version: 66.01
glider: 1
mission: 1
dive: 82
start: 10 16 106 19 53 55
data:
$ID,1
$MISSION,1
$DIVE,82
$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,-448445.66
$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,162
$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
$GPS1,194912,6637.074,-6005.926,29,1.1,30,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.9
$GPS2,195326,6637.074,-6005.926,19,1.1,19,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6643.791,-6009.267
$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,290.5,20000,-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,36,begin dive
$GC,42,-1.49,-116.8,0.0,0.0,0,57,0.00,0.00,-7.97,0.000,6,0.000,0.000,637,2057,2833
$GC,63,-1.49,-116.8,0.3,-0.0,2,80,6.47,2.50,0.00,0.000,4,0.000,0.000,1991,3557,2838
$GC,281,-1.49,-116.8,25.2,-9.8,37,290,0.47,3.33,0.00,0.000,6,0.000,0.000,1857,1885,2841
$GC,650,-1.62,-116.8,81.5,-13.8,98,660,0.40,3.50,0.00,0.000,4,0.000,0.000,1968,3586,2835
$GC,741,-1.37,-116.8,91.5,-10.0,112,750,0.00,2.83,0.00,0.000,6,0.000,0.000,1994,1922,2836
$GC,1084,-1.49,-116.8,124.4,-10.2,138,1092,0.08,3.88,0.00,0.000,4,0.000,0.000,1949,3557,2841
$GC,1160,-1.47,-116.8,132.3,-10.4,141,1166,0.10,2.97,0.00,0.000,6,0.000,0.000,1963,2223,2839
$GC,1492,-1.58,-116.8,166.5,-10.2,157,1500,0.50,3.00,0.00,0.000,4,0.000,0.000,1857,511,2843
$GC,1518,-1.55,-116.8,169.8,-12.6,158,1526,0.52,2.88,0.00,0.000,6,0.000,0.000,1956,2047,2837
$GC,1854,-1.48,-116.8,205.3,-10.2,174,1858,0.00,2.58,0.00,0.000,4,0.000,0.000,1968,3391,2840
$GC,1939,-1.45,-116.8,213.6,-8.4,177,1949,0.12,2.78,0.00,0.000,6,0.001,0.000,1971,2205,2841
$GC,2265,-1.64,-116.8,246.8,-10.4,193,2272,0.50,3.03,0.00,0.000,4,0.000,0.000,1835,550,2835
$GC,2291,-1.60,-116.8,250.5,-11.7,194,2299,0.52,3.17,0.00,0.000,6,0.000,0.000,1957,2215,2843
$GC,2627,-1.53,-116.8,287.9,-10.8,210,2631,0.00,2.12,0.00,0.000,4,0.000,0.000,1968,3565,2835
$GC,2662,-1.45,-116.8,292.0,-10.6,211,2671,0.00,2.78,0.00,0.000,6,0.000,0.000,1940,2233,2838
$GC,2989,-1.54,-116.8,324.9,-9.2,227,2997,0.47,3.05,0.00,0.000,4,0.000,0.000,1890,565,2840
$GC,3015,-1.77,-116.8,328.7,-11.4,228,3021,0.00,3.08,0.00,0.000,6,0.000,0.000,1897,2236,2835
$GC,3351,-1.85,-116.8,372.2,-13.2,244,3357,0.47,2.72,0.00,0.000,4,0.000,0.000,1793,3544,2835
$GC,3377,-1.68,-116.8,377.4,-15.5,245,3385,0.82,2.70,0.00,0.000,6,0.000,0.000,1981,2007,2833
$GC,3707,-1.36,-116.8,413.0,-10.3,261,3711,0.00,2.45,0.00,0.000,4,0.000,0.000,1955,3539,2835
$GC,3765,-1.31,-116.8,419.4,-10.4,263,3774,0.00,2.88,0.00,0.000,6,0.000,0.000,1963,2169,2833
$GC,4089,-1.41,-116.8,452.3,-10.4,279,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,2163,2840
$GC,4394,-1.36,-116.8,484.4,-10.4,294,4399,0.00,2.35,0.00,0.000,4,0.000,0.000,1962,3680,2831
$GC,4424,-1.31,-116.8,487.8,-10.6,295,4437,0.00,3.65,0.00,0.000,6,0.000,0.000,1975,2011,2831
$GC,4767,-1.40,-116.8,523.1,-10.3,307,4771,0.00,2.50,0.00,0.000,4,0.000,0.000,1969,3514,2837
$GC,4825,-1.36,-116.8,529.4,-10.6,308,4830,0.00,2.67,0.00,0.000,6,0.000,0.000,1952,2219,2839
