version: 66.01
glider: 1
mission: 1
dive: 8
start: 10 9 106 7 38 22
data:
$ID,1
$MISSION,1
$DIVE,8
$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,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,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,-446683.09
$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,0
$R_STBD_OVSHOOT,23
$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,0.27000001
$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
$GPS1,073315,6632.743,-6021.449,10,1.1,10,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-70.0
$GPS2,073720,6632.743,-6021.449,14,1.1,14,18.0
$SPEED_LIMITS,0.215,0.230
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.223,0.058
$KALMAN_X,-1762.8,-1580.9,-271.6,5675.2,-1142.4
$KALMAN_Y,-191.5,-174.9,-14.7,2128.7,-99.9
$MHEAD_RNG_PITCHd_Wd,52.0,164011,-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,-116.8,0.0,0.0,0,57,0.00,0.00,-8.18,0.000,6,0.000,0.000,617,2239,2892
$GC,64,-1.49,-116.8,0.3,0.0,2,82,6.65,3.28,0.00,0.000,4,0.000,0.000,1977,528,2882
$GC,173,-1.49,-116.8,15.7,-10.7,18,183,0.52,3.38,0.00,0.000,6,0.000,0.000,1854,2159,2891
$GC,542,-1.72,-116.8,75.3,-16.2,79,551,0.12,2.92,0.00,0.000,4,0.000,0.000,1877,3655,2887
$GC,621,-1.39,-116.8,88.2,-16.7,91,630,0.77,3.72,0.00,0.000,6,0.000,0.000,2039,1788,2889
$GC,965,-1.21,-116.8,115.6,-7.4,123,973,0.52,2.97,0.00,0.000,4,0.000,0.000,1960,3465,2888
$GC,1115,-1.42,-116.8,134.6,-12.8,129,1120,0.00,2.42,0.00,0.000,6,0.000,0.000,1939,1780,2894
$GC,1441,-1.38,-116.8,175.7,-12.9,144,1449,0.08,3.42,0.00,0.000,4,0.000,0.000,1932,3596,2883
$GC,1569,-1.26,-116.8,193.4,-13.3,149,1581,0.50,2.88,0.00,0.000,6,0.000,0.000,2070,1968,2888
$GC,1898,-1.35,-116.8,218.2,-7.5,165,1904,0.47,2.72,0.00,0.000,4,0.000,0.000,1935,3644,2897
$GC,1969,-1.54,-116.8,226.3,-12.7,168,1977,0.00,3.80,0.00,0.000,6,0.000,0.000,1934,1797,2893
$GC,2312,-1.54,-116.8,270.0,-12.8,184,2319,0.00,3.28,0.00,0.000,4,0.000,0.000,1950,3688,2891
$GC,2428,-1.42,-116.8,286.0,-13.0,189,2433,0.00,2.67,0.00,0.000,6,0.000,0.000,1935,1840,2890
$GC,2760,-1.42,-116.8,327.6,-11.6,205,2765,0.10,2.35,0.00,0.000,4,0.000,0.000,1911,3336,2883
$GC,2889,-1.58,-116.8,344.8,-13.2,210,2897,0.00,2.35,0.00,0.000,6,0.000,0.000,1936,1852,2885
$GC,3213,-1.52,-116.8,384.6,-12.6,226,3218,0.00,2.90,0.00,0.000,4,0.000,0.000,1920,3518,2892
$GC,3325,-1.46,-116.8,399.9,-13.1,231,3331,0.05,2.72,0.00,0.000,6,0.000,0.000,1923,1836,2890
$GC,3657,-1.43,-116.8,442.5,-12.8,247,3662,0.00,3.12,0.00,0.000,4,0.000,0.000,1931,3510,2887
$GC,3780,-1.31,-116.8,458.8,-12.7,252,3786,0.50,2.72,0.00,0.000,6,0.000,0.000,2057,1849,2891
$GC,4105,-1.28,-116.8,482.7,-7.4,267,4113,0.55,3.08,0.00,0.000,4,0.000,0.000,2009,3399,2883
