version: 66.01
glider: 1
mission: 1
dive: 13
start: 7 8 107 1 8 26
data:
$ID,1
$MISSION,1
$DIVE,13
$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,-445545.75
$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,5
$R_STBD_OVSHOOT,17
$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
$GPS1,010117,4659.042,-12527.339,32,1.1,32,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-50.0
$GPS2,010722,4659.067,-12527.345,20,1.1,20,18.0
$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,9436.5,-860.7,-613.8,44729.6,5235.5
$KALMAN_Y,35158.4,-511.8,-330.4,-45031.0,5348.8
$MHEAD_RNG_PITCHd_Wd,100.7,14711344,-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,-62.80,0.000,6,0.000,0.000,625,2095,2740
$GC,116,-0.83,-116.8,3.1,-4.8,10,134,7.07,2.12,0.00,0.000,4,0.000,0.000,2099,3519,2744
$GC,150,-0.83,-116.8,7.0,-7.4,14,159,0.00,3.33,0.00,0.000,6,0.000,0.000,2100,1817,2741
$GC,522,-0.83,-116.8,49.9,-12.0,75,530,0.05,2.72,0.00,0.000,4,0.000,0.000,2118,433,2741
$GC,824,-0.83,-116.8,84.5,-10.4,124,833,0.00,3.28,0.00,0.000,6,0.000,0.000,2113,2075,2741
$GC,1166,-0.83,-116.8,117.1,-8.7,158,1170,0.00,2.50,0.00,0.000,4,0.000,0.000,2120,428,2739
$GC,1451,-0.83,-116.8,142.7,-9.0,170,1456,0.10,2.62,0.00,0.000,6,0.000,0.000,2062,2085,2748
$GC,1770,-0.83,-116.8,170.2,-8.4,185,1777,0.17,3.25,0.00,0.000,4,0.000,0.000,2089,442,2740
$GC,2057,-0.83,-116.8,194.4,-8.8,197,2063,0.00,2.80,0.00,0.000,6,0.000,0.000,2099,2077,2748
$GC,2376,-0.83,-116.8,220.7,-7.7,212,2381,0.00,2.80,0.00,0.000,4,0.000,0.000,2100,402,2737
$GC,2661,-0.83,-116.8,240.7,-6.9,224,2667,0.05,2.90,0.00,0.000,6,0.000,0.000,2103,2183,2744
$GC,2980,-0.83,-116.8,263.8,-7.0,239,2985,0.00,3.12,0.00,0.000,4,0.000,0.000,2089,373,2746
$GC,3266,-0.83,-116.8,285.3,-7.9,251,3278,0.00,3.85,0.00,0.000,6,0.000,0.000,2094,2136,2742
$GC,3590,-0.83,-116.8,311.4,-8.7,267,3595,0.00,2.80,0.00,0.000,4,0.000,0.000,2091,399,2742
$GC,3876,-0.83,-116.8,337.0,-8.7,279,3888,0.00,4.05,0.00,0.000,6,0.000,0.000,2106,2196,2742
$GC,4200,-0.83,-116.8,363.8,-8.1,295,4207,0.00,3.45,0.00,0.000,4,0.000,0.000,2094,427,2740
$GC,4490,-0.83,-116.8,386.7,-8.1,307,4501,0.00,3.42,0.00,0.000,6,0.000,0.000,2096,2190,2736
$GC,4813,-0.83,-116.8,409.2,-7.2,323,4820,0.00,3.62,0.00,0.000,4,0.000,0.000,2091,367,2742
$GC,5099,-0.83,-116.8,429.3,-6.8,335,5104,0.00,3.25,0.00,0.000,6,0.000,0.000,2102,2049,2743
$GC,5418,-0.83,-116.8,449.9,-6.2,350,5425,0.20,2.55,0.00,0.000,4,0.000,0.000,2068,427,2741
$GC,5701,-0.83,-116.8,467.9,-10.4,362,5706,0.20,2.53,0.00,0.000,6,0.000,0.000,2105,2091,2746
$GC,6026,-0.83,-116.8,488.3,-6.1,378,6030,0.00,2.50,0.00,0.000,4,0.000,0.000,2117,420,2743
