version: 66.01
glider: 1
mission: 1
dive: 37
start: 10 12 106 6 15 55
data:
$ID,1
$MISSION,1
$DIVE,37
$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,-447369.25
$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
$GPS1,061107,6637.006,-6006.585,8,1.1,8,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.8
$GPS2,061526,6637.006,-6006.585,24,1.1,24,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6645.903,-6004.170
$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,16.5,20000,-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,-116.8,0.0,0.0,0,57,0.00,0.00,-8.40,0.000,6,0.000,0.000,605,1926,2900
$GC,63,-1.49,-116.8,0.3,0.0,2,81,7.40,2.95,0.00,0.000,4,0.000,0.000,2021,471,2906
$GC,217,-1.49,-116.8,19.1,-8.9,26,226,0.65,2.72,0.00,0.000,6,0.000,0.000,1873,2173,2905
$GC,586,-1.80,-116.8,73.4,-15.4,87,595,0.00,2.58,0.00,0.000,4,0.000,0.000,1887,3361,2901
$GC,670,-1.56,-116.8,85.5,-15.5,100,677,0.00,2.17,0.00,0.000,6,0.000,0.000,1885,2149,2905
$GC,1022,-1.37,-116.8,138.0,-14.8,128,1024,0.52,0.00,0.00,0.000,6,0.000,0.000,2040,2154,2906
$GC,1331,-1.22,-116.8,167.1,-9.2,143,1336,0.00,2.72,0.00,0.000,4,0.000,0.000,2010,3651,2907
$GC,1362,-1.31,-116.8,170.6,-9.6,144,1374,0.47,2.90,0.00,0.000,6,0.000,0.000,1874,2167,2904
$GC,1691,-1.47,-116.8,218.3,-15.1,160,1693,0.60,0.00,0.00,0.000,6,0.000,0.000,2014,2161,2907
$GC,2000,-1.24,-116.8,248.4,-9.3,175,2001,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,2171,2905
$GC,2304,-1.32,-116.8,277.6,-9.5,190,2310,0.30,2.30,0.00,0.000,4,0.000,0.000,1950,3548,2905
$GC,2341,-1.40,-116.8,282.0,-12.6,191,2350,0.03,3.62,0.00,0.000,6,0.000,0.000,1955,1862,2904
$GC,2665,-1.38,-116.8,321.5,-12.5,207,2671,0.00,3.10,0.00,0.000,4,0.000,0.000,1945,3565,2907
$GC,2746,-1.29,-116.8,332.6,-12.2,210,2754,0.00,3.03,0.00,0.000,6,0.000,0.000,1950,1922,2904
$GC,3073,-1.29,-116.8,371.8,-12.4,226,3080,0.35,3.03,0.00,0.000,4,0.000,0.000,2063,3526,2907
$GC,3149,-1.21,-116.8,378.5,-6.9,229,3154,0.60,2.20,0.00,0.000,6,0.000,0.000,1956,1986,2910
$GC,3480,-1.51,-116.8,415.3,-12.2,245,3481,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,1976,2909
$GC,3790,-1.44,-116.8,451.4,-11.1,260,3796,0.00,3.12,0.00,0.000,4,0.000,0.000,1935,3657,2914
$GC,3838,-1.46,-116.8,457.6,-12.5,262,3845,0.00,3.30,0.00,0.000,6,0.000,0.000,1967,1985,2906
$GC,4172,-1.53,-116.8,497.2,-12.2,278,4179,0.05,3.33,0.00,0.000,4,0.000,0.000,1948,3647,2901
$GC,4235,-1.46,-116.8,505.1,-12.0,280,4239,0.00,2.42,0.00,0.000,6,0.000,0.000,1959,1978,2911
$GC,4552,-1.48,-116.8,543.9,-12.1,288,4557,0.00,3.17,0.00,0.000,4,0.000,0.000,1984,3480,2910
$GC,4661,-1.41,-116.8,557.6,-12.4,290,4665,0.00,1.95,0.00,0.000,6,0.000,0.000,1956,2138,2907
$STATE,4799,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4800,begin apogee
