version: 66.01
glider: 1
mission: 1
dive: 1
start: 10 8 106 12 56 49
data:
$ID,1
$MISSION,1
$DIVE,1
$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,2
$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,-448613.69
$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,164
$R_STBD_OVSHOOT,7
$ROLL_AD_RATE,500
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$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,-0.22280908
$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
$GPS1,125234,6630.000,-6030.000,22,1.1,22,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-69.9
$GPS2,125630,6630.000,-6030.000,25,1.1,25,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6640.148,-6028.537
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,2.0,20000,-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,39,end surface,CONTROL_FINISHED_OK
$STATE,40,begin dive
$GC,46,-1.49,-116.8,0.0,0.0,0,134,0.00,0.00,-76.32,0.000,6,0.000,0.000,552,1901,2743
$GC,140,-1.49,-116.8,0.2,-0.3,9,158,6.97,2.72,0.00,0.000,4,0.000,0.000,1967,557,2741
$GC,263,-1.49,-116.8,21.4,-11.7,28,272,0.03,3.58,0.00,0.000,6,0.000,0.000,1958,2235,2747
$GC,630,-1.45,-116.8,58.1,-9.2,89,638,0.00,2.58,0.00,0.000,4,0.000,0.000,1950,3472,2742
$GC,659,-1.43,-116.8,60.9,-9.5,93,668,0.03,2.78,0.00,0.000,6,0.000,0.000,1970,2142,2741
$GC,1026,-1.38,-116.8,93.6,-8.6,154,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,2136,2749
$GC,1370,-1.34,-116.8,123.6,-8.8,179,1376,0.00,2.97,0.00,0.000,4,0.000,0.000,1979,3491,2737
$GC,1417,-1.34,-116.8,128.0,-8.8,181,1422,0.00,2.42,0.00,0.000,6,0.000,0.000,1960,1818,2747
$GC,1747,-1.41,-116.8,155.1,-8.3,197,1754,0.00,3.58,0.00,0.000,4,0.000,0.000,1957,3541,2738
$GC,1845,-1.41,-116.8,163.6,-8.6,201,1850,0.00,2.88,0.00,0.000,6,0.000,0.000,1958,1900,2744
$GC,2182,-1.37,-116.8,192.9,-8.7,217,2187,0.00,2.55,0.00,0.000,4,0.000,0.000,1975,3559,2744
$GC,2267,-1.37,-116.8,200.7,-8.6,220,2275,0.00,3.08,0.00,0.000,6,0.000,0.000,1946,2065,2749
$GC,2591,-1.32,-116.8,228.8,-8.7,236,2596,0.00,2.78,0.00,0.000,4,0.000,0.000,1964,3383,2742
$GC,2635,-1.34,-116.8,233.0,-8.4,238,2639,0.00,2.35,0.00,0.000,6,0.000,0.000,1947,2029,2749
$GC,2971,-1.30,-116.8,261.5,-8.8,254,2976,0.00,2.25,0.00,0.000,4,0.000,0.000,1957,3400,2748
$GC,3024,-1.28,-116.8,266.8,-8.6,256,3030,0.00,2.92,0.00,0.000,6,0.000,0.000,1972,1870,2742
$GC,3349,-1.45,-116.8,293.8,-7.9,271,3356,0.00,3.65,0.00,0.000,4,0.000,0.000,1974,3685,2741
$GC,3428,-1.45,-116.8,301.5,-8.9,274,3434,0.12,2.90,0.00,0.000,6,0.000,0.000,1965,2039,2746
$GC,3753,-1.41,-116.8,329.1,-8.7,289,3758,0.00,3.03,0.00,0.000,4,0.000,0.000,1956,3546,2743
$GC,3800,-1.41,-116.8,333.9,-8.8,291,3805,0.00,2.95,0.00,0.000,6,0.000,0.000,1959,2020,2741
$GC,4130,-1.37,-116.8,362.0,-8.7,307,4135,0.00,2.65,0.00,0.000,4,0.000,0.000,1970,3554,2739
$GC,4182,-1.37,-116.8,367.3,-8.8,309,4187,0.00,3.00,0.00,0.000,6,0.000,0.000,1969,1910,2742
