version: 66.01
glider: 1
mission: 1
dive: 11
start: 10 9 106 14 20 44
data:
$ID,1
$MISSION,1
$DIVE,11
$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,-446747.44
$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,10
$R_STBD_OVSHOOT,0
$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
$GPS1,141530,6633.943,-6017.312,16,1.1,16,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-70.0
$GPS2,141941,6633.943,-6017.312,22,1.1,22,18.0
$SPEED_LIMITS,0.215,0.230
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.219,0.070
$KALMAN_X,-10889.7,725.2,367.1,14864.6,-6822.2
$KALMAN_Y,2001.9,193.0,172.8,1593.4,2225.2
$MHEAD_RNG_PITCHd_Wd,52.4,160447,-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,-8.20,0.000,6,0.000,0.000,668,2206,2860
$GC,63,-1.49,-116.8,0.3,0.0,2,80,6.70,3.05,0.00,0.000,4,0.000,0.000,1964,568,2856
$GC,119,-1.49,-116.8,9.5,-10.0,9,128,0.52,3.08,0.00,0.000,6,0.000,0.000,1863,2057,2865
$GC,488,-1.69,-116.8,68.1,-16.6,70,497,0.50,2.72,0.00,0.000,4,0.000,0.000,1970,3602,2862
$GC,600,-1.35,-116.8,79.9,-10.3,87,608,0.00,3.80,0.00,0.000,6,0.000,0.000,1985,1741,2859
$GC,955,-1.43,-116.8,117.5,-10.5,126,963,0.25,3.38,0.00,0.000,4,0.000,0.000,1905,3619,2861
$GC,1074,-1.43,-116.8,132.9,-13.3,131,1082,0.50,2.92,0.00,0.000,6,0.000,0.000,2037,1811,2857
$GC,1409,-1.48,-116.8,160.8,-8.0,147,1418,0.90,3.40,0.00,0.000,4,0.000,0.000,1849,3692,2859
$GC,1511,-1.63,-116.8,176.9,-16.9,151,1518,0.45,3.03,0.00,0.000,6,0.000,0.000,1972,2026,2864
$GC,1846,-1.48,-116.8,212.0,-10.1,167,1854,0.47,3.20,0.00,0.000,4,0.000,0.000,1851,3702,2860
$GC,1886,-1.53,-116.8,218.1,-15.9,168,1896,0.55,3.17,0.00,0.000,6,0.000,0.000,1984,1905,2855
$GC,2211,-1.43,-116.8,250.2,-9.1,184,2217,0.50,2.53,0.00,0.000,4,0.000,0.000,1842,3588,2863
$GC,2297,-1.43,-116.8,264.0,-16.4,187,2306,0.80,3.72,0.00,0.000,6,0.000,0.000,2043,1764,2866
$GC,2622,-1.28,-116.8,290.8,-7.7,203,2630,0.62,3.53,0.00,0.000,4,0.000,0.000,1919,3635,2853
$GC,2722,-1.45,-116.8,303.4,-12.9,207,2729,0.05,3.25,0.00,0.000,6,0.000,0.000,1916,1818,2860
$GC,3057,-1.47,-116.8,345.3,-12.8,223,3062,0.00,2.88,0.00,0.000,4,0.000,0.000,1919,3477,2861
$GC,3159,-1.32,-116.8,359.2,-12.6,227,3172,0.50,3.55,0.00,0.000,6,0.000,0.000,2019,1797,2869
$GC,3488,-1.30,-116.8,385.0,-7.6,243,3497,0.52,3.72,0.00,0.000,4,0.000,0.000,1928,3616,2864
$GC,3594,-1.47,-116.8,397.6,-13.2,247,3607,0.05,3.28,0.00,0.000,6,0.000,0.000,1931,1897,2863
$GC,3918,-1.51,-116.8,439.8,-13.1,263,3924,0.08,2.92,0.00,0.000,4,0.000,0.000,1912,3581,2860
$GC,4003,-1.33,-116.8,451.4,-13.6,266,4012,0.52,3.58,0.00,0.000,6,0.000,0.000,2033,1759,2856
$GC,4328,-1.33,-116.8,476.3,-7.5,282,4336,0.35,3.55,0.00,0.000,4,0.000,0.000,1933,3606,2865
$GC,4439,-1.52,-116.8,490.4,-12.6,286,4448,0.00,3.38,0.00,0.000,6,0.000,0.000,1930,1774,2856
