version: 66.01
glider: 1
mission: 1
dive: 19
start: 10 10 106 15 0 25
data:
$ID,1
$MISSION,1
$DIVE,19
$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,-449070.69
$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,8
$R_STBD_OVSHOOT,6
$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
$GPS1,145528,6642.616,-6032.906,26,1.1,26,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-70.0
$GPS2,145955,6642.616,-6032.906,13,1.1,14,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6652.764,-6031.456
$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,-116.8,0.0,0.0,0,124,0.00,0.00,-77.20,0.000,6,0.000,0.000,650,1934,2738
$GC,135,-1.49,-116.8,-0.0,0.0,9,153,7.38,2.53,0.00,0.000,4,0.000,0.000,1983,250,2742
$GC,191,-1.54,-116.8,12.8,-10.6,16,200,0.85,3.62,0.00,0.000,6,0.000,0.000,1853,1972,2744
$GC,558,-1.18,-116.8,67.6,-13.8,77,567,0.98,2.97,0.00,0.000,4,0.000,0.000,2091,316,2738
$GC,589,-1.24,-116.8,70.7,-10.1,81,598,0.77,3.72,0.00,0.000,6,0.000,0.000,1898,2162,2748
$GC,961,-1.05,-116.8,109.1,-10.4,133,969,0.73,3.53,0.00,0.000,4,0.000,0.000,2105,347,2741
$GC,996,-1.39,-116.8,111.9,-5.1,134,1009,0.80,2.92,0.00,0.000,6,0.000,0.000,1906,2198,2741
$GC,1325,-1.20,-116.8,143.2,-9.9,150,1333,0.88,3.40,0.00,0.000,4,0.000,0.000,2056,346,2745
$GC,1402,-1.38,-116.8,148.4,-5.9,153,1409,0.55,2.95,0.00,0.000,6,0.000,0.000,1913,2041,2742
$GC,1740,-1.19,-116.8,179.2,-9.3,169,1748,0.57,3.17,0.00,0.000,4,0.000,0.000,2037,524,2741
$GC,1825,-1.47,-116.8,184.5,-5.6,172,1837,0.77,2.67,0.00,0.000,6,0.000,0.000,1860,1993,2741
$GC,2149,-1.14,-116.8,218.3,-10.5,188,2157,1.17,2.97,0.00,0.000,4,0.000,0.000,2093,471,2740
$GC,2198,-1.50,-116.8,221.2,-3.8,190,2206,1.05,3.28,0.00,0.000,6,0.000,0.000,1854,2171,2741
$GC,2534,-1.25,-116.8,254.0,-9.9,206,2542,0.75,3.22,0.00,0.000,4,0.000,0.000,2055,278,2744
$GC,2586,-1.47,-116.8,257.3,-4.8,208,2594,0.77,3.38,0.00,0.000,6,0.000,0.000,1866,2251,2738
$GC,2922,-1.15,-116.8,287.2,-9.7,224,2930,0.93,3.40,0.00,0.000,4,0.000,0.000,2052,355,2750
$GC,2980,-1.37,-116.8,291.3,-4.6,226,2992,0.52,3.83,0.00,0.000,6,0.000,0.000,1927,2169,2739
$GC,3309,-1.20,-116.8,316.3,-7.9,242,3317,0.45,3.47,0.00,0.000,4,0.000,0.000,2001,508,2747
$GC,3388,-1.38,-116.8,320.9,-5.0,245,3396,0.57,3.42,0.00,0.000,6,0.000,0.000,1922,2237,2743
$GC,3725,-1.20,-116.8,346.2,-7.8,261,3734,0.82,3.72,0.00,0.000,4,0.000,0.000,2031,417,2741
$GC,3767,-1.38,-116.8,349.3,-4.8,262,3776,0.52,3.28,0.00,0.000,6,0.000,0.000,1911,2073,2740
$GC,4092,-1.17,-116.8,374.4,-8.0,278,4100,0.75,3.22,0.00,0.000,4,0.000,0.000,2097,414,2736
$GC,4171,-1.51,-116.8,378.1,-3.5,281,4179,1.08,3.05,0.00,0.000,6,0.000,0.000,1847,2055,2738
$GC,4501,-1.16,-116.8,408.4,-9.5,297,4510,1.02,2.83,0.00,0.000,4,0.000,0.000,2109,349,2738
$GC,4565,-1.51,-116.8,411.5,-3.7,299,4574,1.05,3.75,0.00,0.000,6,0.000,0.000,1914,2179,2745
$GC,4889,-1.32,-116.8,435.1,-6.5,315,4897,0.55,3.72,0.00,0.000,4,0.000,0.000,2049,376,2739
