version: 66.01
glider: 1
mission: 1
dive: 83
start: 10 16 106 22 26 37
data:
$ID,1
$MISSION,1
$DIVE,83
$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,-448462.09
$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,170
$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
$GPS1,221949,6637.352,-6008.175,17,1.1,17,18.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.8
$GPS2,222608,6637.352,-6008.175,14,1.1,14,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6628.335,-6010.548
$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,195.4,20000,-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,36,begin dive
$GC,42,-1.49,-116.8,0.0,0.0,0,58,0.00,0.00,-8.23,0.000,6,0.000,0.000,609,1964,2853
$GC,64,-1.49,-116.8,0.3,0.0,2,82,6.75,2.92,0.00,0.000,4,0.000,0.000,2024,3664,2852
$GC,308,-1.49,-116.8,25.4,-8.4,41,317,0.47,3.15,0.00,0.000,6,0.000,0.000,1906,1997,2851
$GC,677,-1.74,-116.8,75.0,-13.5,102,686,0.00,3.38,0.00,0.000,4,0.000,0.000,1905,3501,2856
$GC,738,-1.52,-116.8,83.6,-14.0,111,748,0.03,2.78,0.00,0.000,6,0.000,0.000,1874,2170,2857
$GC,1087,-1.58,-116.8,131.5,-13.7,141,1089,0.10,0.00,0.00,0.000,6,0.000,0.000,1950,2160,2857
$GC,1401,-1.35,-116.8,167.2,-11.2,156,1406,0.03,2.25,0.00,0.000,4,0.000,0.000,1963,3680,2853
$GC,1438,-1.28,-116.8,172.0,-11.0,157,1447,0.00,3.33,0.00,0.000,6,0.000,0.000,1939,1983,2855
$GC,1764,-1.63,-116.8,206.5,-10.0,173,1772,0.38,3.47,0.00,0.000,4,0.000,0.000,1844,3647,2862
$GC,1805,-1.80,-116.8,213.4,-17.0,174,1814,0.52,2.35,0.00,0.000,6,0.000,0.000,1977,2109,2853
$GC,2131,-1.60,-116.8,250.0,-11.3,190,2138,0.52,2.72,0.00,0.000,4,0.000,0.000,1912,3654,2861
$GC,2160,-1.53,-116.8,254.7,-13.5,191,2166,0.10,2.67,0.00,0.000,6,0.000,0.000,1910,2147,2859
$GC,2486,-1.46,-116.8,299.5,-14.0,207,2488,0.52,0.00,0.00,0.000,6,0.000,0.000,2016,2166,2859
$GC,2800,-1.22,-116.8,327.4,-8.7,222,2805,0.00,2.35,0.00,0.000,4,0.000,0.000,1999,3521,2857
$GC,2830,-1.30,-116.8,330.7,-8.8,223,2843,0.25,3.03,0.00,0.000,6,0.000,0.000,1941,2039,2854
$GC,3159,-1.51,-116.8,366.8,-11.4,239,3165,0.08,2.92,0.00,0.000,4,0.000,0.000,1958,3548,2856
$GC,3207,-1.42,-116.8,373.1,-11.5,241,3212,0.00,2.58,0.00,0.000,6,0.000,0.000,1929,2220,2859
$GC,3538,-1.48,-116.8,410.0,-11.6,257,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,2238,2853
$GC,3841,-1.39,-116.8,444.3,-11.4,272,3847,0.00,3.20,0.00,0.000,4,0.000,0.000,1947,534,2852
$GC,3866,-1.30,-116.8,447.4,-11.4,273,3874,0.17,3.42,0.00,0.000,6,0.000,0.000,2019,2377,2854
$GC,4205,-1.37,-116.8,476.7,-8.8,289,4213,0.38,3.22,0.00,0.000,4,0.000,0.000,1893,537,2853
$GC,4232,-1.44,-116.8,480.5,-10.7,290,4240,0.50,3.47,0.00,0.000,6,0.000,0.000,1993,2229,2858
$GC,4566,-1.48,-116.8,510.8,-8.8,303,4572,0.52,2.50,0.00,0.000,4,0.000,0.000,1869,3532,2856
$GC,4598,-1.55,-116.8,514.4,-11.6,303,4603,0.52,2.35,0.00,0.000,6,0.000,0.000,2034,2046,2856
$GC,4933,-1.62,-116.8,549.6,-9.0,311,4941,0.70,3.10,0.00,0.000,4,0.000,0.000,1827,3634,2852
$STATE,4976,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4976,begin apogee
