version: 66.01
glider: 1
mission: 1
dive: 23
start: 10 10 106 19 5 46
data:
$ID,1
$MISSION,1
$DIVE,23
$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,-447037.19
$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,165
$R_STBD_OVSHOOT,21
$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
$GPS1,190109,6637.787,-6005.787,31,1.1,31,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.8
$GPS2,190516,6637.787,-6005.787,15,1.1,15,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6644.999,-6008.960
$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,293.9,20000,-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,-8.00,0.000,6,0.000,0.000,585,1931,2856
$GC,64,-1.49,-116.8,0.3,0.0,2,82,6.93,2.45,0.00,0.000,4,0.000,0.000,1997,589,2862
$GC,248,-1.49,-116.8,23.0,-9.9,31,257,0.50,2.75,0.00,0.000,6,0.000,0.000,1852,2120,2863
$GC,619,-1.70,-116.8,81.3,-16.0,92,627,0.00,2.45,0.00,0.000,4,0.000,0.000,1857,3657,2864
$GC,691,-1.37,-116.8,92.6,-14.8,103,701,0.82,3.05,0.00,0.000,6,0.000,0.000,2035,1955,2869
$GC,1044,-1.29,-116.8,121.2,-7.7,128,1049,0.47,2.45,0.00,0.000,4,0.000,0.000,1916,3476,2857
$GC,1145,-1.45,-116.8,134.6,-13.1,132,1151,0.47,2.22,0.00,0.000,6,0.000,0.000,2016,1946,2860
$GC,1470,-1.36,-116.8,160.6,-7.8,147,1477,0.43,3.22,0.00,0.000,4,0.000,0.000,1914,3648,2862
$GC,1533,-1.51,-116.8,168.5,-13.2,149,1542,0.10,2.83,0.00,0.000,6,0.000,0.000,1914,1986,2860
$GC,1853,-1.46,-116.8,210.2,-13.0,165,1860,0.00,3.50,0.00,0.000,4,0.000,0.000,1910,3637,2868
$GC,1924,-1.29,-116.8,219.4,-12.9,168,1930,0.52,2.72,0.00,0.000,6,0.000,0.000,2022,2069,2858
$GC,2256,-1.23,-116.8,246.0,-7.7,184,2262,0.47,2.22,0.00,0.000,4,0.000,0.000,1895,3561,2859
$GC,2328,-1.39,-116.8,254.0,-13.2,187,2335,0.52,2.88,0.00,0.000,6,0.000,0.000,2036,2249,2864
$GC,2663,-1.31,-116.8,281.6,-7.9,203,2671,0.52,3.22,0.00,0.000,4,0.000,0.000,1922,553,2860
$GC,2692,-1.63,-116.8,285.1,-13.4,204,2700,0.00,3.58,0.00,0.000,6,0.000,0.000,1932,2377,2861
$GC,3028,-1.69,-116.8,328.3,-13.4,220,3029,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2379,2861
$GC,3332,-1.50,-116.8,369.3,-13.3,235,3339,0.00,3.25,0.00,0.000,4,0.000,0.000,1925,563,2869
$GC,3374,-1.31,-116.8,375.0,-13.4,236,3383,0.52,3.28,0.00,0.000,6,0.000,0.000,2045,2202,2867
$GC,3699,-1.37,-116.8,400.8,-7.8,252,3706,0.43,3.00,0.00,0.000,4,0.000,0.000,1908,3555,2863
$GC,3756,-1.52,-116.8,408.5,-13.4,254,3761,0.00,2.45,0.00,0.000,6,0.000,0.000,1923,2228,2870
$GC,4081,-1.43,-116.8,450.7,-13.1,269,4084,0.60,0.00,0.00,0.000,6,0.000,0.000,2015,2245,2860
$GC,4391,-1.24,-116.8,475.5,-8.2,284,4399,0.43,3.03,0.00,0.000,4,0.000,0.000,1905,566,2864
$GC,4420,-1.40,-116.8,479.2,-13.4,285,4426,0.47,2.65,0.00,0.000,6,0.000,0.000,2044,2254,2868
$GC,4766,-1.46,-116.8,507.1,-7.9,300,4772,0.90,1.85,0.00,0.000,4,0.000,0.000,1907,3414,2861
$GC,4810,-1.60,-116.8,511.2,-9.8,301,4815,0.00,2.25,0.00,0.000,6,0.000,0.000,1901,2238,2862
$GC,5139,-1.64,-116.8,554.0,-13.0,309,5143,0.00,2.12,0.00,0.000,4,0.000,0.000,1920,3578,2860