$GC,6307,-0.83,-116.8,505.3,-5.9,389,6313,0.00,3.35,0.00,0.000,6,0.000,0.000,2118,2085,2745
$GC,6629,-0.83,-116.8,526.1,-6.8,397,6634,0.00,3.25,0.00,0.000,4,0.000,0.000,2106,426,2746
$GC,6909,-0.83,-116.8,545.0,-6.4,403,6917,0.10,3.75,0.00,0.000,6,0.000,0.000,2045,2186,2746
$GC,7231,-0.83,-116.8,565.5,-6.3,411,7238,0.25,3.10,0.00,0.000,4,0.000,0.000,2107,402,2743
$GC,7520,-0.83,-116.8,583.4,-5.9,417,7528,0.12,3.55,0.00,0.000,6,0.000,0.000,2058,2037,2735
$GC,7841,-0.83,-116.8,604.1,-6.6,425,7846,0.08,2.50,0.00,0.000,4,0.000,0.000,2050,441,2737
$GC,8120,-0.83,-116.8,621.5,-5.8,431,8125,0.12,2.50,0.00,0.000,6,0.000,0.000,2105,2087,2747
$GC,8437,-0.83,-116.8,641.1,-6.2,439,8444,0.12,2.90,0.00,0.000,4,0.000,0.000,2056,398,2742
$GC,8724,-0.83,-116.8,659.5,-6.3,445,8730,0.03,3.10,0.00,0.000,6,0.000,0.000,2058,2172,2742
$GC,9047,-0.83,-116.8,680.0,-6.5,453,9053,0.28,2.90,0.00,0.000,4,0.000,0.000,2114,346,2746
$GC,9326,-0.83,-116.8,698.6,-6.9,459,9333,0.12,3.10,0.00,0.000,6,0.000,0.000,2055,2137,2740
$GC,9646,-0.83,-116.8,719.3,-6.5,467,9651,0.00,2.70,0.00,0.000,4,0.000,0.000,2075,327,2740
$GC,9927,-0.83,-116.8,736.7,-6.1,473,9935,0.05,3.45,0.00,0.000,6,0.000,0.000,2051,1984,2740
$GC,10248,-0.83,-116.8,755.6,-6.1,481,10253,0.10,2.35,0.00,0.000,4,0.000,0.000,2121,463,2739
$GC,10534,-0.83,-116.8,773.9,-6.2,487,10541,0.22,2.85,0.00,0.000,6,0.000,0.000,2061,1989,2740
$GC,10863,-0.83,-116.8,794.1,-6.1,495,10870,0.00,3.55,0.00,0.000,4,0.000,0.000,2067,346,2741
$GC,11153,-0.83,-116.8,811.8,-6.1,501,11159,0.08,3.12,0.00,0.000,6,0.000,0.000,2114,2143,2739
$GC,11470,-0.83,-116.8,829.4,-5.3,509,11477,0.00,3.38,0.00,0.000,4,0.000,0.000,2118,322,2736
$GC,11760,-0.83,-116.8,845.0,-5.2,515,11766,0.10,2.90,0.00,0.000,6,0.000,0.000,2107,2159,2744
$GC,12078,-0.83,-116.8,860.4,-4.9,523,12083,0.10,2.70,0.00,0.000,4,0.000,0.000,2067,348,2738
$GC,12368,-0.83,-116.8,873.5,-4.4,529,12375,0.00,3.28,0.00,0.000,6,0.000,0.000,2075,2010,2744
$GC,12689,-0.83,-116.8,889.6,-5.1,537,12694,0.00,3.10,0.00,0.000,4,0.000,0.000,2067,344,2744
$GC,12972,-0.83,-116.8,904.8,-5.4,543,12977,0.00,3.10,0.00,0.000,6,0.000,0.000,2084,2109,2745
$GC,13288,-0.83,-116.8,922.9,-6.0,551,13293,0.00,2.70,0.00,0.000,4,0.000,0.000,2052,471,2740
$GC,13569,-0.83,-116.8,939.5,-5.7,557,13574,0.00,2.72,0.00,0.000,6,0.000,0.000,2067,2110,2741
$GC,13885,-0.83,-116.8,958.8,-6.4,565,13892,0.00,3.55,0.00,0.000,4,0.000,0.000,2067,343,2744
$GC,14170,-0.83,-116.8,978.1,-6.7,571,14177,0.00,3.55,0.00,0.000,6,0.000,0.000,2053,1988,2737
$STATE,14242,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,14242,begin apogee
$GC,14254,-0.25,0.0,983.0,6.5,573,14376,1.02,0.00,113.78,0.001,6,0.000,0.000,2258,1993,2269
$STATE,14377,end apogee,CONTROL_FINISHED_OK
