version: 66.01
glider: 1
mission: 1
dive: 24
start: 10 10 106 21 30 52
data:
$ID,1
$MISSION,1
$DIVE,24
$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,-447074.41
$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,204
$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
$GPS1,212558,6638.101,-6008.065,9,1.1,9,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.9
$GPS2,213024,6638.101,-6008.065,35,1.1,35,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6629.154,-6010.478
$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,196.1,20000,-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,36,end surface,CONTROL_FINISHED_OK
$STATE,36,begin dive
$GC,42,-1.49,-116.8,0.0,0.0,0,58,0.00,0.00,-8.05,0.000,6,0.000,0.000,641,2151,2835
$GC,64,-1.49,-116.8,0.3,0.0,2,82,6.53,2.45,0.00,0.000,4,0.000,0.000,1980,3645,2830
$GC,308,-1.49,-116.8,27.8,-9.4,41,316,0.52,2.45,0.00,0.000,6,0.000,0.000,1867,2130,2829
$GC,677,-1.61,-116.8,81.5,-14.3,102,686,0.35,2.22,0.00,0.000,4,0.000,0.000,1978,3602,2829
$GC,708,-1.41,-116.8,85.0,-11.3,106,717,0.05,2.88,0.00,0.000,6,0.000,0.000,1974,2206,2836
$GC,1048,-1.33,-116.8,117.8,-9.7,140,1050,0.03,0.00,0.00,0.000,6,0.000,0.000,1979,2219,2832
$GC,1357,-1.33,-116.8,147.7,-9.6,155,1362,0.08,1.92,0.00,0.000,4,0.001,0.000,1984,3527,2833
$GC,1402,-1.33,-116.8,151.9,-9.9,157,1407,0.00,2.88,0.00,0.000,6,0.000,0.000,1978,2165,2832
$GC,1738,-1.41,-116.8,183.8,-9.6,173,1740,0.10,0.00,0.00,0.000,6,0.000,0.000,1993,2151,2837
$GC,2042,-1.41,-116.8,213.7,-9.7,188,2048,0.00,3.05,0.00,0.000,4,0.000,0.000,1992,3516,2828
$GC,2087,-1.41,-116.8,218.0,-9.9,190,2092,0.15,2.58,0.00,0.000,6,0.000,0.000,2000,2174,2829
$GC,2418,-1.50,-116.8,250.0,-9.6,206,2420,0.28,0.00,0.00,0.000,6,0.000,0.000,1926,2170,2836
$GC,2732,-1.50,-116.8,288.2,-12.4,221,2734,0.08,0.00,0.00,0.000,6,0.000,0.000,1935,2188,2831
$GC,3042,-1.31,-116.8,326.8,-12.5,236,3047,0.45,1.98,0.00,0.000,4,0.000,0.000,2024,3528,2827
$GC,3089,-1.13,-116.8,331.9,-7.7,238,3094,0.00,2.75,0.00,0.000,6,0.000,0.000,2037,2044,2827
$GC,3419,-1.34,-116.8,356.5,-7.5,254,3425,0.38,2.72,0.00,0.000,4,0.000,0.000,1894,3560,2838
$GC,3473,-1.48,-116.8,363.2,-12.9,256,3479,0.52,2.58,0.00,0.000,6,0.000,0.000,2046,2235,2829
$GC,3798,-1.38,-116.8,388.3,-8.0,271,3800,0.43,0.00,0.00,0.000,6,0.000,0.000,1921,2231,2833
$GC,4108,-2.01,-116.8,427.0,-12.9,286,4110,0.70,0.00,0.00,0.000,6,0.000,0.000,1768,2221,2831
$GC,4416,-1.82,-116.8,482.9,-18.5,301,4418,0.68,0.00,0.00,0.000,6,0.000,0.000,1911,2239,2833
$GC,4718,-1.29,-116.8,523.1,-12.7,312,4720,0.45,0.00,0.00,0.000,6,0.000,0.000,2025,2227,2830
