version: 66.01
glider: 1
mission: 1
dive: 66
start: 10 15 106 4 46 18
data:
$ID,1
$MISSION,1
$DIVE,66
$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,-448030.16
$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,12
$R_STBD_OVSHOOT,2
$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
$GPS1,044136,6636.512,-6007.672,28,1.1,28,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.7
$GPS2,044550,6636.512,-6007.672,18,1.1,19,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6641.286,-6003.838
$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,45.8,20000,-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,-116.8,0.0,0.0,0,59,0.00,0.00,-8.15,0.000,6,0.000,0.000,630,2230,2867
$GC,65,-1.49,-116.8,0.3,0.0,2,83,7.03,3.47,0.00,0.000,4,0.000,0.000,2017,555,2875
$GC,326,-1.49,-116.8,28.4,-9.5,44,336,0.52,3.17,0.00,0.000,6,0.000,0.000,1902,2207,2872
$GC,696,-1.91,-116.8,81.3,-14.6,105,705,0.60,3.03,0.00,0.000,4,0.000,0.000,1753,3687,2871
$GC,752,-1.67,-116.8,92.4,-21.4,113,761,0.80,3.67,0.00,0.000,6,0.000,0.000,1942,1843,2870
$GC,1098,-1.07,-116.8,135.1,-11.9,135,1106,0.50,2.97,0.00,0.000,4,0.000,0.000,2064,345,2872
$GC,1138,-1.01,-116.8,138.7,-6.4,136,1148,0.30,3.38,0.00,0.000,6,0.000,0.000,1989,2186,2867
$GC,1463,-1.39,-116.8,167.0,-9.1,152,1471,0.80,3.47,0.00,0.000,4,0.000,0.000,1877,335,2869
$GC,1504,-1.47,-116.8,172.8,-15.1,153,1514,0.52,3.25,0.00,0.000,6,0.000,0.000,2021,2254,2873
$GC,1823,-1.44,-116.8,203.0,-9.3,169,1832,0.40,3.47,0.00,0.000,4,0.000,0.000,1876,438,2865
$GC,1853,-1.52,-116.8,207.1,-15.5,170,1861,0.52,3.53,0.00,0.000,6,0.000,0.000,1998,2103,2869
$GC,2188,-1.47,-116.8,239.7,-9.6,186,2196,0.43,3.53,0.00,0.000,4,0.000,0.000,1872,279,2877
$GC,2214,-1.51,-116.8,243.1,-10.8,187,2223,0.55,3.28,0.00,0.000,6,0.000,0.000,1985,1998,2870
$GC,2552,-1.46,-116.8,276.9,-9.7,203,2560,0.52,3.28,0.00,0.000,4,0.000,0.000,1945,526,2872
$GC,2609,-1.51,-116.8,284.0,-12.2,205,2615,0.00,2.92,0.00,0.000,6,0.000,0.000,1927,2070,2868
$GC,2934,-1.53,-116.8,320.9,-12.5,220,2941,0.00,3.47,0.00,0.000,4,0.000,0.000,1931,439,2867
$GC,2991,-1.41,-116.8,328.9,-12.2,222,2997,0.08,2.97,0.00,0.000,6,0.000,0.000,1950,1923,2873
$GC,3316,-1.49,-116.8,368.5,-12.5,237,3322,0.00,3.05,0.00,0.000,4,0.000,0.000,1917,3542,2869
$GC,3392,-1.38,-116.8,378.3,-9.8,240,3405,0.22,3.65,0.00,0.000,6,0.000,0.000,2014,1684,2872
$GC,3722,-1.38,-116.8,409.9,-9.6,256,3723,0.03,0.00,0.00,0.000,6,0.000,0.000,1978,1672,2872
$GC,4031,-1.42,-116.8,439.7,-9.5,271,4033,0.45,0.00,0.00,0.000,6,0.000,0.000,1863,1684,2865
$GC,4340,-1.46,-116.8,485.8,-15.3,286,4342,0.62,0.00,0.00,0.000,6,0.000,0.000,1997,1673,2869
$GC,4642,-1.19,-116.8,516.8,-9.7,297,4650,0.00,3.85,0.00,0.000,4,0.000,0.000,1993,3690,2863