$STATE,14377,begin climb
$GC,14383,0.83,116.8,990.4,0.0,576,14514,0.98,2.72,112.88,0.001,4,0.000,0.000,2477,3506,1781
$GC,14792,0.83,116.8,980.5,8.4,585,14800,0.38,3.65,0.00,0.000,6,0.000,0.000,2365,1806,1785
$GC,15125,0.83,116.8,952.1,8.8,593,15132,0.32,3.10,0.00,0.000,4,0.000,0.000,2474,3578,1781
$GC,15414,0.83,116.8,926.9,8.6,599,15422,0.03,3.62,0.00,0.000,6,0.000,0.000,2480,1796,1783
$GC,15735,0.83,116.8,898.7,8.6,607,15743,0.03,3.55,0.00,0.000,4,0.000,0.000,2494,3474,1780
$GC,15975,0.83,116.8,877.3,8.9,612,15982,0.00,3.35,0.00,0.000,6,0.000,0.000,2480,1927,1782
$GC,16296,0.83,116.8,849.9,8.6,620,16304,0.22,3.85,0.00,0.000,4,0.000,0.000,2422,3610,1786
$GC,16586,0.83,116.8,826.7,8.5,626,16593,0.00,3.45,0.00,0.000,6,0.000,0.000,2429,1819,1786
$GC,16908,0.83,116.8,801.7,7.6,634,16910,0.05,0.00,0.00,0.000,6,0.000,0.000,2441,1813,1783
$GC,17232,0.83,116.8,777.8,7.1,642,17239,0.03,3.45,0.00,0.000,4,0.000,0.000,2439,3611,1783
$GC,17522,0.83,141.6,759.6,5.3,648,17556,0.00,3.10,23.50,0.000,6,0.000,0.000,2400,1809,1684
$GC,17882,0.87,141.6,737.3,6.4,657,17889,0.20,2.70,0.38,0.001,4,0.000,0.000,2474,3561,1686
$GC,18162,0.87,141.6,718.0,6.7,663,18169,0.00,3.75,0.00,0.000,6,0.000,0.000,2477,1767,1683
$GC,18483,0.87,141.6,696.5,6.8,671,18489,0.08,3.10,0.00,0.000,4,0.000,0.000,2478,3544,1689
$GC,18768,0.87,141.6,677.1,6.3,677,18774,0.00,2.80,0.00,0.000,6,0.000,0.000,2479,1780,1683
$GC,19084,0.87,141.6,654.8,7.1,685,19086,0.15,0.00,0.00,0.000,6,0.000,0.000,2492,1784,1682
$GC,19409,0.87,141.6,630.3,7.7,693,19415,0.15,2.70,0.00,0.000,4,0.000,0.000,2488,3597,1685
$GC,19695,0.87,141.6,609.1,8.7,699,19701,0.32,2.72,0.00,0.000,6,0.000,0.000,2380,1822,1681
$GC,20012,0.87,141.6,583.9,8.1,707,20020,0.32,4.03,0.00,0.000,4,0.000,0.000,2467,3588,1682
$GC,20302,0.87,141.6,562.2,7.5,713,20310,0.03,3.25,0.00,0.000,6,0.000,0.000,2502,1785,1684
$GC,20623,0.87,141.6,538.9,7.3,721,20631,0.43,3.53,0.00,0.000,4,0.000,0.000,2390,3529,1679
$GC,20913,0.87,143.6,519.1,6.2,727,20919,0.35,2.62,0.00,0.000,6,0.000,0.000,2462,1863,1679
$GC,21230,0.88,143.6,498.7,6.5,735,21235,0.00,2.60,0.00,0.000,4,0.000,0.000,2485,3524,1681
$GC,21516,0.88,143.6,479.8,6.5,747,21530,0.10,3.58,1.70,0.001,6,0.000,0.000,2432,1894,1679
$GC,21840,0.88,143.6,457.8,7.0,763,21847,0.00,3.83,0.00,0.000,4,0.000,0.000,2429,3583,1674
$GC,22131,0.88,143.6,436.9,7.2,775,22137,0.00,3.25,0.00,0.000,6,0.000,0.000,2422,1936,1672
$GC,22450,0.88,143.6,414.0,7.2,790,22455,0.00,3.15,0.00,0.000,4,0.000,0.000,2428,3572,1674
$GC,22736,0.88,143.6,391.4,8.6,802,22741,0.00,2.90,0.00,0.000,6,0.000,0.000,2431,1824,1673
$GC,23055,0.88,143.6,365.4,8.6,817,23061,0.12,2.80,0.05,0.002,4,0.000,0.000,2431,3595,1679
