version: 66.01
glider: 1
mission: 1
dive: 3
start: 10 8 106 18 51 46
data:
$ID,1
$MISSION,1
$DIVE,3
$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,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,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,-446579.44
$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,19
$R_STBD_OVSHOOT,8
$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
$GPS1,181454,6630.369,-6027.763,21,1.1,21,18.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-70.0
$GPS2,185046,6630.369,-6027.763,14,1.1,14,18.0
$SPEED_LIMITS,0.215,0.230
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.216,0.078
$KALMAN_X,-585.7,-585.7,-585.7,2676.6,-102.8
$KALMAN_Y,-50.9,-50.9,-50.9,1177.7,-8.9
$MHEAD_RNG_PITCHd_Wd,51.2,169818,-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,-116.8,0.0,0.0,0,58,0.00,0.00,-6.75,0.000,6,0.000,0.000,622,2233,2907
$GC,64,-1.49,-116.8,0.3,-0.0,2,82,6.97,3.22,0.00,0.000,4,0.000,0.000,2033,399,2903
$GC,104,-0.17,-116.8,9.0,-15.2,7,114,1.10,3.67,0.00,0.000,6,0.000,0.000,2260,2234,2911
$GC,464,-0.14,-116.8,33.0,-6.3,68,470,0.40,0.00,0.00,0.000,6,0.000,0.000,2150,2239,2909
$GC,830,-0.94,-116.8,56.2,-6.4,129,838,0.57,0.00,0.00,0.000,6,0.000,0.000,2027,2240,2902
$GC,1198,-1.38,-116.8,88.9,-8.8,190,1205,0.50,0.00,0.00,0.000,6,0.000,0.000,1915,2254,2907
$GC,1527,-1.48,-116.8,137.1,-14.9,215,1530,0.52,0.00,0.00,0.000,6,0.000,0.000,2002,2256,2910
$GC,1842,-1.25,-116.8,166.9,-8.8,230,1850,0.50,3.53,0.00,0.000,4,0.000,0.000,1960,408,2906
$GC,1869,-1.37,-116.8,169.9,-9.4,231,1876,0.00,3.90,0.00,0.000,6,0.000,0.000,1969,2262,2906
$GC,2209,-1.54,-116.8,208.0,-11.7,247,2214,0.38,1.95,0.00,0.000,4,0.000,0.000,1839,3454,2911
$GC,2245,-1.48,-116.8,214.6,-18.5,248,2255,0.80,2.95,0.00,0.000,6,0.000,0.000,1972,1973,2909
$GC,2570,-1.25,-116.8,252.9,-11.6,264,2578,0.05,3.38,0.00,0.000,4,0.000,0.000,1943,3634,2904
$GC,2633,-1.20,-116.8,261.2,-12.0,266,2642,0.50,3.15,0.00,0.000,6,0.000,0.000,2102,1796,2907
$GC,2958,-1.32,-116.8,282.1,-6.3,282,2966,0.73,3.25,0.00,0.000,4,0.000,0.000,1912,3665,2909
$GC,3062,-1.63,-116.8,296.5,-14.3,286,3075,0.00,3.38,0.00,0.000,6,0.000,0.000,1916,1814,2911
$GC,3392,-1.63,-116.8,342.8,-14.5,302,3398,0.00,3.17,0.00,0.000,4,0.000,0.000,1932,3460,2913
$GC,3498,-1.44,-116.8,359.4,-14.5,306,3507,0.52,3.28,0.00,0.000,6,0.000,0.000,2027,1803,2904
$GC,3823,-1.39,-116.8,387.2,-8.4,322,3831,0.65,3.25,0.00,0.000,4,0.000,0.000,1915,3652,2911
$GC,3932,-1.54,-116.8,402.9,-14.6,326,3944,0.00,3.62,0.00,0.000,6,0.000,0.000,1912,1826,2905
$GC,4261,-1.52,-116.8,448.1,-14.5,342,4269,0.03,3.75,0.00,0.000,4,0.000,0.000,1977,3629,2914
$GC,4361,-1.33,-116.8,460.0,-12.0,346,4368,0.00,3.80,0.00,0.000,6,0.000,0.000,1961,1808,2912
$STATE,4526,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4526,begin apogee
