version: 66.01
glider: 1
mission: 1
dive: 4
start: 10 8 106 21 38 31
data:
$ID,1
$MISSION,1
$DIVE,4
$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,-446598.44
$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,20
$R_STBD_OVSHOOT,6
$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
$GPS1,205817,6630.854,-6026.542,19,1.1,20,18.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-70.0
$GPS2,213729,6630.854,-6026.542,17,1.1,18,18.0
$SPEED_LIMITS,0.215,0.230
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.220,0.068
$KALMAN_X,-2076.8,-1368.4,-251.2,5489.6,-695.0
$KALMAN_Y,-196.9,-128.1,-29.5,2276.3,-69.5
$MHEAD_RNG_PITCHd_Wd,51.3,168675,-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,40,-1.49,-116.8,0.0,0.0,0,57,0.00,0.00,-8.10,0.000,6,0.000,0.000,583,2253,2828
$GC,63,-1.49,-116.8,0.3,0.0,2,81,7.07,4.15,0.00,0.000,4,0.000,0.000,2008,436,2828
$GC,146,-0.17,-116.8,12.0,-8.8,14,155,1.38,3.40,0.00,0.000,6,0.000,0.000,2313,2132,2832
$GC,513,-0.46,-116.8,33.7,-5.7,75,521,0.80,3.42,0.00,0.000,4,0.000,0.000,2129,305,2831
$GC,549,-1.36,-116.8,35.8,-5.8,80,558,1.10,3.62,0.00,0.000,6,0.000,0.000,1866,2214,2831
$GC,916,-1.97,-116.8,88.6,-14.9,141,925,0.50,2.53,0.00,0.000,4,0.000,0.000,1758,3584,2834
$GC,963,-1.64,-116.8,96.3,-20.4,147,972,1.15,3.25,0.00,0.000,6,0.000,0.000,2002,1713,2836
$GC,1293,-1.18,-116.8,129.9,-9.1,164,1300,0.00,3.67,0.00,0.000,4,0.000,0.000,1995,3525,2830
$GC,1418,-1.23,-116.8,141.6,-9.1,169,1430,0.00,3.28,0.00,0.000,6,0.000,0.000,2000,1859,2833
$GC,1748,-1.40,-116.8,170.4,-8.5,185,1755,0.47,3.20,0.00,0.000,4,0.000,0.000,1864,3712,2826
$GC,1839,-1.52,-116.8,183.1,-14.2,188,1848,0.52,3.33,0.00,0.000,6,0.000,0.000,1994,1844,2829
$GC,2164,-1.44,-116.8,213.0,-8.7,204,2171,0.45,2.97,0.00,0.000,4,0.000,0.000,1896,3498,2832
$GC,2248,-1.51,-116.8,223.8,-14.3,207,2255,0.52,2.45,0.00,0.000,6,0.000,0.000,1995,1818,2828
$GC,2575,-1.37,-116.8,254.6,-9.0,223,2583,0.43,3.80,0.00,0.000,4,0.000,0.000,1877,3668,2829
$GC,2674,-1.41,-116.8,268.2,-14.6,227,2682,0.60,2.75,0.00,0.000,6,0.000,0.000,1985,2028,2824
$GC,3004,-1.32,-116.8,299.5,-9.4,243,3009,0.00,2.95,0.00,0.000,4,0.000,0.000,1978,3679,2833
$GC,3048,-1.32,-116.8,303.7,-9.3,245,3053,0.00,3.08,0.00,0.000,6,0.000,0.000,1978,2019,2835
$GC,3385,-1.50,-116.8,334.9,-9.4,261,3392,0.43,3.03,0.00,0.000,4,0.000,0.000,1871,3664,2834
$GC,3442,-1.50,-116.8,343.7,-14.9,263,3455,0.52,3.45,0.00,0.000,6,0.000,0.000,1975,1979,2830
$GC,3773,-1.38,-116.8,375.1,-9.6,279,3778,0.17,2.90,0.00,0.000,4,0.000,0.000,1902,3678,2827
$GC,3832,-1.38,-116.8,382.8,-12.7,281,3841,0.52,3.65,0.00,0.000,6,0.000,0.000,2052,1842,2832
$GC,4156,-1.40,-116.8,406.1,-6.5,297,4164,0.68,2.67,0.00,0.000,4,0.000,0.000,1916,3707,2831
