version: 66.01
glider: 1
mission: 1
dive: 36
start: 10 12 106 3 51 28
data:
$ID,1
$MISSION,1
$DIVE,36
$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,-447342.88
$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,182
$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
$GPS1,034649,6637.287,-6008.806,12,1.1,12,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.9
$GPS2,035058,6637.287,-6008.806,18,1.1,18,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6630.728,-6005.387
$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,109.4,20000,-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,-116.8,0.0,0.0,0,56,0.00,0.00,-8.05,0.000,6,0.000,0.000,644,2071,2861
$GC,62,-1.49,-116.8,0.3,-0.0,2,80,6.28,3.42,0.00,0.000,4,0.000,0.000,2003,3644,2866
$GC,344,-1.49,-116.8,29.4,-8.9,47,353,0.47,3.03,0.00,0.000,6,0.000,0.000,1886,1930,2872
$GC,713,-1.66,-116.8,83.5,-14.8,108,721,0.00,3.08,0.00,0.000,4,0.000,0.000,1882,3606,2866
$GC,819,-1.40,-116.8,98.6,-14.7,124,829,0.57,3.35,0.00,0.000,6,0.000,0.000,2010,1936,2873
$GC,1146,-1.24,-116.8,129.7,-9.2,140,1151,0.15,2.45,0.00,0.000,4,0.000,0.000,1929,3457,2870
$GC,1232,-1.31,-116.8,139.8,-12.1,143,1241,0.12,2.40,0.00,0.000,6,0.000,0.000,1944,2085,2868
$GC,1552,-1.29,-116.8,178.1,-11.8,159,1554,0.43,0.00,0.00,0.000,6,0.000,0.000,2091,2061,2867
$GC,1867,-1.19,-116.8,200.5,-6.8,174,1875,0.40,3.25,0.00,0.000,4,0.000,0.000,1977,430,2868
$GC,1907,-1.42,-116.8,204.9,-11.4,175,1916,0.00,3.75,0.00,0.000,6,0.000,0.000,1950,2245,2863
$GC,2232,-1.56,-116.8,241.5,-11.5,191,2234,0.43,0.00,0.00,0.000,6,0.000,0.000,1913,2261,2869
$GC,2541,-1.54,-116.8,283.9,-14.0,206,2549,0.35,3.25,0.00,0.000,4,0.000,0.000,1996,432,2861
$GC,2581,-1.31,-116.8,289.5,-9.1,207,2591,0.08,2.97,0.00,0.000,6,0.000,0.000,1996,2118,2870
$GC,2906,-1.57,-116.8,318.7,-9.3,223,2909,0.75,0.00,0.00,0.000,6,0.000,0.000,1869,2105,2870
$GC,3216,-1.63,-116.8,363.6,-14.6,238,3218,0.35,0.00,0.00,0.000,6,0.000,0.000,1868,2121,2874
$GC,3524,-1.46,-116.8,410.0,-15.0,253,3526,0.65,0.00,0.00,0.000,6,0.000,0.000,2000,2125,2869
$GC,3834,-1.18,-116.8,439.2,-9.3,268,3839,0.00,2.97,0.00,0.000,4,0.000,0.000,2004,601,2869
$GC,3877,-1.24,-116.8,443.7,-9.3,270,3884,0.00,3.25,0.00,0.000,6,0.000,0.000,2016,2303,2867
$GC,4219,-1.44,-116.8,474.8,-9.3,286,4227,0.60,4.43,0.00,0.000,4,0.000,0.000,1860,465,2870
$GC,4254,-1.50,-116.8,479.9,-13.8,287,4266,0.50,3.25,0.00,0.000,6,0.000,0.000,2010,2319,2870
$GC,4602,-1.43,-116.8,511.6,-9.0,301,4609,0.40,3.22,0.00,0.000,4,0.000,0.000,1888,481,2867
$GC,4654,-1.51,-116.8,518.9,-14.6,302,4662,0.52,3.42,0.00,0.000,6,0.000,0.000,2019,2164,2868
$GC,4981,-1.47,-116.8,549.5,-9.2,310,4989,0.85,2.78,0.00,0.000,4,0.000,0.000,1882,3508,2862
$STATE,5049,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5050,begin apogee
$GC,5066,-0.25,0.0,559.5,14.5,311,5086,1.70,0.00,14.80,0.000,6,0.000,0.000,2262,1859,2234
