version: 66.01
glider: 1
mission: 1
dive: 27
start: 10 11 106 5 8 0
data:
$ID,1
$MISSION,1
$DIVE,27
$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,3
$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,-447172.28
$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,162
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,500
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,6
$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
$GPS1,050259,6638.360,-6006.881,8,1.1,8,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-70.0
$GPS2,050732,6638.360,-6006.881,36,1.1,36,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6638.436,-6011.163
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.221,0.063
$KALMAN_X,-18076.3,1112.0,191.8,29372.1,-5815.5
$KALMAN_Y,6077.1,-400.7,-1286.6,5721.4,4434.9
$MHEAD_RNG_PITCHd_Wd,252.4,20000,-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,36,begin dive
$GC,42,-1.49,-116.8,0.0,0.0,0,58,0.00,0.00,-8.25,0.000,6,0.000,0.000,595,2226,2916
$GC,65,-1.49,-116.8,0.3,-0.0,2,82,7.00,2.50,0.00,0.000,4,0.000,0.000,2002,568,2917
$GC,303,-1.49,-116.8,29.6,-9.9,40,312,0.55,2.85,0.00,0.000,6,0.000,0.000,1876,2255,2911
$GC,672,-1.70,-116.8,86.6,-15.9,101,680,0.00,2.58,0.00,0.000,4,0.000,0.000,1882,3424,2917
$GC,729,-1.43,-116.8,95.2,-16.0,109,738,0.50,2.12,0.00,0.000,6,0.000,0.000,1973,1924,2917
$GC,1054,-1.18,-116.8,129.5,-10.0,128,1059,0.00,2.50,0.00,0.000,4,0.000,0.000,2004,551,2914
$GC,1084,-1.24,-116.8,132.7,-10.0,129,1089,0.00,2.88,0.00,0.000,6,0.000,0.000,1998,2063,2914
$GC,1409,-1.51,-116.8,164.6,-10.0,144,1411,0.40,0.00,0.00,0.000,6,0.000,0.000,1909,2053,2916
$GC,1717,-1.56,-116.8,210.8,-15.9,159,1720,0.88,0.00,0.00,0.000,6,0.000,0.000,2023,2043,2916
$GC,2027,-1.30,-116.8,242.0,-9.8,174,2029,0.08,0.00,0.00,0.000,6,0.000,0.000,2007,2064,2918
$GC,2336,-1.37,-116.8,272.1,-9.8,189,2342,0.32,2.78,0.00,0.000,4,0.000,0.000,1864,546,2920
$GC,2367,-1.43,-116.8,276.9,-14.9,190,2380,0.52,3.17,0.00,0.000,6,0.000,0.000,1993,2204,2921
$GC,2696,-1.40,-116.8,309.8,-10.0,206,2705,0.57,3.35,0.00,0.000,4,0.000,0.000,1895,526,2918
$GC,2731,-1.45,-116.8,315.1,-15.3,207,2744,0.52,3.08,0.00,0.000,6,0.000,0.000,2014,2028,2914
$GC,3060,-1.36,-116.8,347.7,-9.9,223,3066,0.50,2.55,0.00,0.000,4,0.000,0.000,1998,3691,2918
$GC,3105,-1.42,-116.8,352.2,-9.9,225,3113,0.52,2.97,0.00,0.000,6,0.000,0.000,1895,1948,2912
$GC,3440,-1.55,-116.8,404.9,-16.2,241,3442,0.45,0.00,0.00,0.000,6,0.000,0.000,2006,1978,2921
$GC,3754,-1.27,-116.8,438.0,-9.9,256,3761,0.00,3.33,0.00,0.000,4,0.000,0.000,2009,3610,2917
$GC,3802,-1.33,-116.8,443.2,-10.1,258,3810,0.15,3.60,0.00,0.000,6,0.000,0.000,2005,1800,2916
$GC,4139,-1.46,-116.8,477.0,-10.0,274,4146,0.62,3.25,0.00,0.000,4,0.000,0.000,1877,3623,2921
$GC,4218,-1.52,-116.8,488.4,-15.8,277,4226,0.52,3.50,0.00,0.000,6,0.000,0.000,2040,1731,2913
