version: 66.01
glider: 1
mission: 1
dive: 32
start: 10 11 106 17 31 38
data:
$ID,1
$MISSION,1
$DIVE,32
$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,-447265.66
$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,169
$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
$GPS1,172705,6637.649,-6008.930,29,1.1,29,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.9
$GPS2,173110,6637.649,-6008.930,8,1.1,8,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6628.714,-6006.509
$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,127.8,20000,-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,-7.97,0.000,6,0.000,0.000,649,2026,2853
$GC,64,-1.49,-116.8,0.3,0.0,2,82,6.55,3.22,0.00,0.000,4,0.000,0.000,1987,3708,2854
$GC,329,-1.49,-116.8,30.4,-9.7,45,339,0.50,3.72,0.00,0.000,6,0.000,0.000,1883,1875,2846
$GC,698,-1.62,-116.8,85.7,-15.2,106,708,0.60,3.78,0.00,0.000,4,0.000,0.000,2006,3647,2852
$GC,814,-1.30,-116.8,98.0,-9.6,124,822,0.00,2.78,0.00,0.000,6,0.000,0.000,1981,2134,2850
$GC,1147,-1.41,-116.8,130.1,-9.8,142,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,2120,2852
$GC,1456,-1.41,-116.8,160.3,-9.7,157,1462,0.52,2.67,0.00,0.000,4,0.000,0.000,1861,3452,2848
$GC,1487,-1.41,-116.8,164.7,-14.9,158,1500,0.65,2.97,0.00,0.000,6,0.000,0.000,1977,1942,2845
$GC,1816,-1.23,-116.8,196.5,-9.6,174,1822,0.00,3.03,0.00,0.000,4,0.000,0.000,1981,3589,2849
$GC,1896,-1.25,-116.8,204.4,-9.5,177,1902,0.00,3.08,0.00,0.000,6,0.000,0.000,1985,2088,2847
$GC,2221,-1.37,-116.8,235.2,-9.5,192,2223,0.22,0.00,0.00,0.000,6,0.000,0.000,1930,2099,2851
$GC,2530,-1.39,-116.8,272.1,-12.4,207,2538,0.38,3.25,0.00,0.000,4,0.000,0.000,2055,3580,2851
$GC,2582,-1.24,-116.8,277.4,-7.3,209,2588,0.52,2.45,0.00,0.000,6,0.000,0.000,1933,2078,2848
$GC,2908,-1.50,-116.8,314.1,-10.2,225,2909,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,2080,2853
$GC,3222,-1.73,-116.8,351.3,-12.1,240,3228,0.35,2.50,0.00,0.000,4,0.000,0.000,1831,3539,2855
$GC,3281,-1.59,-116.8,362.0,-18.6,242,3290,0.77,2.35,0.00,0.000,6,0.000,0.000,2007,2035,2847
$GC,3605,-1.23,-116.8,392.4,-9.1,258,3610,0.00,2.15,0.00,0.000,4,0.000,0.000,2023,3387,2857
$GC,3652,-1.28,-116.8,397.4,-9.0,260,3656,0.00,1.92,0.00,0.000,6,0.000,0.000,1989,2037,2845
$GC,3984,-1.40,-116.8,426.7,-9.0,276,3990,0.12,3.05,0.00,0.000,4,0.000,0.000,2000,3586,2854
$GC,4044,-1.46,-116.8,433.0,-9.0,278,4053,0.52,2.58,0.00,0.000,6,0.000,0.000,1882,2235,2855
$GC,4370,-1.59,-116.8,476.4,-14.7,294,4376,0.20,2.42,0.00,0.000,4,0.000,0.000,1945,532,2849
$GC,4401,-1.31,-116.8,481.7,-12.5,295,4414,0.52,3.28,0.00,0.000,6,0.000,0.000,2059,2210,2845
$GC,4750,-1.35,-116.8,505.9,-6.9,310,4755,0.60,1.85,0.00,0.000,4,0.000,0.000,1929,3591,2850
$GC,4788,-1.57,-116.8,509.9,-11.9,310,4796,0.00,2.25,0.00,0.000,6,0.000,0.000,1916,2080,2852
$GC,5123,-1.54,-116.8,549.8,-11.9,319,5127,0.00,2.35,0.00,0.000,4,0.000,0.000,1943,3600,2852
$GC,5167,-1.42,-116.8,554.6,-11.5,320,5172,0.00,2.67,0.00,0.000,6,0.000,0.000,1940,2285,2854
