version: 66.01
glider: 1
mission: 1
dive: 45
start: 10 14 106 1 34 20
data:
$ID,1
$MISSION,1
$DIVE,45
$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,-449696.69
$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,0
$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
$GPS1,012854,6705.660,-6034.530,33,1.1,33,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,013352,6705.660,-6034.530,25,1.1,25,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6715.808,-6033.103
$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,-116.8,0.0,0.0,0,126,0.00,0.00,-76.55,0.000,6,0.000,0.000,603,2197,2745
$GC,137,-1.49,-116.8,-0.0,0.0,9,154,7.53,2.45,0.00,0.000,4,0.000,0.000,2021,3675,2745
$GC,391,-1.59,-116.8,30.3,-8.8,50,400,0.77,3.33,0.00,0.000,6,0.000,0.000,1818,1815,2746
$GC,760,-1.47,-116.8,84.7,-12.6,111,769,1.10,3.47,0.00,0.000,4,0.000,0.000,2012,3656,2743
$GC,817,-1.53,-116.8,89.5,-6.2,119,826,0.55,3.88,0.00,0.000,6,0.000,0.000,1878,1973,2742
$GC,1167,-1.26,-116.8,128.1,-11.1,147,1175,1.12,2.97,0.00,0.000,4,0.000,0.000,2059,469,2748
$GC,1225,-1.51,-116.8,132.1,-5.1,149,1238,0.80,3.17,0.00,0.000,6,0.000,0.000,1891,2139,2746
$GC,1555,-1.22,-116.8,165.0,-10.5,165,1562,0.68,2.72,0.00,0.000,4,0.000,0.000,2054,3649,2746
$GC,1654,-1.43,-116.8,171.6,-5.1,169,1662,0.77,3.67,0.00,0.000,6,0.000,0.000,1866,1837,2736
$GC,1984,-1.29,-116.8,204.7,-10.0,185,1992,0.77,3.03,0.00,0.000,4,0.000,0.000,2044,335,2746
$GC,2060,-1.51,-116.8,208.8,-4.4,188,2069,0.77,3.72,0.00,0.000,6,0.000,0.000,1870,2226,2746
$GC,2397,-1.19,-116.8,241.6,-10.0,204,2405,0.77,3.70,0.00,0.000,4,0.000,0.000,2010,380,2741
$GC,2446,-1.27,-116.8,245.4,-6.1,206,2453,0.00,3.25,0.00,0.000,6,0.000,0.000,1984,2216,2745
$GC,2787,-1.31,-116.8,265.5,-6.0,222,2794,0.00,3.45,0.00,0.000,4,0.000,0.000,1968,380,2747
$GC,2822,-1.37,-116.8,268.0,-6.0,223,2828,0.03,3.12,0.00,0.000,6,0.000,0.000,1982,2202,2745
$GC,3147,-1.41,-116.8,286.9,-5.9,238,3153,0.08,2.88,0.00,0.000,4,0.000,0.000,1998,488,2748
$GC,3222,-1.48,-116.8,291.5,-5.9,241,3230,0.47,3.22,0.00,0.000,6,0.000,0.000,1874,2149,2741
$GC,3557,-1.19,-116.8,321.3,-9.2,257,3560,0.82,0.00,0.00,0.000,6,0.000,0.000,2046,2150,2746
$GC,3867,-1.39,-116.8,336.0,-4.4,272,3875,0.95,3.03,0.00,0.000,4,0.000,0.000,1928,423,2749
$GC,3893,-1.42,-116.8,337.7,-5.0,273,3900,0.00,3.35,0.00,0.000,6,0.000,0.000,1911,2250,2754
$GC,4234,-1.29,-116.8,362.4,-7.4,289,4242,0.60,3.28,0.00,0.000,4,0.000,0.000,2054,575,2745
$GC,4269,-1.51,-116.8,364.8,-4.6,290,4282,0.75,3.28,0.00,0.000,6,0.000,0.000,1850,2097,2740
