version: 66.01
glider: 1
mission: 1
dive: 78
start: 10 16 106 9 54 31
data:
$ID,1
$MISSION,1
$DIVE,78
$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,-448346.03
$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,182
$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
$GPS1,094507,6636.768,-6005.912,28,1.1,28,18.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-70.0
$GPS2,095402,6636.768,-6005.912,34,1.1,34,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6646.432,-6007.813
$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,315.5,20000,-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,-8.18,0.000,6,0.000,0.000,628,2152,2816
$GC,63,-1.49,-116.8,0.3,-0.0,2,80,7.00,2.25,0.00,0.000,4,0.000,0.000,2042,3517,2822
$GC,296,-1.49,-116.8,21.2,-7.3,39,305,0.77,3.17,0.00,0.000,6,0.000,0.000,1844,2005,2817
$GC,665,-1.75,-116.8,75.1,-14.7,100,674,0.10,2.47,0.00,0.000,4,0.000,0.000,1919,3306,2812
$GC,727,-1.40,-116.8,83.1,-12.4,109,736,0.52,2.25,0.00,0.000,6,0.000,0.000,2041,1973,2820
$GC,1092,-1.32,-116.8,110.8,-7.3,152,1098,0.50,2.50,0.00,0.000,4,0.000,0.000,1890,3451,2819
$GC,1167,-1.47,-116.8,118.8,-12.1,155,1172,0.00,2.97,0.00,0.000,6,0.000,0.000,1904,1914,2819
$GC,1498,-1.42,-116.8,159.5,-12.3,171,1504,0.47,2.72,0.00,0.000,4,0.000,0.000,1996,3409,2810
$GC,1592,-1.23,-116.8,167.8,-7.7,175,1599,0.50,2.67,0.00,0.000,6,0.000,0.000,1902,2075,2813
$GC,1925,-1.45,-116.8,209.6,-12.8,191,1931,0.38,2.47,0.00,0.000,4,0.000,0.000,2009,3267,2819
$GC,1970,-1.23,-116.8,213.7,-7.8,193,1976,0.32,2.62,0.00,0.000,6,0.000,0.000,1936,1954,2820
$GC,2301,-1.52,-116.8,247.5,-10.4,209,2307,0.00,3.12,0.00,0.000,4,0.000,0.000,1963,3487,2820
$GC,2373,-1.46,-116.8,254.4,-10.4,212,2377,0.00,1.85,0.00,0.000,6,0.000,0.000,1957,2301,2813
$GC,2710,-1.52,-116.8,288.5,-10.4,228,2717,0.30,3.20,0.00,0.000,4,0.000,0.000,1914,447,2810
$GC,2745,-1.46,-116.8,293.6,-12.9,229,2757,0.50,2.83,0.00,0.000,6,0.000,0.000,2009,2105,2814
$GC,3074,-1.52,-116.8,319.8,-7.7,245,3080,0.57,2.58,0.00,0.000,4,0.000,0.000,1912,3270,2819
$GC,3155,-1.66,-116.8,329.6,-13.5,248,3160,0.00,2.25,0.00,0.000,6,0.000,0.000,1891,2293,2818
$GC,3480,-1.53,-116.8,372.0,-13.1,263,3488,0.52,3.50,0.00,0.000,4,0.000,0.000,1950,491,2813
$GC,3516,-1.28,-116.8,377.0,-10.4,264,3528,0.00,3.28,0.00,0.000,6,0.000,0.000,1954,1989,2816
$GC,3845,-1.47,-116.8,410.1,-10.4,280,3852,0.00,3.78,0.00,0.000,4,0.000,0.000,1958,3511,2821
$GC,3944,-1.41,-116.8,420.3,-9.9,284,3949,0.03,2.45,0.00,0.000,6,0.000,0.000,1970,2021,2819
$GC,4275,-1.52,-116.8,454.8,-10.3,300,4282,0.43,3.03,0.00,0.000,4,0.000,0.000,1833,3564,2812
$GC,4323,-1.46,-116.8,461.7,-16.0,302,4329,0.77,2.20,0.00,0.000,6,0.000,0.000,2017,2185,2819
$GC,4654,-1.24,-116.8,488.6,-7.8,318,4657,0.50,0.00,0.00,0.000,6,0.000,0.000,1918,2200,2820
$GC,4960,-1.36,-116.8,526.9,-12.8,328,4963,0.52,0.00,0.00,0.000,6,0.000,0.000,2014,2188,2818
