version: 66.01
glider: 1
mission: 1
dive: 4
start: 7 5 107 0 50 57
data:
$ID,1
$MISSION,1
$DIVE,4
$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,-445336.06
$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,0
$R_STBD_OVSHOOT,18
$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
$GPS1,004344,4703.944,-12600.976,32,1.1,33,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-50.0
$GPS2,004954,4703.971,-12601.054,26,1.1,27,18.0
$SPEED_LIMITS,0.103,0.183
$TGT_NAME,default
$TGT_LATLONG,47.600,-122.300
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.151,-0.119
$KALMAN_X,-4132.8,-59.3,-40.9,14386.5,-1774.0
$KALMAN_Y,4948.9,115.3,80.0,-6811.7,2077.9
$MHEAD_RNG_PITCHd_Wd,110.3,14773024,-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,33,end surface,CONTROL_FINISHED_OK
$STATE,33,begin dive
$GC,39,-0.83,-116.8,0.0,0.0,0,111,0.00,0.00,-63.28,0.000,6,0.000,0.000,633,1830,2740
$GC,117,-0.83,-116.8,3.1,-5.0,10,135,7.15,2.10,0.00,0.000,4,0.000,0.000,2084,461,2740
$GC,428,-0.83,-116.8,39.4,-11.8,60,436,0.00,2.92,0.00,0.000,6,0.000,0.000,2098,2132,2743
$GC,799,-0.83,-116.8,81.8,-10.5,121,807,0.00,2.62,0.00,0.000,4,0.000,0.000,2099,449,2743
$GC,1095,-0.83,-116.8,109.1,-8.1,157,1102,0.00,3.65,0.00,0.000,6,0.000,0.000,2084,2117,2740
$GC,1424,-0.83,-116.8,136.6,-8.5,173,1429,0.00,2.83,0.00,0.000,4,0.000,0.000,2067,351,2740
$GC,1710,-0.83,-116.8,164.0,-9.2,185,1715,0.00,2.72,0.00,0.000,6,0.000,0.000,2101,2153,2741
$GC,2029,-0.83,-116.8,188.8,-7.2,200,2035,0.00,3.35,0.00,0.000,4,0.000,0.000,2091,462,2746
$GC,2319,-0.83,-116.8,210.2,-6.8,212,2324,0.00,2.53,0.00,0.000,6,0.000,0.000,2091,2058,2741
$GC,2638,-0.83,-116.8,232.8,-6.8,227,2643,0.00,2.85,0.00,0.000,4,0.000,0.000,2098,530,2734
$GC,2923,-0.83,-116.8,253.1,-7.9,239,2928,0.00,2.90,0.00,0.000,6,0.000,0.000,2093,2156,2743
$GC,3242,-0.83,-116.8,276.5,-7.4,254,3247,0.00,2.70,0.00,0.000,4,0.000,0.000,2099,383,2740
$GC,3522,-0.83,-116.8,298.6,-7.6,266,3534,0.00,3.30,0.00,0.000,6,0.000,0.000,2085,2172,2736
$GC,3845,-0.83,-116.8,324.0,-8.2,282,3850,0.00,2.92,0.00,0.000,4,0.000,0.000,2114,384,2743
$GC,4128,-0.83,-116.8,345.8,-7.7,294,4133,0.00,2.90,0.00,0.000,6,0.000,0.000,2097,2153,2735
$GC,4448,-0.83,-116.8,368.5,-7.4,309,4455,0.00,3.45,0.00,0.000,4,0.000,0.000,2084,360,2738
$GC,4738,-0.83,-116.8,390.9,-7.6,321,4750,0.00,3.75,0.00,0.000,6,0.000,0.000,2097,2146,2736
$GC,5062,-0.83,-116.8,415.8,-7.5,337,5067,0.03,2.70,0.00,0.000,4,0.000,0.000,2079,340,2737
$GC,5347,-0.83,-116.8,435.5,-6.6,349,5353,0.00,3.10,0.00,0.000,6,0.000,0.000,2082,2149,2740
$GC,5666,-0.83,-116.8,457.0,-6.8,364,5671,0.00,3.10,0.00,0.000,4,0.000,0.000,2100,369,2734
$GC,5947,-0.83,-116.8,476.1,-6.6,376,5952,0.00,3.00,0.00,0.000,6,0.000,0.000,2073,2166,2743
