version: 66.01
glider: 1
mission: 1
dive: 1
start: 7 4 107 0 32 52
data:
$ID,1
$MISSION,1
$DIVE,1
$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,528
$T_MISSION,550
$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,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.00312
$HD_B,0.0099099996
$HD_C,2.4896e-05
$HEADING,-1
$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,350
$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,-445251.75
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,166
$ROLL_MAX,3791
$C_ROLL_DIVE,1978
$C_ROLL_CLIMB,1978
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,4
$R_STBD_OVSHOOT,3
$ROLL_AD_RATE,500
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,0.27000001
$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
$GPS1,002056,4704.835,-12609.053,31,1.1,31,18.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-50.0
$GPS2,003154,4704.864,-12609.097,20,1.1,21,18.0
$SPEED_LIMITS,0.103,0.183
$TGT_NAME,default
$TGT_LATLONG,47.600,-122.300
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.169,-0.092
$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,100.6,14787560,-12.7,-6.250
$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,32,end surface,CONTROL_FINISHED_OK
$STATE,32,begin dive
$GC,38,-0.83,-116.8,0.0,0.0,0,113,0.00,0.00,-66.82,0.000,6,0.000,0.000,649,2183,2740
$GC,120,-0.83,-116.8,3.3,-4.9,10,138,6.97,2.70,0.00,0.000,4,0.000,0.000,2143,393,2739
$GC,433,-0.83,-116.8,42.1,-11.8,60,442,0.38,4.15,0.00,0.000,6,0.000,0.000,2043,2179,2737
$GC,808,-0.83,-116.8,87.3,-11.8,121,816,0.40,0.00,0.00,0.000,6,0.000,0.000,2122,2178,2735
$GC,1155,-0.83,-116.8,121.1,-9.0,151,1158,0.50,0.00,0.00,0.000,6,0.000,0.000,2041,2180,2740
$GC,1464,-0.83,-116.8,148.6,-8.9,166,1472,0.40,3.35,0.00,0.000,4,0.000,0.000,2137,512,2733
$GC,1750,-0.83,-116.8,173.3,-8.9,178,1756,0.38,2.50,0.00,0.000,6,0.000,0.000,2049,2166,2732
$GC,2069,-0.83,-116.8,195.3,-6.4,193,2071,0.38,0.00,0.00,0.000,6,0.000,0.000,2132,2165,2734
$GC,2378,-0.83,-116.8,215.7,-7.1,208,2380,0.43,0.00,0.00,0.000,6,0.000,0.000,2038,2167,2737
$GC,2688,-0.83,-116.8,236.7,-6.7,223,2695,0.10,3.62,0.00,0.000,4,0.000,0.000,2107,378,2739
$GC,2978,-0.83,-116.8,256.0,-6.5,235,2984,0.03,3.10,0.00,0.000,6,0.000,0.000,2094,2147,2731
$GC,3297,-0.83,-116.8,277.1,-6.5,250,3305,0.05,3.62,0.00,0.000,4,0.000,0.000,2097,356,2739
$GC,3588,-0.83,-116.8,297.7,-7.3,262,3600,0.00,3.45,0.00,0.000,6,0.000,0.000,2117,2020,2731
$GC,3911,-0.83,-116.8,321.6,-7.5,278,3912,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2018,2741
$GC,4227,-0.83,-116.8,342.9,-6.8,293,4228,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2014,2732
$GC,4535,-0.83,-116.8,364.7,-7.0,308,4540,0.00,3.05,0.00,0.000,4,0.000,0.000,2072,461,2732
$GC,4821,-0.83,-116.8,385.9,-7.0,320,4825,0.00,2.62,0.00,0.000,6,0.000,0.000,2099,2102,2739
