version: 66.01
glider: 1
mission: 1
dive: 20
start: 10 10 106 17 43 48
data:
$ID,1
$MISSION,1
$DIVE,20
$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,-449098.12
$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,3
$R_STBD_OVSHOOT,5
$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
$GPS1,173421,6643.349,-6033.617,29,1.1,29,18.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-70.0
$GPS2,174324,6643.349,-6033.617,26,1.1,26,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6653.497,-6032.167
$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,39,begin dive
$GC,45,-1.49,-116.8,0.0,0.0,0,134,0.00,0.00,-76.43,0.000,6,0.000,0.000,626,1677,2737
$GC,140,-1.49,-116.8,0.6,-1.3,10,157,6.53,3.22,0.00,0.000,4,0.000,0.000,1975,3684,2737
$GC,445,-1.52,-116.8,39.3,-9.3,60,455,0.52,3.25,0.00,0.000,6,0.000,0.000,1875,1998,2739
$GC,813,-1.18,-116.8,88.1,-13.0,121,823,1.15,3.28,0.00,0.000,4,0.000,0.000,2094,3449,2739
$GC,1010,-1.51,-116.8,98.7,-4.5,153,1019,1.05,3.22,0.00,0.000,6,0.000,0.000,1922,1785,2736
$GC,1351,-1.31,-116.8,131.9,-10.0,172,1356,0.47,2.47,0.00,0.000,4,0.000,0.000,2029,441,2735
$GC,1422,-1.47,-116.8,136.6,-6.0,175,1430,0.50,3.75,0.00,0.000,6,0.000,0.000,1920,2239,2740
$GC,1758,-1.27,-116.8,168.3,-9.6,191,1766,0.60,3.42,0.00,0.000,4,0.000,0.000,2024,412,2741
$GC,1843,-1.43,-116.8,173.9,-6.0,194,1856,0.55,3.58,0.00,0.000,6,0.000,0.000,1898,2245,2736
$GC,2168,-1.28,-116.8,203.9,-9.2,210,2176,0.38,3.50,0.00,0.000,4,0.000,0.000,2003,387,2738
$GC,2231,-1.44,-116.8,208.0,-5.6,212,2240,0.52,2.88,0.00,0.000,6,0.000,0.000,1920,2020,2740
$GC,2556,-1.23,-116.8,235.8,-8.9,228,2564,0.60,2.92,0.00,0.000,4,0.000,0.000,1952,370,2739
$GC,2585,-1.19,-116.8,238.7,-7.3,229,2593,0.08,3.42,0.00,0.000,6,0.000,0.000,1973,2166,2745
$GC,2920,-1.19,-116.8,260.7,-6.6,245,2928,0.45,3.62,0.00,0.000,4,0.000,0.000,2096,331,2737
$GC,2983,-1.53,-116.8,263.9,-3.8,247,2992,1.05,3.65,0.00,0.000,6,0.000,0.000,1923,2224,2733
$GC,3307,-1.36,-116.8,288.2,-8.0,263,3315,0.85,3.50,0.00,0.000,4,0.000,0.000,2039,387,2734
$GC,3357,-1.56,-116.8,291.5,-4.7,265,3365,0.77,3.28,0.00,0.000,6,0.000,0.000,1868,2202,2740
$GC,3693,-1.22,-116.8,322.7,-9.5,281,3701,1.12,3.45,0.00,0.000,4,0.000,0.000,2053,507,2734
$GC,3734,-1.42,-116.8,325.5,-4.6,282,3744,0.60,2.78,0.00,0.000,6,0.000,0.000,1902,1995,2741
$GC,4059,-1.25,-116.8,349.4,-7.6,298,4066,0.62,2.65,0.00,0.000,4,0.000,0.000,2041,447,2738
$GC,4120,-1.46,-116.8,352.9,-4.5,300,4133,0.77,3.75,0.00,0.000,6,0.000,0.000,1853,2233,2741
$GC,4449,-1.13,-116.8,381.6,-9.1,316,4458,0.82,3.70,0.00,0.000,4,0.000,0.000,2031,404,2738
$GC,4492,-1.35,-116.8,384.6,-4.2,317,4501,0.65,3.30,0.00,0.000,6,0.000,0.000,1935,2081,2738
$GC,4817,-1.61,-116.8,406.8,-7.1,333,4824,0.00,3.47,0.00,0.000,4,0.000,0.000,1937,596,2735
$GC,4869,-1.49,-116.8,410.7,-7.2,335,4874,0.03,2.90,0.00,0.000,6,0.000,0.000,1938,2124,2745