$GC,6266,-0.83,-116.8,496.4,-6.2,391,6273,0.00,3.92,0.00,0.000,4,0.000,0.000,2103,359,2744
$GC,6558,-0.83,-116.8,516.1,-6.8,399,6564,0.03,2.70,0.00,0.000,6,0.000,0.000,2087,2188,2741
$GC,6875,-0.83,-116.8,538.5,-7.3,407,6880,0.00,2.70,0.00,0.000,4,0.000,0.000,2103,414,2741
$GC,7155,-0.83,-116.8,557.1,-6.3,413,7160,0.00,2.80,0.00,0.000,6,0.000,0.000,2098,2175,2742
$GC,7472,-0.83,-116.8,576.9,-6.2,421,7477,0.03,3.00,0.00,0.000,4,0.001,0.000,2113,377,2736
$GC,7750,-0.83,-116.8,594.8,-6.6,427,7755,0.00,2.72,0.00,0.000,6,0.000,0.000,2095,2169,2739
$GC,8066,-0.83,-116.8,613.4,-6.0,435,8071,0.00,3.03,0.00,0.000,4,0.000,0.000,2078,387,2740
$GC,8346,-0.83,-116.8,631.2,-6.5,441,8352,0.03,2.65,0.00,0.000,6,0.002,0.000,2052,2071,2741
$GC,8664,-0.83,-116.8,652.7,-7.0,449,8668,0.00,2.60,0.00,0.000,4,0.000,0.000,2062,419,2745
$GC,8944,-0.83,-116.8,672.4,-6.0,455,8950,0.38,2.80,0.00,0.000,6,0.000,0.000,2134,2166,2745
$GC,9261,-0.83,-116.8,691.3,-5.8,463,9267,0.32,2.90,0.00,0.000,4,0.000,0.000,2035,411,2743
$GC,9545,-0.83,-116.8,707.8,-5.6,469,9551,0.30,2.67,0.00,0.000,6,0.000,0.000,2102,2083,2737
$GC,9874,-0.83,-116.8,726.0,-5.5,477,9881,0.00,3.35,0.00,0.000,4,0.000,0.000,2095,433,2744
$GC,10159,-0.83,-116.8,741.2,-5.0,483,10164,0.00,2.50,0.00,0.000,6,0.000,0.000,2095,2086,2733
$GC,10475,-0.83,-116.8,759.0,-6.0,491,10480,0.00,2.60,0.00,0.000,4,0.000,0.000,2084,425,2737
$GC,10755,-0.83,-116.8,774.3,-5.1,497,10760,0.00,2.62,0.00,0.000,6,0.000,0.000,2104,2082,2737
$GC,11071,-0.83,-116.8,791.0,-5.2,505,11077,0.03,2.70,0.00,0.000,4,0.000,0.000,2053,432,2742
$GC,11357,-0.83,-116.8,805.9,-5.9,511,11363,0.20,2.67,0.00,0.000,6,0.000,0.000,2051,2065,2742
$GC,11675,-0.83,-116.8,823.7,-5.7,519,11681,0.00,3.30,0.00,0.000,4,0.000,0.000,2050,335,2733
$GC,11970,-0.83,-116.8,840.9,-5.6,525,11975,0.00,2.83,0.00,0.000,6,0.000,0.000,2033,2120,2741
$GC,12287,-0.83,-116.8,860.0,-5.8,533,12294,0.12,3.55,0.00,0.000,4,0.001,0.000,2049,443,2737
$GC,12575,-0.83,-116.8,876.5,-5.6,539,12581,0.35,2.70,0.00,0.000,6,0.000,0.000,2145,2106,2738
$GC,12893,-0.83,-116.8,892.7,-5.1,547,12898,0.35,2.70,0.00,0.000,4,0.000,0.000,2055,335,2736
$GC,13183,-0.83,-116.8,907.1,-5.0,553,13188,0.00,2.70,0.00,0.000,6,0.000,0.000,2063,2133,2739
$GC,13499,-0.83,-116.8,925.3,-5.7,561,13507,0.38,3.55,0.00,0.000,4,0.000,0.000,2155,353,2747
$GC,13788,-0.83,-116.8,941.3,-6.0,567,13794,0.47,2.80,0.00,0.000,6,0.000,0.000,2074,2132,2740
$GC,14106,-0.83,-116.8,959.8,-5.8,575,14113,0.28,3.12,0.00,0.000,4,0.000,0.000,2149,338,2737
$GC,14396,-0.83,-116.8,974.3,-4.6,581,14401,0.43,2.70,0.00,0.000,6,0.000,0.000,2025,2158,2736
$STATE,14551,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,14551,begin apogee
$GC,14564,-0.25,0.0,982.3,5.1,585,14709,0.98,0.00,113.53,0.000,6,0.000,0.000,2232,1773,2258
