version: 66.01
glider: 1
mission: 1
dive: 35
start: 10 12 106 15 53 57
data:
$ID,1
$MISSION,1
$DIVE,35
$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,-449416.12
$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,9
$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
$GPS1,154847,6656.134,-6033.995,13,1.1,13,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,155326,6656.134,-6033.995,17,1.1,17,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6706.282,-6032.558
$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,-116.8,0.0,0.0,0,129,0.00,0.00,-76.90,0.000,6,0.000,0.000,621,1748,2744
$GC,135,-1.49,-116.8,-0.0,0.0,9,153,6.60,3.35,0.00,0.000,4,0.000,0.000,1974,3589,2737
$GC,442,-1.45,-116.8,40.8,-10.0,59,451,0.00,3.58,0.00,0.000,6,0.000,0.000,1963,1764,2740
$GC,812,-1.40,-116.8,75.3,-9.0,120,821,0.00,3.83,0.00,0.000,4,0.000,0.000,1960,3626,2747
$GC,1110,-1.36,-116.8,101.1,-8.4,168,1115,0.00,2.92,0.00,0.000,6,0.000,0.000,1966,1820,2742
$GC,1441,-1.31,-116.8,127.7,-8.0,184,1447,0.03,2.75,0.00,0.000,4,0.000,0.000,2030,482,2747
$GC,1513,-1.47,-116.8,132.7,-6.4,187,1521,0.73,3.15,0.00,0.000,6,0.000,0.000,1895,2148,2744
$GC,1849,-1.25,-116.8,165.5,-9.7,203,1855,0.40,2.75,0.00,0.000,4,0.000,0.000,2047,3669,2743
$GC,1903,-1.38,-116.8,169.2,-5.5,205,1916,0.65,3.55,0.00,0.000,6,0.000,0.000,1918,1849,2748
$GC,2227,-1.18,-116.8,198.3,-9.1,221,2233,0.57,2.35,0.00,0.000,4,0.000,0.000,2029,353,2743
$GC,2291,-1.40,-116.8,202.2,-5.0,223,2300,0.50,2.67,0.00,0.000,6,0.000,0.000,1905,2009,2743
$GC,2611,-1.21,-116.8,229.1,-8.6,239,2618,0.93,2.35,0.00,0.000,4,0.000,0.000,2027,525,2744
$GC,2659,-1.38,-116.8,232.1,-5.1,241,2667,0.55,3.08,0.00,0.000,6,0.000,0.000,1900,2041,2740
$GC,2995,-1.20,-116.8,259.5,-8.1,257,3002,0.50,2.95,0.00,0.000,4,0.000,0.000,2048,403,2742
$GC,3085,-1.40,-116.8,264.3,-5.1,260,3094,0.65,3.12,0.00,0.000,6,0.000,0.000,1907,2179,2741
$GC,3410,-1.23,-116.8,288.8,-7.8,276,3418,0.52,3.53,0.00,0.000,4,0.000,0.000,2038,338,2747
$GC,3460,-1.43,-116.8,292.3,-4.9,278,3467,0.77,2.88,0.00,0.000,6,0.000,0.000,1866,1981,2748
$GC,3795,-1.08,-116.8,324.0,-9.8,294,3804,1.08,3.45,0.00,0.000,4,0.000,0.000,2066,478,2744
$GC,3844,-1.41,-116.8,326.9,-3.7,296,3852,0.80,3.03,0.00,0.000,6,0.000,0.000,1925,2167,2741
$GC,4180,-1.20,-116.8,353.5,-8.1,312,4188,0.65,3.12,0.00,0.000,4,0.000,0.000,2024,313,2739
$GC,4232,-1.37,-116.8,356.6,-5.0,314,4240,0.52,3.47,0.00,0.000,6,0.000,0.000,1916,2143,2739
$GC,4562,-1.15,-116.8,382.7,-8.2,330,4571,0.68,3.75,0.00,0.000,4,0.000,0.000,2082,501,2743
$GC,4615,-1.53,-116.8,385.4,-4.4,332,4623,1.08,2.88,0.00,0.000,6,0.000,0.000,1863,2035,2747
$GC,4950,-1.15,-116.8,416.1,-9.6,348,4958,1.35,3.25,0.00,0.000,4,0.000,0.000,2119,358,2740
$GC,4980,-1.34,-116.8,418.9,-6.5,349,4988,0.80,3.12,0.00,0.000,6,0.000,0.000,1898,2201,2738
$GC,5316,-1.14,-116.8,443.8,-7.5,365,5324,0.70,3.25,0.00,0.000,4,0.000,0.000,2100,350,2747
$GC,5351,-1.48,-116.8,446.2,-4.0,366,5364,1.02,3.67,0.00,0.000,6,0.000,0.000,1917,2151,2741
$GC,5680,-1.29,-116.8,470.0,-7.6,382,5688,0.57,3.30,0.00,0.000,4,0.000,0.000,2037,289,2746
$GC,5738,-1.49,-116.8,473.5,-4.5,384,5751,0.77,3.22,0.00,0.000,6,0.000,0.000,1841,2177,2740
$GC,6071,-1.49,-116.8,501.3,-8.4,400,6079,0.43,3.17,0.00,0.000,4,0.000,0.000,1970,330,2743
$GC,6157,-1.53,-116.8,507.6,-6.1,401,6166,0.50,3.35,0.00,0.000,6,0.000,0.000,1840,2166,2750
