version: 66.01
glider: 1
mission: 1
dive: 79
start: 10 16 106 12 24 36
data:
$ID,1
$MISSION,1
$DIVE,79
$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,-448368.66
$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,184
$R_STBD_OVSHOOT,7
$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
$GPS1,121950,6637.421,-6007.523,14,1.1,14,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-70.0
$GPS2,122407,6637.421,-6007.523,20,1.1,21,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6631.557,-6011.135
$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,219.1,20000,-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,-116.8,0.0,0.0,0,59,0.00,0.00,-7.97,0.000,6,0.000,0.000,613,2108,2872
$GC,65,-1.49,-116.8,0.3,-0.0,2,83,6.35,2.65,0.00,0.000,4,0.000,0.000,1970,3452,2874
$GC,255,-1.49,-116.8,24.3,-10.8,32,264,0.52,3.00,0.00,0.000,6,0.000,0.000,1829,1902,2872
$GC,624,-1.58,-116.8,86.8,-17.7,93,633,0.47,3.03,0.00,0.000,4,0.000,0.000,1963,3586,2876
$GC,709,-1.21,-116.8,97.4,-11.7,106,718,0.50,2.60,0.00,0.000,6,0.000,0.000,2074,2005,2872
$GC,1044,-1.30,-116.8,120.5,-6.5,124,1052,0.62,3.47,0.00,0.000,4,0.000,0.000,1959,3502,2879
$GC,1108,-1.56,-116.8,127.1,-12.0,126,1116,0.12,2.35,0.00,0.000,6,0.000,0.000,1969,2156,2877
$GC,1433,-1.62,-116.8,164.3,-11.7,142,1435,0.45,0.00,0.00,0.000,6,0.000,0.000,1818,2175,2875
$GC,1741,-1.54,-116.8,218.4,-17.9,157,1744,1.17,0.00,0.00,0.000,6,0.000,0.000,2000,2180,2874
$GC,2051,-1.11,-116.8,248.7,-9.2,172,2056,0.00,2.58,0.00,0.000,4,0.000,0.000,2007,3517,2872
$GC,2081,-1.18,-116.8,252.2,-9.4,173,2086,0.00,2.88,0.00,0.000,6,0.000,0.000,2024,2177,2876
$GC,2407,-1.34,-116.8,281.5,-9.2,188,2409,0.30,0.00,0.00,0.000,6,0.000,0.000,1946,2192,2879
$GC,2716,-1.41,-116.8,317.9,-12.0,203,2717,0.08,0.00,0.00,0.000,6,0.000,0.000,1936,2187,2875
$GC,3025,-1.31,-116.8,354.9,-12.0,218,3030,0.12,2.05,0.00,0.000,4,0.000,0.000,1939,3537,2872
$GC,3054,-1.21,-116.8,359.4,-12.0,219,3060,0.50,2.12,0.00,0.000,6,0.000,0.000,2083,2044,2883
$GC,3374,-1.21,-116.8,381.8,-6.8,234,3382,0.52,3.03,0.00,0.000,4,0.000,0.000,1999,3697,2875
$GC,3425,-1.47,-116.8,386.0,-9.2,236,3433,0.57,3.42,0.00,0.000,6,0.000,0.000,1900,2048,2875
$GC,3760,-1.69,-116.8,435.0,-15.0,252,3766,0.00,3.03,0.00,0.000,4,0.000,0.000,1891,3549,2879
$GC,3804,-1.43,-116.8,441.6,-15.0,254,3810,0.50,2.65,0.00,0.000,6,0.000,0.000,2024,2038,2872
$GC,4136,-1.34,-116.8,472.2,-8.7,270,4142,0.08,2.88,0.00,0.000,4,0.000,0.000,2006,3385,2876
$GC,4186,-1.41,-116.8,476.2,-9.5,272,4191,0.50,2.12,0.00,0.000,6,0.000,0.000,1888,2067,2881
$GC,4514,-1.78,-116.8,524.7,-15.0,284,4519,0.00,2.25,0.00,0.000,4,0.000,0.000,1878,3554,2875
$GC,4558,-1.52,-116.8,531.3,-15.0,285,4566,0.50,2.95,0.00,0.000,6,0.000,0.000,2023,2067,2877
$STATE,4844,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4844,begin apogee
