version: 66.01
glider: 1
mission: 1
dive: 64
start: 10 15 106 0 0 43
data:
$ID,1
$MISSION,1
$DIVE,64
$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,-447999.34
$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,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
$GPS1,235558,6637.661,-6007.071,30,1.1,31,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.9
$GPS2,000014,6637.661,-6007.071,22,1.1,22,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6635.675,-6011.288
$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,241.4,20000,-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,-8.02,0.000,6,0.000,0.000,634,1762,2872
$GC,64,-1.49,-116.8,0.3,0.1,2,81,6.75,2.45,0.00,0.000,4,0.000,0.000,2032,293,2867
$GC,276,-1.49,-116.8,24.3,-8.2,36,285,0.57,2.75,0.00,0.000,6,0.000,0.000,1888,1962,2870
$GC,645,-1.82,-116.8,77.1,-14.5,97,653,0.00,2.62,0.00,0.000,4,0.000,0.000,1887,3604,2872
$GC,751,-1.58,-116.8,91.7,-14.7,113,760,0.10,3.88,0.00,0.000,6,0.000,0.000,1904,1931,2875
$GC,1097,-1.37,-116.8,142.0,-14.5,135,1105,0.62,3.33,0.00,0.000,4,0.000,0.000,2022,3634,2868
$GC,1138,-1.13,-116.8,146.9,-8.6,136,1147,0.00,2.85,0.00,0.000,6,0.000,0.000,2026,1788,2868
$GC,1463,-1.28,-116.8,173.4,-8.3,152,1474,0.35,3.47,0.00,0.000,4,0.000,0.000,1894,3636,2862
$GC,1564,-1.40,-116.8,187.6,-14.1,156,1572,0.45,3.83,0.00,0.000,6,0.000,0.000,2007,1842,2867
$GC,1894,-1.22,-116.8,216.1,-8.2,172,1897,0.52,0.00,0.00,0.000,6,0.000,0.000,1877,1854,2875
$GC,2208,-1.35,-116.8,258.8,-14.1,187,2210,0.60,0.00,0.00,0.000,6,0.000,0.000,2042,1847,2871
$GC,2519,-1.13,-116.8,285.4,-8.2,202,2521,0.03,0.00,0.00,0.000,6,0.000,0.000,2036,1847,2871
$GC,2827,-1.26,-116.8,310.9,-8.3,217,2829,0.40,0.00,0.00,0.000,6,0.000,0.000,1906,1842,2869
$GC,3137,-1.39,-116.8,352.0,-13.7,232,3143,0.45,2.75,0.00,0.000,4,0.000,0.000,2040,337,2875
$GC,3174,-1.19,-116.8,356.8,-7.4,233,3184,0.03,3.38,0.00,0.000,6,0.000,0.000,2031,2174,2869
$GC,3499,-1.55,-116.8,381.7,-7.8,249,3507,0.68,3.80,0.00,0.000,4,0.000,0.000,1853,338,2869
$GC,3534,-1.72,-116.8,386.7,-15.2,250,3547,0.52,3.62,0.00,0.000,6,0.000,0.000,1959,2219,2874
$GC,3864,-1.64,-116.8,423.0,-10.8,266,3873,0.52,3.25,0.00,0.000,4,0.000,0.000,1854,572,2869
$GC,3915,-1.61,-116.8,431.7,-16.8,268,3923,0.52,3.17,0.00,0.000,6,0.000,0.000,1966,2246,2871
$GC,4245,-1.43,-116.8,467.8,-11.0,284,4250,0.00,3.12,0.00,0.000,4,0.000,0.000,1967,382,2870
$GC,4281,-1.40,-116.8,472.1,-11.3,285,4291,0.00,3.65,0.00,0.000,6,0.000,0.000,1968,2237,2869
$GC,4626,-1.57,-116.8,509.4,-11.1,300,4633,0.00,3.78,0.00,0.000,4,0.000,0.000,1960,544,2871
$GC,4683,-1.52,-116.8,516.7,-10.9,301,4691,0.52,3.08,0.00,0.000,6,0.000,0.000,1835,2120,2873
$STATE,4958,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4958,begin apogee
