version: 66.01
glider: 1
mission: 1
dive: 76
start: 10 16 106 4 47 20
data:
$ID,1
$MISSION,1
$DIVE,76
$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,-448287.44
$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,8
$R_STBD_OVSHOOT,172
$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
$GPS1,044221,6636.932,-6009.070,20,1.1,21,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.5
$GPS2,044651,6636.932,-6009.070,35,1.1,36,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6626.337,-6008.235
$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,150.8,20000,-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,34,end surface,CONTROL_FINISHED_OK
$STATE,34,begin dive
$GC,41,-1.49,-116.8,0.0,0.0,0,58,0.00,0.00,-8.12,0.000,6,0.000,0.000,644,1733,2860
$GC,65,-1.49,-116.8,0.3,0.0,2,82,6.53,2.15,0.00,0.000,4,0.000,0.000,1975,390,2865
$GC,183,-1.49,-116.8,17.1,-10.4,20,192,0.52,2.97,0.00,0.000,6,0.000,0.000,1842,1890,2858
$GC,552,-1.75,-116.8,76.5,-16.6,81,559,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1906,2862
$GC,905,-1.41,-116.8,134.0,-16.3,115,908,0.77,0.00,0.00,0.000,6,0.000,0.000,2043,1898,2859
$GC,1220,-1.07,-116.8,160.8,-8.1,130,1227,0.00,3.22,0.00,0.000,4,0.000,0.000,2059,420,2861
$GC,1294,-1.21,-116.8,167.4,-8.3,133,1300,0.17,2.67,0.00,0.000,6,0.000,0.000,1968,1893,2862
$GC,1626,-1.49,-116.8,200.3,-10.6,149,1632,0.00,3.12,0.00,0.000,4,0.000,0.000,1964,432,2860
$GC,1674,-1.49,-116.8,206.2,-10.5,151,1680,0.00,2.85,0.00,0.000,6,0.000,0.000,1974,1898,2862
$GC,2006,-1.63,-116.8,240.1,-10.7,167,2014,0.52,3.00,0.00,0.000,4,0.000,0.000,1852,3373,2858
$GC,2090,-1.61,-116.8,253.5,-16.3,170,2096,0.52,2.67,0.00,0.000,6,0.000,0.000,1975,1848,2862
$GC,2415,-1.28,-116.8,288.9,-10.6,185,2420,0.05,2.45,0.00,0.000,4,0.000,0.000,1989,318,2856
$GC,2486,-1.28,-116.8,296.5,-10.7,188,2494,0.05,3.28,0.00,0.000,6,0.000,0.000,1953,2027,2860
$GC,2821,-1.43,-116.8,332.6,-10.6,204,2826,0.00,2.97,0.00,0.000,4,0.000,0.000,1975,550,2860
$GC,2851,-1.43,-116.8,336.1,-10.7,205,2856,0.00,2.58,0.00,0.000,6,0.000,0.000,1966,1736,2864
$GC,3176,-1.51,-116.8,370.0,-10.8,220,3182,0.25,3.03,0.00,0.000,4,0.000,0.000,1901,3417,2860
$GC,3340,-1.49,-116.8,392.5,-13.4,227,3347,0.00,3.38,0.00,0.000,6,0.000,0.000,1915,1766,2866
$GC,3674,-1.31,-116.8,433.3,-13.5,243,3676,0.60,0.00,0.00,0.000,6,0.000,0.000,2026,1775,2864
$GC,3984,-1.11,-116.8,459.4,-8.2,258,3989,0.00,3.15,0.00,0.000,4,0.000,0.000,2042,3439,2865
$GC,4088,-1.24,-116.8,468.5,-8.4,262,4097,0.15,2.62,0.00,0.000,6,0.000,0.000,1953,1742,2856
$GC,4407,-1.37,-116.8,502.1,-10.7,278,4412,0.00,2.65,0.00,0.000,4,0.000,0.000,1975,3235,2859
$GC,4589,-1.36,-116.8,521.5,-10.7,282,4594,0.00,2.62,0.00,0.000,6,0.000,0.000,1978,1706,2866
