version: 66.01
glider: 1
mission: 1
dive: 60
start: 10 14 106 14 22 16
data:
$ID,1
$MISSION,1
$DIVE,60
$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,-447896.81
$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,16
$R_STBD_OVSHOOT,12
$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
$GPS1,141520,6637.709,-6005.218,30,1.1,30,18.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.9
$GPS2,142148,6637.709,-6005.218,26,1.1,26,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6644.836,-6008.421
$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,293.3,20000,-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,-8.05,0.000,6,0.000,0.000,637,2037,2835
$GC,64,-1.49,-116.8,0.3,0.0,2,81,6.60,2.33,0.00,0.000,4,0.000,0.000,1957,3527,2840
$GC,371,-1.49,-116.8,36.6,-10.8,52,379,0.00,2.95,0.00,0.000,6,0.000,0.000,1980,1725,2838
$GC,739,-1.49,-116.8,75.0,-10.4,113,748,0.12,3.33,0.00,0.000,4,0.000,0.000,1946,3555,2839
$GC,883,-1.46,-116.8,90.1,-10.3,136,892,0.00,3.62,0.00,0.000,6,0.000,0.000,1979,1713,2839
$GC,1231,-1.44,-116.8,126.0,-10.4,163,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1715,2842
$GC,1535,-1.41,-116.8,158.0,-10.1,178,1542,0.00,3.65,0.00,0.000,4,0.000,0.000,1953,3567,2833
$GC,1569,-1.41,-116.8,161.9,-10.9,179,1581,0.00,3.53,0.00,0.000,6,0.000,0.000,1982,1774,2847
$GC,1899,-1.41,-116.8,194.7,-9.9,195,1903,0.05,2.15,0.00,0.000,4,0.000,0.000,1982,237,2841
$GC,1923,-1.38,-116.8,198.6,-12.4,196,1931,0.00,4.07,0.00,0.000,6,0.000,0.000,1962,2240,2837
$GC,2259,-1.49,-116.8,232.5,-10.5,212,2264,0.30,2.47,0.00,0.000,4,0.000,0.000,1942,3408,2835
$GC,2333,-1.45,-116.8,240.7,-10.6,215,2340,0.00,3.47,0.00,0.000,6,0.000,0.000,1982,1881,2840
$GC,2669,-1.45,-116.8,275.4,-10.4,231,2674,0.03,2.72,0.00,0.000,4,0.000,0.000,1969,3358,2841
$GC,2723,-1.42,-116.8,281.8,-10.5,233,2728,0.00,2.72,0.00,0.000,6,0.000,0.000,1973,1839,2835
$GC,3048,-1.39,-116.8,314.9,-10.4,248,3055,0.00,3.78,0.00,0.000,4,0.000,0.000,1957,3655,2846
$GC,3187,-1.35,-116.8,330.0,-10.6,254,3194,0.00,3.33,0.00,0.000,6,0.000,0.000,1985,1787,2843
$GC,3527,-1.35,-116.8,364.0,-10.3,270,3533,0.00,3.38,0.00,0.000,4,0.000,0.000,1974,3630,2838
$GC,3589,-1.32,-116.8,371.3,-9.1,272,3598,0.05,3.65,0.00,0.000,6,0.000,0.000,1954,1756,2839
$GC,3913,-1.32,-116.8,403.1,-10.3,288,3918,0.00,2.28,0.00,0.000,4,0.000,0.000,1959,559,2846
$GC,3943,-1.32,-116.8,406.9,-10.3,289,3948,0.00,2.45,0.00,0.000,6,0.000,0.000,1985,2207,2837
$GC,4268,-1.41,-116.8,440.1,-10.4,304,4275,0.00,3.53,0.00,0.000,4,0.000,0.000,1980,358,2843
$GC,4302,-1.38,-116.8,444.5,-10.7,305,4314,0.00,3.28,0.00,0.000,6,0.000,0.000,1984,2018,2840
$GC,4627,-1.55,-116.8,478.1,-10.4,321,4629,0.30,0.00,0.00,0.000,6,0.000,0.000,1909,2027,2836
$GC,4934,-1.51,-116.8,518.3,-13.3,333,4939,0.28,2.47,0.00,0.000,4,0.000,0.000,1962,3388,2844
$GC,5088,-1.31,-116.8,534.8,-10.3,336,5093,0.00,2.78,0.00,0.000,6,0.000,0.000,1952,1882,2838
$GC,5435,-1.29,-116.8,570.7,-10.4,345,5436,0.12,0.00,0.00,0.000,6,0.000,0.000,1952,1892,2839
