version: 66.01
glider: 1
mission: 1
dive: 35
start: 10 12 106 1 28 14
data:
$ID,1
$MISSION,1
$DIVE,35
$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,-447323.88
$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,157
$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
$GPS1,012338,6638.196,-6008.132,20,1.1,20,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.8
$GPS2,012745,6638.196,-6008.132,12,1.1,12,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6629.659,-6010.770
$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,199.8,20000,-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,36,begin dive
$GC,42,-1.49,-116.8,0.0,0.0,0,58,0.00,0.00,-7.90,0.000,6,0.000,0.000,651,1931,2880
$GC,65,-1.49,-116.8,0.3,-0.0,2,82,6.93,2.75,0.00,0.000,4,0.000,0.000,1969,590,2872
$GC,249,-1.49,-116.8,24.7,-11.1,31,258,0.08,2.88,0.00,0.000,6,0.000,0.000,1973,2105,2875
$GC,620,-1.66,-116.8,65.0,-10.6,92,629,0.45,2.75,0.00,0.000,4,0.000,0.000,1854,3599,2879
$GC,725,-1.63,-116.8,80.9,-16.5,108,735,0.52,3.58,0.00,0.000,6,0.000,0.000,1971,1900,2880
$GC,1077,-1.38,-116.8,120.8,-11.0,143,1082,0.00,3.12,0.00,0.000,4,0.000,0.000,1971,3629,2876
$GC,1157,-1.34,-116.8,130.1,-11.0,146,1163,0.00,2.97,0.00,0.000,6,0.000,0.000,1972,2128,2881
$GC,1482,-1.40,-116.8,165.5,-11.2,161,1484,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2120,2879
$GC,1787,-1.35,-116.8,199.8,-11.1,176,1792,0.00,2.95,0.00,0.000,4,0.000,0.000,1960,3604,2886
$GC,1823,-1.31,-116.8,204.1,-11.1,177,1832,0.00,3.38,0.00,0.000,6,0.000,0.000,1979,1932,2878
$GC,2148,-1.36,-116.8,239.4,-11.2,193,2153,0.00,3.03,0.00,0.000,4,0.000,0.000,1964,3602,2877
$GC,2218,-1.32,-116.8,248.4,-12.8,196,2225,0.00,3.28,0.00,0.000,6,0.000,0.000,1967,1933,2879
$GC,2553,-1.37,-116.8,284.2,-11.1,212,2560,0.03,3.22,0.00,0.000,4,0.000,0.000,1965,3618,2876
$GC,2637,-1.33,-116.8,294.0,-11.3,215,2650,0.03,3.45,0.00,0.000,6,0.000,0.000,1972,1976,2879
$GC,2961,-1.38,-116.8,330.2,-11.1,231,2967,0.00,3.15,0.00,0.000,4,0.000,0.000,1963,3657,2885
$GC,3015,-1.34,-116.8,336.5,-11.4,233,3020,0.00,2.75,0.00,0.000,6,0.000,0.000,1939,2011,2870
$GC,3341,-1.40,-116.8,371.6,-11.1,248,3348,0.00,3.38,0.00,0.000,4,0.000,0.000,1977,3642,2879
$GC,3420,-1.35,-116.8,380.9,-11.4,251,3425,0.00,2.70,0.00,0.000,6,0.000,0.000,1965,2083,2879
$GC,3750,-1.41,-116.8,417.2,-11.0,267,3751,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,2098,2877
$GC,4055,-1.37,-116.8,451.6,-11.2,282,4062,0.00,3.53,0.00,0.000,4,0.000,0.000,1974,3591,2872
$GC,4107,-1.32,-116.8,457.7,-11.3,284,4112,0.00,2.58,0.00,0.000,6,0.000,0.000,1954,2242,2879
$GC,4437,-1.37,-116.8,493.5,-11.1,300,4442,0.00,2.97,0.00,0.000,4,0.000,0.000,1980,590,2873
$GC,4468,-1.32,-116.8,497.7,-11.1,301,4480,0.00,3.50,0.00,0.000,6,0.000,0.000,1957,2446,2873
$GC,4788,-1.44,-116.8,532.9,-11.1,310,4796,0.00,4.22,0.00,0.000,4,0.000,0.000,1957,630,2878
