version: 66.01
glider: 1
mission: 1
dive: 47
start: 10 14 106 9 0 38
data:
$ID,1
$MISSION,1
$DIVE,47
$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,-449768.44
$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,15
$R_STBD_OVSHOOT,5
$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
$GPS1,085450,6707.752,-6034.537,28,1.1,28,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-69.9
$GPS2,090014,6707.752,-6034.537,32,1.1,32,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6717.900,-6033.111
$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,42,-1.49,-116.8,0.0,0.0,0,123,0.00,0.00,-76.15,0.000,6,0.000,0.000,559,1854,2748
$GC,135,-1.49,-116.8,-0.0,0.0,9,152,7.18,2.45,0.00,0.000,4,0.000,0.000,2003,317,2741
$GC,227,-1.59,-116.8,17.9,-10.0,23,237,0.77,3.72,0.00,0.000,6,0.000,0.000,1818,2131,2745
$GC,597,-1.17,-116.8,74.0,-14.9,84,606,1.42,2.47,0.00,0.000,4,0.000,0.000,2054,3543,2748
$GC,718,-1.40,-116.8,81.8,-5.3,103,728,0.77,3.83,0.00,0.000,6,0.000,0.000,1891,1699,2754
$GC,1084,-1.14,-116.8,121.2,-11.1,140,1093,0.77,3.70,0.00,0.000,4,0.000,0.000,2078,3725,2745
$GC,1148,-1.37,-116.8,126.4,-5.1,142,1158,0.68,3.67,0.00,0.000,6,0.000,0.000,1883,1850,2740
$GC,1473,-1.09,-116.8,159.5,-11.1,158,1476,0.80,0.00,0.00,0.000,6,0.000,0.000,2067,1857,2743
$GC,1815,-1.31,-116.8,177.4,-4.8,174,1820,0.50,2.22,0.00,0.000,4,0.000,0.000,1927,292,2742
$GC,1901,-1.27,-116.8,184.0,-8.1,177,1909,0.00,3.92,0.00,0.000,6,0.000,0.000,1930,2277,2747
$GC,2226,-1.17,-116.8,209.5,-7.8,193,2234,0.85,3.28,0.00,0.000,4,0.000,0.000,2075,565,2738
$GC,2302,-1.43,-116.8,213.5,-4.5,196,2310,0.80,3.28,0.00,0.000,6,0.000,0.000,1942,2229,2737
$GC,2638,-1.52,-116.8,238.0,-7.2,212,2645,0.15,3.53,0.00,0.000,4,0.000,0.000,1869,403,2753
$GC,2701,-1.32,-116.8,243.4,-9.3,214,2710,0.57,2.92,0.00,0.000,6,0.000,0.000,2023,2216,2746
$GC,3026,-1.42,-116.8,261.6,-5.5,230,3034,0.50,3.50,0.00,0.000,4,0.000,0.000,1893,429,2743
$GC,3105,-1.38,-116.8,268.1,-8.7,233,3113,0.55,3.35,0.00,0.000,6,0.000,0.000,1997,2247,2749
$GC,3440,-1.47,-116.8,287.0,-5.4,249,3448,0.43,3.28,0.00,0.000,4,0.000,0.000,1902,412,2746
$GC,3498,-1.28,-116.8,291.9,-8.6,251,3510,0.77,2.60,0.00,0.000,6,0.000,0.000,2090,1922,2743
$GC,3826,-1.54,-116.8,307.0,-4.1,267,3828,0.70,0.00,0.00,0.000,6,0.000,0.000,1887,1939,2747
$GC,4135,-1.26,-116.8,333.6,-8.9,282,4144,1.10,3.03,0.00,0.000,4,0.000,0.000,2047,418,2744
$GC,4199,-1.51,-116.8,337.6,-4.3,284,4209,0.75,3.35,0.00,0.000,6,0.000,0.000,1864,2084,2742
$GC,4524,-1.23,-116.8,365.3,-8.9,300,4532,0.80,3.05,0.00,0.000,4,0.000,0.000,2055,384,2749
$GC,4564,-1.47,-116.8,368.5,-4.5,301,4574,0.80,2.95,0.00,0.000,6,0.000,0.000,1889,2005,2740
$GC,4889,-1.26,-116.8,395.8,-9.0,317,4898,0.75,3.25,0.00,0.000,4,0.000,0.000,2067,326,2747
$GC,4938,-1.51,-116.8,399.1,-4.3,319,4947,0.77,3.33,0.00,0.000,6,0.000,0.000,1880,2242,2746
$GC,5274,-1.22,-116.8,427.8,-8.8,335,5277,0.80,0.00,0.00,0.000,6,0.000,0.000,2065,2239,2743
$GC,5588,-1.44,-116.8,441.8,-4.2,350,5591,0.88,0.00,0.00,0.000,6,0.000,0.000,1873,2238,2745
$GC,5897,-1.15,-116.8,467.7,-8.6,365,5906,0.93,3.45,0.00,0.000,4,0.000,0.000,2053,576,2742
$GC,5947,-1.38,-116.8,470.7,-4.3,367,5953,0.62,2.45,0.00,0.000,6,0.000,0.000,1932,2077,2741
$GC,6279,-1.45,-116.8,493.5,-6.6,383,6285,0.00,3.47,0.00,0.000,4,0.000,0.000,1938,3606,2746
$GC,6352,-1.32,-116.8,498.9,-7.2,386,6359,0.50,2.72,0.00,0.000,6,0.000,0.000,2059,1759,2743
$GC,6674,-1.51,-116.8,513.7,-4.3,395,6682,0.70,3.53,0.00,0.000,4,0.000,0.000,1873,3587,2741
