version: 66.01
glider: 1
mission: 1
dive: 6
start: 10 9 106 1 49 57
data:
$ID,1
$MISSION,1
$DIVE,6
$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,-448729.97
$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,13
$R_STBD_OVSHOOT,3
$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
$GPS1,014452,6633.224,-6031.062,17,1.1,17,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-69.8
$GPS2,014928,6633.224,-6031.062,26,1.1,26,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6643.372,-6029.603
$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,34,begin dive
$GC,40,-1.49,-116.8,0.0,0.0,0,128,0.00,0.00,-77.35,0.000,6,0.000,0.000,597,1716,2748
$GC,134,-1.49,-116.8,-0.0,0.0,9,152,6.47,3.38,0.00,0.000,4,0.000,0.000,1965,3548,2744
$GC,392,-1.49,-116.8,35.4,-9.8,51,401,0.08,2.85,0.00,0.000,6,0.001,0.000,1970,1743,2746
$GC,760,-1.46,-116.8,69.1,-8.3,112,768,0.17,3.22,0.00,0.000,4,0.000,0.000,1929,3558,2742
$GC,897,-1.31,-116.8,84.2,-10.6,134,906,0.50,3.03,0.00,0.000,6,0.000,0.000,2037,1842,2737
$GC,1254,-1.44,-116.8,108.2,-6.5,178,1261,0.45,3.25,0.00,0.000,4,0.000,0.000,1918,3659,2748
$GC,1352,-1.28,-116.8,117.5,-10.6,182,1360,0.55,3.47,0.00,0.000,6,0.000,0.000,2036,1795,2745
$GC,1688,-1.43,-116.8,139.1,-6.0,198,1696,0.52,3.35,0.00,0.000,4,0.000,0.000,1901,3637,2745
$GC,1788,-1.29,-116.8,148.9,-9.9,202,1799,0.55,3.33,0.00,0.000,6,0.000,0.000,2055,1807,2743
$GC,2124,-1.44,-116.8,168.6,-5.7,218,2132,0.50,3.78,0.00,0.000,4,0.000,0.000,1916,3636,2751
$GC,2229,-1.29,-116.8,178.6,-9.6,222,2243,0.52,3.60,0.00,0.000,6,0.000,0.000,2026,1801,2740
$GC,2559,-1.49,-116.8,198.5,-6.7,238,2567,0.65,3.35,0.00,0.000,4,0.000,0.000,1906,3673,2745
$GC,2658,-1.31,-116.8,206.2,-9.7,242,2666,0.52,3.33,0.00,0.000,6,0.000,0.000,2031,1811,2746
$GC,2993,-1.41,-116.8,226.9,-5.8,258,3002,0.45,3.78,0.00,0.000,4,0.000,0.000,1894,3517,2744
$GC,3093,-1.23,-116.8,235.9,-9.1,262,3101,0.77,3.08,0.00,0.000,6,0.000,0.000,2104,2003,2747
$GC,3429,-1.50,-116.8,250.5,-4.2,278,3437,1.10,3.22,0.00,0.000,4,0.000,0.000,1924,3673,2740
$GC,3481,-1.33,-116.8,254.6,-8.8,280,3488,0.52,2.85,0.00,0.000,6,0.000,0.000,2019,1855,2741
$GC,3816,-1.45,-116.8,272.8,-5.4,296,3824,0.88,3.35,0.00,0.000,4,0.000,0.000,1911,3553,2738
$GC,3915,-1.27,-116.8,281.5,-8.7,300,3921,0.52,2.45,0.00,0.000,6,0.000,0.000,2026,2053,2743
$GC,4246,-1.81,-116.8,299.6,-6.0,316,4253,1.17,2.22,0.00,0.000,4,0.000,0.000,1800,3558,2747
$GC,4286,-1.30,-116.8,303.8,-12.3,317,4296,1.12,2.55,0.00,0.000,6,0.000,0.000,2011,1894,2748
$GC,4611,-1.42,-116.8,321.5,-5.2,333,4619,0.65,3.47,0.00,0.000,4,0.000,0.000,1902,3543,2748
$GC,4696,-1.33,-116.8,328.2,-8.5,336,4702,0.50,2.70,0.00,0.000,6,0.000,0.000,2003,2068,2747
$GC,5020,-1.44,-116.8,345.5,-5.2,351,5028,0.95,2.85,0.00,0.000,4,0.000,0.000,1901,3553,2742
$GC,5061,-1.26,-116.8,348.8,-8.7,352,5070,0.60,3.17,0.00,0.000,6,0.000,0.000,2016,1884,2748
$GC,5385,-1.39,-116.8,366.1,-5.1,368,5393,0.50,3.03,0.00,0.000,4,0.000,0.000,1904,3581,2744
$GC,5464,-1.24,-116.8,372.1,-8.1,371,5472,0.40,3.08,0.00,0.000,6,0.000,0.000,2035,2072,2747
$GC,5799,-1.37,-116.8,389.2,-4.9,387,5806,0.57,3.00,0.00,0.000,4,0.000,0.000,1894,3622,2752
$GC,5828,-1.25,-116.8,391.6,-8.1,388,5836,0.65,3.42,0.00,0.000,6,0.000,0.000,2041,1792,2746
$GC,6158,-1.37,-116.8,408.8,-5.0,404,6166,0.50,3.15,0.00,0.000,4,0.000,0.000,1891,3543,2746
$GC,6269,-1.19,-116.8,417.2,-6.8,408,6278,0.77,3.17,0.00,0.000,6,0.000,0.000,2085,1855,2746
