version: 66.01
glider: 1
mission: 1
dive: 38
start: 10 12 106 8 37 32
data:
$ID,1
$MISSION,1
$DIVE,38
$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,3
$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,-447406.66
$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,155
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,500
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,6
$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
$GPS1,083032,6637.956,-6005.963,10,1.1,10,18.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.8
$GPS2,083703,6637.956,-6005.963,31,1.1,31,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6643.478,-6009.630
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.221,0.063
$KALMAN_X,-18076.3,1112.0,191.8,29372.1,-5815.5
$KALMAN_Y,6077.1,-400.7,-1286.6,5721.4,4434.9
$MHEAD_RNG_PITCHd_Wd,282.8,20000,-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,-116.8,0.0,0.0,0,58,0.00,0.00,-8.12,0.000,6,0.000,0.000,602,2012,2855
$GC,64,-1.49,-116.8,0.3,0.0,2,82,7.12,2.92,0.00,0.000,4,0.000,0.000,1999,529,2864
$GC,277,-1.49,-116.8,24.7,-9.3,36,286,0.47,3.22,0.00,0.000,6,0.000,0.000,1865,2197,2855
$GC,645,-1.72,-116.8,80.9,-15.3,97,653,0.00,2.53,0.00,0.000,4,0.000,0.000,1871,3526,2859
$GC,728,-1.40,-116.8,93.9,-15.3,110,738,0.80,3.25,0.00,0.000,6,0.000,0.000,1998,1877,2853
$GC,1074,-1.18,-116.8,130.0,-10.1,132,1080,0.10,3.15,0.00,0.000,4,0.001,0.000,1955,3680,2857
$GC,1169,-1.18,-116.8,140.0,-10.5,136,1175,0.03,2.72,0.00,0.000,6,0.000,0.000,1987,2042,2858
$GC,1500,-1.28,-116.8,172.8,-10.2,152,1504,0.00,2.47,0.00,0.000,4,0.000,0.000,1971,3382,2854
$GC,1547,-1.28,-116.8,178.0,-9.4,154,1551,0.00,1.85,0.00,0.000,6,0.000,0.000,1973,2049,2858
$GC,1878,-1.33,-116.8,209.8,-9.7,170,1883,0.00,2.67,0.00,0.000,4,0.000,0.000,1988,3391,2863
$GC,1921,-1.43,-116.8,214.2,-10.2,172,1926,0.03,2.03,0.00,0.000,6,0.000,0.000,1985,2042,2868
$GC,2252,-1.48,-116.8,247.8,-10.1,188,2258,0.40,2.72,0.00,0.000,4,0.000,0.000,1859,3568,2857
$GC,2288,-1.48,-116.8,253.2,-15.6,189,2297,0.62,2.47,0.00,0.000,6,0.000,0.000,1964,2224,2856
$GC,2612,-1.52,-116.8,286.7,-10.2,205,2620,0.35,3.25,0.00,0.000,4,0.000,0.000,1853,546,2858
$GC,2638,-1.52,-116.8,290.4,-12.3,206,2646,0.57,3.17,0.00,0.000,6,0.000,0.000,1981,2208,2861
$GC,2975,-1.44,-116.8,326.1,-10.4,222,2979,0.00,2.25,0.00,0.000,4,0.000,0.000,1980,3415,2860
$GC,3032,-1.43,-116.8,332.5,-10.1,224,3041,0.08,2.80,0.00,0.000,6,0.000,0.000,1973,2251,2862
$GC,3357,-1.47,-116.8,365.3,-10.3,240,3363,0.15,2.95,0.00,0.000,4,0.000,0.000,1925,562,2854
$GC,3382,-1.45,-116.8,369.0,-11.5,241,3387,0.10,2.70,0.00,0.000,6,0.000,0.000,1930,2215,2863
$GC,3708,-1.45,-116.8,411.3,-13.2,257,3709,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,2210,2863
$GC,4018,-1.27,-116.8,451.8,-13.0,272,4020,0.62,0.00,0.00,0.000,6,0.000,0.000,2048,2213,2859
$GC,4331,-1.09,-116.8,477.5,-7.8,287,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2222,2861
$GC,4655,-1.40,-116.8,503.4,-7.9,302,4658,0.45,0.00,0.00,0.000,6,0.000,0.000,1903,2222,2857
$GC,4980,-1.54,-116.8,544.1,-13.1,310,4986,0.03,2.67,0.00,0.000,4,0.000,0.000,1915,562,2860
$GC,5005,-1.36,-116.8,547.7,-13.0,310,5013,0.50,2.97,0.00,0.000,6,0.000,0.000,2056,2054,2857
