version: 66.01
glider: 1
mission: 1
dive: 27
start: 10 11 106 15 3 38
data:
$ID,1
$MISSION,1
$DIVE,27
$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,-449269.81
$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,3
$R_STBD_OVSHOOT,16
$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
$GPS1,145755,6649.298,-6034.466,13,1.1,13,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,150315,6649.298,-6034.466,31,1.1,31,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6659.446,-6033.022
$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,35,end surface,CONTROL_FINISHED_OK
$STATE,35,begin dive
$GC,41,-1.49,-116.8,0.0,0.0,0,128,0.00,0.00,-76.72,0.000,6,0.000,0.000,647,1943,2742
$GC,135,-1.49,-116.8,-0.0,0.0,9,152,6.30,2.92,0.00,0.000,4,0.000,0.000,1989,3608,2740
$GC,382,-1.49,-116.8,34.5,-9.5,49,391,0.00,3.80,0.00,0.000,6,0.000,0.000,1966,1764,2742
$GC,750,-1.49,-116.8,67.1,-8.5,110,758,0.00,2.97,0.00,0.000,4,0.000,0.000,1981,400,2737
$GC,780,-1.51,-116.8,69.6,-8.5,114,789,0.43,3.55,0.00,0.000,6,0.000,0.000,1861,2114,2739
$GC,1139,-1.18,-116.8,112.9,-12.1,160,1146,0.80,2.95,0.00,0.000,4,0.000,0.000,2053,3620,2746
$GC,1218,-1.41,-116.8,119.0,-5.8,163,1227,0.70,3.85,0.00,0.000,6,0.000,0.000,1925,1802,2742
$GC,1556,-1.25,-116.8,149.4,-9.3,179,1562,0.52,2.42,0.00,0.000,4,0.000,0.000,2055,315,2739
$GC,1604,-1.54,-116.8,153.6,-4.9,181,1612,0.77,3.40,0.00,0.000,6,0.000,0.000,1884,2143,2742
$GC,1935,-1.23,-116.8,188.0,-10.6,197,1937,0.93,0.00,0.00,0.000,6,0.000,0.000,2051,2119,2744
$GC,2249,-1.43,-116.8,204.6,-4.9,212,2257,0.73,3.53,0.00,0.000,4,0.000,0.000,1875,302,2743
$GC,2349,-1.19,-116.8,214.2,-10.0,216,2357,0.80,3.45,0.00,0.000,6,0.000,0.000,1997,2141,2744
$GC,2679,-1.21,-116.8,235.9,-6.4,232,2687,0.00,3.67,0.00,0.000,4,0.000,0.000,1989,315,2740
$GC,2720,-1.29,-116.8,238.6,-6.4,233,2729,0.00,3.28,0.00,0.000,6,0.000,0.000,2000,1989,2741
$GC,3045,-1.32,-116.8,258.3,-6.1,249,3053,0.03,3.25,0.00,0.000,4,0.000,0.000,1945,333,2746
$GC,3108,-1.22,-116.8,263.4,-7.8,251,3117,0.52,3.38,0.00,0.000,6,0.000,0.000,2056,2026,2745
$GC,3433,-1.39,-116.8,279.0,-4.7,267,3440,0.35,3.03,0.00,0.000,4,0.000,0.000,1925,358,2740
$GC,3495,-1.28,-116.8,283.7,-7.7,269,3504,0.52,3.62,0.00,0.000,6,0.000,0.000,2062,2204,2742
$GC,3819,-1.46,-116.8,299.3,-4.7,285,3831,0.80,3.58,0.00,0.000,4,0.000,0.000,1929,322,2742
$GC,3912,-1.39,-116.8,305.8,-7.8,288,3921,0.43,3.35,0.00,0.000,6,0.000,0.000,2003,2174,2738
$GC,4240,-1.42,-116.8,325.2,-5.9,304,4247,0.05,3.20,0.00,0.000,4,0.000,0.000,2005,258,2743
$GC,4266,-1.47,-116.8,327.2,-5.8,305,4274,0.50,3.88,0.00,0.000,6,0.000,0.000,1857,2228,2737
$GC,4601,-1.18,-116.8,356.7,-9.0,321,4609,0.80,3.15,0.00,0.000,4,0.000,0.000,2079,541,2748
$GC,4700,-1.42,-116.8,361.3,-4.2,325,4708,0.77,2.85,0.00,0.000,6,0.000,0.000,1860,2086,2748
$GC,5035,-1.14,-116.8,389.9,-8.8,341,5043,0.68,3.53,0.00,0.000,4,0.000,0.000,2072,303,2742
$GC,5099,-1.40,-116.8,393.6,-4.3,343,5108,0.77,2.95,0.00,0.000,6,0.000,0.000,1876,2129,2743
$GC,5418,-1.12,-116.8,420.2,-8.6,359,5428,0.75,3.25,0.00,0.000,4,0.000,0.000,2082,270,2742
$GC,5494,-1.39,-116.8,423.9,-4.0,362,5502,0.77,3.60,0.00,0.000,6,0.000,0.000,1883,2204,2741
$GC,5830,-1.11,-116.8,451.7,-8.5,378,5833,1.17,0.00,0.00,0.000,6,0.000,0.000,2063,2182,2746
$GC,6144,-1.35,-116.8,465.1,-4.0,393,6152,0.98,3.12,0.00,0.000,4,0.000,0.000,1943,332,2745