$GC,5139,-0.83,-116.8,408.9,-7.1,335,5144,0.00,2.80,0.00,0.000,4,0.000,0.000,2093,444,2736
$GC,5423,-0.83,-116.8,430.3,-7.9,347,5435,0.00,3.35,0.00,0.000,6,0.000,0.000,2097,2108,2739
$GC,5746,-0.83,-116.8,456.2,-7.9,363,5751,0.05,2.50,0.00,0.000,4,0.000,0.000,2089,419,2741
$GC,6032,-0.83,-116.8,477.9,-7.5,375,6038,0.00,3.08,0.00,0.000,6,0.000,0.000,2122,1962,2742
$GC,6352,-0.83,-116.8,501.1,-7.4,390,6357,0.03,2.85,0.00,0.000,4,0.000,0.000,2073,588,2737
$GC,6631,-0.83,-116.8,521.4,-7.0,396,6636,0.00,2.65,0.00,0.000,6,0.000,0.000,2078,2013,2736
$GC,6947,-0.83,-116.8,541.4,-6.3,404,6952,0.00,2.72,0.00,0.000,4,0.000,0.000,2085,427,2738
$GC,7228,-0.83,-116.8,559.2,-5.4,410,7234,0.00,2.95,0.00,0.000,6,0.000,0.000,2093,2082,2734
$GC,7545,-0.83,-116.8,575.5,-5.2,418,7547,0.03,0.00,0.00,0.000,6,0.000,0.000,2068,2083,2743
$GC,7870,-0.83,-116.8,591.6,-4.9,426,7878,0.43,3.55,0.00,0.000,4,0.000,0.000,2138,421,2742
$GC,8161,-0.83,-116.8,606.1,-5.2,432,8169,0.45,3.45,0.00,0.000,6,0.000,0.000,2057,2057,2745
$GC,8483,-0.83,-116.8,625.2,-5.9,440,8489,0.38,2.70,0.00,0.000,4,0.000,0.000,2155,455,2736
$GC,8762,-0.83,-116.8,643.2,-6.1,446,8768,0.40,2.80,0.00,0.000,6,0.000,0.000,2052,2126,2740
$GC,9079,-0.83,-116.8,663.1,-6.3,454,9085,0.20,2.72,0.00,0.000,4,0.000,0.000,2111,362,2740
$GC,9363,-0.83,-116.8,680.0,-5.7,460,9371,0.00,3.72,0.00,0.000,6,0.000,0.000,2108,2141,2736
$GC,9685,-0.83,-116.8,699.2,-5.9,468,9690,0.00,2.70,0.00,0.000,4,0.000,0.000,2091,371,2738
$GC,9963,-0.83,-116.8,715.8,-5.6,474,9969,0.08,2.70,0.00,0.000,6,0.000,0.000,2104,2122,2740
$GC,10280,-0.83,-116.8,733.5,-5.6,482,10287,0.00,3.45,0.00,0.000,4,0.000,0.000,2088,331,2742
$GC,10566,-0.83,-116.8,749.8,-6.2,488,10573,0.00,3.65,0.00,0.000,6,0.000,0.000,2094,1995,2740
$GC,10895,-0.83,-116.8,770.0,-6.1,496,10901,0.00,3.05,0.00,0.000,4,0.000,0.000,2088,374,2737
$GC,11182,-0.83,-116.8,789.0,-7.1,502,11187,0.00,2.70,0.00,0.000,6,0.000,0.000,2101,2136,2736
$GC,11498,-0.83,-116.8,809.6,-6.7,510,11505,0.00,3.45,0.00,0.000,4,0.000,0.000,2113,386,2740
$GC,11784,-0.83,-116.8,829.6,-6.8,516,11791,0.00,3.65,0.00,0.000,6,0.000,0.000,2113,2207,2734
$GC,12105,-0.83,-116.8,851.8,-6.8,524,12106,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2200,2737
$GC,12430,-0.83,-116.8,873.1,-6.4,532,12437,0.00,3.65,0.00,0.000,4,0.000,0.000,2080,418,2735
$GC,12718,-0.83,-116.8,890.2,-5.4,538,12723,0.00,2.80,0.00,0.000,6,0.000,0.000,2119,2092,2739
$GC,13035,-0.83,-116.8,907.0,-5.3,546,13043,0.00,2.50,0.00,0.000,4,0.000,0.000,2076,458,2740
$GC,13322,-0.83,-116.8,923.2,-5.2,552,13327,0.00,2.92,0.00,0.000,6,0.000,0.000,2105,2142,2742
$GC,13650,-0.83,-116.8,941.0,-5.5,560,13655,0.00,2.90,0.00,0.000,4,0.000,0.000,2070,350,2735
$GC,13936,-0.83,-116.8,958.8,-6.5,566,13943,0.00,4.07,0.00,0.000,6,0.000,0.000,2085,2078,2738
$GC,14263,-0.83,-116.8,978.3,-6.2,574,14268,0.05,2.70,0.00,0.000,4,0.000,0.000,2043,422,2734