$STATE,4871,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4871,begin apogee
$GC,4883,-0.25,0.0,552.3,10.7,289,4901,1.35,0.00,14.60,0.000,6,0.000,0.000,2264,2051,2250
$STATE,4902,end apogee,CONTROL_FINISHED_OK
$STATE,4902,begin climb
$GC,4908,1.49,116.8,552.3,0.0,289,4923,1.90,0.00,11.43,0.000,6,0.000,0.000,2615,2053,1765
$GC,5235,1.49,116.8,491.9,20.2,297,5241,0.38,2.53,0.00,0.000,4,0.000,0.000,2494,3368,1756
$GC,5418,1.27,137.2,468.4,12.1,305,5427,0.47,3.03,1.80,0.001,6,0.000,0.000,2646,1842,1690
$GC,5753,1.41,137.2,397.9,21.3,321,5762,0.82,3.28,0.00,0.000,4,0.000,0.000,2513,3306,1687
$GC,5918,1.20,151.2,375.6,12.6,328,5926,0.00,2.35,1.48,0.000,6,0.000,0.000,2486,1969,1620
$GC,6259,1.34,151.2,330.1,13.9,344,6266,0.40,3.03,0.00,0.000,4,0.000,0.000,2640,280,1620
$GC,6298,1.44,151.2,321.0,22.7,345,6308,0.50,3.62,0.00,0.000,6,0.000,0.000,2518,2076,1612
$GC,6623,1.64,151.2,273.0,13.8,361,6630,0.68,2.75,0.00,0.000,4,0.000,0.000,2687,3364,1619
$GC,6741,1.73,151.2,241.1,29.5,366,6747,0.50,2.47,0.00,0.000,6,0.000,0.000,2590,2042,1617
$GC,7077,1.41,151.2,175.5,19.1,382,7082,0.03,1.92,0.00,0.000,4,0.000,0.000,2586,3388,1620
$GC,7171,1.30,151.2,157.5,19.8,386,7177,0.52,2.35,0.00,0.000,6,0.000,0.000,2468,2056,1619
$GC,7508,1.29,189.4,119.7,10.7,402,7517,0.60,2.42,3.08,0.000,4,0.000,0.000,2601,3388,1468
$GC,7599,1.58,189.4,101.2,21.6,406,7605,0.03,3.10,0.00,0.000,6,0.000,0.000,2607,1916,1465
$GC,7966,1.56,189.4,20.7,21.5,466,7975,0.00,2.92,0.00,0.000,4,0.000,0.000,2589,3398,1465
$STATE,8050,end climb,SURFACE_DEPTH_REACHED
$STATE,8050,begin surface coast
$FINISH,0.3,1.025323
$STATE,8063,end surface coast,CONTROL_FINISHED_OK
$STATE,8063,begin surface
$SM_CCo,8096,16.48,0.000,0,0,397,450.86
$SM_GC,0.34,0.00,0.00,16.48,0.000,0.000,0.000,625,1688,397,-7.52,-8.11,450.86
$RAFOS_CLK,0
$RAFOS,3,1160973241,4.583333,4.566945,80,0,0,0,0,0,738,0,0,0,0,0
$RAFOS_FIX,6637.189941,-6003.038086,161006,040448,4,80,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2255
$INTERNAL_PRESSURE,26.0162
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,18.6,18.2
$ALTIM_BOTTOM_PING,475.5,86.6
$24V_AH,23.7,49.791
$10V_AH,9.7,7.584
$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,28.125,91.050,32.375,16.475,0.000,0.000,0.000,67.906,4.250,36.431,1635.114,5248.126,212.404,623.786,679.757,0.000,726.439,0.000,515.345,0.000,24.909
$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,396.787,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15850,481
$CFSIZE,255582208,239435776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,54,701,0,0
$SOUNDSPEED,1459.8
$CURRENT,0.062, 49.6,1
$GPS,161006,070359,6636.199,-6007.742,8,1.1,8,18.0