version: 66.01
glider: 1
mission: 1
dive: 4
start: 10 8 106 20 39 42
data:
$ID,1
$MISSION,1
$DIVE,4
$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,-448686
$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,4
$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
$GPS1,203426,6632.059,-6030.581,33,1.1,33,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-69.9
$GPS2,203913,6632.059,-6030.581,34,1.1,35,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6642.207,-6029.120
$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,-116.8,0.0,0.0,0,129,0.00,0.00,-76.90,0.000,6,0.000,0.000,636,1741,2738
$GC,135,-1.49,-116.8,0.2,-0.5,9,152,6.75,2.17,0.00,0.000,4,0.000,0.000,1994,421,2735
$GC,311,-1.55,-116.8,27.0,-11.2,37,320,0.85,3.15,0.00,0.000,6,0.000,0.000,1850,2108,2739
$GC,679,-1.19,-116.8,78.1,-12.5,98,687,1.02,2.97,0.00,0.000,4,0.000,0.000,2090,3437,2742
$GC,763,-1.49,-116.8,83.8,-5.1,111,772,0.82,3.42,0.00,0.000,6,0.000,0.000,1901,1734,2738
$GC,1119,-1.28,-116.8,120.3,-10.5,147,1126,0.77,2.62,0.00,0.000,4,0.000,0.000,2012,3565,2733
$GC,1246,-1.42,-116.8,129.8,-6.3,152,1258,0.52,3.17,0.00,0.000,6,0.000,0.000,1890,1879,2740
$GC,1575,-1.19,-116.8,161.8,-10.0,168,1583,0.85,3.25,0.00,0.000,4,0.000,0.000,2084,3590,2739
$GC,1675,-1.54,-116.8,167.4,-4.5,172,1683,0.85,2.92,0.00,0.000,6,0.000,0.000,1898,1747,2736
$GC,2011,-1.32,-116.8,198.8,-9.5,188,2020,0.45,3.47,0.00,0.000,4,0.000,0.000,2036,3599,2734
$GC,2116,-1.46,-116.8,205.7,-5.9,192,2129,0.52,3.08,0.00,0.000,6,0.000,0.000,1899,1913,2734
$GC,2445,-1.22,-116.8,235.3,-9.3,208,2453,0.77,2.72,0.00,0.000,4,0.000,0.000,2060,3567,2739
$GC,2530,-1.49,-116.8,240.3,-4.5,211,2543,0.77,3.75,0.00,0.000,6,0.000,0.000,1882,1713,2735
$GC,2859,-1.23,-116.8,269.1,-9.1,227,2868,0.77,3.50,0.00,0.000,4,0.000,0.000,2064,3605,2735
$GC,2978,-1.49,-116.8,275.4,-4.4,232,2986,0.77,3.75,0.00,0.000,6,0.000,0.000,1886,1707,2729
$GC,3319,-1.21,-116.8,305.2,-9.0,248,3328,0.70,3.50,0.00,0.000,4,0.000,0.000,2051,3548,2736
$GC,3452,-1.44,-116.8,312.5,-4.1,253,3461,0.77,2.83,0.00,0.000,6,0.000,0.000,1863,1897,2732
$GC,3776,-1.14,-116.8,340.8,-9.1,269,3784,0.85,3.05,0.00,0.000,4,0.000,0.000,1996,3457,2740
$GC,3867,-1.25,-116.8,346.9,-6.0,272,3875,0.00,2.35,0.00,0.000,6,0.000,0.000,1980,1795,2738
$GC,4191,-1.27,-116.8,365.6,-5.9,288,4196,0.00,2.95,0.00,0.000,4,0.000,0.000,1999,3678,2742
$GC,4294,-1.33,-116.8,371.6,-5.5,292,4299,0.03,2.92,0.00,0.000,6,0.000,0.000,1996,1851,2741
$GC,4618,-1.36,-116.8,390.3,-5.7,307,4625,0.03,3.28,0.00,0.000,4,0.000,0.000,1997,3530,2731
$GC,4708,-1.41,-116.8,395.4,-5.7,310,4717,0.05,2.62,0.00,0.000,6,0.000,0.000,1983,1857,2735
$GC,5028,-1.43,-116.8,413.8,-5.6,326,5034,0.43,2.85,0.00,0.000,4,0.000,0.000,1862,3627,2738
$GC,5114,-1.15,-116.8,420.7,-9.0,329,5123,1.00,2.78,0.00,0.000,6,0.000,0.000,2039,2084,2733
$GC,5438,-1.33,-116.8,435.9,-4.4,345,5446,0.80,2.53,0.00,0.000,4,0.000,0.000,1932,3596,2740