$STATE,5345,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5345,begin apogee
$GC,5357,-0.25,0.0,573.9,7.5,319,5375,1.02,0.00,14.70,0.000,6,0.000,0.000,2292,2049,2243
$STATE,5376,end apogee,CONTROL_FINISHED_OK
$STATE,5376,begin climb
$GC,5381,1.49,116.8,573.9,0.0,319,5401,1.52,3.25,11.15,0.000,4,0.000,0.000,2645,558,1765
$GC,5455,1.49,116.8,562.4,24.4,320,5461,0.52,2.65,0.00,0.000,6,0.000,0.000,2524,2237,1768
$GC,5790,1.40,118.1,515.7,13.6,328,5795,0.12,2.62,0.00,0.000,4,0.000,0.000,2547,3641,1768
$GC,5866,1.43,120.7,504.7,13.5,329,5872,0.50,2.53,0.00,0.000,6,0.000,0.000,2663,1969,1766
$GC,6190,1.53,120.7,436.5,21.9,343,6198,0.50,3.25,0.00,0.000,4,0.000,0.000,2547,3665,1767
$GC,6268,1.23,120.7,423.2,14.6,346,6274,0.05,3.05,0.00,0.000,6,0.000,0.000,2520,2161,1767
$GC,6599,1.31,120.7,376.5,14.3,362,6603,0.00,2.25,0.00,0.000,4,0.000,0.000,2553,3476,1761
$GC,6629,1.31,120.7,369.9,21.3,363,6640,0.00,3.28,0.00,0.000,6,0.000,0.000,2547,2089,1763
$GC,6957,0.98,120.7,323.2,14.2,379,6965,0.82,3.03,0.00,0.000,4,0.000,0.000,2420,3550,1761
$GC,7033,0.98,199.4,316.2,7.5,382,7048,0.52,2.78,7.95,0.001,6,0.000,0.000,2535,2069,1421
$GC,7369,1.49,199.4,254.3,20.2,397,7376,0.82,2.78,0.00,0.000,4,0.000,0.000,2665,3429,1423
$GC,7417,1.39,199.4,240.3,29.8,399,7425,0.77,3.17,0.00,0.000,6,0.000,0.000,2496,1940,1431
$GC,7758,1.11,199.4,191.3,13.8,415,7763,0.00,2.97,0.00,0.000,4,0.000,0.000,2503,3479,1432
$GC,7855,1.28,199.4,177.5,14.2,419,7863,0.52,3.08,0.00,0.000,6,0.000,0.000,2592,1995,1425
$GC,8189,1.48,199.4,97.3,24.1,435,8198,0.05,2.42,0.00,0.000,4,0.001,0.000,2614,3666,1432
$GC,8250,1.31,199.4,81.3,24.2,444,8259,0.47,2.92,0.00,0.000,6,0.000,0.000,2473,2144,1431
$GC,8619,1.23,199.4,28.9,14.0,505,8628,0.38,3.00,0.00,0.000,4,0.000,0.000,2614,3649,1426
$GC,8698,1.39,199.4,11.9,24.5,517,8707,0.50,2.22,0.00,0.000,6,0.000,0.000,2493,2148,1433
$STATE,8753,end climb,SURFACE_DEPTH_REACHED
$STATE,8753,begin surface coast
$FINISH,0.3,1.024661
$STATE,8766,end surface coast,CONTROL_FINISHED_OK
$STATE,8766,begin surface
$SM_CCo,8794,15.70,0.000,0,0,400,451.35
$SM_GC,0.34,0.00,0.00,15.70,0.000,0.000,0.000,585,2150,400,-7.71,4.61,451.35
$RAFOS_CLK,0
$RAFOS,4,1160645349,9.500000,9.485833,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160641441,8.416667,8.400278,80,0,0,0,0,0,942,0,0,0,0,0
$RAFOS_FIX,6637.806641,-6003.106445,121006,080821,3,80,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2288
$INTERNAL_PRESSURE,26.026
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.5,18.9
$ALTIM_BOTTOM_PING,552.8,28.7
$24V_AH,23.7,39.563
$10V_AH,9.7,6.042
$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,30.525,106.050,33.800,15.700,0.000,0.000,0.000,64.915,5.000,36.766,1724.101,5877.135,246.523,596.671,772.140,0.000,746.576,0.000,487.954,360.000,33.865
$DEVICE_MAMPS,119.000,60.000,1300.000,600.000,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,436.737,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15855,528
$CFSIZE,255582208,241909760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,62,823,0,0
$SOUNDSPEED,1459.8
$CURRENT,0.077,185.9,1
$GPS,121006,110605,6638.084,-6008.434,27,1.1,27,18.0