version: 66.01
glider: 1
mission: 1
dive: 28
start: 10 11 106 18 7 4
data:
$ID,1
$MISSION,1
$DIVE,28
$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,-449294.81
$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,6
$R_STBD_OVSHOOT,4
$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
$GPS1,180155,6650.181,-6034.408,24,1.1,25,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,180635,6650.181,-6034.408,23,1.1,23,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6700.329,-6032.965
$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,35,begin dive
$GC,41,-1.49,-116.8,0.0,0.0,0,127,0.00,0.00,-76.82,0.000,6,0.000,0.000,602,2259,2747
$GC,133,-1.49,-116.8,-0.0,-0.0,10,150,6.57,2.70,0.00,0.000,4,0.000,0.000,2000,3583,2747
$GC,439,-1.56,-116.8,36.0,-8.9,60,448,0.47,3.62,0.00,0.000,6,0.000,0.000,1864,1738,2746
$GC,806,-1.28,-116.8,81.5,-12.3,121,815,0.70,3.78,0.00,0.000,4,0.000,0.000,2059,3571,2740
$GC,1030,-1.49,-116.8,95.3,-5.5,157,1040,0.82,3.45,0.00,0.000,6,0.000,0.000,1880,1877,2752
$GC,1367,-1.19,-116.8,134.2,-11.6,178,1373,0.77,2.22,0.00,0.000,4,0.000,0.000,2058,381,2754
$GC,1412,-1.43,-116.8,137.8,-5.2,180,1420,0.77,3.25,0.00,0.000,6,0.000,0.000,1868,2218,2744
$GC,1748,-1.13,-116.8,172.8,-10.8,196,1756,0.93,3.40,0.00,0.000,4,0.000,0.000,2075,357,2743
$GC,1779,-1.27,-116.8,175.1,-5.5,197,1787,0.52,3.22,0.00,0.000,6,0.000,0.000,1951,2189,2751
$GC,2114,-1.14,-116.8,202.5,-8.4,213,2122,0.47,3.22,0.00,0.000,4,0.000,0.000,2054,366,2746
$GC,2177,-1.35,-116.8,206.8,-5.2,215,2186,0.77,3.28,0.00,0.000,6,0.000,0.000,1855,2184,2749
$GC,2502,-1.05,-116.8,238.1,-10.1,231,2510,1.02,3.50,0.00,0.000,4,0.000,0.000,2057,324,2747
$GC,2544,-1.28,-116.8,242.5,-8.3,232,2554,0.52,3.58,0.00,0.000,6,0.000,0.000,1923,2181,2751
$GC,2869,-1.12,-116.8,266.8,-8.2,248,2877,0.77,3.45,0.00,0.000,4,0.000,0.000,2096,356,2748
$GC,2910,-1.52,-116.8,269.5,-3.7,249,2919,1.05,3.53,0.00,0.000,6,0.000,0.000,1919,2186,2751
$GC,3235,-1.37,-116.8,294.0,-7.9,265,3243,0.82,3.25,0.00,0.000,4,0.000,0.000,2033,401,2744
$GC,3285,-1.58,-116.8,297.2,-4.6,267,3293,0.82,3.42,0.00,0.000,6,0.000,0.000,1853,2204,2752
$GC,3621,-1.27,-116.8,328.3,-9.6,283,3629,0.65,3.58,0.00,0.000,4,0.000,0.000,2063,539,2745
$GC,3712,-1.48,-116.8,333.3,-4.8,286,3721,0.80,3.53,0.00,0.000,6,0.000,0.000,1853,2251,2745
$GC,4036,-1.18,-116.8,362.4,-9.3,302,4044,0.77,3.22,0.00,0.000,4,0.000,0.000,2021,392,2749
$GC,4094,-1.26,-116.8,366.9,-5.9,304,4106,0.00,3.35,0.00,0.000,6,0.000,0.000,2000,2085,2742
$GC,4423,-1.30,-116.8,385.5,-5.8,320,4431,0.05,3.78,0.00,0.000,4,0.000,0.000,1932,432,2747
$GC,4458,-1.23,-116.8,388.3,-7.1,321,4471,0.52,3.30,0.00,0.000,6,0.000,0.000,2085,2098,2748
$GC,4787,-1.45,-116.8,403.1,-4.4,337,4796,0.80,3.28,0.00,0.000,4,0.000,0.000,1893,408,2747
$GC,4841,-1.18,-116.8,407.5,-8.6,339,4847,0.80,2.45,0.00,0.000,6,0.000,0.000,2057,1943,2755
$GC,5172,-1.69,-116.8,423.2,-4.9,355,5181,1.02,3.45,0.00,0.000,4,0.000,0.000,1833,287,2749
$GC,5202,-1.40,-116.8,426.0,-9.8,356,5210,0.88,2.95,0.00,0.000,6,0.000,0.000,2011,2131,2757
$GC,5537,-1.45,-116.8,445.4,-5.7,372,5545,0.60,3.53,0.00,0.000,4,0.000,0.000,1885,300,2753
$GC,5617,-1.25,-116.8,452.3,-9.3,375,5625,0.77,3.83,0.00,0.000,6,0.000,0.000,2003,2140,2750
