version: 66.01
glider: 1
mission: 1
dive: 17
start: 10 10 106 8 51 59
data:
$ID,1
$MISSION,1
$DIVE,17
$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,-449019.47
$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,15
$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
$GPS1,084238,6641.117,-6032.762,24,1.1,24,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,085135,6641.117,-6032.762,38,1.1,38,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6651.265,-6031.310
$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,40,end surface,CONTROL_FINISHED_OK
$STATE,40,begin dive
$GC,46,-1.49,-116.8,0.0,0.0,0,133,0.00,0.00,-76.50,0.000,6,0.000,0.000,590,2020,2735
$GC,139,-1.49,-116.8,0.1,-0.3,10,156,6.88,2.53,0.00,0.000,4,0.000,0.000,2012,3601,2739
$GC,237,-1.61,-116.8,17.5,-8.9,25,246,0.68,3.58,0.00,0.000,6,0.000,0.000,1895,1923,2742
$GC,605,-1.36,-116.8,65.4,-12.1,86,613,0.52,3.17,0.00,0.000,4,0.000,0.000,1994,3446,2739
$GC,688,-1.47,-116.8,72.5,-7.5,99,698,0.52,3.47,0.00,0.000,6,0.000,0.000,1889,1761,2739
$GC,1046,-1.22,-116.8,111.7,-11.2,145,1055,0.75,3.47,0.00,0.000,4,0.000,0.000,2059,3602,2740
$GC,1169,-1.50,-116.8,119.8,-4.9,150,1177,0.80,3.17,0.00,0.000,6,0.000,0.000,1888,1911,2743
$GC,1504,-1.24,-116.8,154.1,-10.5,166,1512,0.68,3.28,0.00,0.000,4,0.000,0.000,2064,3439,2735
$GC,1595,-1.52,-116.8,159.6,-4.8,169,1604,0.80,3.38,0.00,0.000,6,0.000,0.000,1890,1921,2732
$GC,1920,-1.26,-116.8,191.2,-10.0,185,1928,0.77,2.95,0.00,0.000,4,0.000,0.000,2077,3419,2747
$GC,2010,-1.54,-116.8,196.2,-4.6,188,2019,1.00,3.35,0.00,0.000,6,0.000,0.000,1909,1896,2731
$GC,2334,-1.69,-116.8,224.2,-8.3,204,2339,0.00,2.55,0.00,0.000,4,0.000,0.000,1910,3540,2743
$GC,2405,-1.50,-116.8,229.9,-9.1,207,2414,0.40,3.60,0.00,0.000,6,0.000,0.000,2016,1885,2739
$GC,2741,-1.61,-116.8,249.7,-5.5,223,2750,0.82,3.15,0.00,0.000,4,0.000,0.000,1824,3556,2737
$GC,2832,-1.28,-116.8,258.2,-10.2,226,2841,0.80,3.10,0.00,0.000,6,0.000,0.000,2024,2044,2740
$GC,3157,-1.39,-116.8,276.4,-5.2,242,3163,0.40,2.53,0.00,0.000,4,0.000,0.000,1891,3544,2733
$GC,3194,-1.24,-116.8,279.3,-8.1,243,3203,0.52,3.35,0.00,0.000,6,0.000,0.000,2016,1896,2736
$GC,3518,-1.36,-116.8,296.4,-5.1,259,3526,0.45,3.28,0.00,0.000,4,0.000,0.000,1904,3406,2734
$GC,3618,-1.17,-116.8,304.9,-8.5,263,3624,0.77,2.42,0.00,0.000,6,0.000,0.000,2097,1844,2740
$GC,3949,-1.45,-116.8,319.1,-3.9,279,3956,0.73,3.00,0.00,0.000,4,0.000,0.000,1913,3577,2744
$GC,4039,-1.27,-116.8,326.0,-8.1,282,4048,0.62,2.80,0.00,0.000,6,0.000,0.000,2007,1879,2746
$GC,4364,-1.65,-116.8,343.5,-5.4,298,4372,0.80,2.67,0.00,0.000,4,0.000,0.000,1897,3401,2742
$GC,4455,-1.45,-116.8,350.3,-8.5,301,4464,0.52,2.65,0.00,0.000,6,0.000,0.000,2023,1905,2739
$GC,4780,-1.55,-116.8,367.6,-5.1,317,4788,0.77,3.33,0.00,0.000,4,0.000,0.000,1888,3554,2732
$GC,4859,-1.35,-116.8,373.8,-8.3,320,4870,0.50,3.25,0.00,0.000,6,0.000,0.000,2017,1901,2742
$GC,5195,-1.45,-116.8,391.5,-5.1,336,5203,0.55,3.03,0.00,0.000,4,0.000,0.000,1896,3520,2738
$GC,5286,-1.27,-116.8,398.4,-8.2,339,5295,0.55,3.38,0.00,0.000,6,0.000,0.000,2036,2022,2739
$GC,5610,-1.38,-116.8,415.1,-4.9,355,5616,0.50,2.67,0.00,0.000,4,0.000,0.000,1918,3529,2738
$GC,5664,-1.21,-116.8,419.2,-8.0,357,5677,0.77,3.03,0.00,0.000,6,0.000,0.000,2080,1880,2733