$STATE,14710,end apogee,CONTROL_FINISHED_OK
$STATE,14710,begin climb
$GC,14716,0.83,116.8,990.4,0.0,589,14845,1.10,2.80,112.32,0.000,4,0.000,0.000,2472,3624,1781
$GC,15124,0.83,116.8,972.9,8.2,598,15131,0.00,3.55,0.00,0.000,6,0.000,0.000,2473,1812,1785
$GC,15457,0.83,116.8,947.2,7.7,606,15459,0.15,0.00,0.00,0.000,6,0.000,0.000,2421,1834,1784
$GC,15781,0.83,116.8,921.3,8.1,614,15789,0.17,3.55,0.00,0.000,4,0.000,0.000,2441,3501,1786
$GC,16071,0.83,116.8,898.2,7.6,620,16076,0.00,2.70,0.00,0.000,6,0.000,0.000,2428,1844,1779
$GC,16387,0.83,116.8,873.4,7.7,628,16393,0.22,2.85,0.00,0.000,4,0.000,0.000,2470,3500,1781
$GC,16673,0.83,116.8,853.3,7.8,634,16678,0.22,2.62,0.00,0.000,6,0.000,0.000,2428,1869,1782
$GC,16989,0.83,116.8,830.1,7.2,642,16991,0.15,0.00,0.00,0.000,6,0.000,0.000,2430,1870,1783
$GC,17314,0.83,116.8,806.7,7.1,650,17321,0.00,3.33,0.00,0.000,4,0.000,0.000,2412,3518,1784
$GC,17598,0.83,116.8,785.4,7.2,656,17606,0.05,3.35,0.00,0.000,6,0.000,0.000,2394,1970,1786
$GC,17919,0.83,116.8,759.1,8.4,664,17926,0.08,3.42,0.00,0.000,4,0.000,0.000,2450,3528,1789
$GC,18209,0.83,116.8,735.0,8.6,670,18214,0.10,2.60,0.00,0.000,6,0.000,0.000,2430,1832,1789
$GC,18526,0.83,116.8,710.1,7.5,678,18527,0.17,0.00,0.00,0.000,6,0.000,0.000,2456,1845,1780
$GC,18850,0.83,116.8,688.0,6.6,686,18857,0.00,3.30,0.00,0.000,4,0.000,0.000,2464,3567,1784
$GC,19135,0.83,116.8,669.9,6.6,692,19143,0.20,3.55,0.00,0.000,6,0.000,0.000,2402,1779,1785
$GC,19456,0.83,116.8,648.9,6.7,700,19458,0.32,0.00,0.00,0.000,6,0.000,0.000,2502,1780,1786
$GC,19781,0.83,116.8,628.0,6.3,708,19788,0.68,2.90,0.00,0.000,4,0.000,0.000,2390,3596,1786
$GC,20070,0.83,116.8,610.1,6.4,714,20078,0.57,3.00,0.00,0.000,6,0.000,0.000,2539,1815,1782
$GC,20392,0.83,116.8,588.2,6.7,722,20399,0.70,2.97,0.00,0.000,4,0.000,0.000,2388,3363,1788
$GC,20681,0.83,116.8,567.9,7.2,728,20689,0.38,3.35,0.00,0.000,6,0.000,0.000,2472,1832,1783
$GC,21002,0.83,116.8,544.8,7.2,736,21007,0.08,2.53,0.00,0.000,4,0.000,0.000,2443,3581,1784
$GC,21287,0.83,116.8,525.9,6.6,742,21295,0.40,3.00,0.00,0.000,6,0.000,0.000,2376,1833,1783
$GC,21608,0.83,116.8,504.8,6.5,750,21610,0.60,0.00,0.00,0.000,6,0.000,0.000,2468,1819,1787
$GC,21915,0.83,116.8,483.3,7.2,763,21917,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1807,1787
$GC,22229,0.83,116.8,460.9,7.2,778,22236,0.00,3.42,0.00,0.000,4,0.000,0.000,2457,3612,1791
$GC,22520,0.83,116.8,439.3,6.7,790,22532,0.00,3.83,0.00,0.000,6,0.000,0.000,2464,1812,1776
$GC,22843,0.83,119.0,418.4,6.2,806,22852,0.00,3.28,1.58,0.001,4,0.000,0.000,2482,3366,1774
$GC,23135,0.83,129.3,400.6,5.9,818,23151,0.00,2.72,10.43,0.000,6,0.000,0.000,2478,1827,1731
$GC,23477,0.85,129.3,379.6,6.7,835,23479,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1836,1739
