version: 66.01
glider: 1
mission: 1
dive: 18
start: 10 10 106 11 59 11
data:
$ID,1
$MISSION,1
$DIVE,18
$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,-449055.34
$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,9
$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
$GPS1,115353,6641.821,-6032.974,30,1.1,30,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-70.0
$GPS2,115842,6641.821,-6032.974,34,1.1,34,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6651.969,-6031.522
$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,-116.8,0.0,0.0,0,127,0.00,0.00,-76.68,0.000,6,0.000,0.000,611,2282,2736
$GC,134,-1.49,-116.8,-0.0,0.0,9,151,7.35,2.95,0.00,0.000,4,0.000,0.000,1997,255,2741
$GC,209,-1.62,-116.8,15.8,-9.4,20,218,0.77,3.95,0.00,0.000,6,0.000,0.000,1806,2274,2733
$GC,575,-1.16,-116.8,73.9,-15.0,81,584,1.17,2.03,0.00,0.000,4,0.000,0.000,2068,3588,2739
$GC,648,-1.37,-116.8,79.5,-5.8,92,657,0.80,3.00,0.00,0.000,6,0.000,0.000,1868,1756,2736
$GC,998,-1.07,-116.8,120.0,-11.6,130,1006,1.40,2.78,0.00,0.000,4,0.000,0.000,2110,429,2743
$GC,1088,-1.50,-116.8,124.7,-4.1,133,1098,1.08,2.83,0.00,0.000,6,0.000,0.000,1882,2289,2739
$GC,1408,-1.20,-116.8,159.5,-11.0,149,1410,0.73,0.00,0.00,0.000,6,0.000,0.000,2073,2259,2740
$GC,1722,-1.40,-116.8,177.8,-5.1,164,1730,0.85,3.53,0.00,0.000,4,0.000,0.000,1865,400,2738
$GC,1807,-1.14,-116.8,186.1,-10.6,167,1820,0.85,3.38,0.00,0.000,6,0.000,0.000,2050,1937,2742
$GC,2132,-1.34,-116.8,203.8,-5.0,183,2140,0.90,3.28,0.00,0.000,4,0.000,0.000,1872,457,2743
$GC,2173,-1.07,-116.8,207.4,-10.1,184,2183,1.08,2.67,0.00,0.000,6,0.000,0.000,2092,1946,2735
$GC,2500,-1.44,-116.8,222.1,-4.4,200,2508,1.40,3.00,0.00,0.000,4,0.000,0.000,1865,282,2735
$GC,2606,-1.26,-116.8,231.9,-9.0,204,2619,0.80,3.38,0.00,0.000,6,0.000,0.000,2077,2116,2735
$GC,2936,-1.45,-116.8,247.9,-4.7,220,2944,0.80,3.72,0.00,0.000,4,0.000,0.000,1923,240,2737
$GC,2994,-1.37,-116.8,252.4,-8.1,222,3006,0.28,3.85,0.00,0.000,6,0.000,0.000,2013,2048,2742
$GC,3323,-1.41,-116.8,272.1,-6.0,238,3331,0.40,3.22,0.00,0.000,4,0.000,0.000,1879,400,2731
$GC,3408,-1.15,-116.8,279.7,-9.5,241,3421,0.82,3.38,0.00,0.000,6,0.000,0.000,2040,2114,2733
$GC,3738,-1.34,-116.8,296.2,-4.6,257,3745,0.40,3.28,0.00,0.000,4,0.000,0.000,1931,424,2736
$GC,3786,-1.22,-116.8,299.5,-7.8,259,3794,0.52,3.67,0.00,0.000,6,0.000,0.000,2042,2240,2740
$GC,4125,-1.39,-116.8,316.2,-4.7,275,4134,0.45,3.45,0.00,0.000,4,0.000,0.000,1915,380,2746
$GC,4174,-1.27,-116.8,319.6,-7.7,277,4182,0.52,2.78,0.00,0.000,6,0.000,0.000,2056,1932,2737
$GC,4509,-1.44,-116.8,335.8,-4.7,293,4515,0.50,2.55,0.00,0.000,4,0.000,0.000,1894,392,2736
$GC,4554,-1.27,-116.8,339.0,-8.1,295,4561,0.52,2.88,0.00,0.000,6,0.000,0.000,2024,1915,2737
$GC,4889,-1.42,-116.8,355.7,-4.8,311,4897,1.00,3.08,0.00,0.000,4,0.000,0.000,1904,375,2739
$GC,4919,-1.33,-116.8,357.7,-7.4,312,4924,0.50,2.38,0.00,0.000,6,0.000,0.000,2037,1908,2743
$GC,5249,-1.47,-116.8,373.6,-4.8,328,5257,0.77,2.75,0.00,0.000,4,0.000,0.000,1907,355,2744
$GC,5312,-1.32,-116.8,378.4,-7.9,330,5321,0.52,2.88,0.00,0.000,6,0.000,0.000,2029,2028,2734
$GC,5637,-1.45,-116.8,394.5,-4.8,346,5645,0.45,3.22,0.00,0.000,4,0.000,0.000,1922,381,2740
$GC,5748,-1.34,-116.8,403.5,-8.1,350,5758,0.47,2.95,0.00,0.000,6,0.000,0.000,2030,2043,2739