$GC,4234,-1.49,-116.8,495.6,-9.2,272,4240,0.50,2.58,0.00,0.000,6,0.000,0.000,1877,2070,2888
$STATE,4320,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4320,begin apogee
$GC,4333,-0.25,0.0,508.2,14.2,275,4352,1.80,0.00,15.62,0.001,6,0.000,0.000,2246,1755,2242
$STATE,4353,end apogee,CONTROL_FINISHED_OK
$STATE,4353,begin climb
$GC,4359,1.49,116.8,508.2,0.0,275,4374,1.88,0.00,11.23,0.001,6,0.000,0.000,2653,1733,1773
$GC,4708,1.49,116.8,434.2,28.3,290,4716,0.43,2.95,0.00,0.000,4,0.000,0.000,2547,3561,1768
$GC,4903,0.75,116.8,404.5,14.1,298,4916,0.80,2.85,0.00,0.000,6,0.000,0.000,2367,1896,1770
$GC,5232,0.84,191.4,377.0,7.8,314,5248,0.77,3.88,7.07,0.001,4,0.000,0.000,2482,3389,1470
$GC,5413,1.47,201.0,354.2,13.0,321,5422,0.77,3.03,0.95,0.001,6,0.000,0.000,2660,1753,1423
$GC,5749,1.66,201.0,258.2,30.5,337,5757,0.05,3.50,0.00,0.000,4,0.000,0.000,2658,3542,1422
$GC,5944,1.32,201.0,200.5,29.8,345,5957,0.77,3.20,0.00,0.000,6,0.000,0.000,2473,1872,1425
$GC,6274,1.11,208.8,145.9,13.1,361,6282,0.00,2.88,0.52,0.001,4,0.000,0.000,2491,3542,1395
$GC,6415,1.31,215.6,126.3,13.2,367,6423,0.57,2.35,0.55,0.001,6,0.000,0.000,2604,2038,1361
$GC,6772,1.57,215.6,42.2,24.7,411,6781,0.05,2.65,0.00,0.000,4,0.000,0.000,2607,3381,1365
$GC,6898,1.43,215.6,10.1,24.2,431,6907,0.00,2.90,0.00,0.000,6,0.000,0.000,2605,2022,1354
$STATE,6928,end climb,SURFACE_DEPTH_REACHED
$STATE,6928,begin surface coast
$FINISH,0.3,1.024563
$STATE,6940,end surface coast,CONTROL_FINISHED_OK
$STATE,6940,begin surface
$SM_CCo,6970,14.52,0.000,0,0,397,452.82
$SM_GC,0.34,0.00,0.00,14.52,0.000,0.000,0.000,580,1871,397,-7.69,-3.11,452.82
$RAFOS_CLK,0
$RAFOS,3,1160382842,8.583333,8.567223,80,0,0,0,0,0,749,0,0,0,0,0
$RAFOS,2,1160382253,8.416667,8.403611,80,0,0,0,0,0,933,0,0,0,0,0
$RAFOS,1,1160381657,8.250000,8.238055,80,0,0,0,0,0,692,0,0,0,0,0
$RAFOS,0,1160381043,8.083333,8.067500,80,0,0,0,0,0,624,0,0,0,0,0
$RAFOS_FIX,6632.384277,-6018.067871,091006,080820,4,80,0.98
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2246
$INTERNAL_PRESSURE,26.0846
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.1,19.3
$ALTIM_BOTTOM_PING,426.6,87.9
$24V_AH,23.7,31.587
$10V_AH,9.7,4.790
$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,29.800,90.575,35.950,14.525,0.000,0.000,0.000,64.630,3.750,14.867,1473.902,4321.688,228.830,578.736,637.570,31.415,725.169,0.000,502.252,1800.000,22.214
$DEVICE_MAMPS,119.000,60.000,0.767,600.000,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,360.718,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12713,437
$CFSIZE,255582208,243920896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,58,695,0,0
$SOUNDSPEED,1459.7
$CURRENT,0.052,295.4,1
$GPS,091006,093619,6633.131,-6020.181,21,1.1,22,18.0