$GC,5994,-1.49,-116.8,431.7,-3.7,373,6002,0.95,3.47,0.00,0.000,4,0.000,0.000,1850,3722,2744
$GC,6073,-1.17,-116.8,437.8,-9.4,376,6081,1.08,2.97,0.00,0.000,6,0.000,0.000,2093,2017,2734
$GC,6403,-1.47,-116.8,451.0,-3.6,392,6411,0.77,3.03,0.00,0.000,4,0.000,0.000,1916,3522,2737
$GC,6452,-1.29,-116.8,454.1,-7.9,394,6460,0.52,3.25,0.00,0.000,6,0.000,0.000,2038,2018,2740
$GC,6793,-1.40,-116.8,470.8,-4.7,410,6801,0.88,2.97,0.00,0.000,4,0.000,0.000,1908,3536,2736
$GC,6850,-1.22,-116.8,475.5,-7.7,412,6863,0.77,3.20,0.00,0.000,6,0.000,0.000,2084,1897,2740
$GC,7180,-1.51,-116.8,487.7,-3.6,428,7188,1.05,3.33,0.00,0.000,4,0.000,0.000,1906,3602,2739
$GC,7260,-1.34,-116.8,493.0,-7.6,431,7267,0.52,2.95,0.00,0.000,6,0.000,0.000,2057,1779,2737
$STATE,7601,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7601,begin apogee
$GC,7613,-0.25,0.0,509.6,4.5,443,7735,1.25,0.00,113.12,0.000,6,0.000,0.000,2262,2094,2270
$STATE,7736,end apogee,CONTROL_FINISHED_OK
$STATE,7736,begin climb
$GC,7742,1.49,116.8,509.6,0.0,446,7880,1.98,3.28,112.75,0.001,4,0.000,0.000,2629,573,1790
$GC,7927,1.32,116.8,476.5,22.4,452,7933,0.52,2.53,0.00,0.000,6,0.000,0.000,2505,2248,1788
$GC,8258,1.43,126.0,433.4,13.0,468,8274,0.38,2.38,9.15,0.000,4,0.000,0.000,2632,3426,1747
$GC,8331,1.24,126.0,418.6,22.0,470,8339,0.77,2.65,0.00,0.000,6,0.000,0.000,2436,1763,1748
$GC,8666,1.51,174.9,384.1,9.9,486,8722,0.93,3.80,47.53,0.001,4,0.000,0.000,2671,3603,1551
$GC,8891,1.15,174.9,315.8,31.7,496,8899,1.05,3.30,0.00,0.000,6,0.000,0.000,2446,1737,1545
$GC,9232,1.46,208.2,273.2,11.1,512,9278,0.65,4.05,32.38,0.001,4,0.000,0.000,2654,3435,1410
$GC,9464,1.21,208.2,209.5,27.6,522,9472,0.77,3.25,0.00,0.000,6,0.000,0.000,2433,1790,1407
$GC,9804,1.50,232.2,165.8,11.8,538,9831,0.73,3.60,19.08,0.000,4,0.001,0.000,2628,3462,1314
$GC,9975,1.29,232.2,118.0,28.4,545,9987,0.77,2.75,0.00,0.000,6,0.000,0.000,2453,1801,1312
$GC,10324,1.57,250.6,72.6,12.3,588,10349,0.93,3.42,15.00,0.001,4,0.000,0.000,2592,3611,1235
$GC,10498,1.49,250.6,33.2,22.6,615,10506,0.00,3.55,0.00,0.000,6,0.000,0.000,2579,1769,1240
$STATE,10632,end climb,SURFACE_DEPTH_REACHED
$STATE,10632,begin surface coast
$FINISH,0.1,1.024471
$STATE,10644,end surface coast,CONTROL_FINISHED_OK
$STATE,10645,begin surface
$SM_CCo,10674,125.38,0.000,1,0,428,450.62
$SM_GC,0.00,0.00,0.00,125.38,0.000,0.000,0.000,587,2279,428,-7.78,8.59,450.62
$RAFOS_CLK,0
$RAFOS,4,1160472558,9.500000,9.488334,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,3,1160469245,8.583333,8.568055,80,0,0,0,0,0,787,0,0,0,0,0
$RAFOS_FIX,6639.730469,-6029.842285,101006,080820,4,80,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2214
$INTERNAL_PRESSURE,26.0162
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.5,19.8
$ALTIM_BOTTOM_PING,450.3,67.6
$24V_AH,23.7,57.964
$10V_AH,9.7,8.853
$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,50.925,150.925,349.000,125.375,0.000,0.000,0.000,145.258,4.000,38.766,1974.887,6629.859,800.977,829.334,1067.700,0.000,1508.529,0.000,690.196,360.000,23.562
$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,515.287,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22148,639
$CFSIZE,255582208,243032064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,115,1157,4,0
$SOUNDSPEED,1470.3
$CURRENT,0.047,257.5,1
$GPS,101006,115353,6641.821,-6032.974,30,1.1,30,18.0