version: 66.01
glider: 1
mission: 1
dive: 26
start: 10 11 106 2 25 35
data:
$ID,1
$MISSION,1
$DIVE,26
$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,-447134.06
$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,162
$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
$GPS1,022038,6637.411,-6006.174,33,1.1,34,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.9
$GPS2,022506,6637.411,-6006.174,37,1.1,37,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6648.200,-6005.986
$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,344.5,20000,-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,-8.05,0.000,6,0.000,0.000,620,2104,2820
$GC,64,-1.49,-116.8,0.3,0.0,2,82,6.72,3.25,0.00,0.000,4,0.000,0.000,2052,542,2820
$GC,287,-1.49,-116.8,20.6,-7.8,37,296,0.68,3.03,0.00,0.000,6,0.000,0.000,1926,2243,2819
$GC,657,-1.82,-116.8,64.3,-12.4,98,665,0.47,2.53,0.00,0.000,4,0.000,0.000,1812,3551,2821
$GC,718,-1.68,-116.8,74.4,-17.8,107,728,0.82,3.05,0.00,0.000,6,0.000,0.000,1978,2052,2819
$GC,1085,-1.33,-116.8,110.2,-9.4,154,1089,0.00,2.15,0.00,0.000,4,0.000,0.000,1997,3581,2824
$GC,1164,-1.33,-116.8,117.8,-9.7,157,1170,0.00,3.12,0.00,0.000,6,0.000,0.000,1973,1894,2818
$GC,1489,-1.42,-116.8,148.3,-9.6,172,1500,0.47,3.75,0.00,0.000,4,0.000,0.000,1857,3539,2822
$GC,1581,-1.42,-116.8,161.2,-15.2,175,1590,0.77,2.33,0.00,0.000,6,0.000,0.000,2033,2019,2821
$GC,1905,-1.20,-116.8,185.5,-7.1,191,1911,0.50,2.75,0.00,0.000,4,0.000,0.000,1937,3408,2822
$GC,1964,-1.37,-116.8,192.8,-12.0,193,1974,0.52,2.67,0.00,0.000,6,0.000,0.000,2036,2040,2821
$GC,2289,-1.27,-116.8,215.7,-7.0,209,2297,0.80,2.72,0.00,0.000,4,0.000,0.000,1899,3569,2818
$GC,2337,-1.47,-116.8,221.0,-12.7,211,2343,0.00,2.83,0.00,0.000,6,0.000,0.000,1912,2120,2824
$GC,2673,-1.40,-116.8,261.6,-12.2,227,2675,0.43,0.00,0.00,0.000,6,0.000,0.000,2041,2118,2818
$GC,2982,-1.21,-116.8,284.9,-7.1,242,2990,0.60,2.75,0.00,0.000,4,0.000,0.000,1932,3578,2825
$GC,3022,-1.38,-116.8,289.5,-12.4,243,3032,0.52,2.97,0.00,0.000,6,0.000,0.000,2029,2117,2820
$GC,3347,-1.29,-116.8,314.2,-7.4,259,3353,0.82,2.22,0.00,0.000,4,0.000,0.000,1899,3596,2824
$GC,3383,-1.43,-116.8,318.6,-12.4,260,3393,0.52,2.58,0.00,0.000,6,0.000,0.000,2009,2241,2820
$GC,3708,-1.34,-116.8,344.0,-7.8,276,3710,0.50,0.00,0.00,0.000,6,0.000,0.000,1898,2235,2821
$GC,4017,-1.46,-116.8,379.1,-12.6,291,4025,0.22,3.28,0.00,0.000,4,0.000,0.000,1979,443,2816
$GC,4047,-1.31,-116.8,383.4,-11.9,292,4054,0.03,3.22,0.00,0.000,6,0.000,0.000,1975,2249,2823
$GC,4376,-1.43,-116.8,416.2,-10.1,308,4380,0.00,2.05,0.00,0.000,4,0.000,0.000,1959,3604,2827
$GC,4405,-1.39,-116.8,419.3,-9.5,309,4410,0.00,2.72,0.00,0.000,6,0.000,0.000,1975,2094,2816
$GC,4732,-1.68,-116.8,451.0,-10.1,324,4739,0.45,3.17,0.00,0.000,4,0.000,0.000,1863,3607,2822
$GC,4789,-1.64,-116.8,459.9,-16.1,326,4802,0.47,3.12,0.00,0.000,6,0.000,0.000,1982,2125,2827
$GC,5118,-1.39,-116.8,492.7,-9.8,342,5124,0.08,2.80,0.00,0.000,4,0.000,0.000,1965,3639,2820
$GC,5154,-1.36,-116.8,497.0,-9.6,343,5163,0.00,2.35,0.00,0.000,6,0.000,0.000,1961,2302,2828
$GC,5490,-1.44,-116.8,529.9,-9.9,353,5498,0.03,3.53,0.00,0.000,4,0.000,0.000,1964,436,2818
$GC,5514,-1.41,-116.8,532.4,-9.8,353,5521,0.00,3.78,0.00,0.000,6,0.000,0.000,1990,2272,2820