$GC,5199,-1.34,-116.8,433.9,-7.1,351,5206,0.32,3.30,0.00,0.000,4,0.000,0.000,1985,403,2739
$GC,5289,-1.40,-116.8,439.6,-5.5,354,5298,0.08,3.55,0.00,0.000,6,0.001,0.000,1988,2123,2739
$GC,5614,-1.49,-116.8,457.6,-5.3,370,5622,0.50,3.25,0.00,0.000,4,0.000,0.000,1867,308,2733
$GC,5662,-1.22,-116.8,461.7,-8.7,372,5671,0.75,3.62,0.00,0.000,6,0.000,0.000,2078,2115,2739
$GC,5998,-1.44,-116.8,476.3,-4.1,388,6007,0.88,3.45,0.00,0.000,4,0.000,0.000,1878,448,2734
$GC,6084,-1.19,-116.8,482.8,-8.7,391,6090,0.77,2.38,0.00,0.000,6,0.000,0.000,2051,1926,2736
$GC,6408,-1.45,-116.8,497.5,-4.2,406,6411,0.77,0.00,0.00,0.000,6,0.000,0.000,1892,1935,2738
$STATE,6606,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6606,begin apogee
$GC,6619,-0.25,0.0,513.7,8.3,412,6736,1.88,0.00,113.30,0.000,6,0.000,0.000,2242,2255,2263
$STATE,6737,end apogee,CONTROL_FINISHED_OK
$STATE,6737,begin climb
$GC,6743,1.49,116.8,515.0,0.0,415,6878,2.20,2.62,112.68,0.001,4,0.000,0.000,2661,3581,1788
$GC,7139,1.15,116.8,426.0,24.8,429,7147,1.08,3.17,0.00,0.000,6,0.000,0.000,2423,1924,1784
$GC,7480,1.59,185.2,393.7,8.3,445,7555,0.98,0.00,66.47,0.000,6,0.000,0.000,2663,1917,1501
$GC,7864,1.24,185.2,282.9,30.1,464,7871,0.70,2.97,0.00,0.000,4,0.000,0.000,2505,3578,1502
$GC,7942,1.40,185.2,269.7,13.9,467,7949,0.52,2.65,0.00,0.000,6,0.000,0.000,2627,1750,1506
$GC,8273,1.21,185.2,191.2,24.6,483,8281,0.70,3.25,0.00,0.000,4,0.000,0.000,2454,3635,1501
$GC,8429,1.56,224.2,171.2,10.7,489,8469,1.10,3.62,30.77,0.001,6,0.000,0.000,2672,1818,1348
$GC,8803,1.17,224.2,56.4,32.6,521,8812,0.98,3.25,0.00,0.000,4,0.000,0.000,2414,3690,1358
$GC,8988,1.58,273.0,34.1,9.9,551,9047,1.08,3.08,40.53,0.000,6,0.000,0.000,2659,2041,1151
$STATE,9098,end climb,SURFACE_DEPTH_REACHED
$STATE,9098,begin surface coast
$FREEZE,-0.00,5.031,-1.660
$FINISH,-0.0,1.024024
$STATE,9106,end surface coast,CONTROL_FINISHED_OK
$STATE,9106,begin surface
$SM_CCo,9136,111.55,0.000,0,0,425,451.84
$SM_GC,0.00,0.00,0.00,111.55,0.000,0.000,0.000,625,1893,425,-7.56,-3.31,451.84
$RAFOS_CLK,0
$RAFOS,0,1160510646,20.083334,20.068333,80,0,0,0,0,0,583,0,0,0,0,0
$RAFOS_FIX,6641.252441,-6029.891113,101006,161620,4,80,0.69
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2260
$INTERNAL_PRESSURE,26.0065
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,16.7,16.9
$ALTIM_BOTTOM_PING,500.1,21.1
$24V_AH,23.7,59.101
$10V_AH,9.7,9.007
$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,45.975,124.275,363.750,111.550,0.000,0.000,0.000,90.854,4.750,26.807,1708.448,5736.214,752.849,683.782,905.818,0.000,1334.701,0.000,570.373,720.000,28.837
$DEVICE_MAMPS,119.000,60.000,1300.000,600.000,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,458.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19013,568
$CFSIZE,255582208,242839552
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,90,961,2,0
$SOUNDSPEED,1469.7
$CURRENT,0.049,264.6,1
$GPS,101006,201922,6644.110,-6033.691,21,1.1,21,18.0