version: 66.01
glider: 1
mission: 1
dive: 34
start: 10 11 106 22 45 49
data:
$ID,1
$MISSION,1
$DIVE,34
$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,-447309.84
$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,14
$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
$GPS1,223908,6637.895,-6005.761,12,1.1,12,18.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.5
$GPS2,224521,6637.895,-6005.761,10,1.1,10,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6644.655,-6009.086
$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,290.8,20000,-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,-116.8,0.0,0.0,0,57,0.00,0.00,-8.10,0.000,6,0.000,0.000,593,1692,2840
$GC,64,-1.49,-116.8,0.3,-0.1,2,81,6.60,2.72,0.00,0.000,4,0.000,0.000,1981,321,2848
$GC,123,-1.49,-116.8,10.2,-9.9,10,133,0.50,3.62,0.00,0.000,6,0.000,0.000,1857,2191,2844
$GC,492,-1.78,-116.8,62.9,-14.6,71,500,0.00,2.55,0.00,0.000,4,0.000,0.000,1846,3587,2846
$GC,569,-1.48,-116.8,74.4,-14.8,83,579,0.52,3.53,0.00,0.000,6,0.000,0.000,1971,1742,2849
$GC,940,-1.29,-116.8,109.8,-9.2,132,947,0.00,3.58,0.00,0.000,4,0.000,0.000,2004,3580,2846
$GC,1090,-1.34,-116.8,123.9,-9.4,138,1095,0.03,2.62,0.00,0.000,6,0.000,0.000,1995,1874,2841
$GC,1415,-1.53,-116.8,152.1,-9.2,153,1423,0.85,3.00,0.00,0.000,4,0.000,0.000,1870,3561,2842
$GC,1499,-1.58,-116.8,163.5,-12.2,156,1512,0.47,3.33,0.00,0.000,6,0.000,0.000,2000,1872,2848
$GC,1828,-1.58,-116.8,194.9,-9.3,172,1837,0.62,3.53,0.00,0.000,4,0.000,0.000,1886,3655,2841
$GC,1892,-1.62,-116.8,204.5,-15.3,174,1901,0.47,2.85,0.00,0.000,6,0.000,0.000,1967,1812,2842
$GC,2216,-1.45,-116.8,234.5,-9.1,190,2225,0.52,3.85,0.00,0.000,4,0.000,0.000,1933,3369,2849
$GC,2322,-1.54,-116.8,247.6,-12.1,194,2327,0.00,2.78,0.00,0.000,6,0.000,0.000,1943,2043,2842
$GC,2647,-1.47,-116.8,286.0,-12.1,209,2652,0.00,3.05,0.00,0.000,4,0.000,0.000,1951,3581,2844
$GC,2683,-1.34,-116.8,291.3,-11.9,210,2692,0.50,2.53,0.00,0.000,6,0.000,0.000,2056,1925,2846
$GC,3008,-1.30,-116.8,314.4,-6.9,226,3016,0.88,2.95,0.00,0.000,4,0.000,0.000,1903,3549,2845
$GC,3094,-1.50,-116.8,323.9,-12.3,229,3098,0.00,2.10,0.00,0.000,6,0.000,0.000,1920,2029,2853
$GC,3420,-1.46,-116.8,363.5,-12.2,244,3426,0.05,2.62,0.00,0.000,4,0.000,0.000,1930,3561,2846
$GC,3468,-1.31,-116.8,370.5,-12.5,246,3474,0.52,2.62,0.00,0.000,6,0.000,0.000,2057,2039,2848
$GC,3793,-1.26,-116.8,394.4,-7.3,262,3801,0.60,3.00,0.00,0.000,4,0.000,0.000,1927,3545,2842
$GC,3844,-1.44,-116.8,399.6,-12.4,264,3849,0.10,2.22,0.00,0.000,6,0.000,0.000,1921,2051,2843
$GC,4174,-1.36,-116.8,441.8,-12.6,280,4180,0.35,2.47,0.00,0.000,4,0.000,0.000,2058,3403,2843
$GC,4228,-1.19,-116.8,446.8,-7.1,282,4234,0.52,2.47,0.00,0.000,6,0.000,0.000,1940,2210,2849
$GC,4553,-1.42,-116.8,485.4,-13.6,297,4554,0.05,0.00,0.00,0.000,6,0.000,0.000,1923,2204,2845
$GC,4855,-1.26,-116.8,522.6,-12.4,308,4857,0.52,0.00,0.00,0.000,6,0.000,0.000,2043,2223,2848
$GC,5179,-1.10,-116.8,546.5,-7.0,316,5187,0.47,3.03,0.00,0.000,4,0.000,0.000,1928,3529,2845
$GC,5228,-1.29,-116.8,551.4,-12.4,317,5235,0.52,2.72,0.00,0.000,6,0.000,0.000,2059,1992,2845
$GC,5561,-1.24,-116.8,574.9,-6.7,325,5565,0.65,1.27,0.00,0.000,3,0.000,0.000,1949,2816,2839
