version: 66.01
glider: 1
mission: 1
dive: 11
start: 7 7 107 8 59 31
data:
$ID,1
$MISSION,1
$DIVE,11
$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,-445500.62
$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,6
$R_STBD_OVSHOOT,7
$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
$GPS1,085217,4659.886,-12536.139,23,1.1,23,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-50.0
$GPS2,085827,4659.920,-12536.150,22,1.1,22,18.0
$SPEED_LIMITS,0.103,0.183
$TGT_NAME,default
$TGT_LATLONG,47.600,-122.300
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.169,-0.093
$KALMAN_X,6174.8,501.3,458.7,34385.0,2501.5
$KALMAN_Y,30669.6,-112.5,-61.0,-39649.6,5640.4
$MHEAD_RNG_PITCHd_Wd,100.7,14727176,-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,-116.8,0.0,0.0,0,109,0.00,0.00,-63.17,0.000,6,0.000,0.000,620,2107,2742
$GC,115,-0.83,-116.8,3.2,-4.8,10,126,7.53,0.00,0.00,0.000,6,0.000,0.000,2144,2117,2742
$GC,488,-0.83,-116.8,45.7,-10.8,71,497,0.43,2.70,0.00,0.000,4,0.000,0.000,2045,338,2742
$GC,790,-0.83,-116.8,80.3,-12.7,120,799,0.38,3.62,0.00,0.000,6,0.000,0.000,2132,2146,2742
$GC,1135,-0.83,-116.8,115.7,-9.6,157,1142,0.47,2.90,0.00,0.000,4,0.000,0.000,2030,406,2741
$GC,1425,-0.83,-116.8,141.7,-8.3,169,1438,0.35,3.38,0.00,0.000,6,0.000,0.000,2128,2057,2742
$GC,1748,-0.83,-116.8,166.1,-7.3,185,1756,0.38,3.17,0.00,0.000,4,0.000,0.000,2021,550,2739
$GC,2038,-0.83,-116.8,187.9,-7.5,197,2050,0.40,3.55,0.00,0.000,6,0.000,0.000,2123,2173,2749
$GC,2361,-0.83,-116.8,213.3,-8.0,213,2369,0.43,3.53,0.00,0.000,4,0.000,0.000,2010,425,2741
$GC,2650,-0.83,-116.8,237.5,-7.8,225,2663,0.73,2.75,0.00,0.000,6,0.000,0.000,2108,2078,2735
$GC,2973,-0.83,-116.8,262.2,-7.8,241,2981,0.30,3.60,0.00,0.000,4,0.000,0.000,2074,347,2739
$GC,3263,-0.83,-116.8,283.3,-6.6,253,3269,0.00,2.92,0.00,0.000,6,0.000,0.000,2073,2085,2739
$GC,3582,-0.83,-116.8,305.6,-7.5,268,3589,0.00,3.53,0.00,0.000,4,0.000,0.000,2085,420,2739
$GC,3869,-0.83,-116.8,327.3,-7.4,280,3875,0.00,3.08,0.00,0.000,6,0.000,0.000,2067,2088,2742
$GC,4188,-0.83,-116.8,350.8,-7.3,295,4194,0.05,3.00,0.00,0.000,4,0.000,0.000,2068,437,2738
$GC,4475,-0.83,-116.8,371.2,-7.3,307,4487,0.00,3.47,0.00,0.000,6,0.000,0.000,2097,2068,2739
$GC,4798,-0.83,-116.8,394.5,-7.3,323,4805,0.00,3.42,0.00,0.000,4,0.000,0.000,2082,371,2745
$GC,5089,-0.83,-116.8,415.6,-6.8,335,5093,0.00,2.70,0.00,0.000,6,0.000,0.000,2088,2170,2749
$GC,5407,-0.83,-116.8,437.5,-7.2,350,5415,0.00,3.65,0.00,0.000,4,0.000,0.000,2073,405,2749
$GC,5695,-0.83,-116.8,458.8,-7.8,362,5707,0.00,3.55,0.00,0.000,6,0.000,0.000,2088,2139,2747
$GC,6019,-0.83,-116.8,483.9,-7.5,378,6024,0.05,2.80,0.00,0.000,4,0.000,0.000,2063,376,2745
$GC,6302,-0.83,-116.8,505.2,-7.4,389,6309,0.00,3.55,0.00,0.000,6,0.000,0.000,2066,2146,2738
