version: 66.01
glider: 1
mission: 1
dive: 84
start: 10 17 106 0 52 50
data:
$ID,1
$MISSION,1
$DIVE,84
$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,-448488.31
$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,152
$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
$GPS1,004800,6636.428,-6008.681,25,1.1,25,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.8
$GPS2,005222,6636.428,-6008.681,24,1.1,24,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6631.021,-6004.956
$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,102.0,20000,-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,-8.23,0.000,6,0.000,0.000,647,1924,2831
$GC,64,-1.49,-116.8,0.3,0.0,2,83,6.88,3.42,0.00,0.000,4,0.000,0.000,1999,3587,2835
$GC,303,-1.49,-116.8,25.9,-8.9,40,312,0.52,2.97,0.00,0.000,6,0.000,0.000,1867,1885,2831
$GC,672,-1.76,-116.8,79.6,-15.0,101,681,0.03,3.42,0.00,0.000,4,0.000,0.000,1861,3589,2838
$GC,762,-1.45,-116.8,93.1,-15.5,115,771,0.60,3.22,0.00,0.000,6,0.000,0.000,1982,1901,2831
$GC,1092,-1.32,-116.8,125.3,-9.4,137,1098,0.00,3.22,0.00,0.000,4,0.000,0.000,1991,3578,2833
$GC,1174,-1.34,-116.8,132.7,-9.6,140,1179,0.00,2.55,0.00,0.000,6,0.000,0.000,1979,2197,2832
$GC,1498,-1.50,-116.8,163.2,-9.5,155,1506,0.55,3.22,0.00,0.000,4,0.000,0.000,1865,498,2832
$GC,1524,-1.50,-116.8,166.6,-10.8,156,1533,0.50,3.75,0.00,0.000,6,0.000,0.000,1999,2372,2834
$GC,1860,-1.50,-116.8,197.7,-9.8,172,1862,0.45,0.00,0.00,0.000,6,0.000,0.000,1861,2368,2831
$GC,2174,-1.52,-116.8,241.2,-14.8,187,2182,0.52,3.50,0.00,0.000,4,0.000,0.000,1973,507,2836
$GC,2223,-1.21,-116.8,247.3,-9.1,189,2228,0.00,2.88,0.00,0.000,6,0.000,0.000,1997,2033,2838
$GC,2559,-1.47,-116.8,278.2,-9.3,205,2566,0.50,3.00,0.00,0.000,4,0.000,0.000,1878,3558,2838
$GC,2643,-1.49,-116.8,290.0,-14.9,208,2656,0.52,3.08,0.00,0.000,6,0.000,0.000,1984,2065,2837
$GC,2972,-1.37,-116.8,320.7,-9.1,224,2978,0.28,2.67,0.00,0.000,4,0.000,0.000,1933,3595,2841
$GC,3009,-1.41,-116.8,325.2,-11.2,225,3018,0.00,2.65,0.00,0.000,6,0.000,0.000,1937,2122,2830
$GC,3336,-1.69,-116.8,362.8,-11.9,241,3342,0.47,2.78,0.00,0.000,4,0.000,0.000,1829,3431,2837
$GC,3372,-1.55,-116.8,369.4,-17.4,242,3381,0.77,2.05,0.00,0.000,6,0.000,0.000,2001,2118,2837
$GC,3699,-1.24,-116.8,400.4,-9.2,258,3700,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,2109,2837
$GC,4002,-1.26,-116.8,428.8,-8.9,273,4006,0.00,2.42,0.00,0.000,4,0.000,0.000,1981,3627,2834
$GC,4048,-1.41,-116.8,432.6,-9.0,275,4056,0.10,3.22,0.00,0.000,6,0.000,0.000,1984,1989,2842
$GC,4378,-1.59,-116.8,462.9,-9.3,291,4384,0.38,2.83,0.00,0.000,4,0.000,0.000,1859,3549,2839
$GC,4436,-1.62,-116.8,471.5,-15.2,293,4445,0.55,2.55,0.00,0.000,6,0.000,0.000,1985,2081,2839
$GC,4777,-1.47,-116.8,503.7,-9.0,309,4783,0.38,2.75,0.00,0.000,4,0.000,0.000,1856,3549,2841
$GC,4813,-1.52,-116.8,508.6,-15.1,309,4823,0.40,2.38,0.00,0.000,6,0.000,0.000,2000,2189,2840
