version: 66.01
glider: 1
mission: 1
dive: 38
start: 10 13 106 1 26 51
data:
$ID,1
$MISSION,1
$DIVE,38
$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,-449497.09
$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,8
$R_STBD_OVSHOOT,20
$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
$GPS1,011925,6658.774,-6033.944,13,1.1,13,18.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,012627,6658.774,-6033.944,30,1.1,30,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6708.922,-6032.509
$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,-116.8,0.0,0.0,0,129,0.00,0.00,-76.75,0.000,6,0.000,0.000,621,2214,2747
$GC,136,-1.49,-116.8,0.3,-0.7,9,153,6.93,3.42,0.00,0.000,4,0.000,0.000,1990,382,2744
$GC,288,-1.53,-116.8,24.7,-10.9,33,297,0.52,3.58,0.00,0.000,6,0.000,0.000,1856,2028,2743
$GC,656,-1.19,-116.8,76.9,-13.6,94,665,0.88,3.45,0.00,0.000,4,0.000,0.000,2030,3530,2744
$GC,769,-1.36,-116.8,84.6,-6.0,111,778,0.52,3.12,0.00,0.000,6,0.000,0.000,1916,1701,2737
$GC,1121,-1.18,-116.8,119.1,-10.0,146,1129,0.77,3.47,0.00,0.000,4,0.000,0.000,2038,3539,2748
$GC,1184,-1.33,-116.8,124.2,-5.9,148,1193,0.52,2.95,0.00,0.000,6,0.000,0.000,1898,1810,2745
$GC,1504,-1.16,-116.8,153.7,-9.4,164,1512,0.68,2.72,0.00,0.000,4,0.000,0.000,2085,333,2742
$GC,1530,-1.33,-116.8,155.9,-8.4,165,1539,0.77,3.17,0.00,0.000,6,0.000,0.000,1922,2010,2749
$GC,1871,-1.16,-116.8,184.7,-8.9,181,1876,0.47,2.58,0.00,0.000,4,0.000,0.000,2047,3415,2738
$GC,1902,-1.27,-116.8,187.4,-5.9,182,1914,0.47,3.22,0.00,0.000,6,0.000,0.000,1933,1717,2745
$GC,2230,-1.11,-116.8,214.5,-8.4,198,2239,1.12,3.22,0.00,0.000,4,0.000,0.000,2117,3566,2743
$GC,2459,-1.44,-116.8,224.5,-4.1,207,2469,0.80,3.50,0.00,0.000,6,0.000,0.000,1921,1732,2745
$GC,2785,-1.27,-116.8,250.4,-8.3,223,2793,0.85,3.25,0.00,0.000,4,0.000,0.000,2038,3561,2745
$GC,2958,-1.43,-116.8,260.0,-4.9,230,2970,0.77,3.45,0.00,0.000,6,0.000,0.000,1865,1732,2742
$GC,3287,-1.10,-116.8,290.3,-9.8,246,3290,0.98,0.00,0.00,0.000,6,0.000,0.000,2109,1729,2745
$GC,3597,-1.45,-116.8,305.1,-4.1,261,3599,0.82,0.00,0.00,0.000,6,0.000,0.000,1921,1750,2743
$GC,3906,-1.28,-116.8,328.5,-7.8,276,3908,0.62,0.00,0.00,0.000,6,0.000,0.000,2029,1741,2746
$GC,4215,-1.46,-116.8,343.7,-4.7,291,4223,1.10,3.92,0.00,0.000,4,0.000,0.000,1839,3560,2745
$GC,4383,-1.11,-116.8,359.6,-9.3,298,4391,1.10,3.35,0.00,0.000,6,0.000,0.000,2101,1893,2744
$GC,4718,-1.44,-116.8,373.2,-3.6,314,4721,1.08,0.00,0.00,0.000,6,0.000,0.000,1844,1887,2747
$GC,5028,-1.09,-116.8,401.5,-9.5,329,5036,1.02,3.03,0.00,0.000,4,0.000,0.000,2034,351,2749
$GC,5086,-1.28,-116.8,405.5,-4.7,331,5099,0.52,3.17,0.00,0.000,6,0.000,0.000,1933,2195,2745
$GC,5415,-1.12,-116.8,429.5,-7.6,347,5423,1.10,3.22,0.00,0.000,4,0.000,0.000,2101,409,2744
$GC,5515,-1.59,-116.8,434.4,-4.3,351,5524,1.10,3.22,0.00,0.000,6,0.000,0.000,1848,2238,2740
$GC,5850,-1.26,-116.8,463.8,-9.2,367,5853,1.20,0.00,0.00,0.000,6,0.000,0.000,2040,2226,2740
$GC,6160,-1.42,-116.8,479.3,-4.6,382,6168,0.88,3.25,0.00,0.000,4,0.000,0.000,1912,375,2752
$GC,6223,-1.27,-116.8,484.0,-7.8,384,6232,0.52,3.28,0.00,0.000,6,0.000,0.000,2022,2074,2742
$GC,6548,-1.41,-116.8,499.6,-4.7,400,6557,0.52,3.42,0.00,0.000,4,0.000,0.000,1930,358,2737
$GC,6593,-1.27,-116.8,503.0,-7.6,401,6603,0.52,3.42,0.00,0.000,6,0.000,0.000,2047,2212,2746
