version: 66.01
glider: 1
mission: 1
dive: 71
start: 10 15 106 16 49 54
data:
$ID,1
$MISSION,1
$DIVE,71
$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,-448133.34
$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,169
$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
$GPS1,164518,6637.442,-6006.795,22,1.1,22,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.9
$GPS2,164924,6637.442,-6006.795,11,1.1,11,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6638.608,-6011.051
$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,258.2,20000,-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,35,end surface,CONTROL_FINISHED_OK
$STATE,35,begin dive
$GC,41,-1.49,-116.8,0.0,0.0,0,57,0.00,0.00,-8.43,0.000,6,0.000,0.000,606,2051,2900
$GC,64,-1.49,-116.8,0.3,0.1,2,81,6.55,2.95,0.00,0.000,4,0.000,0.000,1950,3409,2902
$GC,372,-1.49,-116.8,44.0,-12.6,52,380,0.00,2.47,0.00,0.000,6,0.000,0.000,1926,2082,2903
$GC,741,-1.39,-116.8,91.3,-13.0,113,749,0.00,2.78,0.00,0.000,4,0.000,0.000,1931,3430,2905
$GC,1030,-1.29,-116.8,127.0,-11.8,134,1038,0.52,3.08,0.00,0.000,6,0.000,0.000,2067,1920,2896
$GC,1360,-1.19,-116.8,152.7,-7.3,150,1366,0.35,2.45,0.00,0.000,4,0.000,0.000,1945,639,2904
$GC,1432,-1.41,-116.8,160.7,-12.8,153,1437,0.05,2.53,0.00,0.000,6,0.000,0.000,1943,1953,2904
$GC,1764,-1.44,-116.8,202.6,-13.0,169,1769,0.00,2.45,0.00,0.000,4,0.000,0.000,1943,3290,2907
$GC,1971,-1.31,-116.8,227.7,-13.2,178,1979,0.85,2.83,0.00,0.000,6,0.000,0.000,2040,1795,2900
$GC,2307,-1.21,-116.8,255.6,-7.7,194,2312,0.47,1.95,0.00,0.000,4,0.000,0.000,1921,450,2899
$GC,2337,-1.41,-116.8,258.8,-11.2,195,2343,0.50,2.53,0.00,0.000,6,0.000,0.000,2047,1952,2899
$GC,2662,-1.52,-116.8,285.8,-8.7,210,2664,0.70,0.00,0.00,0.000,6,0.000,0.000,1863,1930,2900
$GC,2970,-1.70,-116.8,334.1,-16.7,225,2976,0.35,2.17,0.00,0.000,4,0.000,0.000,1930,567,2905
$GC,3001,-1.39,-116.8,340.0,-15.3,226,3006,0.15,1.85,0.00,0.000,6,0.000,0.000,1931,1878,2902
$GC,3327,-1.37,-116.8,383.0,-13.5,241,3333,0.30,2.65,0.00,0.000,4,0.000,0.000,1980,543,2909
$GC,3353,-1.24,-116.8,387.3,-12.7,242,3357,0.00,2.12,0.00,0.000,6,0.000,0.000,1970,1880,2900
$GC,3682,-1.30,-116.8,422.1,-10.9,258,3683,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1886,2902
$GC,3986,-1.30,-116.8,455.5,-10.8,273,3991,0.00,2.78,0.00,0.000,4,0.000,0.000,1969,682,2901
$GC,4031,-1.30,-116.8,460.2,-10.9,275,4035,0.00,1.83,0.00,0.000,6,0.000,0.000,1973,1855,2904
$GC,4367,-1.42,-116.8,495.4,-10.9,291,4371,0.20,1.92,0.00,0.000,4,0.000,0.000,1917,512,2907
$GC,4413,-1.42,-116.8,502.2,-13.8,293,4418,0.50,2.12,0.00,0.000,6,0.000,0.000,2045,1859,2903
$GC,4736,-1.42,-116.8,529.9,-8.3,301,4741,0.52,2.30,0.00,0.000,4,0.000,0.000,1909,468,2906
