version: 66.01
glider: 1
mission: 1
dive: 70
start: 10 15 106 14 23 52
data:
$ID,1
$MISSION,1
$DIVE,70
$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,-448120.5
$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,166
$R_STBD_OVSHOOT,157
$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
$GPS1,141914,6636.516,-6006.610,26,1.1,26,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.9
$GPS2,142323,6636.516,-6006.610,11,1.1,11,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6646.740,-6005.238
$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,0.8,20000,-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,42,-1.49,-116.8,0.0,0.0,0,58,0.00,0.00,-8.15,0.000,6,0.000,0.000,600,1893,2870
$GC,64,-1.49,-116.8,0.3,0.0,2,83,6.62,2.42,0.00,0.000,4,0.000,0.000,1983,533,2867
$GC,180,-1.49,-116.8,15.7,-10.1,19,189,0.52,3.08,0.00,0.000,6,0.000,0.000,1850,2051,2869
$GC,549,-1.65,-116.8,74.4,-15.6,80,557,0.00,2.75,0.00,0.000,4,0.000,0.000,1855,3251,2871
$GC,601,-1.32,-116.8,82.0,-16.2,87,609,0.77,1.92,0.00,0.000,6,0.000,0.000,2041,1884,2871
$GC,948,-1.00,-116.8,111.4,-7.8,127,953,0.00,2.75,0.00,0.000,4,0.000,0.000,2022,576,2874
$GC,1001,-1.17,-116.8,115.7,-7.5,129,1013,0.03,3.33,0.00,0.000,6,0.000,0.000,2046,2076,2868
$GC,1330,-1.45,-116.8,140.8,-7.8,145,1336,0.45,2.72,0.00,0.000,4,0.000,0.000,1925,569,2870
$GC,1378,-1.62,-116.8,146.8,-13.1,147,1383,0.03,2.45,0.00,0.000,6,0.000,0.000,1911,1952,2875
$GC,1704,-1.88,-116.8,188.5,-13.0,163,1711,0.62,2.72,0.00,0.000,4,0.000,0.000,1806,437,2869
$GC,1732,-1.74,-116.8,193.2,-16.6,164,1738,0.55,2.22,0.00,0.000,6,0.000,0.000,1908,1910,2877
$GC,2063,-1.63,-116.8,235.2,-13.1,180,2068,0.00,2.67,0.00,0.000,4,0.000,0.000,1911,567,2871
$GC,2093,-1.51,-116.8,239.6,-12.3,181,2097,0.05,1.85,0.00,0.000,6,0.000,0.000,1922,1755,2873
$GC,2419,-1.45,-116.8,281.5,-13.3,196,2426,0.38,3.25,0.00,0.000,4,0.000,0.000,2050,3444,2866
$GC,2518,-1.28,-116.8,290.6,-5.0,200,2526,0.52,2.75,0.00,0.000,6,0.000,0.000,1919,1783,2872
$GC,2853,-1.45,-116.8,329.6,-12.7,216,2858,0.05,1.98,0.00,0.000,4,0.000,0.000,2003,595,2873
$GC,2889,-1.32,-116.8,333.7,-10.1,217,2898,0.03,2.67,0.00,0.000,6,0.000,0.000,1986,1930,2879
$GC,3214,-1.51,-116.8,365.4,-9.9,233,3219,0.55,2.25,0.00,0.000,4,0.000,0.000,1863,603,2870
$GC,3239,-1.53,-116.8,369.6,-12.9,234,3244,0.50,2.03,0.00,0.000,6,0.000,0.000,1982,1942,2865
$GC,3564,-1.44,-116.8,403.5,-10.2,250,3570,0.08,2.65,0.00,0.000,4,0.000,0.000,1985,480,2867
$GC,3617,-1.44,-116.8,409.1,-10.0,252,3623,0.08,2.38,0.00,0.000,6,0.000,0.000,1972,1681,2871
$GC,3942,-1.61,-116.8,441.6,-10.3,267,3945,0.38,0.00,0.00,0.000,6,0.000,0.000,1850,1662,2874
$GC,4251,-1.62,-116.8,489.9,-15.9,282,4253,0.43,0.00,0.00,0.000,6,0.000,0.000,1993,1674,2872
$GC,4552,-1.34,-116.8,521.8,-10.1,292,4558,0.00,3.15,0.00,0.000,4,0.000,0.000,1982,3544,2871
$GC,4645,-1.35,-116.8,531.3,-10.0,294,4652,0.15,3.40,0.00,0.000,6,0.000,0.000,1978,1740,2872
$GC,4972,-1.38,-116.8,564.1,-10.0,302,4976,0.10,1.75,0.00,0.000,4,0.000,0.000,1937,565,2872
$STATE,4985,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4985,begin apogee
