version: 66.01
glider: 1
mission: 1
dive: 52
start: 10 13 106 18 38 2
data:
$ID,1
$MISSION,1
$DIVE,52
$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,-447704.44
$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,190
$R_STBD_OVSHOOT,12
$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
$GPS1,183319,6637.232,-6005.547,26,1.1,26,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.9
$GPS2,183734,6637.232,-6005.547,22,1.1,22,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6647.852,-6006.318
$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,331.6,20000,-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,-8.05,0.000,6,0.000,0.000,609,2086,2887
$GC,64,-1.49,-116.8,0.3,-0.0,2,82,7.00,2.72,0.00,0.000,4,0.000,0.000,1974,3608,2886
$GC,248,-1.49,-116.8,24.1,-10.6,31,257,0.50,2.78,0.00,0.000,6,0.000,0.000,1847,2068,2887
$GC,618,-1.64,-116.8,81.0,-12.9,92,627,0.43,2.72,0.00,0.000,4,0.000,0.000,1988,3565,2892
$GC,665,-1.50,-116.8,86.3,-9.8,98,674,0.52,3.33,0.00,0.000,6,0.000,0.000,1893,1885,2888
$GC,1012,-1.67,-116.8,139.4,-15.7,125,1020,0.08,3.62,0.00,0.000,4,0.000,0.000,1876,3690,2887
$GC,1092,-1.39,-116.8,152.2,-15.8,128,1100,0.52,3.28,0.00,0.000,6,0.000,0.000,2013,1995,2884
$GC,1422,-1.31,-116.8,185.3,-9.5,144,1429,0.00,3.28,0.00,0.000,4,0.000,0.000,1993,3663,2881
$GC,1474,-1.37,-116.8,190.5,-9.3,146,1480,0.47,2.62,0.00,0.000,6,0.000,0.000,1887,2020,2884
$GC,1800,-1.63,-116.8,238.8,-15.4,162,1807,0.00,3.35,0.00,0.000,4,0.000,0.000,1876,3494,2887
$GC,1857,-1.37,-116.8,248.0,-15.3,164,1862,0.57,2.15,0.00,0.000,6,0.000,0.000,2001,2145,2886
$GC,2181,-1.26,-116.8,278.0,-9.3,179,2183,0.15,0.00,0.00,0.000,6,0.000,0.000,1946,2163,2882
$GC,2491,-1.34,-116.8,313.7,-11.3,194,2497,0.00,3.28,0.00,0.000,4,0.000,0.000,1953,3694,2887
$GC,2525,-1.31,-116.8,318.7,-12.5,195,2531,0.05,2.67,0.00,0.000,6,0.000,0.000,1967,2191,2885
$GC,2850,-1.40,-116.8,356.6,-12.0,210,2851,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,2201,2886
$GC,3155,-1.31,-116.8,391.3,-10.6,225,3157,0.25,0.00,0.00,0.000,6,0.000,0.000,2011,2196,2886
$GC,3469,-1.45,-116.8,419.2,-8.3,240,3471,0.50,0.00,0.00,0.000,6,0.000,0.000,1899,2194,2884
$GC,3778,-1.68,-116.8,464.7,-15.0,255,3779,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,2197,2889
$GC,4102,-1.42,-116.8,513.7,-14.7,269,4109,0.50,2.85,0.00,0.000,4,0.000,0.000,2012,3543,2890
$GC,4131,-1.20,-116.8,517.4,-10.1,269,4136,0.03,2.45,0.00,0.000,6,0.000,0.000,2021,2054,2892
$GC,4472,-1.30,-116.8,548.5,-9.2,278,4477,0.00,2.92,0.00,0.000,4,0.000,0.000,2025,3583,2882
$GC,4519,-1.37,-116.8,553.0,-9.3,279,4527,0.52,3.12,0.00,0.000,6,0.000,0.000,1908,2090,2888
$STATE,4679,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4685,begin apogee
$GC,4697,-0.25,0.0,577.1,15.3,283,4722,1.60,0.00,15.48,0.000,6,0.000,0.000,2240,2100,2242
$STATE,4723,end apogee,CONTROL_FINISHED_OK
