version: 66.01
glider: 1
mission: 1
dive: 10
start: 10 9 106 12 51 50
data:
$ID,1
$MISSION,1
$DIVE,10
$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,-448848.34
$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,173
$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
$GPS1,124632,6636.000,-6031.475,27,1.1,27,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,125121,6636.000,-6031.475,36,1.1,36,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6646.148,-6030.019
$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,-76.45,0.000,6,0.000,0.000,622,2062,2739
$GC,132,-1.49,-116.8,-0.0,0.0,10,149,7.00,2.45,0.00,0.000,4,0.000,0.000,2024,3539,2735
$GC,255,-1.60,-116.8,18.8,-9.4,29,263,0.77,3.08,0.00,0.000,6,0.000,0.000,1823,2040,2743
$GC,621,-1.17,-116.8,75.6,-14.6,90,630,1.12,2.50,0.00,0.000,4,0.000,0.000,2073,3360,2739
$GC,677,-1.43,-116.8,80.1,-5.5,98,686,0.82,3.12,0.00,0.000,6,0.000,0.000,1871,1866,2740
$GC,1032,-1.28,-116.8,118.6,-10.9,137,1040,1.05,3.05,0.00,0.000,4,0.000,0.000,2055,3570,2739
$GC,1132,-1.55,-116.8,124.8,-5.1,141,1140,1.00,2.65,0.00,0.000,6,0.000,0.000,1896,2065,2748
$GC,1467,-1.31,-116.8,158.4,-10.2,157,1474,0.70,2.75,0.00,0.000,4,0.000,0.000,2071,3387,2732
$GC,1515,-1.58,-116.8,162.1,-5.0,159,1523,1.05,2.92,0.00,0.000,6,0.000,0.000,1886,1876,2743
$GC,1856,-1.33,-116.8,194.7,-9.1,175,1863,0.40,3.03,0.00,0.000,4,0.000,0.000,2008,3564,2736
$GC,1946,-1.47,-116.8,201.1,-6.2,178,1955,0.55,3.38,0.00,0.000,6,0.000,0.000,1904,1906,2740
$GC,2270,-1.24,-116.8,228.8,-9.3,194,2278,1.08,2.53,0.00,0.000,4,0.000,0.000,2062,3561,2738
$GC,2346,-1.55,-116.8,233.0,-4.2,197,2354,1.05,3.35,0.00,0.000,6,0.000,0.000,1896,1855,2735
$GC,2687,-1.41,-116.8,261.5,-8.5,213,2695,0.55,3.25,0.00,0.000,4,0.000,0.000,1966,3562,2741
$GC,2777,-1.41,-116.8,268.1,-6.7,216,2786,0.10,2.55,0.00,0.000,6,0.001,0.000,1960,2043,2746
$GC,3101,-1.54,-116.8,289.1,-6.2,232,3109,0.82,3.00,0.00,0.000,4,0.000,0.000,1840,3540,2742
$GC,3142,-1.24,-116.8,293.1,-10.6,233,3151,0.77,2.45,0.00,0.000,6,0.000,0.000,2026,2023,2752
$GC,3467,-1.56,-116.8,310.2,-4.9,249,3475,0.80,3.05,0.00,0.000,4,0.000,0.000,1909,3542,2739
$GC,3519,-1.60,-116.8,314.1,-7.7,251,3524,0.00,2.38,0.00,0.000,6,0.000,0.000,1920,2197,2738
$GC,3848,-1.60,-116.8,338.2,-7.3,267,3854,0.00,2.97,0.00,0.000,4,0.000,0.000,1884,701,2736
$GC,3879,-1.51,-116.8,341.1,-7.8,268,3884,0.00,2.65,0.00,0.000,6,0.000,0.000,1923,2176,2743
$GC,4203,-1.35,-116.8,365.7,-7.7,283,4208,0.35,2.08,0.00,0.000,4,0.000,0.000,2046,3415,2737
$GC,4247,-1.55,-116.8,368.5,-4.6,285,4254,0.80,2.53,0.00,0.000,6,0.000,0.000,1879,1895,2735
$GC,4582,-1.25,-116.8,397.5,-8.9,301,4590,0.85,2.47,0.00,0.000,4,0.000,0.000,2041,3364,2737
$GC,4681,-1.47,-116.8,402.6,-4.4,305,4686,0.77,2.03,0.00,0.000,6,0.000,0.000,1868,1984,2738
$GC,5006,-1.18,-116.8,429.8,-8.6,321,5015,0.73,3.25,0.00,0.000,4,0.000,0.000,2066,3697,2739
$GC,5058,-1.44,-116.8,432.7,-4.1,323,5066,0.77,2.75,0.00,0.000,6,0.000,0.000,1899,2023,2737
