version: 66.01
glider: 1
mission: 1
dive: 69
start: 10 15 106 11 53 26
data:
$ID,1
$MISSION,1
$DIVE,69
$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,-448107.69
$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,180
$R_STBD_OVSHOOT,191
$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
$GPS1,114825,6636.605,-6008.729,22,1.1,22,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.9
$GPS2,115258,6636.605,-6008.729,37,1.1,37,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6631.748,-6004.888
$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,98.7,20000,-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,-116.8,0.0,0.0,0,58,0.00,0.00,-8.05,0.000,6,0.000,0.000,577,1924,2833
$GC,64,-1.49,-116.8,0.3,0.0,2,82,6.90,2.45,0.00,0.000,4,0.000,0.000,2033,747,2841
$GC,272,-1.49,-116.8,20.4,-7.1,35,281,0.75,2.47,0.00,0.000,6,0.000,0.000,1859,1908,2839
$GC,641,-1.78,-116.8,77.4,-15.4,96,651,0.00,2.35,0.00,0.000,4,0.000,0.000,1854,3246,2835
$GC,854,-1.55,-116.8,111.5,-15.9,122,863,0.52,2.47,0.00,0.000,6,0.000,0.000,1969,2056,2833
$GC,1179,-1.20,-116.8,144.5,-10.1,138,1184,0.00,2.28,0.00,0.000,4,0.000,0.000,1978,684,2839
$GC,1223,-1.18,-116.8,149.6,-10.1,140,1228,0.52,2.22,0.00,0.000,6,0.000,0.000,2086,1839,2834
$GC,1555,-1.32,-116.8,170.7,-5.8,156,1563,0.77,2.78,0.00,0.000,4,0.000,0.000,1980,3343,2832
$GC,1650,-1.62,-116.8,179.5,-10.2,160,1656,0.50,2.30,0.00,0.000,6,0.000,0.000,1837,1873,2831
$GC,1982,-1.59,-116.8,230.4,-15.6,176,1984,0.50,0.00,0.00,0.000,6,0.000,0.000,1990,1861,2841
$GC,2296,-1.24,-116.8,262.3,-9.8,191,2301,0.00,2.42,0.00,0.000,4,0.000,0.000,1982,545,2843
$GC,2343,-1.26,-116.8,267.8,-10.2,193,2351,0.08,3.42,0.00,0.000,6,0.000,0.000,1969,2088,2835
$GC,2673,-1.42,-116.8,300.8,-10.1,209,2678,0.00,3.25,0.00,0.000,4,0.000,0.000,1984,573,2836
$GC,2721,-1.42,-116.8,305.6,-9.2,211,2725,0.00,2.03,0.00,0.000,6,0.000,0.000,1984,1945,2837
$GC,3046,-1.57,-116.8,338.0,-10.0,227,3048,0.65,0.00,0.00,0.000,6,0.000,0.000,1862,1937,2832
$GC,3360,-1.56,-116.8,385.5,-15.6,242,3368,0.85,3.20,0.00,0.000,4,0.000,0.000,1971,419,2829
$GC,3409,-1.22,-116.8,392.1,-9.8,244,3415,0.10,2.83,0.00,0.000,6,0.000,0.000,1974,1908,2835
$GC,3740,-1.44,-116.8,424.8,-10.0,260,3742,0.30,0.00,0.00,0.000,6,0.000,0.000,1928,1913,2838
$GC,4055,-1.44,-116.8,462.5,-11.8,275,4057,0.35,0.00,0.00,0.000,6,0.000,0.000,1902,1892,2840
$GC,4368,-1.33,-116.8,501.1,-12.5,290,4373,0.45,2.47,0.00,0.000,4,0.000,0.000,2029,748,2839
$GC,4404,-1.18,-116.8,505.7,-7.1,290,4413,0.05,2.47,0.00,0.000,6,0.000,0.000,2049,1778,2835
$GC,4740,-1.44,-116.8,530.2,-7.4,299,4748,0.62,2.95,0.00,0.000,4,0.000,0.000,1910,3452,2841
$STATE,4955,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4955,begin apogee
