version: 66.01
glider: 1
mission: 1
dive: 16
start: 10 10 106 1 35 4
data:
$ID,1
$MISSION,1
$DIVE,16
$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,-446873.25
$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,26
$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
$GPS1,013004,6636.185,-6010.292,6,1.1,7,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-70.0
$GPS2,013400,6636.185,-6010.292,10,1.1,10,18.0
$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,-16305.7,1333.7,833.0,24386.0,-8079.9
$KALMAN_Y,5154.1,-596.3,411.0,3171.3,2225.0
$MHEAD_RNG_PITCHd_Wd,53.2,154295,-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,-8.12,0.000,6,0.000,0.000,633,2159,2859
$GC,63,-1.49,-116.8,0.3,-0.1,2,81,6.82,2.97,0.00,0.000,4,0.000,0.000,2003,3504,2858
$GC,102,-1.49,-116.8,8.2,-18.5,7,112,0.65,3.15,0.00,0.000,6,0.000,0.000,1888,1829,2858
$GC,471,-1.38,-116.8,57.3,-13.8,68,480,0.43,2.97,0.00,0.000,4,0.000,0.000,2041,3377,2860
$GC,586,-1.16,-116.8,67.9,-8.8,86,595,0.00,2.67,0.00,0.000,6,0.000,0.000,2024,2031,2863
$GC,953,-1.36,-116.8,98.7,-8.5,147,963,0.43,3.22,0.00,0.000,4,0.000,0.000,1917,3688,2858
$GC,1015,-1.47,-116.8,106.0,-13.8,151,1023,0.52,3.67,0.00,0.000,6,0.000,0.000,2036,1825,2863
$GC,1350,-1.44,-116.8,134.9,-8.4,167,1358,0.50,3.47,0.00,0.000,4,0.000,0.000,1914,3622,2856
$GC,1449,-1.56,-116.8,147.7,-13.9,171,1454,0.00,2.65,0.00,0.000,6,0.000,0.000,1894,1778,2861
$GC,1784,-1.52,-116.8,194.2,-13.9,187,1792,0.03,3.65,0.00,0.000,4,0.000,0.000,1908,3602,2861
$GC,1890,-1.31,-116.8,209.9,-14.1,191,1902,0.52,2.88,0.00,0.000,6,0.000,0.000,2013,2058,2864
$GC,2219,-1.27,-116.8,236.2,-7.8,207,2225,0.15,2.92,0.00,0.000,4,0.000,0.000,2045,3573,2857
$GC,2256,-1.61,-116.8,239.7,-7.9,208,2266,0.77,3.42,0.00,0.000,6,0.000,0.000,1854,1722,2854
$GC,2575,-1.87,-116.8,290.4,-16.6,224,2583,0.10,3.25,0.00,0.000,4,0.000,0.000,1839,3423,2858
$GC,2702,-1.52,-116.8,311.8,-16.9,229,2715,0.65,3.15,0.00,0.000,6,0.000,0.000,1975,1759,2861
$GC,3032,-1.30,-116.8,345.3,-9.7,245,3038,0.03,3.08,0.00,0.000,4,0.000,0.000,1985,3438,2852
$GC,3162,-1.43,-116.8,359.2,-10.1,250,3170,0.00,2.90,0.00,0.000,6,0.000,0.000,1986,1874,2855
$GC,3486,-1.53,-116.8,391.9,-10.4,266,3495,0.50,3.53,0.00,0.000,4,0.000,0.000,1855,3676,2865
$GC,3584,-1.53,-116.8,406.7,-16.8,270,3591,0.57,2.65,0.00,0.000,6,0.000,0.000,1967,1962,2859
$GC,3916,-1.39,-116.8,442.3,-10.3,286,3921,0.00,3.08,0.00,0.000,4,0.000,0.000,1980,3460,2859
$GC,3963,-1.39,-116.8,447.4,-10.5,288,3970,0.00,3.28,0.00,0.000,6,0.000,0.000,1984,1813,2856
$GC,4297,-1.51,-116.8,481.0,-10.2,304,4306,0.38,3.53,0.00,0.000,4,0.000,0.000,1879,3664,2855
$GC,4403,-1.51,-116.8,497.5,-15.8,308,4415,0.57,3.33,0.00,0.000,6,0.000,0.000,1992,1841,2861
$GC,4723,-1.39,-116.8,529.6,-9.7,317,4731,0.25,3.53,0.00,0.000,4,0.000,0.000,1928,3701,2855
