version: 66.01
glider: 1
mission: 1
dive: 25
start: 10 11 106 8 47 32
data:
$ID,1
$MISSION,1
$DIVE,25
$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,-449222.47
$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,6
$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
$GPS1,084218,6647.539,-6034.816,7,1.1,7,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,084703,6647.539,-6034.816,29,1.1,29,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6657.687,-6033.371
$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,35,end surface,CONTROL_FINISHED_OK
$STATE,35,begin dive
$GC,41,-1.49,-116.8,0.0,0.0,0,126,0.00,0.00,-76.93,0.000,6,0.000,0.000,662,1808,2741
$GC,133,-1.49,-116.8,-0.0,0.0,9,150,6.53,2.70,0.00,0.000,4,0.000,0.000,2015,3674,2742
$GC,438,-1.59,-116.8,35.0,-8.0,59,447,1.12,3.33,0.00,0.000,6,0.000,0.000,1815,1687,2738
$GC,806,-1.16,-116.8,88.2,-14.2,120,815,1.12,3.80,0.00,0.000,4,0.000,0.000,2048,3695,2744
$GC,961,-1.39,-116.8,98.0,-5.3,145,970,0.82,3.65,0.00,0.000,6,0.000,0.000,1909,1881,2743
$GC,1301,-1.15,-116.8,133.9,-10.7,164,1309,0.77,3.00,0.00,0.000,4,0.000,0.000,2067,371,2748
$GC,1336,-1.44,-116.8,136.5,-4.9,165,1350,0.77,3.97,0.00,0.000,6,0.000,0.000,1965,2200,2743
$GC,1666,-1.38,-116.8,161.6,-8.0,181,1673,0.00,3.62,0.00,0.000,4,0.000,0.000,1956,339,2740
$GC,1724,-1.36,-116.8,166.8,-8.0,183,1735,0.00,3.47,0.00,0.000,6,0.000,0.000,1951,2176,2742
$GC,2052,-1.30,-116.8,191.8,-7.6,199,2058,0.00,2.92,0.00,0.000,4,0.000,0.000,1963,364,2743
$GC,2122,-1.28,-116.8,197.6,-8.2,202,2130,0.10,3.42,0.00,0.000,6,0.000,0.000,1978,2163,2749
$GC,2459,-1.22,-116.8,221.7,-7.4,218,2461,0.60,0.00,0.00,0.000,6,0.000,0.000,2090,2183,2735
$GC,2766,-1.49,-116.8,235.8,-4.2,233,2774,0.95,3.45,0.00,0.000,4,0.000,0.000,1895,372,2745
$GC,2846,-1.30,-116.8,242.2,-9.2,236,2854,0.55,3.72,0.00,0.000,6,0.000,0.000,2015,2189,2741
$GC,3181,-1.40,-116.8,261.2,-5.5,252,3184,0.62,0.00,0.00,0.000,6,0.000,0.000,1882,2200,2743
$GC,3491,-1.33,-116.8,287.2,-8.4,267,3493,0.57,0.00,0.00,0.000,6,0.000,0.000,2002,2179,2743
$GC,3800,-1.43,-116.8,304.5,-5.4,282,3808,0.50,3.78,0.00,0.000,4,0.000,0.000,1914,363,2746
$GC,3900,-1.25,-116.8,313.0,-8.4,286,3908,0.77,3.58,0.00,0.000,6,0.000,0.000,2076,2065,2743
$GC,4235,-1.51,-116.8,326.9,-4.0,302,4243,0.77,3.00,0.00,0.000,4,0.000,0.000,1893,383,2742
$GC,4270,-1.32,-116.8,329.7,-8.4,303,4283,0.62,3.55,0.00,0.000,6,0.000,0.000,2025,2173,2739
$GC,4600,-1.44,-116.8,346.8,-5.1,319,4608,0.62,3.17,0.00,0.000,4,0.000,0.000,1968,525,2742
$GC,4629,-1.44,-116.8,349.0,-6.6,320,4634,0.00,3.00,0.00,0.000,6,0.000,0.000,1981,2257,2743
$GC,4961,-1.38,-116.8,369.9,-6.6,336,4968,0.00,3.70,0.00,0.000,4,0.000,0.000,1949,423,2741
$GC,5063,-1.60,-116.8,377.3,-6.4,340,5076,0.52,3.28,0.00,0.000,6,0.000,0.000,1835,2070,2742
$GC,5393,-1.22,-116.8,408.0,-9.7,356,5401,1.33,2.80,0.00,0.000,4,0.000,0.000,2088,579,2739
$GC,5469,-1.53,-116.8,411.9,-3.8,359,5477,1.02,2.92,0.00,0.000,6,0.000,0.000,1851,2090,2741
$GC,5804,-1.17,-116.8,442.7,-9.4,375,5813,1.33,3.25,0.00,0.000,4,0.000,0.000,2087,411,2744
