version: 66.01
glider: 1
mission: 1
dive: 31
start: 10 11 106 15 8 35
data:
$ID,1
$MISSION,1
$DIVE,31
$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,-447255.25
$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,176
$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
$GPS1,150016,6638.392,-6007.470,35,1.1,35,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.8
$GPS2,150812,6638.392,-6007.470,18,1.1,18,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6633.468,-6011.294
$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,224.9,20000,-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,-116.8,0.0,0.0,0,58,0.00,0.00,-8.05,0.000,6,0.000,0.000,657,1877,2885
$GC,64,-1.49,-116.8,0.3,0.0,2,82,6.38,2.45,0.00,0.000,4,0.000,0.000,2018,726,2886
$GC,259,-1.49,-116.8,22.7,-9.1,33,268,0.50,3.00,0.00,0.000,6,0.000,0.000,1896,2198,2884
$GC,627,-1.72,-116.8,76.8,-15.3,94,635,0.00,2.53,0.00,0.000,4,0.000,0.000,1900,3569,2877
$GC,687,-1.46,-116.8,86.1,-15.0,103,697,0.52,3.38,0.00,0.000,6,0.000,0.000,2016,1888,2884
$GC,1044,-1.32,-116.8,119.2,-9.1,137,1052,0.50,3.25,0.00,0.000,4,0.000,0.000,1889,3566,2886
$GC,1128,-1.40,-116.8,130.6,-14.2,140,1134,0.52,2.35,0.00,0.000,6,0.000,0.000,2015,2183,2886
$GC,1452,-1.34,-116.8,160.8,-9.1,155,1454,0.62,0.00,0.00,0.000,6,0.000,0.000,1859,2181,2878
$GC,1763,-1.43,-116.8,205.0,-15.1,170,1765,0.45,0.00,0.00,0.000,6,0.000,0.000,2010,2188,2881
$GC,2071,-1.16,-116.8,233.2,-7.7,185,2076,0.00,2.83,0.00,0.000,4,0.000,0.000,1994,3512,2884
$GC,2116,-1.78,-116.8,237.3,-9.0,187,2123,0.77,2.78,0.00,0.000,6,0.000,0.000,1837,2174,2889
$GC,2451,-1.93,-116.8,296.1,-17.9,203,2452,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,2170,2880
$GC,2765,-1.52,-116.8,351.7,-18.1,218,2768,0.90,0.00,0.00,0.000,6,0.000,0.000,2017,2177,2884
$GC,3074,-1.10,-116.8,382.3,-9.0,233,3079,0.05,2.22,0.00,0.000,4,0.000,0.000,2034,3550,2881
$GC,3118,-1.19,-116.8,386.6,-8.8,235,3123,0.00,2.25,0.00,0.000,6,0.000,0.000,2030,2225,2879
$GC,3453,-1.35,-116.8,416.1,-9.0,251,3456,0.47,0.00,0.00,0.000,6,0.000,0.000,1898,2227,2884
$GC,3764,-1.44,-116.8,457.9,-14.8,266,3766,0.50,0.00,0.00,0.000,6,0.000,0.000,2005,2236,2885
$GC,4072,-1.19,-116.8,487.9,-9.3,281,4073,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2221,2885
$GC,4374,-1.25,-116.8,516.4,-9.2,292,4379,0.00,2.75,0.00,0.000,4,0.000,0.000,2017,3546,2884
$GC,4410,-1.32,-116.8,519.9,-9.4,292,4419,0.30,3.28,0.00,0.000,6,0.000,0.000,1954,2031,2881
$GC,4745,-1.46,-116.8,560.5,-12.4,301,4750,0.00,2.92,0.00,0.000,4,0.000,0.000,1960,3548,2885
$STATE,4783,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4784,begin apogee
$GC,4799,-0.25,0.0,566.1,13.8,302,4818,1.40,0.00,15.07,0.000,6,0.000,0.000,2265,1905,2245
$STATE,4819,end apogee,CONTROL_FINISHED_OK
$STATE,4819,begin climb
$GC,4825,1.49,116.8,566.1,0.0,302,4844,2.10,2.42,11.38,0.000,4,0.000,0.000,2621,583,1764