$GC,4856,-0.25,0.0,559.5,9.2,292,4875,1.27,0.00,15.05,0.000,6,0.000,0.000,2249,2070,2235
$STATE,4876,end apogee,CONTROL_FINISHED_OK
$STATE,4876,begin climb
$GC,4881,1.49,116.8,559.5,0.0,292,4901,2.08,2.45,11.05,0.001,4,0.000,0.000,2625,543,1762
$GC,4922,1.49,116.8,556.8,18.2,292,4931,0.50,2.72,0.00,0.000,6,0.000,0.000,2502,2172,1767
$GC,5257,1.38,146.1,516.2,11.4,301,5267,0.55,2.65,2.75,0.000,4,0.000,0.000,2547,3662,1644
$GC,5326,1.55,146.1,505.2,17.0,302,5333,0.52,3.08,0.00,0.000,6,0.000,0.000,2665,2170,1648
$GC,5660,1.66,146.1,420.5,26.3,317,5667,0.35,3.03,0.00,0.000,4,0.000,0.000,2564,3645,1649
$GC,5708,1.28,146.1,407.9,17.6,319,5714,0.00,3.17,0.00,0.000,6,0.000,0.000,2559,2142,1651
$GC,6045,1.37,146.1,349.5,17.1,335,6050,0.00,2.75,0.00,0.000,4,0.000,0.000,2566,3659,1649
$GC,6092,1.32,146.1,340.1,17.3,337,6097,0.00,2.65,0.00,0.000,6,0.000,0.000,2565,1984,1652
$GC,6423,1.42,146.1,285.1,17.0,353,6429,0.00,3.22,0.00,0.000,4,0.000,0.000,2556,3637,1646
$GC,6508,1.37,146.1,269.1,17.6,356,6516,0.00,2.47,0.00,0.000,6,0.000,0.000,2583,2293,1645
$GC,6833,1.47,146.1,215.0,17.1,372,6835,0.05,0.00,0.00,0.000,6,0.000,0.000,2616,2294,1643
$GC,7137,1.42,146.1,149.4,21.4,387,7139,0.60,0.00,0.00,0.000,6,0.000,0.000,2502,2297,1645
$GC,7451,1.21,156.5,108.2,12.9,402,7459,0.15,2.67,0.88,0.001,4,0.000,0.000,2516,3618,1603
$GC,7469,1.34,169.1,104.9,12.8,402,7479,0.47,3.03,1.12,0.000,6,0.000,0.000,2613,2120,1546
$GC,7832,1.51,169.1,20.7,23.9,460,7841,0.57,2.45,0.00,0.000,4,0.000,0.000,2502,3613,1541
$GC,7900,1.29,169.1,9.5,14.4,470,7909,0.52,2.25,0.00,0.000,6,0.000,0.000,2603,2080,1538
$STATE,7941,end climb,SURFACE_DEPTH_REACHED
$STATE,7941,begin surface coast
$FINISH,0.3,1.025059
$STATE,7947,end surface coast,CONTROL_FINISHED_OK
$STATE,7947,begin surface
$SM_CCo,7975,17.55,0.000,0,0,410,450.37
$SM_GC,0.34,0.00,0.00,17.55,0.000,0.000,0.000,597,2066,410,-7.54,2.57,450.37
$RAFOS_CLK,0
$RAFOS,3,1161002045,12.583333,12.568055,80,0,0,0,0,0,712,0,0,0,0,0
$RAFOS,1,1161000841,12.250000,12.233611,80,0,0,0,0,0,730,0,0,0,0,0
$RAFOS_FIX,6636.864746,-6003.086426,161006,121250,3,80,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.025311
$HUMID,2313
$INTERNAL_PRESSURE,25.9869
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,18.4,17.8
$ALTIM_BOTTOM_PING,475.2,93.4
$24V_AH,23.7,50.626
$10V_AH,9.7,7.713
$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,31.250,87.650,30.850,17.550,0.000,0.000,0.000,67.559,4.250,21.999,1558.548,5280.189,224.192,520.607,679.387,0.000,669.111,0.000,432.452,360.000,24.900
$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,398.805,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15846,477
$CFSIZE,255582208,239226880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,58,683,0,0
$SOUNDSPEED,1459.7
$CURRENT,0.076,122.3,1
$GPS,161006,143936,6636.663,-6008.827,31,1.1,31,18.0