version: 66.01
glider: 1
mission: 1
dive: 29
start: 10 11 106 21 4 38
data:
$ID,1
$MISSION,1
$DIVE,29
$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,-449307.72
$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,6
$R_STBD_OVSHOOT,16
$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
$GPS1,205937,6651.000,-6034.275,21,1.1,22,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,210408,6651.000,-6034.275,11,1.1,11,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6701.148,-6032.833
$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,34,end surface,CONTROL_FINISHED_OK
$STATE,35,begin dive
$GC,41,-1.49,-116.8,0.0,0.0,0,129,0.00,0.00,-76.57,0.000,6,0.000,0.000,612,1752,2740
$GC,135,-1.49,-116.8,0.6,-1.5,10,152,7.05,2.50,0.00,0.000,4,0.000,0.000,1942,430,2747
$GC,309,-1.42,-116.8,30.1,-12.9,37,318,0.00,3.65,0.00,0.000,6,0.000,0.000,1943,2262,2741
$GC,677,-1.30,-116.8,70.2,-10.3,98,684,0.55,0.00,0.00,0.000,6,0.000,0.000,2064,2263,2745
$GC,1044,-1.51,-116.8,91.9,-5.7,159,1053,0.85,3.55,0.00,0.000,4,0.000,0.000,1896,416,2745
$GC,1086,-1.39,-116.8,95.5,-11.4,164,1095,0.77,3.25,0.00,0.000,6,0.000,0.000,2052,2111,2745
$GC,1423,-1.59,-116.8,116.2,-5.5,185,1431,1.15,2.72,0.00,0.000,4,0.000,0.000,1868,3641,2739
$GC,1486,-1.28,-116.8,122.9,-11.9,187,1495,0.85,3.53,0.00,0.000,6,0.000,0.000,2043,1804,2742
$GC,1810,-1.45,-116.8,141.8,-5.5,203,1818,0.77,3.03,0.00,0.000,4,0.000,0.000,1844,287,2742
$GC,1862,-1.19,-116.8,147.2,-11.6,205,1871,0.80,3.67,0.00,0.000,6,0.000,0.000,2068,2114,2740
$GC,2199,-1.38,-116.8,165.5,-5.2,221,2207,0.57,3.17,0.00,0.000,4,0.000,0.000,1926,446,2742
$GC,2257,-1.26,-116.8,170.8,-11.8,223,2269,0.52,3.17,0.00,0.000,6,0.000,0.000,2056,2142,2742
$GC,2586,-1.43,-116.8,188.4,-5.3,239,2594,0.68,3.80,0.00,0.000,4,0.000,0.000,1845,288,2739
$GC,2622,-1.14,-116.8,191.9,-10.8,240,2635,1.08,3.17,0.00,0.000,6,0.000,0.000,2089,1961,2743
$GC,2952,-1.59,-116.8,206.6,-4.8,256,2960,1.30,3.00,0.00,0.000,4,0.000,0.000,1914,316,2741
$GC,3032,-1.46,-116.8,212.8,-8.5,259,3040,0.52,3.47,0.00,0.000,6,0.000,0.000,2044,2165,2746
$GC,3367,-1.61,-116.8,231.1,-5.2,275,3375,0.77,3.65,0.00,0.000,4,0.000,0.000,1858,307,2746
$GC,3416,-1.33,-116.8,235.6,-10.4,277,3425,0.75,3.55,0.00,0.000,6,0.000,0.000,2058,2110,2744
$GC,3752,-1.50,-116.8,253.5,-4.9,293,3761,0.70,3.62,0.00,0.000,4,0.000,0.000,1848,270,2744
$GC,3811,-1.20,-116.8,258.7,-10.4,295,3823,0.90,3.33,0.00,0.000,6,0.000,0.000,2036,2090,2746
$GC,4141,-1.34,-116.8,275.9,-5.0,311,4149,0.57,2.95,0.00,0.000,4,0.000,0.000,1982,568,2736
$GC,4239,-1.34,-116.8,282.0,-6.6,315,4244,0.00,2.53,0.00,0.000,6,0.000,0.000,1976,2229,2736
$GC,4575,-1.32,-116.8,303.8,-6.5,331,4580,0.00,3.15,0.00,0.000,4,0.000,0.000,1979,528,2741
$GC,4641,-1.32,-116.8,308.6,-7.2,334,4646,0.00,2.83,0.00,0.000,6,0.000,0.000,1985,1927,2742
$GC,4976,-1.29,-116.8,329.8,-6.5,350,4981,0.00,2.42,0.00,0.000,4,0.000,0.000,1967,415,2741
$GC,5045,-1.29,-116.8,334.4,-6.5,353,5050,0.00,2.53,0.00,0.000,6,0.000,0.000,1982,2055,2739
$GC,5376,-1.27,-116.8,355.0,-6.3,369,5381,0.00,2.92,0.00,0.000,4,0.000,0.000,1964,406,2741
$GC,5428,-1.27,-116.8,358.8,-6.1,371,5433,0.00,3.12,0.00,0.000,6,0.000,0.000,1962,2089,2739
$GC,5752,-1.24,-116.8,378.7,-6.3,386,5753,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,2091,2744
$GC,6057,-1.22,-116.8,398.0,-6.2,401,6062,0.00,3.12,0.00,0.000,4,0.000,0.000,1965,401,2740
$GC,6093,-1.22,-116.8,400.4,-6.3,402,6102,0.28,3.22,0.00,0.000,6,0.000,0.000,2029,2099,2743
$GC,6418,-1.36,-116.8,415.8,-4.7,418,6426,0.47,2.97,0.00,0.000,4,0.000,0.000,1924,405,2747
