version: 66.01
glider: 1
mission: 1
dive: 2
start: 7 4 107 8 47 51
data:
$ID,1
$MISSION,1
$DIVE,2
$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,528
$T_MISSION,550
$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,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.00312
$HD_B,0.0099099996
$HD_C,2.4896e-05
$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,350
$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,-445268.47
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,166
$ROLL_MAX,3791
$C_ROLL_DIVE,1978
$C_ROLL_CLIMB,1978
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,10
$ROLL_AD_RATE,500
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,084051,4704.531,-12606.449,35,1.1,35,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-50.0
$GPS2,084648,4704.514,-12606.504,15,1.1,15,18.0
$SPEED_LIMITS,0.103,0.183
$TGT_NAME,default
$TGT_LATLONG,47.600,-122.300
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.180,-0.070
$KALMAN_X,-445.7,-445.7,-445.7,4651.4,1344.2
$KALMAN_Y,519.4,519.4,519.4,-2257.3,-1566.5
$MHEAD_RNG_PITCHd_Wd,93.3,14782832,-12.7,-6.250
$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,32,end surface,CONTROL_FINISHED_OK
$STATE,32,begin dive
$GC,38,-0.83,-116.8,0.0,0.0,0,108,0.00,0.00,-62.80,0.000,6,0.000,0.000,628,1765,2740
$GC,114,-0.83,-116.8,2.9,-4.5,9,133,7.53,2.62,0.00,0.000,4,0.000,0.000,2132,351,2742
$GC,425,-0.83,-116.8,38.8,-10.8,59,433,0.38,2.70,0.00,0.000,6,0.000,0.000,2046,2122,2742
$GC,795,-0.83,-116.8,79.7,-10.9,120,804,0.43,3.10,0.00,0.000,4,0.000,0.000,2137,354,2735
$GC,1088,-0.83,-116.8,108.8,-9.9,157,1094,0.40,2.83,0.00,0.000,6,0.000,0.000,2060,2200,2738
$GC,1413,-0.83,-116.8,139.0,-9.2,173,1415,0.40,0.00,0.00,0.000,6,0.000,0.000,2135,2207,2741
$GC,1722,-0.83,-116.8,165.6,-8.4,188,1725,0.43,0.00,0.00,0.000,6,0.000,0.000,2044,2191,2736
$GC,2032,-0.83,-116.8,192.3,-8.8,203,2034,0.40,0.00,0.00,0.000,6,0.000,0.000,2134,2206,2737
$GC,2341,-0.83,-116.8,219.3,-8.6,218,2348,0.38,3.03,0.00,0.000,4,0.000,0.000,2041,353,2738
$GC,2633,-0.83,-116.8,244.7,-8.2,230,2646,0.32,3.95,0.00,0.000,6,0.000,0.000,2108,2110,2746
$GC,2957,-0.83,-116.8,270.6,-8.0,246,2959,0.45,0.00,0.00,0.000,6,0.000,0.000,2027,2124,2741
$GC,3266,-0.83,-116.8,294.2,-7.7,261,3268,0.73,0.00,0.00,0.000,6,0.000,0.000,2131,2132,2739
$GC,3575,-0.83,-116.8,318.5,-7.7,276,3582,0.32,3.17,0.00,0.000,4,0.000,0.000,2028,602,2736
$GC,3865,-0.83,-116.8,340.6,-7.3,288,3870,0.35,2.40,0.00,0.000,6,0.000,0.000,2117,2090,2733
$GC,4184,-0.83,-116.8,364.2,-7.4,303,4191,0.28,3.35,0.00,0.000,4,0.000,0.000,2092,404,2739
$GC,4474,-0.83,-116.8,385.6,-6.9,315,4485,0.00,3.35,0.00,0.000,6,0.000,0.000,2077,2062,2737
$GC,4797,-0.83,-116.8,408.2,-6.7,331,4803,0.03,3.10,0.00,0.000,4,0.000,0.000,2131,412,2734
