version: 66.01
glider: 1
mission: 1
dive: 15
start: 10 9 106 23 24 28
data:
$ID,1
$MISSION,1
$DIVE,15
$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,-446861.62
$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,5
$R_STBD_OVSHOOT,3
$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
$GPS1,231650,6635.749,-6011.653,31,1.1,31,18.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.9
$GPS2,232324,6635.749,-6011.653,35,1.1,36,18.0
$SPEED_LIMITS,0.215,0.230
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.220,0.066
$KALMAN_X,-14100.6,903.0,805.3,21619.2,-5615.2
$KALMAN_Y,5555.1,-520.2,538.7,1727.3,4144.4
$MHEAD_RNG_PITCHd_Wd,53.1,155486,-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,-7.97,0.000,6,0.000,0.000,636,2001,2878
$GC,63,-1.49,-116.8,0.3,0.0,2,81,6.78,3.33,0.00,0.000,4,0.000,0.000,2026,3533,2876
$GC,194,-1.49,-116.8,16.3,-8.9,22,203,0.50,3.70,0.00,0.000,6,0.000,0.000,1918,1669,2875
$GC,563,-1.78,-116.8,68.7,-14.1,83,571,0.00,3.53,0.00,0.000,4,0.000,0.000,1883,3673,2877
$GC,700,-1.57,-116.8,88.3,-13.2,105,709,0.15,2.85,0.00,0.000,6,0.000,0.000,1904,1828,2879
$GC,1037,-1.67,-116.8,136.4,-14.6,130,1044,0.00,3.38,0.00,0.000,4,0.000,0.000,1884,3672,2878
$GC,1135,-1.44,-116.8,150.6,-14.3,134,1143,0.47,3.62,0.00,0.000,6,0.000,0.000,2029,1842,2878
$GC,1471,-1.40,-116.8,182.5,-8.8,150,1479,0.57,3.53,0.00,0.000,4,0.000,0.000,1895,3682,2877
$GC,1571,-1.51,-116.8,194.8,-14.6,154,1579,0.38,3.38,0.00,0.000,6,0.000,0.000,1959,1988,2878
$GC,1907,-1.47,-116.8,235.3,-11.6,170,1914,0.00,3.78,0.00,0.000,4,0.000,0.000,1983,3669,2877
$GC,1956,-1.40,-116.8,241.0,-11.5,172,1961,0.00,2.85,0.00,0.000,6,0.000,0.000,1949,2018,2876
$GC,2287,-1.50,-116.8,279.5,-11.6,188,2292,0.00,2.50,0.00,0.000,4,0.000,0.000,1953,3377,2877
$GC,2339,-1.43,-116.8,285.7,-11.5,190,2345,0.00,3.15,0.00,0.000,6,0.000,0.000,1952,1812,2877
$GC,2664,-1.46,-116.8,322.6,-11.7,205,2671,0.00,3.42,0.00,0.000,4,0.000,0.000,1958,3696,2874
$GC,2766,-1.40,-116.8,335.1,-11.8,209,2773,0.00,3.55,0.00,0.000,6,0.000,0.000,1977,1790,2875
$GC,3102,-1.50,-116.8,373.2,-11.6,225,3107,0.00,2.83,0.00,0.000,4,0.000,0.000,1953,3606,2876
$GC,3203,-1.44,-116.8,385.9,-11.5,229,3208,0.00,3.12,0.00,0.000,6,0.000,0.000,1959,1783,2879
$GC,3528,-1.53,-116.8,422.9,-11.7,244,3533,0.00,3.17,0.00,0.000,4,0.000,0.000,1965,3469,2884
$GC,3634,-1.46,-116.8,436.0,-10.7,248,3643,0.00,3.12,0.00,0.000,6,0.000,0.000,1972,1785,2873
$GC,3961,-1.60,-116.8,471.4,-10.0,264,3967,0.15,2.95,0.00,0.000,4,0.000,0.000,1885,3630,2878
$GC,4062,-1.64,-116.8,487.2,-14.7,268,4067,0.00,2.88,0.00,0.000,6,0.000,0.000,1903,1972,2875
$GC,4398,-1.58,-116.8,536.5,-14.8,278,4403,0.00,2.12,0.00,0.000,3,0.000,0.000,1907,3289,2877
$STATE,4403,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4403,begin apogee
