version: 66.01
glider: 1
mission: 1
dive: 19
start: 10 10 106 9 1 31
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,3
$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,-446924
$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,0
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,500
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,6
$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,0.27000001
$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
$GPS1,085655,6637.720,-6005.678,15,1.1,15,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.8
$GPS2,090101,6637.720,-6005.678,11,1.1,11,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6646.611,-6008.095
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.221,0.063
$KALMAN_X,-18076.3,1112.0,191.8,29372.1,-5815.5
$KALMAN_Y,6077.1,-400.7,-1286.6,5721.4,4434.9
$MHEAD_RNG_PITCHd_Wd,307.4,20000,-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,37,end surface,CONTROL_FINISHED_OK
$STATE,37,begin dive
$GC,43,-1.49,-116.8,0.0,0.0,0,60,0.00,0.00,-8.15,0.000,6,0.000,0.000,602,1977,2868
$GC,66,-1.49,-116.8,0.3,-0.0,2,84,6.93,2.70,0.00,0.000,4,0.000,0.000,1986,289,2866
$GC,251,-1.49,-116.8,22.6,-9.4,31,260,0.52,3.38,0.00,0.000,6,0.000,0.000,1870,2125,2860
$GC,620,-1.80,-116.8,76.2,-15.3,92,629,0.03,2.38,0.00,0.000,4,0.000,0.000,1890,3472,2860
$GC,715,-1.52,-116.8,90.6,-14.8,107,724,0.52,2.70,0.00,0.000,6,0.000,0.000,2022,1748,2862
$GC,1060,-1.33,-116.8,122.4,-9.0,133,1065,0.22,2.92,0.00,0.000,4,0.000,0.000,1943,3562,2866
$GC,1206,-1.41,-116.8,140.2,-11.6,139,1218,0.00,3.25,0.00,0.000,6,0.000,0.000,1928,1901,2865
$GC,1537,-1.41,-116.8,176.4,-11.8,155,1542,0.00,2.97,0.00,0.000,4,0.000,0.000,1934,3530,2862
$GC,1636,-1.32,-116.8,187.9,-9.2,159,1643,0.05,3.28,0.00,0.000,6,0.000,0.000,1941,1865,2868
$GC,1966,-1.56,-116.8,227.1,-11.9,175,1971,0.03,2.72,0.00,0.000,4,0.000,0.000,1934,3515,2867
$GC,2064,-1.46,-116.8,239.2,-12.2,179,2069,0.00,2.67,0.00,0.000,6,0.000,0.000,1933,2010,2867
$GC,2392,-1.46,-116.8,276.1,-11.2,194,2397,0.00,2.47,0.00,0.000,4,0.000,0.000,1956,3359,2864
$GC,2462,-1.49,-116.8,285.4,-11.6,197,2466,0.00,2.03,0.00,0.000,6,0.000,0.000,1935,2198,2867
$GC,2792,-1.46,-116.8,323.7,-11.8,213,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2195,2861
$GC,3097,-1.35,-116.8,358.0,-9.9,228,3101,0.03,2.28,0.00,0.000,4,0.000,0.000,1992,3349,2863
$GC,3127,-1.47,-116.8,361.4,-9.7,229,3132,0.52,1.85,0.00,0.000,6,0.000,0.000,1874,2164,2863
$GC,3452,-1.55,-116.8,407.6,-15.2,244,3458,0.35,2.75,0.00,0.000,4,0.000,0.000,2009,3637,2859
$GC,3478,-1.26,-116.8,412.2,-14.0,245,3485,0.00,3.22,0.00,0.000,6,0.000,0.000,2008,1964,2865
$GC,3812,-1.23,-116.8,442.0,-9.9,261,3818,0.00,3.17,0.00,0.000,4,0.000,0.000,2017,3453,2861
$GC,3894,-1.29,-116.8,449.2,-10.7,264,3898,0.00,1.95,0.00,0.000,6,0.000,0.000,2008,2294,2863
$GC,4224,-1.42,-116.8,479.7,-9.3,280,4232,0.52,3.25,0.00,0.000,4,0.000,0.000,1890,498,2868
$GC,4259,-1.47,-116.8,484.6,-13.9,281,4273,0.50,3.78,0.00,0.000,6,0.000,0.000,1997,2163,2861