$GC,5083,-0.83,-116.8,428.6,-7.5,343,5089,0.35,2.50,0.00,0.000,6,0.000,0.000,2041,2083,2734
$GC,5402,-0.83,-116.8,453.6,-8.2,358,5404,0.47,0.00,0.00,0.000,6,0.000,0.000,2132,2088,2741
$GC,5712,-0.83,-116.8,477.8,-7.4,373,5714,0.52,0.00,0.00,0.000,6,0.000,0.000,2045,2063,2743
$GC,6020,-0.83,-116.8,499.5,-6.6,388,6022,0.35,0.00,0.00,0.000,6,0.000,0.000,2119,2071,2741
$GC,6326,-0.83,-116.8,517.3,-5.7,396,6328,0.50,0.00,0.00,0.000,6,0.000,0.000,2039,2062,2734
$GC,6650,-0.83,-116.8,536.5,-6.0,404,6656,0.45,2.70,0.00,0.000,4,0.000,0.000,2098,440,2740
$GC,6930,-0.83,-116.8,557.1,-8.6,410,6934,0.00,2.60,0.00,0.000,6,0.000,0.000,2116,2101,2743
$GC,7246,-0.83,-116.8,582.4,-7.9,418,7248,0.32,0.00,0.00,0.000,6,0.000,0.000,2031,2103,2743
$GC,7570,-0.83,-116.8,606.3,-7.2,426,7577,0.45,2.95,0.00,0.000,4,0.000,0.000,2127,559,2738
$GC,7813,-0.83,-116.8,622.5,-6.6,431,7821,0.38,3.22,0.00,0.000,6,0.000,0.000,2042,2088,2736
$GC,8169,-0.83,-116.8,644.5,-6.1,440,8171,0.30,0.00,0.00,0.000,6,0.000,0.000,2152,2101,2742
$GC,8494,-0.83,-116.8,665.0,-6.2,448,8496,0.47,0.00,0.00,0.000,6,0.000,0.000,2032,2104,2739
$GC,8819,-0.83,-116.8,685.0,-6.2,456,8826,0.30,3.15,0.00,0.000,4,0.000,0.000,2124,545,2745
$GC,9108,-0.83,-116.8,702.3,-6.1,462,9116,0.32,3.00,0.00,0.000,6,0.000,0.000,2042,1958,2746
$GC,9429,-0.83,-116.8,722.5,-6.2,470,9431,0.35,0.00,0.00,0.000,6,0.000,0.000,2127,1957,2736
$GC,9754,-0.83,-116.8,741.2,-5.7,478,9756,0.35,0.00,0.00,0.000,6,0.000,0.000,2035,1949,2742
$GC,10079,-0.83,-116.8,759.9,-5.8,486,10081,0.40,0.00,0.00,0.000,6,0.000,0.000,2114,1946,2738
$GC,10404,-0.83,-116.8,777.1,-5.4,494,10407,0.40,0.00,0.00,0.000,6,0.000,0.000,2046,1965,2736
$GC,10729,-0.83,-116.8,794.3,-5.3,502,10736,0.30,3.15,0.00,0.000,4,0.000,0.000,2130,420,2735
$GC,11019,-0.83,-116.8,810.3,-5.6,508,11026,0.38,3.42,0.00,0.000,6,0.000,0.000,2065,2061,2739
$GC,11340,-0.83,-116.8,829.3,-6.2,516,11342,0.30,0.00,0.00,0.000,6,0.000,0.000,2156,2053,2737
$GC,11665,-0.83,-116.8,848.7,-5.9,524,11672,0.43,2.92,0.00,0.000,4,0.000,0.000,2046,395,2740
$GC,11950,-0.83,-116.8,865.8,-5.6,530,11956,0.40,2.70,0.00,0.000,6,0.000,0.000,2108,2106,2741
$GC,12272,-0.83,-116.8,883.2,-5.5,538,12279,0.38,3.15,0.00,0.000,4,0.000,0.000,2048,441,2736
$GC,12558,-0.83,-116.8,899.3,-6.1,544,12564,0.35,2.53,0.00,0.000,6,0.000,0.000,2149,2102,2746
$GC,12880,-0.83,-116.8,917.8,-5.9,552,12886,0.40,2.90,0.00,0.000,4,0.000,0.000,2036,452,2737
$GC,13161,-0.83,-116.8,935.8,-6.3,558,13167,0.35,2.83,0.00,0.000,6,0.000,0.000,2152,2101,2741
$GC,13479,-0.83,-116.8,953.8,-5.5,566,13484,0.40,2.50,0.00,0.000,4,0.000,0.000,2039,398,2745
$GC,13760,-0.83,-116.8,970.4,-5.5,572,13766,0.05,2.62,0.00,0.000,6,0.000,0.000,2102,2110,2743
$STATE,13955,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13955,begin apogee