$GC,4419,-0.25,0.0,538.0,14.8,278,4438,1.58,0.00,14.95,0.001,6,0.000,0.000,2260,1983,2256
$STATE,4438,end apogee,CONTROL_FINISHED_OK
$STATE,4438,begin climb
$GC,4444,1.49,116.8,542.1,0.0,278,4463,1.67,2.62,11.10,0.001,4,0.000,0.000,2615,321,1772
$GC,4510,1.49,116.8,533.0,19.3,280,4518,0.47,3.42,0.00,0.000,6,0.000,0.000,2512,2143,1771
$GC,4838,1.68,141.8,492.4,11.8,289,4848,1.12,2.42,2.50,0.000,4,0.000,0.000,2683,3502,1669
$GC,4932,1.83,141.8,470.2,26.6,293,4940,0.08,3.62,0.00,0.000,6,0.000,0.000,2686,1674,1663
$GC,5273,1.62,141.8,381.7,26.5,309,5281,0.52,4.05,0.00,0.000,4,0.000,0.000,2556,3706,1670
$GC,5437,1.27,141.8,349.6,17.0,316,5442,0.00,2.92,0.00,0.000,6,0.000,0.000,2570,1839,1668
$GC,5773,1.38,141.8,294.7,16.7,332,5781,0.00,3.53,0.00,0.000,4,0.000,0.000,2558,3676,1672
$GC,5895,1.35,141.8,272.9,16.6,337,5903,0.00,3.83,0.00,0.000,6,0.000,0.000,2562,1791,1671
$GC,6230,1.46,141.8,212.8,16.6,353,6235,0.00,3.15,0.00,0.000,4,0.000,0.000,2566,3611,1668
$GC,6367,1.44,141.8,185.8,16.6,359,6374,0.00,3.53,0.00,0.000,6,0.000,0.000,2570,1792,1672
$GC,6701,1.53,141.8,131.4,16.8,375,6709,0.60,3.25,0.00,0.000,4,0.000,0.000,2680,3462,1670
$GC,6853,1.51,141.8,91.6,25.7,383,6863,0.55,3.08,0.00,0.000,6,0.000,0.000,2571,1946,1669
$GC,7222,1.25,141.8,29.2,16.8,444,7230,0.00,3.15,0.00,0.000,4,0.000,0.000,2544,3681,1673
$GC,7327,1.23,141.8,12.9,16.4,460,7335,0.00,3.50,0.00,0.000,6,0.000,0.000,2568,1822,1666
$STATE,7387,end climb,SURFACE_DEPTH_REACHED
$STATE,7387,begin surface coast
$FINISH,0.3,1.025019
$STATE,7400,end surface coast,CONTROL_FINISHED_OK
$STATE,7400,begin surface
$SM_CCo,7430,19.88,0.001,0,0,387,452.09
$SM_GC,0.34,0.00,0.00,19.88,0.000,0.000,0.001,618,2151,387,-7.47,5.06,452.09
$RAFOS_CLK,0
$RAFOS,3,1160440456,0.583333,0.571111,80,0,0,0,0,0,659,0,0,0,0,0
$RAFOS,2,1160439843,0.416667,0.400833,80,0,0,0,0,0,951,0,0,0,0,0
$RAFOS,1,1160439253,0.250000,0.236944,80,0,0,0,0,0,681,0,0,0,0,0
$RAFOS,0,1160438652,0.083333,0.070000,80,0,0,0,0,0,548,0,0,0,0,0
$RAFOS_FIX,6635.439941,-6008.498047,101006,000020,4,80,0.69
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2287
$INTERNAL_PRESSURE,26.0748
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.3,18.3
$ALTIM_BOTTOM_PING,500.5,47.0
$24V_AH,23.7,33.293
$10V_AH,9.7,5.079
$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,25.200,116.350,28.550,19.875,0.000,0.000,0.000,62.762,4.500,36.364,1569.902,4697.835,236.599,612.790,745.826,33.329,744.011,0.000,506.920,1440.000,26.149
$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,391.613,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15825,472
$CFSIZE,255582208,243462144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,44,901,0,0
$SOUNDSPEED,1459.5
$CURRENT,0.055,305.4,1
$GPS,101006,013004,6636.185,-6010.292,6,1.1,7,18.0