$GC,4970,-0.25,0.0,563.1,17.1,308,4990,2.03,0.00,15.02,0.000,6,0.000,0.000,2275,1753,2241
$STATE,4991,end apogee,CONTROL_FINISHED_OK
$STATE,4991,begin climb
$GC,4996,1.49,116.8,563.1,0.0,308,5015,1.55,2.92,11.23,0.000,4,0.000,0.000,2610,3407,1772
$GC,5110,1.49,116.8,550.1,16.8,310,5117,0.00,3.53,0.00,0.000,6,0.000,0.000,2589,1754,1767
$GC,5441,1.42,116.8,495.0,16.8,319,5448,0.00,3.58,0.00,0.000,4,0.000,0.000,2590,3577,1769
$GC,5610,1.32,116.8,465.8,16.8,326,5623,0.08,3.35,0.00,0.000,6,0.000,0.000,2583,1749,1762
$GC,5939,1.25,116.8,408.6,17.0,342,5947,0.52,3.25,0.00,0.000,4,0.000,0.000,2451,3583,1763
$GC,6002,1.14,167.4,400.8,9.7,344,6014,0.52,2.88,4.95,0.001,6,0.000,0.000,2577,1865,1569
$GC,6347,1.46,167.4,332.7,19.9,361,6351,0.00,2.53,0.00,0.000,4,0.000,0.000,2565,3575,1567
$GC,6443,1.35,167.4,313.9,20.1,365,6450,0.00,3.58,0.00,0.000,6,0.000,0.000,2577,1880,1562
$GC,6778,1.27,167.4,244.0,20.8,381,6784,0.50,2.78,0.00,0.000,4,0.000,0.000,2479,3388,1559
$GC,6885,1.16,197.6,229.1,11.3,385,6894,0.50,2.67,3.08,0.000,6,0.000,0.000,2564,2038,1439
$GC,7209,1.45,197.6,161.7,22.0,401,7215,0.00,3.28,0.00,0.000,4,0.000,0.000,2596,545,1433
$GC,7294,1.34,197.6,141.6,22.4,404,7303,0.50,2.62,0.00,0.000,6,0.000,0.000,2469,2193,1437
$GC,7619,1.42,214.8,100.9,12.4,420,7628,0.68,3.22,1.52,0.000,4,0.000,0.000,2641,531,1359
$GC,7682,1.66,214.8,83.5,30.0,427,7691,0.08,3.03,0.00,0.000,6,0.000,0.000,2660,2231,1356
$STATE,7959,end climb,SURFACE_DEPTH_REACHED
$STATE,7959,begin surface coast
$FINISH,0.3,1.024460
$STATE,7965,end surface coast,CONTROL_FINISHED_OK
$STATE,7965,begin surface
$SM_CCo,7996,14.55,0.000,0,0,400,450.86
$SM_GC,0.34,0.00,0.00,14.55,0.000,0.000,0.000,598,1736,400,-7.61,-6.59,450.86
$RAFOS_CLK,0
$RAFOS,3,1160872454,0.583333,0.570556,80,0,0,0,0,0,671,0,0,0,0,0
$RAFOS,2,1160871852,0.416667,0.403333,80,0,0,0,0,0,892,0,0,0,0,0
$RAFOS,1,1160871244,0.250000,0.234444,80,0,0,0,0,0,715,0,0,0,0,0
$RAFOS,0,1160870641,0.083333,0.066944,80,0,0,0,0,0,591,0,0,0,0,0
$RAFOS_FIX,6637.558105,-6004.027344,151006,000020,4,80,1.78
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2412
$INTERNAL_PRESSURE,26.0553
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,18.6,18.2
$ALTIM_BOTTOM_PING,500.5,71.9
$24V_AH,23.7,46.586
$10V_AH,9.7,7.089
$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,30.625,103.100,35.800,14.550,0.000,0.000,0.000,68.002,4.500,23.210,1581.938,5213.498,251.768,559.703,676.143,0.000,727.504,0.000,468.358,1440.000,26.160
$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,393.432,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15882,474
$CFSIZE,255582208,240226304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,59,781,0,0
$SOUNDSPEED,1459.7
$CURRENT,0.073,143.2,1
$GPS,151006,021553,6637.150,-6008.934,21,1.1,21,18.0