$GC,6929,-1.39,-116.8,519.4,-4.8,410,6937,0.60,3.25,0.00,0.000,4,0.000,0.000,1899,516,2750
$GC,7037,-1.32,-116.8,527.4,-8.0,412,7044,0.70,3.00,0.00,0.000,6,0.000,0.000,2039,2178,2747
$GC,7361,-1.42,-116.8,544.0,-5.0,420,7367,0.35,2.75,0.00,0.000,4,0.000,0.000,1911,3661,2748
$GC,7470,-1.21,-116.8,552.2,-8.5,422,7478,0.80,3.17,0.00,0.000,6,0.000,0.000,1997,1988,2744
$GC,7828,-1.46,-116.8,570.4,-4.7,431,7836,0.52,3.22,0.00,0.000,4,0.000,0.000,1903,3646,2744
$GC,7897,-1.23,-116.8,575.4,-7.6,432,7905,0.80,3.25,0.00,0.000,6,0.000,0.000,2021,1826,2745
$STATE,8039,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8039,begin apogee
$GC,8052,-0.25,0.0,582.9,4.8,436,8190,1.00,0.00,114.78,0.001,6,0.000,0.000,2284,2139,2266
$STATE,8191,end apogee,CONTROL_FINISHED_OK
$STATE,8191,begin climb
$GC,8197,1.49,116.8,583.3,0.0,439,8339,2.03,3.10,111.78,0.001,4,0.000,0.000,2628,314,1785
$GC,8397,1.17,116.8,544.4,29.4,443,8406,0.77,3.67,0.75,0.000,6,0.000,0.000,2449,2157,1782
$GC,8743,1.52,169.0,509.2,9.6,452,8800,0.68,2.72,48.97,0.000,4,0.000,0.000,2662,3615,1576
$GC,8938,1.16,169.0,457.6,30.7,458,8948,0.77,3.85,0.68,0.000,6,0.000,0.000,2457,1764,1569
$GC,9263,1.45,198.7,418.0,11.4,474,9299,0.73,3.25,28.80,0.001,4,0.000,0.000,2642,3468,1455
$GC,9371,1.19,198.7,388.5,27.9,478,9381,0.77,3.15,0.15,0.000,6,0.000,0.000,2474,1781,1454
$GC,9696,1.46,218.0,346.4,12.2,494,9717,0.77,0.00,17.70,0.000,6,0.000,0.000,2621,1779,1379
$GC,10025,1.11,218.0,249.0,33.4,510,10034,0.93,2.88,0.00,0.000,4,0.000,0.000,2461,437,1375
$GC,10053,1.26,218.0,241.3,15.6,511,10062,0.38,3.10,1.05,0.000,6,0.000,0.000,2585,1971,1371
$GC,10383,1.14,218.0,165.5,23.7,527,10389,0.60,2.35,0.00,0.000,4,0.000,0.000,2470,3499,1375
$GC,10436,1.34,218.0,156.5,13.8,529,10449,0.73,3.00,0.00,0.000,6,0.000,0.000,2602,1816,1370
$GC,10774,1.19,218.0,72.5,24.6,557,10783,0.55,3.45,0.00,0.000,4,0.000,0.000,2488,3632,1373
$GC,11046,1.37,223.9,34.1,13.3,601,11062,0.52,3.83,5.15,0.000,6,0.000,0.000,2608,1780,1348
$STATE,11179,end climb,SURFACE_DEPTH_REACHED
$STATE,11179,begin surface coast
$FINISH,0.0,1.023703
$STATE,11193,end surface coast,CONTROL_FINISHED_OK
$STATE,11193,begin surface
$SM_CCo,11222,141.65,0.000,2,0,422,450.62
$SM_GC,-0.00,0.00,0.00,141.65,0.000,0.000,0.000,610,1940,422,-7.52,-0.82,450.62
$RAFOS_CLK,0
$RAFOS,2,1160713461,4.416667,4.405833,80,0,0,0,0,0,879,0,0,0,0,0
$RAFOS,1,1160712843,4.250000,4.234167,80,0,0,0,0,0,764,0,0,0,0,0
$RAFOS,0,1160712247,4.083333,4.068611,80,0,0,0,0,0,624,0,0,0,0,0
$RAFOS,4,1160710162,3.500000,3.489444,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,6659.349121,-6029.732910,131006,040400,3,80,0.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2356
$INTERNAL_PRESSURE,26.0358
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.0,19.4
$ALTIM_BOTTOM_PING,500.3,91.7
$24V_AH,23.7,66.399
$10V_AH,9.7,9.986
$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,54.125,136.400,329.800,141.650,0.000,0.000,0.000,86.837,4.500,30.429,1965.215,7314.959,814.832,786.690,918.385,0.000,1489.239,0.000,661.052,1440.000,26.175
$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,506.528,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22179,624
$CFSIZE,255582208,241364992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,123,1053,9,0
$SOUNDSPEED,1471.6
$CURRENT,0.056,254.3,1
$GPS,131006,043801,6659.682,-6034.113,20,1.1,20,18.0