version: 66.01
glider: 1
mission: 1
dive: 22
start: 10 10 106 23 34 39
data:
$ID,1
$MISSION,1
$DIVE,22
$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,-449132.66
$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,2
$R_STBD_OVSHOOT,141
$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
$GPS1,232720,6644.973,-6034.145,35,1.1,35,18.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-70.0
$GPS2,233414,6644.973,-6034.145,22,1.1,22,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6655.120,-6032.697
$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,41,-1.49,-116.8,0.0,0.0,0,127,0.00,0.00,-77.07,0.000,6,0.000,0.000,582,2050,2742
$GC,134,-1.49,-116.8,0.2,-0.6,10,151,7.28,2.17,0.00,0.000,4,0.000,0.000,2037,3267,2750
$GC,380,-1.63,-116.8,29.6,-8.4,50,389,0.77,2.72,0.00,0.000,6,0.000,0.000,1832,1730,2739
$GC,748,-1.27,-116.8,81.2,-13.3,111,757,0.77,2.67,0.00,0.000,4,0.000,0.000,2016,3251,2739
$GC,944,-1.41,-116.8,94.7,-6.3,143,953,0.52,2.60,0.00,0.000,6,0.000,0.000,1920,1708,2739
$GC,1274,-1.21,-116.8,128.2,-10.1,165,1282,1.08,3.75,0.00,0.000,4,0.000,0.000,2085,3382,2746
$GC,1365,-1.51,-116.8,133.4,-4.7,168,1374,1.10,2.95,0.00,0.000,6,0.000,0.000,1846,1906,2736
$GC,1689,-1.16,-116.8,169.9,-11.6,184,1698,0.90,3.28,0.00,0.000,4,0.000,0.000,2100,390,2740
$GC,1748,-1.51,-116.8,174.1,-4.0,186,1761,1.05,3.28,0.00,0.000,6,0.000,0.000,1867,2033,2745
$GC,2072,-1.18,-116.8,208.7,-12.0,202,2081,0.80,3.17,0.00,0.000,4,0.000,0.000,2042,358,2741
$GC,2124,-1.40,-116.8,211.2,-4.9,204,2130,0.55,2.72,0.00,0.000,6,0.000,0.000,1906,2054,2743
$GC,2451,-1.25,-116.8,236.8,-8.2,220,2458,0.60,2.97,0.00,0.000,4,0.000,0.000,2055,357,2740
$GC,2529,-1.47,-116.8,241.2,-4.8,223,2537,0.77,2.78,0.00,0.000,6,0.000,0.000,1879,1827,2739
$GC,2859,-1.15,-116.8,272.7,-9.7,239,2862,0.80,0.00,0.00,0.000,6,0.000,0.000,2034,1820,2743
$GC,3173,-1.47,-116.8,288.1,-5.0,254,3180,0.68,3.05,0.00,0.000,4,0.000,0.000,1864,476,2740
$GC,3223,-1.20,-116.8,292.2,-9.6,256,3231,0.80,3.25,0.00,0.000,6,0.000,0.000,1993,2123,2741
$GC,3559,-1.24,-116.8,312.9,-5.9,272,3560,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,2118,2735
$GC,3868,-1.28,-116.8,330.9,-5.8,287,3875,0.00,3.53,0.00,0.000,4,0.000,0.000,1986,421,2745
$GC,3931,-1.36,-116.8,334.7,-6.1,289,3939,0.00,3.05,0.00,0.000,6,0.000,0.000,2003,1883,2746
$GC,4256,-1.53,-116.8,353.4,-5.6,305,4264,0.52,2.92,0.00,0.000,4,0.000,0.000,1862,400,2742
$GC,4285,-1.32,-116.8,356.2,-9.0,306,4293,0.85,2.78,0.00,0.000,6,0.000,0.000,2047,1894,2744
$GC,4620,-1.61,-116.8,372.4,-4.4,322,4628,0.73,2.75,0.00,0.000,4,0.000,0.000,1856,357,2744
$GC,4696,-1.35,-116.8,378.4,-8.8,325,4704,0.82,2.95,0.00,0.000,6,0.000,0.000,2038,2073,2745
$GC,5036,-1.54,-116.8,394.4,-4.5,341,5045,0.77,3.47,0.00,0.000,4,0.000,0.000,1930,579,2739
$GC,5123,-1.41,-116.8,400.3,-7.4,344,5128,0.00,2.17,0.00,0.000,6,0.000,0.000,1915,1784,2749
$GC,5448,-1.26,-116.8,424.2,-7.3,359,5453,0.60,2.42,0.00,0.000,4,0.000,0.000,2041,3476,2746
$GC,5493,-1.43,-116.8,427.1,-4.5,361,5501,0.60,3.17,0.00,0.000,6,0.000,0.000,1928,1959,2742
$GC,5836,-1.27,-116.8,451.5,-7.5,377,5843,0.38,3.03,0.00,0.000,4,0.000,0.000,2047,298,2748
