version: 66.01
glider: 1
mission: 1
dive: 87
start: 7 27 107 1 47 31
data:
$ID,1
$MISSION,1
$DIVE,87
$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,375
$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,-451894.62
$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,11
$R_STBD_OVSHOOT,18
$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
$GPS1,013951,4807.020,-12223.064,6,1.1,7,18.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,014622,4806.989,-12223.028,24,1.1,24,18.0
$SPEED_LIMITS,0.156,0.216
$TGT_NAME,default
$TGT_LATLONG,47.600,-122.300
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.107,-0.188
$KALMAN_X,-22681.2,-373.7,-360.1,24231.2,-234.3
$KALMAN_Y,7212.3,27.8,-89.9,-9367.4,388.0
$MHEAD_RNG_PITCHd_Wd,86.9,14437304,-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,33,end surface,CONTROL_FINISHED_OK
$STATE,33,begin dive
$GC,39,-1.21,-121.6,0.0,0.0,0,115,0.00,0.00,-66.97,0.000,6,0.000,0.000,610,2089,2755
$GC,121,-1.21,-121.6,2.2,-5.4,10,138,7.00,2.58,0.00,0.000,4,0.000,0.000,2038,441,2751
$GC,414,-1.14,-121.6,33.2,-10.7,57,422,0.00,2.92,0.00,0.000,6,0.000,0.000,2037,2166,2755
$GC,782,-1.10,-121.6,72.6,-10.7,118,790,0.00,3.10,0.00,0.000,4,0.000,0.000,2049,383,2746
$STATE,1047,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1047,begin apogee
$GC,1065,-0.25,0.0,100.5,9.9,163,1172,0.93,0.00,98.45,0.001,6,0.000,0.000,2229,2196,2257
$STATE,1177,end apogee,CONTROL_FINISHED_OK
$STATE,1178,begin climb
$GC,1183,1.21,121.6,105.2,0.0,169,1296,1.73,3.05,98.00,0.001,4,0.000,0.000,2558,3597,1765
$GC,1571,1.19,133.0,63.4,9.4,220,1588,0.00,3.65,8.98,0.000,6,0.000,0.000,2562,1797,1724
$GC,1948,1.19,133.0,21.0,11.0,282,1956,0.00,2.53,0.00,0.000,4,0.000,0.000,2537,3550,1722
$GC,2096,1.20,133.0,3.8,11.4,306,2105,0.05,3.33,0.55,0.000,6,0.000,0.000,2510,1762,1717
$STATE,2110,end climb,SURFACE_DEPTH_REACHED
$STATE,2110,begin surface coast
$FINISH,0.4,1.021095
$STATE,2133,end surface coast,CONTROL_FINISHED_OK
$STATE,2133,begin surface
$SM_CCo,2163,150.68,0.000,0,0,733,375.06
$SM_GC,0.00,0.00,0.00,150.68,0.000,0.000,0.000,674,2163,733,-7.42,5.09,375.06
$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,2258
$INTERNAL_PRESSURE,26.0455
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,9.9,10.3
$ALTIM_BOTTOM_PING,75.1,28.0
$24V_AH,23.7,82.779
$10V_AH,9.7,12.958
$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,18.975,25.825,205.975,150.675,0.000,0.000,0.000,89.203,0.500,24.229,866.390,599.346,465.417,296.403,496.761,33.337,716.762,0.000,253.481,0.000,3.756
$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,250.573,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9597,311
$CFSIZE,255582208,241119232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,28,178,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.037,203.0,1
$GPS,270707,022728,4807.178,-12223.167,19,1.1,19,18.0