version: 66.01
glider: 1
mission: 1
dive: 33
start: 10 11 106 20 9 52
data:
$ID,1
$MISSION,1
$DIVE,33
$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,-447293.31
$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,148
$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
$GPS1,200501,6637.079,-6007.015,21,1.1,22,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.9
$GPS2,200923,6637.079,-6007.015,26,1.1,26,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6643.380,-6003.549
$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,36.3,20000,-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,-8.15,0.000,6,0.000,0.000,596,2100,2857
$GC,64,-1.49,-116.8,0.3,0.0,2,82,6.70,2.95,0.00,0.000,4,0.000,0.000,1998,3449,2857
$GC,372,-1.49,-116.8,31.7,-8.7,52,381,0.50,3.20,0.00,0.000,6,0.000,0.000,1914,1881,2862
$GC,741,-1.64,-116.8,83.5,-14.0,113,749,0.00,3.22,0.00,0.000,4,0.000,0.000,1881,3549,2856
$GC,864,-1.39,-116.8,100.7,-14.5,132,872,0.55,2.88,0.00,0.000,6,0.000,0.000,2008,2040,2854
$GC,1188,-1.24,-116.8,129.5,-8.6,148,1195,0.00,3.53,0.00,0.000,4,0.000,0.000,2030,3695,2855
$GC,1218,-1.34,-116.8,132.7,-8.9,149,1225,0.52,2.88,0.00,0.000,6,0.000,0.000,1879,2111,2858
$GC,1547,-1.49,-116.8,180.4,-14.9,165,1553,0.40,2.72,0.00,0.000,4,0.000,0.000,2017,3639,2862
$GC,1572,-1.21,-116.8,184.0,-13.4,166,1578,0.00,2.97,0.00,0.000,6,0.000,0.000,2009,1950,2861
$GC,1904,-1.18,-116.8,214.0,-9.2,182,1909,0.00,2.80,0.00,0.000,4,0.000,0.000,2012,3615,2862
$GC,1962,-1.23,-116.8,220.2,-9.3,184,1971,0.00,2.67,0.00,0.000,6,0.000,0.000,1990,2094,2870
$GC,2288,-1.48,-116.8,249.5,-9.2,200,2294,0.55,2.17,0.00,0.000,4,0.000,0.000,1886,3446,2862
$GC,2341,-1.53,-116.8,257.8,-14.8,202,2347,0.52,2.35,0.00,0.000,6,0.000,0.000,1982,2120,2863
$GC,2666,-1.33,-116.8,288.8,-9.5,217,2668,0.20,0.00,0.00,0.000,6,0.000,0.000,1942,2118,2860
$GC,2976,-1.36,-116.8,323.4,-12.1,232,2981,0.00,2.80,0.00,0.000,4,0.000,0.000,1938,3611,2857
$GC,3006,-1.24,-116.8,328.0,-12.2,233,3018,0.52,2.75,0.00,0.000,6,0.000,0.000,2076,1943,2864
$GC,3335,-1.19,-116.8,351.1,-6.9,249,3343,0.50,3.25,0.00,0.000,4,0.000,0.000,1940,3664,2856
$GC,3384,-1.41,-116.8,356.7,-11.9,251,3390,0.08,2.95,0.00,0.000,6,0.000,0.000,1955,2164,2857
$GC,3720,-1.41,-116.8,395.4,-11.0,267,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,2168,2858
$GC,4025,-1.43,-116.8,432.3,-11.9,282,4026,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,2179,2858
$GC,4334,-1.32,-116.8,469.2,-11.9,297,4340,0.45,2.78,0.00,0.000,4,0.000,0.000,2074,3663,2863
$GC,4360,-1.20,-116.8,472.0,-10.3,298,4367,0.47,2.92,0.00,0.000,6,0.000,0.000,1947,2169,2859
$GC,4713,-1.33,-116.8,512.0,-11.9,313,4715,0.32,0.00,0.00,0.000,6,0.000,0.000,2022,2165,2857
$GC,5034,-1.22,-116.8,542.4,-9.2,321,5038,0.00,2.12,0.00,0.000,4,0.000,0.000,1990,3682,2862
$GC,5070,-1.27,-116.8,545.9,-9.1,321,5079,0.00,3.17,0.00,0.000,6,0.000,0.000,2000,2194,2864
$STATE,5359,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5359,begin apogee
