version: 66.01
glider: 1
mission: 1
dive: 29
start: 10 11 106 9 54 19
data:
$ID,1
$MISSION,1
$DIVE,29
$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,-447223.62
$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,182
$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
$GPS1,094930,6637.165,-6007.601,25,1.1,25,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.9
$GPS2,095350,6637.165,-6007.601,26,1.1,27,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6640.712,-6003.563
$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,52.8,20000,-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,-116.8,0.0,0.0,0,57,0.00,0.00,-8.07,0.000,6,0.000,0.000,600,2086,2824
$GC,64,-1.49,-116.8,0.3,0.1,2,81,6.78,2.42,0.00,0.000,4,0.000,0.000,2012,3406,2823
$GC,372,-1.49,-116.8,30.5,-8.2,52,380,0.52,2.58,0.00,0.000,6,0.000,0.000,1898,2075,2824
$GC,739,-1.64,-116.8,78.3,-13.9,113,748,0.00,2.85,0.00,0.000,4,0.000,0.000,1886,3562,2833
$GC,818,-1.40,-116.8,88.9,-13.5,125,827,0.50,3.33,0.00,0.000,6,0.000,0.000,2032,1882,2828
$GC,1172,-1.27,-116.8,118.6,-8.1,156,1178,0.28,2.78,0.00,0.000,4,0.000,0.000,1954,3373,2833
$GC,1286,-1.37,-116.8,130.0,-10.4,161,1292,0.00,2.62,0.00,0.000,6,0.000,0.000,1951,2021,2834
$GC,1622,-1.37,-116.8,164.7,-10.3,177,1628,0.00,2.88,0.00,0.000,4,0.000,0.000,1964,3688,2830
$GC,1675,-1.35,-116.8,171.1,-10.6,179,1680,0.00,2.97,0.00,0.000,6,0.000,0.000,1962,2179,2829
$GC,2001,-1.40,-116.8,204.5,-10.5,194,2007,0.00,3.28,0.00,0.000,4,0.000,0.000,1986,3489,2826
$GC,2029,-1.33,-116.8,208.4,-10.8,195,2034,0.00,2.35,0.00,0.000,6,0.000,0.000,1961,2160,2828
$GC,2360,-1.33,-116.8,241.4,-10.5,211,2361,0.08,0.00,0.00,0.000,6,0.000,0.000,1968,2149,2827
$GC,2669,-1.27,-116.8,274.0,-10.5,226,2675,0.35,2.72,0.00,0.000,4,0.000,0.000,2087,3658,2829
$GC,2691,-1.35,-116.8,276.0,-8.6,227,2700,0.77,3.53,0.00,0.000,6,0.000,0.000,1897,2002,2821
$GC,3032,-1.60,-116.8,319.0,-13.3,243,3040,0.10,3.53,0.00,0.000,4,0.000,0.000,1899,3643,2832
$GC,3081,-1.37,-116.8,326.1,-13.0,245,3088,0.55,2.75,0.00,0.000,6,0.000,0.000,2037,2109,2831
$GC,3416,-1.28,-116.8,354.2,-8.2,261,3422,0.52,2.45,0.00,0.000,4,0.000,0.000,1908,3466,2828
$GC,3452,-1.38,-116.8,358.7,-13.4,262,3462,0.50,2.12,0.00,0.000,6,0.000,0.000,2011,1976,2830
$GC,3777,-1.24,-116.8,384.0,-7.8,278,3784,0.45,2.97,0.00,0.000,4,0.000,0.000,1889,3627,2828
$GC,3839,-1.37,-116.8,392.1,-12.7,280,3848,0.52,2.25,0.00,0.000,6,0.000,0.000,2039,2123,2826
$GC,4164,-1.28,-116.8,417.0,-7.6,296,4166,0.43,0.00,0.00,0.000,6,0.000,0.000,1912,2134,2825
$GC,4473,-1.42,-116.8,454.7,-12.7,311,4479,0.38,2.78,0.00,0.000,4,0.000,0.000,2031,3462,2832
$GC,4504,-1.23,-116.8,458.8,-9.7,312,4509,0.03,2.12,0.00,0.000,6,0.000,0.000,2040,2111,2827
$GC,4829,-1.46,-116.8,482.8,-7.7,327,4837,0.65,3.17,0.00,0.000,4,0.000,0.000,1915,3613,2834
$GC,4869,-1.59,-116.8,487.9,-12.8,328,4878,0.00,2.90,0.00,0.000,6,0.000,0.000,1913,2035,2825
$GC,5188,-1.50,-116.8,527.5,-12.7,339,5194,0.03,2.55,0.00,0.000,4,0.000,0.000,1910,3696,2820
$GC,5247,-1.31,-116.8,535.5,-12.7,340,5253,0.55,2.67,0.00,0.000,6,0.000,0.000,2037,2343,2830
