version: 66.01
glider: 1
mission: 1
dive: 30
start: 10 12 106 0 29 58
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,2
$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,-449321.72
$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,16
$R_STBD_OVSHOOT,3
$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,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
$GPS1,002428,6651.916,-6034.104,27,1.1,27,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,002932,6651.916,-6034.104,12,1.1,12,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6702.063,-6032.663
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,2.0,20000,-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,34,end surface,CONTROL_FINISHED_OK
$STATE,35,begin dive
$GC,41,-1.49,-116.8,0.0,0.0,0,131,0.00,0.00,-76.97,0.000,6,0.000,0.000,591,1982,2751
$GC,137,-1.49,-116.8,-0.0,0.0,9,155,6.82,3.22,0.00,0.000,4,0.000,0.000,1982,316,2750
$GC,278,-1.64,-116.8,21.5,-8.2,31,287,0.77,3.28,0.00,0.000,6,0.000,0.000,1815,2160,2747
$GC,646,-1.17,-116.8,80.5,-15.1,92,655,0.98,2.97,0.00,0.000,4,0.000,0.000,2071,3654,2743
$GC,844,-1.38,-116.8,93.1,-5.6,124,853,0.77,3.38,0.00,0.000,6,0.000,0.000,1887,1834,2746
$GC,1196,-1.09,-116.8,129.8,-11.2,149,1204,0.85,2.88,0.00,0.000,4,0.000,0.000,1994,302,2744
$GC,1226,-1.11,-116.8,133.3,-7.5,150,1231,0.00,3.10,0.00,0.000,6,0.000,0.000,2015,1974,2741
$GC,1557,-1.17,-116.8,155.1,-6.6,166,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1961,2743
$GC,1862,-1.23,-116.8,175.3,-6.4,181,1869,0.00,3.78,0.00,0.000,4,0.000,0.000,1997,311,2745
$GC,1911,-1.34,-116.8,178.5,-6.5,183,1919,0.17,3.72,0.00,0.000,6,0.000,0.000,2008,2105,2748
$GC,2252,-1.48,-116.8,199.6,-6.3,199,2260,0.52,2.92,0.00,0.000,4,0.000,0.000,1957,308,2741
$GC,2308,-1.43,-116.8,204.3,-7.8,201,2315,0.00,3.38,0.00,0.000,6,0.000,0.000,1942,1995,2744
$GC,2642,-1.32,-116.8,230.0,-7.8,217,2648,0.32,2.42,0.00,0.000,4,0.000,0.000,2004,356,2747
$GC,2687,-1.44,-116.8,233.3,-5.6,219,2695,0.50,3.42,0.00,0.000,6,0.000,0.000,1859,2185,2741
$GC,3023,-1.17,-116.8,264.3,-9.3,235,3031,0.80,3.95,0.00,0.000,4,0.000,0.000,2028,551,2750
$GC,3064,-1.29,-116.8,267.4,-5.7,236,3073,0.00,3.17,0.00,0.000,6,0.000,0.000,2018,2239,2740
$GC,3389,-1.35,-116.8,285.8,-5.8,252,3396,0.00,3.62,0.00,0.000,4,0.000,0.000,1988,413,2743
$GC,3452,-1.44,-116.8,289.9,-5.7,254,3461,0.52,3.75,0.00,0.000,6,0.000,0.000,1888,2251,2746
$GC,3777,-1.18,-116.8,317.6,-8.9,270,3785,0.77,3.95,0.00,0.000,4,0.000,0.000,2013,585,2748
$GC,3862,-1.28,-116.8,323.3,-5.7,273,3867,0.05,2.25,0.00,0.000,6,0.000,0.000,2031,1953,2741
$GC,4187,-1.35,-116.8,341.1,-5.5,288,4189,0.60,0.00,0.00,0.000,6,0.000,0.000,1903,1941,2740
$GC,4496,-1.09,-116.8,367.3,-8.7,303,4504,1.15,2.95,0.00,0.000,4,0.000,0.000,2075,402,2741
$GC,4549,-1.37,-116.8,370.6,-4.1,305,4557,0.77,3.53,0.00,0.000,6,0.000,0.000,1918,2234,2747
$GC,4885,-1.12,-116.8,397.7,-8.4,321,4893,0.77,3.22,0.00,0.000,4,0.000,0.000,2064,417,2738
$GC,4938,-1.40,-116.8,401.1,-3.9,323,4946,0.77,3.17,0.00,0.000,6,0.000,0.000,1881,2073,2744
$GC,5273,-1.12,-116.8,428.8,-8.7,339,5282,1.12,3.17,0.00,0.000,4,0.000,0.000,2085,366,2743
$GC,5350,-1.37,-116.8,433.2,-4.0,342,5359,0.80,3.20,0.00,0.000,6,0.000,0.000,1953,2222,2748