$GC,5149,-1.37,-116.8,540.5,-9.3,318,5150,0.03,0.00,0.00,0.000,6,0.000,0.000,1981,2193,2842
$STATE,5305,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5305,begin apogee
$GC,5318,-0.25,0.0,555.6,9.3,322,5335,1.33,0.00,14.00,0.000,6,0.000,0.000,2290,1853,2241
$STATE,5336,end apogee,CONTROL_FINISHED_OK
$STATE,5336,begin climb
$GC,5342,1.49,116.8,555.6,0.0,322,5358,1.73,0.00,11.77,0.000,6,0.000,0.000,2661,1853,1759
$GC,5657,1.49,116.8,493.7,21.4,331,5665,0.50,3.53,0.00,0.000,4,0.000,0.000,2517,3690,1762
$GC,5786,1.23,125.2,473.7,13.1,336,5799,0.00,3.22,0.60,0.000,6,0.000,0.000,2529,1989,1732
$GC,6115,1.44,132.3,431.1,13.2,352,6123,0.55,3.25,0.90,0.000,4,0.000,0.000,2580,3672,1692
$GC,6201,1.52,132.3,415.2,18.0,355,6210,0.00,3.17,0.00,0.000,6,0.000,0.000,2555,2154,1702
$GC,6526,1.57,132.3,358.7,17.8,371,6531,0.00,3.10,0.00,0.000,4,0.000,0.000,2573,3640,1694
$GC,6573,1.46,132.3,348.8,17.8,373,6579,0.00,3.03,0.00,0.000,6,0.000,0.000,2580,1971,1695
$GC,6903,1.51,132.3,291.3,18.0,389,6910,0.00,3.45,0.00,0.000,4,0.000,0.000,2579,3672,1694
$GC,6988,1.41,132.3,274.8,17.8,392,6996,0.00,2.33,0.00,0.000,6,0.000,0.000,2578,2140,1692
$GC,7313,1.47,132.3,218.2,17.9,408,7318,0.00,2.88,0.00,0.000,4,0.000,0.000,2598,3469,1697
$GC,7371,1.36,132.3,206.4,17.9,410,7380,0.12,2.35,0.00,0.000,6,0.000,0.000,2586,2168,1702
$GC,7695,1.36,132.3,149.9,17.9,426,7700,0.25,2.45,0.00,0.000,4,0.000,0.000,2534,3681,1697
$GC,7731,1.26,132.3,142.6,16.8,427,7739,0.00,2.55,0.00,0.000,6,0.000,0.000,2505,2160,1700
$GC,8056,1.26,133.8,97.7,13.6,443,8065,0.03,2.92,0.00,0.000,4,0.000,0.000,2514,3664,1700
$GC,8103,1.32,133.8,90.6,16.3,449,8111,0.00,3.03,0.00,0.000,6,0.000,0.000,2522,2182,1699
$GC,8472,1.47,141.3,39.3,13.2,510,8482,0.85,1.95,0.65,0.001,4,0.000,0.000,2632,3519,1670
$GC,8515,1.55,141.3,32.5,21.2,515,8524,0.40,2.47,0.00,0.000,6,0.000,0.000,2580,2375,1670
$STATE,8676,end climb,SURFACE_DEPTH_REACHED
$STATE,8676,begin surface coast
$FINISH,0.3,1.024989
$STATE,8687,end surface coast,CONTROL_FINISHED_OK
$STATE,8687,begin surface
$SM_CCo,8718,19.62,0.000,0,0,391,451.11
$SM_GC,0.34,0.00,0.00,19.62,0.000,0.000,0.000,653,1864,391,-7.43,-3.08,451.11
$RAFOS_CLK,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,2381
$INTERNAL_PRESSURE,26.0065
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.0,19.2
$ALTIM_BOTTOM_PING,500.4,65.1
$24V_AH,23.7,51.999
$10V_AH,9.7,7.925
$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,30.200,111.975,27.925,19.625,0.000,0.000,0.000,67.364,4.500,25.588,1737.511,5659.839,279.842,598.070,726.687,0.000,787.430,0.000,500.256,0.000,30.899
$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,447.481,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18976,543
$CFSIZE,255582208,238878720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,62,870,0,0
$SOUNDSPEED,1459.5
$CURRENT,0.056,  2.5,1
$GPS,171006,031944,6636.246,-6006.444,12,1.1,12,18.0