version: 66.01
glider: 1
mission: 1
dive: 36
start: 10 12 106 18 57 25
data:
$ID,1
$MISSION,1
$DIVE,36
$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,-449428.84
$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,8
$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
$GPS1,185015,6657.007,-6033.833,10,1.1,11,18.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,185659,6657.007,-6033.833,11,1.1,11,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6707.155,-6032.396
$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,-116.8,0.0,0.0,0,129,0.00,0.00,-76.62,0.000,6,0.000,0.000,611,1932,2743
$GC,136,-1.49,-116.8,0.3,-0.7,9,153,7.07,3.67,0.00,0.000,4,0.000,0.000,2003,3429,2745
$GC,443,-1.56,-116.8,38.0,-9.2,59,452,0.55,3.28,0.00,0.000,6,0.000,0.000,1841,1942,2738
$GC,811,-1.27,-116.8,84.0,-12.1,120,820,1.12,2.95,0.00,0.000,4,0.000,0.000,2033,3624,2744
$GC,1109,-1.48,-116.8,101.8,-5.4,165,1117,0.77,3.85,0.00,0.000,6,0.000,0.000,1866,1752,2744
$GC,1439,-1.16,-116.8,138.8,-11.6,181,1444,0.80,1.95,0.00,0.000,4,0.000,0.000,2045,549,2737
$GC,1476,-1.37,-116.8,142.1,-6.2,182,1485,0.55,3.55,0.00,0.000,6,0.000,0.000,1917,2232,2741
$GC,1800,-1.25,-116.8,168.9,-8.5,198,1808,0.50,3.25,0.00,0.000,4,0.000,0.000,2028,565,2739
$GC,1829,-1.40,-116.8,171.4,-6.2,199,1838,0.77,2.97,0.00,0.000,6,0.000,0.000,1871,2056,2741
$GC,2165,-1.11,-116.8,203.7,-9.9,215,2173,0.80,3.08,0.00,0.000,4,0.000,0.000,2068,381,2746
$GC,2228,-1.36,-116.8,208.3,-4.5,217,2237,0.77,3.42,0.00,0.000,6,0.000,0.000,1895,2222,2747
$GC,2552,-1.10,-116.8,237.0,-8.9,233,2560,0.90,3.15,0.00,0.000,4,0.000,0.000,2071,386,2742
$GC,2588,-1.36,-116.8,240.2,-6.7,234,2601,0.77,3.72,0.00,0.000,6,0.000,0.000,1956,2229,2737
$GC,2917,-1.26,-116.8,263.5,-7.3,250,2925,0.52,3.50,0.00,0.000,4,0.000,0.000,2076,326,2736
$GC,2997,-1.53,-116.8,267.8,-4.3,253,3005,0.85,3.58,0.00,0.000,6,0.000,0.000,1900,1994,2734
$GC,3332,-1.29,-116.8,295.5,-8.6,269,3339,0.75,3.10,0.00,0.000,4,0.000,0.000,1992,342,2744
$GC,3361,-1.36,-116.8,298.2,-6.7,270,3369,0.50,3.62,0.00,0.000,6,0.000,0.000,1892,2193,2741
$GC,3699,-1.12,-116.8,325.9,-8.5,286,3707,1.10,3.95,0.00,0.000,4,0.000,0.000,2086,336,2738
$GC,3763,-1.43,-116.8,329.7,-3.7,288,3772,0.80,3.75,0.00,0.000,6,0.000,0.000,1894,2118,2741
$GC,4087,-1.22,-116.8,354.8,-8.1,304,4095,0.82,3.40,0.00,0.000,4,0.000,0.000,2037,455,2739
$GC,4117,-1.30,-116.8,357.3,-6.1,305,4125,0.52,3.33,0.00,0.000,6,0.000,0.000,1909,2156,2746
$GC,4447,-1.12,-116.8,383.4,-8.1,321,4455,0.65,3.25,0.00,0.000,4,0.000,0.000,2092,313,2738
$GC,4499,-1.54,-116.8,386.3,-4.9,323,4508,1.05,3.47,0.00,0.000,6,0.000,0.000,1861,2167,2738
$GC,4830,-1.18,-116.8,416.5,-9.4,339,4838,0.95,3.25,0.00,0.000,4,0.000,0.000,2069,317,2742
$GC,4879,-1.63,-116.8,419.3,-3.6,341,4887,1.58,3.35,0.00,0.000,6,0.000,0.000,1840,2160,2745
$GC,5217,-1.26,-116.8,450.1,-9.5,357,5225,0.77,3.03,0.00,0.000,4,0.000,0.000,2036,437,2748
$GC,5246,-1.34,-116.8,452.4,-4.8,358,5254,0.52,2.95,0.00,0.000,6,0.000,0.000,1918,2147,2740
$GC,5583,-1.22,-116.8,476.1,-7.3,374,5591,0.52,3.47,0.00,0.000,4,0.000,0.000,2040,343,2745
$GC,5663,-1.43,-116.8,480.6,-4.6,377,5671,0.62,3.17,0.00,0.000,6,0.000,0.000,1917,2006,2740
$GC,5998,-1.26,-116.8,504.3,-7.3,392,6005,0.52,2.78,0.00,0.000,4,0.000,0.000,1991,3532,2740
$GC,6190,-1.26,-116.8,515.9,-5.8,396,6195,0.00,2.67,0.00,0.000,6,0.000,0.000,2006,1977,2747
