version: 66.01
glider: 1
mission: 1
dive: 68
start: 10 15 106 9 23 53
data:
$ID,1
$MISSION,1
$DIVE,68
$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,-448068.94
$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,152
$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
$GPS1,091906,6637.484,-6008.083,28,1.1,28,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.9
$GPS2,092324,6637.484,-6008.083,26,1.1,26,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6629.254,-6010.873
$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,202.4,20000,-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,42,-1.49,-116.8,0.0,0.0,0,58,0.00,0.00,-8.00,0.000,6,0.000,0.000,607,1825,2847
$GC,64,-1.49,-116.8,0.3,0.0,2,82,6.62,2.20,0.00,0.000,4,0.000,0.000,2025,318,2843
$GC,174,-1.49,-116.8,14.0,-8.3,18,183,0.55,2.97,0.00,0.000,6,0.000,0.000,1883,1834,2843
$GC,544,-1.81,-116.8,63.3,-13.5,79,552,0.38,3.25,0.00,0.000,4,0.000,0.000,1778,3552,2840
$GC,683,-1.59,-116.8,89.7,-20.3,101,693,0.80,3.62,0.00,0.000,6,0.000,0.000,1950,1700,2842
$GC,1036,-1.02,-116.8,129.7,-11.1,126,1039,0.82,0.00,0.00,0.000,6,0.000,0.000,2133,1697,2849
$GC,1345,-0.94,-116.8,149.5,-5.9,141,1352,0.52,2.17,0.00,0.000,4,0.000,0.000,2073,526,2839
$GC,1401,-1.35,-116.8,153.4,-6.2,143,1407,0.77,2.12,0.00,0.000,6,0.000,0.000,1907,2033,2840
$GC,1727,-1.74,-116.8,197.9,-14.0,159,1732,0.00,3.08,0.00,0.000,4,0.000,0.000,1889,3516,2844
$GC,1774,-1.49,-116.8,204.9,-14.2,161,1782,0.50,3.03,0.00,0.000,6,0.000,0.000,2012,1817,2844
$GC,2104,-1.26,-116.8,233.7,-8.5,177,2110,0.10,3.05,0.00,0.000,4,0.000,0.000,2014,332,2837
$GC,2129,-1.36,-116.8,236.0,-8.3,178,2137,0.52,2.97,0.00,0.000,6,0.000,0.000,1902,1857,2840
$GC,2458,-1.58,-116.8,280.7,-13.9,194,2464,0.10,2.33,0.00,0.000,4,0.000,0.000,1906,332,2835
$GC,2488,-1.33,-116.8,285.2,-14.4,195,2501,0.57,2.88,0.00,0.000,6,0.000,0.000,2020,1852,2839
$GC,2818,-1.33,-116.8,313.4,-8.4,211,2825,0.40,2.97,0.00,0.000,4,0.000,0.000,1924,3360,2843
$GC,2968,-1.43,-116.8,333.9,-14.0,217,2980,0.52,2.75,0.00,0.000,6,0.000,0.000,2018,1871,2840
$GC,3297,-1.19,-116.8,361.5,-8.4,233,3302,0.00,2.45,0.00,0.000,4,0.000,0.000,2019,360,2842
$GC,3327,-1.29,-116.8,364.7,-8.6,234,3340,0.40,3.28,0.00,0.000,6,0.000,0.000,1979,1876,2848
$GC,3656,-1.56,-116.8,399.2,-10.9,250,3662,0.15,2.80,0.00,0.000,4,0.000,0.000,1957,3552,2841
$GC,3743,-1.51,-116.8,409.0,-10.6,253,3752,0.12,3.40,0.00,0.000,6,0.000,0.000,1952,1689,2842
$GC,4068,-1.45,-116.8,444.3,-11.0,269,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,1690,2846
$GC,4372,-1.40,-116.8,478.1,-10.8,284,4377,0.00,2.35,0.00,0.000,4,0.000,0.000,1962,383,2844
$GC,4402,-1.34,-116.8,481.7,-11.0,285,4408,0.00,3.03,0.00,0.000,6,0.000,0.000,1942,2016,2839
$GC,4740,-1.45,-116.8,518.4,-11.0,297,4746,0.00,3.08,0.00,0.000,4,0.000,0.000,1967,486,2839
