version: 66.01
glider: 1
mission: 1
dive: 13
start: 10 9 106 18 40 32
data:
$ID,1
$MISSION,1
$DIVE,13
$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,1
$HD_A,0.00312
$HD_B,0.0099099996
$HD_C,2.4896e-05
$HEADING,-1
$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,-446785.03
$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,21
$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,0.27000001
$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
$GPS1,183534,6634.787,-6014.429,14,1.1,14,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-70.0
$GPS2,183928,6634.787,-6014.429,11,1.1,11,18.0
$SPEED_LIMITS,0.215,0.230
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.219,0.070
$KALMAN_X,-15020.5,2029.0,841.8,19326.1,-10559.7
$KALMAN_Y,1275.1,630.6,-437.9,4070.2,566.7
$MHEAD_RNG_PITCHd_Wd,52.7,157963,-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,-8.18,0.000,6,0.000,0.000,582,2167,2863
$GC,63,-1.49,-116.8,0.3,0.0,2,73,7.03,0.00,0.00,0.000,6,0.000,0.000,1978,2170,2860
$GC,431,-1.49,-116.8,41.5,-10.0,63,438,0.43,0.00,0.00,0.000,6,0.000,0.000,1832,2172,2860
$GC,797,-1.49,-116.8,98.7,-16.5,124,806,0.57,2.67,0.00,0.000,4,0.000,0.000,1967,3514,2858
$GC,828,-1.15,-116.8,102.8,-13.4,126,835,0.52,2.85,0.00,0.000,6,0.000,0.000,2103,1693,2860
$GC,1168,-1.08,-116.8,122.7,-5.7,142,1176,0.52,3.75,0.00,0.000,4,0.000,0.000,2035,3530,2863
$GC,1313,-1.42,-116.8,133.7,-7.9,148,1321,0.65,3.58,0.00,0.000,6,0.000,0.000,1932,2021,2866
$GC,1649,-1.69,-116.8,174.7,-12.8,164,1655,0.00,2.67,0.00,0.000,4,0.000,0.000,1912,3361,2867
$GC,1709,-1.58,-116.8,183.5,-12.9,166,1721,0.00,3.58,0.00,0.000,6,0.000,0.000,1914,1728,2856
$GC,2040,-1.54,-116.8,225.0,-12.9,182,2047,0.00,4.30,0.00,0.000,4,0.000,0.000,1934,3598,2858
$GC,2165,-1.39,-116.8,242.4,-12.8,187,2178,0.50,3.55,0.00,0.000,6,0.000,0.000,2034,1762,2860
$GC,2494,-1.39,-116.8,267.2,-7.5,203,2502,0.93,3.40,0.00,0.000,4,0.000,0.000,1925,3601,2857
$GC,2613,-1.58,-116.8,281.8,-12.0,208,2620,0.00,3.28,0.00,0.000,6,0.000,0.000,1931,1919,2862
$GC,2954,-1.58,-116.8,325.2,-13.0,224,2959,0.03,3.08,0.00,0.000,4,0.000,0.000,1859,3455,2860
$GC,3040,-1.42,-116.8,338.9,-15.7,227,3049,0.50,3.22,0.00,0.000,6,0.000,0.000,1974,1775,2862
$GC,3364,-1.39,-116.8,372.3,-10.1,243,3372,0.05,3.80,0.00,0.000,4,0.000,0.000,1975,3705,2864
$GC,3469,-1.39,-116.8,383.6,-10.1,247,3482,0.30,3.53,0.00,0.000,6,0.000,0.000,1916,1870,2861
$GC,3799,-1.56,-116.8,423.5,-12.8,263,3804,0.00,2.55,0.00,0.000,4,0.000,0.000,1937,3526,2866
$GC,3892,-1.41,-116.8,435.1,-12.6,267,3897,0.08,2.35,0.00,0.000,6,0.000,0.000,1925,1991,2866
$GC,4223,-1.41,-116.8,478.1,-12.7,283,4231,0.40,3.53,0.00,0.000,4,0.000,0.000,2039,3647,2863
$GC,4272,-1.25,-116.8,482.8,-7.7,285,4280,0.50,3.88,0.00,0.000,6,0.000,0.000,1926,1988,2862
$STATE,4619,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4620,begin apogee