$GC,4545,-1.35,-116.8,520.4,-8.9,288,4553,0.57,3.25,0.00,0.000,4,0.000,0.000,1905,3607,2918
$GC,4652,-1.58,-116.8,535.7,-16.0,290,4660,0.00,4.03,0.00,0.000,6,0.000,0.000,1904,1784,2917
$STATE,4892,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4892,begin apogee
$GC,4905,-0.25,0.0,573.7,15.6,296,4931,1.98,0.00,16.00,0.000,6,0.000,0.000,2251,2275,2233
$STATE,4932,end apogee,CONTROL_FINISHED_OK
$STATE,4932,begin climb
$GC,4937,1.49,116.8,577.7,0.0,297,4958,1.77,3.33,11.45,0.000,4,0.000,0.000,2615,317,1772
$GC,5011,1.49,116.8,565.9,19.3,298,5024,0.00,3.88,0.00,0.000,6,0.000,0.000,2629,1974,1764
$GC,5351,1.66,116.8,500.2,19.5,307,5358,0.00,3.53,0.00,0.000,4,0.000,0.000,2613,3633,1769
$GC,5500,1.45,116.8,470.4,19.3,312,5513,0.52,2.88,0.00,0.000,6,0.000,0.000,2525,1989,1770
$GC,5829,1.32,127.5,430.7,12.9,328,5838,0.82,3.42,1.20,0.001,4,0.000,0.000,2640,3502,1716
$GC,5905,1.22,127.5,414.6,21.4,331,5913,0.80,2.90,0.00,0.000,6,0.000,0.000,2495,1860,1721
$GC,6245,1.10,144.8,369.6,12.4,347,6253,0.00,2.53,1.38,0.001,4,0.000,0.000,2498,3570,1644
$GC,6387,1.24,154.0,350.7,13.0,353,6395,0.03,2.78,0.80,0.001,6,0.000,0.000,2500,2083,1615
$GC,6722,1.42,159.0,305.8,13.4,369,6727,0.40,2.25,0.00,0.000,4,0.000,0.000,2653,3589,1614
$GC,6793,1.54,159.0,290.4,29.8,372,6798,0.00,2.45,0.00,0.000,6,0.000,0.000,2625,2064,1610
$GC,7130,1.25,159.0,211.7,26.5,388,7138,0.70,2.95,0.30,0.000,4,0.000,0.000,2441,3576,1602
$GC,7182,0.85,211.2,202.4,9.6,390,7200,0.00,3.42,5.07,0.000,6,0.000,0.000,2435,1888,1384
$GC,7516,1.27,246.9,166.9,10.9,406,7526,0.77,2.72,3.03,0.000,4,0.000,0.000,2566,3537,1231
$GC,7674,1.62,246.9,131.3,22.6,413,7682,0.52,3.17,0.00,0.000,6,0.000,0.000,2711,2001,1233
$GC,8033,1.62,246.9,5.6,36.1,461,8042,0.40,3.25,0.00,0.000,4,0.000,0.000,2585,3646,1232
$STATE,8047,end climb,SURFACE_DEPTH_REACHED
$STATE,8047,begin surface coast
$FINISH,0.3,1.024642
$STATE,8054,end surface coast,CONTROL_FINISHED_OK
$STATE,8054,begin surface
$SM_CCo,8087,13.02,0.000,0,0,407,451.11
$SM_GC,0.34,0.00,0.00,13.02,0.000,0.000,0.000,640,1937,407,-7.56,-1.22,451.11
$RAFOS_CLK,0
$RAFOS_FIX,6637.801758,-6002.884277,111006,040452,4,80,0.36
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2228
$INTERNAL_PRESSURE,25.9869
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,18.9,18.1
$ALTIM_BOTTOM_PING,501.9,76.9
$24V_AH,23.7,36.536
$10V_AH,9.7,5.583
$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,32.875,103.925,39.225,13.025,0.000,0.000,0.000,67.847,4.500,37.593,1549.198,5314.077,264.192,577.558,668.165,0.000,746.348,0.000,473.934,0.000,35.493
$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,386.657,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15853,464
$CFSIZE,255582208,242659328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,62,800,0,0
$SOUNDSPEED,1460.1
$CURRENT,0.077,149.8,1
$GPS,111006,072410,6637.913,-6008.866,5,1.1,5,18.0