$GC,4800,-1.40,-116.8,525.1,-11.3,298,4805,0.00,2.33,0.00,0.000,6,0.000,0.000,1969,2028,2843
$STATE,5105,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5105,begin apogee
$GC,5117,-0.25,0.0,558.6,10.9,306,5135,1.52,0.00,14.30,0.000,6,0.000,0.000,2253,1683,2243
$STATE,5136,end apogee,CONTROL_FINISHED_OK
$STATE,5136,begin climb
$GC,5142,1.49,116.8,558.6,0.0,306,5162,2.08,2.62,11.15,0.000,4,0.000,0.000,2608,346,1765
$GC,5193,1.49,116.8,553.8,18.5,307,5199,0.10,2.85,0.00,0.000,6,0.000,0.000,2617,1822,1767
$GC,5511,1.57,116.8,493.0,18.9,315,5518,0.05,3.33,0.00,0.000,4,0.000,0.000,2607,3358,1766
$GC,5790,1.39,116.8,439.9,18.7,327,5795,0.50,2.22,0.00,0.000,6,0.000,0.000,2491,1860,1775
$GC,6126,1.22,137.1,399.2,12.1,343,6135,0.38,2.35,1.92,0.000,4,0.000,0.000,2612,3358,1693
$GC,6257,1.32,137.1,372.3,19.8,348,6267,0.50,2.72,0.00,0.000,6,0.000,0.000,2492,1857,1691
$GC,6582,1.16,165.6,334.6,11.5,364,6592,0.03,3.28,2.95,0.001,4,0.000,0.000,2542,3227,1564
$GC,6809,1.38,165.6,295.8,16.9,374,6814,0.15,2.33,0.00,0.000,6,0.000,0.000,2568,1885,1560
$GC,7138,1.38,165.6,241.3,17.1,390,7143,0.00,2.75,0.00,0.000,4,0.000,0.000,2539,3210,1563
$GC,7340,1.38,165.6,206.3,17.4,399,7345,0.00,2.62,0.00,0.000,6,0.000,0.000,2556,1987,1566
$GC,7676,1.38,165.6,150.4,17.0,415,7681,0.00,2.47,0.00,0.000,4,0.000,0.000,2525,673,1561
$GC,7713,1.38,165.6,141.7,23.0,416,7722,0.00,2.88,0.00,0.000,6,0.000,0.000,2545,2159,1559
$GC,8040,1.45,165.6,86.3,17.5,441,8049,0.45,1.85,0.00,0.000,4,0.000,0.000,2519,3346,1561
$GC,8124,1.45,165.6,71.9,16.8,454,8133,0.12,2.53,0.00,0.000,6,0.000,0.000,2560,2006,1560
$GC,8492,1.45,165.6,9.6,16.6,515,8501,0.52,2.47,0.00,0.000,4,0.000,0.000,2662,3229,1570
$STATE,8522,end climb,SURFACE_DEPTH_REACHED
$STATE,8523,begin surface coast
$FINISH,0.3,1.025152
$STATE,8533,end surface coast,CONTROL_FINISHED_OK
$STATE,8534,begin surface
$SM_CCo,8566,18.02,0.000,0,0,397,451.35
$SM_GC,0.34,0.00,0.00,18.02,0.000,0.000,0.000,571,1924,397,-7.77,-2.09,451.35
$RAFOS_CLK,0
$RAFOS,4,1160904544,9.500000,9.484445,40,0,0,0,0,0,0,0,0,0,0,0
$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,2350
$INTERNAL_PRESSURE,26.0455
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.6,19.6
$ALTIM_BOTTOM_PING,500.6,65.7
$24V_AH,23.7,47.629
$10V_AH,9.7,7.252
$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,31.000,103.925,30.325,18.025,0.000,0.000,0.000,67.446,4.500,26.707,1712.216,5521.983,254.139,642.027,716.348,0.000,793.403,0.000,537.667,360.000,26.170
$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,431.863,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18977,521
$CFSIZE,255582208,239951872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,61,817,0,0
$SOUNDSPEED,1459.7
$CURRENT,0.068, 96.7,1
$GPS,151006,114825,6636.605,-6008.729,22,1.1,22,18.0