version: 66.01
glider: 1
mission: 1
dive: 1
start: 10 8 106 12 9 2
data:
$ID,1
$MISSION,1
$DIVE,1
$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,528
$T_MISSION,550
$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,1
$HD_A,0.00312
$HD_B,0.0099099996
$HD_C,2.4896e-05
$HEADING,-1
$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,350
$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,-446538.75
$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,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,1
$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,0.27000001
$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
$GPS1,120457,6630.000,-6030.000,21,1.1,21,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.9
$GPS2,120804,6630.000,-6030.000,28,1.1,28,18.0
$SPEED_LIMITS,0.103,0.183
$TGT_NAME,default
$TGT_LATLONG,47.600,-122.300
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.062,-0.172
$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,120.0,9821928,-12.7,-6.250
$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,32,end surface,CONTROL_FINISHED_OK
$STATE,32,begin dive
$GC,39,-0.83,-116.8,0.0,0.0,0,55,0.00,0.00,-6.82,0.000,6,0.000,0.000,616,2042,2907
$GC,62,-0.83,-116.8,0.3,-0.0,2,79,7.57,2.67,0.00,0.000,4,0.000,0.000,2121,518,2906
$GC,155,0.89,-116.8,13.1,-6.1,16,164,2.00,3.28,0.00,0.000,6,0.000,0.000,2541,2178,2910
$GC,506,0.77,-116.8,43.3,-8.9,77,517,0.68,2.05,0.00,0.000,4,0.000,0.000,2341,3531,2906
$GC,745,-0.99,-116.8,61.0,-7.2,116,754,1.75,2.85,0.00,0.000,6,0.000,0.000,1957,1827,2910
$GC,1125,-1.58,-116.8,104.8,-10.7,173,1130,0.43,2.53,0.00,0.000,4,0.000,0.000,1858,296,2909
$GC,1220,-1.20,-116.8,121.6,-17.3,177,1228,1.02,3.58,0.00,0.000,6,0.000,0.000,2105,2091,2908
$GC,1550,-0.85,-116.8,143.3,-6.1,193,1554,0.00,2.55,0.00,0.000,4,0.000,0.000,2071,3438,2912
$GC,1652,-0.76,-116.8,149.5,-6.0,197,1658,0.00,2.33,0.00,0.000,6,0.000,0.000,2100,1798,2900
$GC,1983,-0.76,-116.8,170.2,-6.4,213,1990,0.00,3.53,0.00,0.000,4,0.000,0.000,2101,3656,2905
$GC,2054,-0.79,-116.8,174.9,-6.3,216,2060,0.00,3.17,0.00,0.000,6,0.000,0.000,2089,1973,2906
$GC,2393,-0.81,-116.8,195.6,-6.2,232,2401,0.00,3.53,0.00,0.000,4,0.000,0.000,2096,3691,2905
$GC,2451,-0.72,-116.8,199.4,-5.8,234,2456,0.00,2.97,0.00,0.000,6,0.000,0.000,2089,1847,2906
$GC,2775,-0.75,-116.8,219.6,-6.4,249,2780,0.00,3.15,0.00,0.000,4,0.000,0.000,2104,3674,2907
$GC,2856,-0.81,-116.8,225.0,-6.1,252,2865,0.00,3.33,0.00,0.000,6,0.000,0.000,2090,1844,2906
$GC,3181,-0.82,-116.8,244.4,-6.1,268,3188,0.00,3.42,0.00,0.000,4,0.000,0.000,2086,3672,2913
