version: 66.01
glider: 1
mission: 1
dive: 2
start: 10 8 106 16 4 28
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,1
$HD_A,0.00312
$HD_B,0.0099099996
$HD_C,2.4896e-05
$HEADING,-1
$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,350
$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,-446563
$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,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,5
$R_STBD_OVSHOOT,8
$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,0.27000001
$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
$GPS1,155950,6629.818,-6028.929,27,1.1,27,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-70.0
$GPS2,160328,6629.818,-6028.929,22,1.1,22,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.227,0.085
$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,50.9,170969,-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,33,end surface,CONTROL_FINISHED_OK
$STATE,33,begin dive
$GC,39,-1.49,-116.8,0.0,0.0,0,55,0.00,0.00,-6.70,0.000,6,0.000,0.000,704,2076,2840
$GC,62,-1.49,-116.8,0.3,0.0,2,79,6.30,2.53,0.00,0.000,4,0.000,0.000,1972,419,2835
$GC,177,-0.17,-116.8,15.4,-9.8,19,186,1.40,3.50,0.00,0.000,6,0.000,0.000,2277,2274,2836
$GC,537,-0.43,-116.8,38.4,-5.9,80,543,0.85,0.00,0.00,0.000,6,0.000,0.000,2097,2261,2841
$GC,901,-1.26,-116.8,57.9,-5.3,141,909,1.08,0.00,0.00,0.000,6,0.000,0.000,1918,2270,2836
$GC,1275,-1.59,-116.8,103.3,-12.6,200,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,2269,2842
$GC,1590,-1.41,-116.8,142.3,-12.5,215,1592,0.55,0.00,0.00,0.000,6,0.000,0.000,1975,2282,2837
$GC,1899,-1.23,-116.8,173.8,-10.0,230,1906,0.00,3.97,0.00,0.000,4,0.000,0.000,1977,379,2843
$GC,1929,-1.21,-116.8,177.5,-10.1,231,1934,0.00,3.15,0.00,0.000,6,0.000,0.000,1975,2272,2844
$GC,2259,-1.40,-116.8,209.8,-9.9,247,2260,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,2279,2845
$GC,2564,-1.38,-116.8,239.5,-10.0,262,2565,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,2270,2840
$GC,2873,-1.36,-116.8,270.4,-9.9,277,2880,0.00,3.85,0.00,0.000,4,0.000,0.000,1970,276,2841
$GC,2902,-1.34,-116.8,273.5,-9.5,278,2909,0.00,3.65,0.00,0.000,6,0.000,0.000,1972,2134,2842
$GC,3237,-1.57,-116.8,306.0,-9.9,294,3243,0.40,2.72,0.00,0.000,4,0.000,0.000,1861,3654,2841
$GC,3290,-1.57,-116.8,314.3,-15.8,296,3303,0.40,3.38,0.00,0.000,6,0.000,0.000,1975,1991,2840
$GC,3619,-1.41,-116.8,348.0,-10.3,312,3626,0.00,3.53,0.00,0.000,4,0.000,0.000,1959,3644,2838
$GC,3676,-1.38,-116.8,354.6,-10.1,314,3688,0.00,3.53,0.00,0.000,6,0.000,0.000,1977,1816,2839
$GC,4005,-1.51,-116.8,387.5,-10.3,330,4014,0.55,3.53,0.00,0.000,4,0.000,0.000,1859,3636,2842
$GC,4103,-1.49,-116.8,402.7,-15.9,334,4111,0.52,3.75,0.00,0.000,6,0.000,0.000,1969,1758,2841
$GC,4444,-1.34,-116.8,438.0,-10.2,350,4450,0.00,3.28,0.00,0.000,4,0.000,0.000,1959,3687,2848
$GC,4557,-1.32,-116.8,449.8,-10.0,354,4566,0.00,3.75,0.00,0.000,6,0.000,0.000,1972,1877,2835
