version: 66.01
glider: 1
mission: 1
dive: 33
start: 10 12 106 9 21 35
data:
$ID,1
$MISSION,1
$DIVE,33
$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,-449377.16
$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,11
$R_STBD_OVSHOOT,7
$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
$GPS1,091629,6654.429,-6034.340,13,1.1,13,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,092105,6654.429,-6034.340,18,1.1,18,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6704.576,-6032.901
$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,40,-1.49,-116.8,0.0,0.0,0,119,0.00,0.00,-76.68,0.000,6,0.000,0.000,625,2195,2743
$GC,130,-1.49,-116.8,-0.0,0.0,9,148,6.60,3.70,0.00,0.000,4,0.000,0.000,1988,377,2738
$GC,342,-1.55,-116.8,29.4,-10.4,43,351,0.52,3.38,0.00,0.000,6,0.000,0.000,1848,2042,2745
$GC,709,-1.23,-116.8,78.8,-12.9,104,718,0.77,2.97,0.00,0.000,4,0.000,0.000,2018,3557,2739
$GC,776,-1.27,-116.8,84.9,-7.7,114,784,0.00,3.05,0.00,0.000,6,0.000,0.000,2001,1742,2739
$GC,1129,-1.31,-116.8,111.0,-7.3,155,1136,0.00,3.25,0.00,0.000,4,0.000,0.000,1983,3555,2739
$GC,1406,-1.35,-116.8,131.1,-6.7,167,1413,0.10,3.50,0.00,0.000,6,0.000,0.000,2016,1707,2745
$GC,1740,-1.38,-116.8,153.8,-6.8,183,1748,0.08,3.50,0.00,0.000,4,0.000,0.000,1987,3515,2735
$GC,1862,-1.42,-116.8,162.5,-6.6,188,1870,0.52,3.28,0.00,0.000,6,0.000,0.000,1865,2010,2740
$GC,2192,-1.13,-116.8,195.9,-10.3,204,2200,0.75,2.97,0.00,0.000,4,0.000,0.000,2072,490,2742
$GC,2250,-1.37,-116.8,199.5,-4.8,206,2263,0.57,2.83,0.00,0.000,6,0.000,0.000,1911,2148,2745
$GC,2579,-1.25,-116.8,224.9,-7.9,222,2585,0.50,2.72,0.00,0.000,4,0.000,0.000,2064,280,2740
$GC,2643,-1.57,-116.8,228.8,-4.6,224,2653,0.93,2.85,0.00,0.000,6,0.000,0.000,1868,2143,2737
$GC,2967,-1.29,-116.8,258.7,-9.3,240,2970,0.77,0.00,0.00,0.000,6,0.000,0.000,2058,2145,2738
$GC,3277,-1.50,-116.8,273.3,-4.4,255,3285,1.08,3.22,0.00,0.000,4,0.000,0.000,1884,288,2744
$GC,3335,-1.28,-116.8,278.3,-9.3,257,3348,0.77,3.83,0.00,0.000,6,0.000,0.000,2070,2115,2738
$GC,3664,-1.52,-116.8,292.8,-4.2,273,3673,0.73,3.45,0.00,0.000,4,0.000,0.000,1880,257,2738
$GC,3705,-1.33,-116.8,295.9,-8.6,274,3715,0.62,2.88,0.00,0.000,6,0.000,0.000,2006,1961,2739
$GC,4030,-1.41,-116.8,313.9,-5.5,290,4038,0.43,3.25,0.00,0.000,4,0.000,0.000,1887,3626,2743
$GC,4140,-1.15,-116.8,323.6,-8.6,294,4149,0.82,2.85,0.00,0.000,6,0.000,0.000,2082,1965,2743
$GC,4465,-1.40,-116.8,337.4,-4.1,310,4471,0.77,2.53,0.00,0.000,4,0.000,0.000,1955,3612,2746
$GC,4594,-1.30,-116.8,346.5,-7.0,315,4603,0.52,3.28,0.00,0.000,6,0.000,0.000,2032,1964,2743
$GC,4919,-1.54,-116.8,360.2,-4.1,331,4921,0.88,0.00,0.00,0.000,6,0.000,0.000,1883,1949,2742
$GC,5228,-1.28,-116.8,385.4,-8.5,346,5236,0.85,3.28,0.00,0.000,4,0.000,0.000,2048,3496,2745
$GC,5313,-1.52,-116.8,389.8,-3.9,349,5326,0.70,3.65,0.00,0.000,6,0.000,0.000,1891,1989,2738
$GC,5638,-1.23,-116.8,417.4,-8.8,365,5647,1.10,3.22,0.00,0.000,4,0.000,0.000,2059,347,2746
$GC,5673,-1.48,-116.8,419.7,-4.5,366,5687,0.80,3.45,0.00,0.000,6,0.000,0.000,1940,2051,2741
$GC,6003,-1.36,-116.8,441.9,-7.0,382,6005,0.43,0.00,0.00,0.000,6,0.000,0.000,2088,2031,2742
$GC,6312,-1.59,-116.8,455.0,-4.1,397,6320,0.75,3.47,0.00,0.000,4,0.000,0.000,1874,346,2741
$GC,6392,-1.37,-116.8,461.0,-8.7,400,6399,0.65,2.75,0.00,0.000,6,0.000,0.000,2026,2016,2744
$GC,6721,-1.45,-116.8,478.9,-5.3,416,6729,0.60,3.53,0.00,0.000,4,0.000,0.000,1905,339,2744
$GC,6757,-1.23,-116.8,481.4,-8.1,417,6769,0.77,3.17,0.00,0.000,6,0.000,0.000,2074,2073,2749
