version: 66.01
glider: 1
mission: 1
dive: 34
start: 10 12 106 12 41 43
data:
$ID,1
$MISSION,1
$DIVE,34
$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,-449397.19
$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,11
$R_STBD_OVSHOOT,7
$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
$GPS1,123613,6655.300,-6034.168,29,1.1,29,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-70.0
$GPS2,124119,6655.300,-6034.168,18,1.1,18,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6705.447,-6032.730
$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,-116.8,0.0,0.0,0,131,0.00,0.00,-76.50,0.000,6,0.000,0.000,656,2214,2743
$GC,137,-1.49,-116.8,0.8,-2.0,10,154,6.53,2.72,0.00,0.000,4,0.000,0.000,1996,3552,2745
$GC,443,-1.53,-116.8,38.5,-8.7,60,452,0.52,2.75,0.00,0.000,6,0.000,0.000,1877,1986,2745
$GC,812,-1.23,-116.8,85.9,-12.3,121,819,0.80,0.00,0.00,0.000,6,0.000,0.000,2006,1992,2748
$GC,1157,-1.27,-116.8,112.4,-7.4,158,1163,0.00,2.95,0.00,0.000,4,0.000,0.000,1983,507,2742
$GC,1193,-1.34,-116.8,115.6,-7.1,159,1202,0.00,3.20,0.00,0.000,6,0.000,0.000,1975,2174,2745
$GC,1518,-1.39,-116.8,138.3,-7.1,175,1526,0.10,3.83,0.00,0.000,4,0.000,0.000,2011,372,2744
$GC,1595,-1.47,-116.8,143.7,-6.9,178,1602,0.52,2.75,0.00,0.000,6,0.000,0.000,1884,2041,2753
$GC,1930,-1.18,-116.8,179.0,-10.5,194,1938,0.70,3.25,0.00,0.000,4,0.000,0.000,2070,337,2745
$GC,1982,-1.43,-116.8,182.7,-5.0,196,1990,0.77,3.80,0.00,0.000,6,0.000,0.000,1871,2167,2747
$GC,2317,-1.15,-116.8,214.9,-10.0,212,2325,1.33,2.03,0.00,0.000,4,0.000,0.000,2119,3542,2748
$GC,2565,-1.53,-116.8,226.9,-4.3,222,2574,1.08,3.05,0.00,0.000,6,0.000,0.000,1895,1700,2749
$GC,2890,-1.38,-116.8,256.1,-8.5,238,2893,1.05,0.00,0.00,0.000,6,0.000,0.000,1970,1693,2742
$GC,3199,-1.43,-116.8,275.0,-5.9,253,3207,0.55,2.72,0.00,0.000,4,0.000,0.000,1878,3579,2742
$GC,3416,-1.39,-116.8,294.3,-7.9,262,3424,0.62,3.17,0.00,0.000,6,0.000,0.000,1995,1902,2751
$GC,3751,-1.43,-116.8,314.6,-5.9,278,3757,0.45,2.72,0.00,0.000,4,0.000,0.000,1865,405,2752
$GC,3811,-1.20,-116.8,319.9,-8.8,280,3820,0.77,3.58,0.00,0.000,6,0.000,0.000,2044,2069,2745
$GC,4136,-1.41,-116.8,334.6,-4.4,296,4144,0.88,3.25,0.00,0.000,4,0.000,0.000,1857,358,2751
$GC,4212,-1.16,-116.8,339.4,-4.5,299,4220,0.80,3.47,0.00,0.000,6,0.000,0.000,2073,2201,2745
$GC,4548,-1.70,-116.8,357.9,-5.7,315,4556,1.08,3.22,0.00,0.000,4,0.000,0.000,1815,396,2743
$GC,4625,-1.33,-116.8,364.8,-10.6,318,4633,1.08,3.25,0.00,0.000,6,0.000,0.000,2081,2234,2736
$GC,4961,-1.55,-116.8,380.8,-4.3,334,4969,0.77,3.22,0.00,0.000,4,0.000,0.000,1873,397,2744
$GC,5019,-1.32,-116.8,385.5,-8.6,336,5032,0.50,3.17,0.00,0.000,6,0.000,0.000,2008,2083,2750
$GC,5349,-1.40,-116.8,403.7,-5.4,352,5356,0.60,3.28,0.00,0.000,4,0.000,0.000,1888,542,2746
$GC,5406,-1.17,-116.8,408.5,-8.4,354,5412,0.77,2.47,0.00,0.000,6,0.000,0.000,2059,2063,2742
$GC,5731,-2.03,-116.8,424.4,-6.2,369,5738,1.67,3.00,0.00,0.000,4,0.000,0.000,1778,318,2745
$GC,5770,-1.50,-116.8,428.2,-11.6,370,5783,1.05,3.28,0.00,0.000,6,0.000,0.000,2007,1971,2739
$GC,6100,-1.58,-116.8,446.0,-5.2,386,6108,0.77,2.95,0.00,0.000,4,0.000,0.000,1890,363,2746
$GC,6179,-1.38,-116.8,452.1,-8.4,389,6187,0.52,2.75,0.00,0.000,6,0.000,0.000,2007,2070,2742
