version: 66.01
glider: 1
mission: 1
dive: 3
start: 10 8 106 17 47 54
data:
$ID,1
$MISSION,1
$DIVE,3
$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,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,-448650.25
$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,171
$R_STBD_OVSHOOT,7
$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,-0.22280908
$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
$GPS1,174255,6631.412,-6030.251,35,1.1,35,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-70.0
$GPS2,174725,6631.412,-6030.251,23,1.1,23,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6641.560,-6028.790
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,2.0,20000,-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,-116.8,0.0,0.0,0,126,0.00,0.00,-76.82,0.000,6,0.000,0.000,655,2061,2737
$GC,132,-1.49,-116.8,-0.0,0.0,9,149,6.60,2.17,0.00,0.000,4,0.000,0.000,1974,3390,2742
$GC,219,-1.52,-116.8,16.5,-10.7,22,228,0.52,2.88,0.00,0.000,6,0.000,0.000,1883,1960,2739
$GC,586,-1.23,-116.8,69.3,-13.1,83,595,1.15,3.00,0.00,0.000,4,0.000,0.000,2029,3573,2741
$GC,665,-1.42,-116.8,75.2,-6.5,95,673,0.75,2.83,0.00,0.000,6,0.000,0.000,1871,1938,2737
$GC,1022,-1.11,-116.8,117.6,-12.0,137,1030,0.85,2.85,0.00,0.000,4,0.000,0.000,1964,3424,2742
$GC,1114,-1.16,-116.8,125.0,-7.3,140,1122,0.00,2.70,0.00,0.000,6,0.000,0.000,1987,1932,2739
$GC,1438,-1.18,-116.8,148.6,-7.3,156,1445,0.00,3.28,0.00,0.000,4,0.000,0.000,2001,3475,2741
$GC,1522,-1.23,-116.8,154.8,-7.0,159,1528,0.03,2.92,0.00,0.000,6,0.000,0.000,1978,1982,2744
$GC,1846,-1.26,-116.8,177.2,-6.9,174,1851,0.00,2.47,0.00,0.000,4,0.000,0.000,1988,3493,2740
$GC,1905,-1.31,-116.8,181.7,-6.8,176,1913,0.00,2.67,0.00,0.000,6,0.000,0.000,1984,2167,2739
$GC,2229,-1.33,-116.8,203.2,-6.6,192,2231,0.03,0.00,0.00,0.000,6,0.000,0.000,1983,2162,2738
$GC,2534,-1.39,-116.8,223.4,-6.6,207,2541,0.28,3.03,0.00,0.000,4,0.000,0.000,1930,3691,2737
$GC,2563,-1.31,-116.8,225.7,-7.8,208,2570,0.50,3.17,0.00,0.000,6,0.000,0.000,2047,2026,2741
$GC,2897,-1.49,-116.8,243.0,-5.0,224,2905,0.77,2.97,0.00,0.000,4,0.000,0.000,1886,3532,2733
$GC,2947,-1.22,-116.8,247.5,-9.8,226,2955,0.77,2.47,0.00,0.000,6,0.000,0.000,2063,2034,2741
$GC,3282,-1.42,-116.8,264.4,-4.6,242,3290,0.65,3.03,0.00,0.000,4,0.000,0.000,1871,3573,2743
$GC,3323,-1.27,-116.8,267.4,-9.1,243,3332,0.75,2.65,0.00,0.000,6,0.000,0.000,2074,1902,2738
$GC,3647,-1.49,-116.8,282.7,-4.3,259,3655,0.80,2.92,0.00,0.000,4,0.000,0.000,1891,3558,2734
$GC,3732,-1.23,-116.8,289.8,-9.3,262,3744,0.77,2.53,0.00,0.000,6,0.000,0.000,2070,1892,2740
$GC,4060,-1.44,-116.8,305.4,-4.4,278,4066,0.70,2.53,0.00,0.000,4,0.000,0.000,1871,3569,2732
$GC,4147,-1.18,-116.8,312.7,-9.4,281,4156,0.95,2.38,0.00,0.000,6,0.000,0.000,1989,2026,2741
$GC,4471,-1.18,-116.8,332.9,-6.1,297,4477,0.05,2.85,0.00,0.000,4,0.000,0.000,2002,3558,2743
$GC,4515,-1.22,-116.8,335.8,-6.0,299,4521,0.00,3.10,0.00,0.000,6,0.000,0.000,1977,1908,2741
$GC,4851,-1.22,-116.8,355.6,-6.0,315,4855,0.00,2.55,0.00,0.000,4,0.000,0.000,2000,3394,2732
$GC,4947,-1.25,-116.8,361.4,-5.9,319,4952,0.00,2.97,0.00,0.000,6,0.000,0.000,1991,1927,2736
$GC,5278,-1.25,-116.8,380.7,-5.9,335,5285,0.00,3.50,0.00,0.000,4,0.000,0.000,1990,3589,2737