$GC,4975,-1.52,-116.8,440.0,-4.2,318,4988,0.80,3.30,0.00,0.000,6,0.000,0.000,1922,2194,2738
$GC,5299,-1.35,-116.8,463.6,-7.5,334,5307,0.60,3.53,0.00,0.000,4,0.000,0.000,2026,368,2740
$GC,5357,-1.56,-116.8,466.9,-4.5,336,5371,0.80,3.70,0.00,0.000,6,0.000,0.000,1878,2205,2732
$GC,5687,-1.25,-116.8,494.1,-8.7,352,5695,0.77,2.97,0.00,0.000,4,0.000,0.000,2034,585,2737
$GC,5763,-1.44,-116.8,498.3,-4.5,355,5768,0.77,2.28,0.00,0.000,6,0.000,0.000,1837,2048,2748
$STATE,5926,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5926,begin apogee
$GC,5939,-0.25,0.0,512.0,8.7,360,6063,1.98,0.00,114.22,0.000,6,0.000,0.000,2285,1699,2256
$STATE,6064,end apogee,CONTROL_FINISHED_OK
$STATE,6064,begin climb
$GC,6069,1.49,116.8,513.9,0.0,363,6186,1.52,0.00,111.90,0.001,6,0.000,0.000,2687,1698,1785
$GC,6487,1.16,116.8,419.7,24.4,381,6495,1.00,3.42,0.00,0.000,4,0.000,0.000,2408,3548,1792
$GC,6775,1.34,180.6,391.9,8.7,393,6860,0.80,3.03,61.78,0.001,6,0.000,0.000,2590,1701,1531
$GC,7167,1.18,180.6,303.7,23.4,412,7175,0.55,3.22,0.00,0.000,4,0.000,0.000,2540,3561,1519
$GC,7454,1.20,180.6,250.1,17.5,424,7466,0.00,3.47,0.00,0.000,6,0.000,0.000,2519,1732,1523
$GC,7783,1.18,180.6,192.8,18.5,440,7791,0.05,3.45,0.00,0.000,4,0.000,0.000,2552,3579,1528
$GC,8026,1.20,180.6,149.4,17.2,450,8038,0.00,3.78,0.00,0.000,6,0.000,0.000,2557,1734,1523
$GC,8355,1.22,180.6,94.1,16.8,469,8363,0.00,3.38,0.00,0.000,4,0.000,0.000,2523,3561,1523
$GC,8651,1.24,180.6,45.3,16.0,518,8659,0.00,2.38,0.00,0.000,6,0.000,0.000,2543,2011,1524
$STATE,8905,end climb,SURFACE_DEPTH_REACHED
$STATE,8905,begin surface coast
$FREEZE,-0.01,4.601,-1.705
$FINISH,-0.0,1.024691
$STATE,8923,end surface coast,CONTROL_FINISHED_OK
$STATE,8923,begin surface
$SM_CCo,8952,169.48,0.000,1,0,420,450.37
$SM_GC,0.00,0.00,0.00,169.48,0.000,0.000,0.000,629,1679,420,-7.46,-8.09,450.37
$RAFOS_CLK,0
$RAFOS,3,1160498058,16.583334,16.571667,80,0,0,0,0,0,719,0,0,0,0,0
$RAFOS,2,1160497449,16.416666,16.402500,80,0,0,0,0,0,960,0,0,0,0,0
$RAFOS,1,1160496857,16.250000,16.238056,80,0,0,0,0,0,691,0,0,0,0,0
$RAFOS,0,1160496257,16.083334,16.071388,80,0,0,0,0,0,528,0,0,0,0,0
$RAFOS,4,1160494155,15.500000,15.487500,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,6641.252441,-6029.891113,101006,161620,4,80,0.69
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2228
$INTERNAL_PRESSURE,26.0162
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.4,19.4
$ALTIM_BOTTOM_PING,451.3,67.6
$24V_AH,23.7,58.760
$10V_AH,9.7,8.956
$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,45.225,125.050,287.900,169.475,0.000,0.000,0.000,86.440,4.250,14.711,1751.325,5430.147,769.053,702.616,755.284,0.000,1375.284,0.000,600.749,1800.000,26.194
$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,455.832,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18989,563
$CFSIZE,255582208,242913280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,93,965,3,0
$SOUNDSPEED,1469.3
$CURRENT,0.056,248.5,1
$GPS,101006,173421,6643.349,-6033.617,29,1.1,29,18.0