version: 66.01
glider: 1
mission: 1
dive: 5
start: 7 5 107 9 10 44
data:
$ID,1
$MISSION,1
$DIVE,5
$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,-445369.22
$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,5
$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
$GPS1,090320,4703.775,-12557.817,31,1.1,31,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-50.0
$GPS2,090940,4703.812,-12557.837,32,1.1,32,18.0
$SPEED_LIMITS,0.103,0.183
$TGT_NAME,default
$TGT_LATLONG,47.600,-122.300
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.147,-0.125
$KALMAN_X,-5106.0,129.0,219.0,18946.1,-1841.9
$KALMAN_Y,8052.0,165.1,227.7,-10404.1,2361.0
$MHEAD_RNG_PITCHd_Wd,112.4,14767336,-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,-116.8,0.0,0.0,0,110,0.00,0.00,-62.95,0.000,6,0.000,0.000,629,2091,2740
$GC,116,-0.83,-116.8,2.9,-4.5,10,126,7.25,0.00,0.00,0.000,6,0.000,0.000,2116,2097,2737
$GC,488,-0.83,-116.8,45.1,-11.0,71,496,0.00,2.60,0.00,0.000,4,0.000,0.000,2102,408,2737
$GC,790,-0.83,-116.8,78.6,-11.3,120,799,0.35,2.92,0.00,0.000,6,0.000,0.000,2029,2161,2728
$GC,1141,-0.83,-116.8,115.3,-10.8,160,1143,0.30,0.00,0.00,0.000,6,0.000,0.000,2051,2154,2737
$GC,1449,-0.83,-116.8,144.0,-8.5,175,1456,0.00,3.65,0.00,0.000,4,0.000,0.000,2062,376,2735
$GC,1739,-0.83,-116.8,169.1,-9.4,187,1744,0.00,2.62,0.00,0.000,6,0.000,0.000,2063,2121,2741
$GC,2058,-0.83,-116.8,198.1,-9.2,202,2063,0.00,2.70,0.00,0.000,4,0.000,0.000,2055,452,2744
$GC,2341,-0.83,-116.8,219.6,-6.9,214,2353,0.00,3.25,0.00,0.000,6,0.000,0.000,2064,2008,2743
$GC,2664,-0.83,-116.8,240.9,-6.6,230,2669,0.00,2.50,0.00,0.000,4,0.000,0.000,2071,352,2735
$GC,2949,-0.83,-116.8,262.1,-8.3,242,2962,0.08,3.75,0.00,0.000,6,0.000,0.000,2063,2009,2736
$GC,3273,-0.83,-116.8,286.9,-7.9,258,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2005,2736
$GC,3587,-0.83,-116.8,310.5,-7.5,273,3592,0.03,2.62,0.00,0.000,4,0.000,0.000,2073,354,2740
$GC,3873,-0.83,-116.8,333.0,-7.9,285,3879,0.10,3.03,0.00,0.000,6,0.000,0.000,2119,2160,2733
$GC,4192,-0.83,-116.8,357.7,-7.8,300,4198,0.30,2.70,0.00,0.000,4,0.000,0.000,2062,350,2733
$GC,4478,-0.83,-116.8,379.7,-6.8,312,4490,0.28,3.10,0.00,0.000,6,0.000,0.000,2109,2114,2736
$GC,4802,-0.83,-116.8,401.2,-6.4,328,4809,0.28,3.50,0.00,0.000,4,0.000,0.000,2070,394,2741
$GC,5093,-0.83,-116.8,419.0,-6.0,340,5098,0.00,2.80,0.00,0.000,6,0.000,0.000,2042,2215,2742
$GC,5411,-0.83,-116.8,439.2,-6.5,355,5419,0.05,3.75,0.00,0.000,4,0.000,0.000,2062,408,2732
$GC,5702,-0.83,-116.8,459.9,-7.2,367,5708,0.10,2.70,0.00,0.000,6,0.000,0.000,2059,2178,2734
$GC,6021,-0.83,-116.8,482.8,-7.3,382,6026,0.08,2.72,0.00,0.000,4,0.000,0.000,2058,356,2741