$STATE,14276,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,14277,begin apogee
$GC,14292,-0.25,0.0,980.2,6.6,574,14419,0.82,0.00,113.25,0.000,6,0.000,0.000,2253,2114,2263
$STATE,14419,end apogee,CONTROL_FINISHED_OK
$STATE,14420,begin climb
$GC,14425,0.83,116.8,987.5,0.0,577,14550,1.30,2.17,111.78,0.000,4,0.000,0.000,2512,3387,1786
$GC,14832,0.83,116.8,984.9,6.6,585,14842,0.52,3.15,0.20,0.000,6,0.000,0.000,2379,1841,1791
$GC,15166,0.83,116.8,961.3,7.1,594,15168,0.45,0.00,0.00,0.000,6,0.000,0.000,2450,1835,1784
$GC,15491,0.83,116.8,939.2,6.9,602,15497,0.00,3.22,0.00,0.000,4,0.000,0.000,2451,3512,1782
$GC,15772,0.83,116.8,919.1,7.6,608,15779,0.05,3.22,0.00,0.000,6,0.000,0.000,2457,1855,1791
$GC,16092,0.83,116.8,895.9,7.3,616,16097,0.00,2.50,0.00,0.000,4,0.000,0.000,2463,3507,1786
$GC,16373,0.83,116.8,874.9,7.1,622,16379,0.00,3.05,0.00,0.000,6,0.000,0.000,2471,1989,1787
$GC,16690,0.83,116.8,852.0,7.2,630,16691,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1993,1793
$GC,17015,0.83,116.8,828.4,7.3,638,17016,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1986,1788
$GC,17340,0.83,116.8,804.6,7.3,646,17342,0.00,0.00,0.40,0.000,6,0.000,0.000,2434,1981,1785
$GC,17665,0.83,116.8,781.7,7.1,654,17670,0.00,2.95,0.00,0.000,4,0.000,0.000,2459,3377,1782
$GC,17946,0.83,130.9,763.2,5.7,660,17965,0.15,2.60,12.93,0.000,6,0.000,0.000,2441,1857,1731
$GC,18306,0.85,130.9,739.7,6.5,669,18309,0.47,0.00,0.00,0.000,6,0.000,0.000,2492,1842,1729
$GC,18632,0.85,130.9,718.1,6.7,677,18634,0.32,0.00,0.00,0.000,6,0.000,0.000,2418,1838,1731
$GC,18956,0.85,130.9,696.2,6.7,685,18963,0.40,2.62,0.20,0.001,4,0.000,0.000,2448,3491,1729
$GC,19237,0.85,130.9,677.4,6.3,691,19242,0.00,2.90,0.10,0.000,6,0.000,0.000,2468,1808,1729
$GC,19554,0.85,130.9,657.5,6.5,699,19561,0.00,3.65,0.00,0.000,4,0.000,0.000,2455,3609,1727
$GC,19839,0.85,130.9,637.5,7.8,705,19847,0.00,3.10,0.17,0.000,6,0.000,0.000,2454,1823,1731
$GC,20160,0.85,130.9,615.0,7.1,713,20162,0.00,0.00,0.05,0.000,6,0.000,0.000,2473,1805,1726
$GC,20485,0.85,130.9,591.9,7.1,721,20490,0.00,2.72,0.00,0.000,4,0.000,0.000,2457,3488,1724
$GC,20765,0.85,130.9,571.5,6.8,727,20771,0.00,3.42,0.00,0.000,6,0.000,0.000,2460,1847,1725
$GC,21085,0.85,130.9,549.2,7.0,735,21086,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1843,1726
$GC,21410,0.85,130.9,525.6,7.4,743,21411,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1838,1724
$GC,21735,0.85,130.9,501.5,7.4,751,21736,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1840,1733
$GC,22044,0.85,130.9,479.3,7.0,765,22045,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1844,1729
$GC,22358,0.85,131.5,457.9,6.2,780,22359,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1835,1729
$GC,22668,0.85,135.5,438.7,6.1,795,22678,0.00,2.55,4.53,0.000,4,0.000,0.000,2470,3506,1708
$GC,22959,0.86,135.5,420.5,6.2,807,22968,0.03,3.25,0.00,0.000,6,0.000,0.000,2443,1835,1711
