version: 66.01
glider: 1
mission: 1
dive: 44
start: 10 13 106 22 4 46
data:
$ID,1
$MISSION,1
$DIVE,44
$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,-449665.22
$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,4
$R_STBD_OVSHOOT,1
$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
$GPS1,215915,6704.650,-6034.501,16,1.1,16,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-69.9
$GPS2,220421,6704.650,-6034.501,15,1.1,15,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6714.798,-6033.073
$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,-116.8,0.0,0.0,0,128,0.00,0.00,-76.72,0.000,6,0.000,0.000,639,2231,2742
$GC,134,-1.49,-116.8,-0.0,-0.0,9,151,6.78,2.95,0.00,0.000,4,0.000,0.000,1984,540,2743
$GC,274,-1.55,-116.8,21.7,-10.0,31,283,0.50,3.25,0.00,0.000,6,0.000,0.000,1865,2223,2738
$GC,642,-1.21,-116.8,73.5,-13.2,92,651,0.77,2.72,0.00,0.000,4,0.000,0.000,1966,3560,2739
$GC,720,-1.47,-116.8,80.3,-6.7,104,729,0.47,3.72,0.00,0.000,6,0.000,0.000,1859,1697,2744
$GC,1077,-1.14,-116.8,122.1,-11.9,140,1079,0.82,0.00,0.00,0.000,6,0.000,0.000,2060,1689,2737
$GC,1386,-1.32,-116.8,140.3,-5.5,155,1392,0.52,2.72,0.00,0.000,4,0.000,0.000,1987,330,2743
$GC,1431,-1.47,-116.8,143.6,-7.1,157,1439,0.50,3.75,0.00,0.000,6,0.000,0.000,1871,2171,2739
$GC,1767,-1.16,-116.8,178.7,-10.5,173,1775,0.85,3.62,0.00,0.000,4,0.000,0.000,2034,294,2738
$GC,1825,-1.39,-116.8,182.6,-5.2,175,1837,0.75,3.88,0.00,0.000,6,0.000,0.000,1910,2165,2739
$GC,2154,-1.24,-116.8,209.0,-8.2,191,2162,0.40,3.25,0.00,0.000,4,0.000,0.000,2031,357,2738
$GC,2189,-1.44,-116.8,212.0,-5.6,192,2203,0.65,3.78,0.00,0.000,6,0.000,0.000,1913,2003,2743
$GC,2519,-1.27,-116.8,237.7,-8.2,208,2527,0.47,3.58,0.00,0.000,4,0.000,0.000,2023,480,2744
$GC,2572,-1.47,-116.8,241.4,-4.6,210,2580,0.77,3.58,0.00,0.000,6,0.000,0.000,1881,2140,2737
$GC,2907,-1.15,-116.8,271.8,-9.6,226,2916,0.90,3.22,0.00,0.000,4,0.000,0.000,2063,288,2740
$GC,2943,-1.40,-116.8,275.0,-5.5,227,2956,0.80,3.80,0.00,0.000,6,0.000,0.000,1912,2137,2737
$GC,3273,-1.29,-116.8,298.5,-7.3,243,3281,0.40,3.25,0.00,0.000,4,0.000,0.000,2049,279,2742
$GC,3349,-1.52,-116.8,302.5,-4.4,246,3357,0.82,3.25,0.00,0.000,6,0.000,0.000,1882,2203,2737
$GC,3684,-1.22,-116.8,332.5,-9.1,262,3693,1.08,3.75,0.00,0.000,4,0.000,0.000,2068,510,2737
$GC,3742,-1.44,-116.8,336.0,-4.4,264,3755,0.77,2.67,0.00,0.000,6,0.000,0.000,1884,2012,2740
$GC,4071,-1.15,-116.8,364.0,-9.0,280,4079,0.73,2.95,0.00,0.000,4,0.000,0.000,2057,349,2738
