version: 66.01
glider: 1
mission: 1
dive: 6
start: 10 9 106 3 14 10
data:
$ID,1
$MISSION,1
$DIVE,6
$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,-446653.56
$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,14
$R_STBD_OVSHOOT,23
$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
$GPS1,030951,6631.799,-6024.206,19,1.1,20,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-70.0
$GPS2,031309,6631.799,-6024.206,17,1.1,17,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.228,0.082
$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,51.7,166482,-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,33,end surface,CONTROL_FINISHED_OK
$STATE,33,begin dive
$GC,40,-1.49,-116.8,0.0,0.0,0,56,0.00,0.00,-8.05,0.000,6,0.000,0.000,642,2171,2906
$GC,62,-1.49,-116.8,0.3,0.1,2,80,6.97,2.72,0.00,0.000,4,0.000,0.000,1987,3657,2904
$GC,221,-1.49,-116.8,22.0,-10.9,27,230,0.50,3.55,0.00,0.000,6,0.000,0.000,1847,1824,2902
$GC,590,-1.64,-116.8,84.8,-17.3,88,599,0.43,3.55,0.00,0.000,4,0.000,0.000,1984,3683,2906
$GC,696,-1.30,-116.8,97.4,-11.1,104,705,0.00,3.72,0.00,0.000,6,0.000,0.000,1990,1806,2905
$GC,1031,-1.45,-116.8,133.5,-10.9,121,1038,0.00,3.78,0.00,0.000,4,0.000,0.000,1971,3457,2904
$GC,1139,-1.45,-116.8,145.9,-11.0,125,1151,0.45,2.90,0.00,0.000,6,0.000,0.000,1847,1805,2905
$GC,1464,-1.64,-116.8,200.5,-17.1,141,1472,0.50,3.47,0.00,0.000,4,0.000,0.000,1979,3662,2903
$GC,1564,-1.30,-116.8,213.1,-10.6,145,1570,0.00,3.17,0.00,0.000,6,0.000,0.000,1974,2001,2904
$GC,1895,-1.47,-116.8,247.7,-10.6,161,1901,0.10,2.67,0.00,0.000,4,0.000,0.000,1978,3523,2902
$GC,1948,-1.47,-116.8,254.3,-10.5,163,1962,0.50,3.55,0.00,0.000,6,0.000,0.000,1858,1723,2904
$GC,2273,-1.60,-116.8,307.9,-16.9,179,2281,0.55,3.38,0.00,0.000,4,0.000,0.000,2005,3630,2905
$GC,2395,-1.29,-116.8,321.7,-10.1,184,2400,0.00,3.08,0.00,0.000,6,0.000,0.000,2004,1982,2906
$GC,2725,-1.50,-116.8,354.8,-10.4,200,2733,0.38,3.25,0.00,0.000,4,0.000,0.000,1872,3687,2903
$GC,2782,-1.53,-116.8,364.2,-16.8,202,2796,0.55,3.67,0.00,0.000,6,0.000,0.000,2000,1856,2904
$GC,3112,-1.44,-116.8,398.7,-10.4,218,3119,0.55,2.75,0.00,0.000,4,0.000,0.000,1936,3579,2912
$GC,3210,-1.47,-116.8,412.6,-13.8,222,3217,0.03,3.28,0.00,0.000,6,0.000,0.000,1935,1917,2904
$GC,3540,-1.47,-116.8,456.4,-13.4,238,3545,0.00,2.78,0.00,0.000,4,0.000,0.000,1906,3420,2907
$GC,3619,-1.32,-116.8,466.9,-13.5,241,3625,0.52,2.35,0.00,0.000,6,0.000,0.000,2067,2036,2906
$GC,3945,-1.29,-116.8,494.0,-7.9,256,3953,0.62,2.83,0.00,0.000,4,0.000,0.000,1925,3569,2906
$STATE,3967,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3967,begin apogee
$GC,3983,-0.25,0.0,497.3,10.2,257,4003,1.77,0.00,15.52,0.001,6,0.000,0.000,2274,1754,2253
$STATE,4004,end apogee,CONTROL_FINISHED_OK
$STATE,4004,begin climb