$STATE,5086,end apogee,CONTROL_FINISHED_OK
$STATE,5086,begin climb
$GC,5092,1.49,116.8,563.4,0.0,312,5107,1.58,0.00,11.30,0.000,6,0.000,0.000,2631,1845,1775
$GC,5411,1.49,116.8,503.2,19.8,320,5419,0.88,2.75,0.00,0.000,4,0.000,0.000,2492,3412,1775
$GC,5542,1.27,146.1,486.5,11.4,324,5552,0.52,2.75,2.85,0.000,6,0.000,0.000,2650,2047,1651
$GC,5866,1.45,146.1,418.5,22.1,340,5872,0.43,2.38,0.00,0.000,4,0.000,0.000,2532,3520,1650
$GC,5911,1.22,152.1,410.5,13.3,342,5919,0.00,3.17,0.57,0.000,6,0.000,0.000,2510,2066,1624
$GC,6251,1.37,152.5,364.7,13.7,358,6253,0.43,0.00,0.00,0.000,6,0.000,0.000,2643,2063,1623
$GC,6555,1.46,152.5,296.8,22.7,373,6563,0.52,2.95,0.00,0.000,4,0.000,0.000,2509,522,1628
$GC,6581,1.24,152.5,291.9,19.3,374,6589,0.15,3.12,0.00,0.000,6,0.000,0.000,2583,2198,1623
$GC,6921,1.35,152.5,234.4,17.4,390,6926,0.00,2.30,0.00,0.000,4,0.000,0.000,2549,3670,1626
$GC,6987,1.30,152.5,222.0,17.3,393,6994,0.00,3.45,0.00,0.000,6,0.000,0.000,2551,2020,1625
$GC,7327,1.40,152.5,163.7,17.3,409,7332,0.00,3.00,0.00,0.000,4,0.000,0.000,2578,3529,1617
$GC,7421,1.35,152.5,147.4,17.8,413,7425,0.00,2.22,0.00,0.000,6,0.000,0.000,2574,2017,1623
$GC,7748,1.42,152.5,86.2,17.8,436,7757,0.00,2.45,0.00,0.000,4,0.000,0.000,2570,3390,1624
$GC,7832,1.38,152.5,71.6,17.6,449,7840,0.00,2.38,0.00,0.000,6,0.000,0.000,2564,2222,1620
$GC,8200,1.42,152.5,7.1,18.0,510,8209,0.03,1.92,0.00,0.000,4,0.000,0.000,2557,3586,1624
$STATE,8225,end climb,SURFACE_DEPTH_REACHED
$STATE,8225,begin surface coast
$FINISH,0.3,1.025037
$STATE,8240,end surface coast,CONTROL_FINISHED_OK
$STATE,8240,begin surface
$SM_CCo,8273,18.92,0.001,0,0,388,451.84
$SM_GC,0.34,0.00,0.00,18.92,0.000,0.000,0.001,622,1941,388,-7.57,-1.47,451.84
$RAFOS_CLK,0
$RAFOS,3,1160627642,4.583333,4.567222,80,0,0,0,0,0,734,0,0,0,0,0
$RAFOS,2,1160627060,4.416667,4.405556,80,0,0,0,0,0,849,0,0,0,0,0
$RAFOS,1,1160626447,4.250000,4.235278,80,0,0,0,0,0,699,0,0,0,0,0
$RAFOS,0,1160625851,4.083333,4.069722,80,0,0,0,0,0,538,0,0,0,0,0
$RAFOS_FIX,6637.950684,-6003.500977,121006,040448,4,80,2.29
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2248
$INTERNAL_PRESSURE,26.0358
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.3,18.2
$ALTIM_BOTTOM_PING,500.6,69.0
$24V_AH,23.7,39.048
$10V_AH,9.7,5.961
$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,30.525,95.300,29.525,18.925,0.000,0.000,0.000,67.024,4.750,18.370,1678.359,5399.777,237.767,562.742,681.434,0.000,716.380,0.000,472.053,1440.000,28.819
$DEVICE_MAMPS,119.000,60.000,1300.000,0.767,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,425.589,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15843,516
$CFSIZE,255582208,242049024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,65,742,0,0
$SOUNDSPEED,1459.7
$CURRENT,0.059, 14.5,1
$GPS,121006,061107,6637.006,-6006.585,8,1.1,8,18.0