version: 66.01
glider: 1
mission: 1
dive: 2
start: 10 8 106 15 26 6
data:
$ID,1
$MISSION,1
$DIVE,2
$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,-448625.22
$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,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
$GPS1,152118,6630.754,-6030.229,8,1.1,8,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-69.9
$GPS2,152536,6630.754,-6030.229,10,1.1,10,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6640.902,-6028.766
$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,34,end surface,CONTROL_FINISHED_OK
$STATE,34,begin dive
$GC,40,-1.49,-116.8,0.0,0.0,0,128,0.00,0.00,-76.85,0.000,6,0.000,0.000,654,1909,2739
$GC,135,-1.49,-116.8,0.3,-0.7,9,152,6.53,2.72,0.00,0.000,4,0.000,0.000,2030,3559,2742
$GC,298,-1.67,-116.8,21.7,-8.5,34,307,0.77,2.97,0.00,0.000,6,0.000,0.000,1849,2068,2742
$GC,664,-1.30,-116.8,74.2,-13.5,95,673,0.68,2.45,0.00,0.000,4,0.000,0.000,2055,3571,2737
$GC,712,-1.48,-116.8,78.0,-6.4,101,720,0.52,2.97,0.00,0.000,6,0.000,0.000,1924,1907,2736
$GC,1069,-1.29,-116.8,115.1,-10.3,143,1077,0.35,3.28,0.00,0.000,4,0.000,0.000,2045,3416,2737
$GC,1160,-1.45,-116.8,121.1,-6.1,146,1169,0.47,2.83,0.00,0.000,6,0.000,0.000,1898,1880,2740
$GC,1485,-1.26,-116.8,152.3,-9.9,162,1493,0.68,3.17,0.00,0.000,4,0.000,0.000,2022,3576,2737
$GC,1570,-1.43,-116.8,158.4,-6.0,165,1582,0.52,3.08,0.00,0.000,6,0.000,0.000,1899,1884,2744
$GC,1899,-1.22,-116.8,189.3,-9.5,181,1907,0.65,3.55,0.00,0.000,4,0.000,0.000,2062,3554,2744
$GC,1984,-1.54,-116.8,194.2,-4.2,184,1998,1.02,3.42,0.00,0.000,6,0.000,0.000,1825,2170,2739
$GC,2309,-1.18,-116.8,228.2,-10.7,200,2312,0.98,0.00,0.00,0.000,6,0.000,0.000,2086,2160,2735
$GC,2623,-1.48,-116.8,242.2,-4.0,215,2626,1.05,0.00,0.00,0.000,6,0.000,0.000,1899,2176,2738
$GC,2933,-1.29,-116.8,267.4,-8.3,230,2939,0.50,2.47,0.00,0.000,4,0.000,0.000,2018,3504,2736
$GC,2970,-1.46,-116.8,270.5,-5.2,231,2979,0.52,3.25,0.00,0.000,6,0.000,0.000,1924,1847,2738
$GC,3289,-1.27,-116.8,296.1,-8.3,247,3297,0.47,3.53,0.00,0.000,4,0.000,0.000,2037,3693,2738
$GC,3381,-1.47,-116.8,301.0,-4.9,250,3390,0.52,2.75,0.00,0.000,6,0.000,0.000,1900,1878,2733
$GC,3706,-1.26,-116.8,326.6,-8.2,266,3715,0.62,3.53,0.00,0.000,4,0.000,0.000,2019,3663,2740
$GC,3786,-1.44,-116.8,331.4,-4.7,269,3794,0.52,3.33,0.00,0.000,6,0.000,0.000,1908,2007,2744
$GC,4116,-1.23,-116.8,357.5,-8.0,285,4124,0.55,2.92,0.00,0.000,4,0.000,0.000,2024,3654,2742
$GC,4165,-1.40,-116.8,360.3,-4.7,287,4173,0.52,3.22,0.00,0.000,6,0.000,0.000,1903,1974,2732
$GC,4500,-1.24,-116.8,386.0,-8.0,303,4508,0.47,3.17,0.00,0.000,4,0.000,0.000,2020,3656,2740
$GC,4557,-1.41,-116.8,389.5,-4.8,305,4570,0.55,2.65,0.00,0.000,6,0.000,0.000,1905,1973,2743
$GC,4881,-1.21,-116.8,413.9,-7.8,321,4889,0.55,3.42,0.00,0.000,4,0.000,0.000,2045,3637,2745
