version: 66.01
glider: 1
mission: 1
dive: 81
start: 7 26 107 20 55 1
data:
$ID,1
$MISSION,1
$DIVE,81
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,1.5
$D_SAFE,100
$D_CALL,2
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,20
$SURFACE_URGENCY_FORCE,20
$T_DIVE,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,-2
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,0.94999993
$RHO,1.02765
$MASS,51747
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$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,-451769.28
$T_RSLEEP,2
$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,2
$R_STBD_OVSHOOT,7
$ROLL_AD_RATE,500
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$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,-0.22280908
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,10
$ALTIM_BOTTOM_TURN_MARGIN,0
$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,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,203619,4807.010,-12222.952,23,1.1,23,18.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,205357,4806.990,-12222.959,15,1.1,15,18.0
$SPEED_LIMITS,0.156,0.216
$TGT_NAME,default
$TGT_LATLONG,47.600,-122.300
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.216,-0.008
$KALMAN_X,-20711.8,-441.6,95.1,21963.2,-162.2
$KALMAN_Y,6541.1,400.9,-347.5,-8799.3,-141.8
$MHEAD_RNG_PITCHd_Wd,96.2,14437184,-20.0,-10.000
$D_GRID,100
$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,38,end surface,CONTROL_FINISHED_OK
$STATE,38,begin dive
$GC,44,-1.21,-121.6,0.0,0.0,0,132,0.00,0.00,-77.12,0.000,6,0.000,0.000,606,2212,2756
$GC,138,-1.21,-121.6,3.6,-7.0,12,156,6.82,3.97,0.00,0.000,4,0.000,0.000,2042,536,2759
$GC,431,-1.16,-121.6,36.4,-10.7,59,440,0.32,3.55,0.00,0.000,6,0.000,0.000,1962,2211,2758
$GC,799,-1.17,-121.6,77.0,-11.1,120,807,0.40,2.95,0.00,0.000,4,0.000,0.000,2036,3585,2757
$STATE,1022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1022,begin apogee
$GC,1038,-0.25,0.0,100.0,9.7,157,1146,0.82,0.00,99.32,0.001,6,0.000,0.000,2185,1809,2265
$STATE,1152,end apogee,CONTROL_FINISHED_OK
$STATE,1152,begin climb
$GC,1158,1.21,121.6,107.6,0.0,163,1276,1.70,2.92,98.30,0.001,4,0.000,0.000,2577,367,1764
$GC,1545,1.21,121.6,69.0,11.8,210,1554,0.08,3.65,0.00,0.000,6,0.000,0.000,2571,2157,1763
$GC,1912,1.21,121.6,26.7,10.8,271,1921,0.43,3.75,0.00,0.000,4,0.000,0.000,2495,474,1769
$STATE,2140,end climb,SURFACE_DEPTH_REACHED
$STATE,2140,begin surface coast
$FINISH,-0.0,0.998478
$STATE,2168,end surface coast,CONTROL_FINISHED_OK
$STATE,2168,begin surface
$SM_CCo,2200,206.15,0.000,2,0,430,450.37
$SM_GC,-0.00,0.00,0.00,206.15,0.000,0.000,0.000,674,2128,430,-7.40,4.52,450.37
$RAFOS_CLK,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2212
$INTERNAL_PRESSURE,26.0748
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,9.5,9.8
$ALTIM_BOTTOM_PING,75.7,29.6
$24V_AH,23.7,82.026
$10V_AH,9.7,12.802
$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,19.800,26.125,197.625,206.150,0.000,0.000,0.000,643.224,0.500,16.121,854.807,812.048,535.292,295.408,983.985,33.333,792.328,0.000,256.543,360.000,3.745
$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,250.319,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9560,314
$CFSIZE,255582208,241303552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,32,180,2,0
$SOUNDSPEED,1465.0
$CURRENT,0.034,312.5,1
$GPS,260707,213623,4806.838,-12222.868,10,1.1,10,18.0