$GC,3260,-0.74,-116.8,249.7,-5.8,271,3266,0.00,3.03,0.00,0.000,6,0.000,0.000,2107,1858,2906
$GC,3584,-0.79,-116.8,270.1,-6.4,286,3589,0.00,2.75,0.00,0.000,4,0.000,0.000,2097,3557,2903
$GC,3670,-0.88,-116.8,275.7,-6.0,289,3679,0.15,3.25,0.00,0.000,6,0.000,0.000,2025,1829,2909
$GC,3994,-0.88,-116.8,302.6,-8.4,305,4002,0.50,3.78,0.00,0.000,4,0.000,0.000,2146,3685,2913
$GC,4092,-0.63,-116.8,309.6,-6.3,309,4099,0.00,3.25,0.00,0.000,6,0.000,0.000,2169,1835,2908
$GC,4431,-0.76,-116.8,332.3,-6.4,325,4439,0.45,3.45,0.00,0.000,4,0.000,0.000,2018,3673,2910
$GC,4494,-0.83,-116.8,338.1,-9.1,327,4504,0.52,3.12,0.00,0.000,6,0.000,0.000,2135,1830,2911
$GC,4819,-0.71,-116.8,358.4,-6.3,343,4826,0.32,3.15,0.00,0.000,4,0.000,0.000,2146,3543,2907
$GC,4917,-0.76,-116.8,365.2,-6.3,347,4925,0.52,3.70,0.00,0.000,6,0.000,0.000,2026,1799,2903
$GC,5252,-0.88,-116.8,393.9,-9.0,363,5261,0.55,3.75,0.00,0.000,4,0.000,0.000,2075,3668,2909
$GC,5350,-0.71,-116.8,401.3,-6.6,367,5357,0.52,2.88,0.00,0.000,6,0.000,0.000,2199,1841,2903
$GC,5689,-0.69,-116.8,422.7,-6.4,383,5697,0.93,2.95,0.00,0.000,4,0.000,0.000,2028,3483,2908
$GC,5790,-0.92,-116.8,431.9,-8.2,387,5797,0.50,2.92,0.00,0.000,6,0.000,0.000,2129,1831,2901
$GC,6124,-1.08,-116.8,454.1,-6.5,403,6132,0.88,3.50,0.00,0.000,4,0.000,0.000,1952,3686,2905
$GC,6198,-1.20,-116.8,462.6,-12.2,406,6206,0.50,3.22,0.00,0.000,6,0.000,0.000,2082,1842,2911
$STATE,6275,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6275,begin apogee
$GC,6288,-0.25,0.0,468.8,7.1,410,6307,1.15,0.00,15.85,0.000,6,0.000,0.000,2250,2191,2240
$STATE,6308,end apogee,CONTROL_FINISHED_OK
$STATE,6308,begin climb
$GC,6313,0.83,116.8,470.1,0.0,411,6328,1.23,0.00,11.40,0.000,6,0.000,0.000,2503,2176,1763
$GC,6638,0.83,116.8,432.6,11.4,427,6640,0.47,0.00,0.00,0.000,6,0.000,0.000,2377,2206,1765
$GC,6942,0.56,116.8,407.2,7.9,442,6947,0.00,2.47,0.00,0.000,4,0.000,0.000,2362,3353,1768
$GC,7018,0.63,116.8,401.2,7.9,445,7024,0.03,2.88,0.00,0.000,6,0.000,0.000,2382,1696,1769
$GC,7342,0.74,116.8,376.2,7.9,460,7350,0.82,4.22,0.00,0.000,4,0.000,0.000,2473,3647,1768
$GC,7498,0.82,116.8,357.9,11.3,466,7508,0.52,3.72,0.00,0.000,6,0.000,0.000,2388,1801,1766
$GC,7822,0.68,116.8,332.5,7.1,482,7831,0.40,3.50,0.00,0.000,4,0.000,0.000,2518,3628,1769
$GC,7944,0.77,116.8,318.4,11.8,487,7952,0.50,3.75,0.00,0.000,6,0.000,0.000,2368,1789,1770
$GC,8279,0.60,116.8,292.4,7.9,503,8286,0.22,3.38,0.00,0.000,4,0.000,0.000,2426,3618,1768
$GC,8420,0.68,116.8,280.4,8.8,509,8427,0.00,3.53,0.00,0.000,6,0.000,0.000,2443,1807,1765
$GC,8761,0.61,116.8,251.3,8.0,525,8769,0.43,3.53,0.00,0.000,4,0.000,0.000,2297,3652,1774
