version: 66.01
glider: 1
mission: 1
dive: 39
start: 10 13 106 4 43 20
data:
$ID,1
$MISSION,1
$DIVE,39
$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,-449528
$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,10
$R_STBD_OVSHOOT,1
$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
$GPS1,043801,6659.682,-6034.113,20,1.1,20,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,044251,6659.682,-6034.113,30,1.1,30,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6709.830,-6032.680
$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,-116.8,0.0,0.0,0,126,0.00,0.00,-76.68,0.000,6,0.000,0.000,615,1950,2739
$GC,132,-1.49,-116.8,-0.0,0.0,9,150,7.03,3.67,0.00,0.000,4,0.000,0.000,2000,456,2743
$GC,225,-1.55,-116.8,16.4,-10.3,23,234,0.50,2.83,0.00,0.000,6,0.000,0.000,1866,2271,2741
$GC,594,-1.23,-116.8,67.6,-12.8,84,601,0.80,0.00,0.00,0.000,6,0.000,0.000,2045,2276,2741
$GC,961,-1.40,-116.8,91.6,-6.3,145,970,0.43,4.03,0.00,0.000,4,0.000,0.000,1922,261,2737
$GC,1009,-1.43,-116.8,95.5,-10.3,151,1017,0.52,3.25,0.00,0.000,6,0.000,0.000,2024,2095,2744
$GC,1353,-1.57,-116.8,117.8,-6.1,173,1362,1.10,3.22,0.00,0.000,4,0.000,0.000,1824,378,2735
$GC,1383,-1.32,-116.8,121.1,-12.8,174,1392,0.77,3.17,0.00,0.000,6,0.000,0.000,2016,2065,2742
$GC,1719,-1.42,-116.8,142.9,-6.2,190,1727,0.52,3.25,0.00,0.000,4,0.000,0.000,1908,414,2735
$GC,1767,-1.23,-116.8,147.4,-10.0,192,1776,0.75,3.72,0.00,0.000,6,0.000,0.000,2084,2219,2739
$GC,2103,-1.50,-116.8,163.5,-4.5,208,2112,1.00,3.25,0.00,0.000,4,0.000,0.000,1832,348,2729
$GC,2145,-1.16,-116.8,167.4,-11.7,209,2154,1.05,3.17,0.00,0.000,6,0.000,0.000,1992,2181,2734
$GC,2469,-1.23,-116.8,188.3,-6.9,225,2477,0.00,3.50,0.00,0.000,4,0.000,0.000,2005,315,2744
$GC,2521,-1.33,-116.8,191.6,-7.0,227,2528,0.00,3.50,0.00,0.000,6,0.000,0.000,1986,1946,2739
$GC,2855,-1.40,-116.8,211.3,-5.9,243,2857,0.65,0.00,0.00,0.000,6,0.000,0.000,1858,1954,2737
$GC,3164,-1.13,-116.8,238.7,-9.2,258,3172,0.70,3.03,0.00,0.000,4,0.000,0.000,2046,3639,2741
$GC,3215,-1.38,-116.8,241.9,-4.3,260,3223,0.77,3.22,0.00,0.000,6,0.000,0.000,1902,1975,2737
$GC,3551,-1.13,-116.8,270.8,-8.8,276,3559,0.65,3.28,0.00,0.000,4,0.000,0.000,2063,300,2737
$GC,3580,-1.29,-116.8,272.9,-5.5,277,3588,0.57,3.67,0.00,0.000,6,0.000,0.000,1961,2106,2729
$GC,3917,-1.21,-116.8,295.5,-7.0,293,3925,0.47,3.50,0.00,0.000,4,0.000,0.000,2056,313,2736
$GC,3952,-1.48,-116.8,297.8,-4.3,294,3965,0.77,2.97,0.00,0.000,6,0.000,0.000,1876,1989,2735
$GC,4282,-1.54,-116.8,325.0,-8.7,310,4287,0.38,2.53,0.00,0.000,4,0.000,0.000,2007,287,2741
$GC,4312,-1.64,-116.8,327.7,-6.7,311,4325,0.80,3.12,0.00,0.000,6,0.000,0.000,1805,2242,2746
$GC,4642,-1.17,-116.8,361.6,-10.7,327,4651,1.35,3.53,0.00,0.000,4,0.000,0.000,2064,439,2738
$GC,4691,-1.40,-116.8,365.6,-4.4,329,4697,0.50,2.42,0.00,0.000,6,0.000,0.000,1943,2124,2737
$GC,5022,-1.28,-116.8,388.5,-7.1,345,5030,0.47,3.17,0.00,0.000,4,0.000,0.000,2068,251,2746
$GC,5057,-1.52,-116.8,390.4,-4.4,346,5070,0.70,3.17,0.00,0.000,6,0.000,0.000,1869,1914,2744
$GC,5387,-1.21,-116.8,418.1,-8.7,362,5393,1.00,2.17,0.00,0.000,4,0.000,0.000,2041,590,2745
$GC,5418,-1.32,-116.8,420.9,-6.2,363,5430,0.52,3.17,0.00,0.000,6,0.000,0.000,1931,2100,2733
$GC,5747,-1.16,-116.8,444.0,-7.3,379,5755,0.68,3.17,0.00,0.000,4,0.000,0.000,2059,431,2737
$GC,5788,-1.36,-116.8,446.6,-4.3,380,5797,0.52,2.65,0.00,0.000,6,0.000,0.000,1917,2115,2747
$GC,6112,-1.20,-116.8,469.3,-7.3,396,6118,0.43,2.47,0.00,0.000,4,0.000,0.000,2040,3458,2741
