version: 66.01
glider: 1
mission: 1
dive: 14
start: 10 10 106 0 6 41
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,240
$T_MISSION,300
$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,2
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.00312
$HD_B,0.0099099996
$HD_C,2.4896e-05
$HEADING,20
$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,450.37079
$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,-448935.94
$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,0.029999999
$PITCH_ADJ_DBAND,0.5
$ROLL_MIN,166
$ROLL_MAX,3791
$C_ROLL_DIVE,1978
$C_ROLL_CLIMB,1978
$HEAD_ERRBAND,8
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,147
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,500
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$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,-0.22280908
$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
$GPS1,235934,6638.879,-6032.345,13,1.1,13,18.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-69.9
$GPS2,000617,6638.879,-6032.345,14,1.1,14,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6649.026,-6030.891
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,2.0,20000,-26.0,-13.750
$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,34,end surface,CONTROL_FINISHED_OK
$STATE,34,begin dive
$GC,41,-1.49,-116.8,0.0,0.0,0,130,0.00,0.00,-77.07,0.000,6,0.000,0.000,597,1903,2741
$GC,137,-1.49,-116.8,0.1,-0.2,9,154,6.57,2.45,0.00,0.000,4,0.000,0.000,2012,3561,2743
$GC,369,-1.75,-116.8,27.8,-7.4,46,378,0.77,3.33,0.00,0.000,6,0.000,0.000,1843,1900,2741
$GC,737,-1.35,-116.8,82.2,-13.6,107,745,0.70,2.97,0.00,0.000,4,0.000,0.000,2006,3372,2743
$GC,842,-1.49,-116.8,90.0,-6.9,123,851,0.73,2.67,0.00,0.000,6,0.000,0.000,1899,2068,2744
$GC,1190,-1.26,-116.8,126.1,-10.8,150,1197,0.47,2.88,0.00,0.000,4,0.000,0.000,2008,3408,2741
$GC,1230,-1.38,-116.8,130.3,-6.9,151,1240,0.52,2.92,0.00,0.000,6,0.000,0.000,1887,1891,2743
$GC,1555,-1.28,-116.8,162.5,-9.9,167,1562,0.70,3.03,0.00,0.000,4,0.000,0.000,2084,3567,2746
$GC,1639,-1.71,-116.8,167.9,-4.7,170,1652,1.08,2.92,0.00,0.000,6,0.000,0.000,1803,1917,2741
$GC,1968,-1.29,-116.8,205.6,-11.8,186,1977,1.08,2.95,0.00,0.000,4,0.000,0.000,2004,3607,2746
$GC,2048,-1.42,-116.8,211.6,-5.7,189,2056,0.52,3.28,0.00,0.000,6,0.000,0.000,1908,2108,2743
$GC,2378,-1.37,-116.8,241.4,-9.1,205,2380,0.43,0.00,0.00,0.000,6,0.000,0.000,2016,2100,2742
$GC,2692,-1.46,-116.8,259.6,-5.6,220,2700,0.60,3.03,0.00,0.000,4,0.000,0.000,1904,3610,2738
$GC,2733,-1.26,-116.8,263.2,-8.9,221,2742,0.77,3.45,0.00,0.000,6,0.000,0.000,2069,1991,2738
$GC,3057,-1.52,-116.8,277.1,-4.1,237,3065,0.75,2.92,0.00,0.000,4,0.000,0.000,1881,3682,2743
$GC,3115,-1.32,-116.8,282.0,-8.7,239,3127,0.52,3.17,0.00,0.000,6,0.000,0.000,2035,1977,2744
$GC,3444,-1.42,-116.8,300.7,-5.4,255,3452,0.40,3.28,0.00,0.000,4,0.000,0.000,1902,3425,2740
$GC,3502,-1.20,-116.8,305.7,-8.7,257,3515,0.77,2.67,0.00,0.000,6,0.000,0.000,2073,2115,2744
$GC,3831,-1.47,-116.8,320.3,-4.1,273,3837,0.62,2.25,0.00,0.000,4,0.000,0.000,1893,3613,2751
$GC,3862,-1.37,-116.8,322.7,-7.9,274,3874,0.52,3.17,0.00,0.000,6,0.000,0.000,2039,1919,2744
$GC,4191,-1.48,-116.8,340.2,-5.1,290,4199,0.50,3.22,0.00,0.000,4,0.000,0.000,1890,3576,2747
$GC,4270,-1.29,-116.8,346.4,-8.6,293,4278,0.77,3.03,0.00,0.000,6,0.000,0.000,2075,1892,2741
$GC,4606,-1.55,-116.8,360.7,-4.0,309,4614,0.77,2.65,0.00,0.000,4,0.000,0.000,1881,3366,2742
$GC,4706,-1.36,-116.8,368.4,-8.7,313,4712,0.60,2.50,0.00,0.000,6,0.000,0.000,2024,1865,2749
$GC,5037,-1.43,-116.8,387.8,-5.4,329,5046,0.55,3.53,0.00,0.000,4,0.000,0.000,1882,3539,2737
$GC,5122,-1.18,-116.8,394.7,-9.1,332,5134,0.77,2.65,0.00,0.000,6,0.000,0.000,2043,1909,2747
