version: 66.01
glider: 1
mission: 1
dive: 28
start: 10 11 106 7 28 51
data:
$ID,1
$MISSION,1
$DIVE,28
$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,-447194.91
$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,153
$R_STBD_OVSHOOT,14
$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
$GPS1,072410,6637.913,-6008.866,5,1.1,5,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.8
$GPS2,072823,6637.913,-6008.866,21,1.1,21,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6627.285,-6008.102
$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,151.8,20000,-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,-8.10,0.000,6,0.000,0.000,658,1936,2854
$GC,64,-1.49,-116.8,0.3,-0.0,2,82,6.85,3.25,0.00,0.000,4,0.000,0.000,1966,3633,2849
$GC,299,-1.49,-116.8,29.0,-10.8,39,308,0.00,2.88,0.00,0.000,6,0.000,0.000,1929,1942,2849
$GC,667,-1.56,-116.8,68.7,-10.8,100,677,0.05,3.67,0.00,0.000,4,0.000,0.000,1969,3415,2851
$GC,763,-1.50,-116.8,79.2,-11.0,115,771,0.00,2.92,0.00,0.000,6,0.000,0.000,1979,1910,2855
$GC,1123,-1.50,-116.8,118.5,-11.0,155,1131,0.30,3.12,0.00,0.000,4,0.000,0.000,1893,3596,2852
$GC,1222,-1.45,-116.8,132.2,-13.9,159,1229,0.50,2.53,0.00,0.000,6,0.000,0.000,2023,1939,2849
$GC,1549,-1.34,-116.8,160.6,-8.5,175,1554,0.00,2.92,0.00,0.000,4,0.000,0.000,2021,3660,2858
$GC,1635,-1.44,-116.8,167.8,-8.7,178,1644,0.50,3.15,0.00,0.000,6,0.000,0.000,1889,1977,2853
$GC,1954,-1.63,-116.8,210.5,-14.1,194,1961,0.00,3.40,0.00,0.000,4,0.000,0.000,1870,3636,2855
$GC,2025,-1.40,-116.8,220.4,-13.9,197,2032,0.47,3.22,0.00,0.000,6,0.000,0.000,2021,1994,2852
$GC,2360,-1.28,-116.8,249.6,-8.4,213,2366,0.50,2.45,0.00,0.000,4,0.000,0.000,1912,3637,2859
$GC,2440,-1.39,-116.8,259.6,-13.8,216,2453,0.55,2.83,0.00,0.000,6,0.000,0.000,2009,2167,2848
$GC,2764,-1.33,-116.8,287.9,-8.4,232,2772,0.40,3.25,0.00,0.000,4,0.000,0.000,1900,488,2849
$GC,2790,-1.43,-116.8,290.8,-10.8,233,2798,0.45,3.78,0.00,0.000,6,0.000,0.000,2001,2332,2851
$GC,3126,-1.47,-116.8,320.4,-8.6,249,3128,0.50,0.00,0.00,0.000,6,0.000,0.000,1892,2341,2855
$GC,3440,-1.56,-116.8,362.5,-14.0,264,3448,0.22,3.92,0.00,0.000,4,0.000,0.000,1955,482,2851
$GC,3470,-1.32,-116.8,366.9,-11.4,265,3477,0.03,3.53,0.00,0.000,6,0.000,0.000,1967,2349,2855
$GC,3799,-1.38,-116.8,403.9,-12.0,281,3805,0.00,3.00,0.00,0.000,4,0.000,0.000,1959,532,2855
$GC,3824,-1.31,-116.8,406.8,-10.9,282,3832,0.03,3.30,0.00,0.000,6,0.000,0.000,1940,2374,2851
$GC,4153,-1.36,-116.8,443.4,-11.2,298,4154,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2380,2854
$GC,4468,-1.29,-116.8,478.0,-11.1,313,4475,0.00,3.47,0.00,0.000,4,0.000,0.000,1975,672,2848
$GC,4502,-1.21,-116.8,482.7,-11.2,314,4515,0.47,3.12,0.00,0.000,6,0.000,0.000,2083,2330,2855
$GC,4851,-1.32,-116.8,505.5,-6.4,329,4853,0.93,0.00,0.00,0.000,6,0.000,0.000,1887,2338,2850
$GC,5170,-1.57,-116.8,547.3,-14.0,337,5172,0.28,0.00,0.00,0.000,6,0.000,0.000,1950,2329,2847