$GC,23278,0.86,135.5,400.1,6.6,823,23280,0.03,0.00,0.00,0.000,6,0.000,0.000,2456,1821,1713
$GC,23587,0.86,135.5,378.6,7.2,838,23588,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1843,1709
$GC,23902,0.86,135.5,357.0,6.9,853,23903,0.05,0.00,0.00,0.000,6,0.000,0.000,2457,1841,1702
$GC,24206,0.86,135.5,335.3,6.9,868,24213,0.00,3.50,0.00,0.000,4,0.000,0.000,2455,3489,1712
$GC,24496,0.86,135.5,316.4,6.3,880,24501,0.00,2.50,0.00,0.000,6,0.000,0.000,2468,1850,1707
$GC,24815,0.86,135.5,296.2,6.5,895,24822,0.00,3.75,0.00,0.000,4,0.000,0.000,2450,3639,1704
$GC,25105,0.86,135.5,276.4,6.8,907,25117,0.00,3.55,0.00,0.000,6,0.000,0.000,2480,1856,1709
$GC,25428,0.86,135.5,255.2,6.5,923,25430,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1843,1702
$GC,25743,0.86,138.4,235.9,6.1,938,25747,0.00,0.00,2.03,0.000,6,0.000,0.000,2453,1854,1702
$GC,26047,0.87,152.5,216.9,5.7,953,26071,0.00,2.80,13.95,0.000,4,0.000,0.000,2461,3525,1643
$GC,26355,0.89,152.5,199.9,6.5,966,26361,0.00,3.45,0.00,0.000,6,0.000,0.000,2464,1870,1645
$GC,26689,0.89,152.5,176.1,7.5,982,26690,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1854,1635
$GC,27003,0.89,152.5,152.4,7.1,997,27008,0.00,3.22,0.00,0.000,4,0.000,0.000,2449,3528,1646
$GC,27292,0.89,170.6,134.1,5.6,1009,27314,0.00,3.67,14.95,0.000,6,0.000,0.000,2466,1885,1562
$GC,27639,0.92,170.6,110.9,6.4,1026,27640,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,1881,1566
$GC,27955,0.92,248.3,97.1,3.3,1050,28025,0.00,0.00,62.65,0.000,6,0.000,0.000,2462,1876,1242
$GC,28396,1.05,248.3,63.6,9.0,1118,28405,0.43,2.30,0.73,0.001,4,0.000,0.000,2549,343,1249
$GC,28478,1.05,248.3,56.0,9.4,1130,28487,0.55,3.45,0.00,0.000,6,0.000,0.000,2417,2131,1239
$GC,28855,1.05,248.3,21.4,8.6,1191,28862,0.32,0.00,0.00,0.000,6,0.000,0.000,2457,2152,1244
$STATE,29059,end climb,SURFACE_DEPTH_REACHED
$STATE,29059,begin surface coast
$FINISH,0.6,1.026355
$STATE,29082,end surface coast,CONTROL_FINISHED_OK
$STATE,29087,begin surface
$SM_CCo,29115,63.20,0.000,0,0,840,350.53
$SM_GC,0.34,0.00,0.00,63.20,0.000,0.000,0.000,625,1754,840,-7.41,-6.28,350.53
$RAFOS_CLK,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2149
$INTERNAL_PRESSURE,26.1237
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.9,19.4
$ALTIM_BOTTOM_PING,900.5,89.7
$24V_AH,23.7,16.735
$10V_AH,9.6,2.520
$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,26.900,203.350,337.900,63.200,0.000,0.000,0.000,136.483,8.500,26.622,4172.955,20695.746,727.128,2244.239,2025.302,29.239,2514.856,0.000,2189.458,3600.000,47.155
$DEVICE_MAMPS,119.000,60.000,1300.000,600.000,0.000,0.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1235.878,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40940,1228
$CFSIZE,255582208,243679232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,45,1364,3,0
$SOUNDSPEED,1465.0
$CURRENT,0.082,284.5,1
$GPS,040707,084051,4704.531,-12606.449,35,1.1,35,18.0