version: 66.01
glider: 1
mission: 1
dive: 5
start: 10 9 106 0 40 36
data:
$ID,1
$MISSION,1
$DIVE,5
$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,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,-446633.44
$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,4
$R_STBD_OVSHOOT,6
$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
$GPS1,234547,6631.324,-6025.382,28,1.1,28,18.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.4
$GPS2,003939,6631.324,-6025.382,33,1.1,33,18.0
$SPEED_LIMITS,0.215,0.230
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.227,0.038
$KALMAN_X,-5056.4,-824.5,-26.1,8542.2,-2186.3
$KALMAN_Y,-395.7,-77.9,9.7,3253.5,-147.9
$MHEAD_RNG_PITCHd_Wd,51.5,167585,-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,-116.8,0.0,0.0,0,62,0.00,0.00,-8.00,0.000,6,0.000,0.000,616,1726,2856
$GC,68,-1.49,-116.8,0.3,0.0,2,86,7.40,2.55,0.00,0.000,4,0.000,0.000,1988,554,2860
$GC,227,-0.19,-116.8,19.5,-9.8,27,236,1.40,2.62,0.00,0.000,6,0.000,0.000,2293,2221,2861
$GC,592,-0.44,-116.8,42.8,-6.0,88,599,0.65,0.00,0.00,0.000,6,0.000,0.000,2100,2226,2853
$GC,958,-1.30,-116.8,63.0,-5.5,149,966,0.77,0.00,0.00,0.000,6,0.000,0.000,1990,2217,2859
$GC,1325,-1.63,-116.8,99.6,-10.1,210,1333,0.52,0.00,0.00,0.000,6,0.000,0.000,1848,2219,2854
$GC,1649,-1.61,-116.8,149.8,-16.1,226,1652,0.88,0.00,0.00,0.000,6,0.000,0.000,1972,2222,2852
$GC,1959,-1.26,-116.8,181.8,-10.2,241,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,2217,2856
$GC,2263,-1.31,-116.8,212.4,-10.2,256,2268,0.00,2.72,0.00,0.000,4,0.000,0.000,1967,3584,2854
$GC,2293,-1.29,-116.8,215.8,-10.2,257,2299,0.00,3.05,0.00,0.000,6,0.000,0.000,1982,1675,2862
$GC,2617,-1.39,-116.8,248.4,-10.3,272,2625,0.00,3.88,0.00,0.000,4,0.000,0.000,1989,3542,2854
$GC,2756,-1.39,-116.8,263.1,-10.3,278,2764,0.00,3.42,0.00,0.000,6,0.000,0.000,1982,1730,2854
$GC,3096,-1.51,-116.8,297.6,-10.3,294,3104,0.52,3.45,0.00,0.000,4,0.000,0.000,1837,3523,2851
$GC,3230,-1.51,-116.8,319.5,-16.3,299,3239,0.52,3.42,0.00,0.000,6,0.000,0.000,1944,1684,2854
$GC,3554,-1.33,-116.8,353.4,-10.5,315,3561,0.00,3.42,0.00,0.000,4,0.000,0.000,1977,3596,2852
$GC,3685,-1.33,-116.8,367.9,-10.6,320,3693,0.00,3.38,0.00,0.000,6,0.000,0.000,1947,1852,2860
$GC,4011,-1.45,-116.8,401.2,-10.5,336,4017,0.12,2.92,0.00,0.000,4,0.000,0.000,1970,3557,2859
$GC,4107,-1.43,-116.8,412.3,-10.7,340,4114,0.00,3.33,0.00,0.000,6,0.000,0.000,1979,1859,2853
$GC,4441,-1.54,-116.8,446.7,-10.5,356,4449,0.45,3.25,0.00,0.000,4,0.000,0.000,1842,3525,2863
$GC,4531,-1.52,-116.8,460.9,-17.1,359,4541,0.55,3.35,0.00,0.000,6,0.000,0.000,1967,1807,2857
