version: 66.01
glider: 1
mission: 1
dive: 14
start: 7 8 107 9 14 54
data:
$ID,1
$MISSION,1
$DIVE,14
$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,-445568.47
$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,11
$R_STBD_OVSHOOT,1
$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
$GPS1,090740,4658.936,-12522.715,23,1.1,23,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-50.0
$GPS2,091350,4658.927,-12522.729,21,1.1,21,18.0
$SPEED_LIMITS,0.103,0.183
$TGT_NAME,default
$TGT_LATLONG,47.600,-122.300
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.106,-0.161
$KALMAN_X,8616.0,13.6,-59.4,49946.4,983.9
$KALMAN_Y,36727.6,69.6,-27.7,-47739.9,2549.1
$MHEAD_RNG_PITCHd_Wd,128.5,14703240,-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,-63.17,0.000,6,0.000,0.000,605,2194,2749
$GC,116,-0.83,-116.8,3.2,-5.2,10,126,7.40,0.00,0.00,0.000,6,0.000,0.000,2152,2206,2740
$GC,490,-0.83,-116.8,49.3,-11.9,71,499,0.45,3.88,0.00,0.000,4,0.000,0.000,2049,526,2743
$GC,794,-0.83,-116.8,82.4,-10.3,120,803,0.38,2.90,0.00,0.000,6,0.000,0.000,2156,2228,2747
$GC,1150,-0.83,-116.8,117.2,-8.5,156,1158,0.47,3.12,0.00,0.000,4,0.000,0.000,2040,372,2743
$GC,1439,-0.83,-116.8,142.0,-8.6,168,1451,0.20,3.15,0.00,0.000,6,0.000,0.000,2098,2146,2747
$GC,1762,-0.83,-116.8,168.4,-9.0,184,1769,0.03,3.45,0.00,0.000,4,0.000,0.000,2097,381,2744
$GC,2053,-0.83,-116.8,192.9,-9.2,196,2065,0.00,3.75,0.00,0.000,6,0.000,0.000,2103,2169,2745
$GC,2377,-0.83,-116.8,220.8,-8.4,212,2382,0.00,3.10,0.00,0.000,4,0.000,0.000,2109,369,2740
$GC,2661,-0.83,-116.8,242.9,-7.4,224,2667,0.05,3.00,0.00,0.000,6,0.002,0.000,2096,2191,2745
$GC,2980,-0.83,-116.8,267.0,-7.7,239,2986,0.03,3.15,0.00,0.000,4,0.000,0.000,2105,379,2747
$GC,3267,-0.83,-116.8,291.6,-8.8,251,3272,0.00,2.80,0.00,0.000,6,0.000,0.000,2090,2137,2747
$GC,3586,-0.83,-116.8,315.6,-7.4,266,3593,0.00,3.75,0.00,0.000,4,0.000,0.000,2099,367,2751
$GC,3878,-0.83,-116.8,338.1,-7.8,278,3884,0.12,3.00,0.00,0.000,6,0.000,0.000,2062,2163,2747
$GC,4196,-0.83,-116.8,362.6,-7.8,293,4202,0.05,2.72,0.00,0.000,4,0.000,0.000,2113,368,2742
$GC,4483,-0.83,-116.8,384.6,-7.0,305,4495,0.00,3.75,0.00,0.000,6,0.000,0.000,2093,1990,2750
$GC,4806,-0.83,-116.8,408.3,-7.3,321,4812,0.05,3.15,0.00,0.000,4,0.000,0.000,2098,472,2746
$GC,5093,-0.83,-116.8,429.3,-7.4,333,5098,0.00,2.90,0.00,0.000,6,0.000,0.000,2092,2131,2749
$GC,5412,-0.83,-116.8,453.6,-7.8,348,5417,0.00,2.70,0.00,0.000,4,0.000,0.000,2114,348,2745
$GC,5693,-0.83,-116.8,474.9,-8.3,360,5700,0.17,2.90,0.00,0.000,6,0.000,0.000,2061,2134,2744
$GC,6020,-0.83,-116.8,501.7,-8.6,376,6025,0.00,2.72,0.00,0.000,4,0.000,0.000,2052,383,2751