$GC,6814,-1.16,-116.8,525.7,-9.3,398,6823,0.85,3.28,0.00,0.000,6,0.000,0.000,2040,1739,2741
$GC,7148,-1.34,-116.8,541.2,-4.4,406,7156,0.62,3.15,0.00,0.000,4,0.000,0.000,1926,3601,2741
$GC,7438,-1.18,-116.8,561.4,-7.1,412,7446,0.57,3.75,0.00,0.000,6,0.000,0.000,2063,1940,2748
$GC,7762,-1.37,-116.8,575.9,-4.2,420,7769,0.52,2.95,0.00,0.000,4,0.000,0.000,1933,3579,2739
$GC,7926,-1.24,-116.8,587.1,-7.0,423,7934,0.52,3.78,0.00,0.000,6,0.000,0.000,2054,1750,2749
$GC,8273,-1.44,-116.8,602.3,-4.3,432,8281,0.98,3.55,0.00,0.000,4,0.000,0.000,1933,3438,2742
$GC,8421,-1.29,-116.8,612.4,-6.9,435,8429,0.52,3.25,0.00,0.000,6,0.000,0.000,2050,1684,2742
$GC,8746,-1.48,-116.8,626.6,-4.3,443,8755,0.88,4.43,0.00,0.000,4,0.000,0.000,1840,3516,2750
$STATE,9007,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9007,begin apogee
$GC,9023,-0.25,0.0,648.6,8.7,448,9151,2.28,0.00,115.15,0.001,6,0.000,0.000,2298,1682,2259
$STATE,9152,end apogee,CONTROL_FINISHED_OK
$STATE,9152,begin climb
$GC,9158,1.49,116.8,649.2,0.0,452,9281,1.35,0.00,114.45,0.000,6,0.000,0.000,2614,1680,1785
$GC,9599,1.30,116.8,564.8,21.0,463,9607,0.55,3.50,0.00,0.000,4,0.000,0.000,2489,3638,1776
$GC,9741,1.48,134.1,545.6,12.4,466,9765,0.77,2.92,15.40,0.000,6,0.000,0.000,2675,1774,1715
$GC,10089,1.14,134.1,457.4,26.2,478,10097,1.08,2.80,0.00,0.000,4,0.000,0.000,2400,279,1720
$GC,10118,1.46,182.0,452.8,9.9,479,10173,1.02,3.78,45.10,0.001,6,0.000,0.000,2568,1961,1521
$GC,10493,1.31,182.0,370.2,23.1,497,10501,0.43,3.28,0.00,0.000,4,0.000,0.000,2456,3467,1523
$GC,10672,1.54,193.9,345.5,12.8,504,10703,0.80,3.03,12.68,0.001,6,0.000,0.000,2647,1808,1470
$GC,11016,1.24,193.9,249.4,29.4,521,11024,0.70,3.25,0.00,0.000,4,0.000,0.000,2474,3655,1473
$GC,11272,1.46,203.6,213.2,13.0,532,11289,0.77,2.88,9.02,0.001,6,0.000,0.000,2655,1958,1424
$GC,11601,1.17,203.6,120.3,28.6,547,11610,1.17,3.15,0.00,0.000,4,0.000,0.000,2455,444,1429
$GC,11665,1.43,218.8,109.4,12.5,549,11687,0.77,3.40,13.18,0.001,6,0.000,0.000,2651,2119,1369
$GC,12044,1.14,218.8,6.1,27.0,607,12053,1.23,3.15,0.00,0.000,4,0.000,0.000,2448,407,1364
$STATE,12058,end climb,SURFACE_DEPTH_REACHED
$STATE,12058,begin surface coast
$FINISH,0.5,1.024411
$STATE,12064,end surface coast,CONTROL_FINISHED_OK
$STATE,12064,begin surface
$SM_CCo,12096,144.40,0.000,0,0,424,450.62
$SM_GC,0.00,0.00,0.00,144.40,0.000,0.000,0.000,617,2082,424,-7.48,2.52,450.62
$RAFOS_CLK,0
$RAFOS,1,1160828043,12.250000,12.234167,80,0,0,0,0,0,787,0,0,0,0,0
$RAFOS,0,1160827445,12.083333,12.068055,80,0,0,0,0,0,687,0,0,0,0,0
$RAFOS,4,1160818158,9.500000,9.488334,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,6708.113281,-6030.537109,141006,121240,2,80,0.26
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2301
$INTERNAL_PRESSURE,26.0748
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,18.6,17.8
$24V_AH,23.7,70.225
$10V_AH,9.7,10.510
$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,54.700,156.450,324.975,144.400,0.000,0.000,0.000,91.474,5.750,32.942,1974.314,8029.958,806.257,863.623,887.705,0.000,1543.850,0.000,731.513,1080.000,32.549
$DEVICE_MAMPS,119.000,60.000,0.767,600.000,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,497.629,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22111,610
$CFSIZE,255582208,240570368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,118,1213,3,0
$SOUNDSPEED,1472.8
$CURRENT,0.051,262.8,1
$GPS,141006,122617,6708.739,-6034.604,26,1.1,26,18.0