version: 66.01
glider: 1
mission: 1
dive: 5
start: 10 8 106 23 21 59
data:
$ID,1
$MISSION,1
$DIVE,5
$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,-448702.59
$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,4
$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,-0.22280908
$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
$GPS1,231459,6632.650,-6030.779,18,1.1,18,18.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-70.0
$GPS2,232130,6632.650,-6030.779,10,1.1,10,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6642.798,-6029.319
$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,34,end surface,CONTROL_FINISHED_OK
$STATE,34,begin dive
$GC,41,-1.49,-116.8,0.0,0.0,0,130,0.00,0.00,-76.80,0.000,6,0.000,0.000,621,2162,2735
$GC,136,-1.49,-116.8,0.5,-1.0,10,153,7.18,2.45,0.00,0.000,4,0.000,0.000,2024,3672,2736
$GC,191,-1.60,-116.8,13.0,-9.1,17,200,0.80,2.85,0.00,0.000,6,0.000,0.000,1831,1990,2733
$GC,559,-1.18,-116.8,71.0,-14.7,78,568,1.35,3.03,0.00,0.000,4,0.000,0.000,2057,3683,2735
$GC,615,-1.44,-116.8,75.7,-5.8,86,624,0.77,3.78,0.00,0.000,6,0.000,0.000,1884,1857,2738
$GC,979,-1.17,-116.8,116.4,-11.3,129,987,0.75,3.25,0.00,0.000,4,0.000,0.000,2039,3624,2737
$GC,1078,-1.44,-116.8,122.9,-5.2,133,1086,0.77,3.70,0.00,0.000,6,0.000,0.000,1903,1748,2733
$GC,1413,-1.17,-116.8,157.5,-10.7,149,1421,0.77,3.83,0.00,0.000,4,0.000,0.000,2057,3636,2734
$GC,1532,-1.44,-116.8,164.7,-4.9,154,1540,0.77,2.95,0.00,0.000,6,0.000,0.000,1892,1823,2741
$GC,1867,-1.19,-116.8,196.1,-10.0,170,1875,0.93,3.22,0.00,0.000,4,0.000,0.000,2043,3659,2742
$GC,1958,-1.46,-116.8,201.0,-4.4,173,1967,0.82,4.03,0.00,0.000,6,0.000,0.000,1891,1824,2731
$GC,2283,-1.21,-116.8,230.5,-9.5,189,2291,0.88,3.75,0.00,0.000,4,0.000,0.000,2059,3476,2739
$GC,2383,-1.52,-116.8,236.6,-5.9,193,2391,0.90,3.17,0.00,0.000,6,0.000,0.000,1868,1821,2735
$GC,2713,-1.26,-116.8,265.5,-9.0,209,2721,0.70,3.75,0.00,0.000,4,0.000,0.000,2052,3442,2740
$GC,2832,-1.51,-116.8,271.4,-4.3,214,2838,0.80,2.35,0.00,0.000,6,0.000,0.000,1889,1799,2734
$GC,3164,-1.26,-116.8,299.7,-8.8,230,3171,0.85,2.72,0.00,0.000,4,0.000,0.000,2046,3582,2738
$GC,3268,-1.55,-116.8,304.8,-3.9,234,3281,0.80,3.15,0.00,0.000,6,0.000,0.000,1878,1766,2734
$GC,3593,-1.28,-116.8,331.3,-8.8,250,3601,0.73,3.22,0.00,0.000,4,0.000,0.000,2065,3596,2740
$GC,3692,-1.53,-116.8,336.5,-4.2,254,3700,0.77,3.38,0.00,0.000,6,0.000,0.000,1877,2059,2732
$GC,4022,-1.25,-116.8,364.6,-8.8,270,4029,1.08,2.25,0.00,0.000,4,0.000,0.000,2074,3561,2737
$GC,4062,-1.50,-116.8,367.2,-4.6,271,4072,0.80,3.20,0.00,0.000,6,0.000,0.000,1937,1883,2743
$GC,4382,-1.38,-116.8,389.1,-7.0,287,4389,0.25,3.45,0.00,0.000,4,0.000,0.000,2009,3555,2734
$GC,4472,-1.46,-116.8,394.1,-5.3,290,4481,0.47,3.03,0.00,0.000,6,0.000,0.000,1878,1905,2739
$GC,4792,-1.19,-116.8,420.7,-8.4,306,4800,0.68,2.97,0.00,0.000,4,0.000,0.000,2063,3562,2739
