version: 66.01
glider: 1
mission: 1
dive: 73
start: 10 15 106 21 32 54
data:
$ID,1
$MISSION,1
$DIVE,73
$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,-448192.91
$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
$GPS1,212813,6636.421,-6008.610,7,1.1,8,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.9
$GPS2,213225,6636.421,-6008.610,18,1.1,18,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6634.647,-6004.376
$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,81.5,20000,-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,42,-1.49,-116.8,0.0,0.0,0,58,0.00,0.00,-8.02,0.000,6,0.000,0.000,626,2074,2851
$GC,64,-1.49,-116.8,0.3,0.0,2,82,6.57,2.95,0.00,0.000,4,0.000,0.000,1984,406,2866
$GC,124,-1.49,-116.8,10.4,-10.0,10,133,0.52,2.88,0.00,0.000,6,0.000,0.000,1878,1921,2855
$GC,494,-1.64,-116.8,67.2,-15.6,71,503,0.35,2.75,0.00,0.000,4,0.000,0.000,1989,3468,2853
$GC,669,-1.42,-116.8,85.2,-10.7,99,677,0.00,2.35,0.00,0.000,6,0.000,0.000,1979,2127,2854
$GC,1025,-1.43,-116.8,120.6,-10.0,133,1032,0.47,2.97,0.00,0.000,4,0.000,0.000,1861,441,2862
$GC,1073,-1.45,-116.8,127.4,-16.4,135,1081,0.57,3.35,0.00,0.000,6,0.000,0.000,1971,2107,2861
$GC,1408,-1.36,-116.8,161.8,-10.0,151,1415,0.00,3.55,0.00,0.000,4,0.000,0.000,1983,415,2861
$GC,1480,-1.38,-116.8,168.8,-10.1,154,1487,0.17,3.00,0.00,0.000,6,0.000,0.000,1929,1719,2865
$GC,1815,-1.58,-116.8,210.1,-12.3,170,1817,0.03,0.00,0.00,0.000,6,0.000,0.000,1935,1731,2860
$GC,2130,-1.44,-116.8,248.2,-11.9,185,2135,0.03,2.83,0.00,0.000,4,0.000,0.000,1917,565,2861
$GC,2183,-1.37,-116.8,255.2,-12.6,187,2196,0.47,2.92,0.00,0.000,6,0.000,0.000,2075,2036,2863
$GC,2513,-1.39,-116.8,279.1,-7.0,203,2521,0.68,2.85,0.00,0.000,4,0.000,0.000,1869,457,2859
$GC,2575,-1.62,-116.8,288.4,-16.2,205,2584,0.50,2.22,0.00,0.000,6,0.000,0.000,1991,1978,2861
$GC,2900,-1.44,-116.8,320.8,-10.2,221,2905,0.05,2.80,0.00,0.000,4,0.000,0.000,1961,491,2857
$GC,2986,-1.44,-116.8,329.6,-9.3,224,2995,0.15,2.15,0.00,0.000,6,0.000,0.000,1971,1863,2867
$GC,3311,-1.62,-116.8,362.4,-10.1,240,3316,0.57,1.98,0.00,0.000,4,0.000,0.000,1829,731,2853
$GC,3364,-1.62,-116.8,371.1,-16.2,242,3369,0.50,2.03,0.00,0.000,6,0.000,0.000,1980,1890,2858
$GC,3689,-1.39,-116.8,404.8,-10.3,257,3694,0.00,2.35,0.00,0.000,4,0.000,0.000,1969,706,2861
$GC,3756,-1.39,-116.8,411.9,-10.2,260,3761,0.05,1.85,0.00,0.000,6,0.000,0.000,1962,1706,2856
$GC,4087,-1.46,-116.8,444.1,-9.7,276,4088,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1696,2861
$GC,4399,-1.65,-116.8,476.0,-10.4,291,4404,0.38,1.95,0.00,0.000,4,0.000,0.000,1859,541,2857
$GC,4430,-1.65,-116.8,480.5,-14.2,292,4435,0.52,2.17,0.00,0.000,6,0.000,0.000,1982,1728,2862
$GC,4747,-1.57,-116.8,514.3,-10.3,304,4753,0.43,2.75,0.00,0.000,4,0.000,0.000,1847,3417,2859