$GC,5285,-1.13,-116.8,553.4,-8.0,336,5290,0.00,2.38,0.00,0.000,4,0.000,0.000,2014,3547,2817
$GC,5309,-1.23,-116.8,555.6,-7.9,336,5315,0.22,2.55,0.00,0.000,6,0.000,0.000,1947,2227,2812
$STATE,5441,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5441,begin apogee
$GC,5454,-0.25,0.0,569.2,10.3,340,5472,1.40,0.00,13.90,0.000,6,0.000,0.000,2256,1902,2237
$STATE,5473,end apogee,CONTROL_FINISHED_OK
$STATE,5473,begin climb
$GC,5478,1.49,116.8,569.2,0.0,340,5494,2.00,0.00,11.18,0.000,6,0.000,0.000,2609,1893,1768
$GC,5813,1.49,116.8,506.4,20.1,349,5821,0.08,3.40,0.00,0.000,4,0.001,0.000,2629,3547,1764
$GC,5961,1.26,116.8,476.8,19.9,354,5973,0.62,2.92,0.00,0.000,6,0.000,0.000,2520,2035,1764
$GC,6290,1.18,139.6,438.1,11.9,370,6298,0.00,2.33,2.15,0.001,4,0.000,0.000,2495,3374,1673
$GC,6369,1.33,155.3,428.1,12.5,373,6378,0.50,1.98,1.60,0.000,6,0.000,0.000,2637,2202,1610
$GC,6699,1.55,155.3,356.8,22.3,389,6704,0.00,2.67,0.00,0.000,4,0.000,0.000,2627,3574,1613
$GC,6752,1.34,155.3,344.6,22.2,391,6764,0.55,3.15,0.00,0.000,6,0.000,0.000,2487,2026,1618
$GC,7081,1.27,171.4,302.7,12.5,407,7090,0.60,2.53,1.83,0.000,4,0.000,0.000,2612,3515,1539
$GC,7167,1.44,171.4,284.7,22.8,410,7172,0.17,2.47,0.00,0.000,6,0.000,0.000,2548,2321,1539
$GC,7491,1.39,171.4,227.0,17.6,425,7497,0.08,2.85,0.00,0.000,4,0.000,0.000,2571,490,1532
$GC,7527,1.37,171.4,219.4,17.8,426,7536,0.03,2.65,0.00,0.000,6,0.000,0.000,2550,2377,1534
$GC,7851,1.63,171.4,164.0,17.4,442,7853,0.50,0.00,0.00,0.000,6,0.000,0.000,2671,2374,1542
$GC,8165,1.62,171.4,76.5,28.7,466,8172,0.43,0.00,0.00,0.000,6,0.000,0.000,2543,2379,1537
$GC,8531,1.25,171.4,7.9,18.3,527,8540,0.00,3.40,0.00,0.000,4,0.000,0.000,2564,528,1537
$GC,8562,1.21,171.4,2.5,18.5,531,8571,0.03,3.75,0.00,0.000,6,0.000,0.000,2537,2270,1533
$STATE,8576,end climb,SURFACE_DEPTH_REACHED
$STATE,8576,begin surface coast
$FINISH,0.3,1.025009
$STATE,8594,end surface coast,CONTROL_FINISHED_OK
$STATE,8594,begin surface
$SM_CCo,8623,17.77,0.000,0,0,393,450.37
$SM_GC,0.34,0.00,0.00,17.77,0.000,0.000,0.000,629,2112,393,-7.50,3.68,450.37
$RAFOS_CLK,0
$RAFOS,0,1161000249,12.083333,12.069167,80,0,0,0,0,0,552,0,0,0,0,0
$RAFOS_FIX,6637.067871,-6003.151367,161006,080820,4,80,0.85
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2289
$INTERNAL_PRESSURE,25.9869
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.5,19.5
$ALTIM_BOTTOM_PING,500.9,76.7
$24V_AH,23.7,50.345
$10V_AH,9.7,7.675
$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,31.300,100.200,30.650,17.775,0.000,0.000,0.000,143.108,4.500,35.405,1737.762,5580.883,252.025,614.617,991.329,0.000,766.091,0.000,507.211,720.000,30.922
$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,441.391,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15846,535
$CFSIZE,255582208,239271936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,57,777,0,0
$SOUNDSPEED,1459.7
$CURRENT,0.071,217.1,1
$GPS,161006,121950,6637.421,-6007.523,14,1.1,14,18.0