$GC,8889,0.53,116.8,240.3,7.9,530,8901,0.52,3.60,0.00,0.000,6,0.000,0.000,2413,1809,1773
$GC,9218,0.80,116.8,214.5,8.1,546,9226,0.03,3.60,0.00,0.000,4,0.000,0.000,2430,3640,1776
$GC,9345,0.71,116.8,202.3,8.4,551,9358,0.00,3.88,0.00,0.000,6,0.000,0.000,2435,1788,1764
$GC,9674,0.71,116.8,176.5,8.0,567,9682,0.00,3.47,0.00,0.000,4,0.000,0.000,2433,3681,1767
$GC,9807,0.63,116.8,165.1,8.2,572,9816,0.32,3.53,0.00,0.000,6,0.000,0.000,2367,1836,1771
$GC,10131,0.63,116.8,140.3,8.0,588,10139,0.40,3.25,0.00,0.000,4,0.000,0.000,2487,3531,1772
$GC,10252,0.72,116.8,126.5,11.7,593,10258,0.57,2.47,0.00,0.000,6,0.000,0.000,2372,2004,1770
$GC,10583,0.56,116.8,100.5,7.8,609,10587,0.00,2.15,0.00,0.000,4,0.000,0.000,2366,3393,1769
$GC,10696,0.62,116.8,91.6,7.9,625,10705,0.05,2.45,0.00,0.000,6,0.000,0.000,2375,1896,1771
$GC,11065,0.70,116.8,61.7,7.8,686,11074,0.60,3.28,0.00,0.000,4,0.000,0.000,2512,3403,1771
$GC,11214,0.75,116.8,45.1,11.2,710,11223,0.52,2.67,0.00,0.000,6,0.000,0.000,2358,1909,1771
$GC,11582,0.56,116.8,13.0,7.8,771,11590,0.00,2.45,0.00,0.000,4,0.000,0.000,2370,3456,1767
$GC,11713,0.64,116.8,2.6,7.8,792,11722,0.05,2.97,0.00,0.000,6,0.000,0.000,2367,2094,1773
$STATE,11727,end climb,SURFACE_DEPTH_REACHED
$STATE,11727,begin surface coast
$FINISH,0.3,1.024332
$STATE,11760,end surface coast,CONTROL_FINISHED_OK
$STATE,11761,begin surface
$SM_CCo,11789,14.90,0.001,0,0,835,350.04
$SM_GC,0.34,0.00,0.00,14.90,0.000,0.000,0.001,680,1741,835,-7.34,-6.19,350.04
$RAFOS_CLK,0
$RAFOS,3,1160310843,12.583333,12.567500,80,0,0,0,0,0,756,0,0,0,0,0
$RAFOS,2,1160310246,12.416667,12.401667,80,0,0,0,0,0,1001,0,0,0,0,0
$RAFOS,1,1160309643,12.250000,12.234167,80,0,0,0,0,0,798,0,0,0,0,0
$RAFOS_FIX,6629.375488,-6026.406738,081006,121257,3,80,2.70
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2192
$INTERNAL_PRESSURE,26.0748
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.4,18.8
$ALTIM_BOTTOM_PING,400.3,77.6
$24V_AH,23.7,29.232
$10V_AH,9.7,4.416
$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,37.475,165.325,27.250,14.900,0.000,0.000,0.000,48.038,3.500,29.360,2577.547,7255.188,327.803,952.130,913.549,29.246,1121.645,0.000,800.690,1080.000,26.073
$DEVICE_MAMPS,119.000,60.000,1300.000,0.767,0.000,0.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,661.292,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25221,799
$CFSIZE,255582208,243986432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,78,1277,0,0
$SOUNDSPEED,1460.5
$CURRENT,0.149,322.4,1
$GPS,081006,152719,6629.818,-6028.929,18,1.1,18,18.0