version: 66.01
glider: 1
mission: 1
dive: 9
start: 10 9 106 9 41 28
data:
$ID,1
$MISSION,1
$DIVE,9
$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,-446705.94
$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,0
$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
$GPS1,093619,6633.131,-6020.181,21,1.1,22,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.7
$GPS2,094026,6633.131,-6020.181,21,1.1,21,18.0
$SPEED_LIMITS,0.215,0.230
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.230,0.009
$KALMAN_X,-4554.4,-1365.0,65.0,8832.7,-3799.0
$KALMAN_Y,-388.1,-155.6,48.5,2962.3,-299.3
$MHEAD_RNG_PITCHd_Wd,52.1,162905,-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,-116.8,0.0,0.0,0,58,0.00,0.00,-8.07,0.000,6,0.000,0.000,578,1868,2860
$GC,64,-1.49,-116.8,0.3,0.0,2,83,7.50,3.72,0.00,0.000,4,0.000,0.000,1992,3676,2854
$GC,271,-1.49,-116.8,23.0,-8.8,35,280,0.55,4.05,0.00,0.000,6,0.000,0.000,1904,1680,2859
$GC,639,-1.68,-116.8,74.2,-14.1,96,647,0.00,3.42,0.00,0.000,4,0.000,0.000,1880,3679,2866
$GC,803,-1.44,-116.8,97.3,-14.7,122,813,0.40,3.25,0.00,0.000,6,0.000,0.000,2027,2009,2853
$GC,1133,-1.34,-116.8,128.2,-8.7,139,1140,0.52,3.00,0.00,0.000,4,0.000,0.000,1893,3660,2856
$GC,1184,-1.48,-116.8,134.2,-12.1,141,1192,0.52,2.85,0.00,0.000,6,0.000,0.000,2011,1790,2858
$GC,1519,-1.57,-116.8,164.4,-8.9,157,1527,0.43,3.45,0.00,0.000,4,0.000,0.000,1859,3628,2862
$GC,1640,-1.66,-116.8,182.4,-14.8,162,1648,0.05,3.55,0.00,0.000,6,0.000,0.000,1877,1778,2864
$GC,1970,-1.52,-116.8,230.3,-14.8,178,1978,0.47,3.25,0.00,0.000,4,0.000,0.000,2018,3634,2859
$GC,2160,-1.26,-116.8,247.9,-9.4,186,2168,0.03,3.75,0.00,0.000,6,0.000,0.000,1988,1755,2853
$GC,2490,-1.42,-116.8,277.0,-9.1,202,2498,0.30,3.42,0.00,0.000,4,0.000,0.000,1929,3579,2855
$GC,2612,-1.50,-116.8,290.9,-11.8,207,2619,0.00,3.55,0.00,0.000,6,0.000,0.000,1949,1761,2857
$GC,2947,-1.50,-116.8,330.0,-11.9,223,2955,0.03,3.75,0.00,0.000,4,0.000,0.000,1956,3615,2856
$GC,3080,-1.40,-116.8,346.9,-11.8,228,3089,0.12,3.78,0.00,0.000,6,0.000,0.000,1925,1946,2862
$GC,3399,-1.40,-116.8,385.3,-12.9,244,3405,0.28,2.95,0.00,0.000,4,0.000,0.000,2013,3531,2859
$GC,3486,-1.29,-116.8,392.6,-9.4,247,3495,0.00,2.92,0.00,0.000,6,0.000,0.000,2006,1898,2855
$GC,3812,-1.43,-116.8,421.4,-8.7,263,3820,0.50,3.25,0.00,0.000,4,0.000,0.000,1870,3542,2856
$GC,3910,-1.49,-116.8,435.3,-14.7,267,3918,0.52,3.15,0.00,0.000,6,0.000,0.000,2010,1916,2864
$GC,4246,-1.33,-116.8,467.1,-9.0,283,4252,0.55,2.55,0.00,0.000,4,0.000,0.000,1949,3403,2856
$GC,4342,-1.41,-116.8,477.9,-11.4,287,4348,0.00,3.28,0.00,0.000,6,0.000,0.000,1944,1910,2851
$STATE,4622,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4622,begin apogee