$STATE,5566,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5566,begin apogee
$GC,5580,-0.25,0.0,575.6,6.7,325,5598,1.58,0.00,14.18,0.001,6,0.000,0.000,2301,1967,2249
$STATE,5599,end apogee,CONTROL_FINISHED_OK
$STATE,5599,begin climb
$GC,5605,1.49,116.8,578.5,0.0,325,5625,1.52,2.88,11.32,0.001,4,0.000,0.000,2670,605,1772
$GC,5656,1.49,116.8,570.1,22.8,326,5661,0.47,2.17,0.00,0.000,6,0.000,0.000,2543,2130,1769
$GC,5996,1.43,116.8,520.5,14.2,335,6001,0.03,2.33,0.00,0.000,4,0.000,0.000,2552,3641,1767
$GC,6098,1.43,116.8,505.8,14.6,337,6104,0.00,2.65,0.00,0.000,6,0.000,0.000,2556,1960,1769
$GC,6424,1.51,116.8,455.2,14.3,351,6431,0.50,3.28,0.00,0.000,4,0.000,0.000,2661,3461,1770
$GC,6528,1.51,116.8,431.3,24.8,355,6541,0.52,2.83,0.00,0.000,6,0.000,0.000,2539,1967,1768
$GC,6857,1.24,125.9,385.2,13.0,371,6865,0.00,3.15,0.80,0.001,4,0.000,0.000,2535,3479,1734
$GC,6979,1.26,125.9,366.0,14.5,376,6985,0.00,3.25,0.00,0.000,6,0.000,0.000,2559,1927,1731
$GC,7312,1.31,125.9,318.3,14.7,392,7317,0.00,2.75,0.00,0.000,4,0.000,0.000,2542,3591,1730
$GC,7424,1.31,125.9,301.3,14.9,397,7428,0.00,2.35,0.00,0.000,6,0.000,0.000,2527,2101,1731
$GC,7760,1.40,125.9,253.0,14.7,413,7765,0.00,3.12,0.00,0.000,4,0.000,0.000,2539,3574,1723
$GC,7818,1.40,125.9,243.2,15.0,415,7826,0.00,2.75,0.00,0.000,6,0.000,0.000,2524,2076,1733
$GC,8142,1.47,125.9,196.9,14.6,431,8148,0.38,2.78,0.00,0.000,4,0.000,0.000,2674,3406,1732
$GC,8196,1.47,125.9,185.1,23.8,433,8201,0.55,2.15,0.00,0.000,6,0.000,0.000,2538,2093,1732
$GC,8520,1.22,125.9,134.5,14.8,448,8525,0.00,2.75,0.00,0.000,4,0.000,0.000,2558,3593,1729
$GC,8589,1.22,125.9,123.2,14.9,451,8596,0.28,2.97,0.00,0.000,6,0.000,0.000,2471,2262,1724
$GC,8930,1.29,166.5,83.7,10.5,484,8940,0.60,2.95,3.35,0.000,4,0.000,0.000,2599,3615,1553
$GC,8978,1.53,166.5,76.1,21.7,490,8987,0.00,2.97,0.00,0.000,6,0.000,0.000,2608,2272,1553
$STATE,9317,end climb,SURFACE_DEPTH_REACHED
$STATE,9317,begin surface coast
$FINISH,0.3,1.024991
$STATE,9323,end surface coast,CONTROL_FINISHED_OK
$STATE,9323,begin surface
$SM_CCo,9353,18.23,0.000,0,0,412,452.82
$SM_GC,0.34,0.00,0.00,18.23,0.000,0.000,0.000,654,1961,412,-7.43,-1.07,452.82
$RAFOS_CLK,0
$RAFOS,3,1160613242,0.583333,0.567222,80,0,0,0,0,0,733,0,0,0,0,0
$RAFOS,2,1160612657,0.416667,0.404722,80,0,0,0,0,0,858,0,0,0,0,0
$RAFOS,1,1160612058,0.250000,0.238333,80,0,0,0,0,0,628,0,0,0,0,0
$RAFOS,0,1160611474,0.083333,0.076111,80,0,0,0,0,0,406,0,0,0,0,0
$RAFOS_FIX,6638.182617,-6003.028320,121006,000020,4,80,0.36
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2279
$INTERNAL_PRESSURE,26.0553
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.4,19.4
$ALTIM_BOTTOM_PING,502.4,82.7
$24V_AH,23.7,38.482
$10V_AH,9.7,5.882
$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,32.625,122.975,29.650,18.225,0.000,0.000,0.000,65.652,4.500,15.920,1830.168,6186.113,261.635,656.235,824.594,0.000,832.753,0.000,562.105,1440.000,30.895
$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,452.518,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19029,548
$CFSIZE,255582208,242159616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,71,953,0,0
$SOUNDSPEED,1459.8
$CURRENT,0.072,197.8,1
$GPS,121006,012338,6638.196,-6008.132,20,1.1,20,18.0