$STATE,4723,begin climb
$GC,4729,1.49,116.8,582.2,0.0,284,4744,1.88,0.00,11.18,0.000,6,0.000,0.000,2614,2107,1774
$GC,5049,1.49,116.8,523.8,19.1,292,5054,0.00,2.88,0.00,0.000,4,0.000,0.000,2604,3448,1768
$GC,5129,1.29,116.8,507.6,18.9,293,5139,0.55,2.92,0.00,0.000,6,0.000,0.000,2514,1957,1766
$GC,5453,1.21,145.7,466.8,11.5,307,5462,0.15,3.25,2.88,0.001,4,0.000,0.000,2567,3457,1643
$GC,5555,1.39,145.7,448.8,18.9,311,5564,0.00,2.35,0.00,0.000,6,0.000,0.000,2540,1987,1642
$GC,5881,1.39,145.7,394.5,17.0,327,5886,0.00,2.62,0.00,0.000,4,0.000,0.000,2559,3661,1639
$GC,5974,1.35,145.7,378.3,16.9,331,5982,0.00,3.53,0.00,0.000,6,0.000,0.000,2561,1973,1645
$GC,6315,1.45,145.7,320.3,16.9,347,6321,0.12,3.00,0.00,0.000,4,0.000,0.000,2569,3556,1640
$GC,6416,1.41,145.7,301.4,18.8,351,6421,0.00,2.97,0.00,0.000,6,0.000,0.000,2569,2053,1643
$GC,6743,1.31,145.7,245.6,17.2,366,6747,0.00,2.35,0.00,0.000,4,0.000,0.000,2568,3544,1635
$GC,6818,1.26,145.7,230.0,17.2,369,6823,0.00,2.55,0.00,0.000,6,0.000,0.000,2561,2194,1638
$GC,7143,1.34,145.7,170.6,17.2,384,7144,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2202,1645
$GC,7447,1.29,145.7,117.8,17.0,399,7451,0.00,2.03,0.00,0.000,4,0.000,0.000,2567,3566,1638
$GC,7512,1.24,145.7,106.5,17.2,402,7517,0.00,2.42,0.00,0.000,6,0.000,0.000,2562,2053,1641
$GC,7878,1.32,145.7,36.7,17.1,458,7886,0.00,2.35,0.00,0.000,4,0.000,0.000,2550,3437,1642
$GC,7938,1.28,145.7,25.6,17.1,467,7947,0.03,2.22,0.00,0.000,6,0.000,0.000,2579,2262,1643
$STATE,8069,end climb,SURFACE_DEPTH_REACHED
$STATE,8069,begin surface coast
$FINISH,0.3,1.025369
$STATE,8076,end surface coast,CONTROL_FINISHED_OK
$STATE,8082,begin surface
$SM_CCo,8110,19.15,0.000,0,0,403,450.37
$SM_GC,0.33,0.00,0.00,19.15,0.000,0.000,0.000,635,2085,403,-7.46,3.22,450.37
$RAFOS_CLK,0
$RAFOS,3,1160771647,20.583334,20.568611,80,0,0,0,0,0,703,0,0,0,0,0
$RAFOS,2,1160771045,20.416666,20.401388,80,0,0,0,0,0,920,0,0,0,0,0
$RAFOS,1,1160770446,20.250000,20.235001,80,0,0,0,0,0,696,0,0,0,0,0
$RAFOS,0,1160769855,20.083334,20.070833,80,0,0,0,0,0,511,0,0,0,0,0
$RAFOS_FIX,6637.971680,-6002.498535,131006,202048,4,80,0.42
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2428
$INTERNAL_PRESSURE,26.0846
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.5,19.7
$ALTIM_BOTTOM_PING,501.6,83.7
$24V_AH,23.7,43.316
$10V_AH,9.7,6.599
$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,25.700,85.175,29.525,19.150,0.000,0.000,0.000,66.668,4.500,23.068,1606.349,5341.842,216.196,549.938,689.186,0.000,682.906,0.000,460.999,1440.000,26.156
$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,407.769,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15893,490
$CFSIZE,255582208,241012736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,42,661,0,0
$SOUNDSPEED,1459.8
$CURRENT,0.074,234.5,1
$GPS,131006,205512,6638.018,-6006.805,21,1.1,21,18.0