$GC,6493,-1.50,-116.8,536.0,-8.5,410,6495,0.62,0.00,0.00,0.000,6,0.000,0.000,1966,2193,2749
$GC,6817,-1.50,-116.8,554.7,-5.7,418,6825,0.52,3.22,0.00,0.000,4,0.000,0.000,1841,321,2748
$GC,6902,-1.22,-116.8,562.1,-8.8,419,6912,0.80,3.38,0.00,0.000,6,0.000,0.000,2043,2156,2745
$STATE,6988,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6988,begin apogee
$GC,7002,-0.25,0.0,566.6,5.2,422,7136,1.02,0.00,115.22,0.000,6,0.000,0.000,2288,1994,2259
$STATE,7136,end apogee,CONTROL_FINISHED_OK
$STATE,7136,begin climb
$GC,7142,1.49,116.8,566.8,0.0,425,7269,2.03,3.17,111.40,0.001,4,0.000,0.000,2676,354,1785
$GC,7319,1.25,116.8,531.9,24.7,428,7327,0.80,3.17,0.00,0.000,6,0.000,0.000,2504,2028,1789
$GC,7653,1.48,149.2,491.6,11.2,437,7698,0.88,3.15,32.03,0.001,4,0.000,0.000,2666,3679,1653
$GC,7780,1.13,149.2,459.6,28.2,442,7793,1.02,3.53,0.00,0.000,6,0.000,0.000,2419,1836,1653
$GC,8110,1.57,211.5,427.2,8.8,458,8183,1.00,3.17,59.67,0.001,4,0.000,0.000,2664,3500,1397
$GC,8229,1.24,211.5,392.6,32.3,463,8238,0.80,3.30,0.00,0.000,6,0.000,0.000,2481,1704,1402
$GC,8564,1.41,211.5,342.4,14.5,479,8570,0.60,2.58,0.00,0.000,4,0.000,0.000,2589,504,1399
$GC,8589,1.41,211.5,336.1,19.5,480,8595,0.00,3.22,0.00,0.000,6,0.000,0.000,2589,2170,1397
$GC,8919,1.25,211.5,255.2,25.2,496,8927,0.38,3.25,0.00,0.000,4,0.000,0.000,2489,331,1406
$GC,8978,1.06,215.4,243.6,13.4,498,8991,0.00,2.97,4.03,0.000,6,0.000,0.000,2472,2033,1378
$GC,9307,1.24,215.4,191.0,14.0,514,9315,0.50,3.22,0.00,0.000,4,0.000,0.000,2617,361,1383
$GC,9386,1.05,215.4,172.6,26.6,517,9393,0.80,2.62,0.00,0.000,6,0.000,0.000,2414,2236,1384
$GC,9720,1.52,274.1,139.3,9.1,533,9775,1.20,3.05,46.85,0.001,4,0.000,0.000,2659,406,1136
$GC,9859,1.27,274.1,96.3,33.8,540,9868,0.70,3.17,0.00,0.000,6,0.000,0.000,2471,2091,1144
$GC,10226,1.44,274.1,35.3,16.6,601,10234,0.90,0.00,0.00,0.000,6,0.000,0.000,2647,2098,1144
$STATE,10339,end climb,SURFACE_DEPTH_REACHED
$STATE,10339,begin surface coast
$FREEZE,-0.00,4.887,-1.663
$FINISH,-0.0,1.024077
$STATE,10347,end surface coast,CONTROL_FINISHED_OK
$STATE,10347,begin surface
$SM_CCo,10377,111.15,0.000,0,0,428,450.62
$SM_GC,-0.00,0.00,0.00,111.15,0.000,0.000,0.000,606,1955,428,-7.60,-0.96,450.62
$RAFOS_CLK,0
$RAFOS,3,1160670855,16.583334,16.570833,80,0,0,0,0,0,795,0,0,0,0,0
$RAFOS,2,1160670257,16.416666,16.404722,80,0,0,0,0,0,898,0,0,0,0,0
$RAFOS,1,1160669658,16.250000,16.238333,80,0,0,0,0,0,680,0,0,0,0,0
$RAFOS,0,1160669043,16.083334,16.067499,80,0,0,0,0,0,628,0,0,0,0,0
$RAFOS_FIX,6655.527344,-6029.805664,121006,161620,4,80,1.94
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2273
$INTERNAL_PRESSURE,25.9967
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.3,999.0
$ALTIM_BOTTOM_PING,501.3,73.5
$24V_AH,23.7,65.233
$10V_AH,9.7,9.820
$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,49.500,146.075,369.200,111.150,0.000,0.000,0.000,87.112,4.500,18.312,1918.126,6471.500,803.402,744.994,843.101,0.000,1463.942,0.000,637.797,1440.000,26.064
$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,506.123,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22202,621
$CFSIZE,255582208,241606656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,105,1135,4,0
$SOUNDSPEED,1470.2
$CURRENT,0.050,266.8,1
$GPS,121006,185015,6657.007,-6033.833,10,1.1,11,18.0