$GC,6593,-1.48,-116.8,429.6,-3.7,424,6601,0.73,3.17,0.00,0.000,4,0.000,0.000,1891,3586,2748
$GC,6692,-1.29,-116.8,436.9,-8.4,428,6700,0.45,3.15,0.00,0.000,6,0.000,0.000,2019,1953,2741
$GC,7032,-1.38,-116.8,455.0,-5.1,444,7040,0.60,3.25,0.00,0.000,4,0.000,0.000,1893,3637,2736
$GC,7108,-1.20,-116.8,460.5,-8.2,447,7116,0.77,3.17,0.00,0.000,6,0.000,0.000,2087,1959,2748
$GC,7449,-1.49,-116.8,474.1,-3.7,463,7457,0.82,3.35,0.00,0.000,4,0.000,0.000,1898,3594,2746
$STATE,7492,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7492,begin apogee
$GC,7508,-0.25,0.0,477.5,7.6,465,7642,2.00,0.00,114.47,0.000,6,0.000,0.000,2300,1958,2259
$STATE,7643,end apogee,CONTROL_FINISHED_OK
$STATE,7643,begin climb
$GC,7648,1.49,116.8,478.2,0.0,472,7776,2.00,3.38,112.65,0.001,4,0.000,0.000,2625,3481,1779
$GC,7867,1.27,116.8,437.7,22.2,481,7873,0.77,2.47,0.00,0.000,6,0.000,0.000,2461,2151,1781
$GC,8193,1.34,141.6,401.9,11.8,496,8225,0.77,2.75,24.25,0.000,4,0.000,0.000,2640,3466,1684
$GC,8269,1.10,141.6,384.1,24.8,499,8278,0.88,3.40,0.00,0.000,6,0.000,0.000,2455,1914,1683
$GC,8605,1.41,181.5,345.1,10.6,515,8656,0.68,2.83,38.20,0.001,4,0.000,0.000,2645,3556,1523
$GC,8769,1.19,181.5,304.0,26.1,522,8776,0.80,2.88,0.00,0.000,6,0.000,0.000,2424,2013,1518
$GC,9104,1.50,209.1,264.2,11.6,538,9137,0.85,3.12,25.65,0.000,4,0.000,0.000,2631,3703,1408
$GC,9215,1.31,209.1,236.3,27.8,543,9224,0.52,4.18,0.32,0.001,6,0.000,0.000,2509,1710,1408
$GC,9550,1.42,209.1,180.8,15.7,559,9558,0.40,3.22,0.00,0.000,4,0.000,0.000,2640,3538,1410
$GC,9716,1.23,209.1,137.3,27.5,566,9725,0.50,3.53,0.00,0.000,6,0.000,0.000,2472,1755,1409
$GC,10053,1.35,209.1,84.8,14.9,593,10062,0.35,3.80,0.00,0.000,4,0.000,0.000,2619,3619,1408
$GC,10212,1.18,209.1,45.2,25.1,618,10222,0.77,3.88,0.00,0.000,6,0.000,0.000,2440,1757,1410
$GC,10582,1.55,262.5,4.2,9.5,679,10606,0.85,0.00,20.90,0.001,2,0.000,0.000,2635,1748,1277
$STATE,10607,end climb,SURFACE_DEPTH_REACHED
$STATE,10607,begin surface coast
$FREEZE,-0.00,4.971,-1.648
$FREEZE,-0.00,4.887,-1.671
$FINISH,-0.0,1.024195
$STATE,10630,end surface coast,CONTROL_FINISHED_OK
$STATE,10630,begin surface
$SM_CCo,10660,130.43,0.000,2,0,423,450.37
$SM_GC,0.00,0.00,0.00,130.43,0.000,0.000,0.000,598,2081,423,-7.65,2.74,450.37
$RAFOS_CLK,0
$RAFOS,3,1160368451,4.583333,4.569722,80,0,0,0,0,0,722,0,0,0,0,0
$RAFOS,2,1160367851,4.416667,4.403056,80,0,0,0,0,0,960,0,0,0,0,0
$RAFOS,1,1160367243,4.250000,4.234167,80,0,0,0,0,0,781,0,0,0,0,0
$RAFOS,0,1160366653,4.083333,4.070278,80,0,0,0,0,0,575,0,0,0,0,0
$RAFOS,4,1160364542,3.500000,3.483889,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,6633.094727,-6025.938965,091006,040420,4,80,0.42
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2449
$INTERNAL_PRESSURE,25.9772
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.4,19.9
$ALTIM_BOTTOM_PING,400.6,86.8
$24V_AH,23.7,54.051
$10V_AH,9.7,8.285
$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,50.175,153.975,336.450,130.425,0.000,0.000,0.000,85.001,3.500,26.756,2110.812,6474.690,785.690,842.620,881.370,0.000,1505.588,0.000,711.504,1800.000,20.919
$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,554.589,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22096,685
$CFSIZE,255582208,243859456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,113,1180,5,0
$SOUNDSPEED,1468.4
$CURRENT,0.047,249.3,1
$GPS,091006,045124,6633.932,-6031.179,5,1.1,6,18.0