$STATE,5286,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5287,begin apogee
$GC,5299,-0.25,0.0,562.4,12.8,340,5318,1.58,0.00,14.57,0.000,6,0.000,0.000,2263,1852,2242
$STATE,5318,end apogee,CONTROL_FINISHED_OK
$STATE,5319,begin climb
$GC,5324,1.49,116.8,562.4,0.0,340,5340,2.30,0.00,11.27,0.000,6,0.000,0.000,2624,1834,1763
$GC,5659,1.49,116.8,503.3,19.4,349,5665,0.00,3.08,0.00,0.000,4,0.000,0.000,2634,3423,1759
$GC,5877,1.31,116.8,460.6,19.7,357,5887,0.52,2.97,0.00,0.000,6,0.000,0.000,2501,1934,1764
$GC,6202,1.17,146.4,423.7,11.4,373,6210,0.00,2.65,2.65,0.001,4,0.000,0.000,2483,3613,1653
$GC,6330,1.36,161.1,407.1,12.6,378,6344,0.55,3.28,1.50,0.001,6,0.000,0.000,2603,1972,1589
$GC,6654,1.58,161.1,337.1,22.1,394,6660,0.00,2.88,0.00,0.000,4,0.000,0.000,2615,3490,1586
$GC,6757,1.39,161.1,315.0,22.9,398,6762,0.47,2.35,0.00,0.000,6,0.000,0.000,2478,2158,1591
$GC,7083,1.27,161.1,257.0,22.9,413,7085,0.50,0.00,0.00,0.000,6,0.000,0.000,2618,2177,1592
$GC,7386,0.94,161.1,188.3,21.8,428,7393,0.75,2.67,0.00,0.000,4,0.000,0.000,2436,3519,1595
$GC,7437,0.75,220.4,181.5,9.0,430,7447,0.00,2.75,5.00,0.000,6,0.000,0.000,2403,2160,1331
$GC,7768,1.22,263.4,148.7,10.3,445,7778,0.65,3.15,3.40,0.001,4,0.000,0.000,2594,3678,1171
$GC,7815,1.61,263.4,136.8,28.5,447,7822,0.00,3.17,0.00,0.000,6,0.000,0.000,2623,2047,1169
$GC,8167,1.53,263.4,34.0,28.5,489,8175,0.00,2.58,0.00,0.000,4,0.000,0.000,2605,3405,1168
$GC,8274,1.35,263.4,5.2,28.3,505,8283,0.52,2.58,0.00,0.000,6,0.000,0.000,2486,2084,1172
$STATE,8288,end climb,SURFACE_DEPTH_REACHED
$STATE,8288,begin surface coast
$FINISH,0.3,1.024897
$STATE,8294,end surface coast,CONTROL_FINISHED_OK
$STATE,8294,begin surface
$SM_CCo,8322,12.00,0.000,0,0,390,452.33
$SM_GC,0.34,0.00,0.00,12.00,0.000,0.000,0.000,611,2093,390,-7.66,3.08,452.33
$RAFOS_CLK,0
$RAFOS,4,1160558944,9.500000,9.484445,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,3,1160555650,8.583333,8.569445,80,0,0,0,0,0,687,0,0,0,0,0
$RAFOS,2,1160555056,8.416667,8.404445,80,0,0,0,0,0,870,0,0,0,0,0
$RAFOS,1,1160554446,8.250000,8.235000,80,0,0,0,0,0,700,0,0,0,0,0
$RAFOS,0,1160553857,8.083333,8.071389,80,0,0,0,0,0,503,0,0,0,0,0
$RAFOS_FIX,6637.820801,-6003.065430,111006,080820,4,80,1.34
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2292
$INTERNAL_PRESSURE,25.9772
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.3,17.1
$ALTIM_BOTTOM_PING,500.3,69.8
$24V_AH,23.7,36.797
$10V_AH,9.7,5.623
$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,30.000,98.475,38.400,12.000,0.000,0.000,0.000,67.048,4.500,22.010,1674.589,5425.407,243.999,579.473,682.038,0.000,737.005,0.000,485.875,1800.000,26.173
$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,421.271,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15859,508
$CFSIZE,255582208,242589696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,54,775,0,0
$SOUNDSPEED,1459.9
$CURRENT,0.062, 50.8,1
$GPS,111006,094930,6637.165,-6007.601,25,1.1,25,18.0