$GC,5854,-1.49,-116.8,445.2,-3.7,377,5862,0.68,2.78,0.00,0.000,6,0.000,0.000,1891,1911,2744
$GC,6189,-1.31,-116.8,470.9,-8.0,393,6197,0.43,3.42,0.00,0.000,4,0.000,0.000,2044,3552,2744
$GC,6241,-1.56,-116.8,474.1,-5.0,395,6250,0.77,3.40,0.00,0.000,6,0.000,0.000,1838,1720,2748
$GC,6576,-1.19,-116.8,504.0,-9.3,410,6584,1.42,3.25,0.00,0.000,4,0.000,0.000,2091,3432,2737
$GC,6782,-1.47,-116.8,513.0,-3.6,414,6789,0.77,3.03,0.00,0.000,6,0.000,0.000,1891,1780,2734
$STATE,7086,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7086,begin apogee
$GC,7099,-0.25,0.0,536.0,7.7,422,7217,1.67,0.00,113.60,0.000,6,0.000,0.000,2276,2118,2268
$STATE,7217,end apogee,CONTROL_FINISHED_OK
$STATE,7217,begin climb
$GC,7223,1.49,116.8,536.7,0.0,425,7355,1.55,2.88,113.35,0.000,4,0.000,0.000,2650,489,1783
$GC,7381,0.63,116.8,506.3,34.9,428,7390,1.38,3.28,0.00,0.000,6,0.000,0.000,2332,2183,1785
$GC,7704,1.33,184.9,476.8,8.3,443,7778,1.05,3.55,64.80,0.001,4,0.000,0.000,2575,295,1509
$GC,7822,1.30,184.9,454.2,21.1,448,7830,0.28,3.72,0.70,0.001,6,0.000,0.000,2526,2133,1505
$GC,8157,1.38,184.9,399.2,16.2,464,8159,0.62,0.00,0.00,0.000,6,0.000,0.000,2615,2138,1503
$GC,8467,1.14,184.9,318.8,26.6,479,8475,1.12,2.97,0.00,0.000,4,0.000,0.000,2451,504,1504
$GC,8579,1.45,209.3,303.2,11.8,483,8612,0.77,3.03,22.92,0.000,6,0.000,0.000,2625,2171,1403
$GC,8921,1.16,209.3,205.5,29.5,500,8930,0.82,3.15,0.32,0.000,4,0.000,0.000,2477,330,1411
$GC,8975,1.44,221.4,196.5,12.8,502,8994,0.80,3.25,9.93,0.000,6,0.000,0.000,2571,2149,1359
$GC,9304,1.31,221.4,119.4,23.8,518,9313,0.82,3.15,0.12,0.001,4,0.000,0.000,2477,345,1355
$GC,9372,1.56,224.7,109.7,13.5,520,9382,0.80,2.72,2.28,0.000,6,0.000,0.000,2652,2152,1344
$GC,9736,1.27,224.7,10.2,27.5,575,9744,0.77,0.00,0.05,0.000,6,0.000,0.000,2454,2140,1344
$STATE,9781,end climb,SURFACE_DEPTH_REACHED
$STATE,9782,begin surface coast
$FREEZE,-0.00,4.995,-1.676
$FINISH,0.0,1.024409
$STATE,9797,end surface coast,CONTROL_FINISHED_OK
$STATE,9798,begin surface
$SM_CCo,9826,141.62,0.000,0,0,426,450.62
$SM_GC,-0.00,0.00,0.00,141.62,0.000,0.000,0.000,639,1828,426,-7.43,-4.52,450.62
$RAFOS_CLK,0
$RAFOS,4,1160558960,9.500000,9.488889,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,3,1160555642,8.583333,8.567223,80,0,0,0,0,0,828,0,0,0,0,0
$RAFOS_FIX,6646.035156,-6031.505859,111006,080820,4,80,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2293
$INTERNAL_PRESSURE,25.9576
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.1,19.7
$ALTIM_BOTTOM_PING,451.2,91.8
$24V_AH,23.7,61.198
$10V_AH,9.7,9.276
$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,47.875,125.900,328.075,141.625,0.000,0.000,0.000,86.575,4.000,30.420,1808.180,6214.032,758.513,697.558,787.361,0.000,1352.541,0.000,581.443,360.000,23.552
$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,473.668,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18991,585
$CFSIZE,255582208,242438144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,105,968,2,0
$SOUNDSPEED,1470.4
$CURRENT,0.055,258.2,1
$GPS,111006,113529,6648.316,-6034.538,29,1.1,30,18.0