$STATE,4804,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4804,begin apogee
$GC,4816,-0.25,0.0,492.1,10.8,373,4835,1.27,0.00,14.57,0.001,6,0.000,0.000,2270,2152,2240
$STATE,4835,end apogee,CONTROL_FINISHED_OK
$STATE,4835,begin climb
$GC,4841,1.49,116.8,494.1,0.0,374,4865,1.55,3.40,11.20,0.001,4,0.000,0.000,2642,271,1772
$GC,4920,1.49,116.8,481.7,23.5,377,4928,0.50,3.72,0.00,0.000,6,0.000,0.000,2526,2250,1771
$GC,5261,1.54,133.6,436.9,12.4,393,5270,0.52,1.98,1.80,0.000,4,0.000,0.000,2646,3435,1693
$GC,5345,1.64,133.6,419.9,22.4,396,5351,0.15,2.88,0.00,0.000,6,0.000,0.000,2655,1942,1690
$GC,5670,1.36,133.6,347.1,22.3,411,5678,0.85,2.97,0.00,0.000,4,0.000,0.000,2537,3478,1692
$GC,5775,1.11,133.6,330.0,13.8,415,5780,0.00,3.25,0.00,0.000,6,0.000,0.000,2523,1776,1684
$GC,6099,1.26,133.6,284.2,14.1,430,6106,0.00,3.45,0.00,0.000,4,0.000,0.000,2525,3617,1691
$GC,6232,1.25,133.6,263.4,14.0,435,6240,0.00,3.17,0.00,0.000,6,0.000,0.000,2522,1754,1691
$GC,6556,1.43,133.6,219.3,14.2,451,6564,0.82,3.25,0.00,0.000,4,0.000,0.000,2647,3565,1692
$GC,6723,1.49,133.6,181.3,22.3,458,6731,0.52,3.47,0.00,0.000,6,0.000,0.000,2529,1740,1692
$GC,7059,1.37,141.6,135.5,13.1,474,7067,0.52,3.75,0.00,0.000,4,0.000,0.000,2641,3412,1690
$GC,7234,1.46,141.6,96.0,22.9,483,7243,0.52,2.97,0.60,0.001,6,0.000,0.000,2522,1741,1666
$GC,7604,1.30,141.6,34.7,15.1,544,7612,0.00,3.08,0.00,0.000,4,0.000,0.000,2529,3382,1658
$GC,7796,1.36,141.6,7.0,14.6,575,7804,0.52,2.15,0.00,0.000,6,0.000,0.000,2634,1814,1664
$STATE,7820,end climb,SURFACE_DEPTH_REACHED
$STATE,7820,begin surface coast
$FINISH,0.3,1.025216
$STATE,7838,end surface coast,CONTROL_FINISHED_OK
$STATE,7838,begin surface
$SM_CCo,7868,19.67,0.000,0,0,406,452.33
$SM_GC,0.34,0.00,0.00,19.67,0.000,0.000,0.000,627,2158,406,-7.49,5.43,452.33
$RAFOS_CLK,0
$RAFOS_FIX,6630.774902,-6022.983887,081006,202020,4,80,0.66
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2237
$INTERNAL_PRESSURE,26.1139
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.3,19.4
$ALTIM_BOTTOM_PING,427.2,73.1
$24V_AH,23.7,30.783
$10V_AH,9.7,4.666
$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,31.800,89.375,28.175,19.675,0.000,0.000,0.000,2779.931,3.750,34.388,1825.326,4950.143,237.827,680.075,3426.352,32.346,791.686,0.000,565.917,0.000,32.005
$DEVICE_MAMPS,119.000,60.000,0.767,600.000,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,478.197,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18992,581
$CFSIZE,255582208,243900416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,68,684,0,0
$SOUNDSPEED,1459.0
$CURRENT,0.095,277.8,1
$GPS,091006,025344,6631.799,-6024.206,35,1.1,35,18.0