$GC,4945,-1.38,-116.8,417.3,-4.8,323,4954,0.52,3.22,0.00,0.000,6,0.000,0.000,1917,1953,2733
$GC,5269,-1.18,-116.8,441.3,-7.7,339,5277,0.55,3.05,0.00,0.000,4,0.000,0.000,2028,3610,2742
$GC,5345,-1.34,-116.8,445.5,-4.7,342,5352,0.50,3.03,0.00,0.000,6,0.000,0.000,1909,1941,2735
$STATE,5658,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5658,begin apogee
$GC,5670,-0.25,0.0,469.3,7.6,357,5788,1.65,0.00,113.20,0.001,6,0.000,0.000,2271,2106,2258
$STATE,5793,end apogee,CONTROL_FINISHED_OK
$STATE,5793,begin climb
$GC,5799,1.49,116.8,470.5,0.0,363,5922,1.88,0.00,112.65,0.001,6,0.000,0.000,2648,2092,1785
$GC,6223,1.24,116.8,383.4,22.1,383,6228,0.68,2.25,0.00,0.000,4,0.000,0.000,2440,3468,1793
$GC,6294,1.60,167.8,375.0,9.7,386,6352,1.38,2.88,48.65,0.001,6,0.000,0.000,2710,2077,1580
$GC,6673,1.12,167.8,255.5,32.4,404,6681,1.40,2.75,0.00,0.000,4,0.000,0.000,2468,3595,1574
$GC,6737,1.27,186.3,243.2,12.3,406,6768,0.52,3.35,17.98,0.001,6,0.000,0.000,2592,1917,1501
$GC,7079,1.14,186.3,169.0,22.3,423,7085,0.65,2.45,0.00,0.000,4,0.000,0.000,2480,3400,1508
$GC,7216,1.38,200.5,150.6,12.6,429,7240,0.62,2.83,10.82,0.001,6,0.000,0.000,2596,1921,1450
$GC,7563,1.25,200.5,72.7,21.2,457,7573,0.60,3.17,0.95,0.001,4,0.000,0.000,2450,3545,1441
$GC,7679,1.51,219.9,57.2,12.2,475,7703,0.80,2.45,15.68,0.001,6,0.000,0.000,2657,2049,1362
$STATE,7895,end climb,SURFACE_DEPTH_REACHED
$STATE,7895,begin surface coast
$FREEZE,-0.00,4.759,-1.708
$FINISH,-0.0,1.024727
$STATE,7901,end surface coast,CONTROL_FINISHED_OK
$STATE,7901,begin surface
$SM_CCo,7930,144.60,0.000,4,0,424,450.86
$SM_GC,0.00,0.00,0.00,144.60,0.000,0.000,0.000,628,2061,424,-7.43,2.66,450.86
$RAFOS_CLK,0
$RAFOS,3,1160325254,16.583334,16.570555,80,0,0,0,0,0,698,0,0,0,0,0
$RAFOS,2,1160324654,16.416666,16.403889,80,0,0,0,0,0,952,0,0,0,0,0
$RAFOS,1,1160324045,16.250000,16.234722,80,0,0,0,0,0,781,0,0,0,0,0
$RAFOS,0,1160323447,16.083334,16.068611,80,0,0,0,0,0,619,0,0,0,0,0
$RAFOS,4,1160321344,15.500000,15.484445,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,6631.125977,-6025.605469,081006,161620,4,80,1.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2363
$INTERNAL_PRESSURE,25.9967
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.3,18.6
$ALTIM_BOTTOM_PING,401.2,78.0
$24V_AH,23.7,52.733
$10V_AH,9.7,8.078
$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,41.775,96.300,319.925,144.600,0.000,0.000,0.000,85.639,3.500,10.903,1547.762,4810.607,730.522,581.014,701.182,0.000,1240.679,0.000,499.252,1800.000,25.779
$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,413.234,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15875,511
$CFSIZE,255582208,244211712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,84,749,4,0
$SOUNDSPEED,1467.9
$CURRENT,0.050,265.9,1
$GPS,081006,174255,6631.412,-6030.251,35,1.1,35,18.0