$GC,4106,-1.40,-116.8,366.6,-4.3,281,4119,0.77,4.03,0.00,0.000,6,0.000,0.000,1882,2232,2741
$GC,4435,-1.11,-116.8,394.3,-8.8,297,4443,0.85,2.97,0.00,0.000,4,0.000,0.000,2053,533,2736
$GC,4512,-1.35,-116.8,398.6,-4.1,300,4520,0.77,3.20,0.00,0.000,6,0.000,0.000,1886,2176,2738
$GC,4847,-1.08,-116.8,426.9,-8.4,316,4855,0.68,3.28,0.00,0.000,4,0.000,0.000,2071,484,2740
$GC,4896,-1.35,-116.8,429.4,-3.9,318,4904,0.77,3.05,0.00,0.000,6,0.000,0.000,1885,2132,2746
$GC,5232,-1.10,-116.8,456.0,-8.1,334,5240,0.77,2.78,0.00,0.000,4,0.000,0.000,2088,3487,2736
$GC,5387,-1.37,-116.8,462.9,-3.8,340,5397,0.77,3.78,0.00,0.000,6,0.000,0.000,1896,1827,2743
$GC,5712,-1.11,-116.8,488.3,-8.4,356,5718,0.73,2.25,0.00,0.000,4,0.000,0.000,2078,490,2742
$GC,5771,-1.39,-116.8,492.0,-3.8,358,5780,0.82,2.92,0.00,0.000,6,0.000,0.000,1883,2135,2746
$GC,6088,-1.14,-116.8,516.4,-8.0,369,6096,1.10,3.47,0.00,0.000,4,0.000,0.000,2080,419,2743
$GC,6137,-1.42,-116.8,519.0,-3.9,370,6145,0.77,3.25,0.00,0.000,6,0.000,0.000,1897,2101,2740
$GC,6471,-1.14,-116.8,545.7,-8.2,378,6479,0.73,3.28,0.00,0.000,4,0.000,0.000,2066,440,2745
$GC,6546,-1.40,-116.8,549.4,-3.9,379,6554,0.77,3.17,0.00,0.000,6,0.000,0.000,1895,2071,2740
$GC,6894,-1.13,-116.8,576.4,-8.1,388,6902,1.15,2.97,0.00,0.000,4,0.000,0.000,2056,421,2743
$GC,6996,-1.39,-116.8,581.2,-4.0,390,7004,0.77,3.38,0.00,0.000,6,0.000,0.000,1873,1881,2739
$GC,7324,-1.12,-116.8,607.0,-8.1,398,7333,0.90,3.25,0.00,0.000,4,0.000,0.000,2072,3574,2740
$GC,7394,-1.35,-116.8,610.5,-3.9,399,7401,0.77,3.03,0.00,0.000,6,0.000,0.000,1869,1733,2743
$GC,7745,-1.07,-116.8,638.4,-8.2,408,7753,0.73,3.53,0.00,0.000,4,0.000,0.000,2070,3583,2740
$GC,8005,-1.30,-116.8,649.5,-4.0,413,8018,0.57,3.42,0.00,0.000,6,0.000,0.000,1939,1729,2736
$STATE,8138,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8139,begin apogee
$GC,8152,-0.25,0.0,657.9,6.5,417,8270,1.77,0.00,114.05,0.000,6,0.000,0.000,2226,2208,2260
$STATE,8271,end apogee,CONTROL_FINISHED_OK
$STATE,8271,begin climb
$GC,8277,1.49,116.8,658.4,0.0,420,8394,1.88,0.00,111.85,0.001,6,0.000,0.000,2647,2204,1785
$GC,8741,1.19,116.8,556.4,24.1,431,8744,0.93,0.00,0.00,0.000,6,0.000,0.000,2498,2210,1781
$GC,9060,1.41,147.5,516.4,11.3,439,9104,0.43,2.40,29.85,0.001,4,0.000,0.000,2599,3379,1656
$GC,9162,1.25,147.5,494.8,22.9,441,9170,0.52,3.50,0.00,0.000,6,0.000,0.000,2492,1666,1662
$GC,9497,1.44,163.0,450.9,12.5,457,9523,0.60,2.60,14.52,0.001,4,0.000,0.000,2622,343,1596
