version: 66.01
glider: 1
mission: 1
dive: 67
start: 10 15 106 7 3 56
data:
$ID,1
$MISSION,1
$DIVE,67
$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,-448041.59
$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,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
$GPS1,065924,6637.122,-6006.002,29,1.1,30,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-70.0
$GPS2,070327,6637.122,-6006.002,10,1.1,10,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6645.992,-6008.433
$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,307.2,20000,-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,-116.8,0.0,0.0,0,59,0.00,0.00,-8.23,0.000,6,0.000,0.000,594,2128,2866
$GC,65,-1.49,-116.8,0.3,-0.0,2,83,7.18,3.03,0.00,0.000,4,0.000,0.000,2003,292,2864
$GC,185,-1.49,-116.8,17.3,-9.0,20,194,0.50,3.62,0.00,0.000,6,0.000,0.000,1875,2158,2862
$GC,556,-1.75,-116.8,72.1,-15.1,81,563,0.00,0.00,0.00,0.000,6,0.000,0.000,1879,2160,2861
$GC,917,-1.49,-116.8,125.5,-15.1,120,925,0.40,3.53,0.00,0.000,4,0.000,0.000,2002,327,2865
$GC,966,-1.22,-116.8,132.2,-9.3,122,973,0.00,3.28,0.00,0.000,6,0.000,0.000,1985,1975,2861
$GC,1307,-1.48,-116.8,163.8,-9.4,138,1315,0.60,3.03,0.00,0.000,4,0.000,0.000,1866,338,2867
$GC,1337,-1.53,-116.8,168.1,-13.0,139,1345,0.50,3.72,0.00,0.000,6,0.000,0.000,1979,2146,2865
$GC,1675,-1.48,-116.8,201.6,-9.9,155,1683,0.50,3.53,0.00,0.000,4,0.000,0.000,1864,308,2863
$GC,1732,-1.51,-116.8,211.1,-15.9,157,1746,0.60,3.53,0.00,0.000,6,0.000,0.000,1997,1869,2864
$GC,2062,-1.44,-116.8,244.3,-10.1,173,2064,0.28,0.00,0.00,0.000,6,0.000,0.000,1923,1866,2863
$GC,2372,-1.44,-116.8,282.7,-12.4,188,2373,0.25,0.00,0.00,0.000,6,0.000,0.000,1929,1858,2859
$GC,2681,-1.33,-116.8,322.1,-12.7,203,2688,0.85,2.47,0.00,0.000,4,0.000,0.000,2049,511,2865
$GC,2732,-1.18,-116.8,327.5,-7.1,205,2740,0.52,2.78,0.00,0.000,6,0.000,0.000,1926,2005,2869
$GC,3062,-1.51,-116.8,363.2,-11.9,221,3064,0.08,0.00,0.00,0.000,6,0.000,0.000,1939,2000,2861
$GC,3377,-1.40,-116.8,400.2,-12.1,236,3384,0.00,3.40,0.00,0.000,4,0.000,0.000,1946,336,2869
$GC,3429,-1.30,-116.8,407.4,-11.8,238,3435,0.35,2.72,0.00,0.000,6,0.000,0.000,1997,2143,2866
$GC,3755,-1.47,-116.8,437.5,-9.1,254,3763,0.55,3.53,0.00,0.000,4,0.000,0.000,1953,304,2874
$GC,3796,-1.55,-116.8,442.2,-11.6,255,3806,0.03,3.05,0.00,0.000,6,0.000,0.000,1946,1945,2864
$GC,4116,-1.77,-116.8,478.1,-11.6,271,4124,0.52,3.25,0.00,0.000,4,0.000,0.000,1883,315,2870
$GC,4151,-1.70,-116.8,483.2,-14.9,272,4164,0.00,3.55,0.00,0.000,6,0.000,0.000,1891,1993,2862
$GC,4473,-1.73,-116.8,530.8,-15.1,283,4478,0.00,2.58,0.00,0.000,4,0.000,0.000,1877,3322,2858
$GC,4586,-1.47,-116.8,547.4,-14.8,285,4593,0.47,2.83,0.00,0.000,6,0.000,0.000,2006,1668,2861
