version: 66.01
glider: 1
mission: 1
dive: 77
start: 10 16 106 7 8 45
data:
$ID,1
$MISSION,1
$DIVE,77
$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,-448310
$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,11
$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
$GPS1,070359,6636.199,-6007.742,8,1.1,8,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.4
$GPS2,070817,6636.199,-6007.742,21,1.1,21,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6639.970,-6003.733
$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,51.6,20000,-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,-116.8,0.0,0.0,0,58,0.00,0.00,-7.97,0.000,6,0.000,0.000,630,1701,2847
$GC,64,-1.49,-116.8,0.3,-0.0,2,82,6.75,1.92,0.00,0.000,4,0.000,0.000,2000,378,2844
$GC,217,-1.49,-116.8,19.4,-9.6,26,226,0.52,3.17,0.00,0.000,6,0.000,0.000,1863,2061,2847
$GC,585,-1.79,-116.8,73.1,-14.8,87,593,0.00,1.85,0.00,0.000,4,0.000,0.000,1877,3403,2852
$GC,674,-1.48,-116.8,86.5,-14.8,101,683,0.52,3.28,0.00,0.000,6,0.000,0.000,1997,1704,2842
$GC,1019,-1.31,-116.8,119.4,-9.2,133,1024,0.03,2.95,0.00,0.000,4,0.000,0.000,2012,3223,2849
$GC,1204,-1.37,-116.8,136.9,-9.3,141,1209,0.03,2.05,0.00,0.000,6,0.000,0.000,2000,2075,2847
$GC,1529,-1.48,-116.8,166.9,-9.4,157,1534,0.43,1.95,0.00,0.000,4,0.000,0.000,1868,3242,2853
$GC,1582,-1.52,-116.8,174.0,-15.3,159,1594,0.52,2.67,0.00,0.000,6,0.000,0.000,2010,2053,2851
$GC,1905,-1.34,-116.8,203.0,-8.9,175,1911,0.45,2.75,0.00,0.000,4,0.000,0.000,1870,3357,2842
$GC,1955,-1.40,-116.8,209.6,-14.2,177,1961,0.65,2.47,0.00,0.000,6,0.000,0.000,2019,2044,2845
$GC,2281,-1.26,-116.8,239.0,-8.9,193,2285,0.00,2.05,0.00,0.000,4,0.000,0.000,2001,3219,2846
$GC,2339,-1.31,-116.8,244.5,-8.8,195,2348,0.08,1.85,0.00,0.000,6,0.000,0.000,2023,1893,2845
$GC,2664,-1.44,-116.8,273.0,-9.0,211,2671,0.32,3.05,0.00,0.000,4,0.000,0.000,1888,3422,2850
$GC,2763,-1.51,-116.8,287.3,-14.9,215,2771,0.52,3.00,0.00,0.000,6,0.000,0.000,1998,1955,2849
$GC,3092,-1.36,-116.8,318.6,-9.3,231,3097,0.05,2.33,0.00,0.000,4,0.000,0.000,1978,3433,2847
$GC,3172,-1.40,-116.8,325.8,-9.2,234,3178,0.52,1.98,0.00,0.000,6,0.000,0.000,1876,2250,2849
$GC,3497,-1.55,-116.8,371.8,-14.8,249,3505,0.47,3.53,0.00,0.000,4,0.000,0.000,2003,425,2848
$GC,3523,-1.26,-116.8,376.0,-13.8,250,3529,0.00,2.92,0.00,0.000,6,0.000,0.000,1995,2271,2851
$GC,3861,-1.32,-116.8,406.0,-9.1,266,3866,0.43,2.47,0.00,0.000,4,0.000,0.000,1874,3441,2839
$GC,3883,-1.37,-116.8,408.8,-9.4,267,3889,0.57,2.55,0.00,0.000,6,0.000,0.000,1995,2077,2845
$GC,4214,-1.35,-116.8,440.2,-9.2,283,4220,0.35,2.47,0.00,0.000,4,0.000,0.000,1873,3245,2845
$GC,4273,-1.39,-116.8,448.3,-14.5,285,4282,0.57,1.35,0.00,0.000,6,0.000,0.000,2021,2244,2847
$GC,4593,-1.19,-116.8,478.2,-9.2,301,4598,0.00,2.92,0.00,0.000,4,0.000,0.000,1988,407,2852
$GC,4618,-1.23,-116.8,480.7,-9.5,302,4625,0.00,3.55,0.00,0.000,6,0.000,0.000,1990,2256,2841
$GC,4971,-1.42,-116.8,512.0,-8.8,316,4976,0.50,1.73,0.00,0.000,4,0.000,0.000,1871,3403,2843
$GC,4995,-1.46,-116.8,516.4,-13.7,316,5000,0.43,1.67,0.00,0.000,6,0.000,0.000,1987,2244,2851
$GC,5335,-1.46,-116.8,548.6,-9.3,325,5343,0.52,3.25,0.00,0.000,4,0.000,0.000,1902,536,2845
$GC,5359,-1.49,-116.8,551.7,-11.7,325,5367,0.50,2.78,0.00,0.000,6,0.000,0.000,1980,2077,2844
$STATE,5503,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5508,begin apogee