$GC,4871,-1.43,-116.8,424.5,-4.1,309,4878,0.77,2.88,0.00,0.000,6,0.000,0.000,1892,2073,2738
$GC,5205,-1.14,-116.8,451.8,-8.4,325,5213,0.88,2.65,0.00,0.000,4,0.000,0.000,2049,3570,2744
$GC,5240,-1.42,-116.8,454.3,-4.4,326,5253,0.80,2.65,0.00,0.000,6,0.000,0.000,1870,2010,2736
$STATE,5516,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5516,begin apogee
$GC,5529,-0.25,0.0,477.4,8.4,340,5646,1.73,0.00,112.55,0.000,6,0.000,0.000,2266,1692,2259
$STATE,5651,end apogee,CONTROL_FINISHED_OK
$STATE,5651,begin climb
$GC,5657,1.49,116.8,477.9,0.0,346,5783,1.55,2.33,112.85,0.001,4,0.000,0.000,2611,364,1782
$GC,5808,1.36,116.8,452.6,21.4,352,5817,0.52,3.38,0.00,0.000,6,0.000,0.000,2504,2063,1788
$GC,6132,1.52,134.9,411.8,12.3,368,6157,0.88,2.53,17.02,0.001,4,0.000,0.000,2679,3581,1709
$GC,6255,1.20,134.9,379.5,27.0,373,6263,0.85,2.62,0.00,0.000,6,0.000,0.000,2491,1729,1708
$GC,6589,1.35,145.4,335.0,12.9,389,6613,0.47,3.38,10.05,0.001,4,0.000,0.000,2622,3583,1667
$GC,6767,1.17,145.4,294.7,23.1,396,6776,0.77,2.85,0.00,0.000,6,0.000,0.000,2438,1768,1665
$GC,7092,1.56,199.5,262.7,9.5,412,7153,0.98,3.47,52.58,0.001,4,0.000,0.000,2671,3421,1443
$GC,7344,1.22,199.5,187.3,31.1,422,7352,1.08,2.35,0.03,0.001,6,0.000,0.000,2429,1926,1448
$GC,7679,1.60,243.2,148.8,10.3,438,7726,1.42,3.38,35.28,0.001,4,0.000,0.000,2686,3585,1272
$GC,7835,1.26,243.2,98.5,34.3,444,7845,0.82,3.05,0.00,0.000,6,0.000,0.000,2537,1757,1268
$GC,8202,1.25,243.2,21.9,18.5,505,8211,0.00,3.33,0.00,0.000,4,0.000,0.000,2565,3555,1266
$STATE,8290,end climb,SURFACE_DEPTH_REACHED
$STATE,8290,begin surface coast
$FREEZE,-0.00,5.108,-1.670
$FINISH,-0.0,1.024159
$STATE,8307,end surface coast,CONTROL_FINISHED_OK
$STATE,8307,begin surface
$SM_CCo,8339,130.52,0.000,1,0,421,451.35
$SM_GC,0.00,0.00,0.00,130.52,0.000,0.000,0.000,610,1708,421,-7.49,-6.98,451.35
$RAFOS_CLK,0
$RAFOS,3,1160354052,0.583333,0.570000,80,0,0,0,0,0,714,0,0,0,0,0
$RAFOS,2,1160353445,0.416667,0.401389,80,0,0,0,0,0,993,0,0,0,0,0
$RAFOS,1,1160352854,0.250000,0.237222,80,0,0,0,0,0,723,0,0,0,0,0
$RAFOS,0,1160352262,0.083333,0.072778,80,0,0,0,0,0,533,0,0,0,0,0
$RAFOS_FIX,6632.331055,-6025.778809,091006,000020,4,80,1.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2451
$INTERNAL_PRESSURE,26.026
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,18.4,18.5
$ALTIM_BOTTOM_PING,401.5,84.4
$24V_AH,23.7,53.722
$10V_AH,9.7,8.228
$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,47.600,118.525,340.350,130.525,0.000,0.000,0.000,85.976,3.500,15.972,1621.917,5061.427,738.157,662.132,799.714,0.000,1322.634,0.000,572.922,1440.000,25.749
$DEVICE_MAMPS,119.000,60.000,1300.000,600.000,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,424.724,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15867,522
$CFSIZE,255582208,243982336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,90,912,1,0
$SOUNDSPEED,1468.5
$CURRENT,0.049,253.3,1
$GPS,091006,014452,6633.224,-6031.062,17,1.1,17,18.0