$GC,6623,-0.83,-116.8,527.1,-6.8,397,6628,0.00,2.70,0.00,0.000,4,0.000,0.000,2075,376,2748
$GC,6904,-0.83,-116.8,546.6,-7.5,403,6909,0.00,2.80,0.00,0.000,6,0.000,0.000,2070,2152,2747
$GC,7220,-0.83,-116.8,568.2,-6.8,411,7225,0.00,2.70,0.00,0.000,4,0.000,0.000,2086,386,2738
$GC,7500,-0.83,-116.8,586.3,-6.4,417,7507,0.00,3.95,0.00,0.000,6,0.000,0.000,2067,2167,2743
$GC,7821,-0.83,-116.8,607.6,-6.8,425,7826,0.00,2.90,0.00,0.000,4,0.000,0.000,2078,346,2743
$GC,8102,-0.83,-116.8,625.6,-6.7,431,8107,0.00,3.12,0.00,0.000,6,0.000,0.000,2068,2163,2746
$GC,8418,-0.83,-116.8,646.8,-6.7,439,8425,0.00,3.42,0.00,0.000,4,0.000,0.000,2073,373,2740
$GC,8700,-0.83,-116.8,666.4,-7.0,445,8708,0.03,3.72,0.00,0.000,6,0.000,0.000,2083,2176,2744
$GC,9021,-0.83,-116.8,687.0,-6.6,453,9026,0.00,2.80,0.00,0.000,4,0.000,0.000,2067,366,2748
$GC,9302,-0.83,-116.8,704.1,-6.1,459,9309,0.00,3.65,0.00,0.000,6,0.000,0.000,2074,2131,2738
$GC,9624,-0.83,-116.8,723.7,-6.0,467,9629,0.00,2.80,0.00,0.000,4,0.000,0.000,2064,440,2740
$GC,9902,-0.83,-116.8,741.8,-6.0,473,9909,0.00,3.65,0.00,0.000,6,0.000,0.000,2092,2111,2745
$GC,10224,-0.83,-116.8,761.5,-6.0,481,10228,0.00,2.50,0.00,0.000,4,0.000,0.000,2066,446,2743
$GC,10509,-0.83,-116.8,777.1,-5.4,487,10516,0.00,3.25,0.00,0.000,6,0.000,0.000,2085,2102,2743
$GC,10830,-0.83,-116.8,794.1,-4.9,495,10837,0.00,3.53,0.00,0.000,4,0.000,0.000,2072,428,2739
$GC,11120,-0.83,-116.8,809.1,-5.6,501,11125,0.00,2.50,0.00,0.000,6,0.000,0.000,2075,2071,2745
$GC,11437,-0.83,-116.8,826.7,-5.8,509,11449,0.00,3.35,0.00,0.000,4,0.000,0.000,2089,443,2737
$GC,11727,-0.83,-116.8,843.6,-6.2,515,11734,0.00,3.55,0.00,0.000,6,0.000,0.000,2081,2118,2745
$GC,12049,-0.83,-116.8,862.9,-6.0,523,12057,0.00,3.28,0.00,0.000,4,0.000,0.000,2070,461,2741
$GC,12333,-0.83,-116.8,880.3,-5.5,529,12339,0.03,2.50,0.00,0.000,6,0.000,0.000,2077,2110,2743
$GC,12666,-0.83,-116.8,899.4,-6.1,537,12672,0.00,3.33,0.00,0.000,4,0.000,0.000,2079,359,2748
$GC,12950,-0.83,-116.8,916.7,-5.5,543,12958,0.00,3.55,0.00,0.000,6,0.000,0.000,2077,2135,2741
$GC,13283,-0.83,-116.8,934.2,-5.4,551,13288,0.00,2.65,0.00,0.000,4,0.000,0.000,2082,345,2747
$GC,13563,-0.83,-116.8,952.5,-6.6,557,13569,0.00,3.10,0.00,0.000,6,0.000,0.000,2080,2128,2748
$GC,13880,-0.83,-116.8,973.6,-6.8,565,13885,0.00,2.80,0.00,0.000,4,0.000,0.000,2072,346,2745
$STATE,13980,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13981,begin apogee
$GC,13996,-0.25,0.0,981.0,6.9,567,14119,0.70,0.00,114.70,0.001,6,0.000,0.000,2236,2114,2260
$STATE,14120,end apogee,CONTROL_FINISHED_OK
$STATE,14120,begin climb
$GC,14126,0.83,116.8,989.2,0.0,570,14247,1.40,2.83,111.80,0.001,4,0.000,0.000,2476,3540,1780
$GC,14529,0.83,116.8,991.4,7.3,578,14539,0.40,3.22,0.00,0.000,6,0.000,0.000,2409,1843,1788