$GC,6476,-1.22,-116.8,420.2,-7.9,420,6489,0.62,3.38,0.00,0.000,6,0.000,0.000,2026,1905,2741
$GC,6806,-1.35,-116.8,436.1,-4.7,436,6813,0.43,3.03,0.00,0.000,4,0.000,0.000,1904,3603,2741
$GC,6962,-1.15,-116.8,447.8,-8.3,442,6971,0.77,4.00,0.00,0.000,6,0.000,0.000,2080,1612,2741
$GC,7286,-1.45,-116.8,460.4,-3.6,458,7295,0.75,3.42,0.00,0.000,4,0.000,0.000,1905,3613,2744
$GC,7366,-1.24,-116.8,466.1,-7.8,461,7375,0.57,3.45,0.00,0.000,6,0.000,0.000,2044,1609,2740
$GC,7697,-1.37,-116.8,482.7,-4.8,477,7704,0.50,3.42,0.00,0.000,4,0.000,0.000,1889,3615,2745
$GC,7887,-1.17,-116.8,497.3,-7.8,485,7895,0.50,3.67,0.00,0.000,6,0.000,0.000,2024,1765,2740
$GC,8234,-1.32,-116.8,513.7,-4.6,495,8236,0.55,0.00,0.00,0.000,6,0.000,0.000,1908,1769,2745
$GC,8559,-1.14,-116.8,537.0,-7.3,503,8561,0.65,0.00,0.00,0.000,6,0.000,0.000,2052,1762,2740
$STATE,8674,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8674,begin apogee
$GC,8688,-0.25,0.0,542.8,5.3,506,8812,1.45,0.00,115.12,0.000,6,0.000,0.000,2287,2256,2260
$STATE,8812,end apogee,CONTROL_FINISHED_OK
$STATE,8813,begin climb
$GC,8818,1.49,116.8,543.1,0.0,509,8953,1.75,3.95,112.00,0.001,4,0.000,0.000,2630,385,1782
$GC,9011,1.28,116.8,505.9,23.0,513,9019,0.77,3.17,0.00,0.000,6,0.000,0.000,2465,2230,1781
$GC,9342,1.56,159.6,470.6,10.3,527,9397,0.95,3.05,41.67,0.001,4,0.000,0.000,2652,396,1610
$GC,9445,1.34,159.6,445.8,26.1,531,9454,0.77,3.47,0.00,0.000,6,0.000,0.000,2456,2071,1603
$GC,9769,1.62,190.0,402.4,11.3,547,9816,1.23,3.80,28.42,0.000,4,0.000,0.000,2627,408,1486
$GC,9852,1.41,190.0,383.3,28.9,550,9858,0.50,2.70,0.00,0.000,6,0.000,0.000,2537,2264,1481
$GC,10182,1.48,190.0,323.4,16.7,566,10190,0.35,3.55,0.00,0.000,4,0.000,0.000,2628,394,1479
$GC,10217,1.27,190.0,314.4,27.1,567,10230,0.62,3.88,0.00,0.000,6,0.000,0.000,2519,2230,1482
$GC,10546,1.35,190.0,259.3,16.5,583,10554,0.50,3.78,0.00,0.000,4,0.000,0.000,2629,398,1483
$GC,10625,1.15,190.0,239.4,26.7,586,10633,0.77,3.28,0.00,0.000,6,0.000,0.000,2455,2024,1483
$GC,10960,1.43,215.0,196.8,11.8,602,10984,1.12,0.00,20.40,0.000,6,0.000,0.000,2640,2033,1376
$GC,11284,1.15,215.0,105.3,28.9,618,11292,0.68,3.25,0.00,0.000,4,0.000,0.000,2461,360,1384
$GC,11390,1.31,215.0,90.0,14.5,632,11400,0.77,3.75,0.12,0.001,6,0.000,0.000,2659,2172,1382
$STATE,11706,end climb,SURFACE_DEPTH_REACHED
$STATE,11706,begin surface coast
$FREEZE,-0.00,4.689,-1.682
$FINISH,-0.0,1.024360
$STATE,11720,end surface coast,CONTROL_FINISHED_OK
$STATE,11720,begin surface
$SM_CCo,11750,147.18,0.000,0,0,424,450.86
$SM_GC,0.00,0.00,0.00,147.18,0.000,0.000,0.000,586,1975,424,-7.59,0.08,450.86
$RAFOS_CLK,0
$RAFOS,0,1160611461,0.083333,0.072500,80,0,0,0,0,0,512,0,0,0,0,0
$RAFOS,4,1160602142,21.500000,21.483889,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,6649.437500,-6030.718750,111006,202020,4,80,0.37
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2329
$INTERNAL_PRESSURE,25.9967
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.2,18.5
$ALTIM_BOTTOM_PING,500.7,51.0
$24V_AH,23.7,62.805
$10V_AH,9.7,9.499
$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,49.550,158.750,317.750,147.175,0.000,0.000,0.000,87.006,4.500,12.281,2083.147,7558.829,808.091,803.595,915.631,0.000,1520.565,0.000,690.547,1080.000,26.134
$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,559.193,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22120,686
$CFSIZE,255582208,242073600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,106,1234,4,0
$SOUNDSPEED,1470.5
$CURRENT,0.046,270.2,1
$GPS,121006,002428,6651.916,-6034.104,27,1.1,27,18.0