version: 66.01
glider: 1
mission: 1
dive: 21
start: 10 10 106 20 24 15
data:
$ID,1
$MISSION,1
$DIVE,21
$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,-449108.56
$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,21
$R_STBD_OVSHOOT,3
$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
$GPS1,201922,6644.110,-6033.691,21,1.1,21,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-70.0
$GPS2,202346,6644.110,-6033.691,9,1.1,9,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6654.258,-6032.242
$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,-76.62,0.000,6,0.000,0.000,618,1883,2743
$GC,135,-1.49,-116.8,-0.0,0.0,9,152,6.78,2.70,0.00,0.000,4,0.000,0.000,2006,369,2741
$GC,211,-1.62,-116.8,14.6,-9.4,20,220,0.77,3.28,0.00,0.000,6,0.000,0.000,1835,2188,2737
$GC,579,-1.19,-116.8,72.5,-14.6,81,586,1.08,0.00,0.00,0.000,6,0.000,0.000,2088,2191,2736
$GC,945,-1.46,-116.8,93.1,-5.1,142,954,1.15,3.35,0.00,0.000,4,0.000,0.000,1874,490,2741
$GC,1007,-1.24,-116.8,99.5,-11.8,151,1016,0.77,3.33,0.00,0.000,6,0.000,0.000,2070,2174,2737
$GC,1333,-1.54,-116.8,117.8,-5.0,167,1341,0.77,3.17,0.00,0.000,4,0.000,0.000,1892,511,2736
$GC,1418,-1.30,-116.8,126.4,-11.1,170,1430,0.60,3.00,0.00,0.000,6,0.000,0.000,2022,2131,2740
$GC,1747,-1.37,-116.8,149.6,-6.7,186,1755,0.60,3.28,0.00,0.000,4,0.000,0.000,1881,440,2737
$GC,1823,-1.15,-116.8,156.8,-10.7,189,1831,0.85,2.75,0.00,0.000,6,0.000,0.000,2039,1997,2740
$GC,2164,-1.39,-116.8,174.3,-4.8,205,2171,0.77,3.12,0.00,0.000,4,0.000,0.000,1896,298,2736
$GC,2243,-1.24,-116.8,180.8,-9.8,208,2252,0.65,3.28,0.00,0.000,6,0.000,0.000,2024,1972,2737
$GC,2579,-1.35,-116.8,201.7,-5.8,224,2587,0.40,3.33,0.00,0.000,4,0.000,0.000,1894,269,2736
$GC,2614,-1.16,-116.8,204.6,-9.4,225,2627,0.77,3.50,0.00,0.000,6,0.000,0.000,2018,2157,2739
$GC,2944,-1.28,-116.8,223.5,-5.6,241,2952,0.47,3.25,0.00,0.000,4,0.000,0.000,1878,335,2735
$GC,3043,-1.09,-116.8,232.6,-9.0,245,3051,0.77,2.88,0.00,0.000,6,0.000,0.000,2021,1957,2737
$GC,3379,-1.21,-116.8,251.1,-5.5,261,3383,0.00,2.62,0.00,0.000,4,0.000,0.000,2029,300,2748
$GC,3409,-1.35,-116.8,253.1,-5.4,262,3421,0.50,3.25,0.00,0.000,6,0.000,0.000,1894,2158,2745
$GC,3738,-1.12,-116.8,280.4,-8.7,278,3747,0.65,3.75,0.00,0.000,4,0.000,0.000,2095,478,2739
$GC,3823,-1.43,-116.8,284.6,-3.9,281,3836,0.80,2.72,0.00,0.000,6,0.000,0.000,1917,2166,2743
$GC,4152,-1.21,-116.8,310.3,-8.4,297,4160,0.68,3.25,0.00,0.000,4,0.000,0.000,2027,264,2746
$GC,4228,-1.38,-116.8,314.6,-5.0,300,4236,0.52,3.17,0.00,0.000,6,0.000,0.000,1906,1918,2739
$GC,4564,-1.18,-116.8,341.5,-8.0,316,4566,0.47,0.00,0.00,0.000,6,0.000,0.000,2046,1944,2742
$GC,4878,-1.32,-116.8,356.7,-4.1,331,4884,0.45,2.78,0.00,0.000,4,0.000,0.000,1917,449,2737
$GC,4965,-1.17,-116.8,363.0,-7.4,334,4973,0.77,2.97,0.00,0.000,6,0.000,0.000,2084,1904,2741
$GC,5290,-1.45,-116.8,376.2,-3.7,350,5298,0.93,2.58,0.00,0.000,4,0.000,0.000,1902,540,2740
$GC,5381,-1.28,-116.8,382.4,-8.0,353,5390,0.52,2.38,0.00,0.000,6,0.000,0.000,2030,1890,2740
$GC,5706,-1.63,-116.8,399.3,-5.1,369,5712,0.90,2.22,0.00,0.000,4,0.000,0.000,1855,333,2741
$GC,5751,-1.33,-116.8,403.1,-9.2,371,5759,0.80,3.58,0.00,0.000,6,0.000,0.000,2029,2162,2748
$GC,6092,-1.47,-116.8,419.7,-4.6,387,6100,0.77,3.28,0.00,0.000,4,0.000,0.000,1863,470,2739
