version: 66.01
glider: 1
mission: 1
dive: 61
start: 10 14 106 16 54 46
data:
$ID,1
$MISSION,1
$DIVE,61
$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,-447920.66
$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,16
$R_STBD_OVSHOOT,25
$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
$GPS1,165000,6638.085,-6007.346,29,1.1,29,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.8
$GPS2,165417,6638.085,-6007.346,22,1.1,22,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6630.119,-6010.253
$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,204.5,20000,-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,36,end surface,CONTROL_FINISHED_OK
$STATE,36,begin dive
$GC,42,-1.49,-116.8,0.0,0.0,0,58,0.00,0.00,-8.07,0.000,6,0.000,0.000,599,1729,2834
$GC,65,-1.49,-116.8,0.3,-0.0,2,82,6.78,2.50,0.00,0.000,4,0.000,0.000,1982,400,2828
$GC,131,-1.49,-116.8,12.3,-9.1,11,140,0.52,3.22,0.00,0.000,6,0.000,0.000,1893,2211,2831
$GC,501,-1.75,-116.8,64.7,-14.1,72,508,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,2208,2834
$GC,855,-1.48,-116.8,115.4,-14.5,118,863,0.60,3.45,0.00,0.000,4,0.000,0.000,1914,375,2836
$GC,890,-1.19,-116.8,120.6,-12.3,119,896,0.50,2.67,0.00,0.000,6,0.000,0.000,2040,1897,2838
$GC,1217,-1.29,-116.8,142.5,-6.7,134,1224,0.38,3.22,0.00,0.000,4,0.000,0.000,1944,3610,2826
$GC,1316,-1.51,-116.8,153.8,-11.4,138,1323,0.00,3.38,0.00,0.000,6,0.000,0.000,1924,1781,2832
$GC,1652,-1.44,-116.8,191.7,-11.6,154,1657,0.00,2.75,0.00,0.000,4,0.000,0.000,1931,265,2834
$GC,1677,-1.33,-116.8,195.6,-11.8,155,1684,0.17,3.17,0.00,0.000,6,0.000,0.000,1984,1970,2834
$GC,2007,-1.36,-116.8,225.5,-8.8,171,2009,0.47,0.00,0.00,0.000,6,0.000,0.000,1883,1984,2828
$GC,2320,-1.43,-116.8,269.7,-14.6,186,2328,0.52,3.17,0.00,0.000,4,0.000,0.000,1991,516,2834
$GC,2350,-1.14,-116.8,274.0,-10.1,187,2355,0.00,2.78,0.00,0.000,6,0.000,0.000,2008,2034,2835
$GC,2681,-1.23,-116.8,303.9,-9.3,203,2688,0.00,3.47,0.00,0.000,4,0.000,0.000,1983,354,2834
$GC,2710,-1.26,-116.8,307.4,-9.3,204,2718,0.00,3.88,0.00,0.000,6,0.000,0.000,1988,2186,2841
$GC,3045,-1.44,-116.8,337.8,-9.2,220,3053,0.43,3.25,0.00,0.000,4,0.000,0.000,1863,345,2837
$GC,3094,-1.48,-116.8,344.9,-15.0,222,3101,0.50,2.90,0.00,0.000,6,0.000,0.000,2008,2170,2832
$GC,3430,-1.44,-116.8,376.7,-9.1,238,3437,0.62,3.25,0.00,0.000,4,0.000,0.000,1872,484,2842
$GC,3456,-1.48,-116.8,379.7,-10.8,239,3464,0.55,3.15,0.00,0.000,6,0.000,0.000,2010,2142,2836
$GC,3792,-1.43,-116.8,409.8,-8.9,255,3798,0.40,2.88,0.00,0.000,4,0.000,0.000,1944,459,2835
$GC,3818,-1.56,-116.8,412.8,-10.0,256,3823,0.00,3.17,0.00,0.000,6,0.000,0.000,1936,1922,2831
$GC,4151,-1.62,-116.8,451.1,-11.9,272,4158,0.03,3.25,0.00,0.000,4,0.000,0.000,1939,3576,2836
$GC,4241,-1.49,-116.8,462.4,-11.9,275,4250,0.00,2.75,0.00,0.000,6,0.000,0.000,1919,1718,2829
