version: 66.01
glider: 1
mission: 1
dive: 16
start: 10 10 106 5 52 27
data:
$ID,1
$MISSION,1
$DIVE,16
$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,-448980.06
$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,10
$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
$GPS1,054724,6640.373,-6032.619,15,1.1,15,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-69.9
$GPS2,055158,6640.373,-6032.619,21,1.1,21,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6650.520,-6031.166
$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,-116.8,0.0,0.0,0,129,0.00,0.00,-76.45,0.000,6,0.000,0.000,622,1902,2736
$GC,136,-1.49,-116.8,0.6,-1.6,10,153,6.95,2.92,0.00,0.000,4,0.000,0.000,1984,3600,2742
$GC,259,-1.55,-116.8,21.5,-10.4,29,268,0.50,3.53,0.00,0.000,6,0.000,0.000,1865,1716,2743
$GC,627,-1.22,-116.8,73.2,-12.9,90,636,1.20,3.47,0.00,0.000,4,0.000,0.000,2043,3433,2735
$GC,781,-1.41,-116.8,83.8,-6.1,115,790,0.62,2.78,0.00,0.000,6,0.000,0.000,1900,1918,2731
$GC,1138,-1.24,-116.8,118.6,-10.3,151,1145,0.50,2.97,0.00,0.000,4,0.000,0.000,2038,3569,2742
$GC,1227,-1.44,-116.8,124.8,-5.6,154,1237,0.77,3.97,0.00,0.000,6,0.000,0.000,1872,1767,2739
$GC,1552,-1.09,-116.8,161.0,-11.4,170,1560,1.02,3.42,0.00,0.000,4,0.000,0.000,2094,3585,2740
$GC,1663,-1.41,-116.8,167.5,-4.2,174,1672,0.80,2.75,0.00,0.000,6,0.000,0.000,1895,1745,2741
$GC,1988,-1.24,-116.8,195.5,-9.0,190,1996,0.47,3.78,0.00,0.000,4,0.000,0.000,2038,3582,2749
$GC,2111,-1.42,-116.8,203.3,-5.5,195,2119,0.57,3.53,0.00,0.000,6,0.000,0.000,1927,1707,2737
$GC,2446,-1.24,-116.8,231.2,-8.6,211,2452,0.47,2.75,0.00,0.000,4,0.000,0.000,2041,3530,2735
$GC,2570,-1.43,-116.8,238.5,-5.1,216,2582,0.57,2.97,0.00,0.000,6,0.000,0.000,1902,1997,2739
$GC,2899,-1.23,-116.8,265.1,-8.2,232,2904,0.40,2.45,0.00,0.000,4,0.000,0.000,2009,3486,2738
$GC,2970,-1.38,-116.8,269.4,-5.1,235,2978,0.50,3.42,0.00,0.000,6,0.000,0.000,1929,1827,2738
$GC,3306,-1.19,-116.8,296.5,-8.2,251,3315,0.55,3.53,0.00,0.000,4,0.000,0.000,1959,3631,2743
$GC,3405,-1.21,-116.8,302.8,-6.4,255,3412,0.03,3.28,0.00,0.000,6,0.000,0.000,1978,1922,2741
$GC,3745,-1.19,-116.8,324.7,-6.3,271,3750,0.00,2.62,0.00,0.000,4,0.000,0.000,1956,3606,2741
$GC,3797,-1.21,-116.8,328.4,-6.3,273,3809,0.00,3.78,0.00,0.000,6,0.000,0.000,1965,1783,2738
$GC,4127,-1.36,-116.8,348.7,-6.3,289,4132,0.00,2.85,0.00,0.000,4,0.000,0.000,1990,3486,2742
$GC,4230,-1.36,-116.8,355.6,-6.2,293,4238,0.00,2.97,0.00,0.000,6,0.000,0.000,1979,2033,2740
$GC,4555,-1.34,-116.8,375.2,-6.1,309,4560,0.00,2.78,0.00,0.000,4,0.000,0.000,1988,3496,2741
$GC,4608,-1.34,-116.8,378.9,-6.3,311,4613,0.00,2.95,0.00,0.000,6,0.000,0.000,1972,1817,2736
$GC,4932,-1.33,-116.8,398.4,-6.1,326,4937,0.00,2.90,0.00,0.000,4,0.000,0.000,1971,3368,2744
$GC,5049,-1.33,-116.8,406.0,-6.3,331,5054,0.00,2.72,0.00,0.000,6,0.000,0.000,1966,1883,2741
$GC,5383,-1.31,-116.8,425.5,-6.1,347,5388,0.00,2.78,0.00,0.000,4,0.000,0.000,1990,3424,2745
$GC,5479,-1.31,-116.8,431.7,-6.2,351,5485,0.00,3.00,0.00,0.000,6,0.000,0.000,1973,1929,2735
$GC,5810,-1.29,-116.8,451.3,-6.0,367,5815,0.00,2.72,0.00,0.000,4,0.000,0.000,1980,3584,2737