$GC,5000,-0.25,0.0,566.5,10.2,302,5023,1.98,0.00,14.90,0.000,6,0.000,0.000,2266,2131,2242
$STATE,5024,end apogee,CONTROL_FINISHED_OK
$STATE,5024,begin climb
$GC,5029,1.49,116.8,569.0,0.0,303,5048,1.52,2.45,11.12,0.000,4,0.000,0.000,2679,3304,1771
$GC,5077,1.49,116.8,561.9,21.7,304,5083,0.57,2.15,0.00,0.000,6,0.000,0.000,2541,2138,1771
$GC,5406,1.22,122.8,516.3,13.3,312,5411,0.00,2.17,0.68,0.001,4,0.000,0.000,2533,3300,1745
$GC,5450,1.29,122.8,510.2,13.9,313,5455,0.03,2.12,0.00,0.000,6,0.000,0.000,2543,1960,1741
$GC,5787,1.36,123.6,464.7,13.7,327,5792,0.05,2.30,0.00,0.000,4,0.000,0.000,2531,3454,1741
$GC,5867,1.40,125.8,453.3,13.6,330,5872,0.40,2.35,0.00,0.000,6,0.000,0.000,2603,1920,1743
$GC,6191,1.45,125.8,396.5,18.0,345,6196,0.03,2.67,0.00,0.000,4,0.000,0.000,2613,637,1747
$GC,6238,1.32,125.8,386.9,19.2,347,6243,0.52,2.35,0.00,0.000,6,0.000,0.000,2478,2126,1745
$GC,6563,1.38,168.7,351.5,10.3,363,6574,0.43,2.88,4.38,0.001,4,0.000,0.000,2582,672,1563
$GC,6635,1.64,168.7,338.9,21.7,366,6640,0.00,2.58,0.00,0.000,6,0.000,0.000,2577,1977,1555
$GC,6970,1.64,168.7,266.3,20.9,382,6979,0.25,3.08,0.00,0.000,4,0.000,0.000,2643,502,1562
$GC,7032,1.52,168.7,249.1,25.8,384,7042,0.50,2.85,0.00,0.000,6,0.000,0.000,2542,2005,1554
$GC,7358,1.44,168.7,195.6,16.4,400,7364,0.47,2.75,0.00,0.000,4,0.000,0.000,2661,525,1560
$GC,7380,1.47,168.7,190.6,16.6,401,7386,0.52,2.47,0.00,0.000,6,0.000,0.000,2520,1722,1566
$GC,7712,1.47,168.7,134.1,16.7,417,7720,0.52,3.47,0.00,0.000,4,0.000,0.000,2658,3370,1554
$GC,8010,1.49,168.7,56.3,27.3,449,8019,0.52,2.78,0.00,0.000,6,0.000,0.000,2515,2050,1555
$STATE,8318,end climb,SURFACE_DEPTH_REACHED
$STATE,8319,begin surface coast
$FINISH,0.3,1.025177
$STATE,8338,end surface coast,CONTROL_FINISHED_OK
$STATE,8338,begin surface
$SM_CCo,8367,17.95,0.000,0,0,385,450.86
$SM_GC,0.33,0.00,0.00,17.95,0.000,0.000,0.000,611,2052,385,-7.68,1.98,450.86
$RAFOS_CLK,0
$RAFOS,3,1160930044,16.583334,16.567778,80,0,0,0,0,0,717,0,0,0,0,0
$RAFOS,2,1160929453,16.416666,16.403610,80,0,0,0,0,0,880,0,0,0,0,0
$RAFOS,1,1160928843,16.250000,16.234167,80,0,0,0,0,0,714,0,0,0,0,0
$RAFOS,0,1160928246,16.083334,16.068333,80,0,0,0,0,0,565,0,0,0,0,0
$RAFOS,4,1160926141,15.500000,15.483611,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,6637.120605,-6002.827148,151006,161620,4,80,0.42
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2388
$INTERNAL_PRESSURE,26.0358
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.2,18.2
$ALTIM_BOTTOM_PING,501.3,75.1
$24V_AH,23.7,48.184
$10V_AH,9.7,7.337
$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,30.975,103.300,31.075,17.950,0.000,0.000,0.000,68.093,4.500,12.203,1685.831,5439.148,235.344,578.628,710.778,0.000,739.721,0.000,493.517,1800.000,26.147
$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,419.539,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15865,503
$CFSIZE,255582208,239816704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,57,792,0,0
$SOUNDSPEED,1459.7
$CURRENT,0.071,256.2,1
$GPS,151006,164518,6637.442,-6006.795,22,1.1,22,18.0