version: 66.01
glider: 1
mission: 1
dive: 62
start: 10 14 106 19 19 12
data:
$ID,1
$MISSION,1
$DIVE,62
$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,-447955.34
$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,1
$R_STBD_OVSHOOT,3
$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
$GPS1,191417,6637.229,-6008.299,9,1.1,9,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.9
$GPS2,191843,6637.229,-6008.299,33,1.1,33,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6630.078,-6005.073
$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,113.5,20000,-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,34,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,-7.97,0.000,6,0.000,0.000,597,1830,2879
$GC,64,-1.49,-116.8,0.3,-0.0,2,81,6.78,2.45,0.00,0.000,4,0.000,0.000,1975,505,2871
$GC,222,-1.49,-116.8,22.6,-9.6,27,231,0.52,3.28,0.00,0.000,6,0.000,0.000,1858,2198,2872
$GC,591,-1.80,-116.8,78.7,-15.9,88,598,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,2185,2876
$GC,933,-1.49,-116.8,133.6,-16.0,120,941,0.43,3.47,0.00,0.000,4,0.000,0.000,1993,320,2873
$GC,974,-1.17,-116.8,138.6,-10.1,121,983,0.00,3.17,0.00,0.000,6,0.000,0.000,1997,2206,2870
$GC,1298,-1.40,-116.8,169.2,-9.7,137,1304,0.20,2.65,0.00,0.000,4,0.000,0.000,1998,378,2881
$GC,1335,-1.43,-116.8,173.6,-9.7,138,1345,0.00,3.83,0.00,0.000,6,0.000,0.000,1987,2212,2878
$GC,1660,-1.70,-116.8,205.1,-9.9,154,1662,0.65,0.00,0.00,0.000,6,0.000,0.000,1812,2229,2874
$GC,1969,-1.74,-116.8,260.9,-18.7,169,1977,0.47,3.35,0.00,0.000,4,0.000,0.000,1941,327,2875
$GC,2021,-1.28,-116.8,270.3,-13.2,171,2029,0.50,3.53,0.00,0.000,6,0.000,0.000,2049,2195,2876
$GC,2356,-1.41,-116.8,293.6,-6.9,187,2364,0.65,3.25,0.00,0.000,4,0.000,0.000,1859,326,2878
$GC,2419,-1.66,-116.8,302.5,-15.0,189,2428,0.00,3.28,0.00,0.000,6,0.000,0.000,1894,1960,2883
$GC,2744,-1.63,-116.8,351.0,-15.2,205,2750,0.00,2.97,0.00,0.000,4,0.000,0.000,1874,3657,2873
$GC,2797,-1.36,-116.8,360.3,-15.0,207,2810,0.77,3.75,0.00,0.000,6,0.000,0.000,2025,1599,2879
$GC,3122,-1.13,-116.8,391.7,-9.4,223,3127,0.00,2.95,0.00,0.000,4,0.000,0.000,1996,3598,2882
$GC,3216,-1.19,-116.8,400.1,-9.8,227,3222,0.00,2.95,0.00,0.000,6,0.000,0.000,1982,1866,2873
$GC,3552,-1.27,-116.8,431.9,-9.3,243,3557,0.00,2.62,0.00,0.000,4,0.000,0.000,2004,349,2874
$GC,3588,-1.34,-116.8,435.7,-8.2,244,3598,0.22,3.65,0.00,0.000,6,0.000,0.000,1939,2198,2878
$GC,3910,-1.71,-116.8,474.5,-12.4,260,3916,0.55,2.22,0.00,0.000,4,0.000,0.000,1808,3535,2883
$GC,3946,-1.60,-116.8,480.8,-17.3,261,3956,0.57,3.35,0.00,0.000,6,0.000,0.000,1943,1665,2869
$GC,4263,-1.20,-116.8,520.1,-12.1,273,4272,0.35,3.95,0.00,0.000,4,0.000,0.000,2064,3665,2869
$GC,4299,-1.10,-116.8,523.8,-7.9,273,4313,0.45,3.65,0.00,0.000,6,0.000,0.000,1957,1672,2879
