version: 66.01
glider: 1
mission: 1
dive: 31
start: 10 12 106 3 23 45
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,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,-449340.44
$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,5
$R_STBD_OVSHOOT,1
$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
$GPS1,031844,6652.750,-6034.273,31,1.1,31,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,032314,6652.750,-6034.273,17,1.1,17,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6702.897,-6032.833
$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,-116.8,0.0,0.0,0,127,0.00,0.00,-76.97,0.000,6,0.000,0.000,688,2240,2741
$GC,133,-1.49,-116.8,-0.0,0.0,10,150,6.70,2.25,0.00,0.000,4,0.000,0.000,1999,3571,2740
$GC,439,-1.55,-116.8,35.7,-8.7,60,448,0.47,3.33,0.00,0.000,6,0.000,0.000,1894,1735,2740
$GC,806,-1.26,-116.8,81.8,-12.8,121,815,0.82,3.22,0.00,0.000,4,0.000,0.000,2060,3602,2740
$GC,1104,-1.60,-116.8,99.8,-5.5,170,1114,0.85,3.53,0.00,0.000,6,0.000,0.000,1870,1796,2738
$GC,1429,-1.31,-116.8,134.7,-11.0,186,1432,0.77,0.00,0.00,0.000,6,0.000,0.000,1986,1805,2743
$GC,1738,-1.36,-116.8,156.9,-6.8,201,1745,0.10,3.17,0.00,0.000,4,0.000,0.000,1994,3485,2741
$GC,1795,-1.41,-116.8,161.2,-6.8,203,1807,0.50,3.25,0.00,0.000,6,0.000,0.000,1891,1846,2738
$GC,2124,-1.41,-116.8,193.0,-9.7,219,2132,0.82,3.03,0.00,0.000,4,0.000,0.000,2007,338,2739
$GC,2176,-1.52,-116.8,197.3,-5.9,221,2185,0.52,3.78,0.00,0.000,6,0.000,0.000,1890,2014,2739
$GC,2506,-1.26,-116.8,227.9,-9.5,237,2514,0.73,3.22,0.00,0.000,4,0.000,0.000,2071,331,2740
$GC,2536,-1.42,-116.8,230.3,-6.6,238,2544,0.77,3.42,0.00,0.000,6,0.000,0.000,1880,2138,2738
$GC,2866,-1.16,-116.8,259.7,-9.1,254,2875,0.80,3.60,0.00,0.000,4,0.000,0.000,2013,409,2742
$GC,2915,-1.28,-116.8,262.8,-5.7,256,2920,0.00,2.72,0.00,0.000,6,0.000,0.000,2012,2115,2737
$GC,3251,-1.36,-116.8,281.3,-5.5,272,3259,0.50,3.25,0.00,0.000,4,0.000,0.000,1906,397,2746
$GC,3280,-1.21,-116.8,283.8,-7.9,273,3288,0.82,3.05,0.00,0.000,6,0.000,0.000,2098,2111,2743
$GC,3610,-1.49,-116.8,297.4,-3.9,289,3620,0.77,3.50,0.00,0.000,4,0.000,0.000,1962,307,2742
$GC,3667,-1.49,-116.8,300.7,-6.3,291,3672,0.00,2.80,0.00,0.000,6,0.000,0.000,1960,2132,2743
$GC,3992,-1.44,-116.8,321.9,-6.7,306,3999,0.00,3.45,0.00,0.000,4,0.000,0.000,1980,297,2744
$GC,4043,-1.44,-116.8,325.8,-6.6,308,4050,0.00,3.75,0.00,0.000,6,0.000,0.000,1955,2117,2742
$GC,4378,-1.39,-116.8,347.4,-6.5,324,4379,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,2096,2744
$GC,4682,-1.39,-116.8,367.6,-6.5,339,4690,0.00,3.67,0.00,0.000,4,0.000,0.000,1935,274,2744
$GC,4756,-1.39,-116.8,372.5,-6.5,342,4763,0.00,3.53,0.00,0.000,6,0.000,0.000,1962,2144,2741
$GC,5091,-1.72,-116.8,393.7,-6.4,358,5099,0.45,3.62,0.00,0.000,4,0.000,0.000,1849,281,2740
$GC,5154,-1.41,-116.8,399.8,-9.6,360,5164,0.77,2.97,0.00,0.000,6,0.000,0.000,2032,2133,2739
$GC,5479,-1.56,-116.8,415.6,-4.7,376,5487,0.70,3.25,0.00,0.000,4,0.000,0.000,1860,462,2733
$GC,5542,-1.36,-116.8,421.2,-9.3,378,5552,0.77,2.88,0.00,0.000,6,0.000,0.000,2035,1969,2735
$GC,5867,-1.52,-116.8,436.4,-4.5,394,5873,0.88,2.35,0.00,0.000,4,0.000,0.000,1846,423,2742
$GC,5939,-1.24,-116.8,442.0,-9.2,397,5946,0.77,2.55,0.00,0.000,6,0.000,0.000,2053,1932,2741