$GC,5393,-1.22,-116.8,459.3,-8.6,339,5400,0.88,2.47,0.00,0.000,4,0.000,0.000,2062,3387,2740
$GC,5450,-1.49,-116.8,462.7,-3.9,341,5456,0.77,2.03,0.00,0.000,6,0.000,0.000,1905,2023,2737
$GC,5775,-1.22,-116.8,487.9,-8.3,356,5783,0.88,3.03,0.00,0.000,4,0.000,0.000,2061,3674,2750
$STATE,5795,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5795,begin apogee
$GC,5811,-0.25,0.0,489.9,6.5,357,5928,0.82,0.00,113.85,0.001,6,0.000,0.000,2204,1835,2261
$STATE,5934,end apogee,CONTROL_FINISHED_OK
$STATE,5934,begin climb
$GC,5940,1.49,116.8,489.9,0.0,363,6065,1.85,2.03,112.38,0.001,4,0.000,0.000,2628,491,1780
$GC,6076,1.29,116.8,467.8,22.0,369,6084,0.52,3.08,0.00,0.000,6,0.000,0.000,2496,2018,1783
$GC,6416,1.42,129.1,423.3,12.8,385,6440,0.47,3.40,11.80,0.001,4,0.000,0.000,2633,3700,1731
$GC,6538,1.11,129.1,394.8,29.8,390,6546,0.77,3.80,0.00,0.000,6,0.000,0.000,2421,1867,1735
$GC,6873,1.48,183.9,351.6,9.4,406,6932,0.85,2.65,51.80,0.001,4,0.000,0.000,2574,3394,1511
$GC,7059,1.45,183.9,316.0,18.6,414,7067,0.00,2.88,0.60,0.000,6,0.000,0.000,2577,2093,1514
$GC,7393,1.38,183.9,247.2,20.3,430,7398,0.00,2.70,0.00,0.000,4,0.000,0.000,2579,3563,1516
$GC,7462,1.35,183.9,231.6,20.8,433,7468,0.00,3.08,0.00,0.000,6,0.000,0.000,2580,2040,1511
$GC,7792,1.28,183.9,167.1,20.0,449,7797,0.03,2.55,0.00,0.000,4,0.000,0.000,2560,3553,1518
$GC,7872,1.25,183.9,150.6,18.3,452,7884,0.52,2.90,0.00,0.000,6,0.000,0.000,2434,2047,1515
$GC,8201,1.58,224.0,114.5,10.6,468,8247,1.17,2.62,32.65,0.001,4,0.000,0.000,2689,3552,1344
$GC,8317,1.20,224.0,79.4,34.3,478,8326,1.15,3.28,0.00,0.000,6,0.000,0.000,2463,1896,1347
$GC,8684,1.52,257.8,31.6,11.1,539,8723,0.75,3.15,27.50,0.000,4,0.000,0.000,2622,3553,1213
$STATE,8801,end climb,SURFACE_DEPTH_REACHED
$STATE,8801,begin surface coast
$FREEZE,-0.01,4.900,-1.710
$FINISH,-0.0,1.024734
$STATE,8808,end surface coast,CONTROL_FINISHED_OK
$STATE,8809,begin surface
$SM_CCo,8841,120.78,0.000,1,0,429,450.86
$SM_GC,-0.00,0.00,0.00,120.78,0.000,0.000,0.000,638,1898,429,-7.60,-2.63,450.86
$RAFOS_CLK,0
$RAFOS_FIX,6634.697754,-6027.277344,091006,121220,4,80,0.38
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.027612
$HUMID,2457
$INTERNAL_PRESSURE,25.9674
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,18.9,999.0
$ALTIM_BOTTOM_PING,426.3,73.5
$24V_AH,23.7,55.441
$10V_AH,9.7,8.481
$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,45.925,124.175,350.575,120.775,0.000,0.000,0.000,85.744,3.750,36.360,1687.087,5394.837,732.392,684.738,758.230,0.000,1323.999,0.000,570.342,0.000,27.049
$DEVICE_MAMPS,119.000,60.000,0.767,600.000,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,448.514,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19003,558
$CFSIZE,255582208,243597312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,102,962,1,0
$SOUNDSPEED,1468.7
$CURRENT,0.053,260.7,1
$GPS,091006,152232,6636.731,-6031.684,10,1.1,11,18.0