version: 66.01
glider: 1
mission: 1
dive: 30
start: 10 11 106 12 33 56
data:
$ID,1
$MISSION,1
$DIVE,30
$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,-447235.06
$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,185
$R_STBD_OVSHOOT,14
$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
$GPS1,122921,6637.729,-6005.656,9,1.1,9,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.9
$GPS2,123326,6637.729,-6005.656,9,1.1,9,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6647.683,-6007.306
$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,319.2,20000,-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,-116.8,0.0,0.0,0,59,0.00,0.00,-7.90,0.000,6,0.000,0.000,635,2023,2849
$GC,65,-1.49,-116.8,0.3,-0.0,2,82,6.72,2.65,0.00,0.000,4,0.000,0.000,1978,544,2850
$GC,271,-1.49,-116.8,24.6,-9.6,35,280,0.52,3.33,0.00,0.000,6,0.000,0.000,1868,2197,2852
$GC,640,-1.72,-116.8,78.2,-8.2,96,649,0.00,2.33,0.00,0.000,4,0.000,0.000,1879,3551,2851
$GC,707,-1.69,-116.8,88.5,-15.5,106,716,0.12,2.42,0.00,0.000,6,0.000,0.000,1869,1882,2850
$GC,1059,-1.49,-116.8,141.7,-15.3,131,1065,0.45,2.58,0.00,0.000,4,0.000,0.000,2006,3356,2849
$GC,1189,-1.17,-116.8,156.3,-10.4,136,1197,0.03,2.53,0.00,0.000,6,0.000,0.000,1983,2013,2845
$GC,1509,-1.25,-116.8,186.3,-9.5,152,1514,0.00,3.12,0.00,0.000,4,0.000,0.000,1986,3648,2849
$GC,1562,-1.28,-116.8,191.7,-9.5,154,1567,0.00,2.75,0.00,0.000,6,0.000,0.000,1982,2112,2853
$GC,1887,-1.40,-116.8,221.9,-9.4,169,1892,0.08,2.55,0.00,0.000,4,0.000,0.000,1983,3667,2851
$GC,1918,-1.42,-116.8,225.5,-9.5,170,1924,0.52,2.45,0.00,0.000,6,0.000,0.000,1893,2128,2853
$GC,2243,-1.52,-116.8,271.1,-14.7,185,2250,0.52,2.95,0.00,0.000,4,0.000,0.000,2020,3612,2849
$GC,2294,-1.24,-116.8,278.0,-9.1,187,2300,0.00,3.08,0.00,0.000,6,0.000,0.000,1996,2222,2843
$GC,2625,-1.37,-116.8,307.5,-9.1,203,2627,0.45,0.00,0.00,0.000,6,0.000,0.000,1867,2235,2850
$GC,2934,-1.42,-116.8,352.0,-15.0,218,2936,0.45,0.00,0.00,0.000,6,0.000,0.000,2007,2244,2853
$GC,3243,-1.12,-116.8,381.3,-9.4,233,3245,0.08,0.00,0.00,0.000,6,0.000,0.000,1996,2230,2847
$GC,3552,-1.16,-116.8,410.1,-9.3,248,3554,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,2213,2852
$GC,3857,-1.19,-116.8,439.1,-9.3,263,3858,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2215,2846
$GC,4166,-1.22,-116.8,468.0,-9.4,278,4167,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2210,2842
$GC,4475,-1.26,-116.8,496.9,-9.3,293,4477,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2228,2851
$GC,4804,-1.29,-116.8,527.3,-9.3,302,4808,0.03,2.17,0.00,0.000,4,0.000,0.000,1993,3403,2855
$GC,4839,-1.32,-116.8,531.1,-9.1,302,4848,0.00,2.03,0.00,0.000,6,0.000,0.000,1994,2058,2853
$GC,5175,-1.42,-116.8,562.3,-9.4,311,5181,0.40,2.85,0.00,0.000,4,0.000,0.000,1871,3627,2846
$GC,5220,-1.45,-116.8,568.3,-15.7,312,5227,0.50,3.03,0.00,0.000,6,0.000,0.000,1983,2101,2849