$GC,4582,-1.45,-116.8,515.5,-9.2,293,4588,0.40,2.78,0.00,0.000,4,0.000,0.000,1865,3497,2859
$GC,4641,-1.50,-116.8,524.0,-15.0,294,4647,0.52,2.15,0.00,0.000,6,0.000,0.000,2003,2330,2862
$GC,4994,-1.32,-116.8,557.6,-9.3,303,5002,0.40,3.50,0.00,0.000,4,0.000,0.000,1873,528,2862
$GC,5017,-1.36,-116.8,560.8,-11.6,303,5025,0.62,3.22,0.00,0.000,6,0.000,0.000,1989,2374,2867
$STATE,5207,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5207,begin apogee
$GC,5220,-0.25,0.0,579.7,9.5,308,5244,1.20,0.00,14.98,0.001,6,0.000,0.000,2233,1865,2237
$STATE,5245,end apogee,CONTROL_FINISHED_OK
$STATE,5245,begin climb
$GC,5251,1.49,116.8,582.8,0.0,309,5266,1.88,0.00,11.20,0.001,6,0.000,0.000,2581,1867,1769
$GC,5571,1.49,116.8,526.3,18.5,317,5577,0.05,2.88,0.00,0.000,4,0.000,0.000,2618,3577,1773
$GC,5720,1.34,116.8,497.4,17.7,320,5728,0.52,3.28,0.00,0.000,6,0.000,0.000,2460,2098,1766
$GC,6068,1.26,134.9,456.0,12.3,336,6077,0.80,2.22,1.85,0.001,4,0.000,0.000,2607,3631,1689
$GC,6147,1.33,134.9,441.4,20.0,339,6155,0.52,2.85,0.00,0.000,6,0.000,0.000,2483,1983,1686
$GC,6482,1.21,170.0,402.8,11.0,355,6492,0.45,2.62,3.45,0.001,4,0.000,0.000,2578,3641,1553
$GC,6585,1.45,170.0,380.9,24.6,359,6593,0.00,2.47,0.00,0.000,6,0.000,0.000,2591,2117,1554
$GC,6909,1.30,170.0,312.7,22.1,375,6915,0.40,2.47,0.00,0.000,4,0.000,0.000,2488,3490,1551
$GC,6963,1.11,196.2,303.1,11.7,377,6976,0.00,2.30,2.65,0.000,6,0.000,0.000,2469,1985,1434
$GC,7293,1.40,211.7,262.5,12.5,393,7302,0.70,3.47,1.50,0.000,4,0.000,0.000,2667,3513,1375
$GC,7387,1.63,211.7,234.4,30.3,397,7392,0.50,2.22,0.00,0.000,6,0.000,0.000,2527,2341,1368
$GC,7723,1.44,211.7,172.7,18.1,413,7725,0.52,0.00,0.00,0.000,6,0.000,0.000,2658,2345,1370
$GC,8034,1.46,211.7,81.2,29.4,434,8041,0.55,0.00,0.00,0.000,6,0.000,0.000,2583,2321,1374
$STATE,8347,end climb,SURFACE_DEPTH_REACHED
$STATE,8347,begin surface coast
$FINISH,0.3,1.024903
$STATE,8354,end surface coast,CONTROL_FINISHED_OK
$STATE,8359,begin surface
$SM_CCo,8389,15.10,0.000,0,0,397,452.09
$SM_GC,0.34,0.00,0.00,15.10,0.000,0.000,0.000,659,2193,397,-7.48,5.80,452.09
$RAFOS_CLK,0
$RAFOS,4,1160472560,9.500000,9.488889,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,6637.165527,-6002.690430,101006,080820,4,80,0.49
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2239
$INTERNAL_PRESSURE,26.026
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,18.9,19.2
$ALTIM_BOTTOM_PING,500.4,87.3
$24V_AH,23.7,34.341
$10V_AH,9.7,5.252
$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,30.425,95.275,35.625,15.100,0.000,0.000,0.000,67.520,4.500,12.222,1627.483,5515.538,242.597,573.496,695.220,0.000,739.409,0.000,493.095,360.000,31.010
$DEVICE_MAMPS,119.000,60.000,0.767,600.000,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,405.995,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15831,488
$CFSIZE,255582208,243191808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,64,726,0,0
$SOUNDSPEED,1460.1
$CURRENT,0.075,214.5,1
$GPS,101006,112311,6638.277,-6007.558,30,1.1,30,18.0