$GC,6274,-1.43,-116.8,458.0,-4.3,413,6276,0.75,0.00,0.00,0.000,6,0.000,0.000,1864,1920,2742
$GC,6590,-1.20,-116.8,484.3,-8.8,428,6597,1.10,2.53,0.00,0.000,4,0.000,0.000,2034,289,2733
$GC,6653,-1.43,-116.8,488.4,-4.3,430,6662,0.77,3.58,0.00,0.000,6,0.000,0.000,1882,2135,2737
$GC,6970,-1.13,-116.8,514.6,-8.6,442,6978,0.90,3.42,0.00,0.000,4,0.000,0.000,2054,287,2739
$GC,7011,-1.37,-116.8,517.3,-4.0,442,7021,0.77,2.95,0.00,0.000,6,0.000,0.000,1874,2151,2738
$GC,7347,-1.09,-116.8,544.4,-8.4,451,7355,1.23,3.55,0.00,0.000,4,0.000,0.000,2059,444,2739
$GC,7399,-1.33,-116.8,547.2,-4.0,452,7407,0.77,3.00,0.00,0.000,6,0.000,0.000,1877,2120,2747
$STATE,7411,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7411,begin apogee
$GC,7424,-0.25,0.0,547.9,4.1,452,7547,1.90,0.00,113.68,0.000,6,0.000,0.000,2303,1952,2260
$STATE,7548,end apogee,CONTROL_FINISHED_OK
$STATE,7548,begin climb
$GC,7554,1.49,116.8,548.9,0.0,455,7687,1.60,0.00,113.22,0.000,6,0.000,0.000,2679,1943,1788
$GC,8001,1.15,116.8,447.8,24.8,471,8010,0.93,3.25,0.00,0.000,4,0.000,0.000,2404,3630,1779
$GC,8100,1.58,181.9,436.7,8.6,475,8181,1.08,2.97,61.50,0.001,6,0.000,0.000,2687,1938,1521
$GC,8505,1.20,181.9,317.7,30.8,494,8512,0.75,2.38,0.15,0.002,4,0.000,0.000,2503,549,1515
$GC,8543,1.36,181.9,309.2,16.2,495,8552,0.52,3.28,0.00,0.000,6,0.000,0.000,2631,2052,1522
$GC,8867,1.15,181.9,232.0,25.0,511,8871,0.77,0.00,0.32,0.000,6,0.000,0.000,2433,2053,1520
$GC,9177,1.52,224.4,197.8,10.4,526,9214,0.93,0.00,34.15,0.000,6,0.000,0.000,2632,2044,1352
$GC,9525,1.29,224.4,105.2,26.8,543,9527,0.45,0.00,0.00,0.000,6,0.000,0.000,2508,2066,1350
$GC,9875,1.40,224.4,48.5,15.6,600,9884,0.43,2.85,1.05,0.000,4,0.000,0.000,2632,3552,1346
$GC,9977,1.13,224.4,23.4,26.2,615,9987,0.80,3.15,0.00,0.000,6,0.000,0.000,2511,1712,1344
$STATE,10098,end climb,SURFACE_DEPTH_REACHED
$STATE,10098,begin surface coast
$FREEZE,-0.01,4.683,-1.718
$FINISH,-0.0,1.024868
$STATE,10112,end surface coast,CONTROL_FINISHED_OK
$STATE,10112,begin surface
$SM_CCo,10142,141.20,0.000,1,0,435,450.62
$SM_GC,0.00,0.00,0.00,141.20,0.000,0.000,0.000,577,2036,435,-7.78,1.55,450.62
$RAFOS_CLK,0
$RAFOS,3,1160627646,4.583333,4.568333,80,0,0,0,0,0,831,0,0,0,0,0
$RAFOS,2,1160627043,4.416667,4.400833,80,0,0,0,0,0,979,0,0,0,0,0
$RAFOS,1,1160626457,4.250000,4.238056,80,0,0,0,0,0,685,0,0,0,0,0
$RAFOS,0,1160625841,4.083333,4.066945,80,0,0,0,0,0,626,0,0,0,0,0
$RAFOS,4,1160623745,3.500000,3.484722,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,6652.602051,-6030.077637,121006,040448,4,80,0.89
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2353
$INTERNAL_PRESSURE,25.9967
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.5,19.8
$ALTIM_BOTTOM_PING,475.4,82.5
$24V_AH,23.7,63.696
$10V_AH,9.7,9.602
$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,46.625,121.500,324.075,141.200,0.000,0.000,0.000,86.743,4.250,18.092,1932.958,6377.102,773.512,690.272,800.868,0.000,1368.095,0.000,580.661,1800.000,29.899
$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,517.924,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22126,637
$CFSIZE,255582208,241934336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,94,937,6,0
$SOUNDSPEED,1470.2
$CURRENT,0.049,271.3,1
$GPS,121006,061645,6653.569,-6034.116,12,1.1,12,18.0