$GC,4506,-1.33,-116.8,394.3,-8.8,324,4511,0.00,2.88,0.00,0.000,4,0.000,0.000,1962,3450,2745
$GC,4580,-1.33,-116.8,401.1,-8.8,327,4588,0.03,3.20,0.00,0.000,6,0.000,0.000,1975,1929,2743
$GC,4915,-1.28,-116.8,430.0,-8.6,343,4922,0.03,3.47,0.00,0.000,4,0.000,0.000,1970,3609,2740
$GC,4989,-1.28,-116.8,437.1,-8.8,346,4996,0.00,3.58,0.00,0.000,6,0.000,0.000,1959,2112,2745
$GC,5323,-1.24,-116.8,465.7,-8.8,362,5328,0.10,2.45,0.00,0.000,4,0.000,0.000,1971,3575,2742
$STATE,5348,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5348,begin apogee
$GC,5363,-0.25,0.0,469.0,9.2,363,5487,1.50,0.00,113.93,0.001,6,0.000,0.000,2283,1961,2265
$STATE,5492,end apogee,CONTROL_FINISHED_OK
$STATE,5492,begin climb
$GC,5498,1.49,116.8,472.5,0.0,369,5630,1.60,2.97,112.95,0.001,4,0.000,0.000,2631,3668,1784
$GC,5721,1.30,116.8,437.5,19.8,377,5730,0.47,3.30,0.00,0.000,6,0.000,0.000,2515,2167,1785
$GC,6046,1.44,141.4,397.8,11.8,393,6077,0.52,2.83,23.52,0.001,4,0.000,0.000,2653,3671,1685
$GC,6109,1.24,141.4,384.5,21.1,395,6118,0.62,3.03,0.00,0.000,6,0.000,0.000,2507,2180,1687
$GC,6434,1.35,153.7,342.4,12.8,411,6458,0.50,3.25,11.95,0.001,4,0.000,0.000,2609,3685,1631
$GC,6488,1.15,153.7,330.6,22.6,413,6496,0.75,3.05,0.00,0.000,6,0.000,0.000,2443,1998,1634
$GC,6823,1.36,183.9,294.9,11.3,429,6859,1.12,2.90,28.45,0.001,4,0.000,0.000,2631,3680,1513
$GC,6943,1.15,183.9,267.4,25.5,434,6950,0.77,2.75,0.00,0.000,6,0.000,0.000,2456,1858,1516
$GC,7277,1.47,220.8,229.7,10.8,450,7324,1.10,3.45,35.65,0.001,4,0.000,0.000,2618,3394,1360
$GC,7491,1.25,220.8,174.4,27.7,459,7497,0.80,2.15,0.08,0.001,6,0.000,0.000,2459,1908,1371
$GC,7823,1.55,246.7,130.4,11.7,475,7854,1.40,3.47,21.42,0.001,4,0.000,0.000,2702,3551,1255
$GC,7967,1.16,246.7,81.8,35.8,485,7976,1.10,2.62,0.00,0.000,6,0.000,0.000,2472,1871,1257
$GC,8335,1.45,268.5,26.4,12.0,546,8361,0.77,3.45,17.23,0.001,4,0.000,0.000,2631,3583,1161
$STATE,8435,end climb,SURFACE_DEPTH_REACHED
$STATE,8435,begin surface coast
$FINISH,0.0,1.024576
$STATE,8440,end surface coast,CONTROL_FINISHED_OK
$STATE,8440,begin surface
$SM_CCo,8473,114.57,0.000,2,0,428,450.37
$SM_GC,0.00,0.00,0.00,114.57,0.000,0.000,0.000,634,1905,428,-7.42,-2.26,450.37
$RAFOS_CLK,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2367
$INTERNAL_PRESSURE,26.0065
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.1,19.0
$ALTIM_BOTTOM_PING,400.1,78.5
$24V_AH,23.7,52.445
$10V_AH,9.7,8.034
$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,30.425,118.825,365.175,114.575,0.000,0.000,0.000,79.698,3.500,25.574,1669.424,5066.897,727.365,675.060,713.293,0.000,1311.431,0.000,568.840,0.000,20.926
$DEVICE_MAMPS,119.000,60.000,0.767,600.000,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,452.494,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18929,562
$CFSIZE,255582208,244264960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,55,915,4,0
$SOUNDSPEED,1461.4
$CURRENT,0.061,249.3,1
$GPS,081006,152118,6630.754,-6030.229,8,1.1,8,18.0