$GC,6127,-1.18,-116.8,422.7,-9.2,388,6141,0.85,3.38,0.00,0.000,6,0.000,0.000,1979,1981,2740
$GC,6457,-1.18,-116.8,442.2,-5.9,404,6464,0.00,3.53,0.00,0.000,4,0.000,0.000,2004,311,2742
$GC,6528,-1.23,-116.8,446.6,-5.7,407,6535,0.00,3.53,0.00,0.000,6,0.000,0.000,1969,2158,2736
$GC,6868,-1.23,-116.8,466.1,-5.9,423,6875,0.00,3.42,0.00,0.000,4,0.000,0.000,1979,297,2739
$GC,6931,-1.27,-116.8,470.2,-6.3,425,6940,0.00,3.40,0.00,0.000,6,0.000,0.000,1998,2188,2735
$GC,7256,-1.27,-116.8,488.5,-5.8,441,7261,0.00,3.12,0.00,0.000,4,0.000,0.000,1983,345,2739
$GC,7322,-1.31,-116.8,492.8,-6.3,444,7330,0.00,3.62,0.00,0.000,6,0.000,0.000,1984,2183,2742
$GC,7654,-1.31,-116.8,511.8,-5.9,455,7662,0.00,3.83,0.00,0.000,4,0.000,0.000,1968,384,2739
$GC,7690,-1.35,-116.8,513.9,-5.8,455,7695,0.00,3.15,0.00,0.000,6,0.000,0.000,1980,2013,2744
$STATE,7735,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7735,begin apogee
$GC,7748,-0.25,0.0,516.8,5.8,456,7876,1.75,0.00,114.12,0.000,6,0.000,0.000,2291,2022,2260
$STATE,7877,end apogee,CONTROL_FINISHED_OK
$STATE,7877,begin climb
$GC,7883,1.49,116.8,517.3,0.0,459,8019,1.77,0.00,113.75,0.000,6,0.000,0.000,2641,2032,1785
$GC,8330,1.21,116.8,420.8,23.2,478,8333,0.98,0.00,0.00,0.000,6,0.000,0.000,2438,2027,1778
$GC,8640,1.53,165.3,387.9,9.9,493,8694,0.77,2.55,46.80,0.000,4,0.000,0.000,2637,3508,1581
$GC,8753,1.28,165.3,361.5,25.4,498,8761,0.70,3.00,0.00,0.000,6,0.000,0.000,2454,1843,1587
$GC,9088,1.59,200.9,322.4,10.9,514,9134,1.38,3.22,33.12,0.000,4,0.000,0.000,2702,3526,1442
$GC,9328,1.19,200.9,245.5,34.4,524,9342,1.08,3.33,0.75,0.001,6,0.000,0.000,2446,1715,1442
$GC,9653,1.28,200.9,196.5,14.2,540,9660,0.55,2.97,0.00,0.000,4,0.000,0.000,2582,3396,1437
$GC,9911,1.18,200.9,138.1,21.8,551,9919,0.52,3.20,0.00,0.000,6,0.000,0.000,2464,1749,1440
$GC,10240,1.41,222.1,97.4,12.1,569,10265,0.90,3.15,16.67,0.001,4,0.000,0.000,2632,3373,1364
$GC,10483,1.14,222.1,31.9,27.2,608,10492,0.80,3.08,0.00,0.000,6,0.000,0.000,2479,1727,1357
$STATE,10689,end climb,SURFACE_DEPTH_REACHED
$STATE,10689,begin surface coast
$FREEZE,-0.01,4.952,-1.646
$FINISH,-0.0,1.023827
$STATE,10701,end surface coast,CONTROL_FINISHED_OK
$STATE,10701,begin surface
$SM_CCo,10730,144.05,0.000,0,0,426,450.62
$SM_GC,-0.01,0.00,0.00,144.05,0.000,0.000,0.000,584,2068,426,-7.69,2.49,450.62
$RAFOS_CLK,0
$RAFOS,4,1160515747,21.500000,21.485277,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,3,1160512444,20.583334,20.567778,80,0,0,0,0,0,798,0,0,0,0,0
$RAFOS,1,1160511242,20.250000,20.233889,80,0,0,0,0,0,770,0,0,0,0,0
$RAFOS_FIX,6642.003906,-6029.743652,101006,202050,3,80,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2284
$INTERNAL_PRESSURE,26.0162
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.8,19.2
$ALTIM_BOTTOM_PING,450.5,76.2
$24V_AH,23.7,59.530
$10V_AH,9.7,9.061
$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,47.375,138.750,325.225,144.050,0.000,0.000,0.000,88.231,4.000,9.810,1970.472,6739.126,811.770,756.070,873.014,0.000,1475.350,0.000,651.341,720.000,23.567
$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,524.292,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22134,644
$CFSIZE,255582208,242737152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,103,1061,5,0
$SOUNDSPEED,1469.8
$CURRENT,0.052,256.7,1
$GPS,101006,232720,6644.973,-6034.145,35,1.1,35,18.0