version: 66.01
glider: 1
mission: 1
dive: 18
start: 10 10 106 6 32 37
data:
$ID,1
$MISSION,1
$DIVE,18
$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,-446911.16
$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
$GPS1,062731,6637.252,-6007.095,27,1.1,28,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.6
$GPS2,063133,6637.252,-6007.095,10,1.1,10,18.0
$SPEED_LIMITS,0.215,0.230
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.221,0.063
$KALMAN_X,-18076.3,1112.0,191.8,29372.1,-5815.5
$KALMAN_Y,6077.1,-400.7,-1286.6,5721.4,4434.9
$MHEAD_RNG_PITCHd_Wd,53.7,151477,-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,-116.8,0.0,0.0,0,57,0.00,0.00,-8.15,0.000,6,0.000,0.000,615,1835,2903
$GC,63,-1.49,-116.8,0.3,-0.1,2,81,6.82,3.20,0.00,0.000,4,0.000,0.000,1980,3618,2902
$GC,301,-1.49,-116.8,28.1,-9.9,40,310,0.50,3.45,0.00,0.000,6,0.000,0.000,1859,1781,2905
$GC,671,-1.69,-116.8,85.9,-15.9,101,679,0.00,2.65,0.00,0.000,4,0.000,0.000,1882,3426,2900
$GC,839,-1.41,-116.8,113.0,-15.9,119,848,0.62,3.58,0.00,0.000,6,0.000,0.000,2008,1788,2909
$GC,1181,-1.21,-116.8,148.3,-10.2,135,1186,0.00,2.85,0.00,0.000,4,0.000,0.000,1998,3410,2900
$GC,1326,-1.25,-116.8,163.7,-10.0,141,1339,0.00,3.53,0.00,0.000,6,0.000,0.000,2002,1706,2896
$GC,1656,-1.35,-116.8,196.6,-10.3,157,1661,0.00,2.78,0.00,0.000,4,0.000,0.000,1980,3388,2902
$GC,1815,-1.40,-116.8,213.1,-10.0,164,1821,0.38,2.25,0.00,0.000,6,0.000,0.000,1886,1878,2908
$GC,2147,-1.50,-116.8,262.9,-14.2,180,2154,0.45,3.05,0.00,0.000,4,0.000,0.000,1982,3524,2904
$GC,2251,-1.38,-116.8,274.5,-10.3,184,2258,0.00,2.65,0.00,0.000,6,0.000,0.000,1999,2048,2907
$GC,2583,-1.50,-116.8,307.7,-10.2,200,2591,0.85,2.97,0.00,0.000,4,0.000,0.000,1872,3386,2904
$GC,2659,-1.53,-116.8,319.1,-16.5,203,2667,0.50,3.55,0.00,0.000,6,0.000,0.000,2009,1748,2904
$GC,2995,-1.32,-116.8,353.6,-9.7,219,3002,0.25,3.17,0.00,0.000,4,0.000,0.000,1929,3407,2904
$GC,3140,-1.39,-116.8,371.9,-12.5,225,3147,0.05,3.30,0.00,0.000,6,0.000,0.000,1919,1760,2902
$GC,3469,-1.36,-116.8,413.8,-12.9,241,3476,0.00,3.38,0.00,0.000,4,0.000,0.000,1963,3581,2902
$GC,3599,-1.26,-116.8,430.9,-13.4,246,3608,0.47,3.22,0.00,0.000,6,0.000,0.000,2045,1763,2901
$GC,3924,-1.26,-116.8,454.9,-7.2,262,3933,0.55,3.72,0.00,0.000,4,0.000,0.000,1964,3584,2907
$GC,4046,-1.49,-116.8,470.4,-13.2,267,4053,0.00,3.22,0.00,0.000,6,0.000,0.000,1934,1748,2907
$GC,4380,-1.49,-116.8,511.4,-12.6,281,4385,0.00,2.75,0.00,0.000,4,0.000,0.000,1921,3568,2905
$GC,4510,-1.41,-116.8,528.1,-12.5,283,4519,0.03,3.08,0.00,0.000,6,0.000,0.000,1948,2044,2904
$GC,4845,-1.41,-116.8,571.0,-12.7,292,4850,0.00,3.08,0.00,0.000,4,0.000,0.000,1936,3579,2900
$STATE,4853,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4853,begin apogee
$GC,4870,-0.25,0.0,573.1,12.4,292,4889,1.60,0.00,15.62,0.001,6,0.000,0.000,2222,1787,2232
$STATE,4890,end apogee,CONTROL_FINISHED_OK