$GC,23792,0.85,129.3,357.8,7.1,850,23797,0.00,2.90,0.00,0.000,4,0.000,0.000,2456,3473,1735
$GC,24077,0.85,129.3,337.0,6.7,862,24089,0.03,3.35,0.00,0.000,6,0.000,0.000,2457,1770,1738
$GC,24400,0.85,129.3,314.6,6.8,878,24402,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1782,1736
$GC,24715,0.85,129.3,294.0,6.5,893,24720,0.10,2.70,0.00,0.000,4,0.000,0.000,2476,3546,1730
$GC,25001,0.85,129.3,275.7,6.8,905,25006,0.00,2.92,0.00,0.000,6,0.000,0.000,2477,1767,1726
$GC,25320,0.85,129.3,255.8,6.4,920,25325,0.03,2.83,0.00,0.000,4,0.000,0.000,2466,3589,1726
$GC,25606,0.85,129.3,236.9,6.9,932,25611,0.00,2.70,0.00,0.000,6,0.000,0.000,2462,1812,1726
$GC,25925,0.85,138.2,217.3,5.9,947,25936,0.00,0.00,8.52,0.000,6,0.000,0.000,2442,1808,1697
$GC,26234,0.87,138.2,196.4,7.3,962,26239,0.00,2.80,0.00,0.000,4,0.000,0.000,2454,3585,1698
$GC,26518,0.87,138.2,175.4,6.9,974,26530,0.00,3.62,0.00,0.000,6,0.000,0.000,2475,1822,1698
$GC,26842,0.87,145.6,154.4,6.0,990,26849,0.10,0.00,4.88,0.000,6,0.000,0.000,2450,1809,1671
$GC,27151,0.88,145.6,135.3,6.3,1005,27152,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1810,1675
$GC,27460,0.88,161.1,117.4,5.7,1020,27485,0.00,3.95,12.70,0.000,4,0.000,0.000,2469,3591,1605
$GC,27774,0.90,179.3,98.2,5.6,1036,27801,0.00,3.42,15.07,0.001,6,0.000,0.000,2444,1792,1541
$GC,28175,0.93,202.2,80.4,5.4,1099,28206,0.00,3.62,18.52,0.000,4,0.000,0.000,2455,3590,1440
$GC,28498,0.97,202.2,58.2,7.3,1151,28507,0.00,2.90,0.00,0.000,6,0.000,0.000,2472,1853,1438
$GC,28869,0.97,202.2,32.3,6.4,1212,28877,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1838,1437
$GC,29238,0.97,202.2,6.0,6.8,1273,29246,0.00,0.00,0.20,0.001,6,0.000,0.000,2476,1836,1435
$STATE,29293,end climb,SURFACE_DEPTH_REACHED
$STATE,29293,begin surface coast
$FINISH,0.5,0.999495
$STATE,29326,end surface coast,CONTROL_FINISHED_OK
$STATE,29326,begin surface
$SM_CCo,29354,93.03,0.000,0,0,832,350.29
$SM_GC,0.34,0.00,0.00,93.03,0.000,0.000,0.000,636,2097,832,-7.61,3.73,350.29
$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,0.024544
$HUMID,2142
$INTERNAL_PRESSURE,26.0944
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.9,20.3
$ALTIM_BOTTOM_PING,900.0,90.7
$24V_AH,23.7,19.606
$10V_AH,9.6,2.894
$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,27.450,247.700,297.750,93.025,0.000,0.000,0.000,106.938,8.500,27.767,4487.139,19968.041,810.273,2568.354,1947.465,32.357,2824.418,0.000,2502.210,3240.000,51.785
$DEVICE_MAMPS,119.000,60.000,1300.000,600.000,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1272.084,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44106,1287
$CFSIZE,255582208,243093504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,46,1659,6,0
$SOUNDSPEED,1465.0
$CURRENT,0.062,303.1,1
$GPS,050707,090320,4703.775,-12557.817,31,1.1,31,18.0