$STATE,4811,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4811,begin apogee
$GC,4823,-0.25,0.0,569.3,8.7,291,4841,1.12,0.00,14.88,0.000,6,0.000,0.000,2223,1850,2237
$STATE,4842,end apogee,CONTROL_FINISHED_OK
$STATE,4842,begin climb
$GC,4848,1.49,116.8,569.3,0.0,291,4868,1.92,3.15,11.20,0.001,4,0.000,0.000,2665,313,1765
$GC,4904,1.49,116.8,562.0,22.7,292,4912,0.68,2.97,0.00,0.000,6,0.000,0.000,2554,1846,1764
$GC,5261,1.47,116.8,509.4,14.3,301,5268,0.45,3.03,0.00,0.000,4,0.000,0.000,2661,3537,1762
$GC,5544,1.47,116.8,444.5,23.1,312,5557,0.52,3.25,0.00,0.000,6,0.000,0.000,2541,1852,1769
$GC,5874,1.16,116.8,396.5,14.6,328,5879,0.50,2.53,0.00,0.000,4,0.000,0.000,2420,3527,1759
$GC,6107,1.16,187.5,376.2,8.1,338,6121,0.52,3.50,6.62,0.001,6,0.000,0.000,2546,1828,1484
$GC,6442,1.61,187.5,316.9,18.3,353,6444,0.50,0.00,0.00,0.000,6,0.000,0.000,2665,1825,1497
$GC,6745,1.59,187.5,230.4,29.0,368,6751,0.45,2.78,0.00,0.000,4,0.000,0.000,2534,3357,1483
$GC,6818,1.26,187.5,217.0,18.2,371,6823,0.05,2.35,0.00,0.000,6,0.000,0.000,2551,1854,1486
$GC,7153,1.27,187.5,155.8,18.3,387,7161,0.03,3.25,0.00,0.000,4,0.000,0.000,2542,3554,1481
$GC,7264,1.27,187.5,131.9,18.4,391,7272,0.00,3.03,0.00,0.000,6,0.000,0.000,2553,1851,1490
$GC,7600,1.29,187.5,71.0,18.3,425,7609,0.00,3.38,0.00,0.000,4,0.000,0.000,2534,3466,1486
$GC,7662,1.27,187.5,59.8,18.3,434,7671,0.03,3.05,0.00,0.000,6,0.000,0.000,2546,1838,1483
$STATE,7949,end climb,SURFACE_DEPTH_REACHED
$STATE,7949,begin surface coast
$FINISH,0.3,1.025597
$STATE,7956,end surface coast,CONTROL_FINISHED_OK
$STATE,7956,begin surface
$SM_CCo,7986,16.85,0.000,0,0,398,451.35
$SM_GC,0.34,0.00,0.00,16.85,0.000,0.000,0.000,608,1835,398,-7.65,-4.64,451.35
$RAFOS_CLK,0
$RAFOS,3,1160901245,8.583333,8.568055,80,0,0,0,0,0,712,0,0,0,0,0
$RAFOS,2,1160900644,8.416667,8.401111,80,0,0,0,0,0,932,0,0,0,0,0
$RAFOS,1,1160900057,8.250000,8.238055,80,0,0,0,0,0,640,0,0,0,0,0
$RAFOS,0,1160899460,8.083333,8.072222,80,0,0,0,0,0,486,0,0,0,0,0
$RAFOS_FIX,6637.386230,-6003.008301,151006,080820,4,80,0.48
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2351
$INTERNAL_PRESSURE,26.0553
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.7,20.1
$ALTIM_BOTTOM_PING,500.5,77.6
$24V_AH,23.7,47.369
$10V_AH,9.7,7.209
$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,31.150,94.000,32.700,16.850,0.000,0.000,0.000,67.663,4.500,10.823,1611.184,5157.015,240.646,573.073,681.124,0.000,733.116,0.000,491.812,1440.000,31.459
$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,403.403,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15830,483
$CFSIZE,255582208,240033792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,65,735,0,0
$SOUNDSPEED,1459.7
$CURRENT,0.080,200.4,1
$GPS,151006,091906,6637.484,-6008.083,28,1.1,28,18.0