$STATE,5196,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5197,begin apogee
$GC,5209,-0.25,0.0,559.2,11.7,320,5227,1.60,0.00,14.30,0.000,6,0.000,0.000,2281,2119,2248
$STATE,5228,end apogee,CONTROL_FINISHED_OK
$STATE,5228,begin climb
$GC,5233,1.49,116.8,560.8,0.0,321,5254,1.92,3.67,11.20,0.000,4,0.000,0.000,2666,3441,1771
$GC,5279,1.49,116.8,554.8,22.0,322,5287,0.60,3.12,0.00,0.000,6,0.000,0.000,2553,1923,1769
$GC,5606,1.21,116.8,506.6,14.3,330,5611,0.00,3.20,0.00,0.000,4,0.000,0.000,2552,3620,1774
$GC,5698,1.21,116.8,492.9,14.2,332,5704,0.10,3.00,0.00,0.000,6,0.000,0.000,2548,1876,1770
$GC,6028,1.28,116.8,446.7,14.2,348,6035,0.00,3.45,0.00,0.000,4,0.000,0.000,2547,3577,1766
$GC,6172,1.28,116.8,425.1,14.2,354,6179,0.00,3.28,0.00,0.000,6,0.000,0.000,2552,1887,1765
$GC,6507,1.35,116.8,376.5,15.0,370,6512,0.00,2.62,0.00,0.000,4,0.000,0.000,2546,3585,1772
$GC,6619,1.26,116.8,359.3,14.5,375,6623,0.00,2.30,0.00,0.000,6,0.000,0.000,2541,2119,1766
$GC,6955,1.33,116.8,312.1,14.3,391,6960,0.00,3.05,0.00,0.000,4,0.000,0.000,2554,3584,1761
$GC,7013,1.33,116.8,302.5,14.3,393,7021,0.00,2.58,0.00,0.000,6,0.000,0.000,2556,2238,1770
$GC,7332,1.40,116.8,251.1,14.2,409,7333,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2239,1767
$GC,7641,1.40,116.8,205.8,14.3,424,7642,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2246,1766
$GC,7951,1.40,116.8,161.5,14.4,439,7955,0.00,2.25,0.00,0.000,4,0.000,0.000,2540,3568,1776
$GC,7994,1.40,116.8,155.4,14.3,441,7999,0.00,2.58,0.00,0.000,6,0.000,0.000,2533,2209,1771
$GC,8328,1.36,116.8,107.4,14.4,457,8332,0.05,1.85,0.00,0.000,4,0.000,0.000,2539,3399,1772
$GC,8371,1.36,116.8,99.3,18.4,459,8380,0.00,2.72,0.00,0.000,6,0.000,0.000,2546,2089,1770
$GC,8739,1.29,116.8,46.4,14.6,520,8748,0.00,2.67,0.00,0.000,4,0.000,0.000,2544,3409,1766
$GC,8851,1.29,116.8,31.3,14.1,537,8859,0.00,2.67,0.00,0.000,6,0.000,0.000,2552,2085,1770
$STATE,9047,end climb,SURFACE_DEPTH_REACHED
$STATE,9047,begin surface coast
$FINISH,0.3,1.025090
$STATE,9066,end surface coast,CONTROL_FINISHED_OK
$STATE,9066,begin surface
$SM_CCo,9095,21.40,0.000,0,0,407,451.60
$SM_GC,0.34,0.00,0.00,21.40,0.000,0.000,0.000,622,2079,407,-7.56,3.22,451.60
$RAFOS_CLK,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,2269
$INTERNAL_PRESSURE,26.0065
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.3,18.8
$ALTIM_BOTTOM_PING,476.4,92.8
$24V_AH,23.7,37.916
$10V_AH,9.7,5.794
$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,26.925,105.800,25.500,21.400,0.000,0.000,0.000,67.460,4.250,9.785,1820.577,5945.328,248.963,624.353,724.571,0.000,788.523,0.000,536.718,0.000,24.839
$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,475.469,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19007,572
$CFSIZE,255582208,242302976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,50,809,0,0
$SOUNDSPEED,1459.6
$CURRENT,0.057, 34.3,1
$GPS,111006,200501,6637.079,-6007.015,21,1.1,22,18.0