$GC,4635,-0.25,0.0,510.5,11.5,299,4653,1.55,0.00,14.52,0.001,6,0.000,0.000,2262,2074,2248
$STATE,4654,end apogee,CONTROL_FINISHED_OK
$STATE,4654,begin climb
$GC,4660,1.49,116.8,510.5,0.0,299,4680,1.62,3.53,11.32,0.001,4,0.000,0.000,2631,422,1759
$GC,4733,1.49,116.8,501.5,20.1,300,4746,0.38,3.15,0.00,0.000,6,0.000,0.000,2544,2254,1753
$GC,5062,1.60,116.8,451.5,15.4,316,5068,0.52,2.45,0.00,0.000,4,0.000,0.000,2679,3594,1761
$GC,5148,1.56,116.8,431.6,23.6,319,5157,0.52,3.53,0.00,0.000,6,0.000,0.000,2586,1801,1757
$GC,5472,1.30,116.8,378.3,15.3,335,5480,0.00,3.47,0.00,0.000,4,0.000,0.000,2571,3606,1750
$GC,5614,1.28,116.8,355.4,15.1,341,5620,0.00,3.28,0.00,0.000,6,0.000,0.000,2555,1924,1756
$GC,5949,1.33,116.8,302.8,15.4,357,5955,0.00,3.12,0.00,0.000,4,0.000,0.000,2540,3590,1756
$GC,6070,1.30,116.8,282.8,15.5,362,6082,0.00,3.83,0.00,0.000,6,0.000,0.000,2532,1715,1758
$GC,6398,1.34,116.8,231.3,15.4,378,6406,0.00,3.65,0.00,0.000,4,0.000,0.000,2539,3572,1759
$GC,6585,1.34,116.8,201.5,15.9,386,6593,0.00,3.67,0.00,0.000,6,0.000,0.000,2567,1748,1758
$GC,6920,1.39,116.8,151.3,15.4,402,6927,0.00,3.58,0.00,0.000,4,0.000,0.000,2579,3555,1755
$GC,7104,1.37,116.8,121.1,15.1,410,7108,0.00,2.35,0.00,0.000,6,0.000,0.000,2549,2030,1761
$GC,7451,1.41,116.8,64.6,15.5,451,7459,0.00,2.38,0.00,0.000,4,0.000,0.000,2550,3533,1759
$GC,7568,1.38,116.8,47.5,15.3,469,7576,0.00,2.55,0.00,0.000,6,0.000,0.000,2560,2022,1754
$STATE,7854,end climb,SURFACE_DEPTH_REACHED
$STATE,7854,begin surface coast
$FINISH,0.3,1.024073
$STATE,7866,end surface coast,CONTROL_FINISHED_OK
$STATE,7867,begin surface
$SM_CCo,7896,20.85,0.001,0,0,419,450.62
$SM_GC,0.34,0.00,0.00,20.85,0.000,0.000,0.001,625,1678,419,-7.60,-8.20,450.62
$RAFOS_CLK,0
$RAFOS,4,1160386143,9.500000,9.484167,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,6632.384277,-6018.067871,091006,080820,4,80,0.98
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2292
$INTERNAL_PRESSURE,26.0651
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.1,999.0
$ALTIM_BOTTOM_PING,450.4,68.0
$24V_AH,23.7,31.806
$10V_AH,9.7,4.832
$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,27.075,112.500,25.850,20.850,0.000,0.000,0.000,62.455,4.000,22.205,1686.266,4899.948,250.844,658.760,675.094,32.371,804.189,0.000,561.038,0.000,23.454
$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,428.164,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15891,519
$CFSIZE,255582208,243838976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,47,879,0,0
$SOUNDSPEED,1459.5
$CURRENT,0.052,313.4,1
$GPS,091006,115501,6633.539,-6018.783,31,1.1,31,18.0