version: 66.01
glider: 1
mission: 1
dive: 75
start: 10 16 106 2 24 22
data:
$ID,1
$MISSION,1
$DIVE,75
$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,-448250.38
$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,16
$R_STBD_OVSHOOT,6
$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
$GPS1,021932,6637.329,-6007.220,28,1.1,28,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.5
$GPS2,022353,6637.329,-6007.220,24,1.1,25,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6635.231,-6011.429
$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,240.8,20000,-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,41,-1.49,-116.8,0.0,0.0,0,57,0.00,0.00,-8.02,0.000,6,0.000,0.000,631,1817,2855
$GC,63,-1.49,-116.8,0.3,-0.0,2,81,7.75,2.97,0.00,0.000,4,0.000,0.000,2010,3502,2853
$GC,302,-1.49,-116.8,26.4,-8.8,40,311,0.45,3.28,0.00,0.000,6,0.000,0.000,1891,1841,2854
$GC,672,-1.58,-116.8,79.3,-14.5,101,680,0.43,0.00,0.00,0.000,6,0.000,0.000,2002,1841,2858
$GC,1020,-1.32,-116.8,111.2,-8.9,144,1025,0.00,3.08,0.00,0.000,4,0.000,0.000,2007,520,2854
$GC,1079,-1.39,-116.8,116.7,-9.1,146,1088,0.50,2.62,0.00,0.000,6,0.000,0.000,1896,2199,2851
$GC,1399,-1.61,-116.8,161.8,-14.5,162,1406,0.00,3.35,0.00,0.000,4,0.000,0.000,1904,402,2850
$GC,1478,-1.36,-116.8,173.0,-12.6,165,1491,0.55,2.97,0.00,0.000,6,0.000,0.000,2005,1878,2850
$GC,1802,-1.33,-116.8,203.1,-8.8,181,1808,0.15,2.47,0.00,0.000,4,0.000,0.000,1940,531,2855
$GC,1875,-1.42,-116.8,210.2,-11.7,184,1880,0.00,2.83,0.00,0.000,6,0.000,0.000,1948,2093,2851
$GC,2211,-1.48,-116.8,248.2,-11.4,200,2217,0.00,2.38,0.00,0.000,4,0.000,0.000,1943,582,2848
$GC,2248,-1.41,-116.8,253.4,-11.2,201,2254,0.05,2.67,0.00,0.000,6,0.001,0.000,1954,1883,2848
$GC,2573,-1.47,-116.8,289.4,-11.4,216,2578,0.00,2.55,0.00,0.000,4,0.000,0.000,1943,326,2850
$GC,2617,-1.40,-116.8,295.0,-11.3,218,2622,0.00,2.85,0.00,0.000,6,0.000,0.000,1942,1979,2858
$GC,2948,-1.63,-116.8,333.0,-11.4,234,2956,0.47,3.03,0.00,0.000,4,0.000,0.000,1845,302,2856
$GC,3027,-1.56,-116.8,345.3,-18.1,237,3033,0.70,2.42,0.00,0.000,6,0.000,0.000,1961,1795,2854
$GC,3354,-1.31,-116.8,384.4,-11.5,253,3361,0.22,3.03,0.00,0.000,4,0.000,0.000,2004,3466,2853
$GC,3416,-1.23,-116.8,390.6,-8.8,255,3425,0.00,3.83,0.00,0.000,6,0.000,0.000,2016,1447,2854
$GC,3742,-1.32,-116.8,418.7,-8.8,271,3750,0.05,3.75,0.00,0.000,4,0.000,0.000,1940,3448,2847
$GC,4029,-1.41,-116.8,451.9,-11.4,283,4035,0.00,3.15,0.00,0.000,6,0.000,0.000,1946,1564,2858
$GC,4355,-1.33,-116.8,488.3,-11.5,298,4362,0.17,3.38,0.00,0.000,4,0.000,0.000,1942,3423,2857
$GC,4641,-1.27,-116.8,521.8,-11.6,307,4649,0.52,3.78,0.00,0.000,6,0.000,0.000,2086,1588,2854
$GC,4964,-1.19,-116.8,543.8,-6.5,315,4971,0.43,3.25,0.00,0.000,4,0.000,0.000,1942,3287,2854
$STATE,5100,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5100,begin apogee