$GC,4783,-1.57,-116.8,536.4,-14.2,302,4788,0.08,2.47,0.00,0.000,6,0.000,0.000,1930,1643,2902
$STATE,4984,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4984,begin apogee
$GC,4996,-0.25,0.0,565.2,14.5,307,5022,1.58,0.00,15.60,0.000,6,0.000,0.000,2263,1953,2234
$STATE,5023,end apogee,CONTROL_FINISHED_OK
$STATE,5023,begin climb
$GC,5029,1.49,116.8,569.2,0.0,308,5048,2.03,2.42,11.20,0.000,4,0.000,0.000,2651,666,1766
$GC,5085,1.49,116.8,559.8,21.2,309,5091,0.55,2.55,0.00,0.000,6,0.000,0.000,2535,1848,1762
$GC,5403,1.49,126.0,517.6,13.0,317,5412,0.35,3.22,0.90,0.001,4,0.000,0.000,2643,3502,1724
$GC,5574,1.58,126.0,481.4,21.4,322,5580,0.50,2.62,0.00,0.000,6,0.000,0.000,2530,1970,1726
$GC,5900,1.33,127.7,437.2,13.6,337,5905,0.00,2.78,0.00,0.000,4,0.000,0.000,2531,615,1721
$GC,5958,1.40,127.7,428.0,14.0,339,5967,0.52,2.67,0.00,0.000,6,0.000,0.000,2653,1779,1723
$GC,6283,1.64,127.7,358.7,22.1,355,6289,0.10,2.88,0.00,0.000,4,0.000,0.000,2635,3265,1731
$GC,6567,1.35,127.7,293.0,23.6,367,6572,0.80,2.05,0.00,0.000,6,0.000,0.000,2481,2129,1728
$GC,6892,1.10,173.2,257.5,10.1,382,6903,0.25,3.17,4.50,0.000,4,0.000,0.000,2519,581,1535
$GC,6964,1.40,173.2,247.5,15.7,385,6970,0.52,2.60,0.00,0.000,6,0.000,0.000,2648,1983,1541
$GC,7295,1.62,173.2,160.8,26.6,401,7297,0.60,0.00,0.00,0.000,6,0.000,0.000,2530,1991,1536
$GC,7605,1.31,173.2,108.6,16.3,416,7610,0.00,2.78,0.00,0.000,4,0.000,0.000,2546,673,1536
$GC,7652,1.36,173.2,100.5,16.4,418,7658,0.12,2.60,0.00,0.000,6,0.000,0.000,2538,2021,1531
$GC,8019,1.53,173.2,38.9,16.4,478,8027,0.52,2.45,0.00,0.000,4,0.000,0.000,2654,3344,1535
$GC,8133,1.57,173.2,10.0,26.6,496,8142,0.52,2.70,0.00,0.000,6,0.000,0.000,2553,1833,1538
$STATE,8175,end climb,SURFACE_DEPTH_REACHED
$STATE,8175,begin surface coast
$FINISH,0.3,1.025153
$STATE,8186,end surface coast,CONTROL_FINISHED_OK
$STATE,8186,begin surface
$SM_CCo,8214,17.67,0.000,0,0,405,452.82
$SM_GC,0.34,0.00,0.00,17.67,0.000,0.000,0.000,590,1845,405,-7.74,-4.21,452.82
$RAFOS_CLK,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,2435
$INTERNAL_PRESSURE,26.0358
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.8,18.9
$ALTIM_BOTTOM_PING,500.6,73.0
$24V_AH,23.7,48.454
$10V_AH,9.7,7.378
$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,30.400,86.125,32.200,17.675,0.000,0.000,0.000,68.110,4.500,12.214,1666.302,5283.099,209.641,614.448,708.057,0.000,734.165,0.000,527.002,0.000,31.468
$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,420.540,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15857,504
$CFSIZE,255582208,239755264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,61,672,0,0
$SOUNDSPEED,1459.7
$CURRENT,0.069,164.4,1
$GPS,151006,190828,6637.271,-6008.790,17,1.1,18,18.0