version: 66.01
glider: 1
mission: 1
dive: 63
start: 10 14 106 21 35 47
data:
$ID,1
$MISSION,1
$DIVE,63
$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,-447975.5
$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,20
$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
$GPS1,213104,6636.813,-6006.411,22,1.1,22,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.5
$GPS2,213519,6636.813,-6006.411,18,1.1,18,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6647.571,-6006.040
$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,347.0,20000,-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,-116.8,0.0,0.0,0,58,0.00,0.00,-8.27,0.000,6,0.000,0.000,604,1748,2909
$GC,64,-1.49,-116.8,0.3,-0.0,2,82,7.03,2.70,0.00,0.000,4,0.000,0.000,2008,408,2909
$GC,298,-1.49,-116.8,28.5,-9.0,39,307,0.52,3.28,0.00,0.000,6,0.000,0.000,1870,2105,2910
$GC,667,-1.77,-116.8,86.6,-15.9,100,676,0.00,3.25,0.00,0.000,4,0.000,0.000,1885,3610,2911
$GC,739,-1.56,-116.8,98.3,-16.1,111,749,0.50,3.55,0.00,0.000,6,0.000,0.000,2005,1751,2911
$GC,1073,-1.36,-116.8,131.8,-9.7,128,1079,0.52,2.72,0.00,0.000,4,0.000,0.000,1883,272,2917
$GC,1110,-1.43,-116.8,137.8,-16.4,129,1119,0.55,3.38,0.00,0.000,6,0.000,0.000,1994,2119,2907
$GC,1435,-1.43,-116.8,170.4,-10.0,145,1442,0.47,2.90,0.00,0.000,4,0.000,0.000,1881,419,2916
$GC,1485,-1.49,-116.8,179.0,-16.5,147,1493,0.52,3.38,0.00,0.000,6,0.000,0.000,2005,2060,2913
$GC,1821,-1.49,-116.8,213.4,-9.8,163,1823,0.88,0.00,0.00,0.000,6,0.000,0.000,1877,2054,2908
$GC,2130,-1.64,-116.8,261.7,-16.0,178,2137,0.60,3.12,0.00,0.000,4,0.000,0.000,2005,359,2907
$GC,2178,-1.35,-116.8,268.8,-10.3,180,2187,0.52,3.45,0.00,0.000,6,0.000,0.000,1875,2033,2906
$GC,2514,-1.57,-116.8,322.1,-16.3,196,2517,0.52,0.00,0.00,0.000,6,0.000,0.000,2015,2018,2905
$GC,2828,-1.29,-116.8,353.9,-9.8,211,2834,0.12,2.88,0.00,0.000,4,0.000,0.000,1926,467,2914
$GC,2900,-1.36,-116.8,362.0,-13.0,214,2906,0.00,2.88,0.00,0.000,6,0.000,0.000,1942,2000,2905
$GC,3236,-1.46,-116.8,405.7,-13.0,230,3242,0.00,3.15,0.00,0.000,4,0.000,0.000,1935,3499,2913
$GC,3345,-1.35,-116.8,420.3,-13.3,234,3354,0.47,3.53,0.00,0.000,6,0.000,0.000,2058,1610,2911
$GC,3670,-1.25,-116.8,445.5,-7.4,250,3672,0.62,0.00,0.00,0.000,6,0.000,0.000,1908,1616,2907
$GC,3979,-1.47,-116.8,484.0,-12.3,265,3980,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,1619,2911
$GC,4302,-1.40,-116.8,526.4,-13.0,276,4309,0.00,3.97,0.00,0.000,4,0.000,0.000,1933,3621,2915
$GC,4342,-1.29,-116.8,532.1,-12.9,276,4352,0.47,3.72,0.00,0.000,6,0.001,0.000,2053,1621,2912
$GC,4678,-1.20,-116.8,556.9,-7.3,285,4680,0.50,0.00,0.00,0.000,6,0.000,0.000,1907,1612,2914
