version: 66.01
glider: 1
mission: 1
dive: 21
start: 10 10 106 13 57 39
data:
$ID,1
$MISSION,1
$DIVE,21
$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,-446987.53
$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,178
$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
$GPS1,135251,6637.446,-6008.769,30,1.1,30,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.7
$GPS2,135711,6637.446,-6008.769,27,1.1,27,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6628.994,-6006.087
$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,123.5,20000,-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,-116.8,0.0,0.0,0,58,0.00,0.00,-8.10,0.000,6,0.000,0.000,617,1906,2850
$GC,64,-1.49,-116.8,0.3,-0.0,2,82,6.32,2.12,0.00,0.000,4,0.000,0.000,1959,568,2859
$GC,245,-1.49,-116.8,22.7,-10.6,30,254,0.10,3.38,0.00,0.000,6,0.000,0.000,1969,2087,2853
$GC,614,-1.69,-116.8,61.9,-10.4,91,623,0.45,3.03,0.00,0.000,4,0.000,0.000,1853,3567,2851
$GC,725,-1.66,-116.8,78.6,-16.1,108,734,0.52,2.90,0.00,0.000,6,0.000,0.000,1990,1929,2851
$GC,1082,-1.41,-116.8,117.3,-10.2,147,1089,0.00,3.35,0.00,0.000,4,0.000,0.000,1969,3606,2854
$GC,1182,-1.41,-116.8,126.8,-10.5,151,1186,0.00,2.42,0.00,0.000,6,0.000,0.000,1968,1915,2856
$GC,1517,-1.48,-116.8,161.7,-10.3,167,1525,0.38,3.25,0.00,0.000,4,0.000,0.000,1864,3588,2859
$GC,1602,-1.48,-116.8,174.3,-15.1,170,1609,0.75,2.33,0.00,0.000,6,0.000,0.000,1985,2083,2854
$GC,1930,-1.30,-116.8,209.8,-10.3,186,1935,0.00,2.95,0.00,0.000,4,0.000,0.000,1950,3571,2853
$GC,1966,-1.28,-116.8,213.9,-10.3,187,1974,0.00,2.90,0.00,0.000,6,0.000,0.000,1983,2062,2852
$GC,2292,-1.35,-116.8,246.0,-10.4,203,2297,0.00,2.55,0.00,0.000,4,0.000,0.000,1970,3394,2853
$GC,2363,-1.33,-116.8,253.5,-10.2,206,2368,0.00,2.33,0.00,0.000,6,0.000,0.000,1983,2038,2853
$GC,2699,-1.37,-116.8,287.2,-9.7,222,2706,0.03,3.17,0.00,0.000,4,0.000,0.000,1975,3536,2851
$GC,2747,-1.52,-116.8,292.8,-10.1,224,2752,0.52,2.25,0.00,0.000,6,0.000,0.000,1857,2191,2860
$GC,3078,-1.59,-116.8,345.9,-16.5,240,3081,0.62,0.00,0.00,0.000,6,0.000,0.000,1969,2208,2854
$GC,3393,-1.22,-116.8,376.9,-10.2,255,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,2203,2848
$GC,3697,-1.22,-116.8,408.7,-10.3,270,3702,0.12,2.40,0.00,0.000,4,0.000,0.000,1984,3540,2856
$GC,3733,-1.19,-116.8,412.7,-10.3,271,3743,0.43,3.12,0.00,0.000,6,0.000,0.000,2041,2023,2850
$GC,4058,-1.26,-116.8,437.7,-7.7,287,4066,0.82,2.75,0.00,0.000,4,0.000,0.000,1900,3388,2852
$GC,4115,-1.41,-116.8,445.1,-13.8,289,4121,0.52,2.33,0.00,0.000,6,0.000,0.000,2042,1986,2851
$GC,4440,-1.29,-116.8,469.8,-7.2,304,4448,0.43,3.03,0.00,0.000,4,0.000,0.000,1920,3659,2857
$GC,4503,-1.51,-116.8,477.6,-12.7,306,4511,0.00,2.78,0.00,0.000,6,0.000,0.000,1920,2297,2849
$GC,4820,-1.48,-116.8,514.0,-10.1,319,4826,0.00,3.08,0.00,0.000,4,0.000,0.000,1923,625,2859
$GC,4857,-1.48,-116.8,518.7,-12.2,319,4865,0.00,3.47,0.00,0.000,6,0.000,0.000,1931,2269,2851
