0.00,0.000,4,0.000,0.000,1935,421,2748
$GC,5374,-1.34,-116.8,398.4,-6.5,358,5380,0.52,2.55,0.00,0.000,6,0.000,0.000,2039,2109,2743
$GC,5705,-1.53,-116.8,413.2,-4.4,374,5713,0.77,3.47,0.00,0.000,4,0.000,0.000,1861,311,2739
$GC,5782,-1.37,-116.8,418.9,-9.0,377,5790,0.77,3.53,0.00,0.000,6,0.000,0.000,2030,2143,2741
$GC,6117,-1.56,-116.8,435.0,-4.4,393,6125,0.65,3.03,0.00,0.000,4,0.000,0.000,1869,3653,2737
$GC,6175,-1.24,-116.8,439.5,-9.1,395,6188,0.75,3.45,0.00,0.000,6,0.000,0.000,2051,1836,2745
$GC,6500,-1.42,-116.8,454.6,-4.4,411,6508,0.57,3.08,0.00,0.000,4,0.000,0.000,1919,437,2750
$GC,6535,-1.30,-116.8,456.8,-7.3,412,6541,0.52,2.45,0.00,0.000,6,0.000,0.000,2036,2132,2737
$GC,6860,-1.49,-116.8,471.4,-4.3,427,6868,0.77,2.83,0.00,0.000,4,0.000,0.000,1903,439,2746
$GC,6909,-1.36,-116.8,474.7,-7.5,429,6916,0.50,3.03,0.00,0.000,6,0.000,0.000,2062,2076,2746
$GC,7249,-1.54,-116.8,490.0,-4.4,445,7251,0.77,0.00,0.00,0.000,6,0.000,0.000,1859,2079,2742
$GC,7551,-1.23,-116.8,515.7,-8.8,456,7559,0.68,3.05,0.00,0.000,4,0.000,0.000,2066,380,2736
$GC,7631,-1.46,-116.8,519.8,-4.3,457,7644,0.77,3.67,0.00,0.000,6,0.000,0.000,1877,2197,2743
$STATE,7762,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7762,begin apogee
$GC,7776,-0.25,0.0,530.2,8.0,461,7900,1.88,0.00,114.50,0.000,6,0.000,0.000,2261,1708,2263
$STATE,7900,end apogee,CONTROL_FINISHED_OK
$STATE,7900,begin climb
$GC,7906,1.49,116.8,531.4,0.0,464,8041,2.20,2.88,112.30,0.001,4,0.000,0.000,2669,3390,1785
$GC,8128,1.16,116.8,484.3,24.6,469,8137,1.08,3.58,0.00,0.000,6,0.000,0.000,2424,1721,1784
$GC,8453,1.63,190.7,456.4,7.9,485,8549,1.05,3.28,71.22,0.000,4,0.000,0.000,2583,3627,1489
$GC,8646,1.48,190.7,412.0,24.8,493,8654,0.00,3.17,0.05,0.000,6,0.000,0.000,2606,1945,1485
$GC,8983,1.33,190.7,334.5,23.6,509,8991,0.52,2.97,0.00,0.000,4,0.000,0.000,2522,273,1486
$GC,9018,1.40,190.7,325.0,19.3,510,9031,0.20,3.53,0.00,0.000,6,0.000,0.000,2604,2275,1485
$GC,9347,1.06,190.7,247.7,26.3,526,9356,0.68,3.22,0.00,0.000,4,0.000,0.000,2427,435,1484
$GC,9438,1.55,247.2,233.4,9.3,529,9501,1.10,3.42,54.35,0.000,6,0.000,0.000,2642,2120,1255
$GC,9821,1.25,247.2,114.4,31.4,548,9829,0.77,3.70,0.00,0.000,4,0.000,0.000,2522,319,1252
$GC,9870,1.33,247.2,101.9,19.5,550,9877,0.00,3.65,0.00,0.000,6,0.000,0.000,2540,2137,1257
$GC,10239,1.35,247.2,28.4,19.2,609,10246,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2131,1246
$STATE,10386,end climb,SURFACE_DEPTH_REACHED
$STATE,10386,begin surface coast
$FREEZE,-0.00,4.748,-1.674
$FINISH,-0.0,1.024240
$STATE,10403,end surface coast,CONTROL_FINISHED_OK
$STATE,10403,begin surface
$SM_CCo,10431,127.65,0.000,1,0,422,450.86
$SM_GC,-0.00,0.00,0.00,127.65,0.000,0.000,0.000,665,1794,422,-7.49,-5.15,450.86
$RAFOS_CLK,0
$RAFOS,2,1160555055,8.416667,8.404166,80,0,0,0,0,0,922,0,0,0,0,0
$RAFOS,1,1160554462,8.250000,8.239445,80,0,0,0,0,0,660,0,0,0,0,0
$RAFOS,0,1160553847,8.083333,8.068611,80,0,0,0,0,0,584,0,0,0,0,0
$RAFOS_FIX,6649.350098,-6032.019043,111006,080821,3,80,0.59
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2287
$INTERNAL_PRESSURE,25.9576
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.5,19.6
$ALTIM_BOTTOM_PING,450.1,89.6
$24V_AH,23.7,60.769
$10V_AH,9.7,9.226
$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,48.250,134.250,352.425,127.650,0.000,0.000,0.000,88.599,4.000,30.659,1942.121,6526.759,790.328,745.671,862.803,0.000,1432.154,0.000,623.412,1440.000,28.537
$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,520.037,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22101,636
$CFSIZE,255582208,242491392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,100,1041,4,0
$SOUNDSPEED,1470.3
$CURRENT,0.050,270.1,1
$GPS,111006,084218,6647.539,-6034.816,7,1.1,7,18.0