$STATE,4794,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4794,begin apogee
$GC,4807,-0.25,0.0,569.9,9.7,288,4826,1.35,0.00,15.75,0.000,6,0.000,0.000,2227,2267,2247
$STATE,4827,end apogee,CONTROL_FINISHED_OK
$STATE,4827,begin climb
$GC,4833,1.49,116.8,569.9,0.0,288,4849,2.12,0.00,11.52,0.000,6,0.000,0.000,2610,2284,1765
$GC,5167,1.49,116.8,511.7,19.4,297,5174,0.03,3.38,0.00,0.000,4,0.000,0.000,2644,410,1757
$GC,5268,1.30,116.8,492.6,19.7,299,5276,0.50,3.45,0.00,0.000,6,0.000,0.000,2489,2274,1754
$GC,5604,1.38,142.0,452.2,11.7,315,5613,0.40,3.45,2.25,0.000,4,0.000,0.000,2621,523,1670
$GC,5646,1.55,142.0,443.8,21.3,317,5654,0.15,3.17,0.00,0.000,6,0.000,0.000,2622,2043,1664
$GC,5986,1.57,142.0,371.7,21.6,333,5991,0.00,2.83,0.00,0.000,4,0.000,0.000,2626,3546,1668
$GC,6052,1.36,142.0,356.4,21.9,336,6060,0.50,3.42,0.00,0.000,6,0.000,0.000,2504,1661,1670
$GC,6393,1.15,153.0,311.5,12.9,352,6401,0.00,3.47,1.10,0.001,4,0.000,0.000,2524,3502,1621
$GC,6681,1.29,158.4,271.8,13.3,364,6695,0.52,2.95,0.60,0.000,6,0.000,0.000,2596,1827,1595
$GC,7006,1.40,158.4,200.3,22.7,380,7013,0.40,3.38,0.00,0.000,4,0.000,0.000,2489,3420,1591
$GC,7170,1.19,158.4,174.4,21.6,387,7175,0.10,2.45,0.00,0.000,6,0.000,0.000,2482,1904,1591
$GC,7505,1.13,158.4,125.2,19.8,403,7510,0.00,2.40,0.00,0.000,4,0.000,0.000,2487,574,1597
$GC,7541,0.91,172.5,119.7,12.6,404,7551,0.52,2.65,1.23,0.000,6,0.000,0.000,2376,2075,1542
$GC,7877,1.00,230.2,88.7,9.2,435,7885,0.65,0.00,4.70,0.000,6,0.000,0.000,2567,2065,1309
$GC,8244,1.56,230.2,8.3,22.2,496,8252,0.60,0.00,0.00,0.000,6,0.000,0.000,2685,2085,1315
$STATE,8267,end climb,SURFACE_DEPTH_REACHED
$STATE,8267,begin surface coast
$FINISH,0.3,1.024914
$STATE,8274,end surface coast,CONTROL_FINISHED_OK
$STATE,8279,begin surface
$SM_CCo,8309,14.10,0.000,0,0,393,451.84
$SM_GC,0.34,0.00,0.00,14.10,0.000,0.000,0.000,626,1766,393,-7.55,-6.42,451.84
$RAFOS_CLK,0
$RAFOS_FIX,6637.762695,-6002.915527,141006,202020,4,80,1.09
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2402
$INTERNAL_PRESSURE,26.0358
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,500.0,77.8
$24V_AH,23.7,46.318
$10V_AH,9.7,7.050
$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,32.625,90.175,37.150,14.100,0.000,0.000,0.000,67.317,4.500,19.540,1613.068,5473.211,231.293,579.023,677.458,0.000,723.685,0.000,491.779,0.000,26.081
$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,413.010,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15868,501
$CFSIZE,255582208,240287744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,62,686,0,0
$SOUNDSPEED,1459.7
$CURRENT,0.074,239.4,1
$GPS,141006,235558,6637.661,-6007.071,30,1.1,31,18.0