version: 66.01
glider: 1
mission: 1
dive: 14
start: 10 9 106 20 57 28
data:
$ID,1
$MISSION,1
$DIVE,14
$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,-446824.62
$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,18
$R_STBD_OVSHOOT,3
$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
$GPS1,205158,6635.267,-6013.065,7,1.1,7,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.3
$GPS2,205625,6635.267,-6013.065,37,1.1,38,18.0
$SPEED_LIMITS,0.215,0.230
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.089,-0.212
$KALMAN_X,-14905.5,1131.5,662.8,21298.0,-8484.2
$KALMAN_Y,1259.8,340.5,-343.9,5167.9,608.2
$MHEAD_RNG_PITCHd_Wd,52.9,156741,-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,41,-1.49,-116.8,0.0,0.0,0,57,0.00,0.00,-7.95,0.000,6,0.000,0.000,621,1682,2843
$GC,63,-1.49,-116.8,0.3,0.0,2,81,6.82,3.22,0.00,0.000,4,0.000,0.000,2002,3671,2847
$GC,248,-1.49,-116.8,22.6,-8.8,31,257,0.55,2.97,0.00,0.000,6,0.000,0.000,1886,2000,2850
$GC,617,-1.76,-116.8,75.9,-13.7,92,626,0.00,3.08,0.00,0.000,4,0.000,0.000,1860,3645,2846
$GC,678,-1.61,-116.8,84.9,-14.8,101,687,0.52,2.85,0.00,0.000,6,0.000,0.000,2015,1788,2845
$GC,1019,-1.52,-116.8,117.5,-9.3,135,1027,0.55,3.17,0.00,0.000,4,0.000,0.000,1864,3597,2847
$GC,1129,-1.56,-116.8,134.0,-15.1,139,1138,0.52,2.88,0.00,0.000,6,0.000,0.000,1989,1903,2850
$GC,1454,-1.43,-116.8,164.1,-9.3,155,1462,0.38,3.28,0.00,0.000,4,0.000,0.000,1858,3574,2843
$GC,1539,-1.48,-116.8,176.1,-15.1,158,1552,0.52,3.53,0.00,0.000,6,0.000,0.000,1997,1739,2844
$GC,1868,-1.36,-116.8,207.5,-9.3,174,1876,0.00,3.53,0.00,0.000,4,0.000,0.000,1985,3533,2844
$GC,1988,-1.42,-116.8,219.3,-8.6,179,1994,0.50,2.70,0.00,0.000,6,0.000,0.000,1884,1848,2849
$GC,2314,-1.59,-116.8,261.9,-14.6,195,2321,0.50,3.25,0.00,0.000,4,0.000,0.000,1996,3680,2853
$GC,2399,-1.32,-116.8,270.1,-8.8,198,2412,0.43,3.42,0.00,0.000,6,0.000,0.000,1877,1878,2846
$GC,2728,-1.54,-116.8,316.6,-14.8,214,2736,0.45,3.03,0.00,0.000,4,0.000,0.000,2004,3538,2850
$GC,2813,-1.26,-116.8,325.7,-9.4,217,2817,0.00,2.65,0.00,0.000,6,0.000,0.000,2006,1850,2848
$GC,3137,-1.43,-116.8,355.2,-9.2,232,3143,0.38,2.75,0.00,0.000,4,0.000,0.000,1855,3657,2842
$GC,3224,-1.48,-116.8,366.8,-14.8,235,3233,0.52,3.30,0.00,0.000,6,0.000,0.000,1990,1807,2847
$GC,3548,-1.40,-116.8,397.4,-9.1,251,3557,0.60,3.53,0.00,0.000,4,0.000,0.000,1881,3621,2849
$GC,3648,-1.46,-116.8,412.0,-14.5,255,3656,0.43,2.97,0.00,0.000,6,0.000,0.000,2004,1919,2843
$GC,3983,-1.46,-116.8,442.1,-8.9,271,3989,0.43,2.53,0.00,0.000,4,0.000,0.000,1876,3563,2850
$GC,4056,-1.52,-116.8,452.7,-14.7,274,4063,0.52,3.08,0.00,0.000,6,0.000,0.000,2009,2056,2845
$GC,4391,-1.42,-116.8,482.3,-8.7,290,4396,0.43,2.45,0.00,0.000,4,0.000,0.000,1904,3376,2846
$GC,4438,-1.49,-116.8,488.7,-13.9,292,4446,0.52,3.28,0.00,0.000,6,0.000,0.000,2017,1875,2854
$GC,4765,-1.36,-116.8,516.8,-8.2,303,4773,0.50,2.97,0.00,0.000,4,0.000,0.000,1895,3525,2844