$GC,4809,-1.42,-116.8,539.6,-9.9,318,4818,0.00,3.25,0.00,0.000,6,0.000,0.000,1938,2017,2859
$STATE,4894,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4894,begin apogee
$GC,4907,-0.25,0.0,550.7,12.4,321,4925,1.55,0.00,14.62,0.000,6,0.000,0.000,2226,2010,2242
$STATE,4926,end apogee,CONTROL_FINISHED_OK
$STATE,4926,begin climb
$GC,4932,1.49,116.8,550.7,0.0,321,4948,2.17,0.00,11.27,0.000,6,0.000,0.000,2643,2008,1763
$GC,5247,1.49,116.8,486.7,22.4,330,5255,0.55,3.40,0.00,0.000,4,0.000,0.000,2524,3673,1770
$GC,5338,1.18,116.8,473.2,14.2,333,5347,0.03,3.53,0.00,0.000,6,0.000,0.000,2559,1809,1763
$GC,5662,1.33,116.8,428.2,14.0,349,5670,0.00,3.47,0.00,0.000,4,0.000,0.000,2557,3639,1771
$GC,5789,1.36,116.8,409.2,14.0,354,5801,0.00,3.35,0.00,0.000,6,0.000,0.000,2531,1803,1768
$GC,6118,1.51,116.8,363.2,15.0,370,6126,0.38,3.53,0.00,0.000,4,0.000,0.000,2668,3664,1773
$GC,6246,1.48,116.8,335.1,22.8,375,6258,0.52,2.85,0.00,0.000,6,0.000,0.000,2533,1976,1766
$GC,6575,1.35,121.3,290.6,13.4,391,6580,0.03,2.85,0.00,0.000,4,0.000,0.000,2533,3630,1769
$GC,6669,1.40,125.3,277.9,13.4,395,6677,0.00,3.53,0.82,0.000,6,0.000,0.000,2518,1808,1728
$GC,7009,1.57,125.3,230.6,13.8,411,7017,0.55,3.22,0.00,0.000,4,0.000,0.000,2592,3678,1724
$GC,7137,1.63,125.3,206.7,18.1,416,7149,0.12,3.53,0.00,0.000,6,0.000,0.000,2598,1864,1729
$GC,7466,1.65,125.3,148.1,18.2,432,7471,0.00,2.80,0.00,0.000,4,0.000,0.000,2612,3368,1728
$GC,7614,1.53,125.3,119.6,17.8,438,7622,0.00,2.35,0.00,0.000,6,0.000,0.000,2586,2037,1724
$GC,7968,1.48,125.3,56.2,18.1,484,7976,0.00,2.42,0.00,0.000,4,0.000,0.000,2599,3563,1724
$GC,8068,1.35,125.3,37.0,18.2,500,8077,0.52,2.97,0.00,0.000,6,0.000,0.000,2472,2041,1735
$STATE,8359,end climb,SURFACE_DEPTH_REACHED
$STATE,8359,begin surface coast
$FINISH,0.3,1.024650
$STATE,8378,end surface coast,CONTROL_FINISHED_OK
$STATE,8378,begin surface
$SM_CCo,8407,20.42,0.000,0,0,381,450.37
$SM_GC,0.34,0.00,0.00,20.42,0.000,0.000,0.000,647,1719,381,-7.48,-7.94,450.37
$RAFOS_CLK,0
$RAFOS,4,1160450957,3.500000,3.488055,40,0,0,0,0,0,0,0,0,0,0,0
$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,2303
$INTERNAL_PRESSURE,26.0748
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.6,18.9
$ALTIM_BOTTOM_PING,501.8,54.8
$24V_AH,23.7,33.542
$10V_AH,9.7,5.123
$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,29.725,120.925,26.725,20.425,0.000,0.000,0.000,62.510,4.500,10.985,1774.592,5216.868,295.365,661.586,723.408,33.366,864.759,0.000,570.560,360.000,26.172
$DEVICE_MAMPS,119.000,60.000,1300.000,600.000,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,451.431,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18998,552
$CFSIZE,255582208,243376128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,57,945,0,0
$SOUNDSPEED,1459.5
$CURRENT,0.064,298.4,1
$GPS,101006,035706,6636.662,-6008.722,28,1.1,28,18.0