version: 66.01
glider: 1
mission: 1
dive: 23
start: 10 11 106 2 32 29
data:
$ID,1
$MISSION,1
$DIVE,23
$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,-449160.16
$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,5
$R_STBD_OVSHOOT,159
$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
$GPS1,022717,6645.793,-6034.506,9,1.1,9,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,023200,6645.793,-6034.506,25,1.1,25,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6655.941,-6033.059
$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,-76.80,0.000,6,0.000,0.000,637,1713,2750
$GC,135,-1.49,-116.8,-0.0,0.0,9,152,6.28,2.50,0.00,0.000,4,0.000,0.000,1992,399,2747
$GC,250,-1.52,-116.8,19.1,-10.6,26,259,0.52,3.25,0.00,0.000,6,0.000,0.000,1851,2047,2744
$GC,619,-1.18,-116.8,73.3,-13.5,87,628,1.02,2.72,0.00,0.000,4,0.000,0.000,2052,3385,2742
$GC,681,-1.32,-116.8,78.6,-6.4,96,690,0.50,2.72,0.00,0.000,6,0.000,0.000,1900,1700,2746
$GC,1033,-1.13,-116.8,115.6,-10.4,137,1036,0.82,0.00,0.00,0.000,6,0.000,0.000,2093,1698,2742
$GC,1347,-1.44,-116.8,130.6,-4.6,152,1353,0.80,2.42,0.00,0.000,4,0.000,0.000,1917,392,2743
$GC,1392,-1.39,-116.8,134.5,-9.7,154,1400,0.52,3.00,0.00,0.000,6,0.000,0.000,2034,2074,2746
$GC,1728,-1.55,-116.8,154.8,-5.7,170,1736,0.68,3.55,0.00,0.000,4,0.000,0.000,1856,361,2745
$GC,1780,-1.28,-116.8,160.2,-11.4,172,1788,0.77,3.08,0.00,0.000,6,0.000,0.000,2042,1850,2743
$GC,2115,-1.44,-116.8,179.5,-5.5,188,2123,1.10,2.47,0.00,0.000,4,0.000,0.000,1879,524,2750
$GC,2164,-1.16,-116.8,184.0,-10.9,190,2172,0.85,2.65,0.00,0.000,6,0.000,0.000,2039,1865,2750
$GC,2500,-1.33,-116.8,203.2,-5.2,206,2507,0.38,3.03,0.00,0.000,4,0.000,0.000,1910,3514,2744
$GC,2562,-1.16,-116.8,208.3,-8.7,208,2572,0.73,3.40,0.00,0.000,6,0.000,0.000,2095,1844,2744
$GC,2887,-1.49,-116.8,221.7,-3.8,224,2895,0.95,2.75,0.00,0.000,4,0.000,0.000,1852,343,2743
$GC,2922,-1.24,-116.8,225.0,-11.1,225,2935,0.77,3.12,0.00,0.000,6,0.000,0.000,2056,2057,2749
$GC,3252,-1.42,-116.8,242.1,-5.0,241,3260,0.70,2.92,0.00,0.000,4,0.000,0.000,1925,376,2749
$GC,3328,-1.29,-116.8,247.7,-8.6,244,3335,0.50,2.92,0.00,0.000,6,0.000,0.000,2038,2058,2747
$GC,3663,-1.45,-116.8,266.2,-5.5,260,3671,0.47,3.17,0.00,0.000,4,0.000,0.000,1904,377,2752
$GC,3726,-1.32,-116.8,270.6,-7.8,262,3735,0.50,3.42,0.00,0.000,6,0.000,0.000,2060,2076,2745
$GC,4046,-1.49,-116.8,286.7,-4.9,278,4054,0.80,3.50,0.00,0.000,4,0.000,0.000,1911,289,2744
$GC,4096,-1.37,-116.8,290.1,-7.9,280,4104,0.50,3.33,0.00,0.000,6,0.000,0.000,2030,1923,2746
$GC,4431,-1.54,-116.8,307.1,-4.9,296,4439,0.65,3.03,0.00,0.000,4,0.000,0.000,1847,288,2742
$GC,4466,-1.24,-116.8,310.0,-9.7,297,4479,0.80,3.17,0.00,0.000,6,0.000,0.000,2058,1965,2752
$GC,4791,-1.41,-116.8,327.3,-4.8,313,4799,0.88,2.97,0.00,0.000,4,0.000,0.000,1845,432,2745
$GC,4826,-1.27,-116.8,330.0,-9.3,314,4832,0.77,2.42,0.00,0.000,6,0.000,0.000,2058,1973,2749
$GC,5152,-1.45,-116.8,345.5,-4.7,329,5160,0.68,2.88,0.00,0.000,4,0.000,0.000,1971,291,2748
$GC,5201,-1.49,-116.8,348.6,-6.3,331,5209,0.38,2.95,0.00,0.000,6,0.000,0.000,1889,1983,2744
$GC,5537,-1.30,-116.8,375.0,-8.0,347,5539,0.50,0.00,0.00,0.000,6,0.000,0.000,2025,1994,2747
$GC,5851,-1.45,-116.8,390.6,-4.9,362,5858,0.62,2.88,0.00,0.000,4,0.000,0.000,1908,314,2752
$GC,5891,-1.31,-116.8,393.7,-7.9,363,5900,0.52,2.97,0.00,0.000,6,0.000,0.000,2030,2004,2747