$GC,4971,-0.25,0.0,557.2,12.9,303,4989,1.70,0.00,14.27,0.000,6,0.000,0.000,2276,2131,2245
$STATE,4990,end apogee,CONTROL_FINISHED_OK
$STATE,4990,begin climb
$GC,4995,1.49,116.8,559.3,0.0,304,5015,1.52,3.15,11.20,0.000,4,0.000,0.000,2667,469,1769
$GC,5051,1.49,116.8,550.8,22.2,305,5059,0.52,3.33,0.00,0.000,6,0.000,0.000,2517,1941,1766
$GC,5409,1.46,117.6,498.5,13.7,314,5415,0.52,2.72,0.00,0.000,4,0.000,0.000,2661,3462,1765
$GC,5643,1.49,117.6,447.6,22.7,324,5651,0.52,3.17,0.00,0.000,6,0.000,0.000,2540,1967,1768
$GC,5978,1.20,121.1,400.3,13.5,340,5983,0.00,2.15,0.00,0.000,4,0.000,0.000,2537,637,1767
$GC,6045,1.22,121.1,390.2,14.0,343,6049,0.00,1.98,0.00,0.000,6,0.000,0.000,2519,1820,1763
$GC,6380,1.38,121.1,344.3,13.9,359,6386,0.05,2.65,0.00,0.000,4,0.000,0.000,2547,3485,1775
$GC,6658,1.40,121.1,303.4,14.0,371,6664,0.00,3.17,0.00,0.000,6,0.000,0.000,2528,2115,1760
$GC,6990,1.43,121.1,258.3,14.0,387,6995,0.22,2.45,0.00,0.000,4,0.000,0.000,2592,604,1772
$GC,7086,1.46,121.1,240.4,16.7,391,7090,0.00,2.58,0.00,0.000,6,0.000,0.000,2609,1916,1776
$GC,7416,1.53,121.1,182.8,17.8,407,7421,0.00,2.88,0.00,0.000,4,0.000,0.000,2596,3225,1769
$GC,7697,1.39,121.1,129.0,18.5,419,7710,0.10,2.97,0.73,0.000,6,0.000,0.000,2604,1895,1747
$GC,8045,1.25,121.1,61.7,19.0,459,8054,0.35,2.28,0.00,0.000,4,0.000,0.000,2467,3215,1734
$GC,8236,1.10,121.1,39.2,16.6,490,8245,0.00,2.85,0.00,0.000,6,0.000,0.000,2473,1886,1741
$STATE,8576,end climb,SURFACE_DEPTH_REACHED
$STATE,8576,begin surface coast
$FINISH,0.3,1.024858
$STATE,8594,end surface coast,CONTROL_FINISHED_OK
$STATE,8594,begin surface
$SM_CCo,8622,20.73,0.000,0,0,406,450.62
$SM_GC,0.34,0.00,0.00,20.73,0.000,0.000,0.000,595,1887,406,-7.69,-2.46,450.62
$RAFOS_CLK,0
$RAFOS,3,1160915644,12.583333,12.567778,80,0,0,0,0,0,717,0,0,0,0,0
$RAFOS,2,1160915056,12.416667,12.404445,80,0,0,0,0,0,872,0,0,0,0,0
$RAFOS,1,1160914444,12.250000,12.234445,80,0,0,0,0,0,719,0,0,0,0,0
$RAFOS,0,1160913851,12.083333,12.069722,80,0,0,0,0,0,542,0,0,0,0,0
$RAFOS_FIX,6637.066895,-6003.541504,151006,121248,4,80,2.34
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.025311
$HUMID,2398
$INTERNAL_PRESSURE,26.0358
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.6,18.8
$ALTIM_BOTTOM_PING,501.1,66.1
$24V_AH,23.7,47.905
$10V_AH,9.7,7.296
$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,28.800,85.175,26.200,20.725,0.000,0.000,0.000,68.127,4.500,38.111,1822.590,5475.437,213.894,695.133,724.276,0.000,778.680,0.000,575.174,1440.000,26.160
$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,456.827,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18996,550
$CFSIZE,255582208,239878144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,55,659,0,0
$SOUNDSPEED,1459.4
$CURRENT,0.054,358.8,1
$GPS,151006,141914,6636.516,-6006.610,26,1.1,26,18.0