$GC,4570,-1.38,-116.8,500.6,-11.8,291,4572,0.08,0.00,0.00,0.000,6,0.000,0.000,1910,1696,2838
$GC,4886,-1.25,-116.8,539.1,-11.8,299,4894,0.38,3.53,0.00,0.000,4,0.000,0.000,2058,3540,2837
$GC,5041,-1.13,-116.8,550.9,-6.7,302,5049,0.45,3.83,0.00,0.000,6,0.000,0.000,1934,1708,2827
$STATE,5189,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5189,begin apogee
$GC,5207,-0.25,0.0,568.2,11.9,306,5225,1.77,0.00,14.05,0.000,6,0.000,0.000,2269,2065,2250
$STATE,5226,end apogee,CONTROL_FINISHED_OK
$STATE,5226,begin climb
$GC,5232,1.49,116.8,568.2,0.0,306,5248,1.90,0.00,11.57,0.000,6,0.000,0.000,2667,2069,1771
$GC,5567,1.49,116.8,500.0,22.8,315,5573,0.50,2.67,0.00,0.000,4,0.000,0.000,2546,3392,1762
$GC,5661,1.18,116.8,486.1,14.9,319,5668,0.38,3.17,0.00,0.000,6,0.000,0.000,2495,1715,1762
$GC,6002,1.18,155.0,448.8,10.7,335,6013,0.00,4.18,3.65,0.001,4,0.000,0.000,2475,3617,1613
$GC,6235,1.42,177.7,420.5,11.9,345,6245,0.50,3.20,2.03,0.001,6,0.000,0.000,2615,1932,1527
$GC,6565,1.65,177.7,347.9,22.2,361,6570,0.00,2.28,0.00,0.000,4,0.000,0.000,2615,735,1525
$GC,6625,1.48,177.7,334.4,22.5,363,6633,0.00,2.17,0.00,0.000,6,0.000,0.000,2589,2118,1522
$GC,6949,1.48,177.7,263.5,22.4,379,6956,0.03,3.25,0.00,0.000,4,0.000,0.000,2604,448,1520
$GC,6989,1.32,177.7,253.0,22.8,380,6999,0.50,2.97,0.00,0.000,6,0.000,0.000,2471,2000,1531
$GC,7314,1.41,195.2,211.9,12.4,396,7319,0.77,0.00,1.85,0.000,6,0.000,0.000,2665,1986,1448
$GC,7624,1.62,195.2,126.1,28.7,411,7631,0.35,3.03,0.00,0.000,4,0.000,0.000,2547,487,1445
$GC,7682,1.31,195.2,112.2,18.5,413,7687,0.00,2.90,0.00,0.000,6,0.000,0.000,2543,2171,1448
$GC,8040,1.51,195.2,47.0,23.1,464,8048,0.52,2.58,0.00,0.000,4,0.000,0.000,2682,3370,1447
$GC,8071,1.45,195.2,39.5,25.2,468,8080,0.73,2.75,0.00,0.000,6,0.000,0.000,2533,2017,1450
$STATE,8245,end climb,SURFACE_DEPTH_REACHED
$STATE,8245,begin surface coast
$FINISH,0.3,1.024735
$STATE,8252,end surface coast,CONTROL_FINISHED_OK
$STATE,8252,begin surface
$SM_CCo,8282,16.10,0.000,0,0,414,451.60
$SM_GC,0.34,0.00,0.00,16.10,0.000,0.000,0.000,569,1845,414,-7.75,-3.93,451.60
$RAFOS_CLK,0
$RAFOS_FIX,6637.810547,-6002.045898,141006,161620,4,80,0.33
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2400
$INTERNAL_PRESSURE,26.0162
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.8,20.1
$ALTIM_BOTTOM_PING,500.6,74.0
$24V_AH,23.7,45.793
$10V_AH,9.7,6.972
$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,31.350,105.800,33.150,16.100,0.000,0.000,0.000,68.003,4.500,23.222,1639.467,5380.386,244.094,582.571,710.151,0.000,738.948,0.000,488.023,0.000,26.197
$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,416.233,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15878,498
$CFSIZE,255582208,240410624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,60,804,0,0
$SOUNDSPEED,1459.8
$CURRENT,0.072,111.5,1
$GPS,141006,191417,6637.229,-6008.299,9,1.1,9,18.0