$GC,6307,-0.83,-116.8,503.5,-7.8,394,6315,0.15,3.55,0.00,0.000,6,0.000,0.000,2101,2168,2742
$GC,6629,-0.83,-116.8,527.1,-7.4,402,6635,0.00,3.30,0.00,0.000,4,0.000,0.000,2107,335,2743
$GC,6913,-0.83,-116.8,549.2,-7.5,408,6919,0.00,3.15,0.00,0.000,6,0.000,0.000,2117,2131,2733
$GC,7230,-0.83,-116.8,573.4,-7.6,416,7236,0.03,3.25,0.00,0.000,4,0.000,0.000,2108,473,2738
$GC,7511,-0.83,-116.8,594.8,-7.5,422,7516,0.08,2.92,0.00,0.000,6,0.000,0.000,2045,2153,2735
$GC,7828,-0.83,-116.8,616.1,-6.4,430,7835,0.12,3.45,0.00,0.000,4,0.000,0.000,2116,367,2740
$GC,8118,-0.83,-116.8,633.5,-6.2,436,8123,0.17,2.72,0.00,0.000,6,0.000,0.000,2039,2147,2736
$GC,8435,-0.83,-116.8,653.8,-6.5,444,8441,0.05,3.12,0.00,0.000,4,0.000,0.000,2100,360,2738
$GC,8713,-0.83,-116.8,670.1,-6.4,450,8719,0.03,2.70,0.00,0.000,6,0.000,0.000,2109,2166,2744
$GC,9030,-0.83,-116.8,687.9,-5.7,458,9038,0.35,3.75,0.00,0.000,4,0.000,0.000,2006,360,2733
$GC,9321,-0.83,-116.8,705.2,-6.0,464,9328,0.60,3.30,0.00,0.000,6,0.000,0.000,2154,2156,2736
$GC,9642,-0.83,-116.8,723.4,-5.6,472,9648,0.30,2.90,0.00,0.000,4,0.000,0.000,2043,383,2740
$GC,9929,-0.83,-116.8,740.5,-6.1,478,9934,0.00,3.10,0.00,0.000,6,0.000,0.000,2058,2166,2737
$GC,10246,-0.83,-116.8,760.4,-6.3,486,10251,0.08,2.70,0.00,0.000,4,0.000,0.000,2054,397,2738
$GC,10524,-0.83,-116.8,778.5,-6.2,492,10530,0.10,2.83,0.00,0.000,6,0.000,0.000,2099,2163,2735
$GC,10841,-0.83,-116.8,798.2,-6.3,500,10846,0.00,3.00,0.00,0.000,4,0.000,0.000,2105,376,2741
$GC,11122,-0.83,-116.8,815.9,-6.2,506,11128,0.35,2.92,0.00,0.000,6,0.000,0.000,2011,2182,2741
$GC,11445,-0.83,-116.8,834.9,-5.9,514,11452,0.45,2.92,0.00,0.000,4,0.000,0.000,2096,420,2738
$GC,11728,-0.83,-116.8,852.8,-6.0,520,11735,0.03,3.45,0.00,0.000,6,0.000,0.000,2104,2174,2733
$GC,12053,-0.83,-116.8,871.4,-5.7,528,12055,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,2191,2741
$GC,12374,-0.83,-116.8,889.4,-5.3,536,12381,0.00,3.75,0.00,0.000,4,0.000,0.000,2106,365,2735
$GC,12667,-0.83,-116.8,904.7,-5.1,542,12674,0.00,3.55,0.00,0.000,6,0.000,0.000,2093,2032,2731
$GC,12988,-0.83,-116.8,920.4,-4.8,550,12994,0.08,2.92,0.00,0.000,4,0.000,0.000,2104,374,2732
$GC,13274,-0.83,-116.8,934.4,-4.4,556,13279,0.00,2.70,0.00,0.000,6,0.000,0.000,2119,2141,2733
$GC,13590,-0.83,-116.8,951.3,-5.5,564,13598,0.17,3.65,0.00,0.000,4,0.000,0.000,2064,350,2735
$GC,13881,-0.83,-116.8,968.3,-5.8,570,13889,0.12,3.62,0.00,0.000,6,0.001,0.000,2094,2150,2729
$STATE,14115,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,14115,begin apogee
$GC,14128,-0.25,0.0,982.8,6.0,576,14246,1.15,0.00,114.12,0.000,6,0.000,0.000,2277,1754,2260
$STATE,14246,end apogee,CONTROL_FINISHED_OK
