version: 66.01
glider: 1
mission: 1
dive: 13
start: 10 9 106 21 17 16
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,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,-448919.47
$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,4
$R_STBD_OVSHOOT,19
$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
$GPS1,211220,6638.147,-6032.271,30,1.1,30,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-70.0
$GPS2,211646,6638.147,-6032.271,15,1.1,15,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6648.294,-6030.816
$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,-116.8,0.0,0.0,0,127,0.00,0.00,-76.53,0.000,6,0.000,0.000,627,2189,2743
$GC,134,-1.49,-116.8,0.1,-0.3,10,151,6.57,3.45,0.00,0.000,4,0.000,0.000,1977,360,2740
$GC,192,-1.62,-116.8,14.3,-9.4,18,201,0.57,3.72,0.00,0.000,6,0.000,0.000,1898,2229,2745
$GC,559,-1.35,-116.8,64.6,-12.4,79,567,0.70,2.60,0.00,0.000,4,0.000,0.000,2020,3541,2744
$GC,611,-1.43,-116.8,68.8,-7.8,86,620,0.50,2.62,0.00,0.000,6,0.000,0.000,1890,1752,2746
$GC,981,-1.18,-116.8,112.3,-11.6,135,989,0.68,3.53,0.00,0.000,4,0.000,0.000,2052,3626,2742
$GC,1123,-1.42,-116.8,120.9,-5.4,141,1131,0.80,3.35,0.00,0.000,6,0.000,0.000,1923,1768,2747
$GC,1459,-1.29,-116.8,151.0,-9.0,157,1467,0.50,3.33,0.00,0.000,4,0.000,0.000,2048,3652,2741
$GC,1564,-1.55,-116.8,157.2,-5.3,161,1578,0.77,3.38,0.00,0.000,6,0.000,0.000,1894,1822,2741
$GC,1894,-1.29,-116.8,191.0,-10.7,177,1902,0.75,2.95,0.00,0.000,4,0.000,0.000,2047,3644,2740
$GC,1993,-1.67,-116.8,197.4,-5.0,181,2001,1.10,2.85,0.00,0.000,6,0.000,0.000,1831,1761,2743
$GC,2328,-1.22,-116.8,235.3,-11.9,197,2337,1.05,3.25,0.00,0.000,4,0.000,0.000,2054,3468,2744
$GC,2493,-1.44,-116.8,244.8,-3.9,204,2500,0.80,2.62,0.00,0.000,6,0.000,0.000,1868,1784,2746
$GC,2833,-1.15,-116.8,276.3,-9.6,220,2841,0.77,3.25,0.00,0.000,4,0.000,0.000,1983,3627,2748
$GC,2944,-1.24,-116.8,284.0,-5.7,224,2953,0.00,3.35,0.00,0.000,6,0.000,0.000,1984,1783,2744
$GC,3269,-1.29,-116.8,302.5,-5.8,240,3276,0.00,3.25,0.00,0.000,4,0.000,0.000,1978,3454,2746
$GC,3390,-1.37,-116.8,309.5,-5.9,245,3396,0.50,2.47,0.00,0.000,6,0.000,0.000,1883,1916,2742
$GC,3721,-1.09,-116.8,339.3,-9.0,261,3730,1.10,3.20,0.00,0.000,4,0.000,0.000,2066,3590,2736
$GC,3797,-1.33,-116.8,343.1,-4.3,264,3805,0.57,3.42,0.00,0.000,6,0.000,0.000,1956,1773,2739
$GC,4133,-1.38,-116.8,366.9,-7.6,280,4140,0.00,3.53,0.00,0.000,4,0.000,0.000,1939,3621,2740
$GC,4240,-1.31,-116.8,374.2,-7.4,284,4248,0.80,4.00,0.00,0.000,6,0.000,0.000,2006,1725,2742
$GC,4573,-1.65,-116.8,388.8,-4.2,300,4581,0.88,3.60,0.00,0.000,4,0.000,0.000,1956,3598,2741
$GC,4678,-1.58,-116.8,396.1,-6.7,304,4691,0.08,3.67,0.00,0.000,6,0.000,0.000,1957,1788,2741
$GC,5007,-1.48,-116.8,418.5,-6.9,320,5015,0.00,3.75,0.00,0.000,4,0.000,0.000,1933,3643,2739
$GC,5115,-1.42,-116.8,426.4,-6.9,324,5120,0.00,2.97,0.00,0.000,6,0.000,0.000,1935,1938,2740
$GC,5439,-1.32,-116.8,448.2,-6.8,339,5445,0.08,2.75,0.00,0.000,4,0.001,0.000,1944,3418,2742
$GC,5520,-1.24,-116.8,453.9,-7.0,342,5526,0.52,2.45,0.00,0.000,6,0.000,0.000,2076,2068,2746
