version: 66.01
glider: 1
mission: 1
dive: 25
start: 10 10 106 23 57 35
data:
$ID,1
$MISSION,1
$DIVE,25
$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,-447095.72
$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,180
$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
$GPS1,235251,6637.238,-6008.412,8,1.1,8,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.8
$GPS2,235706,6637.238,-6008.412,20,1.1,20,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6634.935,-6004.219
$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,84.3,20000,-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,-8.05,0.000,6,0.000,0.000,605,1990,2850
$GC,64,-1.49,-116.8,0.3,-0.0,2,82,6.85,3.00,0.00,0.000,4,0.000,0.000,1986,492,2853
$GC,248,-1.49,-116.8,23.1,-10.0,31,257,0.50,2.62,0.00,0.000,6,0.000,0.000,1868,2171,2854
$GC,617,-1.71,-116.8,79.1,-15.8,92,626,0.17,2.85,0.00,0.000,4,0.000,0.000,1853,3678,2847
$GC,678,-1.36,-116.8,88.9,-15.7,101,687,0.77,2.78,0.00,0.000,6,0.000,0.000,2064,2189,2852
$GC,1023,-1.15,-116.8,115.5,-7.4,133,1028,0.82,1.95,0.00,0.000,4,0.000,0.000,1909,3531,2857
$GC,1053,-1.33,-116.8,119.0,-11.8,134,1066,0.52,3.28,0.00,0.000,6,0.000,0.000,2041,2050,2858
$GC,1384,-1.33,-116.8,143.8,-7.3,150,1391,0.60,3.05,0.00,0.000,4,0.000,0.000,1926,3552,2854
$GC,1447,-1.50,-116.8,151.7,-12.9,152,1456,0.05,3.03,0.00,0.000,6,0.000,0.000,1914,1899,2855
$GC,1772,-1.45,-116.8,191.5,-12.5,168,1777,0.00,2.88,0.00,0.000,4,0.000,0.000,1918,3563,2853
$GC,1858,-1.30,-116.8,202.6,-12.3,171,1867,0.52,2.75,0.00,0.000,6,0.000,0.000,2044,2045,2850
$GC,2178,-1.24,-116.8,226.5,-7.3,187,2185,0.85,2.47,0.00,0.000,4,0.000,0.000,1938,3389,2857
$GC,2226,-1.55,-116.8,231.8,-12.8,189,2231,0.00,2.33,0.00,0.000,6,0.000,0.000,1941,2004,2852
$GC,2562,-1.46,-116.8,272.2,-12.4,205,2568,0.00,2.95,0.00,0.000,4,0.000,0.000,1922,3525,2852
$GC,2615,-1.34,-116.8,279.5,-12.2,207,2628,0.52,2.78,0.00,0.000,6,0.000,0.000,2062,2198,2851
$GC,2944,-1.29,-116.8,303.9,-7.4,223,2946,0.45,0.00,0.00,0.000,6,0.000,0.000,1917,2190,2851
$GC,3253,-1.46,-116.8,341.7,-12.7,238,3255,0.03,0.00,0.00,0.000,6,0.000,0.000,1941,2204,2859
$GC,3563,-1.30,-116.8,380.6,-12.5,253,3565,0.45,0.00,0.00,0.000,6,0.000,0.000,2050,2196,2852
$GC,3872,-1.14,-116.8,403.7,-7.0,268,3878,0.43,2.50,0.00,0.000,4,0.000,0.000,1913,3672,2857
$GC,3903,-1.42,-116.8,407.3,-10.1,269,3915,0.00,3.22,0.00,0.000,6,0.000,0.000,1950,2003,2849
$GC,4232,-1.44,-116.8,447.0,-12.4,285,4237,0.00,2.75,0.00,0.000,4,0.000,0.000,1947,3546,2848
$GC,4306,-1.30,-116.8,456.5,-12.5,288,4312,0.50,2.38,0.00,0.000,6,0.000,0.000,2058,2247,2848
$GC,4631,-1.39,-116.8,480.5,-7.0,304,4640,1.12,2.97,0.00,0.000,4,0.000,0.000,1874,575,2852
$GC,4658,-1.59,-116.8,483.4,-11.1,305,4667,0.52,3.72,0.00,0.000,6,0.000,0.000,1996,2365,2850
$GC,5018,-1.64,-116.8,516.3,-8.9,318,5020,0.77,0.00,0.00,0.000,6,0.000,0.000,1800,2370,2852