$GC,5686,-1.26,-116.8,456.3,-7.0,358,5694,0.40,3.28,0.00,0.000,4,0.000,0.000,2064,526,2742
$GC,5744,-1.49,-116.8,459.3,-4.2,360,5756,0.82,2.92,0.00,0.000,6,0.000,0.000,1893,2112,2744
$GC,6068,-1.20,-116.8,486.3,-8.6,376,6074,0.80,2.45,0.00,0.000,4,0.000,0.000,1986,3432,2740
$GC,6144,-1.24,-116.8,490.9,-5.5,379,6149,0.00,2.75,0.00,0.000,6,0.000,0.000,1999,1726,2748
$GC,6487,-1.29,-116.8,509.8,-5.4,392,6495,0.00,3.88,0.00,0.000,4,0.000,0.000,2017,3551,2748
$GC,6632,-1.33,-116.8,517.7,-5.3,395,6640,0.30,3.83,0.00,0.000,6,0.000,0.000,1954,1702,2743
$GC,6960,-1.27,-116.8,540.0,-6.9,403,6968,0.60,3.80,0.00,0.000,4,0.000,0.000,2061,3581,2747
$GC,7018,-1.48,-116.8,543.1,-4.1,404,7026,0.77,3.17,0.00,0.000,6,0.000,0.000,1861,1930,2739
$STATE,7036,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7036,begin apogee
$GC,7049,-0.25,0.0,544.3,4.8,404,7182,1.73,0.00,114.60,0.000,6,0.000,0.000,2209,2257,2263
$STATE,7183,end apogee,CONTROL_FINISHED_OK
$STATE,7183,begin climb
$GC,7189,1.49,116.8,543.9,0.0,408,7315,1.88,2.72,112.38,0.000,4,0.000,0.000,2668,3623,1776
$GC,7368,1.17,116.8,507.8,25.3,411,7377,0.88,3.42,0.00,0.000,6,0.000,0.000,2484,1805,1786
$GC,7706,1.39,146.0,467.3,11.4,425,7739,0.47,0.00,27.88,0.000,6,0.000,0.000,2609,1810,1673
$GC,8054,1.22,146.0,394.0,21.8,442,8062,0.47,3.75,0.00,0.000,4,0.000,0.000,2483,3652,1665
$GC,8241,1.40,161.3,368.3,12.5,450,8266,0.52,3.42,14.30,0.001,6,0.000,0.000,2614,1810,1607
$GC,8575,1.23,161.3,293.8,23.2,466,8581,0.50,2.70,0.00,0.000,4,0.000,0.000,2482,298,1604
$GC,8606,1.23,161.3,286.4,23.1,467,8619,0.52,3.15,0.00,0.000,6,0.000,0.000,2585,2016,1604
$GC,8935,1.07,161.3,213.6,21.9,483,8943,0.68,3.55,0.47,0.001,4,0.000,0.000,2437,3513,1604
$GC,9077,1.53,226.9,198.0,8.5,489,9141,1.05,3.40,53.15,0.000,6,0.000,0.000,2663,1845,1332
$GC,9461,1.18,226.9,83.6,31.0,513,9470,1.30,3.55,0.00,0.000,4,0.000,0.000,2493,3669,1327
$GC,9573,1.35,226.9,62.7,14.5,530,9582,0.52,3.83,0.00,0.000,6,0.000,0.000,2610,1698,1334
$STATE,9827,end climb,SURFACE_DEPTH_REACHED
$STATE,9827,begin surface coast
$FINISH,0.1,1.024568
$STATE,9839,end surface coast,CONTROL_FINISHED_OK
$STATE,9839,begin surface
$SM_CCo,9869,139.73,0.000,2,0,424,450.37
$SM_GC,-0.00,0.00,0.00,139.73,0.000,0.000,0.000,666,2241,424,-7.25,7.52,450.37
$RAFOS_CLK,0
$RAFOS,3,1160613247,0.583333,0.568611,80,0,0,0,0,0,824,0,0,0,0,0
$RAFOS,1,1160612045,0.250000,0.234722,80,0,0,0,0,0,747,0,0,0,0,0
$RAFOS_FIX,6650.877930,-6031.097168,121006,000054,3,80,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2337
$INTERNAL_PRESSURE,25.9967
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,18.8,19.1
$ALTIM_BOTTOM_PING,475.6,78.6
$24V_AH,23.7,63.282
$10V_AH,9.7,9.550
$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,43.625,139.500,322.775,139.725,0.000,0.000,0.000,90.788,4.250,13.379,1800.492,6231.301,768.399,697.081,829.203,0.000,1384.996,0.000,599.370,360.000,24.863
$DEVICE_MAMPS,119.000,60.000,1300.000,600.000,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,469.410,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18993,574
$CFSIZE,255582208,242020352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,102,1079,4,0
$SOUNDSPEED,1470.8
$CURRENT,0.052,261.9,1
$GPS,121006,031844,6652.750,-6034.273,31,1.1,31,18.0