$GC,6514,-1.47,-116.8,469.9,-5.1,405,6522,0.52,2.97,0.00,0.000,4,0.000,0.000,1896,415,2743
$GC,6577,-1.27,-116.8,474.7,-7.0,407,6588,0.77,2.78,0.00,0.000,6,0.000,0.000,2023,1926,2747
$GC,6897,-1.38,-116.8,491.4,-5.0,423,6904,0.38,3.03,0.00,0.000,4,0.000,0.000,1893,404,2749
$GC,6937,-1.20,-116.8,494.4,-8.3,424,6947,0.77,3.53,0.00,0.000,6,0.000,0.000,2083,2084,2746
$GC,7255,-1.48,-116.8,506.5,-3.7,436,7263,1.08,2.75,0.00,0.000,4,0.000,0.000,1904,456,2750
$GC,7357,-1.31,-116.8,513.5,-8.1,438,7365,0.40,3.70,0.00,0.000,6,0.000,0.000,2020,2053,2745
$GC,7684,-1.51,-116.8,530.6,-5.2,446,7692,0.73,2.62,0.00,0.000,4,0.000,0.000,1916,3627,2751
$GC,7849,-1.28,-116.8,543.5,-8.1,449,7857,0.50,3.25,0.00,0.000,6,0.000,0.000,2037,1764,2748
$STATE,8148,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8148,begin apogee
$GC,8161,-0.25,0.0,559.1,5.0,457,8295,1.08,0.00,115.55,0.000,6,0.000,0.000,2245,2073,2256
$STATE,8296,end apogee,CONTROL_FINISHED_OK
$STATE,8296,begin climb
$GC,8302,1.49,116.8,559.9,0.0,460,8438,1.95,2.25,112.18,0.001,4,0.000,0.000,2623,3606,1787
$GC,8463,1.27,116.8,531.7,21.8,463,8472,0.60,3.58,0.00,0.000,6,0.000,0.000,2503,1769,1787
$GC,8790,1.34,124.7,488.2,13.1,473,8805,0.55,3.38,7.53,0.001,4,0.000,0.000,2569,3484,1756
$GC,8970,1.30,124.7,457.8,16.4,480,8976,0.00,2.97,0.00,0.000,6,0.000,0.000,2560,1972,1749
$GC,9306,1.26,124.7,401.9,16.9,496,9313,0.25,3.22,0.00,0.000,4,0.000,0.000,2495,272,1752
$GC,9358,1.44,127.6,393.5,13.5,498,9369,0.47,3.95,3.05,0.000,6,0.000,0.000,2627,2260,1738
$GC,9687,1.21,127.6,323.8,22.1,513,9695,0.90,3.28,0.00,0.000,4,0.000,0.000,2453,590,1741
$GC,9750,1.49,131.0,312.5,13.5,515,9761,0.77,3.25,3.10,0.001,6,0.000,0.000,2655,2249,1730
$GC,10075,1.24,131.0,241.7,22.7,531,10084,0.77,3.75,0.60,0.001,4,0.000,0.000,2460,385,1728
$GC,10152,1.64,185.4,232.0,9.4,534,10223,1.08,3.65,52.12,0.001,6,0.000,0.000,2692,2219,1502
$GC,10554,1.25,185.4,108.1,30.8,553,10563,1.33,4.03,0.00,0.000,4,0.000,0.000,2445,576,1502
$GC,10672,1.61,226.6,92.9,10.5,566,10723,1.08,3.17,33.55,0.001,6,0.000,0.000,2683,2080,1332
$STATE,10969,end climb,SURFACE_DEPTH_REACHED
$STATE,10969,begin surface coast
$FINISH,0.0,1.024315
$STATE,10976,end surface coast,CONTROL_FINISHED_OK
$STATE,10976,begin surface
$SM_CCo,11006,140.05,0.000,0,0,424,450.37
$SM_GC,-0.00,0.00,0.00,140.05,0.000,0.000,0.000,615,1744,424,-7.60,-7.04,450.37
$RAFOS_CLK,0
$RAFOS,4,1160666945,15.500000,15.484722,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,6655.265137,-6030.459473,121006,121200,3,80,0.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2251
$INTERNAL_PRESSURE,25.9967
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.8,19.5
$ALTIM_BOTTOM_PING,475.7,91.9
$24V_AH,23.7,64.833
$10V_AH,9.7,9.766
$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,52.325,146.275,327.675,140.050,0.000,0.000,0.000,90.799,4.250,19.418,1908.110,7060.102,792.922,793.409,889.789,0.000,1492.411,0.000,678.606,360.000,24.881
$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,500.105,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22151,615
$CFSIZE,255582208,241680384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,114,1143,7,0
$SOUNDSPEED,1471.6
$CURRENT,0.049,255.8,1
$GPS,121006,154847,6656.134,-6033.995,13,1.1,13,18.0