$STATE,5186,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5186,begin apogee
$GC,5199,-0.25,0.0,560.3,12.4,328,5217,1.52,0.00,14.70,0.000,6,0.000,0.000,2223,1953,2243
$STATE,5218,end apogee,CONTROL_FINISHED_OK
$STATE,5218,begin climb
$GC,5224,1.49,116.8,560.3,0.0,328,5244,2.17,2.97,11.32,0.001,4,0.000,0.000,2667,592,1760
$GC,5266,1.49,116.8,557.4,21.4,329,5273,0.60,2.78,0.00,0.000,6,0.000,0.000,2533,2146,1764
$GC,5598,1.32,116.8,508.5,14.3,337,5603,0.00,2.45,0.00,0.000,4,0.000,0.000,2545,3619,1757
$GC,5728,1.32,116.8,490.2,14.2,340,5736,0.00,2.65,0.00,0.000,6,0.000,0.000,2541,2100,1757
$GC,6052,1.40,116.8,444.1,14.5,356,6058,0.03,3.15,0.00,0.000,4,0.000,0.000,2561,3578,1766
$GC,6127,1.40,116.8,432.9,14.5,359,6132,0.08,2.78,0.00,0.000,6,0.000,0.000,2545,2094,1755
$GC,6458,1.47,116.8,382.8,15.0,375,6463,0.35,2.38,0.00,0.000,4,0.000,0.000,2604,3422,1762
$GC,6538,1.45,116.8,368.5,19.1,378,6542,0.00,2.05,0.00,0.000,6,0.000,0.000,2624,2061,1760
$GC,6863,1.35,116.8,309.2,18.6,393,6868,0.45,2.30,0.00,0.000,4,0.000,0.000,2478,3612,1757
$GC,6937,1.18,157.7,299.3,10.5,396,6947,0.47,2.47,3.65,0.001,6,0.000,0.000,2608,2258,1612
$GC,7268,1.49,157.7,232.8,21.0,411,7269,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2273,1611
$GC,7571,1.32,157.7,158.9,32.2,426,7573,0.43,0.00,0.00,0.000,6,0.000,0.000,2468,2276,1608
$GC,7885,0.62,179.2,120.6,12.0,441,7894,0.52,2.35,1.77,0.001,4,0.000,0.000,2360,3459,1509
$GC,7926,0.83,239.9,115.6,8.9,442,7939,0.57,2.72,5.07,0.000,6,0.000,0.000,2496,2148,1254
$GC,8286,1.39,239.9,63.2,14.8,489,8295,0.60,3.17,0.00,0.000,4,0.000,0.000,2601,3466,1260
$GC,8358,1.55,239.9,45.8,28.4,500,8367,0.03,2.58,0.00,0.000,6,0.000,0.000,2615,2304,1256
$STATE,8522,end climb,SURFACE_DEPTH_REACHED
$STATE,8522,begin surface coast
$FINISH,0.3,1.025142
$STATE,8529,end surface coast,CONTROL_FINISHED_OK
$STATE,8529,begin surface
$SM_CCo,8558,13.15,0.001,0,0,403,451.35
$SM_GC,0.34,0.00,0.00,13.15,0.000,0.000,0.001,606,1978,403,-7.57,-0.14,451.35
$RAFOS_CLK,0
$RAFOS,0,1160496244,16.083334,16.067778,80,0,0,0,0,0,576,0,0,0,0,0
$RAFOS,4,1160494169,15.500000,15.491389,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,6637.993652,-6003.090332,101006,121220,4,80,1.03
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2214
$INTERNAL_PRESSURE,26.0065
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.1,18.7
$ALTIM_BOTTOM_PING,529.9,39.2
$24V_AH,23.7,34.869
$10V_AH,9.7,5.335
$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,29.375,100.000,36.525,13.150,0.000,0.000,0.000,67.547,5.000,28.229,1708.026,5557.383,238.692,604.869,725.318,0.000,743.974,0.000,498.858,1080.000,30.132
$DEVICE_MAMPS,119.000,60.000,1300.000,0.767,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,438.818,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15895,528
$CFSIZE,255582208,243052544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,55,767,0,0
$SOUNDSPEED,1459.8
$CURRENT,0.061, 26.6,1
$GPS,101006,162152,6636.921,-6006.795,16,1.1,16,18.0