$GC,5116,-0.25,0.0,560.1,11.8,318,5135,1.90,0.00,14.55,0.000,6,0.000,0.000,2239,1958,2244
$STATE,5135,end apogee,CONTROL_FINISHED_OK
$STATE,5135,begin climb
$GC,5141,1.49,116.8,562.8,0.0,318,5156,1.77,0.00,10.93,0.000,6,0.000,0.000,2670,1961,1769
$GC,5462,1.49,116.8,490.4,24.3,327,5470,0.77,3.22,0.00,0.000,4,0.000,0.000,2495,269,1773
$GC,5488,1.08,116.8,485.2,20.1,328,5494,0.00,3.20,0.00,0.000,6,0.000,0.000,2514,1944,1773
$GC,5825,1.12,145.3,447.3,11.5,344,5836,0.00,0.00,3.15,0.000,6,0.000,0.000,2488,1958,1644
$GC,6153,1.30,147.9,401.3,13.5,360,6155,0.45,0.00,0.00,0.000,6,0.000,0.000,2637,1951,1647
$GC,6462,1.33,147.9,332.0,21.3,375,6468,0.35,2.83,0.00,0.000,4,0.000,0.000,2488,276,1641
$GC,6499,1.13,163.0,324.9,12.5,376,6509,0.00,3.72,1.67,0.001,6,0.000,0.000,2508,2108,1566
$GC,6825,1.49,165.1,282.2,13.6,392,6834,0.57,3.65,0.00,0.000,4,0.000,0.000,2631,266,1570
$GC,6883,1.63,165.1,268.3,23.3,394,6895,0.03,3.20,0.00,0.000,6,0.000,0.000,2640,2011,1563
$GC,7215,1.70,165.1,192.8,23.4,410,7220,0.03,2.88,0.00,0.000,4,0.000,0.000,2626,528,1579
$GC,7259,1.48,165.1,180.5,24.2,412,7266,0.52,2.95,0.00,0.000,6,0.000,0.000,2518,2036,1572
$GC,7594,1.48,165.1,130.9,14.3,428,7602,0.50,3.25,0.00,0.000,4,0.000,0.000,2644,383,1566
$GC,7646,1.58,165.1,119.6,24.8,430,7651,0.10,2.47,0.00,0.000,6,0.000,0.000,2629,1690,1563
$GC,7999,1.61,165.1,34.0,23.7,478,8008,0.00,3.25,0.00,0.000,4,0.000,0.000,2644,3414,1569
$STATE,8125,end climb,SURFACE_DEPTH_REACHED
$STATE,8125,begin surface coast
$FINISH,0.3,1.025234
$STATE,8131,end surface coast,CONTROL_FINISHED_OK
$STATE,8131,begin surface
$SM_CCo,8165,17.95,0.000,0,0,402,452.82
$SM_GC,0.34,0.00,0.00,17.95,0.000,0.000,0.000,637,1732,402,-7.37,-7.18,452.82
$RAFOS_CLK,0
$RAFOS,2,1160972661,4.416667,4.405833,80,0,0,0,0,0,843,0,0,0,0,0
$RAFOS,1,1160972046,4.250000,4.235000,80,0,0,0,0,0,703,0,0,0,0,0
$RAFOS,0,1160971443,4.083333,4.067500,80,0,0,0,0,0,582,0,0,0,0,0
$RAFOS,4,1160969345,3.500000,3.484722,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,6637.402832,-6003.563477,161006,040400,3,80,0.40
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2146
$INTERNAL_PRESSURE,26.0162
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,18.9,19.3
$ALTIM_BOTTOM_PING,476.5,93.2
$24V_AH,23.7,49.527
$10V_AH,9.7,7.544
$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,29.800,103.825,30.300,17.950,0.000,0.000,0.000,68.160,4.250,25.673,1677.642,5215.163,244.450,621.080,699.005,0.000,765.484,0.000,521.268,1800.000,24.877
$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,416.140,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15828,500
$CFSIZE,255582208,239493120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,54,798,0,0
$SOUNDSPEED,1459.8
$CURRENT,0.069,148.8,1
$GPS,161006,044221,6636.932,-6009.070,20,1.1,21,18.0