$GC,5865,-1.51,-116.8,566.8,-9.9,362,5870,0.20,2.38,0.00,0.000,4,0.000,0.000,1978,3417,2815
$GC,5901,-1.48,-116.8,570.6,-10.2,362,5910,0.12,2.03,0.00,0.000,6,0.000,0.000,1974,2097,2821
$STATE,5948,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5948,begin apogee
$GC,5960,-0.25,0.0,575.4,10.0,364,5977,1.38,0.00,13.75,0.000,6,0.000,0.000,2276,2089,2242
$STATE,5978,end apogee,CONTROL_FINISHED_OK
$STATE,5978,begin climb
$GC,5984,1.49,116.8,575.4,0.0,364,5999,1.95,0.00,11.40,0.001,6,0.000,0.000,2622,2091,1779
$GC,6321,1.49,116.8,513.4,20.2,373,6328,0.60,2.97,0.00,0.000,4,0.000,0.000,2524,3555,1765
$GC,6406,1.25,139.2,500.4,12.0,374,6417,0.03,2.75,2.15,0.000,6,0.000,0.000,2532,2078,1685
$GC,6726,1.45,148.5,459.0,13.0,390,6734,0.52,2.53,0.93,0.001,4,0.000,0.000,2614,3597,1642
$GC,6783,1.56,148.5,447.0,22.0,392,6795,0.10,3.28,0.00,0.000,6,0.000,0.000,2640,2144,1636
$GC,7111,1.38,148.5,375.3,22.2,408,7119,0.45,2.95,0.00,0.000,4,0.000,0.000,2505,651,1643
$GC,7174,1.16,152.5,364.5,13.4,410,7183,0.00,2.72,0.57,0.001,6,0.000,0.000,2532,2199,1612
$GC,7501,1.38,153.9,321.2,13.6,426,7507,0.38,2.53,0.00,0.000,4,0.000,0.000,2629,546,1621
$GC,7531,1.48,153.9,313.9,22.0,427,7544,0.55,3.25,0.00,0.000,6,0.000,0.000,2526,2243,1616
$GC,7861,1.48,153.9,267.0,14.0,443,7863,0.40,0.00,0.00,0.000,6,0.000,0.000,2631,2216,1617
$GC,8169,1.57,153.9,194.9,22.9,458,8177,0.05,3.83,0.00,0.000,4,0.000,0.000,2647,520,1617
$GC,8195,1.33,153.9,187.8,23.6,459,8203,0.57,2.72,0.00,0.000,6,0.000,0.000,2509,2171,1612
$GC,8535,1.21,155.7,140.2,13.6,475,8540,0.00,2.60,0.00,0.000,4,0.000,0.000,2490,3690,1614
$GC,8565,1.32,155.7,135.1,14.2,476,8578,0.47,3.53,0.00,0.000,6,0.000,0.000,2631,1856,1612
$GC,8911,1.46,155.7,57.3,23.2,513,8920,0.62,3.28,0.00,0.000,4,0.000,0.000,2517,3552,1621
$GC,9076,1.24,155.7,34.5,14.3,539,9085,0.15,2.65,0.00,0.000,6,0.000,0.000,2494,1905,1610
$STATE,9303,end climb,SURFACE_DEPTH_REACHED
$STATE,9303,begin surface coast
$FINISH,0.3,1.025424
$STATE,9316,end surface coast,CONTROL_FINISHED_OK
$STATE,9316,begin surface
$SM_CCo,9345,18.67,0.001,0,0,429,450.37
$SM_GC,0.35,0.00,0.00,18.67,0.000,0.000,0.001,600,2249,429,-7.64,7.52,450.37
$RAFOS_CLK,0
$RAFOS,3,1160541259,4.583333,4.571944,80,0,0,0,0,0,639,0,0,0,0,0
$RAFOS,2,1160540650,4.416667,4.402778,80,0,0,0,0,0,897,0,0,0,0,0
$RAFOS,1,1160540047,4.250000,4.235278,80,0,0,0,0,0,692,0,0,0,0,0
$RAFOS,0,1160539480,4.083333,4.077778,80,0,0,0,0,0,376,0,0,0,0,0
$RAFOS,4,1160537355,3.500000,3.487500,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,6637.801758,-6002.884277,111006,040452,4,80,0.36
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,1761
$INTERNAL_PRESSURE,25.9674
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.9,19.7
$ALTIM_BOTTOM_PING,501.9,83.0
$24V_AH,23.7,36.237
$10V_AH,9.7,5.544
$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,34.275,121.125,28.800,18.675,0.000,0.000,0.000,67.637,4.500,37.717,1874.929,6055.134,298.566,646.888,766.292,0.000,838.197,0.000,525.828,1800.000,26.178
$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,478.797,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18984,579
$CFSIZE,255582208,242696192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,66,940,0,0
$SOUNDSPEED,1459.7
$CURRENT,0.065,250.4,1
$GPS,111006,050259,6638.360,-6006.881,8,1.1,8,18.0