$GC,6073,-1.48,-116.8,419.2,-4.8,366,6075,0.50,0.00,0.00,0.000,6,0.000,0.000,1884,2060,2738
$GC,6382,-1.28,-116.8,442.6,-7.8,381,6390,0.75,2.88,0.00,0.000,4,0.000,0.000,2026,552,2743
$GC,6432,-1.42,-116.8,445.9,-4.6,383,6440,0.55,3.08,0.00,0.000,6,0.000,0.000,1902,2045,2744
$GC,6772,-1.22,-116.8,471.0,-7.7,399,6780,0.47,2.97,0.00,0.000,4,0.000,0.000,2029,525,2734
$GC,6848,-1.37,-116.8,475.1,-4.8,402,6856,0.52,3.17,0.00,0.000,6,0.000,0.000,1916,2010,2744
$GC,7188,-1.17,-116.8,500.3,-7.6,418,7196,0.85,2.97,0.00,0.000,4,0.000,0.000,2088,360,2741
$GC,7241,-1.48,-116.8,503.5,-3.9,419,7249,1.02,2.92,0.00,0.000,6,0.000,0.000,1849,2027,2743
$STATE,7318,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7318,begin apogee
$GC,7331,-0.25,0.0,510.1,9.4,421,7455,2.00,0.00,114.20,0.000,6,0.000,0.000,2279,1707,2267
$STATE,7456,end apogee,CONTROL_FINISHED_OK
$STATE,7456,begin climb
$GC,7462,1.49,116.8,511.5,0.0,424,7605,1.77,2.62,112.32,0.001,4,0.000,0.000,2648,397,1781
$GC,7657,1.28,116.8,475.2,22.9,430,7667,0.75,2.95,0.00,0.000,6,0.000,0.000,2453,1929,1786
$GC,7982,1.59,164.1,440.1,10.0,446,8037,1.25,3.03,46.17,0.000,4,0.000,0.000,2637,3606,1586
$GC,8265,1.33,164.1,365.6,26.1,458,8274,0.73,3.17,0.00,0.000,6,0.000,0.000,2534,1941,1589
$GC,8590,1.41,164.1,314.6,15.5,474,8597,0.47,2.97,0.00,0.000,4,0.000,0.000,2663,294,1591
$GC,8660,1.22,164.1,297.2,26.2,477,8668,0.80,3.40,0.00,0.000,6,0.000,0.000,2448,2150,1588
$GC,9001,1.52,196.3,256.5,11.2,493,9040,0.93,3.47,30.62,0.001,4,0.000,0.000,2641,329,1464
$GC,9123,1.32,196.3,224.2,28.8,497,9136,0.60,3.53,0.00,0.000,6,0.000,0.000,2516,2176,1457
$GC,9452,1.41,196.3,170.4,16.0,513,9460,0.43,3.50,0.00,0.000,4,0.000,0.000,2662,395,1453
$GC,9523,1.22,196.3,152.6,26.0,516,9531,0.80,3.12,0.00,0.000,6,0.000,0.000,2515,2260,1462
$GC,9863,1.32,196.3,99.0,15.3,532,9871,0.00,3.78,0.00,0.000,4,0.000,0.000,2517,554,1454
$GC,9914,1.44,196.3,91.1,15.4,539,9923,0.47,2.92,0.00,0.000,6,0.000,0.000,2650,2252,1462
$STATE,10270,end climb,SURFACE_DEPTH_REACHED
$STATE,10270,begin surface coast
$FINISH,0.0,1.025081
$STATE,10277,end surface coast,CONTROL_FINISHED_OK
$STATE,10277,begin surface
$SM_CCo,10307,159.50,0.000,1,0,432,451.84
$SM_GC,0.00,0.00,0.00,159.50,0.000,0.000,0.000,658,1931,432,-7.51,-1.30,451.84
$RAFOS_CLK,0
$RAFOS,3,1160483655,12.583333,12.570833,80,0,0,0,0,0,734,0,0,0,0,0
$RAFOS,2,1160483055,12.416667,12.404166,80,0,0,0,0,0,929,0,0,0,0,0
$RAFOS,1,1160482459,12.250000,12.238611,80,0,0,0,0,0,684,0,0,0,0,0
$RAFOS,0,1160481843,12.083333,12.067500,80,0,0,0,0,0,606,0,0,0,0,0
$RAFOS_FIX,6640.690430,-6030.244629,101006,121220,4,80,2.14
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2210
$INTERNAL_PRESSURE,26.0162
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.8,19.1
$ALTIM_BOTTOM_PING,426.6,90.4
$24V_AH,23.7,58.370
$10V_AH,9.7,8.907
$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,53.725,144.750,303.325,159.500,0.000,0.000,0.000,85.948,3.750,35.237,1875.735,6520.760,801.309,755.757,819.671,0.000,1454.579,0.000,630.617,1440.000,22.234
$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,483.693,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18999,600
$CFSIZE,255582208,242970624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,115,1116,5,0
$SOUNDSPEED,1470.4
$CURRENT,0.047,263.3,1
$GPS,101006,145528,6642.616,-6032.906,26,1.1,26,18.0