$STATE,4634,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4634,begin apogee
$GC,4647,-0.25,0.0,564.3,12.3,282,4666,1.58,0.00,14.85,0.000,6,0.000,0.000,2245,2178,2244
$STATE,4666,end apogee,CONTROL_FINISHED_OK
$STATE,4666,begin climb
$GC,4672,1.49,116.8,564.3,0.0,282,4688,1.83,0.00,11.27,0.000,6,0.000,0.000,2674,2176,1779
$GC,5007,1.49,116.8,495.9,22.4,291,5015,0.47,3.25,0.00,0.000,4,0.000,0.000,2536,347,1771
$GC,5056,1.17,116.8,487.5,14.1,293,5063,0.00,3.28,0.00,0.000,6,0.000,0.000,2540,2012,1772
$GC,5398,1.42,116.8,440.9,14.3,309,5400,0.43,0.00,0.00,0.000,6,0.000,0.000,2652,2019,1776
$GC,5700,1.37,116.8,373.3,22.7,324,5706,0.73,2.45,0.00,0.000,4,0.000,0.000,2482,478,1770
$GC,5775,1.04,160.2,363.2,10.3,327,5786,0.00,3.08,4.45,0.000,6,0.000,0.000,2502,1994,1582
$GC,6105,1.44,178.6,323.2,12.3,342,6110,0.73,0.00,1.73,0.000,6,0.000,0.000,2605,2002,1505
$GC,6414,1.47,178.6,239.4,38.9,357,6419,0.10,2.65,0.00,0.000,4,0.000,0.000,2605,315,1519
$GC,6461,0.54,178.6,227.0,22.4,359,6469,1.35,3.65,0.00,0.000,6,0.000,0.000,2320,2102,1512
$GC,6796,0.66,233.9,194.0,9.4,375,6808,0.77,0.00,4.53,0.000,6,0.000,0.000,2491,2103,1281
$GC,7124,1.41,233.9,133.5,21.6,391,7132,0.35,3.10,0.00,0.000,4,0.000,0.000,2616,427,1278
$GC,7209,1.41,233.9,112.4,27.8,394,7222,0.52,3.47,0.00,0.000,6,0.000,0.000,2495,2071,1276
$GC,7571,1.48,233.9,54.5,15.9,446,7578,0.57,0.00,0.00,0.000,6,0.000,0.000,2626,2074,1286
$STATE,7759,end climb,SURFACE_DEPTH_REACHED
$STATE,7760,begin surface coast
$FINISH,0.3,1.024815
$STATE,7767,end surface coast,CONTROL_FINISHED_OK
$STATE,7767,begin surface
$SM_CCo,7796,13.57,0.000,0,0,396,450.62
$SM_GC,0.34,0.00,0.00,13.57,0.000,0.000,0.000,605,1746,396,-7.65,-6.78,450.62
$RAFOS_CLK,0
$RAFOS,3,1160858062,20.583334,20.572779,80,0,0,0,0,0,620,0,0,0,0,0
$RAFOS,2,1160857452,20.416666,20.403334,80,0,0,0,0,0,890,0,0,0,0,0
$RAFOS,1,1160856844,20.250000,20.234444,80,0,0,0,0,0,712,0,0,0,0,0
$RAFOS,0,1160856242,20.083334,20.067223,80,0,0,0,0,0,586,0,0,0,0,0
$RAFOS_FIX,6637.762695,-6002.915527,141006,202020,4,80,1.09
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2408
$INTERNAL_PRESSURE,26.026
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.9,18.8
$ALTIM_BOTTOM_PING,529.3,44.3
$24V_AH,23.7,46.064
$10V_AH,9.7,7.010
$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,32.175,90.350,36.825,13.575,0.000,0.000,0.000,67.721,4.750,34.048,1555.858,5108.559,250.404,535.854,642.873,0.000,692.492,0.000,435.409,1440.000,27.473
$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,394.408,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15923,479
$CFSIZE,255582208,240357376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,60,694,0,0
$SOUNDSPEED,1459.7
$CURRENT,0.088,345.0,1
$GPS,141006,213104,6636.813,-6006.411,22,1.1,22,18.0