$GC,4235,-1.80,-116.8,413.9,-12.0,300,4244,0.50,3.65,0.00,0.000,6,0.000,0.000,1794,1877,2833
$GC,4565,-1.83,-116.8,472.7,-18.2,316,4573,0.45,3.55,0.00,0.000,4,0.000,0.000,1916,3554,2835
$GC,4651,-1.34,-116.8,483.9,-12.3,319,4664,0.47,2.92,0.00,0.000,6,0.000,0.000,2032,1887,2827
$STATE,4681,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4681,begin apogee
$GC,4694,-0.25,0.0,488.1,11.0,321,4711,0.98,0.00,14.07,0.001,6,0.000,0.000,2284,2198,2247
$STATE,4711,end apogee,CONTROL_FINISHED_OK
$STATE,4712,begin climb
$GC,4717,1.49,116.8,489.6,0.0,322,4733,1.77,0.00,11.60,0.001,6,0.000,0.000,2627,2220,1761
$GC,5041,1.49,116.8,426.5,20.8,338,5046,0.50,1.95,0.00,0.000,4,0.000,0.000,2518,3414,1759
$GC,5112,1.23,135.6,416.0,12.3,341,5121,0.00,3.47,1.65,0.001,6,0.000,0.000,2521,1759,1686
$GC,5453,1.43,141.0,370.8,13.3,357,5461,0.55,3.53,0.00,0.000,4,0.000,0.000,2582,3590,1687
$GC,5620,1.54,141.0,340.9,18.6,364,5627,0.03,2.85,0.12,0.001,6,0.000,0.000,2591,1783,1670
$GC,5946,1.55,141.0,281.8,17.7,380,5954,0.03,3.38,0.00,0.000,4,0.000,0.000,2580,3431,1671
$GC,6090,1.49,141.0,254.9,21.9,386,6097,0.00,3.38,0.00,0.000,6,0.000,0.000,2574,1773,1672
$GC,6424,1.44,141.0,193.3,18.2,402,6432,0.00,3.72,0.00,0.000,4,0.000,0.000,2560,3599,1668
$GC,6567,1.36,141.0,165.1,18.4,408,6573,0.00,3.22,0.00,0.000,6,0.000,0.000,2582,1923,1666
$GC,6901,1.41,141.0,107.2,17.6,424,6908,0.00,3.28,0.00,0.000,4,0.000,0.000,2574,3437,1666
$GC,7019,1.34,141.0,84.1,18.3,438,7027,0.00,3.22,0.00,0.000,6,0.000,0.000,2570,1766,1671
$GC,7386,1.36,141.0,18.8,17.5,499,7394,0.05,2.85,0.00,0.000,4,0.000,0.000,2594,3397,1660
$STATE,7475,end climb,SURFACE_DEPTH_REACHED
$STATE,7475,begin surface coast
$FINISH,0.3,1.025102
$STATE,7490,end surface coast,CONTROL_FINISHED_OK
$STATE,7490,begin surface
$SM_CCo,7523,19.67,0.000,0,0,403,452.09
$SM_GC,0.34,0.00,0.00,19.67,0.000,0.000,0.000,597,1711,403,-7.65,-6.90,452.09
$RAFOS_CLK,0
$RAFOS_FIX,6630.774902,-6022.983887,081006,202020,4,80,0.66
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.026845
$HUMID,2239
$INTERNAL_PRESSURE,26.0944
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.8,19.7
$ALTIM_BOTTOM_PING,428.1,67.8
$24V_AH,23.7,30.317
$10V_AH,9.7,4.587
$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,32.625,116.150,27.450,19.675,0.000,0.000,0.000,1848.803,3.750,18.386,1625.967,4856.844,263.010,607.052,2547.739,31.414,778.091,0.000,515.680,0.000,26.866
$DEVICE_MAMPS,119.000,60.000,0.767,600.000,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,422.569,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15890,516
$CFSIZE,255582208,244039680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,57,889,0,0
$SOUNDSPEED,1459.1
$CURRENT,0.084,275.8,1
$GPS,081006,234547,6631.324,-6025.382,28,1.1,28,18.0