$GC,6507,-1.28,-116.8,533.6,-5.6,404,6512,0.00,2.65,0.00,0.000,4,0.000,0.000,1996,3644,2738
$GC,6645,-1.28,-116.8,541.0,-5.6,407,6650,0.00,2.88,0.00,0.000,6,0.000,0.000,1996,1958,2743
$GC,6974,-1.38,-116.8,559.5,-5.5,415,6976,0.10,0.00,0.00,0.000,6,0.000,0.000,1985,1957,2738
$STATE,7215,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7215,begin apogee
$GC,7228,-0.25,0.0,573.0,5.5,421,7346,1.45,0.00,114.22,0.000,6,0.000,0.000,2223,2118,2253
$STATE,7347,end apogee,CONTROL_FINISHED_OK
$STATE,7347,begin climb
$GC,7353,1.49,116.8,573.5,0.0,424,7479,2.28,2.47,112.45,0.001,4,0.000,0.000,2641,3438,1787
$GC,7718,1.16,116.8,489.4,25.2,431,7731,1.02,3.38,0.00,0.000,6,0.000,0.000,2471,1937,1776
$GC,8048,1.35,140.9,448.8,11.8,447,8078,0.60,3.17,21.75,0.001,4,0.000,0.000,2597,435,1690
$GC,8138,1.05,140.9,429.0,30.8,450,8148,0.77,2.65,1.15,0.000,6,0.000,0.000,2424,2239,1691
$GC,8463,1.26,163.9,391.3,11.9,466,8499,1.15,3.83,22.23,0.001,4,0.000,0.000,2629,408,1584
$GC,8565,1.10,163.9,367.3,25.2,470,8579,0.77,3.38,0.00,0.000,6,0.000,0.000,2455,2234,1596
$GC,8896,1.43,203.4,330.0,10.6,486,8944,1.17,3.72,38.22,0.001,4,0.000,0.000,2639,403,1427
$GC,8986,1.27,203.4,307.7,27.0,489,8995,0.57,3.58,0.00,0.000,6,0.000,0.000,2523,2087,1430
$GC,9310,1.12,203.4,244.5,20.3,505,9311,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2079,1433
$GC,9614,1.23,203.4,196.5,15.4,520,9622,0.28,3.40,0.00,0.000,4,0.000,0.000,2511,410,1429
$GC,9666,1.10,203.4,185.7,19.7,522,9672,0.00,3.20,0.00,0.000,6,0.000,0.000,2513,2246,1430
$GC,9998,1.18,203.4,133.0,16.4,538,10004,0.20,2.28,0.08,0.000,4,0.000,0.000,2512,3413,1428
$GC,10074,1.30,203.4,120.2,15.3,541,10086,0.47,3.12,0.00,0.000,6,0.000,0.000,2612,1788,1423
$GC,10433,1.09,203.4,33.0,23.6,590,10442,0.77,3.50,0.03,0.001,4,0.000,0.000,2504,3579,1427
$STATE,10649,end climb,SURFACE_DEPTH_REACHED
$STATE,10650,begin surface coast
$FREEZE,-0.00,4.557,-1.723
$FINISH,-0.0,1.024959
$STATE,10663,end surface coast,CONTROL_FINISHED_OK
$STATE,10663,begin surface
$SM_CCo,10696,155.10,0.000,2,0,421,450.86
$SM_GC,0.00,0.00,0.00,155.10,0.000,0.000,0.000,638,1747,421,-7.40,-6.87,450.86
$RAFOS_CLK,0
$RAFOS,4,1160688557,21.500000,21.488056,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,3,1160685245,20.583334,20.568056,80,0,0,0,0,0,856,0,0,0,0,0
$RAFOS,2,1160684653,20.416666,20.403610,80,0,0,0,0,0,925,0,0,0,0,0
$RAFOS,1,1160684061,20.250000,20.239166,80,0,0,0,0,0,667,0,0,0,0,0
$RAFOS,0,1160683458,20.083334,20.071667,80,0,0,0,0,0,553,0,0,0,0,0
$RAFOS_FIX,6656.480957,-6030.104980,121006,202020,4,80,0.57
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2291
$INTERNAL_PRESSURE,26.0065
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.9,19.5
$ALTIM_BOTTOM_PING,501.4,80.3
$24V_AH,23.7,65.621
$10V_AH,9.7,9.875
$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,49.375,149.225,310.125,155.100,0.000,0.000,0.000,86.755,4.500,12.091,1961.266,6853.616,780.090,766.682,913.356,0.000,1456.552,0.000,660.863,1800.000,31.241
$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,510.273,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22132,628
$CFSIZE,255582208,241524736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,113,1153,3,0
$SOUNDSPEED,1470.8
$CURRENT,0.046,266.6,1
$GPS,121006,220019,6657.842,-6033.789,33,1.1,33,18.0