$GC,5043,-1.09,-116.8,548.3,-7.0,320,5044,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2235,2826
$STATE,5240,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5240,begin apogee
$GC,5253,-0.25,0.0,563.3,7.4,325,5271,1.02,0.00,14.00,0.000,6,0.000,0.000,2270,1891,2241
$STATE,5271,end apogee,CONTROL_FINISHED_OK
$STATE,5271,begin climb
$GC,5277,1.49,116.8,563.3,0.0,325,5297,1.60,2.92,11.52,0.000,4,0.000,0.000,2620,577,1762
$GC,5319,1.49,116.8,559.9,19.4,326,5324,0.45,2.47,0.00,0.000,6,0.000,0.000,2508,2104,1762
$GC,5647,1.19,137.3,517.4,12.1,334,5656,0.00,3.05,1.98,0.001,4,0.000,0.000,2529,3412,1689
$GC,5813,1.32,137.3,493.8,23.5,338,5819,0.52,2.55,0.00,0.000,6,0.000,0.000,2610,1929,1690
$GC,6143,1.27,137.3,425.7,21.4,354,6151,0.77,2.97,0.00,0.000,4,0.000,0.000,2426,3583,1688
$GC,6285,1.05,199.3,409.8,8.8,360,6299,0.47,2.92,6.30,0.001,6,0.000,0.000,2552,1930,1423
$GC,6620,1.50,199.3,345.6,19.8,376,6625,0.05,2.47,0.00,0.000,4,0.000,0.000,2556,3464,1429
$GC,6779,1.46,199.3,313.9,20.6,383,6783,0.00,2.17,0.00,0.000,6,0.000,0.000,2574,2294,1426
$GC,7115,1.48,199.3,248.1,19.9,399,7116,0.05,0.00,0.00,0.000,6,0.000,0.000,2562,2290,1423
$GC,7418,1.43,199.3,186.8,19.9,414,7420,0.03,0.00,0.00,0.000,6,0.000,0.000,2557,2304,1426
$GC,7728,1.38,199.3,114.5,33.9,429,7733,0.00,2.92,0.00,0.000,4,0.000,0.000,2554,449,1426
$GC,7754,0.83,199.3,108.9,20.8,430,7762,0.77,3.28,0.00,0.000,6,0.000,0.000,2375,2112,1427
$GC,8116,0.92,249.6,72.8,9.8,481,8134,1.15,3.25,4.10,0.000,4,0.000,0.000,2569,3671,1226
$GC,8234,1.47,249.6,48.8,21.7,499,8243,0.22,2.58,0.00,0.000,6,0.000,0.000,2613,2331,1213
$STATE,8396,end climb,SURFACE_DEPTH_REACHED
$STATE,8396,begin surface coast
$FINISH,0.3,1.025170
$STATE,8403,end surface coast,CONTROL_FINISHED_OK
$STATE,8403,begin surface
$SM_CCo,8432,12.75,0.000,0,0,404,450.86
$SM_GC,0.34,0.00,0.00,12.75,0.000,0.000,0.000,627,1975,404,-7.66,0.25,450.86
$RAFOS_CLK,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,2224
$INTERNAL_PRESSURE,26.0162
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,17.3,16.9
$ALTIM_BOTTOM_PING,502.4,69.9
$24V_AH,23.7,35.697
$10V_AH,9.7,5.458
$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,28.725,65.250,37.900,12.750,0.000,0.000,0.000,67.018,4.500,36.594,1669.167,5606.975,190.039,581.616,666.968,0.000,660.198,0.000,471.982,0.000,30.994
$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,437.583,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15873,527
$CFSIZE,255582208,242855936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,56,511,0,0
$SOUNDSPEED,1459.6
$CURRENT,0.064, 82.3,1
$GPS,101006,235251,6637.238,-6008.412,8,1.1,8,18.0