$GC,13967,-0.25,0.0,981.6,5.8,577,14099,0.65,0.00,113.38,0.000,6,0.000,0.000,2211,1843,2266
$STATE,14099,end apogee,CONTROL_FINISHED_OK
$STATE,14099,begin climb
$GC,14105,0.83,116.8,988.2,0.0,580,14226,1.17,0.00,111.43,0.000,6,0.000,0.000,2496,1834,1790
$GC,14520,0.83,116.8,977.7,7.9,591,14522,0.05,0.00,0.00,0.000,6,0.000,0.000,2451,1836,1792
$GC,14845,0.83,116.8,951.0,8.1,599,14848,0.38,0.00,0.77,0.001,6,0.000,0.000,2389,1845,1787
$GC,15170,0.83,116.8,924.8,8.1,607,15172,0.38,0.00,0.00,0.000,6,0.000,0.000,2459,1820,1788
$GC,15495,0.83,116.8,898.6,8.3,615,15497,0.35,0.00,0.00,0.000,6,0.000,0.000,2428,1841,1782
$GC,15820,0.83,116.8,872.3,8.1,623,15821,0.03,0.00,0.00,0.000,6,0.000,0.000,2433,1829,1787
$GC,16145,0.83,116.8,845.8,7.9,631,16146,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,1833,1789
$GC,16469,0.83,116.8,821.8,7.3,639,16470,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,1837,1786
$GC,16794,0.83,116.8,798.7,7.0,647,16796,0.03,0.00,0.00,0.000,6,0.000,0.000,2431,1852,1787
$GC,17119,0.83,116.8,775.5,7.1,655,17121,0.00,0.00,0.32,0.000,6,0.000,0.000,2434,1840,1783
$GC,17444,0.83,116.8,750.7,7.9,663,17445,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1834,1788
$GC,17769,0.83,116.8,724.1,8.2,671,17770,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,1831,1785
$GC,18094,0.83,116.8,698.3,7.7,679,18096,0.00,0.00,0.05,0.000,6,0.000,0.000,2446,1833,1782
$GC,18419,0.83,116.8,673.8,7.6,687,18421,0.00,0.00,0.25,0.000,6,0.000,0.000,2433,1838,1788
$GC,18744,0.83,116.8,649.3,7.8,695,18745,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,1829,1779
$GC,19069,0.83,116.8,623.1,7.9,703,19070,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,1849,1785
$GC,19394,0.83,116.8,597.2,7.8,711,19395,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1840,1786
$GC,19719,0.83,116.8,571.8,7.7,719,19720,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1833,1792
$GC,20044,0.83,116.8,547.9,7.1,727,20045,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,1850,1781
$GC,20369,0.83,116.8,525.7,6.8,735,20370,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,1828,1789
$GC,20694,0.83,116.8,503.2,7.1,743,20695,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,1845,1787
$GC,21002,0.83,116.8,481.9,6.6,756,21003,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1831,1789
$GC,21316,0.83,116.8,461.6,6.4,771,21317,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,1840,1785
$GC,21625,0.83,116.8,441.9,6.5,786,21627,0.00,0.00,0.20,0.000,6,0.000,0.000,2449,1840,1787
$GC,21929,0.83,116.8,421.5,6.4,801,21931,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1830,1784
$GC,22244,0.83,116.8,400.9,6.7,816,22246,0.00,0.00,0.10,0.001,6,0.000,0.000,2430,1820,1781
$GC,22548,0.83,119.9,381.3,6.1,831,22553,0.03,0.00,2.38,0.000,6,0.000,0.000,2438,1842,1774