$GC,5174,-1.46,-116.8,559.0,-13.3,309,5182,0.00,2.25,0.00,0.000,6,0.000,0.000,1912,2046,2854
$STATE,5341,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5341,begin apogee
$GC,5353,-0.25,0.0,576.0,9.3,314,5372,1.70,0.00,14.95,0.000,6,0.000,0.000,2282,2049,2241
$STATE,5373,end apogee,CONTROL_FINISHED_OK
$STATE,5373,begin climb
$GC,5378,1.49,116.8,576.0,0.0,314,5394,1.92,0.00,11.18,0.000,6,0.000,0.000,2649,2058,1772
$GC,5708,1.49,116.8,505.2,26.9,322,5714,0.52,2.78,0.00,0.000,4,0.000,0.000,2609,3550,1772
$GC,5775,1.01,116.8,493.0,16.5,324,5783,0.77,3.35,0.00,0.000,6,0.000,0.000,2389,1885,1770
$GC,6116,0.99,207.9,469.2,6.5,340,6131,0.50,2.97,8.75,0.000,4,0.000,0.000,2503,3500,1395
$GC,6266,1.54,207.9,445.0,16.8,345,6275,0.60,2.45,0.00,0.000,6,0.000,0.000,2618,1993,1401
$GC,6590,1.66,207.9,358.8,27.7,361,6597,0.00,3.28,0.00,0.000,4,0.000,0.000,2640,3660,1395
$GC,6671,1.39,207.9,330.7,47.6,364,6677,0.52,2.45,0.00,0.000,6,0.000,0.000,2516,2162,1390
$GC,6995,0.67,207.9,272.1,16.9,379,7001,0.70,2.25,0.00,0.000,4,0.000,0.000,2353,3507,1399
$GC,7039,0.73,258.6,266.1,9.7,381,7050,0.47,1.98,5.10,0.001,6,0.000,0.000,2445,2326,1181
$GC,7370,1.38,258.6,216.0,13.8,397,7378,0.90,3.50,0.00,0.000,4,0.000,0.000,2662,501,1180
$GC,7396,1.60,258.6,211.2,17.6,398,7404,0.52,3.42,0.00,0.000,6,0.000,0.000,2545,2321,1180
$GC,7737,1.67,258.6,140.7,20.0,414,7742,0.77,2.00,0.00,0.000,4,0.000,0.000,2699,3653,1181
$GC,7784,1.70,258.6,123.1,39.1,416,7792,0.52,3.28,0.00,0.000,6,0.000,0.000,2595,2187,1183
$GC,8142,1.35,258.6,29.2,25.6,464,8151,0.52,2.55,0.00,0.000,4,0.000,0.000,2529,3538,1184
$GC,8195,1.22,258.6,19.1,20.8,471,8204,0.03,2.17,0.00,0.000,6,0.000,0.000,2514,2153,1178
$STATE,8272,end climb,SURFACE_DEPTH_REACHED
$STATE,8272,begin surface coast
$FINISH,0.3,1.025060
$STATE,8280,end surface coast,CONTROL_FINISHED_OK
$STATE,8285,begin surface
$SM_CCo,8313,12.05,0.000,0,0,398,450.86
$SM_GC,0.34,0.00,0.00,12.05,0.000,0.000,0.000,651,2163,398,-7.40,5.09,450.86
$RAFOS_CLK,0
$RAFOS,3,1160512445,20.583334,20.568056,80,0,0,0,0,0,718,0,0,0,0,0
$RAFOS,2,1160511864,20.416666,20.406666,80,0,0,0,0,0,823,0,0,0,0,0
$RAFOS,1,1160511256,20.250000,20.237778,80,0,0,0,0,0,645,0,0,0,0,0
$RAFOS,0,1160510652,20.083334,20.070000,80,0,0,0,0,0,528,0,0,0,0,0
$RAFOS_FIX,6637.921387,-6003.442383,101006,202048,4,80,0.38
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2219
$INTERNAL_PRESSURE,25.9967
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.1,17.6
$ALTIM_BOTTOM_PING,500.8,82.1
$24V_AH,23.7,35.431
$10V_AH,9.7,5.418
$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,35.525,104.100,39.975,12.050,0.000,0.000,0.000,67.592,4.500,15.714,1622.099,5464.302,247.042,563.484,690.998,0.000,735.925,0.000,476.003,1440.000,31.025
$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,403.444,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15865,485
$CFSIZE,255582208,242921472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,77,800,0,0
$SOUNDSPEED,1460.0
$CURRENT,0.080,194.1,1
$GPS,101006,212558,6638.101,-6008.065,9,1.1,9,18.0