$GC,6301,-0.83,-116.8,522.5,-6.8,382,6306,0.03,2.62,0.00,0.000,6,0.000,0.000,2061,2141,2740
$GC,6617,-0.83,-116.8,542.3,-6.3,390,6623,0.12,2.92,0.00,0.000,4,0.000,0.000,2118,462,2739
$GC,6899,-0.83,-116.8,561.1,-6.7,396,6907,0.03,3.53,0.00,0.000,6,0.000,0.000,2119,2133,2741
$GC,7220,-0.83,-116.8,581.6,-6.5,404,7227,0.00,3.30,0.00,0.000,4,0.000,0.000,2091,340,2736
$GC,7506,-0.83,-116.8,599.6,-6.0,410,7513,0.08,3.10,0.00,0.000,6,0.000,0.000,2118,2150,2746
$GC,7827,-0.83,-116.8,618.3,-5.8,418,7834,0.00,3.50,0.00,0.000,4,0.000,0.000,2121,425,2747
$GC,8112,-0.83,-116.8,635.9,-6.4,424,8117,0.08,2.60,0.00,0.000,6,0.000,0.000,2096,2167,2742
$GC,8428,-0.83,-116.8,654.6,-6.0,432,8434,0.22,3.00,0.00,0.000,4,0.000,0.000,2061,380,2744
$GC,8707,-0.83,-116.8,671.8,-6.5,438,8712,0.00,2.72,0.00,0.000,6,0.000,0.000,2047,2186,2738
$GC,9024,-0.83,-116.8,690.4,-6.0,446,9029,0.30,2.70,0.00,0.000,4,0.000,0.000,2085,409,2751
$GC,9305,-0.83,-116.8,708.6,-6.4,452,9312,0.00,3.45,0.00,0.000,6,0.000,0.000,2101,2172,2746
$GC,9627,-0.83,-116.8,728.0,-6.0,460,9632,0.00,2.80,0.00,0.000,4,0.000,0.000,2121,358,2745
$GC,9908,-0.83,-116.8,745.3,-5.6,466,9915,0.08,3.35,0.00,0.000,6,0.000,0.000,2094,2121,2752
$GC,10229,-0.83,-116.8,765.5,-6.6,474,10235,0.15,3.05,0.00,0.000,4,0.000,0.000,2094,469,2746
$GC,10513,-0.83,-116.8,783.1,-6.2,480,10520,0.00,3.75,0.00,0.000,6,0.000,0.000,2093,2111,2744
$GC,10834,-0.83,-116.8,803.8,-6.3,488,10841,0.00,3.45,0.00,0.000,4,0.000,0.000,2103,446,2747
$GC,11125,-0.83,-116.8,820.8,-5.0,494,11133,0.08,3.42,0.00,0.000,6,0.000,0.000,2101,2103,2746
$GC,11451,-0.83,-116.8,838.4,-5.4,502,11457,0.00,2.83,0.00,0.000,4,0.000,0.000,2100,378,2746
$GC,11745,-0.83,-116.8,853.4,-5.4,508,11751,0.00,3.25,0.00,0.000,6,0.000,0.000,2085,2184,2747
$GC,12063,-0.83,-116.8,870.4,-5.2,516,12069,0.12,3.10,0.00,0.000,4,0.000,0.000,2068,421,2747
$GC,12344,-0.83,-116.8,886.0,-6.3,522,12352,0.03,3.30,0.00,0.000,6,0.000,0.000,2107,2080,2743
$GC,12670,-0.83,-116.8,904.9,-6.0,530,12675,0.00,3.03,0.00,0.000,4,0.000,0.000,2094,440,2744
$GC,12949,-0.83,-116.8,923.1,-6.1,536,12956,0.00,3.45,0.00,0.000,6,0.000,0.000,2093,2087,2747
$GC,13271,-0.83,-116.8,942.9,-6.3,544,13278,0.00,3.35,0.00,0.000,4,0.000,0.000,2108,450,2743
$GC,13556,-0.83,-116.8,960.2,-6.0,550,13563,0.00,3.45,0.00,0.000,6,0.000,0.000,2097,2122,2742
$GC,13877,-0.83,-116.8,978.7,-5.7,558,13884,0.00,3.35,0.00,0.000,4,0.000,0.000,2107,467,2744
$STATE,13920,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13920,begin apogee
$GC,13936,-0.25,0.0,981.4,5.6,559,14065,0.98,0.00,115.03,0.000,6,0.000,0.000,2238,2119,2257
$STATE,14065,end apogee,CONTROL_FINISHED_OK
$STATE,14065,begin climb
