version: 66.01
glider: 1
mission: 1
dive: 81
start: 10 16 106 17 14 28
data:
$ID,1
$MISSION,1
$DIVE,81
$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,-448424.5
$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,179
$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
$GPS1,170943,6636.171,-6006.867,28,1.1,28,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.9
$GPS2,171400,6636.171,-6006.867,19,1.1,19,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6644.058,-6003.953
$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,25.1,20000,-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,42,-1.49,-116.8,0.0,0.0,0,58,0.00,0.00,-8.07,0.000,6,0.000,0.000,639,2063,2852
$GC,64,-1.49,-116.8,0.3,0.1,2,82,6.90,2.45,0.00,0.000,4,0.000,0.000,2021,3424,2860
$GC,308,-1.49,-116.8,25.6,-8.4,41,317,0.60,2.97,0.00,0.000,6,0.000,0.000,1890,2037,2861
$GC,678,-1.69,-116.8,77.2,-14.0,102,686,0.00,2.88,0.00,0.000,4,0.000,0.000,1887,3705,2859
$GC,739,-1.45,-116.8,86.0,-14.2,111,748,0.52,2.75,0.00,0.000,6,0.000,0.000,2032,1982,2865
$GC,1094,-1.41,-116.8,117.9,-8.7,145,1102,0.60,3.03,0.00,0.000,4,0.000,0.000,1889,3693,2864
$GC,1146,-1.51,-116.8,124.8,-14.8,147,1152,0.47,2.67,0.00,0.000,6,0.000,0.000,1991,2025,2863
$GC,1473,-1.46,-116.8,154.6,-8.9,163,1478,0.52,2.25,0.00,0.000,4,0.000,0.000,1897,3548,2862
$GC,1526,-1.53,-116.8,162.0,-14.7,165,1538,0.52,2.75,0.00,0.000,6,0.000,0.000,1992,2045,2862
$GC,1854,-1.45,-116.8,191.3,-8.9,181,1860,0.62,2.47,0.00,0.000,4,0.000,0.000,1897,3396,2864
$GC,1899,-1.53,-116.8,197.5,-14.4,183,1905,0.52,1.85,0.00,0.000,6,0.000,0.000,2021,2240,2852
$GC,2230,-1.40,-116.8,227.2,-8.9,199,2238,0.47,3.28,0.00,0.000,4,0.000,0.000,1905,580,2855
$GC,2257,-1.48,-116.8,230.0,-10.7,200,2263,0.45,2.58,0.00,0.000,6,0.000,0.000,2011,2237,2851
$GC,2589,-1.50,-116.8,260.8,-9.0,216,2595,0.43,2.75,0.00,0.000,4,0.000,0.000,1885,3571,2864
$GC,2620,-1.58,-116.8,264.5,-12.1,217,2625,0.30,2.15,0.00,0.000,6,0.000,0.000,1936,2070,2859
$GC,2945,-1.53,-116.8,300.7,-10.4,232,2950,0.03,2.40,0.00,0.000,4,0.000,0.000,1951,3372,2865
$GC,2981,-1.57,-116.8,305.4,-11.6,233,2990,0.35,2.47,0.00,0.000,6,0.000,0.000,1895,2226,2864
$GC,3306,-1.59,-116.8,350.5,-14.3,249,3307,0.00,0.00,0.00,0.000,6,0.000,0.000,1876,2231,2864
$GC,3610,-1.34,-116.8,394.9,-14.3,264,3612,0.57,0.00,0.00,0.000,6,0.000,0.000,2008,2247,2863
$GC,3925,-1.09,-116.8,422.9,-8.6,279,3926,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2236,2864
$GC,4229,-1.18,-116.8,449.6,-8.7,294,4230,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2223,2860
$GC,4539,-1.27,-116.8,475.8,-8.7,309,4545,0.00,3.17,0.00,0.000,4,0.000,0.000,2037,532,2860
$GC,4564,-1.39,-116.8,478.3,-8.8,310,4572,0.52,3.30,0.00,0.000,6,0.000,0.000,1888,2405,2861
$GC,4891,-1.61,-116.8,524.1,-14.3,322,4896,0.00,2.95,0.00,0.000,4,0.000,0.000,1895,754,2862
$GC,4927,-1.39,-116.8,529.7,-14.9,322,4936,0.52,3.00,0.00,0.000,6,0.000,0.000,2003,2268,2866
