version: 66.01
glider: 1
mission: 1
dive: 72
start: 10 15 106 19 13 29
data:
$ID,1
$MISSION,1
$DIVE,72
$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,-448172.94
$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,150
$R_STBD_OVSHOOT,186
$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
$GPS1,190828,6637.271,-6008.790,17,1.1,18,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.9
$GPS2,191301,6637.271,-6008.790,38,1.1,38,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6626.505,-6009.124
$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,166.4,20000,-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,41,-1.49,-116.8,0.0,0.0,0,58,0.00,0.00,-8.15,0.000,6,0.000,0.000,584,1842,2872
$GC,64,-1.49,-116.8,0.3,0.0,2,81,6.93,2.55,0.00,0.000,4,0.000,0.000,2028,3361,2872
$GC,372,-1.49,-116.8,30.0,-8.1,52,381,0.77,2.30,0.00,0.000,6,0.000,0.000,1856,1853,2870
$GC,740,-1.65,-116.8,90.7,-16.7,113,750,0.35,3.22,0.00,0.000,4,0.000,0.000,1973,3531,2870
$GC,1034,-1.29,-116.8,124.0,-11.3,134,1040,0.00,2.53,0.00,0.000,6,0.000,0.000,1973,1826,2877
$GC,1371,-1.26,-116.8,159.0,-11.1,150,1376,0.00,2.60,0.00,0.000,4,0.000,0.000,1960,3492,2876
$GC,1418,-1.22,-116.8,165.0,-10.5,152,1426,0.52,3.40,0.00,0.000,6,0.000,0.000,2053,1864,2870
$GC,1748,-1.22,-116.8,186.7,-6.3,168,1754,0.57,2.55,0.00,0.000,4,0.000,0.000,1965,532,2876
$GC,1823,-1.49,-116.8,193.6,-11.5,171,1828,0.00,2.62,0.00,0.000,6,0.000,0.000,1973,1685,2871
$GC,2153,-1.57,-116.8,229.4,-10.8,187,2156,0.85,0.00,0.00,0.000,6,0.000,0.000,1847,1696,2870
$GC,2462,-1.53,-116.8,280.8,-16.9,202,2468,0.52,2.47,0.00,0.000,4,0.000,0.000,1916,518,2877
$GC,2499,-1.17,-116.8,287.5,-13.4,203,2508,0.77,2.88,0.00,0.000,6,0.000,0.000,2101,1690,2876
$GC,2824,-1.12,-116.8,307.0,-5.8,219,2832,0.80,3.03,0.00,0.000,4,0.000,0.000,1923,3367,2870
$GC,2887,-1.44,-116.8,314.8,-13.6,221,2896,0.50,2.42,0.00,0.000,6,0.000,0.000,2044,1849,2871
$GC,3211,-1.27,-116.8,339.9,-7.6,237,3217,0.80,1.95,0.00,0.000,4,0.000,0.000,1905,679,2878
$GC,3270,-1.46,-116.8,347.0,-13.2,239,3278,0.00,1.83,0.00,0.000,6,0.000,0.000,1920,1899,2872
$GC,3595,-1.46,-116.8,387.4,-12.8,255,3596,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,1895,2867
$GC,3904,-1.31,-116.8,427.3,-12.9,270,3910,0.52,2.53,0.00,0.000,4,0.000,0.000,2060,547,2872
$GC,3952,-1.17,-116.8,432.4,-7.6,272,3958,0.52,2.62,0.00,0.000,6,0.000,0.000,1938,1850,2879
$GC,4279,-1.52,-116.8,472.7,-12.7,288,4283,0.00,2.50,0.00,0.000,4,0.000,0.000,1921,529,2873
$GC,4310,-1.42,-116.8,476.8,-11.3,289,4316,0.52,2.72,0.00,0.000,6,0.000,0.000,2052,1847,2878
$GC,4637,-1.48,-116.8,501.4,-7.5,304,4642,0.68,2.47,0.00,0.000,4,0.000,0.000,1874,685,2879
$GC,4681,-1.67,-116.8,508.0,-16.2,305,4687,0.50,1.92,0.00,0.000,6,0.000,0.000,1970,1841,2875