$STATE,14247,begin climb
$GC,14252,0.83,116.8,990.0,0.0,579,14373,0.95,3.62,111.50,0.000,4,0.000,0.000,2472,3521,1784
$GC,14654,0.83,116.8,982.5,7.1,587,14663,0.38,2.60,0.00,0.000,6,0.000,0.000,2385,1859,1784
$GC,14989,0.83,116.8,955.9,8.1,596,14996,0.40,3.15,0.00,0.000,4,0.000,0.000,2473,3501,1788
$GC,15278,0.83,116.8,931.7,8.2,602,15283,0.00,2.50,0.00,0.000,6,0.000,0.000,2477,1848,1786
$GC,15594,0.83,116.8,905.5,8.3,610,15596,0.32,0.00,0.00,0.000,6,0.000,0.000,2374,1856,1781
$GC,15919,0.83,116.8,878.7,8.2,618,15922,0.45,0.00,0.10,0.001,6,0.000,0.000,2484,1845,1791
$GC,16244,0.83,116.8,852.6,8.0,626,16250,0.32,2.72,0.00,0.000,4,0.000,0.000,2403,3512,1781
$GC,16530,0.83,116.8,831.0,7.3,632,16536,0.38,2.60,0.22,0.000,6,0.000,0.000,2485,1846,1781
$GC,16847,0.83,116.8,807.0,7.5,640,16849,0.40,0.00,0.00,0.000,6,0.000,0.000,2406,1845,1781
$GC,17172,0.83,116.8,783.4,7.1,648,17174,0.45,0.00,0.00,0.000,6,0.000,0.000,2506,1847,1786
$GC,17497,0.83,116.8,760.6,7.2,656,17505,0.38,3.10,0.00,0.000,4,0.000,0.000,2408,3589,1782
$GC,17786,0.83,116.8,740.4,6.5,662,17795,0.38,3.55,0.00,0.000,6,0.000,0.000,2491,1939,1777
$GC,18108,0.83,116.8,717.6,7.2,670,18114,0.30,2.90,0.00,0.000,4,0.000,0.000,2446,3581,1782
$GC,18393,0.83,116.8,697.3,7.1,676,18399,0.00,2.90,0.20,0.000,6,0.000,0.000,2457,1808,1788
$GC,18710,0.83,116.8,675.7,6.7,684,18718,0.03,3.55,0.00,0.000,4,0.000,0.000,2442,3475,1782
$GC,19001,0.83,122.2,656.3,6.0,690,19011,0.00,2.53,5.35,0.000,6,0.000,0.000,2456,1785,1757
$GC,19358,0.84,122.2,633.0,6.4,699,19363,0.00,2.72,0.00,0.000,4,0.000,0.000,2468,3550,1756
$GC,19638,0.84,122.2,614.0,7.3,705,19643,0.00,2.92,0.00,0.000,6,0.000,0.000,2453,1861,1758
$GC,19954,0.84,122.2,592.6,6.7,713,19955,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1884,1757
$GC,20279,0.84,122.2,570.7,6.8,721,20280,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1860,1754
$GC,20604,0.84,127.3,549.5,6.1,729,20614,0.00,2.75,3.78,0.000,4,0.000,0.000,2453,3532,1742
$GC,20753,0.85,147.2,541.2,5.5,732,20782,0.00,2.70,19.02,0.000,6,0.000,0.000,2433,1874,1658
$GC,21108,0.88,148.1,519.7,6.2,741,21116,0.00,3.53,0.98,0.001,4,0.000,0.000,2427,3523,1662
$GC,21398,0.88,148.1,502.1,6.5,747,21406,0.00,3.65,0.12,0.000,6,0.000,0.000,2456,1754,1658
$GC,21724,0.88,167.4,483.0,5.5,762,21749,0.00,2.95,18.48,0.000,4,0.000,0.000,2474,320,1580
$GC,21981,0.91,167.4,465.2,7.7,772,21989,0.00,2.70,0.00,0.000,6,0.000,0.000,2444,2134,1576
$GC,22300,0.91,167.4,437.8,9.0,788,22307,0.00,3.33,0.00,0.000,4,0.000,0.000,2465,363,1577
$GC,22590,0.91,167.4,410.2,9.2,800,22603,0.00,4.03,0.00,0.000,6,0.000,0.000,2456,2183,1580
$GC,22914,0.91,167.4,381.5,8.9,816,22919,0.00,2.12,0.00,0.000,4,0.000,0.000,2456,3570,1581
