version: 66.01
glider: 1
mission: 1
dive: 12
start: 10 9 106 18 19 44
data:
$ID,1
$MISSION,1
$DIVE,12
$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,-448902.94
$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,11
$R_STBD_OVSHOOT,19
$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
$GPS1,181429,6637.459,-6032.189,23,1.1,24,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-70.0
$GPS2,181915,6637.459,-6032.189,33,1.1,33,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6647.607,-6030.733
$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,35,end surface,CONTROL_FINISHED_OK
$STATE,35,begin dive
$GC,41,-1.49,-116.8,0.0,0.0,0,131,0.00,0.00,-77.15,0.000,6,0.000,0.000,629,1946,2745
$GC,137,-1.49,-116.8,0.3,-0.7,10,154,6.57,2.97,0.00,0.000,4,0.000,0.000,2003,3455,2747
$GC,218,-1.52,-116.8,16.0,-10.6,22,227,0.52,3.33,0.00,0.000,6,0.000,0.000,1874,1746,2748
$GC,586,-1.19,-116.8,69.1,-14.0,83,595,1.10,3.75,0.00,0.000,4,0.000,0.000,2052,3550,2744
$GC,723,-1.41,-116.8,78.5,-6.2,105,732,0.68,3.05,0.00,0.000,6,0.000,0.000,1927,1732,2739
$GC,1078,-1.26,-116.8,112.5,-9.7,149,1086,0.52,3.53,0.00,0.000,4,0.000,0.000,2001,3551,2744
$GC,1211,-1.31,-116.8,123.1,-7.5,154,1220,0.00,2.55,0.00,0.000,6,0.000,0.000,2001,1994,2736
$GC,1536,-1.35,-116.8,146.7,-7.3,170,1543,0.03,3.38,0.00,0.000,4,0.000,0.000,1970,3663,2750
$GC,1588,-1.40,-116.8,150.9,-7.2,172,1594,0.12,2.97,0.00,0.000,6,0.000,0.000,1985,2005,2740
$GC,1919,-1.40,-116.8,174.1,-7.1,188,1924,0.28,2.33,0.00,0.000,4,0.000,0.000,1925,3554,2745
$GC,1972,-1.36,-116.8,178.9,-8.2,190,1985,0.50,3.28,0.00,0.000,6,0.000,0.000,2046,1875,2737
$GC,2302,-1.53,-116.8,197.1,-5.4,206,2310,0.77,3.45,0.00,0.000,4,0.000,0.000,1896,3391,2740
$GC,2401,-1.36,-116.8,206.2,-9.0,210,2407,0.52,2.35,0.00,0.000,6,0.000,0.000,2036,2056,2740
$GC,2732,-1.51,-116.8,224.0,-5.4,226,2739,0.73,2.72,0.00,0.000,4,0.000,0.000,1838,3592,2739
$GC,2781,-1.18,-116.8,228.6,-10.8,228,2789,1.38,2.65,0.00,0.000,6,0.000,0.000,2092,2026,2743
$GC,3121,-1.48,-116.8,243.2,-3.9,244,3127,0.95,2.25,0.00,0.000,4,0.000,0.000,1875,3535,2742
$GC,3171,-1.18,-116.8,247.4,-10.4,246,3179,0.90,3.30,0.00,0.000,6,0.000,0.000,2039,1875,2738
$GC,3506,-1.35,-116.8,264.4,-4.8,262,3514,0.62,2.97,0.00,0.000,4,0.000,0.000,1921,3368,2738
$GC,3605,-1.22,-116.8,272.3,-8.1,266,3611,0.55,2.47,0.00,0.000,6,0.000,0.000,2052,2055,2742
$GC,3936,-1.41,-116.8,287.9,-4.6,282,3943,0.73,2.65,0.00,0.000,4,0.000,0.000,1875,3505,2739
$GC,3988,-1.13,-116.8,292.4,-9.7,284,3996,0.77,3.25,0.00,0.000,6,0.000,0.000,2048,1795,2747
$GC,4323,-1.33,-116.8,308.0,-4.6,300,4331,0.35,3.53,0.00,0.000,4,0.000,0.000,1943,3654,2745
$GC,4423,-1.23,-116.8,315.6,-7.7,304,4431,0.50,4.03,0.00,0.000,6,0.000,0.000,2058,1789,2745
$GC,4758,-1.42,-116.8,331.1,-4.6,320,4767,0.47,3.75,0.00,0.000,4,0.000,0.000,1930,3662,2738
$GC,4859,-1.32,-116.8,338.4,-7.7,324,4867,0.52,3.08,0.00,0.000,6,0.000,0.000,2041,1968,2740
$GC,5189,-1.50,-116.8,354.0,-4.6,340,5197,0.65,3.25,0.00,0.000,4,0.000,0.000,1874,3629,2738
$GC,5246,-1.23,-116.8,359.0,-9.1,342,5259,0.80,3.78,0.00,0.000,6,0.000,0.000,2028,1793,2744
$GC,5576,-1.44,-116.8,374.4,-4.4,358,5584,0.70,3.47,0.00,0.000,4,0.000,0.000,1875,3647,2742
$GC,5676,-1.18,-116.8,383.4,-9.3,362,5685,1.02,3.25,0.00,0.000,6,0.000,0.000,2056,1811,2740