$STATE,4788,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4789,begin apogee
$GC,4801,-0.25,0.0,474.5,10.2,366,4819,1.73,0.00,14.02,0.001,6,0.000,0.000,2291,2205,2244
$STATE,4820,end apogee,CONTROL_FINISHED_OK
$STATE,4820,begin climb
$GC,4826,1.49,116.8,476.4,0.0,367,4850,1.60,3.65,11.48,0.001,4,0.000,0.000,2651,574,1766
$GC,4881,1.49,116.8,468.0,21.9,369,4887,0.52,2.65,0.00,0.000,6,0.000,0.000,2525,2120,1772
$GC,5212,1.53,128.3,420.8,12.8,385,5220,0.55,2.95,1.10,0.001,4,0.000,0.000,2644,3426,1707
$GC,5309,1.42,128.3,398.5,21.9,389,5316,0.50,2.88,0.00,0.000,6,0.000,0.000,2506,1931,1716
$GC,5643,1.28,137.9,354.8,13.0,405,5652,0.57,2.92,0.95,0.001,4,0.000,0.000,2612,3629,1682
$GC,5745,1.38,137.9,332.0,22.1,409,5759,0.50,3.60,0.00,0.000,6,0.000,0.000,2501,1854,1682
$GC,6075,1.29,138.9,286.4,13.7,425,6083,0.43,3.42,0.00,0.000,4,0.000,0.000,2520,3667,1669
$GC,6197,1.37,145.0,269.4,13.3,430,6206,0.52,2.88,0.52,0.000,6,0.000,0.000,2632,2016,1651
$GC,6527,1.61,145.0,193.4,22.3,446,6533,0.05,3.00,0.00,0.000,4,0.000,0.000,2625,3669,1647
$GC,6607,1.38,145.0,176.1,22.2,449,6620,0.52,3.15,0.00,0.000,6,0.000,0.000,2491,1834,1645
$GC,6936,1.32,152.6,132.0,13.1,465,6945,0.57,3.45,0.65,0.001,4,0.000,0.000,2608,3436,1624
$GC,7079,1.46,152.6,100.4,21.7,471,7087,0.52,3.35,0.00,0.000,6,0.000,0.000,2478,1750,1624
$GC,7449,1.36,161.5,52.3,13.0,531,7459,0.38,4.03,0.90,0.001,4,0.000,0.000,2618,3585,1577
$GC,7624,1.53,161.5,13.8,23.1,559,7633,0.25,3.45,0.00,0.000,6,0.000,0.000,2568,1762,1582
$STATE,7674,end climb,SURFACE_DEPTH_REACHED
$STATE,7674,begin surface coast
$FINISH,0.3,1.025173
$STATE,7687,end surface coast,CONTROL_FINISHED_OK
$STATE,7687,begin surface
$SM_CCo,7717,11.88,0.000,0,0,817,350.78
$SM_GC,0.34,0.00,0.00,11.88,0.000,0.000,0.000,624,2243,817,-7.57,7.77,350.78
$RAFOS_CLK,0
$RAFOS,3,1160325252,16.583334,16.570000,80,0,0,0,0,0,707,0,0,0,0,0
$RAFOS,2,1160324646,16.416666,16.401667,80,0,0,0,0,0,994,0,0,0,0,0
$RAFOS,1,1160324042,16.250000,16.233889,80,0,0,0,0,0,799,0,0,0,0,0
$RAFOS_FIX,6630.312988,-6025.384277,081006,161618,3,80,2.03
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2216
$INTERNAL_PRESSURE,26.1041
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.5,19.0
$ALTIM_BOTTOM_PING,400.3,83.9
$24V_AH,23.7,29.588
$10V_AH,9.7,4.459
$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,31.275,94.750,29.625,11.875,0.000,0.000,0.000,86.252,3.500,22.998,1746.951,4704.794,237.737,626.182,673.875,29.260,757.645,0.000,524.689,1080.000,25.839
$DEVICE_MAMPS,119.000,60.000,0.767,600.000,0.000,0.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,468.120,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19010,569
$CFSIZE,255582208,244248576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,63,737,0,0
$SOUNDSPEED,1459.0
$CURRENT,0.119,280.2,1
$GPS,081006,181454,6630.369,-6027.763,21,1.1,21,18.0