$GC,6210,-1.45,-116.8,409.5,-4.8,379,6213,0.50,0.00,0.00,0.000,6,0.000,0.000,1915,2001,2751
$GC,6526,-1.37,-116.8,433.0,-7.2,394,6534,0.40,3.22,0.00,0.000,4,0.000,0.000,2029,345,2751
$GC,6567,-1.55,-116.8,436.0,-4.9,395,6577,0.77,3.28,0.00,0.000,6,0.000,0.000,1849,1854,2740
$GC,6892,-1.19,-116.8,465.2,-9.4,411,6898,0.80,2.25,0.00,0.000,4,0.000,0.000,2000,348,2746
$GC,6923,-1.25,-116.8,468.2,-6.5,412,6929,0.50,2.58,0.00,0.000,6,0.000,0.000,1906,1878,2750
$GC,7243,-1.03,-116.8,493.1,-8.0,427,7251,0.73,3.28,0.00,0.000,4,0.000,0.000,2080,3348,2741
$GC,7370,-1.31,-116.8,498.9,-3.8,432,7383,0.77,3.03,0.00,0.000,6,0.000,0.000,1906,1677,2752
$GC,7692,-1.09,-116.8,523.3,-8.0,441,7701,0.77,3.70,0.00,0.000,4,0.000,0.000,2072,3529,2753
$STATE,7766,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7767,begin apogee
$GC,7783,-0.25,0.0,527.3,4.7,442,7907,0.68,0.00,116.55,0.000,6,0.000,0.000,2254,1675,2258
$STATE,7908,end apogee,CONTROL_FINISHED_OK
$STATE,7908,begin climb
$GC,7914,1.49,116.8,528.0,0.0,445,8051,1.62,3.45,112.45,0.001,4,0.000,0.000,2650,3517,1787
$GC,8197,1.23,116.8,469.7,22.4,453,8206,0.75,2.58,0.05,0.001,6,0.000,0.000,2462,1844,1781
$GC,8521,1.53,162.9,433.6,10.1,469,8574,0.95,2.88,44.58,0.000,4,0.000,0.000,2641,3321,1597
$GC,8652,1.26,162.9,401.7,27.3,474,8660,0.77,2.42,0.00,0.000,6,0.000,0.000,2443,1774,1597
$GC,8976,1.56,196.8,364.3,11.1,490,9022,0.93,3.35,32.60,0.001,4,0.000,0.000,2633,3284,1457
$GC,9297,1.30,196.8,276.8,28.1,504,9303,0.52,2.35,0.00,0.000,6,0.000,0.000,2516,1765,1464
$GC,9633,1.21,196.8,214.2,19.7,520,9638,0.17,2.45,0.00,0.000,4,0.000,0.000,2555,3291,1461
$GC,9916,1.11,196.8,151.7,21.0,532,9929,0.55,2.62,0.15,0.000,6,0.000,0.000,2452,1801,1456
$GC,10240,1.00,196.8,103.4,16.5,548,10247,0.15,3.22,0.00,0.000,4,0.000,0.000,2531,3465,1460
$GC,10459,1.07,196.8,69.2,15.9,579,10467,0.00,2.78,0.00,0.000,6,0.000,0.000,2515,1938,1456
$GC,10826,1.14,196.8,10.9,13.9,640,10834,0.00,3.00,0.00,0.000,4,0.000,0.000,2532,3470,1463
$STATE,10881,end climb,SURFACE_DEPTH_REACHED
$STATE,10881,begin surface coast
$FINISH,0.0,1.024462
$STATE,10893,end surface coast,CONTROL_FINISHED_OK
$STATE,10893,begin surface
$SM_CCo,10925,158.40,0.000,4,0,424,450.37
$SM_GC,-0.00,0.00,0.00,158.40,0.000,0.000,0.000,616,1781,424,-7.42,-5.34,450.37
$RAFOS_CLK,0
$RAFOS,3,1160541244,4.583333,4.567778,80,0,0,0,0,0,812,0,0,0,0,0
$RAFOS,2,1160540643,4.416667,4.400833,80,0,0,0,0,0,992,0,0,0,0,0
$RAFOS,1,1160540049,4.250000,4.235833,80,0,0,0,0,0,735,0,0,0,0,0
$RAFOS,0,1160539457,4.083333,4.071389,80,0,0,0,0,0,528,0,0,0,0,0
$RAFOS,4,1160537357,3.500000,3.488055,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,6644.612793,-6031.587891,111006,040420,4,80,0.47
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2275
$INTERNAL_PRESSURE,25.9967
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.3,19.6
$ALTIM_BOTTOM_PING,476.6,60.6
$24V_AH,23.7,60.367
$10V_AH,9.7,9.172
$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,47.300,141.800,306.375,158.400,0.000,0.000,0.000,86.841,4.500,26.866,2045.136,6870.609,809.914,809.355,864.996,0.000,1503.511,0.000,682.245,1800.000,27.504
$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,531.978,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22147,651
$CFSIZE,255582208,242569216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,105,1107,7,0
$SOUNDSPEED,1469.8
$CURRENT,0.053,257.1,1
$GPS,111006,053926,6646.689,-6034.966,34,1.1,35,18.0