$GC,5010,-1.48,-116.8,541.9,-10.0,313,5012,0.60,0.00,0.00,0.000,6,0.000,0.000,1892,1843,2870
$STATE,5126,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5126,begin apogee
$GC,5138,-0.25,0.0,559.4,13.3,316,5157,1.92,0.00,14.85,0.000,6,0.000,0.000,2257,1847,2244
$STATE,5158,end apogee,CONTROL_FINISHED_OK
$STATE,5158,begin climb
$GC,5164,1.49,116.8,559.4,0.0,316,5183,1.77,2.65,11.45,0.000,4,0.000,0.000,2612,3380,1770
$GC,5242,1.49,116.8,547.4,29.3,317,5247,0.52,2.45,0.00,0.000,6,0.000,0.000,2500,1914,1767
$GC,5577,0.91,147.0,506.5,11.3,325,5587,0.80,2.15,3.10,0.000,4,0.000,0.000,2379,570,1647
$GC,5672,1.09,214.3,497.0,8.4,327,5686,0.70,2.47,6.55,0.000,6,0.000,0.000,2552,1903,1365
$GC,6007,1.74,214.3,431.2,20.3,343,6009,0.65,0.00,0.00,0.000,6,0.000,0.000,2651,1885,1359
$GC,6321,1.72,214.3,333.3,32.6,358,6323,0.45,0.00,0.00,0.000,6,0.000,0.000,2560,1893,1356
$GC,6626,1.33,214.3,261.7,27.4,373,6627,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,1886,1364
$GC,6935,0.96,214.3,198.6,20.5,388,6937,0.52,0.00,0.00,0.000,6,0.000,0.000,2426,1888,1365
$GC,7249,0.94,250.5,163.4,10.9,403,7259,0.22,3.10,2.72,0.000,4,0.000,0.000,2490,527,1226
$GC,7300,1.29,250.5,154.9,16.3,405,7313,0.50,2.78,0.00,0.000,6,0.000,0.000,2630,1881,1222
$GC,7640,1.55,250.5,59.9,29.4,436,7648,0.00,2.67,0.00,0.000,4,0.000,0.000,2638,540,1225
$GC,7669,1.34,250.5,51.1,28.7,440,7678,0.52,2.50,0.00,0.000,6,0.000,0.000,2498,2070,1221
$STATE,7951,end climb,SURFACE_DEPTH_REACHED
$STATE,7951,begin surface coast
$FINISH,0.3,1.025103
$STATE,7964,end surface coast,CONTROL_FINISHED_OK
$STATE,7964,begin surface
$SM_CCo,7992,12.70,0.000,0,0,402,450.62
$SM_GC,0.33,0.00,0.00,12.70,0.000,0.000,0.000,610,2067,402,-7.56,2.66,450.62
$RAFOS_CLK,0
$RAFOS,3,1160944449,20.583334,20.569166,80,0,0,0,0,0,694,0,0,0,0,0
$RAFOS,2,1160943859,20.416666,20.405277,80,0,0,0,0,0,854,0,0,0,0,0
$RAFOS,1,1160943253,20.250000,20.236944,80,0,0,0,0,0,668,0,0,0,0,0
$RAFOS,0,1160942643,20.083334,20.067499,80,0,0,0,0,0,582,0,0,0,0,0
$RAFOS_FIX,6637.359375,-6003.261230,151006,202020,4,80,0.99
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2440
$INTERNAL_PRESSURE,26.0455
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.4,19.8
$ALTIM_BOTTOM_PING,475.4,88.6
$24V_AH,23.7,48.723
$10V_AH,9.7,7.417
$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,35.250,71.900,38.675,12.700,0.000,0.000,0.000,67.837,4.250,38.977,1607.245,5239.479,213.908,564.643,661.030,0.000,673.461,0.000,458.956,1440.000,24.858
$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,406.169,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15866,489
$CFSIZE,255582208,239697920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,73,552,0,0
$SOUNDSPEED,1459.6
$CURRENT,0.066, 79.5,1
$GPS,151006,212813,6636.421,-6008.610,7,1.1,8,18.0