$GC,4845,-1.53,-116.8,526.8,-13.8,304,4857,0.52,3.30,0.00,0.000,6,0.000,0.000,1996,1867,2845
$STATE,4894,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4894,begin apogee
$GC,4907,-0.25,0.0,532.1,10.1,306,4925,1.08,0.00,14.52,0.000,6,0.000,0.000,2260,2213,2230
$STATE,4926,end apogee,CONTROL_FINISHED_OK
$STATE,4926,begin climb
$GC,4931,1.49,116.8,532.1,0.0,306,4952,2.00,3.45,11.07,0.001,4,0.000,0.000,2633,556,1765
$GC,4967,1.49,116.8,529.8,17.2,307,4975,0.22,3.15,0.00,0.000,6,0.000,0.000,2571,2238,1760
$GC,5294,1.43,116.8,478.5,15.5,318,5298,0.00,2.22,0.00,0.000,4,0.000,0.000,2555,3572,1767
$GC,5363,1.37,116.8,467.3,15.5,321,5370,0.00,3.45,0.00,0.000,6,0.000,0.000,2557,1724,1767
$GC,5697,1.44,116.8,413.6,15.8,337,5705,0.05,3.55,0.00,0.000,4,0.000,0.000,2555,3554,1759
$GC,5853,1.41,116.8,385.2,15.9,343,5861,0.00,2.88,0.00,0.000,6,0.000,0.000,2581,1906,1758
$GC,6178,1.47,116.8,334.4,16.0,359,6183,0.03,2.45,0.00,0.000,4,0.000,0.000,2555,3451,1760
$GC,6291,1.40,116.8,314.4,15.6,364,6297,0.00,3.00,0.00,0.000,6,0.000,0.000,2565,1766,1764
$GC,6627,1.44,116.8,262.5,15.8,380,6635,0.03,3.62,0.00,0.000,4,0.000,0.000,2553,3587,1761
$GC,6791,1.40,116.8,235.9,16.1,387,6796,0.00,2.92,0.00,0.000,6,0.000,0.000,2575,1758,1766
$GC,7126,1.48,116.8,184.2,15.9,403,7133,0.03,3.42,0.00,0.000,4,0.000,0.000,2570,3649,1759
$GC,7259,1.44,116.8,162.2,15.6,408,7267,0.00,3.33,0.00,0.000,6,0.000,0.000,2573,1812,1760
$GC,7583,1.53,116.8,112.5,16.1,424,7590,0.03,3.53,0.00,0.000,4,0.000,0.000,2572,3634,1770
$GC,7712,1.49,116.8,91.4,15.5,434,7721,0.15,2.92,0.00,0.000,6,0.000,0.000,2564,1788,1766
$GC,8079,1.58,116.8,32.3,15.3,495,8088,0.35,2.97,0.00,0.000,4,0.000,0.000,2694,3528,1761
$STATE,8205,end climb,SURFACE_DEPTH_REACHED
$STATE,8205,begin surface coast
$FINISH,0.3,1.025043
$STATE,8212,end surface coast,CONTROL_FINISHED_OK
$STATE,8212,begin surface
$SM_CCo,8245,21.05,0.000,0,0,404,450.62
$SM_GC,0.34,0.00,0.00,21.05,0.000,0.000,0.000,623,1995,404,-7.51,0.82,450.62
$RAFOS_CLK,0
$RAFOS,4,1160429346,21.500000,21.485001,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,6634.799316,-6010.657227,091006,202048,4,80,0.46
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2262
$INTERNAL_PRESSURE,26.0651
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,18.9,19.4
$ALTIM_BOTTOM_PING,450.7,89.6
$24V_AH,23.7,33.037
$10V_AH,9.7,5.037
$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,31.050,124.450,25.600,21.050,0.000,0.000,0.000,64.261,4.000,38.978,1668.136,5213.751,272.937,665.995,719.426,33.320,826.789,0.000,551.861,360.000,23.540
$DEVICE_MAMPS,119.000,60.000,1300.000,600.000,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,426.933,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15863,517
$CFSIZE,255582208,243515392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,60,955,0,0
$SOUNDSPEED,1459.7
$CURRENT,0.050,305.0,1
$GPS,091006,231650,6635.749,-6011.653,31,1.1,31,18.0