$GC,4599,-1.20,-116.8,393.4,-9.0,306,4607,0.90,3.25,0.00,0.000,4,0.000,0.000,2032,409,2736
$GC,4648,-1.41,-116.8,396.9,-4.5,308,4656,0.52,3.22,0.00,0.000,6,0.000,0.000,1926,2232,2741
$GC,4984,-1.25,-116.8,421.8,-7.6,324,4993,0.40,3.83,0.00,0.000,4,0.000,0.000,2047,404,2746
$GC,5049,-1.51,-116.8,425.2,-4.4,326,5059,0.77,3.33,0.00,0.000,6,0.000,0.000,1855,2208,2741
$GC,5374,-1.29,-116.8,453.0,-8.9,342,5383,0.90,3.50,0.00,0.000,4,0.000,0.000,2039,370,2747
$GC,5432,-1.52,-116.8,457.0,-4.4,344,5445,0.77,3.65,0.00,0.000,6,0.000,0.000,1877,2197,2750
$GC,5762,-1.20,-116.8,485.0,-8.9,360,5770,0.77,3.25,0.00,0.000,4,0.000,0.000,1988,498,2743
$GC,5814,-1.25,-116.8,489.0,-5.7,362,5820,0.00,3.12,0.00,0.000,6,0.000,0.000,1985,2193,2740
$GC,6139,-1.55,-116.8,506.4,-5.1,375,6147,0.47,3.45,0.00,0.000,4,0.000,0.000,1876,349,2744
$GC,6241,-1.27,-116.8,514.5,-8.7,377,6249,0.80,3.38,0.00,0.000,6,0.000,0.000,2005,2067,2748
$GC,6569,-1.45,-116.8,532.1,-5.0,385,6575,0.50,2.80,0.00,0.000,4,0.000,0.000,1867,3538,2742
$GC,6853,-1.18,-116.8,554.8,-8.4,391,6861,0.68,3.65,0.00,0.000,6,0.000,0.000,2063,1714,2746
$GC,7175,-1.38,-116.8,569.2,-4.1,399,7181,0.68,2.47,0.00,0.000,4,0.000,0.000,1847,347,2743
$GC,7212,-1.11,-116.8,571.7,-8.6,399,7221,1.08,3.65,0.00,0.000,6,0.000,0.000,2116,2200,2743
$GC,7547,-1.48,-116.8,585.3,-3.8,408,7556,1.33,3.72,0.00,0.000,4,0.000,0.000,1867,385,2746
$GC,7650,-1.24,-116.8,592.9,-8.2,410,7658,0.77,3.38,0.00,0.000,6,0.000,0.000,2059,2041,2746
$GC,7978,-1.46,-116.8,607.4,-4.1,418,7986,0.68,3.22,0.00,0.000,4,0.000,0.000,1860,3701,2742
$GC,8233,-1.18,-116.8,627.4,-8.4,423,8241,0.77,4.07,0.00,0.000,6,0.000,0.000,2003,1737,2743
$GC,8579,-1.23,-116.8,646.4,-5.3,432,8583,0.00,2.05,0.00,0.000,4,0.000,0.000,1993,576,2744
$GC,8644,-1.30,-116.8,649.9,-5.2,433,8651,0.00,3.28,0.00,0.000,6,0.000,0.000,2008,1920,2749
$STATE,8948,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8948,begin apogee
$GC,8961,-0.25,0.0,666.2,5.3,441,9084,1.52,0.00,114.32,0.000,6,0.000,0.000,2288,2255,2259
$STATE,9085,end apogee,CONTROL_FINISHED_OK
$STATE,9085,begin climb
$GC,9091,1.49,116.8,666.2,0.0,444,9225,2.00,3.53,112.53,0.001,4,0.000,0.000,2653,393,1783
$GC,9313,1.24,116.8,620.6,24.1,448,9322,0.77,3.05,0.00,0.000,6,0.000,0.000,2476,2189,1786
$GC,9649,1.51,154.5,582.2,10.8,457,9694,0.77,3.45,36.10,0.001,4,0.000,0.000,2589,328,1629
$GC,9781,1.43,154.5,555.4,21.8,459,9789,0.00,3.17,0.00,0.000,6,0.000,0.000,2598,1994,1628
$GC,10096,1.30,154.5,488.7,21.3,468,10104,0.55,3.22,0.00,0.000,4,0.000,0.000,2454,3651,1631
