version: 66.01
glider: 1
mission: 1
dive: 15
start: 10 10 106 3 9 18
data:
$ID,1
$MISSION,1
$DIVE,15
$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,-448957.5
$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,11
$R_STBD_OVSHOOT,19
$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
$GPS1,030412,6639.662,-6032.457,13,1.1,13,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,030848,6639.662,-6032.457,20,1.1,20,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6649.810,-6031.003
$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,-116.8,0.0,0.0,0,122,0.00,0.00,-76.68,0.000,6,0.000,0.000,583,1990,2743
$GC,128,-1.49,-116.8,-0.0,0.0,9,146,6.53,2.72,0.00,0.000,4,0.000,0.000,1981,3622,2739
$GC,302,-1.56,-116.8,22.0,-10.4,36,311,0.52,3.42,0.00,0.000,6,0.000,0.000,1873,1768,2738
$GC,669,-1.32,-116.8,72.2,-12.9,97,678,0.77,3.45,0.00,0.000,4,0.000,0.000,1999,3612,2743
$GC,784,-1.40,-116.8,82.1,-7.7,115,793,0.52,3.17,0.00,0.000,6,0.000,0.000,1894,1939,2738
$GC,1134,-1.11,-116.8,122.1,-11.6,150,1142,0.68,3.25,0.00,0.000,4,0.000,0.000,2054,3656,2746
$GC,1210,-1.35,-116.8,127.6,-5.6,153,1218,0.52,3.15,0.00,0.000,6,0.000,0.000,1929,1848,2736
$GC,1545,-1.23,-116.8,157.1,-8.9,169,1554,0.85,3.03,0.00,0.000,4,0.000,0.000,2037,3563,2745
$GC,1635,-1.52,-116.8,162.2,-4.8,172,1644,0.80,2.83,0.00,0.000,6,0.000,0.000,1886,1830,2741
$GC,1959,-1.24,-116.8,195.0,-10.5,188,1968,1.10,3.75,0.00,0.000,4,0.000,0.000,2029,3488,2744
$GC,2065,-1.47,-116.8,201.7,-5.0,192,2078,0.80,2.90,0.00,0.000,6,0.000,0.000,1944,1838,2741
$GC,2394,-1.33,-116.8,227.7,-8.2,208,2402,0.45,3.22,0.00,0.000,4,0.000,0.000,2071,3675,2739
$GC,2492,-1.56,-116.8,233.2,-5.0,212,2501,0.85,3.42,0.00,0.000,6,0.000,0.000,1879,1844,2745
$GC,2828,-1.28,-116.8,264.7,-9.5,228,2837,0.68,3.55,0.00,0.000,4,0.000,0.000,2070,3670,2735
$GC,2919,-1.53,-116.8,269.2,-4.3,231,2929,0.80,3.53,0.00,0.000,6,0.000,0.000,1882,1842,2738
$GC,3243,-1.25,-116.8,297.8,-9.1,247,3252,0.80,3.42,0.00,0.000,4,0.000,0.000,2076,3658,2743
$GC,3334,-1.47,-116.8,303.1,-4.8,250,3343,0.80,3.25,0.00,0.000,6,0.000,0.000,1933,1789,2742
$GC,3659,-1.33,-116.8,326.8,-7.5,266,3667,0.47,3.22,0.00,0.000,4,0.000,0.000,2057,3673,2745
$GC,3757,-1.57,-116.8,331.9,-4.5,270,3766,0.82,3.47,0.00,0.000,6,0.000,0.000,1852,1994,2741
$GC,4093,-1.26,-116.8,361.8,-9.1,286,4102,0.80,3.47,0.00,0.000,4,0.000,0.000,2035,3656,2739
$GC,4142,-1.49,-116.8,364.6,-4.4,288,4151,0.82,3.47,0.00,0.000,6,0.000,0.000,1878,1754,2744
$GC,4479,-1.35,-116.8,392.0,-8.9,304,4489,0.77,3.75,0.00,0.000,4,0.000,0.000,2034,3389,2734
$GC,4589,-1.56,-116.8,398.0,-4.5,308,4598,0.77,2.55,0.00,0.000,6,0.000,0.000,1858,2080,2736
$GC,4912,-1.22,-116.8,426.4,-9.2,324,4920,0.77,2.67,0.00,0.000,4,0.000,0.000,2045,3421,2738
$GC,4961,-1.40,-116.8,429.8,-4.4,326,4967,0.52,2.65,0.00,0.000,6,0.000,0.000,1908,1902,2747
$GC,5298,-1.22,-116.8,454.1,-7.4,342,5305,0.65,2.97,0.00,0.000,4,0.000,0.000,2031,3601,2747
$GC,5383,-1.41,-116.8,458.7,-4.7,345,5388,0.55,2.42,0.00,0.000,6,0.000,0.000,1910,1900,2741