$GC,6196,-1.29,-116.8,468.5,-6.9,395,6204,0.12,3.65,0.00,0.000,6,0.000,0.000,1932,1988,2742
$GC,6526,-1.20,-116.8,490.3,-6.6,411,6528,0.38,0.00,0.00,0.000,6,0.000,0.000,2060,1984,2744
$GC,6859,-1.45,-116.8,503.3,-3.8,425,6867,0.85,2.88,0.00,0.000,4,0.000,0.000,1957,529,2741
$GC,6989,-1.41,-116.8,511.2,-6.4,427,7000,0.00,3.42,0.00,0.000,6,0.000,0.000,1949,2174,2744
$GC,7329,-1.34,-116.8,533.0,-6.4,436,7334,0.00,2.78,0.00,0.000,4,0.000,0.000,1957,3509,2740
$STATE,7381,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7381,begin apogee
$GC,7397,-0.25,0.0,536.8,6.5,437,7521,1.40,0.00,114.05,0.000,6,0.000,0.000,2268,1700,2260
$STATE,7521,end apogee,CONTROL_FINISHED_OK
$STATE,7521,begin climb
$GC,7527,1.49,116.8,537.5,0.0,440,7653,2.28,1.85,112.15,0.001,4,0.000,0.000,2677,491,1793
$GC,7702,1.16,116.8,500.9,25.9,443,7710,1.10,2.75,0.00,0.000,6,0.000,0.000,2418,2001,1788
$GC,8046,1.55,178.0,466.8,8.9,458,8115,1.15,3.22,58.70,0.001,4,0.000,0.000,2676,322,1540
$GC,8146,1.26,178.0,439.6,30.5,462,8155,1.02,3.83,0.12,0.001,6,0.000,0.000,2428,2196,1534
$GC,8475,1.61,216.5,399.6,10.7,478,8523,1.33,3.22,37.60,0.000,4,0.000,0.000,2676,332,1372
$GC,8610,1.31,216.5,357.9,32.6,483,8619,0.80,3.47,0.00,0.000,6,0.000,0.000,2494,2157,1377
$GC,8934,1.47,216.5,306.5,14.9,499,8943,0.98,3.60,0.00,0.000,4,0.000,0.000,2600,343,1377
$GC,8992,1.33,216.5,292.1,26.6,501,9004,0.52,2.97,0.00,0.000,6,0.000,0.000,2489,1962,1379
$GC,9320,1.49,216.5,241.7,14.9,517,9328,0.55,3.15,0.00,0.000,4,0.000,0.000,2604,3655,1378
$GC,9392,1.31,216.5,224.2,26.6,520,9400,0.52,3.38,0.00,0.000,6,0.000,0.000,2502,1933,1376
$GC,9732,1.33,216.5,164.8,15.5,536,9734,0.45,0.00,0.00,0.000,6,0.000,0.000,2620,1930,1375
$GC,10043,1.15,216.5,87.9,25.3,557,10052,0.75,3.00,0.00,0.000,4,0.000,0.000,2406,3632,1376
$GC,10217,1.56,266.9,68.2,9.7,585,10274,1.08,3.75,40.95,0.001,6,0.000,0.000,2681,1768,1169
$STATE,10439,end climb,SURFACE_DEPTH_REACHED
$STATE,10439,begin surface coast
$FREEZE,-0.00,4.553,-1.675
$FINISH,-0.0,1.024279
$STATE,10446,end surface coast,CONTROL_FINISHED_OK
$STATE,10447,begin surface
$SM_CCo,10477,115.05,0.000,0,0,432,450.86
$SM_GC,0.00,0.00,0.00,115.05,0.000,0.000,0.000,596,2265,432,-7.68,8.06,450.86
$RAFOS_CLK,0
$RAFOS,3,1160584444,16.583334,16.567778,80,0,0,0,0,0,822,0,0,0,0,0
$RAFOS,2,1160583860,16.416666,16.405556,80,0,0,0,0,0,888,0,0,0,0,0
$RAFOS,1,1160583248,16.250000,16.235556,80,0,0,0,0,0,736,0,0,0,0,0
$RAFOS,0,1160582660,16.083334,16.072222,80,0,0,0,0,0,513,0,0,0,0,0
$RAFOS,4,1160580558,15.500000,15.488334,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,6648.578613,-6030.818359,111006,161620,4,80,0.64
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2265
$INTERNAL_PRESSURE,25.9674
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.0,18.2
$ALTIM_BOTTOM_PING,500.3,46.5
$24V_AH,23.7,61.989
$10V_AH,9.7,9.389
$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,47.325,144.600,363.575,115.050,0.000,0.000,0.000,91.172,4.750,31.618,1906.743,6609.073,771.248,760.472,868.655,0.000,1422.464,0.000,630.972,1800.000,38.836
$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,506.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22187,621
$CFSIZE,255582208,242249728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,100,1127,1,0
$SOUNDSPEED,1470.5
$CURRENT,0.056,267.9,1
$GPS,111006,180155,6650.181,-6034.408,24,1.1,25,18.0