$GC,5600,-1.24,-116.8,562.9,-7.6,349,5608,0.50,3.53,0.00,0.000,4,0.000,0.000,1915,484,2822
$GC,5652,-1.37,-116.8,568.9,-13.5,350,5660,0.47,3.72,0.00,0.000,6,0.000,0.000,2051,2351,2826
$STATE,5665,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5665,begin apogee
$GC,5677,-0.25,0.0,571.0,11.7,350,5700,1.00,0.00,13.85,0.000,6,0.000,0.000,2285,2012,2239
$STATE,5700,end apogee,CONTROL_FINISHED_OK
$STATE,5700,begin climb
$GC,5706,1.49,116.8,572.3,0.0,351,5722,2.03,0.00,11.05,0.000,6,0.000,0.000,2620,1999,1760
$GC,6033,1.49,116.8,504.5,21.7,359,6041,0.62,3.22,0.00,0.000,4,0.000,0.000,2510,3663,1764
$GC,6151,1.21,116.8,486.6,18.8,363,6158,0.00,3.53,0.00,0.000,6,0.000,0.000,2527,1993,1769
$GC,6492,1.18,124.9,442.5,13.1,379,6499,0.03,2.38,0.57,0.001,4,0.002,0.000,2521,3491,1737
$GC,6586,1.24,130.0,428.8,13.3,383,6590,0.00,2.15,0.00,0.000,6,0.000,0.000,2531,1925,1735
$GC,6915,1.36,135.1,385.8,13.3,399,6924,0.00,3.03,1.30,0.000,4,0.000,0.000,2528,3583,1687
$GC,7015,1.43,135.1,370.4,14.3,403,7021,0.50,2.47,0.00,0.000,6,0.000,0.000,2647,2202,1682
$GC,7345,1.55,135.1,298.3,22.7,419,7351,0.43,2.28,0.00,0.000,4,0.000,0.000,2516,3408,1683
$GC,7404,1.27,135.1,285.4,21.0,421,7412,0.00,2.47,0.00,0.000,6,0.000,0.000,2523,2255,1688
$GC,7728,1.20,135.1,239.5,14.3,437,7730,0.05,0.00,0.00,0.000,6,0.001,0.000,2538,2267,1682
$GC,8033,1.23,135.1,194.5,14.4,452,8038,0.00,2.55,0.00,0.000,4,0.000,0.000,2524,3618,1683
$GC,8068,1.26,135.1,189.0,14.4,453,8076,0.00,2.85,0.00,0.000,6,0.000,0.000,2517,2250,1686
$GC,8392,1.37,135.1,143.1,14.6,469,8394,0.30,0.00,0.00,0.000,6,0.000,0.000,2598,2243,1685
$GC,8705,1.40,135.1,83.5,19.1,493,8712,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2260,1678
$GC,9071,1.24,135.1,12.8,18.8,554,9080,0.35,2.97,0.00,0.000,4,0.000,0.000,2485,3576,1683
$GC,9133,1.09,170.0,4.9,11.0,563,9143,0.08,2.97,2.10,0.000,6,0.000,0.000,2474,2018,1544
$STATE,9153,end climb,SURFACE_DEPTH_REACHED
$STATE,9153,begin surface coast
$FINISH,0.3,1.025092
$STATE,9174,end surface coast,CONTROL_FINISHED_OK
$STATE,9174,begin surface
$SM_CCo,9202,17.75,0.000,0,0,398,450.62
$SM_GC,0.34,0.00,0.00,17.75,0.000,0.000,0.000,633,2027,398,-7.45,1.72,450.62
$RAFOS_CLK,0
$RAFOS,1,1160568860,12.250000,12.238889,80,0,0,0,0,0,621,0,0,0,0,0
$RAFOS,0,1160568258,12.083333,12.071667,80,0,0,0,0,0,499,0,0,0,0,0
$RAFOS_FIX,6637.983398,-6003.802734,111006,121244,2,80,0.38
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2197
$INTERNAL_PRESSURE,25.9576
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.8,19.8
$ALTIM_BOTTOM_PING,527.5,52.3
$24V_AH,23.7,37.065
$10V_AH,9.7,5.667
$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,29.450,107.150,28.875,17.750,0.000,0.000,0.000,67.191,5.000,28.095,1830.864,6023.342,249.560,646.643,741.390,0.000,794.251,0.000,534.510,1080.000,30.110
$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,472.910,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19035,569
$CFSIZE,255582208,242499584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,58,834,0,0
$SOUNDSPEED,1459.9
$CURRENT,0.057,317.2,1
$GPS,111006,122921,6637.729,-6005.656,9,1.1,9,18.0