$GC,5915,-1.49,-116.8,455.8,-4.6,380,5923,0.77,2.75,0.00,0.000,6,0.000,0.000,1851,2126,2748
$GC,6250,-1.17,-116.8,484.1,-8.9,396,6258,0.75,3.25,0.00,0.000,4,0.000,0.000,2039,437,2747
$GC,6329,-1.39,-116.8,489.0,-4.3,399,6335,0.50,2.78,0.00,0.000,6,0.000,0.000,1923,1779,2744
$GC,6653,-1.24,-116.8,511.5,-7.1,411,6659,0.62,2.65,0.00,0.000,4,0.000,0.000,2054,421,2741
$GC,6679,-1.33,-116.8,513.2,-6.4,411,6687,0.68,3.17,0.00,0.000,6,0.000,0.000,1945,1905,2744
$STATE,6815,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6815,begin apogee
$GC,6827,-0.25,0.0,522.2,6.6,415,6950,1.38,0.00,114.32,0.000,6,0.000,0.000,2239,1917,2261
$STATE,6951,end apogee,CONTROL_FINISHED_OK
$STATE,6951,begin climb
$GC,6957,1.49,116.8,522.5,0.0,418,7080,2.03,2.85,113.65,0.000,4,0.000,0.000,2666,356,1777
$GC,7107,1.22,116.8,492.8,26.9,422,7115,0.77,2.97,0.00,0.000,6,0.000,0.000,2475,2007,1786
$GC,7442,1.47,151.8,454.6,11.0,438,7488,1.08,2.80,34.22,0.000,4,0.000,0.000,2661,345,1639
$GC,7548,1.22,151.8,427.5,27.5,442,7560,0.82,2.78,0.00,0.000,6,0.000,0.000,2540,1818,1634
$GC,7877,0.88,151.8,364.3,23.0,458,7880,0.77,0.00,0.00,0.000,6,0.000,0.000,2505,1807,1644
$GC,8181,1.06,162.6,321.5,12.9,473,8204,0.00,3.17,10.38,0.001,4,0.000,0.000,2490,3496,1598
$GC,8288,1.04,162.6,302.9,25.6,477,8300,0.00,3.75,0.00,0.000,6,0.000,0.000,2492,1663,1602
$GC,8617,1.21,169.5,260.7,13.2,493,8631,0.22,3.78,5.93,0.001,4,0.000,0.000,2548,3468,1577
$GC,8908,1.21,169.5,207.6,17.5,505,8916,0.00,2.92,0.00,0.000,6,0.000,0.000,2540,1805,1571
$GC,9232,1.19,169.5,148.9,17.8,521,9237,0.00,2.97,0.00,0.000,4,0.000,0.000,2548,3315,1572
$GC,9496,1.17,169.5,101.5,17.6,532,9505,0.52,2.97,0.00,0.000,6,0.000,0.000,2449,1783,1574
$GC,9859,1.57,227.2,66.9,9.2,590,9924,1.10,3.05,47.33,0.000,4,0.000,0.000,2678,3214,1334
$STATE,10087,end climb,SURFACE_DEPTH_REACHED
$STATE,10087,begin surface coast
$FINISH,0.0,1.024108
$STATE,10092,end surface coast,CONTROL_FINISHED_OK
$STATE,10093,begin surface
$SM_CCo,10125,139.62,0.000,1,0,419,451.84
$SM_GC,-0.00,0.00,0.00,139.62,0.000,0.000,0.000,639,1722,419,-7.39,-7.32,451.84
$RAFOS_CLK,0
$RAFOS,3,1160526851,0.583333,0.569722,80,0,0,0,0,0,770,0,0,0,0,0
$RAFOS,2,1160526254,0.416667,0.403889,80,0,0,0,0,0,931,0,0,0,0,0
$RAFOS,1,1160525660,0.250000,0.238889,80,0,0,0,0,0,676,0,0,0,0,0
$RAFOS,0,1160525056,0.083333,0.071111,80,0,0,0,0,0,534,0,0,0,0,0
$RAFOS_FIX,6643.416504,-6030.556152,111006,000020,4,80,1.38
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2268
$INTERNAL_PRESSURE,25.9967
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,18.9,19.9
$ALTIM_BOTTOM_PING,451.5,79.2
$24V_AH,23.7,59.980
$10V_AH,9.7,9.116
$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,46.225,125.000,325.825,139.625,0.000,0.000,0.000,86.535,4.000,23.462,1933.068,6360.416,769.216,744.950,883.353,0.000,1409.827,0.000,631.161,1440.000,28.204
$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,508.149,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22151,626
$CFSIZE,255582208,242663424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,98,959,2,0
$SOUNDSPEED,1469.8
$CURRENT,0.054,253.2,1
$GPS,111006,022717,6645.793,-6034.506,9,1.1,9,18.0