$GC,4538,-0.25,0.0,480.5,11.6,354,4558,1.77,0.00,15.73,0.001,6,0.000,0.000,2278,1995,2234
$STATE,4559,end apogee,CONTROL_FINISHED_OK
$STATE,4559,begin climb
$GC,4565,1.49,116.8,482.8,0.0,355,4589,1.55,3.15,11.05,0.001,4,0.000,0.000,2636,319,1766
$GC,4603,1.49,116.8,478.7,17.1,356,4616,0.52,3.33,0.00,0.000,6,0.000,0.000,2532,2183,1766
$GC,4932,1.43,129.2,430.9,12.8,372,4941,0.52,3.62,1.23,0.001,4,0.000,0.000,2645,3514,1719
$GC,5000,1.52,129.2,417.3,22.2,374,5010,0.50,3.28,0.00,0.000,6,0.000,0.000,2511,1976,1720
$GC,5326,1.39,129.2,371.6,15.6,390,5334,0.35,3.03,0.00,0.000,4,0.000,0.000,2657,3676,1712
$GC,5410,1.39,129.2,354.2,21.9,393,5423,0.52,3.72,0.00,0.000,6,0.000,0.000,2523,1685,1713
$GC,5740,1.30,140.3,310.1,12.9,409,5749,0.80,3.85,1.10,0.001,4,0.000,0.000,2637,3351,1658
$GC,5925,1.43,140.3,270.4,22.4,417,5933,0.55,3.35,0.00,0.000,6,0.000,0.000,2496,1723,1663
$GC,6266,1.34,140.3,221.1,15.9,433,6274,0.52,3.25,0.00,0.000,4,0.000,0.000,2641,3591,1670
$GC,6430,1.24,140.3,181.5,23.0,440,6438,0.77,3.47,0.00,0.000,6,0.000,0.000,2467,1948,1667
$GC,6766,1.15,192.6,141.6,9.6,456,6776,0.38,2.97,4.20,0.000,4,0.000,0.000,2562,3466,1450
$GC,6864,1.50,192.6,122.5,20.1,460,6869,0.00,3.15,0.00,0.000,6,0.000,0.000,2572,1800,1459
$GC,7218,1.53,192.6,51.5,20.3,505,7227,0.43,3.42,0.00,0.000,4,0.000,0.000,2626,3692,1454
$GC,7355,1.47,192.6,15.5,25.8,527,7364,0.52,3.55,0.00,0.000,6,0.000,0.000,2516,1781,1446
$STATE,7427,end climb,SURFACE_DEPTH_REACHED
$STATE,7428,begin surface coast
$FINISH,0.3,1.025181
$STATE,7440,end surface coast,CONTROL_FINISHED_OK
$STATE,7445,begin surface
$SM_CCo,7475,16.23,0.001,0,0,391,450.62
$SM_GC,0.33,0.00,0.00,16.23,0.000,0.000,0.001,570,2248,391,-7.79,8.20,450.62
$RAFOS_CLK,0
$RAFOS,3,1160339657,20.583334,20.571388,80,0,0,0,0,0,672,0,0,0,0,0
$RAFOS,2,1160339053,20.416666,20.403610,80,0,0,0,0,0,947,0,0,0,0,0
$RAFOS,1,1160338442,20.250000,20.233889,80,0,0,0,0,0,789,0,0,0,0,0
$RAFOS,0,1160337842,20.083334,20.067223,80,0,0,0,0,0,646,0,0,0,0,0
$RAFOS_FIX,6630.774902,-6022.983887,081006,202020,4,80,0.66
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2247
$INTERNAL_PRESSURE,26.1041
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.9,18.9
$ALTIM_BOTTOM_PING,400.3,89.1
$24V_AH,23.7,29.915
$10V_AH,9.7,4.522
$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,33.700,101.775,33.300,16.225,0.000,0.000,0.000,1523.553,3.500,15.807,1679.386,4750.143,262.559,614.608,2356.088,30.181,785.826,0.000,522.460,1440.000,25.744
$DEVICE_MAMPS,119.000,60.000,0.767,0.767,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,444.383,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15893,541
$CFSIZE,255582208,244449280
$ERRORS,0,0,4,0,0,16,0,0,0,0,0,69,795,0,0
$SOUNDSPEED,1459.1
$CURRENT,0.106,276.2,1
$GPS,081006,205817,6630.854,-6026.542,19,1.1,20,18.0