version: 66.01
glider: 1
mission: 1
dive: 8
start: 10 9 106 7 31 3
data:
$ID,1
$MISSION,1
$DIVE,8
$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,-448793.62
$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,7
$R_STBD_OVSHOOT,10
$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
$GPS1,072551,6634.567,-6031.273,11,1.1,11,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,073034,6634.567,-6031.273,28,1.1,28,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6644.715,-6029.815
$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,-116.8,0.0,0.0,0,125,0.00,0.00,-77.07,0.000,6,0.000,0.000,682,2170,2742
$GC,136,-1.49,-116.8,-0.0,0.0,9,153,6.80,2.72,0.00,0.000,4,0.000,0.000,1967,3527,2740
$GC,191,-1.45,-116.8,12.8,-12.2,16,200,0.00,2.92,0.00,0.000,6,0.000,0.000,1952,1831,2746
$GC,559,-1.50,-116.8,53.4,-8.8,77,568,0.00,3.42,0.00,0.000,4,0.000,0.000,1956,3682,2741
$GC,654,-1.47,-116.8,62.4,-9.7,92,663,0.00,3.58,0.00,0.000,6,0.000,0.000,1955,1851,2741
$GC,1022,-1.39,-116.8,96.1,-8.9,153,1030,0.00,3.65,0.00,0.000,4,0.000,0.000,1957,3684,2748
$GC,1114,-1.36,-116.8,104.6,-8.4,162,1123,0.00,4.03,0.00,0.000,6,0.000,0.000,1949,1703,2745
$GC,1439,-1.42,-116.8,131.8,-9.3,178,1446,0.00,3.42,0.00,0.000,4,0.000,0.000,1950,3353,2752
$GC,1589,-1.37,-116.8,145.2,-8.6,184,1593,0.00,2.50,0.00,0.000,6,0.000,0.000,1952,1800,2745
$GC,1913,-1.30,-116.8,171.4,-8.2,199,1921,0.15,3.70,0.00,0.000,4,0.000,0.000,2004,3656,2742
$GC,2013,-1.43,-116.8,178.6,-6.1,203,2022,0.52,3.55,0.00,0.000,6,0.000,0.000,1883,1756,2746
$GC,2349,-1.23,-116.8,210.2,-9.7,219,2357,1.10,3.00,0.00,0.000,4,0.000,0.000,2074,3588,2745
$GC,2460,-1.53,-116.8,216.5,-4.4,223,2469,0.90,2.65,0.00,0.000,6,0.000,0.000,1884,1905,2746
$GC,2785,-1.28,-116.8,246.1,-9.4,239,2792,0.70,2.88,0.00,0.000,4,0.000,0.000,2033,3425,2742
$GC,2875,-1.38,-116.8,252.2,-5.6,242,2884,0.52,3.08,0.00,0.000,6,0.000,0.000,1886,1762,2741
$GC,3198,-1.28,-116.8,280.2,-8.4,258,3206,0.65,3.53,0.00,0.000,4,0.000,0.000,2069,3603,2740
$GC,3309,-1.55,-116.8,285.9,-4.3,262,3319,0.75,3.20,0.00,0.000,6,0.000,0.000,1882,1930,2747
$GC,3629,-1.28,-116.8,313.9,-9.1,278,3637,1.08,3.03,0.00,0.000,4,0.000,0.000,2068,3578,2750
$GC,3709,-1.53,-116.8,317.9,-4.5,281,3716,0.77,2.83,0.00,0.000,6,0.000,0.000,1885,1886,2747
$GC,4039,-1.24,-116.8,346.9,-9.0,297,4047,0.75,3.22,0.00,0.000,4,0.000,0.000,2061,3545,2749
$GC,4124,-1.50,-116.8,351.1,-4.3,300,4130,0.77,2.12,0.00,0.000,6,0.000,0.000,1897,2027,2746
$GC,4449,-1.23,-116.8,378.7,-8.8,315,4457,0.77,3.25,0.00,0.000,4,0.000,0.000,1972,3688,2743
$GC,4498,-1.32,-116.8,382.5,-5.5,317,4504,0.03,2.62,0.00,0.000,6,0.000,0.000,1979,2020,2749
$GC,4838,-1.37,-116.8,401.0,-5.5,333,4846,0.35,3.03,0.00,0.000,4,0.000,0.000,1866,3690,2743
$GC,4887,-1.12,-116.8,405.2,-8.9,335,4894,1.00,2.65,0.00,0.000,6,0.000,0.000,2049,2200,2745
$GC,5227,-1.34,-116.8,420.4,-4.2,351,5229,0.45,0.00,0.00,0.000,6,0.000,0.000,1939,2182,2748