$GC,7086,-1.48,-116.8,495.0,-3.9,433,7095,1.12,2.97,0.00,0.000,4,0.000,0.000,1877,573,2743
$GC,7185,-1.24,-116.8,502.3,-8.1,437,7193,0.77,2.92,0.00,0.000,6,0.000,0.000,2068,2260,2746
$GC,7519,-1.47,-116.8,516.8,-4.0,445,7527,0.88,3.22,0.00,0.000,4,0.000,0.000,1878,419,2737
$GC,7599,-1.22,-116.8,523.1,-8.6,446,7612,0.77,3.47,0.00,0.000,6,0.000,0.000,2055,2098,2746
$GC,7940,-1.45,-116.8,537.5,-4.0,455,7949,0.77,3.47,0.00,0.000,4,0.000,0.000,1906,594,2740
$GC,8082,-1.21,-116.8,548.8,-8.2,458,8090,0.77,3.03,0.00,0.000,6,0.000,0.000,2073,2105,2743
$STATE,8200,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8201,begin apogee
$GC,8213,-0.25,0.0,554.4,3.9,461,8331,0.90,0.00,114.18,0.001,6,0.000,0.000,2232,1952,2264
$STATE,8332,end apogee,CONTROL_FINISHED_OK
$STATE,8332,begin climb
$GC,8337,1.49,116.8,554.1,0.0,464,8471,2.08,0.00,113.53,0.001,6,0.000,0.000,2650,1928,1783
$GC,8754,1.17,116.8,461.3,24.5,478,8761,0.80,2.67,0.00,0.000,4,0.000,0.000,2527,446,1786
$GC,8852,1.23,116.8,445.5,15.8,482,8859,0.00,3.30,0.00,0.000,6,0.000,0.000,2542,2120,1783
$GC,9193,1.23,116.8,392.8,15.2,498,9200,0.00,3.55,0.00,0.000,4,0.000,0.000,2536,286,1784
$GC,9294,1.28,116.8,376.7,16.3,502,9301,0.00,3.47,0.00,0.000,6,0.000,0.000,2535,2095,1784
$GC,9627,1.28,116.8,326.8,15.1,518,9634,0.00,3.22,0.00,0.000,4,0.000,0.000,2543,415,1786
$GC,9662,1.16,116.8,320.6,15.3,519,9667,0.00,2.88,0.00,0.000,6,0.000,0.000,2544,1923,1777
$GC,9986,1.12,116.8,267.8,15.4,534,9994,0.43,3.28,0.00,0.000,4,0.000,0.000,2437,3432,1788
$GC,10091,1.60,195.3,257.5,7.5,538,10179,1.10,3.17,74.03,0.001,6,0.000,0.000,2649,1783,1471
$GC,10515,1.26,195.3,140.6,30.2,558,10518,0.77,0.00,0.00,0.000,6,0.000,0.000,2468,1777,1470
$GC,10824,1.48,211.8,98.7,12.4,573,10849,0.85,2.67,14.57,0.001,4,0.000,0.000,2665,442,1395
$GC,10907,1.17,211.8,76.2,30.0,585,10916,0.77,3.22,0.00,0.000,6,0.000,0.000,2488,2065,1398
$GC,11277,1.39,227.2,25.4,12.5,646,11301,0.40,2.75,11.98,0.001,4,0.000,0.000,2582,3393,1328
$GC,11379,1.26,227.2,4.9,21.5,661,11388,0.50,2.33,0.08,0.000,6,0.000,0.000,2466,1712,1336
$STATE,11392,end climb,SURFACE_DEPTH_REACHED
$STATE,11393,begin surface coast
$FINISH,0.0,1.024120
$STATE,11405,end surface coast,CONTROL_FINISHED_OK
$STATE,11405,begin surface
$SM_CCo,11434,140.25,0.000,0,0,425,450.37
$SM_GC,0.00,0.00,0.00,140.25,0.000,0.000,0.000,655,2208,425,-7.44,6.67,450.37
$RAFOS_CLK,0
$RAFOS,2,1160655847,12.416667,12.401944,80,0,0,0,0,0,956,0,0,0,0,0
$RAFOS,1,1160655258,12.250000,12.238334,80,0,0,0,0,0,681,0,0,0,0,0
$RAFOS,0,1160654642,12.083333,12.067223,80,0,0,0,0,0,630,0,0,0,0,0
$RAFOS,4,1160645345,9.500000,9.484722,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,6655.265137,-6030.459473,121006,121200,3,80,0.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2194
$INTERNAL_PRESSURE,25.9967
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.4,19.9
$ALTIM_BOTTOM_PING,475.6,87.5
$24V_AH,23.7,64.415
$10V_AH,9.7,9.711
$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,48.150,146.725,328.350,140.250,0.000,0.000,0.000,86.724,4.250,19.579,2044.010,7305.804,814.400,806.904,890.458,0.000,1514.611,0.000,689.919,1440.000,24.839
$DEVICE_MAMPS,119.000,60.000,0.767,600.000,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,535.909,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22161,664
$CFSIZE,255582208,241758208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,99,1142,3,0
$SOUNDSPEED,1471.0
$CURRENT,0.045,272.6,1
$GPS,121006,123613,6655.300,-6034.168,29,1.1,29,18.0