$STATE,5303,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5303,begin apogee
$GC,5315,-0.25,0.0,577.9,9.4,314,5333,1.80,0.00,14.45,0.000,6,0.000,0.000,2231,2132,2253
$STATE,5334,end apogee,CONTROL_FINISHED_OK
$STATE,5334,begin climb
$GC,5340,1.49,116.8,577.9,0.0,314,5356,1.98,0.00,11.65,0.000,6,0.000,0.000,2664,2116,1768
$GC,5675,1.49,116.8,508.4,22.6,323,5680,0.45,2.25,0.00,0.000,4,0.000,0.000,2550,3455,1767
$GC,5722,1.16,116.8,500.2,13.8,324,5727,0.00,3.08,0.00,0.000,6,0.000,0.000,2527,1934,1770
$GC,6053,1.22,116.8,454.7,14.1,339,6060,0.00,3.28,0.00,0.000,4,0.000,0.000,2524,3421,1767
$GC,6193,1.22,116.8,433.3,15.6,345,6198,0.03,2.62,0.00,0.000,6,0.000,0.000,2534,1931,1770
$GC,6528,1.06,116.8,386.8,13.9,361,6536,0.45,3.25,0.00,0.000,4,0.000,0.000,2427,3560,1770
$GC,6627,1.06,194.8,377.6,7.5,365,6647,0.52,2.25,7.50,0.001,6,0.000,0.000,2552,2061,1448
$GC,6956,1.57,194.8,319.0,18.5,381,6964,0.52,2.75,0.00,0.000,4,0.000,0.000,2625,3564,1452
$GC,7032,1.57,194.8,302.9,23.7,384,7037,0.00,2.67,0.00,0.000,6,0.000,0.000,2619,2206,1443
$GC,7368,1.47,194.8,223.0,24.0,400,7373,0.03,1.85,0.00,0.000,4,0.000,0.000,2602,3558,1443
$GC,7398,1.30,194.8,213.6,24.6,401,7411,0.52,2.75,0.00,0.000,6,0.000,0.000,2490,2070,1449
$GC,7727,1.18,196.2,168.1,13.6,417,7732,0.20,2.62,0.00,0.000,4,0.000,0.000,2555,3557,1451
$GC,7821,1.34,196.2,151.9,18.4,421,7826,0.03,2.42,0.00,0.000,6,0.000,0.000,2541,2015,1453
$GC,8147,1.41,196.2,90.6,23.9,441,8156,0.00,3.03,0.00,0.000,4,0.000,0.000,2535,3681,1446
$GC,8224,1.33,196.2,76.6,18.2,453,8232,0.00,2.35,0.00,0.000,6,0.000,0.000,2546,2157,1449
$GC,8594,1.42,196.2,3.9,18.1,514,8602,0.25,2.55,0.00,0.000,4,0.000,0.000,2538,3548,1447
$STATE,8607,end climb,SURFACE_DEPTH_REACHED
$STATE,8607,begin surface coast
$FINISH,0.3,1.024743
$STATE,8619,end surface coast,CONTROL_FINISHED_OK
$STATE,8619,begin surface
$SM_CCo,8652,16.12,0.000,0,0,427,450.37
$SM_GC,0.34,0.00,0.00,16.12,0.000,0.000,0.000,657,1867,427,-7.36,-2.71,450.37
$RAFOS_CLK,0
$RAFOS,3,1160570088,12.583333,12.580000,80,0,0,0,0,0,482,0,0,0,0,0
$RAFOS,2,1160569443,12.416667,12.400833,80,0,0,0,0,0,931,0,0,0,0,0
$RAFOS_FIX,6637.769531,-6002.481445,111006,121252,4,80,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2263
$INTERNAL_PRESSURE,25.9479
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.4,19.5
$ALTIM_BOTTOM_PING,527.3,60.2
$24V_AH,23.7,37.359
$10V_AH,9.7,5.707
$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,27.050,85.475,33.600,16.125,0.000,0.000,0.000,67.682,5.000,10.826,1679.121,5762.303,227.389,567.581,692.824,0.000,715.514,0.000,481.315,360.000,34.738
$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,430.828,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15842,518
$CFSIZE,255582208,242454528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,46,660,0,0
$SOUNDSPEED,1460.0
$CURRENT,0.073,222.9,1
$GPS,111006,150016,6638.392,-6007.470,35,1.1,35,18.0