$GC,5952,-1.29,-116.8,472.0,-5.7,391,5957,0.08,2.85,0.00,0.000,4,0.000,0.000,2012,317,2748
$GC,5988,-1.38,-116.8,474.4,-5.6,392,5998,0.35,3.33,0.00,0.000,6,0.000,0.000,1935,2123,2748
$GC,6308,-1.25,-116.8,496.9,-7.2,408,6315,0.43,3.17,0.00,0.000,4,0.000,0.000,2075,236,2745
$GC,6360,-1.52,-116.8,499.6,-4.1,410,6368,0.85,2.92,0.00,0.000,6,0.000,0.000,1896,2055,2752
$GC,6705,-1.37,-116.8,527.8,-8.5,419,6712,0.60,2.72,0.00,0.000,4,0.000,0.000,2004,3593,2748
$STATE,6869,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6869,begin apogee
$GC,6885,-0.25,0.0,537.7,5.5,422,7010,1.15,0.00,116.50,0.000,6,0.000,0.000,2227,1924,2259
$STATE,7011,end apogee,CONTROL_FINISHED_OK
$STATE,7011,begin climb
$GC,7016,1.49,116.8,538.8,0.0,425,7134,2.05,0.00,113.18,0.000,6,0.000,0.000,2599,1908,1788
$GC,7414,1.29,116.8,461.6,21.0,439,7420,0.52,2.75,0.00,0.000,4,0.000,0.000,2515,433,1782
$GC,7510,1.48,132.3,449.3,12.5,443,7534,0.52,3.20,14.62,0.001,6,0.000,0.000,2620,1955,1723
$GC,7844,1.27,132.3,376.6,22.1,459,7847,0.43,0.00,0.22,0.001,6,0.000,0.000,2515,1953,1727
$GC,8158,1.41,142.8,335.0,12.9,474,8182,0.47,3.03,10.48,0.001,4,0.000,0.000,2591,328,1677
$GC,8209,1.26,142.8,324.3,22.9,476,8219,0.68,3.53,0.00,0.000,6,0.000,0.000,2501,2158,1677
$GC,8550,1.20,142.8,273.3,18.2,492,8556,0.03,2.97,0.00,0.000,4,0.000,0.000,2501,479,1682
$GC,8636,1.09,142.8,259.8,21.0,495,8645,0.03,2.95,0.00,0.000,6,0.000,0.000,2498,2155,1680
$GC,8961,1.22,149.1,217.0,13.2,511,8974,0.00,2.95,5.75,0.001,4,0.000,0.000,2517,291,1658
$GC,9013,1.37,153.6,209.1,13.4,513,9031,0.52,3.58,4.38,0.001,6,0.000,0.000,2616,2091,1633
$GC,9341,1.13,153.6,134.6,23.1,529,9349,1.12,2.75,0.00,0.000,4,0.000,0.000,2463,3603,1633
$GC,9441,1.47,199.9,122.6,10.1,533,9485,0.77,3.53,35.88,0.001,6,0.000,0.000,2619,1791,1451
$GC,9840,1.25,199.9,28.1,24.0,587,9849,0.65,3.53,0.00,0.000,4,0.000,0.000,2449,3583,1455
$STATE,10021,end climb,SURFACE_DEPTH_REACHED
$STATE,10021,begin surface coast
$FREEZE,-0.00,4.540,-1.671
$FINISH,0.0,1.024825
$STATE,10051,end surface coast,CONTROL_FINISHED_OK
$STATE,10051,begin surface
$SM_CCo,10084,158.70,0.000,2,0,428,450.62
$SM_GC,0.00,0.00,0.00,158.70,0.000,0.000,0.000,607,1748,428,-7.58,-6.67,450.62
$RAFOS_CLK,0
$RAFOS,3,1160598848,20.583334,20.568890,80,0,0,0,0,0,808,0,0,0,0,0
$RAFOS,2,1160598241,20.416666,20.400278,80,0,0,0,0,0,992,0,0,0,0,0
$RAFOS,1,1160597655,20.250000,20.237499,80,0,0,0,0,0,699,0,0,0,0,0
$RAFOS,0,1160597044,20.083334,20.067778,80,0,0,0,0,0,603,0,0,0,0,0
$RAFOS_FIX,6649.437500,-6030.718750,111006,202020,4,80,0.37
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2298
$INTERNAL_PRESSURE,25.9674
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.8,19.6
$ALTIM_BOTTOM_PING,476.2,71.4
$24V_AH,23.7,62.424
$10V_AH,9.7,9.441
$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,45.600,149.900,301.000,158.700,0.000,0.000,0.000,86.637,4.250,24.384,1912.743,6306.185,792.924,718.504,815.206,0.000,1414.806,0.000,603.447,1440.000,29.479
$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,501.827,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22153,621
$CFSIZE,255582208,242171904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,103,1154,3,0
$SOUNDSPEED,1470.3
$CURRENT,0.050,265.5,1
$GPS,111006,205937,6651.000,-6034.275,21,1.1,22,18.0