$GC,23124,0.91,167.4,362.8,8.3,825,23129,0.00,2.70,0.00,0.000,6,0.000,0.000,2459,1777,1578
$GC,23448,0.91,167.4,333.6,9.2,841,23453,0.00,2.40,0.00,0.000,4,0.000,0.000,2460,373,1581
$GC,23505,0.91,167.4,328.2,9.2,843,23513,0.00,2.80,0.00,0.000,6,0.000,0.000,2444,2127,1576
$GC,23824,0.91,167.4,300.4,9.2,859,23830,0.00,2.65,0.22,0.001,4,0.000,0.000,2466,3539,1579
$GC,24111,0.91,167.4,275.4,9.8,871,24117,0.00,3.08,0.08,0.000,6,0.000,0.000,2450,1997,1569
$GC,24430,0.91,167.4,251.5,7.4,886,24437,0.05,3.38,0.00,0.000,4,0.000,0.000,2475,3425,1579
$GC,24720,0.91,167.4,227.9,8.3,898,24726,0.38,2.80,0.00,0.000,6,0.000,0.000,2399,1794,1575
$GC,25039,0.91,167.4,203.5,8.0,913,25047,0.28,3.55,0.00,0.000,4,0.000,0.000,2472,3427,1576
$GC,25263,0.91,167.4,182.7,11.2,922,25275,0.00,3.65,0.00,0.000,6,0.000,0.000,2457,1797,1581
$GC,25587,0.91,167.4,154.7,8.7,938,25589,0.03,0.00,0.00,0.000,6,0.000,0.000,2452,1782,1573
$GC,25896,0.91,167.4,130.1,7.5,953,25900,0.00,2.20,0.00,0.000,4,0.000,0.000,2453,402,1573
$GC,26088,0.91,167.4,115.6,6.4,961,26101,0.00,3.75,0.00,0.000,6,0.000,0.000,2444,2188,1578
$GC,26434,0.91,184.1,92.9,5.6,992,26457,0.00,2.83,12.73,0.000,4,0.000,0.000,2461,3549,1520
$GC,26755,0.94,186.4,71.2,6.2,1043,26764,0.00,2.83,2.50,0.001,6,0.000,0.000,2428,1788,1498
$GC,27133,0.95,186.9,47.4,6.2,1104,27142,0.05,2.80,0.00,0.000,4,0.000,0.000,2440,3574,1497
$GC,27435,0.95,186.9,28.1,6.7,1153,27444,0.05,3.75,0.00,0.000,6,0.002,0.000,2458,1778,1498
$GC,27812,0.95,186.9,2.2,7.6,1214,27821,0.00,3.30,0.00,0.000,4,0.000,0.000,2454,3544,1497
$STATE,27825,end climb,SURFACE_DEPTH_REACHED
$STATE,27826,begin surface coast
$FINISH,0.3,0.999494
$STATE,27835,end surface coast,CONTROL_FINISHED_OK
$STATE,27836,begin surface
$SM_CCo,27868,101.90,0.000,0,0,834,350.04
$SM_GC,0.35,0.00,0.00,101.90,0.000,0.000,0.000,612,1727,834,-7.72,-7.04,350.04
$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,1785
$INTERNAL_PRESSURE,26.0455
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.8,19.6
$ALTIM_BOTTOM_PING,900.2,90.9
$24V_AH,23.7,20.574
$10V_AH,9.6,3.023
$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,28.625,251.075,289.400,101.900,0.000,0.000,0.000,106.512,8.500,32.519,4234.053,19050.570,782.735,2384.444,1856.255,33.366,2652.889,0.000,2329.203,3600.000,47.131
$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,1242.348,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40996,1218
$CFSIZE,255582208,242925568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,53,1685,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.044,277.9,1
$GPS,050707,165824,4702.980,-12554.692,26,1.1,26,18.0