$GC,4812,-0.25,0.0,574.8,12.3,294,4832,1.52,0.00,15.80,0.001,6,0.000,0.000,2253,2130,2249
$STATE,4832,end apogee,CONTROL_FINISHED_OK
$STATE,4832,begin climb
$GC,4838,1.49,116.8,574.8,0.0,294,4853,1.60,0.00,11.20,0.000,6,0.000,0.000,2622,2146,1771
$GC,5173,1.49,116.8,513.8,20.2,303,5181,0.38,3.03,0.00,0.000,4,0.000,0.000,2532,3616,1765
$GC,5280,1.26,142.1,499.5,11.7,305,5289,0.08,2.97,2.33,0.000,6,0.000,0.000,2521,2088,1667
$GC,5612,1.47,150.4,456.7,13.1,320,5621,0.47,3.17,0.93,0.001,4,0.000,0.000,2624,3579,1620
$GC,5661,1.58,150.4,444.3,31.9,322,5669,0.22,3.25,0.00,0.000,6,0.000,0.000,2561,2090,1625
$GC,6002,1.22,150.4,382.9,18.0,338,6008,0.52,2.67,0.00,0.000,4,0.000,0.000,2457,3426,1629
$GC,6083,1.15,200.6,373.2,9.8,341,6097,0.45,2.03,4.82,0.000,6,0.000,0.000,2570,2080,1421
$GC,6414,1.54,200.6,301.5,24.5,357,6419,0.10,2.33,0.00,0.000,4,0.000,0.000,2561,3549,1418
$GC,6479,1.30,200.6,286.1,20.5,360,6485,0.08,2.58,0.00,0.000,6,0.000,0.000,2561,2212,1425
$GC,6815,1.30,200.6,213.4,20.7,376,6822,0.00,3.42,0.00,0.000,4,0.000,0.000,2561,3674,1425
$GC,6843,1.23,200.6,206.0,21.1,377,6851,0.20,3.03,0.00,0.000,6,0.000,0.000,2520,1973,1423
$GC,7173,1.23,200.6,154.6,15.6,393,7178,0.00,2.70,0.00,0.000,4,0.000,0.000,2498,3634,1418
$GC,7253,1.33,200.6,141.7,15.4,396,7262,0.52,2.65,0.00,0.000,6,0.000,0.000,2631,2148,1422
$GC,7595,1.50,200.6,55.8,25.7,433,7604,0.40,3.00,0.00,0.000,4,0.000,0.000,2507,3676,1428
$GC,7674,1.27,200.6,42.2,17.5,445,7683,0.10,3.42,0.00,0.000,6,0.000,0.000,2500,2038,1420
$STATE,7934,end climb,SURFACE_DEPTH_REACHED
$STATE,7934,begin surface coast
$FINISH,0.3,1.025402
$STATE,7951,end surface coast,CONTROL_FINISHED_OK
$STATE,7951,begin surface
$SM_CCo,7979,16.00,0.000,0,0,420,451.11
$SM_GC,0.34,0.00,0.00,16.00,0.000,0.000,0.000,601,2012,420,-7.63,1.05,451.11
$RAFOS_CLK,0
$RAFOS,1,1160640858,8.250000,8.238334,80,0,0,0,0,0,631,0,0,0,0,0
$RAFOS,0,1160640243,8.083333,8.067500,80,0,0,0,0,0,580,0,0,0,0,0
$RAFOS_FIX,6637.846680,-6004.194824,121006,080844,2,80,0.34
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2250
$INTERNAL_PRESSURE,26.0455
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.6,19.3
$ALTIM_BOTTOM_PING,500.3,82.4
$24V_AH,23.7,39.305
$10V_AH,9.7,6.000
$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,27.000,90.875,35.075,16.000,0.000,0.000,0.000,67.286,4.500,25.746,1595.725,5206.362,229.579,559.151,673.789,0.000,702.865,0.000,467.273,1080.000,26.143
$DEVICE_MAMPS,119.000,60.000,0.767,600.000,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,406.218,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15862,491
$CFSIZE,255582208,241991680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,53,701,0,0
$SOUNDSPEED,1459.8
$CURRENT,0.071,280.8,1
$GPS,121006,083032,6637.956,-6005.963,10,1.1,10,18.0