$GC,4840,-1.39,-116.8,539.0,-10.9,311,4847,0.00,3.17,0.00,0.000,6,0.000,0.000,1977,2278,2871
$STATE,5085,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5085,begin apogee
$GC,5098,-0.25,0.0,565.9,11.0,317,5124,1.38,0.00,15.23,0.000,6,0.000,0.000,2268,2134,2242
$STATE,5124,end apogee,CONTROL_FINISHED_OK
$STATE,5124,begin climb
$GC,5130,1.49,116.8,569.0,0.0,318,5145,1.70,0.00,11.27,0.000,6,0.000,0.000,2629,2137,1765
$GC,5450,1.49,116.8,506.6,20.3,326,5458,0.47,3.05,0.00,0.000,4,0.000,0.000,2492,3653,1768
$GC,5541,1.26,131.3,494.9,12.6,328,5550,0.00,2.67,1.45,0.001,6,0.000,0.000,2490,2120,1704
$GC,5866,1.37,137.4,451.3,13.3,344,5872,0.47,2.75,0.00,0.000,4,0.000,0.000,2640,3602,1708
$GC,5903,1.45,137.4,442.8,22.2,345,5912,0.50,2.62,0.62,0.000,6,0.000,0.000,2521,1901,1676
$GC,6227,1.26,137.4,396.8,14.4,361,6234,0.03,3.38,0.00,0.000,4,0.000,0.000,2512,3372,1686
$GC,6345,1.32,137.4,379.9,14.2,366,6351,0.50,2.28,0.00,0.000,6,0.000,0.000,2655,2184,1682
$GC,6681,1.42,137.4,305.4,23.2,382,6683,0.60,0.00,0.00,0.000,6,0.000,0.000,2513,2199,1676
$GC,6991,1.13,137.4,259.5,14.2,397,6996,0.05,2.78,0.00,0.000,4,0.000,0.000,2493,3682,1684
$GC,7045,1.18,174.3,252.5,10.8,399,7060,0.52,3.03,3.55,0.000,6,0.000,0.000,2600,1952,1525
$GC,7369,1.51,174.3,184.6,21.6,415,7374,0.00,2.65,0.00,0.000,4,0.000,0.000,2581,3455,1528
$GC,7463,1.37,174.3,164.6,22.1,419,7468,0.03,2.03,0.00,0.000,6,0.000,0.000,2588,2104,1532
$GC,7787,1.29,174.3,93.6,21.5,436,7796,0.52,2.75,0.00,0.000,4,0.000,0.000,2487,3573,1527
$GC,7835,1.14,191.0,86.7,12.4,442,7845,0.50,2.42,1.25,0.000,6,0.000,0.000,2582,2068,1468
$STATE,8183,end climb,SURFACE_DEPTH_REACHED
$STATE,8184,begin surface coast
$FINISH,0.3,1.024881
$STATE,8191,end surface coast,CONTROL_FINISHED_OK
$STATE,8191,begin surface
$SM_CCo,8221,16.55,0.000,0,0,425,450.62
$SM_GC,0.34,0.00,0.00,16.55,0.000,0.000,0.000,651,2057,425,-7.42,2.04,450.62
$RAFOS_CLK,0
$RAFOS,4,1160623753,3.500000,3.486944,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,6638.182617,-6003.028320,121006,000020,4,80,0.36
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.025311
$HUMID,2240
$INTERNAL_PRESSURE,26.0455
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,18.2,19.0
$ALTIM_BOTTOM_PING,501.4,70.9
$24V_AH,23.7,38.784
$10V_AH,9.7,5.922
$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,25.850,102.475,33.375,16.550,0.000,0.000,0.000,67.739,4.500,13.414,1637.872,5336.006,249.804,557.999,704.926,0.000,732.804,0.000,475.117,360.000,26.175
$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,415.435,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15879,501
$CFSIZE,255582208,242118656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,48,794,0,0
$SOUNDSPEED,1459.7
$CURRENT,0.071,107.4,1
$GPS,121006,034649,6637.287,-6008.806,12,1.1,12,18.0