$GC,5177,-1.45,-116.8,565.7,-10.4,317,5178,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2222,2837
$STATE,5211,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5211,begin apogee
$GC,5224,-0.25,0.0,569.9,10.4,318,5242,1.27,0.00,14.32,0.000,6,0.000,0.000,2294,2052,2246
$STATE,5243,end apogee,CONTROL_FINISHED_OK
$STATE,5243,begin climb
$GC,5249,1.49,116.8,569.9,0.0,318,5264,1.73,0.00,11.20,0.000,6,0.000,0.000,2645,2023,1772
$GC,5584,1.49,116.8,508.7,20.0,327,5591,0.00,3.38,0.00,0.000,4,0.000,0.000,2613,3473,1768
$GC,5706,1.27,116.8,485.6,20.6,331,5713,0.68,2.53,0.00,0.000,6,0.000,0.000,2500,2161,1771
$GC,6047,1.16,139.4,442.3,11.9,347,6055,0.00,2.70,2.22,0.001,4,0.000,0.000,2506,3645,1680
$GC,6084,1.29,140.1,436.8,13.7,348,6097,0.45,3.33,0.00,0.000,6,0.000,0.000,2632,1969,1676
$GC,6414,1.50,140.1,366.6,23.3,364,6420,0.40,2.78,0.00,0.000,4,0.000,0.000,2508,3467,1674
$GC,6522,1.20,152.2,349.7,12.8,368,6531,0.00,2.45,1.48,0.001,6,0.000,0.000,2522,1964,1619
$GC,6846,1.40,154.1,306.5,13.6,384,6854,0.43,3.03,0.00,0.000,4,0.000,0.000,2623,3644,1617
$GC,6945,1.51,154.1,286.2,22.6,388,6952,0.52,3.12,0.00,0.000,6,0.000,0.000,2478,2131,1621
$GC,7285,1.43,157.2,236.4,13.5,404,7291,0.60,2.45,0.00,0.000,4,0.000,0.000,2637,3644,1611
$GC,7330,1.54,157.2,226.7,22.6,406,7335,0.22,2.28,0.00,0.000,6,0.000,0.000,2542,2311,1622
$GC,7666,1.47,157.2,167.3,17.6,422,7668,0.15,0.00,0.00,0.000,6,0.000,0.000,2541,2296,1619
$GC,7970,1.41,157.2,112.6,17.8,437,7971,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2302,1624
$GC,8317,1.35,157.2,52.1,17.4,485,8324,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2293,1621
$STATE,8599,end climb,SURFACE_DEPTH_REACHED
$STATE,8599,begin surface coast
$FINISH,0.3,1.024867
$STATE,8611,end surface coast,CONTROL_FINISHED_OK
$STATE,8611,begin surface
$SM_CCo,8640,18.77,0.000,0,0,401,451.60
$SM_GC,0.34,0.00,0.00,18.77,0.000,0.000,0.000,612,1957,401,-7.59,-0.71,451.60
$RAFOS_CLK,0
$RAFOS,4,1161034144,21.500000,21.484444,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,3,1161030848,20.583334,20.568890,80,0,0,0,0,0,698,0,0,0,0,0
$RAFOS,2,1161030260,20.416666,20.405556,80,0,0,0,0,0,844,0,0,0,0,0
$RAFOS,1,1161029652,20.250000,20.236666,80,0,0,0,0,0,670,0,0,0,0,0
$RAFOS,0,1161029042,20.083334,20.067223,80,0,0,0,0,0,590,0,0,0,0,0
$RAFOS_FIX,6636.880859,-6003.365234,161006,202020,4,80,1.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2348
$INTERNAL_PRESSURE,25.9869
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.7,18.9
$ALTIM_BOTTOM_PING,502.0,75.7
$24V_AH,23.7,51.450
$10V_AH,9.7,7.842
$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,27.850,98.500,29.225,18.775,0.000,0.000,0.000,67.580,4.500,20.527,1721.223,5651.578,238.763,590.361,725.569,0.000,741.211,0.000,493.103,1800.000,31.049
$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,442.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15846,534
$CFSIZE,255582208,239017984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,48,766,0,0
$SOUNDSPEED,1459.6
$CURRENT,0.075,193.4,1
$GPS,161006,221949,6637.352,-6008.175,17,1.1,17,18.0