$GC,4866,1.49,116.8,564.9,17.2,303,4872,0.03,3.05,0.00,0.000,6,0.000,0.000,2618,2129,1769
$GC,5195,1.46,116.8,501.0,19.4,311,5201,0.60,2.47,0.00,0.000,4,0.000,0.000,2497,3463,1766
$GC,5339,1.26,154.7,483.7,10.7,316,5354,0.52,2.88,3.58,0.000,6,0.000,0.000,2602,2128,1602
$GC,5664,1.51,154.7,415.4,21.9,332,5669,0.00,3.08,0.00,0.000,4,0.000,0.000,2638,3602,1611
$GC,5711,1.32,154.7,404.5,21.4,334,5717,0.50,2.58,0.00,0.000,6,0.000,0.000,2478,2246,1614
$GC,6041,1.21,165.1,361.5,12.9,350,6045,0.08,0.00,1.00,0.000,6,0.000,0.000,2549,2242,1571
$GC,6350,1.36,165.1,308.3,17.4,365,6354,0.00,1.88,0.00,0.000,4,0.000,0.000,2529,3411,1572
$GC,6394,1.33,165.1,300.0,18.1,367,6398,0.00,2.35,0.00,0.000,6,0.000,0.000,2564,1915,1569
$GC,6729,1.36,165.1,235.9,17.4,383,6734,0.00,2.47,0.00,0.000,4,0.000,0.000,2552,3462,1571
$GC,6848,1.34,165.1,213.8,17.8,388,6854,0.00,3.03,0.00,0.000,6,0.000,0.000,2532,1954,1576
$GC,7167,1.37,165.1,158.7,17.3,403,7172,0.00,2.78,0.00,0.000,4,0.000,0.000,2553,3474,1570
$GC,7301,1.37,165.1,133.8,23.9,409,7306,0.00,2.47,0.00,0.000,6,0.000,0.000,2560,2279,1577
$GC,7637,1.17,165.1,75.3,17.5,441,7645,0.52,0.00,0.00,0.000,6,0.000,0.000,2435,2299,1569
$GC,8005,1.14,226.1,41.1,8.9,502,8021,0.57,2.47,5.18,0.000,4,0.000,0.000,2543,3492,1312
$GC,8057,1.56,226.1,32.4,20.2,509,8067,0.52,3.03,0.00,0.000,6,0.000,0.000,2678,2019,1311
$STATE,8152,end climb,SURFACE_DEPTH_REACHED
$STATE,8152,begin surface coast
$FINISH,0.3,1.025387
$STATE,8158,end surface coast,CONTROL_FINISHED_OK
$STATE,8158,begin surface
$SM_CCo,8188,14.15,0.000,0,0,385,451.84
$SM_GC,0.34,0.00,0.00,14.15,0.000,0.000,0.000,649,2015,385,-7.44,1.50,451.84
$RAFOS_CLK,0
$RAFOS,3,1160584462,16.583334,16.572779,80,0,0,0,0,0,629,0,0,0,0,0
$RAFOS,2,1160583849,16.416666,16.402500,80,0,0,0,0,0,905,0,0,0,0,0
$RAFOS,1,1160583253,16.250000,16.236944,80,0,0,0,0,0,667,0,0,0,0,0
$RAFOS,0,1160582653,16.083334,16.070278,80,0,0,0,0,0,521,0,0,0,0,0
$RAFOS,4,1160580549,15.500000,15.485833,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,6638.080566,-6003.482422,111006,161620,4,80,0.68
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2254
$INTERNAL_PRESSURE,25.9772
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,17.5,17.3
$ALTIM_BOTTOM_PING,501.3,74.5
$24V_AH,23.7,37.644
$10V_AH,9.7,5.751
$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,29.900,75.950,36.200,14.150,0.000,0.000,0.000,132.410,4.500,19.574,1704.145,5308.709,211.604,569.763,894.960,0.000,689.583,0.000,477.317,1800.000,26.157
$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,436.083,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15897,525
$CFSIZE,255582208,242380800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,60,590,0,0
$SOUNDSPEED,1459.6
$CURRENT,0.077,125.8,1
$GPS,111006,172705,6637.649,-6008.930,29,1.1,29,18.0