$GC,6012,-1.35,-116.8,399.0,-4.5,378,6020,0.52,3.53,0.00,0.000,4,0.000,0.000,1996,3630,2738
$GC,6118,-1.38,-116.8,405.6,-6.1,382,6123,0.00,3.05,0.00,0.000,6,0.000,0.000,1983,1914,2749
$GC,6437,-1.38,-116.8,424.7,-6.1,397,6446,0.12,2.75,0.00,0.000,4,0.000,0.000,1994,3392,2742
$GC,6527,-1.38,-116.8,430.3,-6.1,400,6535,0.00,2.95,0.00,0.000,6,0.000,0.000,1970,1871,2744
$GC,6851,-1.38,-116.8,449.3,-5.9,416,6860,0.00,3.42,0.00,0.000,4,0.000,0.000,1981,3586,2746
$GC,6941,-1.40,-116.8,454.7,-5.9,419,6950,0.00,3.38,0.00,0.000,6,0.000,0.000,1988,1900,2744
$GC,7266,-1.40,-116.8,473.8,-5.8,435,7270,0.00,2.42,0.00,0.000,4,0.000,0.000,1966,3578,2733
$GC,7335,-1.43,-116.8,478.2,-6.3,438,7342,0.30,3.08,0.00,0.000,6,0.000,0.000,1910,2051,2742
$STATE,7643,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7643,begin apogee
$GC,7656,-0.25,0.0,499.9,7.4,453,7774,1.55,0.00,114.50,0.001,6,0.000,0.000,2227,1882,2259
$STATE,7775,end apogee,CONTROL_FINISHED_OK
$STATE,7775,begin climb
$GC,7781,1.49,116.8,501.9,0.0,456,7910,2.28,0.00,111.65,0.001,6,0.000,0.000,2649,1871,1789
$GC,8235,1.23,116.8,407.4,22.6,476,8243,0.77,2.85,0.10,0.001,4,0.000,0.000,2443,3388,1780
$GC,8383,1.57,164.0,390.3,10.0,482,8441,1.10,2.95,45.53,0.001,6,0.000,0.000,2690,1866,1593
$GC,8752,1.17,164.0,282.0,30.3,500,8761,1.35,3.25,0.00,0.000,4,0.000,0.000,2442,3386,1591
$GC,8916,1.51,202.5,261.2,10.7,507,8967,0.82,3.22,37.03,0.001,6,0.000,0.000,2630,1851,1441
$GC,9292,1.26,202.5,162.2,27.4,525,9300,0.77,3.25,0.00,0.000,4,0.000,0.000,2446,3681,1434
$GC,9426,1.18,223.9,143.0,12.1,530,9456,0.50,3.55,17.08,0.001,6,0.000,0.000,2588,1852,1343
$GC,9790,0.87,223.9,56.9,34.5,568,9799,0.65,3.78,0.00,0.000,4,0.000,0.000,2382,3677,1345
$GC,9922,1.42,295.6,44.1,8.1,589,9994,1.05,3.83,57.35,0.000,6,0.000,0.000,2573,1855,1056
$STATE,10111,end climb,SURFACE_DEPTH_REACHED
$STATE,10111,begin surface coast
$FREEZE,-0.00,4.950,-1.720
$FINISH,-0.0,1.024863
$STATE,10119,end surface coast,CONTROL_FINISHED_OK
$STATE,10119,begin surface
$SM_CCo,10148,98.20,0.000,0,0,430,450.37
$SM_GC,-0.00,0.00,0.00,98.20,0.000,0.000,0.000,633,2206,430,-7.58,6.11,450.37
$RAFOS_CLK,0
$RAFOS,3,1160426042,20.583334,20.567223,80,0,0,0,0,0,786,0,0,0,0,0
$RAFOS,2,1160425456,20.416666,20.404444,80,0,0,0,0,0,928,0,0,0,0,0
$RAFOS,1,1160424843,20.250000,20.234167,80,0,0,0,0,0,775,0,0,0,0,0
$RAFOS,0,1160424249,20.083334,20.069166,80,0,0,0,0,0,581,0,0,0,0,0
$RAFOS_FIX,6636.657715,-6028.072266,091006,202048,4,80,0.46
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2343
$INTERNAL_PRESSURE,25.9869
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,18.3,19.1
$ALTIM_BOTTOM_PING,425.4,84.1
$24V_AH,23.7,56.061
$10V_AH,9.7,8.585
$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,44.825,139.700,383.225,98.200,0.000,0.000,0.000,86.109,3.750,33.911,1880.202,6280.341,765.896,791.670,829.594,0.000,1444.524,0.000,661.641,1440.000,22.258
$DEVICE_MAMPS,119.000,60.000,0.767,600.000,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,501.205,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18969,619
$CFSIZE,255582208,243433472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,98,1086,2,0
$SOUNDSPEED,1469.2
$CURRENT,0.039,263.3,1
$GPS,091006,211220,6638.147,-6032.271,30,1.1,30,18.0