$GC,5845,-1.46,-116.8,467.6,-4.0,357,5853,0.77,2.95,0.00,0.000,4,0.000,0.000,1935,3610,2743
$GC,5879,-1.38,-116.8,470.1,-7.4,358,5892,0.00,3.55,0.00,0.000,6,0.000,0.000,1934,1929,2741
$GC,6209,-1.26,-116.8,492.4,-6.9,374,6216,0.35,3.00,0.00,0.000,4,0.000,0.000,2051,3630,2749
$GC,6284,-1.51,-116.8,496.2,-4.1,377,6292,0.80,2.67,0.00,0.000,6,0.000,0.000,1881,2266,2735
$STATE,6386,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6386,begin apogee
$GC,6399,-0.25,0.0,504.5,8.2,381,6527,1.88,0.00,113.97,0.000,6,0.000,0.000,2229,1947,2263
$STATE,6528,end apogee,CONTROL_FINISHED_OK
$STATE,6528,begin climb
$GC,6534,1.49,116.8,505.8,0.0,384,6661,2.10,2.92,113.10,0.001,4,0.000,0.000,2657,3415,1779
$GC,6697,1.19,116.8,473.2,24.5,390,6710,0.85,3.22,0.00,0.000,6,0.000,0.000,2469,1926,1792
$GC,7026,1.42,148.3,426.9,11.2,406,7063,0.80,2.83,30.05,0.001,4,0.000,0.000,2669,3622,1659
$GC,7161,1.12,148.3,391.3,27.9,411,7170,1.00,2.83,0.75,0.001,6,0.000,0.000,2473,1864,1656
$GC,7496,1.33,167.1,346.9,12.3,427,7522,0.55,3.30,16.38,0.001,4,0.000,0.000,2595,3552,1591
$GC,7642,1.20,167.1,314.3,22.9,433,7650,0.60,3.08,0.00,0.000,6,0.000,0.000,2465,2065,1587
$GC,7977,1.39,179.0,269.8,12.8,449,8001,0.77,2.45,12.52,0.001,4,0.000,0.000,2674,3587,1532
$GC,8066,1.12,179.0,246.6,28.0,452,8075,1.00,2.67,0.12,0.000,6,0.000,0.000,2441,2108,1538
$GC,8391,1.55,236.2,213.6,9.2,468,8451,1.12,2.25,52.90,0.001,4,0.000,0.000,2650,3399,1306
$GC,8529,1.23,236.2,172.2,34.3,473,8537,0.82,2.97,0.00,0.000,6,0.000,0.000,2509,1897,1297
$GC,8865,1.39,236.2,119.3,15.1,489,8871,0.57,2.45,0.00,0.000,4,0.000,0.000,2608,3432,1302
$GC,9002,1.23,236.2,84.4,25.0,501,9011,0.60,2.70,0.00,0.000,6,0.000,0.000,2488,1891,1303
$GC,9369,1.39,236.2,28.5,14.5,562,9379,0.38,3.33,0.47,0.001,4,0.000,0.000,2605,3566,1298
$STATE,9480,end climb,SURFACE_DEPTH_REACHED
$STATE,9480,begin surface coast
$FINISH,0.2,1.024789
$STATE,9487,end surface coast,CONTROL_FINISHED_OK
$STATE,9487,begin surface
$SM_CCo,9520,134.30,0.000,1,0,424,450.37
$SM_GC,-0.00,0.00,0.00,134.30,0.000,0.000,0.000,619,1887,424,-7.57,-2.26,450.37
$RAFOS_CLK,0
$RAFOS,4,1160429346,21.500000,21.485001,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,6636.657715,-6028.072266,091006,202048,4,80,0.46
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2353
$INTERNAL_PRESSURE,25.9967
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.9,19.6
$ALTIM_BOTTOM_PING,425.3,89.1
$24V_AH,23.7,56.439
$10V_AH,9.7,8.636
$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,44.650,135.775,340.275,134.300,0.000,0.000,0.000,85.836,3.750,15.914,1784.187,5824.831,777.682,738.345,801.310,0.000,1424.514,0.000,633.896,360.000,26.934
$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,468.780,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18976,581
$CFSIZE,255582208,243367936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,98,1054,3,0
$SOUNDSPEED,1469.3
$CURRENT,0.051,264.4,1
$GPS,091006,235934,6638.879,-6032.345,13,1.1,13,18.0