version: 66.01
glider: 1
mission: 1
dive: 20
start: 10 10 106 11 28 3
data:
$ID,1
$MISSION,1
$DIVE,20
$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,3
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.00312
$HD_B,0.0099099996
$HD_C,2.4896e-05
$HEADING,20
$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,-446958.69
$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,334
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,500
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,6
$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
$GPS1,112311,6638.277,-6007.558,30,1.1,30,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-70.0
$GPS2,112734,6638.277,-6007.558,32,1.1,33,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6632.003,-6011.059
$TGT_RADIUS,1852.000
$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,216.5,20000,-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,35,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,-8.05,0.000,6,0.000,0.000,634,2188,2866
$GC,63,-1.49,-116.8,0.3,0.0,2,81,6.90,3.33,0.00,0.000,4,0.000,0.000,1985,3679,2859
$GC,276,-1.49,-116.8,25.8,-10.0,36,285,0.52,3.20,0.00,0.000,6,0.000,0.000,1861,2004,2864
$GC,646,-1.61,-116.8,83.7,-15.7,97,655,0.52,2.50,0.00,0.000,4,0.000,0.000,1979,3352,2862
$GC,736,-1.28,-116.8,93.5,-10.0,111,744,0.00,2.22,0.00,0.000,6,0.000,0.000,1978,2169,2858
$GC,1071,-1.35,-116.8,126.9,-10.0,134,1078,0.00,3.25,0.00,0.000,4,0.000,0.000,1990,3666,2859
$GC,1128,-1.35,-116.8,132.8,-9.8,136,1133,0.05,2.17,0.00,0.000,6,0.000,0.000,1981,2351,2863
$GC,1452,-1.47,-116.8,164.2,-9.9,151,1460,0.60,2.97,0.00,0.000,4,0.000,0.000,1851,704,2865
$GC,1501,-1.47,-116.8,171.0,-15.6,153,1509,0.55,3.25,0.00,0.000,6,0.000,0.000,1973,2223,2867
$GC,1836,-1.37,-116.8,206.1,-10.2,169,1841,0.05,2.47,0.00,0.000,4,0.000,0.000,1942,3402,2870
$GC,1880,-1.37,-116.8,211.2,-12.6,171,1885,0.52,1.75,0.00,0.000,6,0.000,0.000,2052,2206,2859
$GC,2210,-1.29,-116.8,236.7,-7.5,187,2213,0.52,0.00,0.00,0.000,6,0.000,0.000,1916,2205,2864
$GC,2525,-1.46,-116.8,275.6,-12.4,202,2527,0.20,0.00,0.00,0.000,6,0.000,0.000,1985,2212,2857
$GC,2834,-1.35,-116.8,308.0,-10.3,217,2835,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,2201,2861
$GC,3141,-1.35,-116.8,340.0,-10.3,232,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,2196,2859
$GC,3448,-1.33,-116.8,371.9,-10.3,247,3452,0.00,2.40,0.00,0.000,4,0.000,0.000,1968,3367,2858
$GC,3477,-1.33,-116.8,374.9,-8.5,248,3481,0.00,1.62,0.00,0.000,6,0.000,0.000,1979,2185,2869
$GC,3808,-1.59,-116.8,407.9,-10.3,264,3813,0.50,2.03,0.00,0.000,4,0.000,0.000,1848,3528,2857
$GC,3844,-1.58,-116.8,413.7,-15.9,265,3853,0.52,2.45,0.00,0.000,6,0.000,0.000,2008,2314,2868
$GC,4168,-1.34,-116.8,447.0,-10.2,281,4175,0.00,3.47,0.00,0.000,4,0.000,0.000,1988,633,2861
$GC,4203,-1.34,-116.8,451.4,-10.4,282,4208,0.00,2.75,0.00,0.000,6,0.000,0.000,1980,2317,2859
$GC,4528,-1.53,-116.8,483.5,-10.1,297,4530,0.60,0.00,0.00,0.000,6,0.000,0.000,1856,2323,2866
$GC,4849,-1.53,-116.8,534.4,-15.9,308,4851,0.52,0.00,0.00,0.000,6,0.000,0.000,1973,2322,2860