$GC,6184,-1.40,-116.8,473.0,-4.4,399,6192,0.70,3.60,0.00,0.000,6,0.000,0.000,1856,1789,2740
$GC,6520,-1.09,-116.8,501.5,-8.7,415,6526,0.82,2.33,0.00,0.000,4,0.000,0.000,2070,402,2739
$GC,6557,-1.32,-116.8,503.7,-4.2,415,6567,0.57,2.58,0.00,0.000,6,0.000,0.000,1920,1921,2736
$GC,6895,-1.20,-116.8,526.0,-6.8,424,6900,0.52,2.50,0.00,0.000,4,0.000,0.000,2058,434,2737
$GC,6939,-1.43,-116.8,528.5,-4.1,425,6948,0.80,3.25,0.00,0.000,6,0.000,0.000,1905,1964,2736
$GC,7275,-1.29,-116.8,550.9,-6.9,433,7283,0.85,3.03,0.00,0.000,4,0.000,0.000,2075,3621,2737
$GC,7361,-1.51,-116.8,554.9,-4.2,434,7370,0.80,3.25,0.00,0.000,6,0.000,0.000,1959,1755,2740
$GC,7700,-1.38,-116.8,576.9,-6.7,443,7707,0.08,3.12,0.00,0.000,4,0.000,0.000,1926,3618,2737
$GC,7774,-1.26,-116.8,582.3,-6.6,444,7782,0.50,3.62,0.00,0.000,6,0.000,0.000,2072,1687,2742
$STATE,7996,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7996,begin apogee
$GC,8009,-0.25,0.0,592.2,4.4,450,8131,0.88,0.00,113.38,0.000,6,0.000,0.000,2239,2198,2273
$STATE,8132,end apogee,CONTROL_FINISHED_OK
$STATE,8132,begin climb
$GC,8138,1.49,116.8,592.3,0.0,453,8275,1.98,2.62,113.12,0.001,4,0.000,0.000,2628,3535,1787
$GC,8328,1.30,116.8,559.2,20.9,457,8336,0.55,2.85,0.00,0.000,6,0.000,0.000,2496,1972,1782
$GC,8684,1.48,138.0,515.6,12.1,466,8713,0.73,3.42,20.15,0.001,4,0.000,0.000,2676,291,1697
$GC,8734,0.97,138.0,504.5,28.7,467,8743,1.17,3.42,0.00,0.000,6,0.000,0.000,2428,2121,1709
$GC,9072,1.36,193.7,470.5,9.3,482,9141,0.75,2.25,54.25,0.001,4,0.000,0.000,2643,3461,1468
$GC,9183,1.14,193.7,443.8,27.7,486,9192,0.80,3.00,0.00,0.000,6,0.000,0.000,2420,1766,1471
$GC,9508,1.52,235.0,407.0,10.5,502,9555,0.98,3.75,39.22,0.001,4,0.000,0.000,2685,3621,1299
$GC,9605,1.13,235.0,375.5,36.8,506,9614,1.10,2.85,0.00,0.000,6,0.000,0.000,2426,1774,1302
$GC,9946,1.41,249.4,328.3,12.6,522,9971,0.70,3.72,14.20,0.001,4,0.000,0.000,2642,3635,1232
$GC,10111,1.18,249.4,280.0,30.9,529,10119,0.80,2.75,0.00,0.000,6,0.000,0.000,2448,1953,1244
$GC,10451,1.47,263.8,234.1,12.6,545,10468,0.73,0.00,13.90,0.000,6,0.000,0.000,2635,1935,1183
$GC,10780,0.67,263.8,118.2,49.6,561,10788,1.30,3.25,0.00,0.000,4,0.000,0.000,2295,465,1183
$GC,10829,1.37,301.1,107.7,10.8,563,10868,1.40,3.55,30.00,0.001,6,0.000,0.000,2625,2146,1036
$FREEZE,-0.01,4.500,-1.683
$STATE,11182,end climb,SURFACE_DEPTH_REACHED
$STATE,11182,begin surface coast
$FREEZE,-0.00,4.691,-1.663
$FINISH,-0.0,1.024094
$STATE,11188,end surface coast,CONTROL_FINISHED_OK
$STATE,11189,begin surface
$SM_CCo,11218,94.38,0.000,2,0,424,450.86
$SM_GC,-0.00,0.00,0.00,94.38,0.000,0.000,0.000,599,1801,424,-7.58,-5.37,450.86
$RAFOS_CLK,0
$RAFOS_FIX,6659.349121,-6029.732910,131006,040400,3,80,0.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2361
$INTERNAL_PRESSURE,26.0553
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,18.6,18.0
$ALTIM_BOTTOM_PING,576.9,25.0
$24V_AH,23.7,66.807
$10V_AH,9.7,10.041
$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,55.800,157.800,398.225,94.375,0.000,0.000,0.000,87.171,5.750,30.293,1917.563,7236.670,835.911,763.940,857.143,0.000,1501.792,0.000,636.738,0.000,40.433
$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,503.110,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22139,618
$CFSIZE,255582208,241278976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,118,1212,6,0
$SOUNDSPEED,1471.5
$CURRENT,0.056,261.3,1
$GPS,131006,075322,6700.674,-6034.203,14,1.1,14,18.0