$GC,14864,0.83,116.8,964.6,8.1,587,14872,0.40,3.35,0.00,0.000,4,0.000,0.000,2521,3489,1781
$GC,15154,0.83,116.8,941.2,8.4,593,15160,0.40,2.55,0.00,0.000,6,0.000,0.000,2419,1939,1776
$GC,15471,0.83,116.8,913.7,8.7,601,15472,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1958,1787
$GC,15796,0.83,116.8,884.8,8.9,609,15798,0.08,0.00,0.00,0.000,6,0.000,0.000,2435,1952,1792
$GC,16121,0.83,116.8,856.7,8.5,617,16123,0.05,0.00,0.10,0.000,6,0.000,0.000,2447,1943,1783
$GC,16446,0.83,116.8,829.0,8.5,625,16448,0.03,0.00,0.00,0.000,6,0.000,0.000,2422,1944,1781
$GC,16771,0.83,116.8,802.2,8.3,633,16772,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1935,1780
$GC,17096,0.83,116.8,776.2,8.0,641,17101,0.03,2.42,0.00,0.000,4,0.000,0.000,2448,3646,1784
$GC,17381,0.83,116.8,755.1,7.7,647,17388,0.00,3.58,0.00,0.000,6,0.000,0.000,2463,1999,1794
$GC,17702,0.83,116.8,731.4,7.3,655,17707,0.00,2.92,0.00,0.000,4,0.000,0.000,2454,3508,1779
$GC,17982,0.83,116.8,710.7,6.7,661,17989,0.00,3.30,0.00,0.000,6,0.000,0.000,2445,1826,1789
$GC,18303,0.83,116.8,687.0,7.6,669,18310,0.00,3.45,0.00,0.000,4,0.000,0.000,2459,3476,1784
$GC,18554,0.83,116.8,668.8,8.5,674,18559,0.00,3.05,0.00,0.000,6,0.000,0.000,2462,1827,1779
$GC,18900,0.83,116.8,645.5,6.9,683,18907,0.00,3.72,0.00,0.000,4,0.000,0.000,2465,3604,1789
$GC,19186,0.83,118.0,626.5,6.2,689,19192,0.00,3.45,0.00,0.000,6,0.000,0.000,2457,1839,1783
$GC,19507,0.83,119.4,606.1,6.2,697,19510,0.00,0.00,1.65,0.000,6,0.000,0.000,2447,1845,1781
$GC,19831,0.83,119.4,584.5,6.7,705,19836,0.03,2.72,0.00,0.000,4,0.000,0.000,2449,3595,1778
$GC,20117,0.83,119.4,566.1,6.9,711,20124,0.00,2.70,0.90,0.000,6,0.000,0.000,2448,1825,1774
$GC,20438,0.83,119.4,544.3,6.7,719,20439,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1827,1770
$GC,20763,0.83,119.4,523.8,6.5,727,20764,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,1815,1771
$GC,21088,0.83,119.4,502.2,6.5,735,21093,0.00,2.60,0.05,0.000,4,0.000,0.000,2456,3482,1779
$GC,21374,0.83,123.6,482.9,6.1,746,21387,0.00,3.55,2.90,0.001,6,0.000,0.000,2464,1819,1761
$GC,21698,0.84,123.6,461.2,6.9,762,21700,0.00,0.00,0.22,0.000,6,0.000,0.000,2464,1818,1756
$GC,22007,0.84,123.6,439.4,7.1,777,22012,0.08,2.62,0.00,0.000,4,0.000,0.000,2469,3499,1762
$GC,22294,0.84,141.9,420.4,5.6,789,22318,0.00,2.60,17.70,0.001,6,0.000,0.000,2465,1858,1679
$GC,22640,0.87,153.5,400.9,5.8,806,22658,0.00,0.00,11.50,0.000,6,0.000,0.000,2475,1854,1636
$GC,22969,0.89,153.5,380.4,6.6,822,22976,0.00,3.35,0.00,0.000,4,0.000,0.000,2461,3516,1633
$GC,23259,0.89,153.5,361.1,7.2,834,23271,0.00,3.35,0.00,0.000,6,0.000,0.000,2452,1891,1636
$GC,23583,0.89,153.5,338.6,7.3,850,23584,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1879,1641