$GC,4717,-1.24,-116.8,524.3,-9.7,298,4722,0.00,2.85,0.00,0.000,6,0.000,0.000,2013,1834,2868
$GC,5057,-1.31,-116.8,556.7,-9.7,307,5062,0.00,2.47,0.00,0.000,4,0.000,0.000,2010,495,2870
$STATE,5109,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5109,begin apogee
$GC,5125,-0.25,0.0,562.5,9.6,308,5144,1.00,0.00,14.77,0.000,6,0.000,0.000,2230,2186,2244
$STATE,5144,end apogee,CONTROL_FINISHED_OK
$STATE,5144,begin climb
$GC,5150,1.49,116.8,564.9,0.0,308,5166,2.03,0.00,11.23,0.000,6,0.000,0.000,2645,2171,1771
$GC,5485,1.49,116.8,494.0,22.3,317,5488,0.57,0.00,0.00,0.000,6,0.000,0.000,2595,2182,1763
$GC,5795,1.18,116.8,436.8,18.4,332,5803,0.68,3.25,0.00,0.000,4,0.000,0.000,2396,538,1766
$GC,5871,1.02,190.9,429.5,7.9,335,5886,0.52,3.28,7.18,0.001,6,0.000,0.000,2544,2209,1461
$GC,6206,1.57,190.9,370.8,18.4,350,6208,0.38,0.00,0.00,0.000,6,0.000,0.000,2655,2202,1470
$GC,6510,1.57,190.9,280.6,29.8,365,6518,0.50,3.35,0.00,0.000,4,0.000,0.000,2535,368,1462
$GC,6562,1.23,190.9,268.3,18.2,367,6568,0.00,3.12,0.00,0.000,6,0.000,0.000,2538,2231,1458
$GC,6892,1.45,190.9,209.0,18.5,383,6899,0.05,3.33,0.00,0.000,4,0.000,0.000,2554,382,1464
$GC,6926,1.45,190.9,201.5,18.6,384,6939,0.30,2.95,0.00,0.000,6,0.000,0.000,2574,2098,1462
$GC,7255,1.63,190.9,125.9,23.7,400,7261,0.00,3.12,0.00,0.000,4,0.000,0.000,2614,406,1471
$GC,7313,1.46,190.9,110.0,25.1,402,7323,0.38,3.12,0.00,0.000,6,0.000,0.000,2546,2219,1464
$GC,7672,1.52,190.9,41.7,18.7,457,7680,0.60,2.78,0.00,0.000,4,0.000,0.000,2681,3533,1460
$GC,7772,1.50,190.9,14.5,31.0,472,7781,0.60,3.72,0.00,0.000,6,0.000,0.000,2555,1634,1460
$STATE,7820,end climb,SURFACE_DEPTH_REACHED
$STATE,7821,begin surface coast
$FINISH,0.3,1.024688
$STATE,7832,end surface coast,CONTROL_FINISHED_OK
$STATE,7832,begin surface
$SM_CCo,7861,16.38,0.000,0,0,402,450.62
$SM_GC,0.34,0.00,0.00,16.38,0.000,0.000,0.000,617,2151,402,-7.62,4.89,450.62
$RAFOS_CLK,0
$RAFOS,3,1160886848,4.583333,4.568889,80,0,0,0,0,0,695,0,0,0,0,0
$RAFOS_FIX,6637.327637,-6004.030273,151006,040420,4,80,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2282
$INTERNAL_PRESSURE,26.0553
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.6,19.2
$ALTIM_BOTTOM_PING,501.0,71.4
$24V_AH,23.7,47.117
$10V_AH,9.7,7.169
$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,32.275,104.550,33.175,16.375,0.000,0.000,0.000,67.792,4.500,19.750,1573.715,5147.470,249.006,527.948,649.652,0.000,702.297,0.000,442.092,0.000,36.041
$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,397.451,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15857,481
$CFSIZE,255582208,240095232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,62,814,0,0
$SOUNDSPEED,1459.6
$CURRENT,0.065,305.2,1
$GPS,151006,065924,6637.122,-6006.002,29,1.1,30,18.0