$GC,10270,1.42,154.5,465.2,15.4,475,10283,0.85,3.17,0.00,0.000,6,0.000,0.000,2646,1937,1628
$GC,10594,1.11,154.5,381.0,26.7,491,10598,1.10,0.00,0.15,0.001,6,0.000,0.000,2471,1933,1632
$GC,10911,1.33,176.7,341.5,12.0,506,10941,0.57,3.28,21.58,0.000,4,0.000,0.000,2593,3400,1542
$GC,11004,1.17,176.7,320.8,23.7,510,11012,0.70,3.03,0.00,0.000,6,0.000,0.000,2461,1757,1539
$GC,11339,1.39,190.1,276.2,12.7,526,11364,0.55,3.47,13.02,0.001,4,0.000,0.000,2589,3410,1482
$GC,11583,1.23,190.1,219.0,24.5,536,11596,0.55,3.10,0.00,0.000,6,0.000,0.000,2483,1705,1484
$GC,11912,1.42,196.1,174.1,13.3,552,11926,0.43,3.42,4.82,0.001,4,0.000,0.000,2585,3550,1465
$GC,12087,1.27,196.1,133.4,22.8,559,12096,0.52,3.58,0.00,0.000,6,0.000,0.000,2467,1891,1462
$GC,12421,1.50,212.2,90.7,12.5,584,12445,0.70,2.85,13.12,0.001,4,0.000,0.000,2655,3574,1394
$GC,12551,1.19,212.2,56.0,27.9,604,12560,0.82,3.15,0.00,0.000,6,0.000,0.000,2456,1940,1391
$GC,12921,1.47,247.2,8.2,11.0,665,12953,1.10,2.38,21.67,0.001,4,0.000,0.000,2634,3444,1249
$FREEZE,-0.00,4.296,-1.681
$STATE,12963,end climb,SURFACE_DEPTH_REACHED
$STATE,12963,begin surface coast
$FREEZE,-0.00,4.522,-1.721
$FINISH,-0.0,1.024928
$STATE,12970,end surface coast,CONTROL_FINISHED_OK
$STATE,12970,begin surface
$SM_CCo,13002,128.10,0.000,3,0,430,451.35
$SM_GC,0.00,0.00,0.00,128.10,0.000,0.000,0.000,603,1928,430,-7.65,-1.36,451.35
$RAFOS_CLK,0
$RAFOS,3,1160800453,4.583333,4.570278,80,0,0,0,0,0,855,0,0,0,0,0
$RAFOS,2,1160799842,4.416667,4.400556,80,0,0,0,0,0,980,0,0,0,0,0
$RAFOS,1,1160799260,4.250000,4.238889,80,0,0,0,0,0,685,0,0,0,0,0
$RAFOS,0,1160798647,4.083333,4.068611,80,0,0,0,0,0,658,0,0,0,0,0
$RAFOS,4,1160796543,3.500000,3.484167,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,6705.079590,-6029.577637,141006,040420,4,80,0.37
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2342
$INTERNAL_PRESSURE,26.0748
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.5,19.9
$ALTIM_BOTTOM_PING,600.8,74.4
$24V_AH,23.7,69.355
$10V_AH,9.7,10.391
$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,55.450,182.250,337.325,128.100,0.000,0.000,0.000,89.302,5.500,30.830,2160.533,8553.289,852.074,920.618,968.562,0.000,1649.451,0.000,783.672,1800.000,31.408
$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,548.682,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22177,671
$CFSIZE,255582208,240738304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,125,1411,5,0
$SOUNDSPEED,1472.3
$CURRENT,0.050,263.9,1
$GPS,141006,051516,6706.727,-6034.655,30,1.1,30,18.0