$GC,14071,0.83,116.8,988.3,0.0,562,14201,1.15,2.62,112.25,0.001,4,0.000,0.000,2476,3528,1791
$GC,14484,0.83,116.8,977.3,8.7,571,14492,0.40,3.45,0.00,0.000,6,0.000,0.000,2380,1868,1786
$GC,14816,0.83,116.8,948.1,8.9,579,14824,0.43,3.15,0.00,0.000,4,0.000,0.000,2497,3537,1781
$GC,15106,0.83,116.8,922.7,9.1,585,15112,0.15,2.80,0.00,0.000,6,0.000,0.000,2428,1793,1785
$GC,15423,0.83,116.8,895.5,8.3,593,15428,0.00,3.12,0.00,0.000,4,0.000,0.000,2450,3575,1786
$GC,15703,0.83,116.8,873.0,7.6,599,15711,0.00,3.72,0.00,0.000,6,0.000,0.000,2426,1762,1782
$GC,16025,0.83,116.8,848.5,7.3,607,16032,0.03,3.45,0.00,0.000,4,0.000,0.000,2439,3569,1788
$GC,16314,0.83,116.8,827.1,7.3,613,16319,0.00,2.80,0.00,0.000,6,0.000,0.000,2432,1793,1791
$GC,16630,0.83,116.8,802.6,7.7,621,16635,0.00,2.80,0.00,0.000,4,0.000,0.000,2432,3594,1792
$GC,16910,0.83,116.8,780.2,7.8,627,16915,0.00,3.10,0.00,0.000,6,0.000,0.000,2446,1810,1788
$GC,17226,0.83,116.8,753.4,8.3,635,17231,0.00,2.90,0.00,0.000,4,0.000,0.000,2433,3609,1787
$GC,17507,0.83,116.8,731.0,7.8,641,17514,0.00,2.90,0.43,0.001,6,0.000,0.000,2451,1830,1786
$GC,17827,0.83,116.8,706.7,7.6,649,17832,0.00,2.80,0.00,0.000,4,0.000,0.000,2422,3609,1787
$GC,18107,0.83,116.8,684.2,8.3,655,18115,0.00,3.65,0.00,0.000,6,0.000,0.000,2433,1795,1779
$GC,18429,0.83,116.8,658.6,7.9,663,18434,0.08,2.90,0.00,0.000,4,0.000,0.000,2492,3610,1782
$GC,18714,0.83,116.8,637.6,6.8,669,18720,0.10,3.00,0.00,0.000,6,0.000,0.000,2428,1784,1783
$GC,19031,0.83,116.8,615.5,7.0,677,19038,0.17,3.35,0.00,0.000,4,0.000,0.000,2486,3576,1783
$GC,19321,0.83,116.8,596.2,7.2,683,19329,0.40,3.30,0.03,0.000,6,0.000,0.000,2373,1821,1783
$GC,19642,0.83,116.8,574.4,6.7,691,19650,0.45,3.65,0.00,0.000,4,0.000,0.000,2469,3472,1787
$GC,19932,0.83,116.8,554.0,6.5,697,19939,0.38,3.35,0.00,0.000,6,0.000,0.000,2375,1843,1783
$GC,20252,0.83,116.8,530.9,7.0,705,20261,0.55,4.12,0.00,0.000,4,0.000,0.000,2479,3595,1788
$GC,20543,0.83,116.8,511.5,7.3,711,20551,0.38,3.55,0.00,0.000,6,0.000,0.000,2378,1785,1780
$GC,20866,0.83,116.8,490.2,6.7,722,20873,0.57,2.83,0.00,0.000,4,0.000,0.000,2473,3602,1787
$GC,21148,0.83,123.2,472.9,6.0,734,21163,0.17,3.75,6.72,0.001,6,0.000,0.000,2434,1815,1750
$GC,21472,0.84,123.2,451.7,7.0,750,21479,0.00,3.35,0.00,0.000,4,0.000,0.000,2427,3490,1754
$GC,21762,0.84,123.7,431.6,6.2,762,21774,0.05,3.35,0.00,0.000,6,0.000,0.000,2427,1817,1750
$GC,22086,0.84,134.0,412.0,5.9,778,22101,0.00,2.80,9.70,0.001,4,0.000,0.000,2428,3591,1712
$GC,22384,0.86,144.4,395.7,5.9,790,22399,0.00,2.70,9.12,0.001,6,0.000,0.000,2444,1790,1676
$GC,22714,0.88,144.4,375.5,6.3,805,22719,0.15,2.80,0.00,0.000,4,0.000,0.000,2433,3606,1675