$GC,5709,-1.50,-116.8,482.0,-7.4,360,5717,0.08,3.55,0.00,0.000,4,0.000,0.000,1924,3579,2744
$GC,5784,-1.51,-116.8,487.4,-6.1,363,5789,0.00,2.90,0.00,0.000,6,0.000,0.000,1917,1908,2741
$STATE,6107,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6107,begin apogee
$GC,6119,-0.25,0.0,512.2,7.4,375,6253,1.52,0.00,114.35,0.000,6,0.000,0.000,2282,2232,2268
$STATE,6253,end apogee,CONTROL_FINISHED_OK
$STATE,6253,begin climb
$GC,6259,1.49,116.8,513.6,0.0,378,6396,1.77,3.05,112.45,0.001,4,0.000,0.000,2649,361,1788
$GC,6427,1.31,116.8,482.8,23.5,382,6436,0.77,3.28,0.00,0.000,6,0.000,0.000,2485,2236,1788
$GC,6751,1.61,161.3,448.1,10.2,398,6805,0.80,1.90,41.58,0.000,4,0.000,0.000,2577,3579,1604
$GC,6869,1.52,161.3,425.3,21.5,403,6877,0.00,3.55,1.40,0.001,6,0.000,0.000,2598,1760,1606
$GC,7209,1.40,161.3,353.5,21.1,419,7215,0.03,3.08,0.00,0.000,4,0.000,0.000,2591,3474,1601
$GC,7369,1.30,161.3,316.4,22.4,426,7377,0.52,3.47,0.00,0.000,6,0.000,0.000,2446,1965,1598
$GC,7709,1.55,184.9,272.6,11.9,442,7741,0.77,3.35,22.98,0.001,4,0.000,0.000,2643,3620,1504
$GC,7835,1.31,184.9,239.2,27.4,447,7848,0.77,2.97,0.00,0.000,6,0.000,0.000,2449,1979,1502
$GC,8164,1.56,206.2,196.9,12.1,463,8189,0.77,2.90,16.98,0.001,4,0.000,0.000,2636,3512,1418
$GC,8285,1.32,206.2,164.3,28.6,468,8293,0.73,3.22,0.00,0.000,6,0.000,0.000,2459,1848,1420
$GC,8626,1.59,227.7,119.9,12.0,484,8651,0.73,2.95,16.90,0.000,4,0.000,0.000,2652,3525,1335
$GC,8790,1.33,227.7,70.6,30.1,502,8799,0.52,3.03,0.00,0.000,6,0.000,0.000,2529,1867,1342
$GC,9158,1.38,227.7,7.0,16.0,563,9167,0.52,2.97,0.38,0.001,4,0.000,0.000,2583,3431,1334
$STATE,9183,end climb,SURFACE_DEPTH_REACHED
$STATE,9183,begin surface coast
$FREEZE,-0.00,4.712,-1.718
$FREEZE,-0.00,4.706,-1.697
$FINISH,-0.0,1.024576
$STATE,9199,end surface coast,CONTROL_FINISHED_OK
$STATE,9199,begin surface
$SM_CCo,9232,139.82,0.000,4,0,423,450.37
$SM_GC,0.00,0.00,0.00,139.82,0.000,0.000,0.000,662,1883,423,-7.44,-2.69,450.37
$RAFOS_CLK,0
$RAFOS,3,1160454858,4.583333,4.571667,80,0,0,0,0,0,709,0,0,0,0,0
$RAFOS,2,1160454245,4.416667,4.401389,80,0,0,0,0,0,986,0,0,0,0,0
$RAFOS,1,1160453658,4.250000,4.238333,80,0,0,0,0,0,690,0,0,0,0,0
$RAFOS,0,1160453044,4.083333,4.067778,80,0,0,0,0,0,606,0,0,0,0,0
$RAFOS,4,1160450945,3.500000,3.484722,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,6638.493652,-6029.033691,101006,040420,4,80,0.76
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2341
$INTERNAL_PRESSURE,26.0162
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.3,18.6
$ALTIM_BOTTOM_PING,426.4,93.5
$24V_AH,23.7,57.236
$10V_AH,9.7,8.741
$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,45.150,132.100,327.000,139.825,0.000,0.000,0.000,85.886,3.750,20.952,1782.327,5615.698,787.348,715.614,782.421,0.000,1408.144,0.000,609.901,1800.000,22.202
$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,460.359,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19005,569
$CFSIZE,255582208,243220480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,106,1023,10,0
$SOUNDSPEED,1469.3
$CURRENT,0.053,258.2,1
$GPS,101006,054724,6640.373,-6032.619,15,1.1,15,18.0