$STATE,4890,begin climb
$GC,4896,1.49,116.8,576.4,0.0,292,4915,1.90,2.72,11.02,0.001,4,0.000,0.000,2633,433,1762
$GC,4947,1.49,116.8,569.1,19.1,293,4955,0.38,3.58,0.00,0.000,6,0.000,0.000,2574,1955,1767
$GC,5274,1.66,116.8,518.1,15.5,301,5282,0.40,3.03,0.00,0.000,4,0.000,0.000,2682,3631,1761
$GC,5452,1.62,116.8,476.0,23.5,306,5461,0.50,3.40,0.00,0.000,6,0.000,0.000,2568,1774,1757
$GC,5776,1.36,116.8,426.6,15.1,322,5783,0.00,3.53,0.00,0.000,4,0.000,0.000,2560,3591,1769
$GC,5940,1.34,116.8,399.1,15.0,329,5947,0.00,3.38,0.00,0.000,6,0.000,0.000,2561,1775,1760
$GC,6275,1.39,116.8,349.5,15.1,345,6282,0.00,3.83,0.00,0.000,4,0.000,0.000,2561,3572,1761
$GC,6459,1.37,116.8,320.7,15.7,353,6464,0.00,2.95,0.00,0.000,6,0.000,0.000,2569,1763,1760
$GC,6794,1.41,116.8,270.5,15.1,369,6799,0.00,2.95,0.00,0.000,4,0.000,0.000,2550,3586,1758
$GC,6959,1.41,116.8,243.9,15.1,376,6970,0.00,3.28,0.00,0.000,6,0.000,0.000,2555,1717,1761
$GC,7287,1.36,116.8,190.0,15.3,392,7294,0.00,3.40,0.00,0.000,4,0.000,0.000,2573,3626,1759
$GC,7456,1.36,116.8,163.1,15.2,399,7468,0.00,3.88,0.00,0.000,6,0.000,0.000,2554,1804,1760
$GC,7785,1.42,116.8,113.0,16.4,415,7792,0.00,3.40,0.00,0.000,4,0.000,0.000,2572,3518,1763
$GC,7951,1.40,116.8,87.1,15.2,431,7959,0.00,3.38,0.00,0.000,6,0.000,0.000,2557,1833,1762
$GC,8319,1.43,116.8,27.8,16.8,492,8328,0.03,3.47,0.00,0.000,4,0.000,0.000,2556,3662,1765
$GC,8478,1.37,116.8,2.9,15.4,517,8487,0.00,2.95,0.00,0.000,6,0.000,0.000,2572,1984,1758
$STATE,8491,end climb,SURFACE_DEPTH_REACHED
$STATE,8491,begin surface coast
$FINISH,0.3,1.025241
$STATE,8514,end surface coast,CONTROL_FINISHED_OK
$STATE,8514,begin surface
$SM_CCo,8542,21.40,0.000,0,0,407,450.62
$SM_GC,0.33,0.00,0.00,21.40,0.000,0.000,0.000,642,1985,407,-7.64,0.51,450.62
$RAFOS_CLK,0
$RAFOS,3,1160469247,8.583333,8.568611,80,0,0,0,0,0,699,0,0,0,0,0
$RAFOS,2,1160468656,8.416667,8.404445,80,0,0,0,0,0,861,0,0,0,0,0
$RAFOS,1,1160468054,8.250000,8.237223,80,0,0,0,0,0,652,0,0,0,0,0
$RAFOS,0,1160467453,8.083333,8.070278,80,0,0,0,0,0,524,0,0,0,0,0
$RAFOS_FIX,6637.165527,-6002.690430,101006,080820,4,80,0.49
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2202
$INTERNAL_PRESSURE,26.0553
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.3,999.0
$ALTIM_BOTTOM_PING,501.2,81.3
$24V_AH,23.7,34.074
$10V_AH,9.7,5.212
$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,26.325,122.500,26.650,21.400,0.000,0.000,0.000,64.920,4.500,11.032,1747.347,5390.510,262.432,703.983,720.567,33.333,867.833,0.000,612.291,1440.000,31.219
$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,431.933,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15841,522
$CFSIZE,255582208,243253248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,41,942,0,0
$SOUNDSPEED,1459.8
$CURRENT,0.051,305.4,1
$GPS,101006,085655,6637.720,-6005.678,15,1.1,15,18.0