$GC,5262,-1.34,-116.8,561.2,-9.2,331,5263,0.10,0.00,0.00,0.000,6,0.000,0.000,1994,2261,2863
$STATE,5337,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5337,begin apogee
$GC,5350,-0.25,0.0,568.7,9.3,333,5368,1.05,0.00,14.88,0.000,6,0.000,0.000,2228,1920,2245
$STATE,5369,end apogee,CONTROL_FINISHED_OK
$STATE,5369,begin climb
$GC,5375,1.49,116.8,568.7,0.0,333,5391,2.05,0.00,11.27,0.000,6,0.000,0.000,2590,1925,1763
$GC,5710,1.49,116.8,512.6,18.5,342,5715,0.20,2.50,0.00,0.000,4,0.000,0.000,2547,3593,1771
$GC,5829,1.34,116.8,494.3,14.8,345,5835,0.00,3.20,0.00,0.000,6,0.000,0.000,2548,1921,1768
$GC,6158,1.45,116.8,447.0,14.6,361,6164,0.25,2.88,0.00,0.000,4,0.000,0.000,2584,3422,1772
$GC,6273,1.45,116.8,426.3,17.8,366,6278,0.17,2.28,0.00,0.000,6,0.001,0.000,2560,2288,1762
$GC,6609,1.40,116.8,379.5,13.8,382,6610,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2281,1761
$GC,6913,1.40,116.8,336.7,13.9,397,6915,0.08,0.00,0.00,0.000,6,0.000,0.000,2533,2281,1772
$GC,7222,1.40,116.8,293.9,14.0,412,7227,0.00,2.55,0.00,0.000,4,0.000,0.000,2553,3623,1760
$GC,7257,1.40,116.8,288.7,13.8,413,7266,0.28,3.03,0.00,0.000,6,0.000,0.000,2603,1982,1767
$GC,7581,1.53,116.8,232.5,17.9,429,7587,0.03,3.12,0.00,0.000,4,0.000,0.000,2592,3658,1770
$GC,7675,1.38,116.8,215.6,17.8,433,7682,0.22,3.15,0.00,0.000,6,0.000,0.000,2554,2188,1773
$GC,8015,1.38,116.8,167.8,13.8,449,8021,0.22,2.88,0.00,0.000,4,0.000,0.000,2609,3385,1773
$GC,8046,1.40,116.8,161.6,17.5,450,8051,0.28,2.12,0.00,0.000,6,0.000,0.000,2534,2043,1769
$GC,8370,1.36,116.8,117.2,13.9,465,8375,0.08,2.78,0.00,0.000,4,0.000,0.000,2540,3357,1764
$GC,8464,1.38,116.8,102.9,13.8,469,8468,0.00,2.15,0.00,0.000,6,0.000,0.000,2535,2223,1763
$GC,8828,1.48,123.7,50.0,13.2,528,8838,0.47,2.67,0.68,0.001,4,0.000,0.000,2667,3427,1734
$GC,8872,1.51,123.7,42.7,21.8,533,8881,0.52,2.67,0.00,0.000,6,0.000,0.000,2540,2234,1735
$STATE,9121,end climb,SURFACE_DEPTH_REACHED
$STATE,9121,begin surface coast
$FINISH,0.3,1.024909
$STATE,9140,end surface coast,CONTROL_FINISHED_OK
$STATE,9140,begin surface
$SM_CCo,9168,20.48,0.000,0,0,395,450.62
$SM_GC,0.34,0.00,0.00,20.48,0.000,0.000,0.000,635,2053,395,-7.47,2.46,450.62
$RAFOS_CLK,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,2349
$INTERNAL_PRESSURE,25.9869
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,18.6,19.4
$ALTIM_BOTTOM_PING,501.2,74.4
$24V_AH,23.7,51.157
$10V_AH,9.7,7.799
$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,30.400,93.400,26.825,20.475,0.000,0.000,0.000,67.579,4.500,20.478,1805.362,6063.264,228.968,610.773,740.546,0.000,747.822,0.000,511.923,0.000,26.170
$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,476.678,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18964,577
$CFSIZE,255582208,239071232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,57,717,0,0
$SOUNDSPEED,1459.5
$CURRENT,0.061,288.5,1
$GPS,161006,194912,6637.074,-6005.926,29,1.1,30,18.0