$GC,5467,-1.28,-116.8,437.8,-5.9,346,5476,0.50,3.75,0.00,0.000,6,0.000,0.000,2048,1790,2738
$GC,5803,-1.62,-116.8,452.8,-4.9,362,5811,0.77,3.45,0.00,0.000,4,0.000,0.000,1865,3628,2736
$GC,5903,-1.35,-116.8,461.1,-8.7,366,5911,0.77,3.78,0.00,0.000,6,0.000,0.000,2057,1950,2733
$STATE,6211,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6211,begin apogee
$GC,6223,-0.25,0.0,474.8,4.3,381,6355,1.02,0.00,112.95,0.000,6,0.000,0.000,2220,1952,2263
$STATE,6356,end apogee,CONTROL_FINISHED_OK
$STATE,6356,begin climb
$GC,6361,1.49,116.8,473.9,0.0,388,6502,2.33,4.07,112.35,0.001,4,0.000,0.000,2638,235,1786
$GC,6533,1.35,116.8,444.4,22.8,395,6541,0.77,3.40,0.00,0.000,6,0.000,0.000,2453,2225,1787
$GC,6868,1.67,167.3,410.2,9.7,411,6927,1.00,2.12,47.83,0.000,4,0.000,0.000,2708,3556,1582
$GC,6994,1.31,167.3,374.8,31.0,415,7004,1.00,3.58,0.05,0.003,6,0.000,0.000,2503,1700,1583
$GC,7318,1.41,167.3,324.9,14.8,431,7324,0.43,2.72,0.00,0.000,4,0.000,0.000,2643,3561,1580
$GC,7481,1.22,167.3,285.1,25.4,438,7490,0.77,3.58,0.90,0.001,6,0.000,0.000,2445,1722,1576
$GC,7811,1.56,208.3,249.0,10.5,454,7865,0.82,3.92,39.50,0.001,4,0.000,0.000,2638,3720,1409
$GC,8031,1.37,208.3,192.4,27.0,463,8044,0.45,3.83,0.00,0.000,6,0.000,0.000,2514,1819,1410
$GC,8360,1.47,208.3,138.2,15.8,479,8368,0.47,3.25,0.00,0.000,4,0.000,0.000,2630,3664,1413
$GC,8481,1.27,208.3,105.9,26.4,484,8490,0.77,3.70,0.00,0.000,6,0.000,0.000,2441,1837,1413
$GC,8848,1.61,246.0,62.8,10.7,541,8887,1.00,3.47,30.80,0.001,4,0.000,0.000,2720,3669,1257
$GC,9030,1.24,246.0,6.1,32.7,569,9039,1.12,3.33,0.00,0.000,6,0.000,0.000,2436,1832,1259
$STATE,9043,end climb,SURFACE_DEPTH_REACHED
$STATE,9043,begin surface coast
$FREEZE,-0.00,4.933,-1.707
$FINISH,-0.0,1.024697
$STATE,9051,end surface coast,CONTROL_FINISHED_OK
$STATE,9051,begin surface
$SM_CCo,9079,127.75,0.000,3,0,420,450.37
$SM_GC,-0.00,0.00,0.00,127.75,0.000,0.000,0.000,623,2161,420,-7.55,5.46,450.37
$RAFOS_CLK,0
$RAFOS,4,1160342942,21.500000,21.483889,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160339043,20.416666,20.400833,80,0,0,0,0,0,1007,0,0,0,0,0
$RAFOS_FIX,6631.947266,-6026.615234,081006,202000,3,80,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2430
$INTERNAL_PRESSURE,25.9967
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.7,19.8
$ALTIM_BOTTOM_PING,400.9,83.2
$24V_AH,23.7,53.375
$10V_AH,9.7,8.180
$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,43.950,128.200,344.375,127.750,0.000,0.000,0.000,85.724,3.500,35.138,1728.780,5483.871,783.818,743.521,781.548,0.000,1425.382,0.000,623.201,360.000,20.922
$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,458.248,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18983,572
$CFSIZE,255582208,244039680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,89,991,9,0
$SOUNDSPEED,1468.5
$CURRENT,0.046,256.8,1
$GPS,081006,231459,6632.650,-6030.779,18,1.1,18,18.0