$GC,4891,-1.57,-116.8,538.0,-16.8,307,4898,0.50,2.67,0.00,0.000,6,0.000,0.000,1966,1945,2859
$STATE,5087,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5087,begin apogee
$GC,5099,-0.25,0.0,559.1,10.4,312,5118,1.77,0.00,14.93,0.000,6,0.000,0.000,2274,1949,2239
$STATE,5119,end apogee,CONTROL_FINISHED_OK
$STATE,5119,begin climb
$GC,5125,1.49,116.8,559.1,0.0,312,5144,1.65,2.90,11.18,0.000,4,0.000,0.000,2612,3269,1765
$GC,5227,1.49,116.8,545.0,21.7,314,5235,0.52,3.28,0.00,0.000,6,0.000,0.000,2486,1799,1769
$GC,5555,1.23,140.6,503.6,11.9,322,5564,0.03,3.62,2.40,0.001,4,0.000,0.000,2504,3435,1671
$GC,5672,1.38,145.6,488.2,13.3,326,5679,0.52,3.03,0.00,0.000,6,0.000,0.000,2647,1774,1673
$GC,6006,1.50,145.6,416.6,22.4,342,6012,0.52,2.20,0.08,0.002,4,0.000,0.000,2571,593,1671
$GC,6037,1.25,145.6,409.2,17.7,343,6044,0.12,2.67,0.03,0.000,6,0.000,0.000,2571,1947,1665
$GC,6364,1.30,145.6,351.5,20.2,358,6371,0.12,3.47,0.00,0.000,4,0.001,0.000,2578,3435,1662
$GC,6550,1.11,145.6,317.6,17.5,366,6558,0.60,3.17,0.00,0.000,6,0.000,0.000,2464,1902,1664
$GC,6891,1.06,196.3,283.2,9.7,382,6904,0.60,2.65,5.18,0.001,4,0.000,0.000,2582,389,1443
$GC,6947,1.40,196.3,270.2,24.0,384,6959,0.00,3.38,0.00,0.000,6,0.000,0.000,2543,2269,1450
$GC,7276,1.60,196.3,203.8,20.8,400,7284,0.82,4.00,0.00,0.000,4,0.000,0.000,2674,439,1446
$GC,7335,1.54,196.3,185.6,32.8,402,7348,0.65,3.15,0.00,0.000,6,0.000,0.000,2591,2116,1448
$GC,7665,1.45,196.3,116.5,20.7,418,7670,0.00,2.85,0.00,0.000,4,0.000,0.000,2546,3679,1447
$GC,7689,1.37,196.3,109.7,21.3,419,7696,0.00,3.53,0.00,0.000,6,0.000,0.000,2568,1676,1445
$GC,8053,1.32,196.3,34.8,21.4,473,8062,0.00,3.80,0.00,0.000,4,0.000,0.000,2571,3709,1440
$STATE,8212,end climb,SURFACE_DEPTH_REACHED
$STATE,8212,begin surface coast
$FINISH,0.3,1.025207
$STATE,8217,end surface coast,CONTROL_FINISHED_OK
$STATE,8217,begin surface
$SM_CCo,8251,16.05,0.000,0,0,420,450.62
$SM_GC,0.34,0.00,0.00,16.05,0.000,0.000,0.000,611,1854,420,-7.54,-3.22,450.62
$RAFOS_CLK,0
$RAFOS_FIX,6637.359375,-6003.261230,151006,202020,4,80,0.99
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2438
$INTERNAL_PRESSURE,26.0358
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.6,19.2
$ALTIM_BOTTOM_PING,476.0,91.1
$24V_AH,23.7,48.982
$10V_AH,9.7,7.457
$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,31.450,109.200,33.775,16.050,0.000,0.000,0.000,67.687,4.250,19.352,1633.984,5330.750,253.100,600.929,703.180,0.000,765.455,0.000,507.832,0.000,24.856
$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,414.197,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15855,500
$CFSIZE,255582208,239628288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,59,857,0,0
$SOUNDSPEED,1459.7
$CURRENT,0.063,337.6,1
$GPS,151006,235203,6636.623,-6006.333,17,1.1,17,18.0