$STATE,5133,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5133,begin apogee
$GC,5145,-0.25,0.0,564.9,10.3,315,5163,1.33,0.00,15.10,0.001,6,0.000,0.000,2289,2333,2241
$STATE,5164,end apogee,CONTROL_FINISHED_OK
$STATE,5164,begin climb
$GC,5170,1.49,116.8,564.9,0.0,315,5185,1.98,0.00,11.02,0.000,6,0.000,0.000,2647,2324,1775
$GC,5505,1.49,116.8,500.1,21.3,324,5511,0.62,2.47,0.00,0.000,4,0.000,0.000,2529,3490,1769
$GC,5542,1.20,120.6,493.5,13.4,324,5551,0.00,3.17,0.08,0.001,6,0.000,0.000,2526,2026,1771
$GC,5866,1.33,131.0,452.5,12.9,340,5874,0.00,2.28,1.45,0.001,4,0.000,0.000,2533,3544,1704
$GC,5965,1.40,131.0,438.0,13.9,344,5971,0.50,2.67,0.00,0.000,6,0.000,0.000,2645,2189,1710
$GC,6296,1.52,131.0,367.6,22.2,360,6302,0.60,2.50,0.00,0.000,4,0.000,0.000,2513,3354,1708
$GC,6341,1.26,131.4,359.1,13.7,362,6346,0.08,2.12,0.00,0.000,6,0.000,0.000,2496,1962,1704
$GC,6676,1.37,136.8,315.0,13.3,378,6684,0.62,3.25,0.00,0.000,4,0.000,0.000,2625,3640,1709
$GC,6781,1.46,136.8,291.9,21.9,382,6787,0.50,2.53,0.00,0.000,6,0.000,0.000,2504,1977,1711
$GC,7106,1.30,147.0,244.6,12.9,397,7115,0.52,2.83,1.52,0.001,4,0.000,0.000,2618,3662,1637
$GC,7203,1.41,147.0,222.1,22.2,401,7210,0.47,2.92,0.00,0.000,6,0.000,0.000,2520,2118,1632
$GC,7537,1.27,147.0,175.1,14.1,417,7542,0.00,2.65,0.00,0.000,4,0.000,0.000,2507,3634,1641
$GC,7603,1.34,147.7,165.2,13.7,420,7610,0.47,3.03,0.00,0.000,6,0.000,0.000,2651,2083,1641
$GC,7934,1.50,147.7,90.4,23.5,440,7943,0.62,2.22,0.00,0.000,4,0.000,0.000,2522,3596,1637
$GC,8000,1.24,147.7,79.8,14.1,450,8009,0.00,2.88,0.00,0.000,6,0.000,0.000,2520,2246,1646
$GC,8368,1.39,147.7,27.9,14.7,511,8377,0.62,2.03,0.00,0.000,4,0.000,0.000,2643,3565,1633
$GC,8422,1.46,147.7,18.7,23.1,518,8431,0.52,2.55,0.00,0.000,6,0.000,0.000,2540,2230,1638
$STATE,8521,end climb,SURFACE_DEPTH_REACHED
$STATE,8521,begin surface coast
$FINISH,0.3,1.024948
$STATE,8533,end surface coast,CONTROL_FINISHED_OK
$STATE,8533,begin surface
$SM_CCo,8561,19.10,0.001,0,0,384,452.09
$SM_GC,0.34,0.00,0.00,19.10,0.000,0.000,0.001,641,1908,384,-7.47,-1.78,452.09
$RAFOS_CLK,0
$RAFOS,3,1160483654,12.583333,12.570556,80,0,0,0,0,0,673,0,0,0,0,0
$RAFOS,2,1160483041,12.416667,12.400278,80,0,0,0,0,0,949,0,0,0,0,0
$RAFOS,1,1160482444,12.250000,12.234445,80,0,0,0,0,0,714,0,0,0,0,0
$RAFOS,0,1160481846,12.083333,12.068334,80,0,0,0,0,0,561,0,0,0,0,0
$RAFOS_FIX,6637.993652,-6003.090332,101006,121220,4,80,1.03
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2192
$INTERNAL_PRESSURE,25.9967
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,18.7,18.4
$ALTIM_BOTTOM_PING,502.1,72.4
$24V_AH,23.7,34.599
$10V_AH,9.7,5.293
$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,31.000,84.550,29.175,19.100,0.000,0.000,0.000,66.843,4.500,34.058,1736.319,5624.653,219.636,584.393,696.153,0.000,703.552,0.000,475.960,1440.000,26.193
$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,445.584,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15868,536
$CFSIZE,255582208,243118080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,62,649,0,0
$SOUNDSPEED,1459.7
$CURRENT,0.074,121.5,1
$GPS,101006,135251,6637.446,-6008.769,30,1.1,30,18.0