$STATE,5510,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5510,begin apogee
$GC,5522,-0.25,0.0,579.2,10.4,347,5540,1.30,0.00,14.27,0.000,6,0.000,0.000,2268,2073,2245
$STATE,5541,end apogee,CONTROL_FINISHED_OK
$STATE,5541,begin climb
$GC,5547,1.49,116.8,579.2,0.0,347,5562,1.52,0.00,11.25,0.000,6,0.000,0.000,2614,2073,1761
$GC,5882,1.49,116.8,514.6,21.0,356,5890,0.52,3.47,0.00,0.000,4,0.000,0.000,2494,548,1760
$GC,5917,1.22,125.0,509.0,13.1,356,5931,0.00,3.15,0.77,0.000,6,0.000,0.000,2539,2102,1738
$GC,6246,1.50,133.5,461.4,13.1,370,6254,0.60,3.15,0.98,0.001,4,0.000,0.000,2620,269,1707
$GC,6272,1.58,133.5,456.5,14.7,371,6279,0.10,3.25,0.00,0.000,6,0.000,0.000,2654,2131,1697
$GC,6607,1.65,133.5,383.0,21.8,387,6608,0.08,0.00,0.00,0.000,6,0.000,0.000,2642,2129,1698
$GC,6916,1.40,133.5,315.1,22.0,402,6924,0.47,3.35,0.00,0.000,4,0.000,0.000,2530,443,1700
$GC,7007,1.15,147.7,302.7,12.6,405,7016,0.00,3.38,1.38,0.000,6,0.000,0.000,2536,2117,1633
$GC,7334,1.46,147.7,258.3,14.3,421,7341,0.50,2.97,0.00,0.000,4,0.000,0.000,2636,3626,1631
$GC,7368,1.55,147.7,250.2,22.6,422,7374,0.03,3.12,0.00,0.000,6,0.000,0.000,2621,1635,1632
$GC,7692,1.31,147.7,179.0,22.4,437,7701,0.35,3.95,0.00,0.000,4,0.000,0.000,2490,3619,1631
$GC,7872,1.09,152.1,152.4,13.4,444,7880,0.00,3.05,0.00,0.000,6,0.000,0.000,2506,1821,1638
$GC,8198,1.24,159.3,104.7,13.2,460,8206,0.08,3.25,0.77,0.001,4,0.000,0.000,2507,3487,1594
$GC,8274,1.37,160.3,93.9,13.7,466,8283,0.52,2.80,0.00,0.000,6,0.000,0.000,2621,1831,1587
$GC,8643,1.50,160.3,10.6,23.8,527,8653,0.47,2.78,0.00,0.000,4,0.000,0.000,2500,3575,1586
$STATE,8694,end climb,SURFACE_DEPTH_REACHED
$STATE,8694,begin surface coast
$FINISH,0.3,1.024965
$STATE,8706,end surface coast,CONTROL_FINISHED_OK
$STATE,8706,begin surface
$SM_CCo,8739,18.52,0.000,0,0,391,452.58
$SM_GC,0.34,0.00,0.00,18.52,0.000,0.000,0.000,600,1727,391,-7.66,-6.73,452.58
$RAFOS_CLK,0
$RAFOS,3,1160843652,16.583334,16.570000,80,0,0,0,0,0,677,0,0,0,0,0
$RAFOS,2,1160843055,16.416666,16.404167,80,0,0,0,0,0,872,0,0,0,0,0
$RAFOS,1,1160842459,16.250000,16.238611,80,0,0,0,0,0,626,0,0,0,0,0
$RAFOS,0,1160841845,16.083334,16.068056,80,0,0,0,0,0,563,0,0,0,0,0
$RAFOS,4,1160839744,15.500000,15.484445,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,6637.810547,-6002.045898,141006,161620,4,80,0.33
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2382
$INTERNAL_PRESSURE,26.0162
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.1,19.0
$ALTIM_BOTTOM_PING,502.1,85.8
$24V_AH,23.7,45.508
$10V_AH,9.7,6.932
$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,23.975,113.700,29.425,18.525,0.000,0.000,0.000,65.805,4.500,31.905,1752.956,5756.811,255.946,616.764,779.038,0.000,775.344,0.000,512.099,1800.000,26.132
$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,443.466,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19018,537
$CFSIZE,255582208,240467968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,38,882,0,0
$SOUNDSPEED,1459.6
$CURRENT,0.071,202.5,1
$GPS,141006,165000,6638.085,-6007.346,29,1.1,29,18.0