$GC,5536,-1.30,-116.8,441.3,-7.0,366,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,2190,2749
$GC,5840,-1.18,-116.8,462.9,-6.9,381,5843,0.47,0.00,0.00,0.000,6,0.000,0.000,2061,2185,2752
$GC,6155,-1.39,-116.8,476.4,-4.1,396,6162,0.77,2.85,0.00,0.000,4,0.000,0.000,1965,3363,2744
$GC,6190,-1.30,-116.8,478.7,-6.5,397,6196,0.52,2.65,0.00,0.000,6,0.000,0.000,2055,2008,2750
$STATE,6302,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6302,begin apogee
$GC,6314,-0.25,0.0,483.6,4.1,402,6447,0.73,0.00,115.22,0.000,6,0.000,0.000,2222,2007,2263
$STATE,6448,end apogee,CONTROL_FINISHED_OK
$STATE,6448,begin climb
$GC,6454,1.49,116.8,482.9,0.0,409,6591,2.45,0.00,112.28,0.001,6,0.000,0.000,2658,1996,1785
$GC,6897,1.12,116.8,382.4,25.8,430,6905,0.88,3.53,0.00,0.000,4,0.000,0.000,2481,3677,1782
$GC,6996,1.37,146.5,370.3,11.4,434,7032,0.57,2.88,28.20,0.001,6,0.000,0.000,2616,2003,1668
$GC,7353,1.22,146.5,293.8,20.9,451,7361,0.40,3.25,0.00,0.000,4,0.000,0.000,2465,3651,1661
$GC,7438,1.51,179.0,282.9,11.2,454,7479,0.77,3.70,31.52,0.001,6,0.000,0.000,2644,1941,1535
$GC,7811,1.22,179.0,184.0,26.9,472,7819,0.90,3.20,0.00,0.000,4,0.000,0.000,2457,3614,1530
$GC,7922,1.47,198.6,168.1,12.2,476,7946,0.77,3.53,16.00,0.001,6,0.000,0.000,2644,1972,1455
$GC,8270,1.18,198.6,74.5,27.2,501,8279,0.70,3.03,0.00,0.000,4,0.000,0.000,2461,3650,1449
$GC,8370,1.43,216.4,60.1,12.3,516,8394,0.50,3.30,14.15,0.001,6,0.000,0.000,2597,1999,1379
$STATE,8628,end climb,SURFACE_DEPTH_REACHED
$STATE,8629,begin surface coast
$FREEZE,-0.01,4.846,-1.719
$FINISH,-0.0,1.024864
$STATE,8642,end surface coast,CONTROL_FINISHED_OK
$STATE,8642,begin surface
$SM_CCo,8672,147.12,0.000,0,0,428,450.62
$SM_GC,-0.00,0.00,0.00,147.12,0.000,0.000,0.000,651,2003,428,-7.48,0.82,450.62
$RAFOS_CLK,0
$RAFOS,4,1160386141,9.500000,9.483611,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,3,1160382847,8.583333,8.568611,80,0,0,0,0,0,751,0,0,0,0,0
$RAFOS,2,1160382251,8.416667,8.403055,80,0,0,0,0,0,965,0,0,0,0,0
$RAFOS,1,1160381650,8.250000,8.236111,80,0,0,0,0,0,746,0,0,0,0,0
$RAFOS,0,1160381046,8.083333,8.068334,80,0,0,0,0,0,614,0,0,0,0,0
$RAFOS_FIX,6633.831055,-6027.386230,091006,080820,4,80,1.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2434
$INTERNAL_PRESSURE,25.9674
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,18.9,19.9
$ALTIM_BOTTOM_PING,401.0,92.0
$24V_AH,23.7,54.789
$10V_AH,9.7,8.381
$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,38.700,106.475,317.375,147.125,0.000,0.000,0.000,87.999,3.500,29.317,1697.329,5266.306,715.603,667.359,770.789,0.000,1289.514,0.000,558.518,1800.000,20.886
$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,458.132,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19031,560
$CFSIZE,255582208,243748864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,78,827,3,0
$SOUNDSPEED,1468.4
$CURRENT,0.049,267.3,1
$GPS,091006,095954,6635.250,-6031.240,33,1.1,33,18.0