$GC,23005,0.88,148.4,357.1,6.1,817,23019,0.03,2.70,4.75,0.000,6,0.000,0.000,2425,1809,1655
$GC,23329,0.88,148.4,335.9,6.5,833,23337,0.20,3.75,0.00,0.000,4,0.000,0.000,2433,3602,1648
$GC,23621,0.88,162.4,316.5,5.7,845,23641,0.00,3.45,13.95,0.001,6,0.000,0.000,2427,1810,1594
$GC,23968,0.91,162.4,291.3,7.8,862,23976,0.20,3.65,0.00,0.000,4,0.000,0.000,2455,3597,1598
$GC,24259,0.91,162.4,268.7,7.0,874,24264,0.00,2.92,0.00,0.000,6,0.000,0.000,2468,1818,1594
$GC,24578,0.91,162.4,246.4,6.8,889,24585,0.00,3.55,0.00,0.000,4,0.000,0.000,2461,3493,1603
$GC,24867,0.91,162.4,225.5,6.3,901,24872,0.00,2.92,0.00,0.000,6,0.000,0.000,2488,1851,1603
$GC,25186,0.91,162.4,203.3,6.8,916,25194,0.10,3.55,0.05,0.001,4,0.000,0.000,2454,3543,1594
$GC,25473,0.91,177.2,184.5,5.7,928,25492,0.03,3.45,11.75,0.001,6,0.000,0.000,2497,1760,1530
$GC,25822,0.93,177.2,162.2,6.7,945,25830,0.05,3.55,0.10,0.001,4,0.000,0.000,2460,3589,1537
$GC,26109,0.93,186.4,142.4,5.9,957,26128,0.00,3.75,6.00,0.001,6,0.000,0.000,2474,1792,1501
$GC,26434,0.95,193.3,122.9,6.0,973,26447,0.00,3.53,6.32,0.001,4,0.000,0.000,2468,3578,1470
$GC,26734,0.96,215.7,106.7,5.4,985,26759,0.00,3.42,18.48,0.001,6,0.000,0.000,2460,1759,1379
$GC,27108,1.00,215.7,79.1,7.2,1034,27116,0.00,3.00,0.00,0.000,4,0.000,0.000,2476,3533,1383
$GC,27408,1.00,215.7,61.1,6.5,1083,27417,0.00,3.12,0.00,0.000,6,0.000,0.000,2458,1880,1381
$GC,27779,1.00,215.7,36.0,6.7,1144,27788,0.00,2.60,0.00,0.000,4,0.000,0.000,2475,3577,1379
$GC,28079,1.00,217.6,15.8,6.2,1193,28089,0.00,3.65,1.02,0.001,6,0.000,0.000,2473,1771,1371
$STATE,28314,end climb,SURFACE_DEPTH_REACHED
$STATE,28314,begin surface coast
$FINISH,0.3,0.999502
$STATE,28352,end surface coast,CONTROL_FINISHED_OK
$STATE,28357,begin surface
$SM_CCo,28386,82.88,0.001,1,0,829,350.29
$SM_GC,0.34,0.00,0.00,82.88,0.000,0.000,0.001,614,2159,829,-7.59,5.29,350.29
$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,1777
$INTERNAL_PRESSURE,26.0846
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.6,20.2
$ALTIM_BOTTOM_PING,925.2,65.9
$24V_AH,23.7,28.366
$10V_AH,9.6,4.241
$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,26.900,295.075,315.700,82.875,0.000,0.000,0.000,107.471,8.750,22.085,4388.014,18950.496,819.684,2675.434,1962.238,33.368,2928.515,0.000,2607.936,3600.000,58.517
$DEVICE_MAMPS,119.000,60.000,1300.000,0.767,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1251.520,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40937,1238
$CFSIZE,255582208,241115136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,49,1994,4,0
$SOUNDSPEED,1465.0
$CURRENT,0.041,208.7,1
$GPS,080707,171056,4658.596,-12518.573,31,1.1,31,18.0