version: 66.01
glider: 1
mission: 1
dive: 80
start: 10 16 106 14 48 1
data:
$ID,1
$MISSION,1
$DIVE,80
$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,-448403.41
$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,184
$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
$GPS1,143936,6636.663,-6008.827,31,1.1,31,18.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.9
$GPS2,144732,6636.663,-6008.827,33,1.1,33,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6628.113,-6006.193
$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,124.3,20000,-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,34,end surface,CONTROL_FINISHED_OK
$STATE,34,begin dive
$GC,41,-1.49,-116.8,0.0,0.0,0,57,0.00,0.00,-8.00,0.000,6,0.000,0.000,634,2077,2877
$GC,64,-1.49,-116.8,0.3,-0.0,2,82,6.78,2.42,0.00,0.000,4,0.000,0.000,2044,3420,2880
$GC,313,-1.49,-116.8,25.9,-8.2,42,322,0.62,2.33,0.00,0.000,6,0.000,0.000,1890,1933,2879
$GC,681,-1.72,-116.8,76.7,-14.3,103,690,0.00,3.35,0.00,0.000,4,0.000,0.000,1893,3632,2873
$GC,749,-1.51,-116.8,85.5,-12.8,113,758,0.28,3.25,0.00,0.000,6,0.000,0.000,1955,1944,2876
$GC,1104,-1.47,-116.8,125.5,-11.0,144,1109,0.03,2.75,0.00,0.000,4,0.000,0.000,1965,3590,2877
$GC,1184,-1.53,-116.8,133.5,-11.4,147,1197,0.52,3.08,0.00,0.000,6,0.000,0.000,1847,2063,2881
$GC,1509,-1.64,-116.8,189.3,-17.6,163,1516,0.85,2.72,0.00,0.000,4,0.000,0.000,1958,3560,2875
$GC,1543,-1.25,-116.8,194.6,-11.8,164,1549,0.12,2.62,0.00,0.000,6,0.000,0.000,1975,2046,2874
$GC,1868,-1.33,-116.8,230.0,-11.1,179,1872,0.00,2.45,0.00,0.000,4,0.000,0.000,1961,3552,2875
$GC,1915,-1.28,-116.8,236.0,-11.0,181,1920,0.17,2.15,0.00,0.000,6,0.000,0.000,1964,2236,2871
$GC,2245,-1.38,-116.8,272.1,-11.2,197,2246,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,2223,2872
$GC,2554,-1.33,-116.8,306.5,-11.1,212,2555,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,2231,2872
$GC,2865,-1.28,-116.8,339.5,-11.1,227,2871,0.05,2.95,0.00,0.000,4,0.000,0.000,1988,537,2883
$GC,2891,-1.23,-116.8,343.3,-10.9,228,2899,0.22,3.88,0.00,0.000,6,0.000,0.000,2027,2237,2886
$GC,3226,-1.32,-116.8,372.2,-8.6,244,3230,0.00,2.47,0.00,0.000,4,0.000,0.000,2043,3402,2880
$GC,3261,-1.43,-116.8,375.7,-7.3,245,3270,0.55,2.58,0.00,0.000,6,0.000,0.000,1903,2237,2877
$GC,3586,-1.75,-116.8,420.2,-14.6,261,3591,0.00,2.88,0.00,0.000,4,0.000,0.000,1900,734,2878
$GC,3616,-1.51,-116.8,425.6,-14.3,262,3629,0.52,3.20,0.00,0.000,6,0.000,0.000,2017,2396,2870
$GC,3945,-1.45,-116.8,453.9,-8.5,278,3953,0.62,3.15,0.00,0.000,4,0.000,0.000,1913,565,2873
$GC,3980,-1.57,-116.8,458.8,-14.1,279,3992,0.00,3.50,0.00,0.000,6,0.000,0.000,1907,2231,2880
$GC,4329,-1.61,-116.8,505.5,-12.9,295,4334,0.00,2.12,0.00,0.000,4,0.000,0.000,1901,3588,2876
$GC,4359,-1.40,-116.8,512.1,-14.0,295,4372,0.88,2.38,0.00,0.000,6,0.000,0.000,2039,2073,2883
$GC,4699,-1.33,-116.8,540.4,-7.7,304,4705,0.43,2.75,0.00,0.000,4,0.000,0.000,1917,3586,2884
$GC,4735,-1.52,-116.8,545.1,-14.5,304,4744,0.00,2.80,0.00,0.000,6,0.000,0.000,1916,2016,2874
$STATE,4821,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4821,begin apogee