$GC,23892,0.89,153.5,316.5,7.1,865,23897,0.00,2.90,0.00,0.000,4,0.000,0.000,2441,3531,1634
$GC,24177,0.89,153.5,295.8,7.3,877,24183,0.00,3.17,0.00,0.000,6,0.000,0.000,2440,1894,1634
$GC,24497,0.89,153.5,273.2,7.2,892,24501,0.00,2.50,0.00,0.000,4,0.000,0.000,2434,3538,1634
$GC,24602,0.89,153.5,265.4,6.9,896,24611,0.00,2.90,0.03,0.000,6,0.000,0.000,2447,1755,1633
$GC,24921,0.89,153.5,244.2,7.0,912,24926,0.00,2.80,0.00,0.000,4,0.000,0.000,2458,3516,1643
$GC,24979,0.89,153.5,240.2,6.5,914,24987,0.00,2.60,0.00,0.000,6,0.000,0.000,2446,1857,1637
$GC,25298,0.89,162.3,221.6,5.9,930,25311,0.00,3.33,7.10,0.001,4,0.000,0.000,2456,3518,1602
$GC,25599,0.91,179.2,204.4,5.6,942,25630,0.00,2.90,16.88,0.001,6,0.000,0.000,2463,1892,1531
$GC,25946,0.93,179.2,179.7,7.1,959,25951,0.00,2.70,0.00,0.000,4,0.000,0.000,2473,3523,1533
$GC,26233,0.93,179.2,160.0,7.5,971,26239,0.05,2.83,0.00,0.000,6,0.000,0.000,2503,1875,1538
$GC,26553,0.93,181.3,138.6,6.2,986,26561,0.20,2.47,2.25,0.001,4,0.000,0.000,2444,3535,1522
$GC,26845,0.94,191.7,120.3,5.9,998,26860,0.00,3.08,8.35,0.001,6,0.000,0.000,2446,1755,1477
$GC,27176,0.96,191.7,97.1,6.9,1017,27185,0.05,2.22,0.00,0.000,4,0.000,0.000,2455,577,1475
$GC,27266,0.96,214.5,91.6,5.4,1030,27294,0.03,2.40,18.42,0.001,6,0.000,0.000,2460,2121,1384
$GC,27667,0.99,214.5,68.2,6.5,1093,27675,0.00,2.30,0.00,0.000,4,0.000,0.000,2468,3529,1379
$GC,27968,0.99,214.5,48.6,6.4,1142,27976,0.00,2.53,0.00,0.000,6,0.000,0.000,2449,1855,1386
$GC,28339,0.99,216.6,27.1,6.2,1203,28347,0.00,0.00,1.25,0.001,6,0.000,0.000,2461,1847,1381
$GC,28715,1.00,226.2,2.9,5.9,1264,28726,0.05,0.98,6.40,0.001,3,0.000,0.000,2506,2508,1334
$STATE,28727,end climb,SURFACE_DEPTH_REACHED
$STATE,28727,begin surface coast
$FINISH,0.3,0.999492
$STATE,28761,end surface coast,CONTROL_FINISHED_OK
$STATE,28761,begin surface
$SM_CCo,28791,76.72,0.001,0,0,840,350.04
$SM_GC,0.35,0.00,0.00,76.72,0.000,0.000,0.001,657,1849,840,-7.27,-3.48,350.04
$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,0.024544
$HUMID,1744
$INTERNAL_PRESSURE,26.0553
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.9,19.0
$ALTIM_BOTTOM_PING,925.4,65.4
$24V_AH,23.7,25.788
$10V_AH,9.6,3.833
$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,25.175,252.650,322.200,76.725,0.000,0.000,0.000,106.590,8.750,23.260,4353.545,19670.955,802.929,2466.962,1903.594,33.366,2747.019,0.000,2393.625,3600.000,53.116
$DEVICE_MAMPS,119.000,60.000,0.767,0.767,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1256.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44019,1271
$CFSIZE,255582208,241725440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,50,1675,2,0
$SOUNDSPEED,1465.0
$CURRENT,0.030,180.7,1
$GPS,070707,170217,4659.188,-12531.579,31,1.1,31,18.0