version: 66.01
glider: 1
mission: 1
dive: 17
start: 10 10 106 4 2 28
data:
$ID,1
$MISSION,1
$DIVE,17
$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,-446899.5
$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,12
$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
$GPS1,035706,6636.662,-6008.722,28,1.1,28,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.4
$GPS2,040125,6636.662,-6008.722,25,1.1,25,18.0
$SPEED_LIMITS,0.215,0.230
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.221,0.065
$KALMAN_X,-17000.9,1301.6,337.8,26757.0,-6814.1
$KALMAN_Y,6026.9,-571.3,-871.8,4431.6,3224.6
$MHEAD_RNG_PITCHd_Wd,53.4,152938,-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,35,begin dive
$GC,41,-1.49,-116.8,0.0,0.0,0,56,0.00,0.00,-8.12,0.000,6,0.000,0.000,623,1721,2857
$GC,62,-1.49,-116.8,0.3,-0.0,2,80,6.53,3.75,0.00,0.000,4,0.000,0.000,1970,3583,2858
$GC,240,-1.49,-116.8,22.7,-10.4,30,249,0.52,3.58,0.00,0.000,6,0.000,0.000,1858,1910,2855
$GC,610,-1.62,-116.8,81.5,-16.0,91,620,0.47,3.28,0.00,0.000,4,0.000,0.000,1964,3583,2856
$GC,695,-1.27,-116.8,90.7,-9.7,104,705,0.05,3.05,0.00,0.000,6,0.000,0.000,1976,1731,2857
$GC,1045,-1.41,-116.8,125.7,-10.1,131,1052,0.00,3.80,0.00,0.000,4,0.000,0.000,1979,3563,2857
$GC,1178,-1.41,-116.8,140.1,-9.9,136,1187,0.00,3.58,0.00,0.000,6,0.000,0.000,1979,1748,2857
$GC,1503,-1.46,-116.8,170.6,-10.1,152,1510,0.28,3.22,0.00,0.000,4,0.000,0.000,1919,3584,2862
$GC,1560,-1.46,-116.8,178.4,-13.1,154,1572,0.00,3.33,0.00,0.000,6,0.000,0.000,1919,1766,2855
$GC,1889,-1.33,-116.8,220.2,-13.0,170,1899,0.43,3.28,0.00,0.000,4,0.000,0.000,2029,3419,2854
$GC,1965,-1.16,-116.8,227.2,-7.5,173,1973,0.25,3.15,0.00,0.000,6,0.000,0.000,1982,1734,2858
$GC,2300,-1.35,-116.8,261.1,-10.3,189,2307,0.00,3.42,0.00,0.000,4,0.000,0.000,1979,3605,2854
$GC,2374,-1.35,-116.8,268.9,-10.0,192,2381,0.00,3.25,0.00,0.000,6,0.000,0.000,1999,1737,2859
$GC,2709,-1.39,-116.8,302.5,-10.3,208,2716,0.00,3.70,0.00,0.000,4,0.000,0.000,1998,3606,2853
$GC,2750,-1.37,-116.8,307.4,-10.2,209,2759,0.00,3.60,0.00,0.000,6,0.000,0.000,1983,1784,2862
$GC,3076,-1.40,-116.8,340.0,-10.2,225,3083,0.08,3.42,0.00,0.000,4,0.000,0.000,1966,3629,2855
$GC,3127,-1.40,-116.8,346.2,-10.1,227,3133,0.03,2.85,0.00,0.000,6,0.000,0.000,1986,1763,2856
$GC,3458,-1.43,-116.8,379.3,-10.2,243,3465,0.00,4.03,0.00,0.000,4,0.000,0.000,1961,3547,2854
$GC,3566,-1.43,-116.8,390.6,-10.4,247,3571,0.00,2.75,0.00,0.000,6,0.000,0.000,1978,1709,2854
$GC,3890,-1.47,-116.8,423.4,-10.2,262,3899,0.08,3.95,0.00,0.000,4,0.000,0.000,1902,3712,2854
$GC,3991,-1.47,-116.8,436.9,-13.0,266,3999,0.05,3.53,0.00,0.000,6,0.000,0.000,1913,1820,2856
$GC,4326,-1.36,-116.8,479.8,-13.1,282,4334,0.55,3.28,0.00,0.000,4,0.000,0.000,1990,3468,2856
$GC,4406,-1.18,-116.8,488.7,-10.2,285,4411,0.17,2.62,0.00,0.000,6,0.000,0.000,2038,1779,2855
$GC,4749,-1.21,-116.8,515.3,-7.4,297,4755,0.00,3.20,0.00,0.000,4,0.000,0.000,2027,3565,2854
$GC,4864,-1.39,-116.8,523.9,-7.8,299,4875,0.65,3.80,0.00,0.000,6,0.000,0.000,1924,1738,2856