$GC,22858,0.84,125.7,362.8,6.0,846,22866,0.03,0.00,5.90,0.000,6,0.000,0.000,2413,1841,1743
$GC,23166,0.85,125.7,343.1,6.5,861,23168,0.05,0.00,0.00,0.000,6,0.000,0.000,2427,1837,1741
$GC,23476,0.85,126.2,323.1,6.2,876,23478,0.00,0.00,0.08,0.000,6,0.000,0.000,2451,1825,1746
$GC,23785,0.85,126.2,303.3,6.5,891,23790,0.00,2.85,0.00,0.000,4,0.000,0.000,2437,500,1747
$GC,23913,0.85,126.2,294.9,7.9,896,23922,0.00,3.17,0.12,0.000,6,0.000,0.000,2436,1924,1748
$GC,24232,0.85,126.2,273.1,7.2,912,24234,0.03,0.00,0.00,0.000,6,0.000,0.000,2442,1938,1746
$GC,24541,0.85,126.2,251.3,6.6,927,24542,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,1942,1748
$GC,24856,0.85,131.1,231.9,6.1,942,24866,0.00,2.92,4.65,0.000,4,0.000,0.000,2433,3481,1719
$GC,25142,0.85,138.8,214.2,6.0,954,25156,0.03,2.50,6.15,0.000,6,0.000,0.000,2431,1873,1692
$GC,25466,0.87,138.8,194.7,6.4,970,25468,0.00,0.00,0.68,0.000,6,0.000,0.000,2426,1856,1691
$GC,25776,0.87,143.6,175.2,6.1,985,25782,0.05,0.00,4.10,0.000,6,0.000,0.000,2417,1868,1677
$GC,26085,0.88,143.6,156.4,7.2,1000,26086,0.00,0.00,0.22,0.000,6,0.000,0.000,2424,1866,1680
$GC,26394,0.88,143.6,131.8,7.6,1015,26396,0.25,0.00,0.00,0.000,6,0.000,0.000,2484,1869,1670
$GC,26703,0.88,162.6,112.9,5.5,1030,26722,0.00,0.00,15.07,0.000,6,0.000,0.000,2485,1869,1596
$GC,27056,0.91,162.6,89.0,6.6,1064,27064,0.00,2.50,0.00,0.000,4,0.000,0.000,2490,3513,1604
$GC,27359,0.91,192.4,71.1,5.1,1113,27394,0.03,3.10,24.30,0.001,6,0.000,0.000,2487,1836,1477
$GC,27769,0.96,196.3,47.3,6.1,1177,27779,0.03,2.88,2.92,0.000,4,0.000,0.000,2474,547,1459
$GC,27830,0.96,196.3,42.9,7.0,1186,27838,0.00,2.40,0.00,0.000,6,0.000,0.000,2469,2098,1461
$GC,28207,0.96,196.3,17.6,6.6,1247,28214,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2092,1457
$STATE,28427,end climb,SURFACE_DEPTH_REACHED
$STATE,28427,begin surface coast
$FINISH,0.5,0.999483
$STATE,28455,end surface coast,CONTROL_FINISHED_OK
$STATE,28455,begin surface
$SM_CCo,28484,96.30,0.000,0,0,837,350.04
$SM_GC,0.35,0.00,0.00,96.30,0.000,0.000,0.000,618,1811,837,-7.49,-3.96,350.04
$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,1718
$INTERNAL_PRESSURE,26.0944
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.6,19.5
$ALTIM_BOTTOM_PING,925.3,64.7
$24V_AH,23.7,17.699
$10V_AH,9.6,2.631
$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,36.000,105.450,293.075,96.300,0.000,0.000,0.000,106.293,8.750,16.086,4055.985,20807.041,668.879,1681.217,1691.178,30.194,1987.969,0.000,1545.286,3600.000,48.456
$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,1205.896,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44170,1288
$CFSIZE,255582208,243544064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,71,712,4,0
$SOUNDSPEED,1465.0
$CURRENT,0.083,299.6,1
$GPS,040707,164527,4704.390,-12603.564,11,1.1,11,18.0