$GC,4833,-0.25,0.0,557.8,14.2,307,4852,1.67,0.00,15.00,0.001,6,0.000,0.000,2263,2039,2254
$STATE,4853,end apogee,CONTROL_FINISHED_OK
$STATE,4853,begin climb
$GC,4859,1.49,116.8,557.8,0.0,307,4874,1.60,0.00,11.23,0.001,6,0.000,0.000,2587,2024,1773
$GC,5197,1.49,116.8,510.9,16.1,316,5202,0.00,2.35,0.00,0.000,4,0.000,0.000,2582,3445,1779
$GC,5314,1.43,116.8,491.6,15.9,319,5318,0.00,2.38,0.00,0.000,6,0.000,0.000,2570,2101,1773
$GC,5649,1.45,116.8,438.1,16.1,335,5654,0.00,3.17,0.00,0.000,4,0.000,0.000,2576,3652,1775
$GC,5702,1.38,116.8,428.3,16.4,337,5714,0.05,3.25,0.00,0.000,6,0.001,0.000,2566,1956,1781
$GC,6031,1.45,116.8,376.2,15.9,353,6036,0.00,3.08,0.00,0.000,4,0.000,0.000,2583,3609,1772
$GC,6124,1.38,116.8,361.2,15.6,357,6129,0.00,2.38,0.00,0.000,6,0.000,0.000,2565,2272,1777
$GC,6459,1.44,116.8,304.5,16.0,373,6461,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2284,1771
$GC,6763,1.36,116.8,255.2,15.9,388,6764,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2284,1772
$GC,7073,1.28,116.8,206.1,15.7,403,7076,0.00,1.85,0.00,0.000,4,0.000,0.000,2559,3443,1777
$GC,7103,1.21,116.8,200.9,16.8,404,7108,0.52,2.22,0.00,0.000,6,0.000,0.000,2441,2038,1775
$GC,7428,1.21,146.9,168.5,11.4,419,7437,0.32,2.42,2.75,0.001,4,0.000,0.000,2571,3404,1632
$GC,7512,1.11,146.9,151.0,19.0,422,7517,0.73,2.28,0.00,0.000,6,0.000,0.000,2457,2213,1632
$GC,7836,1.11,188.3,112.6,10.5,437,7846,0.50,2.45,3.33,0.001,4,0.000,0.000,2573,3690,1467
$GC,7865,1.40,188.3,106.4,21.5,438,7870,0.00,2.90,0.00,0.000,6,0.000,0.000,2574,2031,1463
$GC,8223,1.43,188.3,26.4,25.7,492,8232,0.00,2.85,0.00,0.000,4,0.000,0.000,2584,3396,1457
$GC,8318,1.29,188.3,6.3,21.6,507,8326,0.60,2.15,0.00,0.000,6,0.000,0.000,2465,2227,1462
$STATE,8336,end climb,SURFACE_DEPTH_REACHED
$STATE,8337,begin surface coast
$FINISH,0.3,1.024542
$STATE,8348,end surface coast,CONTROL_FINISHED_OK
$STATE,8349,begin surface
$SM_CCo,8378,16.50,0.000,0,0,401,450.37
$SM_GC,0.34,0.00,0.00,16.50,0.000,0.000,0.000,625,2058,401,-7.46,2.66,450.37
$RAFOS_CLK,0
$RAFOS,3,1161016445,16.583334,16.568056,80,0,0,0,0,0,709,0,0,0,0,0
$RAFOS,2,1161015852,16.416666,16.403334,80,0,0,0,0,0,894,0,0,0,0,0
$RAFOS,1,1161015268,16.250000,16.241112,80,0,0,0,0,0,589,0,0,0,0,0
$RAFOS,0,1161014650,16.083334,16.069445,80,0,0,0,0,0,547,0,0,0,0,0
$RAFOS,4,1161012561,15.500000,15.489166,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,6636.688477,-6003.625000,161006,161620,4,80,0.68
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2342
$INTERNAL_PRESSURE,25.9869
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.9,19.1
$ALTIM_BOTTOM_PING,477.9,86.2
$24V_AH,23.7,50.880
$10V_AH,9.7,7.757
$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,27.550,98.275,32.300,16.500,0.000,0.000,0.000,129.271,4.250,34.127,1660.605,5496.650,250.875,570.251,910.940,0.000,728.108,0.000,466.065,1800.000,29.609
$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,423.493,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15840,511
$CFSIZE,255582208,239149056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,49,763,0,0
$SOUNDSPEED,1459.6
$CURRENT,0.061, 23.1,1
$GPS,161006,170943,6636.171,-6006.867,28,1.1,28,18.0