$GC,4009,1.49,116.8,500.4,0.0,258,4025,1.65,0.00,11.45,0.001,6,0.000,0.000,2652,1755,1772
$GC,4347,1.49,116.8,430.4,22.0,273,4355,0.43,3.53,0.00,0.000,4,0.000,0.000,2526,3595,1765
$GC,4510,1.21,116.8,406.4,15.3,280,4517,0.00,3.62,0.00,0.000,6,0.000,0.000,2527,1750,1761
$GC,4851,1.31,124.5,362.2,13.1,296,4859,0.00,3.45,0.55,0.001,4,0.000,0.000,2530,3570,1746
$GC,4973,1.37,127.7,344.7,13.5,301,4980,0.00,3.72,0.00,0.000,6,0.000,0.000,2541,1739,1736
$GC,5308,1.47,131.8,300.5,13.4,317,5316,0.50,2.95,0.90,0.001,4,0.000,0.000,2653,3381,1702
$GC,5448,1.54,131.8,269.1,22.9,323,5456,0.47,3.03,0.00,0.000,6,0.000,0.000,2508,1705,1706
$GC,5788,1.29,131.8,211.9,15.3,339,5795,0.00,3.67,0.00,0.000,4,0.000,0.000,2527,3682,1702
$GC,5910,1.22,131.8,193.6,14.4,344,5917,0.00,3.30,0.00,0.000,6,0.000,0.000,2545,1832,1696
$GC,6244,1.33,131.8,147.7,14.1,360,6252,0.00,3.75,0.00,0.000,4,0.000,0.000,2527,3664,1700
$GC,6371,1.38,131.8,128.7,14.1,365,6384,0.40,3.35,0.00,0.000,6,0.000,0.000,2593,2001,1705
$GC,6719,1.49,131.8,67.2,18.7,402,6727,0.00,3.25,0.00,0.000,4,0.000,0.000,2573,3654,1705
$GC,6830,1.33,131.8,46.4,18.7,419,6839,0.52,3.17,0.00,0.000,6,0.000,0.000,2472,1988,1704
$GC,7198,1.18,173.3,5.5,10.4,480,7208,0.57,3.35,2.78,0.001,4,0.000,0.000,2604,3492,1525
$STATE,7219,end climb,SURFACE_DEPTH_REACHED
$STATE,7219,begin surface coast
$FINISH,0.3,1.025131
$STATE,7236,end surface coast,CONTROL_FINISHED_OK
$STATE,7236,begin surface
$SM_CCo,7269,17.55,0.001,0,0,396,450.62
$SM_GC,0.35,0.00,0.00,17.55,0.000,0.000,0.001,596,1808,396,-7.71,-4.75,450.62
$RAFOS_CLK,0
$RAFOS,3,1160368447,4.583333,4.568611,80,0,0,0,0,0,721,0,0,0,0,0
$RAFOS,2,1160367860,4.416667,4.405556,80,0,0,0,0,0,899,0,0,0,0,0
$RAFOS,1,1160367243,4.250000,4.234167,80,0,0,0,0,0,771,0,0,0,0,0
$RAFOS,0,1160366646,4.083333,4.068333,80,0,0,0,0,0,611,0,0,0,0,0
$RAFOS,4,1160364544,3.500000,3.484444,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,6632.055176,-6018.823730,091006,040448,4,80,0.99
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1722
$INTERNAL_PRESSURE,26.0553
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.9,19.2
$ALTIM_BOTTOM_PING,425.8,81.0
$24V_AH,23.7,31.114
$10V_AH,9.7,4.709
$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,29.100,111.175,31.200,17.550,0.000,0.000,0.000,79.796,3.750,18.255,1602.623,4448.009,253.671,588.765,638.221,29.229,754.173,0.000,502.633,1800.000,22.241
$DEVICE_MAMPS,119.000,60.000,0.767,0.767,0.000,0.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,402.145,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15884,485
$CFSIZE,255582208,244039680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,54,856,0,0
$SOUNDSPEED,1459.3
$CURRENT,0.059,313.9,1
$GPS,091006,051727,6632.265,-6022.744,31,1.1,31,18.0