$GC,23335,0.88,146.3,344.2,6.1,829,23349,0.00,3.62,1.73,0.001,6,0.000,0.000,2428,1832,1663
$GC,23659,0.88,146.3,321.1,7.2,845,23665,0.17,3.00,0.00,0.000,4,0.000,0.000,2432,3616,1667
$GC,23946,0.88,146.3,300.8,6.7,857,23960,0.12,3.75,0.20,0.000,6,0.000,0.000,2474,1817,1663
$GC,24271,0.88,154.0,280.5,6.0,873,24285,0.03,3.20,7.62,0.001,4,0.002,0.000,2475,3487,1635
$GC,24463,0.89,154.0,269.6,6.4,881,24469,0.03,3.00,0.00,0.000,6,0.000,0.000,2448,1806,1638
$GC,24782,0.89,154.8,250.7,6.2,896,24790,0.00,2.83,1.27,0.001,4,0.000,0.000,2460,3574,1628
$GC,25079,0.89,154.8,229.6,6.9,908,25085,0.00,3.25,0.03,0.001,6,0.000,0.000,2483,1790,1636
$GC,25398,0.89,154.8,207.0,6.9,923,25399,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1800,1628
$GC,25707,0.89,154.8,185.0,6.8,938,25712,0.00,2.80,0.00,0.000,4,0.000,0.000,2464,3601,1633
$GC,25988,0.89,188.1,168.9,5.0,950,26025,0.03,3.65,26.55,0.001,6,0.000,0.000,2476,1823,1498
$GC,26340,0.95,194.8,148.1,6.0,967,26351,0.00,2.72,5.38,0.001,4,0.000,0.000,2478,3609,1470
$GC,26635,0.96,194.8,128.5,6.6,979,26644,0.00,3.75,0.00,0.000,6,0.000,0.000,2483,1770,1465
$GC,26954,0.96,194.8,106.8,7.3,995,26955,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1760,1470
$GC,27305,0.96,225.3,85.2,5.1,1040,27336,0.00,2.80,25.20,0.001,4,0.000,0.000,2486,3589,1342
$GC,27630,1.01,225.3,65.3,6.5,1092,27638,0.03,3.00,0.00,0.000,6,0.000,0.000,2463,1803,1342
$GC,28001,1.01,225.3,37.7,7.6,1153,28010,0.00,3.45,0.00,0.000,4,0.000,0.000,2456,3597,1340
$GC,28301,1.01,225.3,16.2,7.2,1202,28310,0.00,3.75,0.00,0.000,6,0.000,0.000,2471,1810,1342
$STATE,28512,end climb,SURFACE_DEPTH_REACHED
$STATE,28512,begin surface coast
$FINISH,0.3,0.999512
$STATE,28549,end surface coast,CONTROL_FINISHED_OK
$STATE,28549,begin surface
$SM_CCo,28578,78.18,0.001,2,0,831,350.29
$SM_GC,0.34,0.00,0.00,78.18,0.000,0.000,0.001,611,2188,831,-7.55,6.28,350.29
$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,2145
$INTERNAL_PRESSURE,26.0944
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.9,18.9
$ALTIM_BOTTOM_PING,900.1,90.7
$24V_AH,23.7,27.477
$10V_AH,9.6,4.103
$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,24.675,282.800,320.250,78.175,0.000,0.000,0.000,106.630,8.500,20.778,4396.611,19229.764,829.651,2605.538,1930.975,33.364,2883.349,0.000,2566.514,3240.000,47.134
$DEVICE_MAMPS,119.000,60.000,1.534,0.767,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1230.639,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40992,1243
$CFSIZE,255582208,241319936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,41,1877,4,0
$SOUNDSPEED,1465.0
$CURRENT,0.020,175.2,1
$GPS,080707,090740,4658.936,-12522.715,23,1.1,23,18.0