$STATE,5295,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5295,begin apogee
$GC,5309,-0.25,0.0,564.5,17.7,325,5334,2.00,0.00,14.30,0.000,6,0.000,0.000,2260,1835,2244
$STATE,5335,end apogee,CONTROL_FINISHED_OK
$STATE,5335,begin climb
$GC,5341,1.49,116.8,569.7,0.0,326,5356,1.92,0.00,11.60,0.000,6,0.000,0.000,2676,1836,1763
$GC,5660,1.49,116.8,498.6,23.3,334,5669,0.65,3.55,0.00,0.000,4,0.000,0.000,2547,3694,1764
$GC,5824,1.16,116.8,472.6,14.6,341,5831,0.10,3.33,0.00,0.000,6,0.000,0.000,2550,1894,1759
$GC,6163,1.16,116.8,423.1,14.9,357,6170,0.00,3.35,0.00,0.000,4,0.000,0.000,2566,3576,1759
$GC,6304,1.16,116.8,401.6,15.0,363,6311,0.00,3.33,0.00,0.000,6,0.000,0.000,2539,1914,1762
$GC,6644,1.21,116.8,344.8,17.6,379,6649,0.10,2.45,0.00,0.000,4,0.000,0.000,2556,3592,1758
$GC,6758,1.11,116.8,327.2,15.1,384,6766,0.52,3.12,0.00,0.000,6,0.000,0.000,2433,1938,1768
$GC,7098,1.17,201.0,299.8,7.1,400,7113,0.90,2.45,8.05,0.000,4,0.000,0.000,2555,3615,1409
$GC,7219,1.64,201.0,277.9,19.6,404,7225,0.50,2.75,0.00,0.000,6,0.000,0.000,2680,2109,1412
$GC,7544,1.70,201.0,180.4,31.2,419,7551,0.60,3.03,0.00,0.000,4,0.000,0.000,2563,3625,1414
$GC,7601,1.32,201.0,165.2,19.9,421,7606,0.00,2.55,0.00,0.000,6,0.000,0.000,2557,2262,1419
$GC,7925,1.36,201.0,102.5,19.8,436,7926,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2255,1411
$GC,8275,1.32,201.0,32.0,19.2,493,8283,0.00,2.38,0.00,0.000,4,0.000,0.000,2551,3426,1417
$GC,8352,1.29,201.0,15.7,19.5,505,8360,0.00,2.38,0.00,0.000,6,0.000,0.000,2557,2110,1412
$STATE,8418,end climb,SURFACE_DEPTH_REACHED
$STATE,8418,begin surface coast
$FINISH,0.3,1.024780
$STATE,8425,end surface coast,CONTROL_FINISHED_OK
$STATE,8425,begin surface
$SM_CCo,8454,15.75,0.000,0,0,393,452.58
$SM_GC,0.34,0.00,0.00,15.75,0.000,0.000,0.000,606,2119,393,-7.59,3.90,452.58
$RAFOS_CLK,0
$RAFOS,3,1160526845,0.583333,0.568056,80,0,0,0,0,0,712,0,0,0,0,0
$RAFOS,2,1160526250,0.416667,0.402778,80,0,0,0,0,0,902,0,0,0,0,0
$RAFOS,1,1160525649,0.250000,0.235833,80,0,0,0,0,0,686,0,0,0,0,0
$RAFOS,0,1160525045,0.083333,0.068056,80,0,0,0,0,0,568,0,0,0,0,0
$RAFOS_FIX,6637.742188,-6003.388184,111006,000020,4,80,2.62
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2222
$INTERNAL_PRESSURE,26.0162
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.1,18.0
$ALTIM_BOTTOM_PING,501.8,71.5
$24V_AH,23.7,35.971
$10V_AH,9.7,5.498
$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,33.475,92.000,33.950,15.750,0.000,0.000,0.000,67.140,4.500,20.675,1692.516,5514.617,248.841,587.241,699.615,0.000,749.020,0.000,495.634,1440.000,26.150
$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,432.169,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15900,517
$CFSIZE,255582208,242790400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,61,713,0,0
$SOUNDSPEED,1459.8
$CURRENT,0.056,342.5,1
$GPS,111006,022038,6637.411,-6006.174,33,1.1,34,18.0