$GC,5372,-0.25,0.0,573.0,9.2,329,5390,1.52,0.00,14.52,0.000,6,0.000,0.000,2257,2012,2246
$STATE,5391,end apogee,CONTROL_FINISHED_OK
$STATE,5391,begin climb
$GC,5397,1.49,116.8,573.0,0.0,329,5412,1.88,0.00,11.50,0.000,6,0.000,0.000,2611,2025,1758
$GC,5732,1.49,116.8,514.7,19.0,338,5737,0.03,2.42,0.00,0.000,4,0.000,0.000,2609,3363,1764
$GC,5894,1.31,116.8,482.0,19.0,343,5900,0.52,2.47,0.00,0.000,6,0.000,0.000,2493,2025,1760
$GC,6225,1.17,148.4,444.6,11.2,359,6235,0.00,3.40,2.88,0.001,4,0.000,0.000,2499,3555,1644
$GC,6326,1.36,167.8,431.5,12.2,363,6340,0.52,3.53,2.10,0.000,6,0.000,0.000,2618,1865,1556
$GC,6656,1.59,167.8,361.4,22.4,379,6662,0.00,3.17,0.00,0.000,4,0.000,0.000,2612,3558,1552
$GC,6782,1.43,167.8,330.2,22.0,384,6792,0.45,3.30,0.00,0.000,6,0.000,0.000,2533,1863,1553
$GC,7107,1.33,167.8,275.3,17.0,400,7114,0.00,3.28,0.00,0.000,4,0.000,0.000,2544,3546,1550
$GC,7234,1.33,167.8,251.5,17.7,405,7239,0.00,3.12,0.00,0.000,6,0.000,0.000,2551,1904,1550
$GC,7558,1.38,167.8,192.6,23.0,420,7563,0.00,2.88,0.00,0.000,4,0.000,0.000,2547,3417,1552
$GC,7695,1.03,167.8,167.1,17.2,426,7701,0.47,2.03,0.00,0.000,6,0.000,0.000,2446,2039,1554
$GC,8026,1.08,167.8,130.6,16.6,442,8034,0.57,3.03,0.00,0.000,4,0.000,0.000,2565,3562,1548
$GC,8105,1.00,167.8,115.1,17.4,445,8112,0.52,2.78,0.00,0.000,6,0.000,0.000,2440,2195,1552
$GC,8455,1.05,227.3,79.7,9.0,487,8472,0.40,3.03,4.70,0.000,4,0.000,0.000,2522,3555,1322
$GC,8536,1.37,227.3,65.3,20.5,499,8544,0.00,2.58,0.00,0.000,6,0.000,0.000,2555,2213,1317
$STATE,8819,end climb,SURFACE_DEPTH_REACHED
$STATE,8819,begin surface coast
$FINISH,0.3,1.025329
$STATE,8824,end surface coast,CONTROL_FINISHED_OK
$STATE,8824,begin surface
$SM_CCo,8854,14.27,0.000,0,0,402,451.35
$SM_GC,0.34,0.00,0.00,14.27,0.000,0.000,0.000,600,1688,402,-7.75,-8.09,451.35
$RAFOS_CLK,0
$RAFOS,4,1160602174,21.500000,21.492777,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,3,1160598849,20.583334,20.569166,80,0,0,0,0,0,691,0,0,0,0,0
$RAFOS,2,1160598246,20.416666,20.401667,80,0,0,0,0,0,924,0,0,0,0,0
$RAFOS,1,1160597645,20.250000,20.234722,80,0,0,0,0,0,712,0,0,0,0,0
$RAFOS_FIX,6636.915527,-6004.068848,111006,202040,3,80,2.11
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2294
$INTERNAL_PRESSURE,26.0455
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.3,19.5
$ALTIM_BOTTOM_PING,502.4,78.8
$24V_AH,23.7,38.207
$10V_AH,9.7,5.836
$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,29.275,99.375,35.700,14.275,0.000,0.000,0.000,67.698,4.500,27.033,1757.616,5799.506,240.099,620.980,726.070,0.000,761.940,0.000,516.812,1440.000,26.161
$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,454.001,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19008,547
$CFSIZE,255582208,242241536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,49,771,0,0
$SOUNDSPEED,1459.8
$CURRENT,0.066,288.8,1
$GPS,111006,223908,6637.895,-6005.761,12,1.1,12,18.0