version: 66.01
glider: 1
mission: 1
dive: 32
start: 10 12 106 6 21 49
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,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,-449356.94
$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,8
$R_STBD_OVSHOOT,7
$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
$GPS1,061645,6653.569,-6034.116,12,1.1,12,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,062118,6653.569,-6034.116,15,1.1,15,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6703.717,-6032.676
$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,34,begin dive
$GC,41,-1.49,-116.8,0.0,0.0,0,126,0.00,0.00,-76.65,0.000,6,0.000,0.000,576,2023,2738
$GC,132,-1.49,-116.8,-0.0,0.0,9,149,6.82,2.97,0.00,0.000,4,0.000,0.000,1988,547,2740
$GC,321,-1.61,-116.8,26.5,-10.3,39,330,0.62,2.75,0.00,0.000,6,0.000,0.000,1870,2174,2743
$GC,690,-1.30,-116.8,75.9,-12.6,100,699,0.90,2.72,0.00,0.000,4,0.000,0.000,2045,3669,2737
$GC,751,-1.49,-116.8,80.8,-6.0,109,760,0.77,3.38,0.00,0.000,6,0.000,0.000,1865,1831,2737
$GC,1115,-1.17,-116.8,122.4,-11.7,146,1123,0.73,3.70,0.00,0.000,4,0.000,0.000,2070,3674,2737
$GC,1167,-1.36,-116.8,127.1,-5.5,148,1176,0.77,3.60,0.00,0.000,6,0.000,0.000,1870,1863,2739
$GC,1503,-1.07,-116.8,161.2,-10.5,164,1511,1.42,2.80,0.00,0.000,4,0.000,0.000,2106,3373,2741
$GC,1699,-1.45,-116.8,172.5,-6.4,172,1711,1.08,3.05,0.00,0.000,6,0.000,0.000,1881,1720,2737
$GC,2028,-1.15,-116.8,204.2,-10.1,188,2036,0.77,3.75,0.00,0.000,4,0.000,0.000,2057,3529,2739
$GC,2129,-1.34,-116.8,210.6,-5.2,192,2136,0.77,2.65,0.00,0.000,6,0.000,0.000,1875,1857,2738
$GC,2464,-1.05,-116.8,241.5,-9.5,208,2472,1.42,3.25,0.00,0.000,4,0.000,0.000,2128,3360,2734
$GC,2564,-1.43,-116.8,247.0,-4.2,212,2572,1.08,2.97,0.00,0.000,6,0.000,0.000,1894,1818,2739
$GC,2900,-1.20,-116.8,275.3,-8.9,228,2908,0.68,3.60,0.00,0.000,4,0.000,0.000,2087,3678,2735
$GC,3000,-1.46,-116.8,280.6,-4.1,232,3008,0.77,2.85,0.00,0.000,6,0.000,0.000,1885,1816,2743
$GC,3341,-1.22,-116.8,307.5,-8.5,248,3343,0.77,0.00,0.00,0.000,6,0.000,0.000,2070,1802,2741
$GC,3650,-1.48,-116.8,320.9,-3.9,263,3653,1.15,0.00,0.00,0.000,6,0.000,0.000,1906,1811,2735
$GC,3960,-1.28,-116.8,345.8,-8.4,278,3962,0.82,0.00,0.00,0.000,6,0.000,0.000,2076,1843,2744
$GC,4269,-1.53,-116.8,359.2,-4.0,293,4277,0.95,3.92,0.00,0.000,4,0.000,0.000,1891,3441,2747
$GC,4318,-1.28,-116.8,362.8,-8.3,295,4324,0.77,2.38,0.00,0.000,6,0.000,0.000,2014,1942,2733
$GC,4649,-1.35,-116.8,381.1,-5.4,311,4657,0.60,3.03,0.00,0.000,4,0.000,0.000,1873,432,2737
$GC,4679,-1.17,-116.8,383.2,-7.5,312,4687,0.77,3.72,0.00,0.000,6,0.000,0.000,2014,2256,2737
$GC,5015,-1.24,-116.8,401.7,-5.3,328,5022,0.00,3.62,0.00,0.000,4,0.000,0.000,2001,387,2745
$GC,5066,-1.47,-116.8,404.9,-5.3,330,5075,0.52,3.78,0.00,0.000,6,0.000,0.000,1872,2254,2733
$GC,5402,-1.30,-116.8,431.7,-8.5,346,5411,0.90,3.25,0.00,0.000,4,0.000,0.000,2079,387,2738
$GC,5482,-1.60,-116.8,436.1,-4.1,349,5491,1.05,3.22,0.00,0.000,6,0.000,0.000,1802,2250,2739
$GC,5818,-1.15,-116.8,468.6,-10.1,365,5826,1.20,3.45,0.00,0.000,4,0.000,0.000,2073,556,2736
$GC,5870,-1.39,-116.8,472.4,-4.3,367,5879,0.77,3.22,0.00,0.000,6,0.000,0.000,1906,2236,2736