$GC,5352,-1.30,-116.8,385.6,-6.0,338,5360,0.00,3.83,0.00,0.000,6,0.000,0.000,2000,1751,2737
$GC,5687,-1.30,-116.8,404.7,-5.8,354,5694,0.00,3.62,0.00,0.000,4,0.000,0.000,1978,3589,2737
$GC,5803,-1.35,-116.8,411.8,-6.6,359,5808,0.00,2.83,0.00,0.000,6,0.000,0.000,1978,1904,2743
$GC,6138,-1.35,-116.8,431.1,-5.7,375,6143,0.00,2.80,0.00,0.000,4,0.000,0.000,1999,3600,2743
$GC,6197,-1.39,-116.8,434.9,-5.6,377,6206,0.08,2.85,0.00,0.000,6,0.000,0.000,1979,1817,2737
$GC,6522,-1.51,-116.8,453.2,-5.8,393,6530,0.47,3.53,0.00,0.000,4,0.000,0.000,1886,3662,2739
$GC,6621,-1.23,-116.8,462.0,-9.2,397,6629,0.82,3.50,0.00,0.000,6,0.000,0.000,2038,1810,2740
$STATE,6842,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6843,begin apogee
$GC,6855,-0.25,0.0,472.8,4.4,408,6977,1.08,0.00,112.97,0.001,6,0.000,0.000,2287,2145,2256
$STATE,6983,end apogee,CONTROL_FINISHED_OK
$STATE,6983,begin climb
$GC,6988,1.49,116.8,472.8,0.0,414,7129,1.90,3.38,113.28,0.001,4,0.000,0.000,2644,413,1779
$GC,7142,1.24,116.8,444.4,23.1,420,7155,0.77,2.78,0.00,0.000,6,0.000,0.000,2459,1957,1781
$GC,7471,1.52,156.7,408.7,10.6,436,7518,1.10,2.67,37.05,0.001,4,0.000,0.000,2669,3462,1619
$GC,7667,1.25,156.7,358.2,26.7,444,7680,0.80,2.97,0.08,0.002,6,0.000,0.000,2481,1760,1624
$GC,7992,1.48,178.2,317.2,12.0,460,8020,1.08,3.33,19.75,0.001,4,0.000,0.000,2665,3604,1542
$GC,8176,1.22,178.2,268.1,28.8,468,8184,0.82,3.28,0.00,0.000,6,0.000,0.000,2471,1962,1538
$GC,8511,1.45,196.2,224.2,12.3,484,8539,0.77,2.90,19.15,0.001,4,0.000,0.000,2652,3622,1454
$GC,8630,1.17,196.2,191.6,29.9,489,8638,0.93,3.47,0.00,0.000,6,0.000,0.000,2465,1739,1457
$GC,8971,1.37,204.4,144.5,13.1,505,8985,0.57,3.55,6.30,0.001,4,0.000,0.000,2600,3405,1424
$GC,9140,1.25,204.4,99.2,23.6,512,9153,0.52,3.58,0.00,0.000,6,0.000,0.000,2469,1755,1420
$GC,9511,1.48,223.6,50.8,12.2,573,9535,0.77,3.67,15.45,0.001,4,0.000,0.000,2645,3580,1349
$STATE,9688,end climb,SURFACE_DEPTH_REACHED
$STATE,9688,begin surface coast
$FREEZE,-0.00,4.789,-1.654
$FINISH,-0.0,1.023961
$STATE,9696,end surface coast,CONTROL_FINISHED_OK
$STATE,9696,begin surface
$SM_CCo,9729,141.43,0.000,3,0,421,451.11
$SM_GC,-0.00,0.00,0.00,141.43,0.000,0.000,0.000,617,1732,421,-7.44,-6.47,451.11
$RAFOS_CLK,0
$RAFOS,1,1160338447,20.250000,20.235277,80,0,0,0,0,0,765,0,0,0,0,0
$RAFOS,0,1160337843,20.083334,20.067499,80,0,0,0,0,0,636,0,0,0,0,0
$RAFOS_FIX,6632.199707,-6027.423828,081006,202040,2,80,0.30
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2389
$INTERNAL_PRESSURE,25.9869
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.3,999.0
$ALTIM_BOTTOM_PING,401.2,81.1
$24V_AH,23.7,53.009
$10V_AH,9.7,8.129
$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,39.250,133.025,324.025,141.425,0.000,0.000,0.000,85.020,3.500,24.421,1824.479,6039.995,770.308,747.539,786.132,0.000,1417.729,0.000,630.859,1080.000,20.845
$DEVICE_MAMPS,119.000,60.000,2.301,600.000,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,485.366,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19000,603
$CFSIZE,255582208,244109312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,79,1029,6,0
$SOUNDSPEED,1468.5
$CURRENT,0.050,248.5,1
$GPS,081006,203426,6632.059,-6030.581,33,1.1,33,18.0