$GC,5520,-0.25,0.0,565.6,8.8,329,5537,1.08,0.00,14.38,0.001,6,0.000,0.000,2246,2068,2252
$STATE,5538,end apogee,CONTROL_FINISHED_OK
$STATE,5538,begin climb
$GC,5544,1.49,116.8,565.6,0.0,329,5564,2.28,3.03,11.50,0.001,4,0.000,0.000,2640,496,1758
$GC,5595,1.49,116.8,559.9,22.2,330,5602,0.55,2.97,0.00,0.000,6,0.000,0.000,2564,2022,1765
$GC,5916,1.49,116.8,512.8,14.2,338,5922,0.52,2.47,0.00,0.000,4,0.000,0.000,2671,3234,1758
$GC,6056,1.49,116.8,479.6,23.9,342,6062,0.52,2.12,0.00,0.000,6,0.000,0.000,2545,1903,1760
$GC,6386,1.22,116.8,429.6,14.8,358,6391,0.10,2.90,0.00,0.000,4,0.000,0.000,2532,3378,1760
$GC,6523,1.22,116.8,408.1,14.5,364,6528,0.00,2.58,0.00,0.000,6,0.000,0.000,2542,2178,1762
$GC,6858,1.29,116.8,359.7,14.8,380,6863,0.00,2.72,0.00,0.000,4,0.000,0.000,2550,3486,1762
$GC,6905,1.27,116.8,351.7,15.1,382,6910,0.00,2.83,0.00,0.000,6,0.000,0.000,2558,1965,1771
$GC,7235,1.36,116.8,304.4,14.7,398,7240,0.00,2.47,0.00,0.000,4,0.000,0.000,2541,3490,1764
$GC,7346,1.36,116.8,287.3,14.8,403,7350,0.00,2.47,0.00,0.000,6,0.000,0.000,2558,2293,1761
$GC,7680,1.45,116.8,238.9,14.8,419,7687,0.00,3.50,0.00,0.000,4,0.000,0.000,2544,423,1765
$GC,7707,1.43,116.8,234.4,14.9,420,7711,0.00,2.58,0.00,0.000,6,0.000,0.000,2549,2099,1768
$GC,8043,1.56,116.8,185.9,14.6,436,8049,0.60,2.45,0.00,0.000,4,0.000,0.000,2674,3444,1772
$GC,8161,1.54,116.8,157.7,23.3,441,8166,0.50,1.92,0.00,0.000,6,0.000,0.000,2570,2104,1757
$GC,8491,1.31,116.8,99.8,16.3,457,8499,0.00,2.75,0.00,0.000,4,0.000,0.000,2561,3455,1763
$GC,8552,1.05,116.8,89.6,15.7,466,8561,0.55,1.85,0.00,0.000,6,0.000,0.000,2437,2149,1762
$GC,8921,1.12,187.0,58.2,8.2,527,8938,0.60,2.20,5.78,0.001,4,0.000,0.000,2562,3451,1471
$GC,8996,1.53,187.0,45.4,19.4,538,9003,0.00,1.85,0.00,0.000,6,0.000,0.000,2554,2315,1474
$STATE,9221,end climb,SURFACE_DEPTH_REACHED
$STATE,9221,begin surface coast
$FINISH,0.3,1.024982
$STATE,9228,end surface coast,CONTROL_FINISHED_OK
$STATE,9228,begin surface
$SM_CCo,9258,16.60,0.000,0,0,409,451.60
$SM_GC,0.34,0.00,0.00,16.60,0.000,0.000,0.000,627,2141,409,-7.51,4.61,451.60
$RAFOS_CLK,0
$RAFOS,4,1160990942,9.500000,9.483889,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,3,1160987650,8.583333,8.569445,80,0,0,0,0,0,683,0,0,0,0,0
$RAFOS,2,1160987049,8.416667,8.402500,80,0,0,0,0,0,905,0,0,0,0,0
$RAFOS,1,1160986443,8.250000,8.234167,80,0,0,0,0,0,718,0,0,0,0,0
$RAFOS,0,1160985845,8.083333,8.068055,80,0,0,0,0,0,575,0,0,0,0,0
$RAFOS_FIX,6637.067871,-6003.151367,161006,080820,4,80,0.85
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2280
$INTERNAL_PRESSURE,26.0065
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.2,18.9
$ALTIM_BOTTOM_PING,525.9,46.4
$24V_AH,23.7,50.045
$10V_AH,9.7,7.629
$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,32.725,116.675,31.650,16.600,0.000,0.000,0.000,67.281,4.750,21.940,1895.181,5939.068,261.339,680.107,773.685,0.000,842.514,0.000,575.502,1800.000,32.721
$DEVICE_MAMPS,119.000,60.000,0.767,600.000,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,476.538,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18996,577
$CFSIZE,255582208,239333376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,63,887,0,0
$SOUNDSPEED,1459.7
$CURRENT,0.054,313.5,1
$GPS,161006,094507,6636.768,-6005.912,28,1.1,28,18.0