$GC,6201,-1.11,-116.8,498.6,-8.3,383,6209,0.75,3.25,0.00,0.000,4,0.000,0.000,2043,403,2743
$GC,6236,-1.37,-116.8,500.8,-4.3,384,6249,0.77,3.53,0.00,0.000,6,0.000,0.000,1889,2248,2741
$GC,6577,-1.14,-116.8,527.8,-8.2,393,6585,0.85,3.17,0.00,0.000,4,0.000,0.000,2065,559,2738
$GC,6629,-1.41,-116.8,530.6,-3.8,394,6637,0.77,3.78,0.00,0.000,6,0.000,0.000,1959,2201,2737
$STATE,6951,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6951,begin apogee
$GC,6964,-0.25,0.0,551.4,6.5,402,7091,1.58,0.00,112.95,0.000,6,0.000,0.000,2304,1879,2269
$STATE,7092,end apogee,CONTROL_FINISHED_OK
$STATE,7092,begin climb
$GC,7098,1.49,116.8,552.2,0.0,405,7231,1.58,2.83,113.35,0.001,4,0.000,0.000,2673,3588,1781
$GC,7454,1.16,116.8,470.7,24.6,414,7463,0.88,3.33,0.00,0.000,6,0.000,0.000,2477,1708,1776
$GC,7779,1.36,143.9,431.9,11.6,430,7813,0.47,4.95,24.70,0.001,4,0.000,0.000,2593,3685,1679
$GC,7986,1.20,143.9,387.8,21.8,439,7994,0.57,3.25,0.00,0.000,6,0.000,0.000,2462,1812,1671
$GC,8328,1.26,143.9,341.2,14.4,455,8332,0.85,0.00,0.77,0.001,6,0.000,0.000,2609,1819,1674
$GC,8636,1.11,143.9,269.5,21.6,470,8639,0.82,0.00,0.00,0.000,6,0.000,0.000,2437,1811,1669
$GC,8945,1.56,210.1,241.3,8.5,485,9022,1.25,2.75,63.45,0.000,4,0.000,0.000,2662,3636,1402
$GC,9108,1.22,210.1,193.4,31.6,492,9117,0.77,3.47,0.00,0.000,6,0.000,0.000,2495,1776,1401
$GC,9443,1.38,210.1,144.0,14.0,508,9452,0.85,3.60,0.00,0.000,4,0.000,0.000,2616,3638,1404
$GC,9544,1.18,210.1,119.1,27.0,512,9552,0.73,3.42,0.00,0.000,6,0.000,0.000,2419,1822,1401
$GC,9894,1.59,255.8,78.7,10.1,553,9941,1.42,3.38,36.33,0.000,4,0.000,0.000,2666,3681,1219
$GC,10050,1.25,255.8,31.3,32.2,576,10060,0.80,3.75,0.03,0.001,6,0.000,0.000,2486,1859,1219
$STATE,10219,end climb,SURFACE_DEPTH_REACHED
$STATE,10219,begin surface coast
$FINISH,0.0,1.024619
$STATE,10232,end surface coast,CONTROL_FINISHED_OK
$STATE,10232,begin surface
$SM_CCo,10260,122.78,0.000,1,0,421,451.60
$SM_GC,-0.00,0.00,0.00,122.78,0.000,0.000,0.000,618,2189,421,-7.41,6.25,451.60
$RAFOS_CLK,0
$RAFOS,3,1160642044,8.583333,8.567778,80,0,0,0,0,0,845,0,0,0,0,0
$RAFOS,2,1160641445,8.416667,8.401389,80,0,0,0,0,0,970,0,0,0,0,0
$RAFOS,1,1160640855,8.250000,8.237500,80,0,0,0,0,0,697,0,0,0,0,0
$RAFOS,0,1160640261,8.083333,8.072500,80,0,0,0,0,0,521,0,0,0,0,0
$RAFOS_FIX,6653.127441,-6030.577148,121006,080820,4,80,0.37
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2329
$INTERNAL_PRESSURE,26.0162
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.7,19.2
$ALTIM_BOTTOM_PING,476.4,83.3
$24V_AH,23.7,64.073
$10V_AH,9.7,9.654
$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,53.400,127.250,351.575,122.775,0.000,0.000,0.000,87.064,4.250,15.878,1896.348,6449.840,758.381,743.110,828.597,0.000,1404.841,0.000,636.987,1440.000,24.851
$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,495.440,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18999,606
$CFSIZE,255582208,241864704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,113,978,4,0
$SOUNDSPEED,1470.8
$CURRENT,0.056,257.5,1
$GPS,121006,091629,6654.429,-6034.340,13,1.1,13,18.0