$GC,4993,-0.25,0.0,556.6,17.5,312,5012,1.98,0.00,14.90,0.000,6,0.000,0.000,2258,1989,2245
$STATE,5012,end apogee,CONTROL_FINISHED_OK
$STATE,5013,begin climb
$GC,5018,1.49,116.8,556.6,0.0,312,5038,1.60,3.42,11.12,0.001,4,0.000,0.000,2621,3535,1763
$GC,5058,1.49,116.8,556.5,18.7,313,5071,0.45,3.12,0.00,0.000,6,0.000,0.000,2500,2164,1764
$GC,5398,1.38,143.4,515.4,11.6,322,5407,0.50,2.90,2.47,0.001,4,0.000,0.000,2626,3683,1656
$GC,5445,1.54,143.4,506.5,21.4,323,5451,0.12,2.70,0.00,0.000,6,0.000,0.000,2557,2164,1675
$GC,5777,1.40,143.4,450.9,16.7,338,5782,0.00,2.62,0.00,0.000,4,0.000,0.000,2551,3672,1663
$GC,5813,1.35,143.4,443.7,16.8,339,5822,0.00,3.28,0.00,0.000,6,0.000,0.000,2562,2008,1663
$GC,6137,1.46,143.4,388.8,16.7,355,6142,0.00,2.62,0.00,0.000,4,0.000,0.000,2552,3679,1661
$GC,6218,1.42,143.4,373.9,17.7,358,6227,0.00,3.28,0.00,0.000,6,0.000,0.000,2556,1992,1665
$GC,6542,1.48,143.4,320.4,16.8,374,6547,0.10,2.42,0.00,0.000,4,0.000,0.000,2565,3675,1664
$GC,6622,1.44,143.4,306.6,16.6,377,6627,0.00,3.15,0.00,0.000,6,0.000,0.000,2576,2017,1663
$GC,6946,1.54,143.4,252.7,17.0,392,6951,0.28,2.58,0.00,0.000,4,0.000,0.000,2617,3376,1661
$GC,7040,1.49,143.4,233.4,21.8,396,7045,0.52,2.25,0.00,0.000,6,0.000,0.000,2485,2239,1665
$GC,7376,1.37,157.7,188.5,12.6,412,7380,0.52,0.00,1.23,0.000,6,0.000,0.000,2612,2259,1603
$GC,7686,1.51,157.7,118.2,26.5,427,7691,0.43,1.95,0.00,0.000,4,0.000,0.000,2502,3414,1601
$GC,7730,1.14,169.2,109.3,12.8,429,7736,0.00,2.05,1.15,0.001,6,0.000,0.000,2509,2278,1542
$GC,8087,1.37,169.2,60.6,14.0,479,8095,0.60,0.00,0.00,0.000,6,0.000,0.000,2615,2272,1541
$STATE,8324,end climb,SURFACE_DEPTH_REACHED
$STATE,8325,begin surface coast
$FINISH,0.3,1.024431
$STATE,8332,end surface coast,CONTROL_FINISHED_OK
$STATE,8332,begin surface
$SM_CCo,8362,17.60,0.000,0,0,413,450.37
$SM_GC,0.34,0.00,0.00,17.60,0.000,0.000,0.000,647,1922,413,-7.39,-1.22,450.37
$RAFOS_CLK,0
$RAFOS,3,1161045249,0.583333,0.569167,80,0,0,0,0,0,697,0,0,0,0,0
$RAFOS,2,1161044646,0.416667,0.401667,80,0,0,0,0,0,931,0,0,0,0,0
$RAFOS,1,1161044044,0.250000,0.234444,80,0,0,0,0,0,718,0,0,0,0,0
$RAFOS,0,1161043454,0.083333,0.070556,80,0,0,0,0,0,529,0,0,0,0,0
$RAFOS_FIX,6636.910156,-6004.534180,171006,000020,4,80,0.41
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2368
$INTERNAL_PRESSURE,25.9967
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,18.3,18.1
$ALTIM_BOTTOM_PING,476.7,89.3
$24V_AH,23.7,51.724
$10V_AH,9.7,7.883
$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,29.750,103.050,30.875,17.600,0.000,0.000,0.000,65.730,4.250,15.809,1689.353,5500.355,246.272,558.885,779.497,0.000,725.635,0.000,469.722,1440.000,24.841
$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,432.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15854,520
$CFSIZE,255582208,238952448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,52,793,0,0
$SOUNDSPEED,1459.6
$CURRENT,0.073,100.0,1
$GPS,171006,004800,6636.428,-6008.681,25,1.1,25,18.0