$GC,4632,-0.25,0.0,527.5,13.0,297,4651,1.58,0.00,14.90,0.001,6,0.000,0.000,2301,1986,2244
$STATE,4651,end apogee,CONTROL_FINISHED_OK
$STATE,4651,begin climb
$GC,4657,1.49,116.8,527.5,0.0,297,4676,1.52,2.70,11.18,0.001,4,0.000,0.000,2587,340,1767
$GC,4708,1.49,116.8,523.5,17.6,298,4715,0.00,3.28,0.00,0.000,6,0.000,0.000,2582,2037,1761
$GC,5037,1.71,116.8,464.8,18.0,310,5044,0.52,2.85,0.00,0.000,4,0.000,0.000,2685,3625,1766
$GC,5148,1.57,116.8,440.3,22.0,314,5157,0.52,3.53,0.00,0.000,6,0.000,0.000,2540,1734,1767
$GC,5472,1.24,116.8,394.6,14.0,330,5479,0.00,3.80,0.00,0.000,4,0.000,0.000,2550,3590,1770
$GC,5633,1.28,116.8,370.6,14.3,337,5640,0.00,3.53,0.00,0.000,6,0.000,0.000,2542,1741,1767
$GC,5974,1.42,116.8,323.8,14.1,353,5982,0.30,3.03,0.00,0.000,4,0.000,0.000,2649,3587,1764
$GC,6130,1.46,116.8,288.0,22.9,359,6139,0.52,3.78,0.00,0.000,6,0.000,0.000,2529,1737,1763
$GC,6454,1.30,116.8,243.0,13.8,375,6459,0.00,2.85,0.00,0.000,4,0.000,0.000,2532,3432,1766
$GC,6602,1.35,116.8,218.5,22.3,381,6611,0.00,2.65,0.00,0.000,6,0.000,0.000,2531,1776,1765
$GC,6928,1.09,116.8,175.2,13.8,397,6936,0.45,3.80,0.00,0.000,4,0.000,0.000,2406,3618,1763
$GC,7071,1.13,198.8,162.9,7.2,403,7084,0.60,3.30,6.47,0.001,6,0.000,0.000,2544,1814,1452
$GC,7406,1.70,198.8,104.7,18.0,419,7414,0.57,3.58,0.00,0.000,4,0.000,0.000,2587,3693,1437
$GC,7532,1.73,198.8,75.2,24.0,437,7541,0.52,3.17,0.00,0.000,6,0.000,0.000,2741,2033,1433
$STATE,7742,end climb,SURFACE_DEPTH_REACHED
$STATE,7747,begin surface coast
$FINISH,0.3,1.025030
$STATE,7752,end surface coast,CONTROL_FINISHED_OK
$STATE,7753,begin surface
$SM_CCo,7783,15.88,0.000,0,0,404,450.86
$SM_GC,0.34,0.00,0.00,15.88,0.000,0.000,0.000,625,1677,404,-7.55,-8.54,450.86
$RAFOS_CLK,0
$RAFOS,3,1160426044,20.583334,20.567778,80,0,0,0,0,0,728,0,0,0,0,0
$RAFOS,2,1160425447,20.416666,20.401945,80,0,0,0,0,0,937,0,0,0,0,0
$RAFOS,1,1160424841,20.250000,20.233612,80,0,0,0,0,0,751,0,0,0,0,0
$RAFOS,0,1160424241,20.083334,20.066944,80,0,0,0,0,0,611,0,0,0,0,0
$RAFOS_FIX,6634.799316,-6010.657227,091006,202048,4,80,0.46
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2248
$INTERNAL_PRESSURE,26.0651
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,18.7,18.5
$ALTIM_BOTTOM_PING,451.7,81.9
$24V_AH,23.7,32.787
$10V_AH,9.7,4.995
$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,30.825,105.775,32.550,15.875,0.000,0.000,0.000,62.517,4.000,12.151,1569.427,4982.758,245.874,604.040,652.870,33.364,765.602,0.000,519.213,1440.000,32.942
$DEVICE_MAMPS,119.000,60.000,0.767,600.000,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,388.681,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15862,473
$CFSIZE,255582208,243593216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,64,817,0,0
$SOUNDSPEED,1459.6
$CURRENT,0.052,304.0,1
$GPS,091006,205158,6635.267,-6013.065,7,1.1,7,18.0