$GC,9550,1.31,163.0,439.2,23.3,459,9558,0.50,3.78,0.00,0.000,6,0.000,0.000,2491,2192,1593
$GC,9885,1.48,167.9,393.4,13.4,475,9899,0.73,3.80,4.85,0.001,4,0.000,0.000,2667,310,1572
$GC,9934,1.21,167.9,381.6,28.3,477,9942,0.90,3.78,0.00,0.000,6,0.000,0.000,2553,2147,1584
$GC,10275,1.19,167.9,318.0,17.8,493,10282,0.00,3.17,0.15,0.000,4,0.000,0.000,2548,513,1579
$GC,10303,1.19,167.9,310.8,19.7,494,10308,0.15,2.53,0.00,0.000,6,0.000,0.000,2498,2201,1582
$GC,10634,1.33,167.9,265.2,13.9,510,10642,0.35,3.35,1.08,0.001,4,0.000,0.000,2607,543,1574
$GC,10692,0.72,167.9,251.5,23.2,512,10704,1.08,2.88,0.00,0.000,6,0.000,0.000,2366,2059,1574
$GC,11021,1.29,223.5,219.3,9.3,528,11090,1.05,3.33,53.17,0.001,4,0.000,0.000,2587,373,1345
$GC,11141,1.15,223.5,190.8,26.0,533,11149,0.77,3.08,0.00,0.000,6,0.000,0.000,2429,2022,1350
$GC,11476,1.52,258.8,149.5,10.9,549,11508,0.98,0.00,28.67,0.001,6,0.000,0.000,2687,2036,1211
$GC,11835,1.14,258.8,27.6,33.9,589,11844,1.42,3.03,0.00,0.000,4,0.000,0.000,2435,3716,1206
$GC,11956,1.48,294.8,10.1,10.9,608,11988,0.90,3.35,22.35,0.000,6,0.000,0.000,2616,1709,1063
$STATE,11997,end climb,SURFACE_DEPTH_REACHED
$STATE,11997,begin surface coast
$FINISH,0.0,1.024158
$STATE,12003,end surface coast,CONTROL_FINISHED_OK
$STATE,12003,begin surface
$SM_CCo,12033,97.28,0.000,1,0,434,450.62
$SM_GC,-0.00,0.00,0.00,97.28,0.000,0.000,0.000,617,2201,434,-7.56,6.05,450.62
$RAFOS_CLK,0
$RAFOS,3,1160786057,0.583333,0.571389,80,0,0,0,0,0,830,0,0,0,0,0
$RAFOS,2,1160785444,0.416667,0.401111,80,0,0,0,0,0,972,0,0,0,0,0
$RAFOS,1,1160784844,0.250000,0.234444,80,0,0,0,0,0,771,0,0,0,0,0
$RAFOS,0,1160784281,0.083333,0.078056,80,0,0,0,0,0,471,0,0,0,0,0
$RAFOS_FIX,6704.124023,-6030.228027,141006,000020,4,80,0.39
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2347
$INTERNAL_PRESSURE,26.0846
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.4,999.0
$ALTIM_BOTTOM_PING,576.4,89.0
$24V_AH,23.7,68.921
$10V_AH,9.7,10.328
$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,59.625,171.000,380.550,97.275,0.000,0.000,0.000,90.608,5.250,15.904,1948.627,7975.591,840.308,788.055,896.139,0.000,1544.340,0.000,674.190,1440.000,30.024
$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,497.785,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22141,614
$CFSIZE,255582208,240840704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,131,1331,4,0
$SOUNDSPEED,1472.7
$CURRENT,0.056,259.4,1
$GPS,141006,012854,6705.660,-6034.530,33,1.1,33,18.0