$STATE,4689,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4689,begin apogee
$GC,4702,-0.25,0.0,522.2,12.6,295,4721,1.55,0.00,14.75,0.001,6,0.000,0.000,2220,2095,2234
$STATE,4722,end apogee,CONTROL_FINISHED_OK
$STATE,4722,begin climb
$GC,4727,1.49,116.8,522.2,0.0,295,4746,1.85,2.90,10.88,0.000,4,0.000,0.000,2665,565,1767
$GC,4801,1.49,116.8,511.3,22.6,296,4808,0.80,2.75,0.00,0.000,6,0.000,0.000,2482,2040,1765
$GC,5134,1.55,155.7,473.5,10.7,310,5145,0.77,2.72,3.97,0.001,4,0.000,0.000,2612,3652,1609
$GC,5246,1.77,155.7,450.7,21.8,315,5253,0.05,3.25,0.00,0.000,6,0.001,0.000,2602,1780,1610
$GC,5586,1.73,155.7,377.7,21.7,331,5591,0.03,3.05,0.00,0.000,4,0.000,0.000,2609,3636,1611
$GC,5726,1.56,155.7,344.1,21.2,337,5734,0.00,3.80,0.00,0.000,6,0.000,0.000,2623,1706,1609
$GC,6062,1.52,155.7,272.7,21.8,353,6070,0.05,3.72,0.00,0.000,4,0.000,0.000,2575,3562,1606
$GC,6249,1.36,155.7,238.5,17.6,361,6254,0.00,2.65,0.00,0.000,6,0.000,0.000,2564,1847,1612
$GC,6588,1.45,155.7,177.4,22.6,377,6593,0.05,2.47,0.00,0.000,4,0.000,0.000,2552,3518,1611
$GC,6711,1.23,155.7,153.2,16.9,382,6723,0.00,3.25,0.00,0.000,6,0.000,0.000,2552,1870,1606
$GC,7041,1.32,155.7,98.5,17.0,398,7049,0.00,3.78,0.00,0.000,4,0.000,0.000,2543,3516,1605
$GC,7174,1.31,155.7,74.5,18.1,419,7183,0.00,2.35,0.00,0.000,6,0.000,0.000,2551,2018,1607
$GC,7544,1.39,155.7,10.9,17.2,480,7552,0.00,3.12,0.00,0.000,4,0.000,0.000,2557,3537,1608
$STATE,7597,end climb,SURFACE_DEPTH_REACHED
$STATE,7597,begin surface coast
$FINISH,0.3,1.025125
$STATE,7608,end surface coast,CONTROL_FINISHED_OK
$STATE,7608,begin surface
$SM_CCo,7641,18.98,0.000,0,0,385,452.09
$SM_GC,0.33,0.00,0.00,18.98,0.000,0.000,0.000,652,1873,385,-7.49,-2.94,452.09
$RAFOS_CLK,0
$RAFOS,1,1160410444,16.250000,16.234444,80,0,0,0,0,0,742,0,0,0,0,0
$RAFOS,0,1160409842,16.083334,16.067223,80,0,0,0,0,0,615,0,0,0,0,0
$RAFOS,4,1160407753,15.500000,15.486944,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,6634.004395,-6013.439941,091006,161644,2,80,0.42
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2231
$INTERNAL_PRESSURE,26.0553
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.2,999.0
$ALTIM_BOTTOM_PING,450.1,78.5
$24V_AH,23.7,32.311
$10V_AH,9.7,4.916
$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,29.650,115.800,29.600,18.975,0.000,0.000,0.000,64.856,4.000,23.182,1602.664,4750.001,264.932,610.361,695.338,33.323,779.460,0.000,516.145,1440.000,38.704
$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,402.293,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15866,490
$CFSIZE,255582208,243712000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,57,895,0,0
$SOUNDSPEED,1459.5
$CURRENT,0.053,306.1,1
$GPS,091006,162948,6634.380,-6015.891,11,1.1,12,18.0