$GC,5451,-1.41,-116.8,410.0,-4.2,348,5459,0.90,3.00,0.00,0.000,4,0.000,0.000,1892,3595,2745
$GC,5527,-1.18,-116.8,415.8,-8.6,351,5535,0.77,3.00,0.00,0.000,6,0.000,0.000,2066,1918,2744
$GC,5863,-1.40,-116.8,431.0,-4.2,367,5871,1.12,3.05,0.00,0.000,4,0.000,0.000,1886,3602,2739
$GC,5939,-1.15,-116.8,436.6,-8.6,370,5947,0.82,3.12,0.00,0.000,6,0.000,0.000,2051,1937,2740
$GC,6280,-1.38,-116.8,451.5,-4.1,386,6288,1.10,2.97,0.00,0.000,4,0.000,0.000,1892,3473,2739
$GC,6356,-1.26,-116.8,456.7,-7.8,389,6364,0.57,2.92,0.00,0.000,6,0.000,0.000,2015,1964,2745
$GC,6696,-1.34,-116.8,475.2,-5.2,405,6703,0.55,2.75,0.00,0.000,4,0.000,0.000,1890,3440,2748
$GC,6771,-1.11,-116.8,480.9,-8.2,408,6779,0.82,2.72,0.00,0.000,6,0.000,0.000,2069,1933,2744
$GC,7112,-1.53,-116.8,496.4,-4.6,424,7120,0.73,3.28,0.00,0.000,4,0.000,0.000,1879,3427,2740
$GC,7188,-1.29,-116.8,501.7,-8.5,427,7194,0.77,2.17,0.00,0.000,6,0.000,0.000,2052,2253,2742
$STATE,7373,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7373,begin apogee
$GC,7385,-0.25,0.0,510.0,3.9,432,7501,0.80,0.00,113.30,0.000,6,0.000,0.000,2191,1918,2266
$STATE,7502,end apogee,CONTROL_FINISHED_OK
$STATE,7502,begin climb
$GC,7508,1.49,116.8,510.2,0.0,435,7642,2.08,2.95,114.75,0.000,4,0.000,0.000,2627,3614,1781
$GC,7683,1.30,116.8,479.7,21.6,441,7691,0.57,3.47,0.00,0.000,6,0.000,0.000,2517,1925,1778
$GC,8018,1.43,130.7,436.5,12.6,457,8043,0.40,3.08,13.12,0.001,4,0.000,0.000,2611,3436,1731
$GC,8152,1.04,130.7,402.3,27.9,462,8161,0.77,2.92,0.00,0.000,6,0.000,0.000,2452,1929,1736
$GC,8477,1.43,189.6,369.7,9.1,478,8546,0.77,3.30,56.80,0.000,4,0.000,0.000,2570,3591,1484
$GC,8663,1.43,189.6,334.2,20.3,486,8670,0.00,3.47,0.00,0.000,6,0.000,0.000,2553,2082,1486
$GC,9003,1.39,189.6,267.7,20.0,502,9007,0.00,2.35,0.00,0.000,4,0.000,0.000,2553,3618,1485
$GC,9061,1.36,189.6,252.0,20.0,504,9069,0.00,3.08,0.00,0.000,6,0.000,0.000,2557,2154,1480
$GC,9385,1.32,189.6,189.8,19.5,520,9389,0.00,2.42,0.00,0.000,4,0.000,0.000,2561,3531,1489
$GC,9431,1.32,189.6,178.0,20.0,522,9436,0.00,2.92,0.00,0.000,6,0.000,0.000,2562,2020,1484
$GC,9761,1.06,189.6,116.4,18.9,538,9769,0.82,3.03,0.00,0.000,4,0.000,0.000,2457,3554,1488
$GC,9845,1.33,189.6,101.4,14.3,541,9858,0.77,3.22,0.00,0.000,6,0.000,0.000,2621,1893,1484
$GC,10217,1.11,189.6,15.6,22.8,602,10226,0.90,2.95,0.00,0.000,4,0.000,0.000,2443,3547,1489
$STATE,10331,end climb,SURFACE_DEPTH_REACHED
$STATE,10332,begin surface coast
$FREEZE,-0.01,4.914,-1.692
$FINISH,-0.0,1.024476
$STATE,10350,end surface coast,CONTROL_FINISHED_OK
$STATE,10350,begin surface
$SM_CCo,10382,164.02,0.000,3,0,422,450.37
$SM_GC,-0.00,0.00,0.00,164.02,0.000,0.000,0.000,587,1984,422,-7.61,0.34,450.37
$RAFOS_CLK,0
$RAFOS,3,1160440444,0.583333,0.567778,80,0,0,0,0,0,780,0,0,0,0,0
$RAFOS,2,1160439855,0.416667,0.404167,80,0,0,0,0,0,934,0,0,0,0,0
$RAFOS,1,1160439241,0.250000,0.233611,80,0,0,0,0,0,783,0,0,0,0,0
$RAFOS_FIX,6637.845215,-6028.242188,101006,000018,3,80,2.98
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2337
$INTERNAL_PRESSURE,26.0065
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.2,999.0
$ALTIM_BOTTOM_PING,425.8,93.1
$24V_AH,23.7,56.845
$10V_AH,9.7,8.690
$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,47.500,142.900,297.975,164.025,0.000,0.000,0.000,85.819,3.750,15.850,1942.418,6551.687,816.683,738.321,922.501,0.000,1466.172,0.000,630.549,1080.000,22.150
$DEVICE_MAMPS,119.000,60.000,1300.000,600.000,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,507.254,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22139,624
$CFSIZE,255582208,243273728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,108,1095,5,0
$SOUNDSPEED,1470.4
$CURRENT,0.051,252.9,1
$GPS,101006,030412,6639.662,-6032.457,13,1.1,13,18.0