$STATE,5128,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5129,begin apogee
$GC,5142,-0.25,0.0,558.4,13.0,306,5161,1.70,0.00,14.73,0.001,6,0.000,0.000,2294,2208,2239
$STATE,5161,end apogee,CONTROL_FINISHED_OK
$STATE,5162,begin climb
$GC,5167,1.49,116.8,558.4,0.0,306,5186,1.70,2.97,11.18,0.001,4,0.000,0.000,2646,553,1763
$GC,5215,1.49,116.8,555.1,21.4,307,5223,0.52,3.17,0.00,0.000,6,0.000,0.000,2516,2212,1763
$GC,5549,1.42,129.4,511.5,12.7,315,5557,0.80,2.65,1.25,0.000,4,0.000,0.000,2662,3378,1716
$GC,5612,1.51,129.4,498.4,22.0,316,5620,0.50,3.03,0.00,0.000,6,0.000,0.000,2499,1696,1718
$GC,5958,1.31,142.9,451.1,12.7,332,5967,0.32,3.15,1.17,0.001,4,0.000,0.000,2549,3395,1664
$GC,6197,1.44,142.9,406.9,17.5,342,6202,0.00,2.67,0.00,0.000,6,0.000,0.000,2571,2026,1665
$GC,6522,1.39,142.9,351.4,17.5,357,6529,0.00,3.38,0.00,0.000,4,0.000,0.000,2574,3697,1665
$GC,6570,1.32,142.9,342.1,17.4,359,6577,0.00,3.83,0.00,0.000,6,0.000,0.000,2564,1718,1671
$GC,6910,1.30,142.9,283.4,17.6,375,6918,0.08,3.78,0.00,0.000,4,0.000,0.000,2541,3384,1665
$GC,7111,1.25,147.7,254.3,13.4,383,7121,0.12,2.83,0.70,0.000,6,0.000,0.000,2513,1863,1645
$GC,7436,1.37,147.7,210.9,13.7,399,7444,0.40,3.05,0.00,0.000,4,0.000,0.000,2637,3367,1639
$GC,7592,1.45,147.7,175.8,22.3,405,7601,0.50,2.42,0.00,0.000,6,0.000,0.000,2509,1863,1643
$GC,7917,1.27,147.7,131.3,13.8,421,7924,0.05,3.33,0.00,0.000,4,0.000,0.000,2498,3714,1637
$GC,8049,1.36,147.7,112.3,14.3,426,8059,0.62,3.53,0.00,0.000,6,0.000,0.000,2624,1861,1645
$GC,8407,1.51,147.7,32.0,22.9,478,8415,0.00,3.53,0.00,0.000,4,0.000,0.000,2646,3678,1641
$STATE,8538,end climb,SURFACE_DEPTH_REACHED
$STATE,8538,begin surface coast
$FINISH,0.3,1.025032
$STATE,8544,end surface coast,CONTROL_FINISHED_OK
$STATE,8544,begin surface
$SM_CCo,8578,19.08,0.000,0,0,403,452.09
$SM_GC,0.34,0.00,0.00,19.08,0.000,0.000,0.000,595,1838,403,-7.58,-4.27,452.09
$RAFOS_CLK,0
$RAFOS,3,1160454845,4.583333,4.568056,80,0,0,0,0,0,715,0,0,0,0,0
$RAFOS,2,1160454253,4.416667,4.403611,80,0,0,0,0,0,889,0,0,0,0,0
$RAFOS,1,1160453647,4.250000,4.235278,80,0,0,0,0,0,705,0,0,0,0,0
$RAFOS,0,1160453043,4.083333,4.067500,80,0,0,0,0,0,590,0,0,0,0,0
$RAFOS_FIX,6636.011719,-6006.054199,101006,040448,4,80,1.98
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2141
$INTERNAL_PRESSURE,26.0651
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,18.3,18.1
$ALTIM_BOTTOM_PING,525.2,43.0
$24V_AH,23.7,33.805
$10V_AH,9.7,5.167
$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,27.525,133.125,29.025,19.075,0.000,0.000,0.000,64.931,4.750,25.614,1687.384,5534.961,272.272,664.425,715.055,33.327,839.877,0.000,562.019,1440.000,37.758
$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,417.330,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15857,501
$CFSIZE,255582208,243318784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,43,1027,0,0
$SOUNDSPEED,1459.8
$CURRENT,0.059,309.0,1
$GPS,101006,062731,6637.252,-6007.095,27,1.1,28,18.0