$GC,5889,-1.31,-116.8,456.3,-5.9,370,5894,0.00,2.62,0.00,0.000,6,0.000,0.000,1974,2078,2739
$GC,6214,-1.29,-116.8,475.4,-6.0,385,6215,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,2107,2743
$GC,6519,-1.58,-116.8,494.2,-6.0,400,6526,0.38,2.97,0.00,0.000,4,0.000,0.000,1847,3609,2746
$GC,6567,-1.26,-116.8,498.3,-9.2,402,6575,0.80,2.95,0.00,0.000,6,0.000,0.000,2036,2084,2745
$STATE,6795,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6795,begin apogee
$GC,6807,-0.25,0.0,509.9,4.6,408,6930,1.48,0.00,113.85,0.000,6,0.000,0.000,2284,2080,2263
$STATE,6931,end apogee,CONTROL_FINISHED_OK
$STATE,6931,begin climb
$GC,6937,1.49,116.8,510.2,0.0,411,7070,1.77,3.22,113.03,0.001,4,0.000,0.000,2625,3594,1779
$GC,7114,1.29,116.8,478.4,21.9,417,7123,0.73,3.28,0.00,0.000,6,0.000,0.000,2448,1901,1778
$GC,7455,1.63,169.0,443.9,9.6,433,7524,1.00,3.17,49.55,0.001,4,0.000,0.000,2693,3379,1572
$GC,7672,1.23,169.0,379.2,31.8,442,7681,1.10,2.80,0.75,0.001,6,0.000,0.000,2454,1873,1571
$GC,8002,1.50,195.5,336.8,11.6,458,8034,0.73,3.08,25.23,0.001,4,0.000,0.000,2649,3383,1457
$GC,8180,1.21,195.5,288.2,32.2,466,8189,0.80,2.97,0.12,0.001,6,0.000,0.000,2481,2038,1463
$GC,8519,1.46,211.7,242.2,12.5,482,8544,1.08,2.42,15.07,0.000,4,0.000,0.000,2660,3603,1395
$GC,8616,1.21,211.7,214.5,29.7,486,8624,0.77,3.55,0.00,0.000,6,0.000,0.000,2463,1903,1402
$GC,8952,1.45,225.7,169.3,12.6,502,8976,1.12,3.53,11.27,0.000,4,0.000,0.000,2656,3605,1343
$GC,9080,1.12,225.7,132.0,30.3,507,9093,0.80,2.75,0.00,0.000,6,0.000,0.000,2458,1917,1343
$GC,9417,1.25,225.7,83.3,20.8,535,9426,0.57,2.97,0.00,0.000,4,0.000,0.000,2596,3590,1338
$GC,9526,1.17,225.7,60.3,22.9,552,9534,0.62,2.92,0.00,0.000,6,0.000,0.000,2457,1911,1343
$GC,9892,1.43,252.1,13.1,11.7,613,9923,0.77,2.55,19.15,0.000,4,0.000,0.000,2641,3382,1241
$FREEZE,-0.01,4.880,-1.701
$STATE,9942,end climb,SURFACE_DEPTH_REACHED
$STATE,9942,begin surface coast
$FREEZE,-0.00,5.023,-1.642
$FINISH,-0.0,1.023768
$STATE,9948,end surface coast,CONTROL_FINISHED_OK
$STATE,9948,begin surface
$SM_CCo,9982,124.43,0.000,1,0,427,450.37
$SM_GC,-0.00,0.00,0.00,124.43,0.000,0.000,0.000,594,2026,427,-7.58,1.36,450.37
$RAFOS_CLK,0
$RAFOS,2,1160468655,8.416667,8.404166,80,0,0,0,0,0,929,0,0,0,0,0
$RAFOS,1,1160468056,8.250000,8.237778,80,0,0,0,0,0,704,0,0,0,0,0
$RAFOS,0,1160467459,8.083333,8.071944,80,0,0,0,0,0,521,0,0,0,0,0
$RAFOS_FIX,6637.474609,-6027.046387,101006,080821,3,80,0.78
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2336
$INTERNAL_PRESSURE,26.0065
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.9,999.0
$ALTIM_BOTTOM_PING,425.5,93.2
$24V_AH,23.7,57.588
$10V_AH,9.7,8.794
$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,40.650,134.450,348.025,124.425,0.000,0.000,0.000,85.911,3.750,21.928,1905.559,6120.177,774.264,773.083,824.309,0.000,1443.324,0.000,658.320,1440.000,27.027
$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,501.838,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19007,621
$CFSIZE,255582208,243134464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,83,1040,4,0
$SOUNDSPEED,1469.5
$CURRENT,0.051,256.5,1
$GPS,101006,084238,6641.117,-6032.762,24,1.1,24,18.0