version: 66.01
glider: 1
mission: 1
dive: 26
start: 10 11 106 11 40 28
data:
$ID,1
$MISSION,1
$DIVE,26
$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,-449237.56
$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,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
$GPS1,113529,6648.316,-6034.538,29,1.1,30,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,113958,6648.316,-6034.538,13,1.1,14,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6658.464,-6033.093
$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,-116.8,0.0,0.0,0,126,0.00,0.00,-76.70,0.000,6,0.000,0.000,656,1832,2747
$GC,132,-1.49,-116.8,-0.0,0.0,9,142,7.00,0.00,0.00,0.000,6,0.000,0.000,2003,1845,2749
$GC,500,-1.61,-116.8,39.7,-7.7,70,508,0.65,0.00,0.00,0.000,6,0.000,0.000,1840,1841,2750
$GC,866,-1.20,-116.8,92.1,-14.2,131,873,0.93,0.00,0.00,0.000,6,0.000,0.000,2073,1832,2741
$GC,1203,-1.44,-116.8,111.1,-5.2,162,1211,0.75,3.03,0.00,0.000,4,0.000,0.000,1898,331,2749
$GC,1254,-1.22,-116.8,116.1,-11.3,164,1263,0.77,3.53,0.00,0.000,6,0.000,0.000,2018,2228,2739
$GC,1590,-1.28,-116.8,139.5,-6.8,180,1596,0.00,3.25,0.00,0.000,4,0.000,0.000,1990,587,2743
$GC,1652,-1.37,-116.8,144.2,-6.9,182,1661,0.50,2.92,0.00,0.000,6,0.000,0.000,1876,2254,2752
$GC,1972,-1.09,-116.8,177.1,-10.4,198,1981,1.12,3.17,0.00,0.000,4,0.000,0.000,2064,409,2742
$GC,2025,-1.35,-116.8,180.5,-4.8,200,2032,0.77,2.88,0.00,0.000,6,0.000,0.000,1960,2073,2749
$GC,2359,-1.24,-116.8,206.9,-8.1,216,2367,0.55,3.22,0.00,0.000,4,0.000,0.000,2039,381,2748
$GC,2444,-1.49,-116.8,211.7,-4.5,219,2458,0.80,3.38,0.00,0.000,6,0.000,0.000,1865,2212,2744
$GC,2773,-1.24,-116.8,242.0,-9.4,235,2776,0.77,0.00,0.00,0.000,6,0.000,0.000,2063,2197,2741
$GC,3083,-1.45,-116.8,257.3,-4.5,250,3091,1.10,3.22,0.00,0.000,4,0.000,0.000,1898,378,2743
$GC,3146,-1.23,-116.8,262.7,-9.6,252,3155,0.77,3.38,0.00,0.000,6,0.000,0.000,2068,2208,2744
$GC,3472,-1.44,-116.8,277.8,-4.6,268,3480,0.88,2.97,0.00,0.000,4,0.000,0.000,1903,551,2747
$GC,3551,-1.22,-116.8,284.3,-9.0,271,3559,0.77,3.10,0.00,0.000,6,0.000,0.000,2061,2238,2744
$GC,3882,-1.44,-116.8,300.3,-4.5,287,3890,0.82,3.75,0.00,0.000,4,0.000,0.000,1866,568,2746
$GC,3967,-1.19,-116.8,307.0,-9.2,290,3980,0.93,2.70,0.00,0.000,6,0.000,0.000,2052,1925,2745
$GC,4296,-1.42,-116.8,321.9,-4.1,306,4304,0.77,2.95,0.00,0.000,4,0.000,0.000,1889,433,2749
$GC,4331,-1.22,-116.8,325.0,-9.3,307,4344,0.85,3.45,0.00,0.000,6,0.000,0.000,2083,2277,2741
$GC,4661,-1.47,-116.8,338.8,-4.1,323,4670,1.08,3.47,0.00,0.000,4,0.000,0.000,1875,455,2749
$GC,4738,-1.28,-116.8,344.2,-8.2,326,4746,0.82,3.00,0.00,0.000,6,0.000,0.000,2070,2157,2739
$GC,5073,-1.55,-116.8,359.0,-3.9,342,5081,0.93,3.33,0.00,0.000,4,0.000,0.000,1879,329,2748
$GC,5149,-1.36,-116.8,364.2,-8.5,345,5157,0.52,2.75,0.00,0.000,6,0.000,0.000,2002,2039,2740
$GC,5485,-1.44,-116.8,383.3,-5.4,361,5492,0.35,2.97,0.00,0.000,4,0.000,0.000,1906,385,2750
$GC,5574,-1.24,-116.8,390.1,-8.7,364,5583,0.77,2.97,0.00,0.000,6,0.000,0.000,2065,1915,2746
$GC,5899,-1.50,-116.8,403.9,-3.9,380,5905,0.77,2.20,0.00,0.000,4,0.000,0.000,1910,591,2744
$GC,5921,-1.58,-116.8,405.1,-4.1,381,5926,0.00,2.38,0.00,0.000,6,0.000,0.000,1902,2074,2746
$GC,6259,-1.36,-116.8,432.2,-8.1,397,6267,0.55,3.25,0.00,0.000,4,0.000,0.000,1962,393,2747
$GC,6310,-1.36,-116.8,436.5,-6.5,399,6316,0.03,3.10,0.00,0.000,6,0.000,0.000,1985,1903,2745
$GC,6641,-1.31,-116.8,456.3,-6.4,415,6646,0.00,2.65,0.00,0.000,4,0.000,0.000,1953,426,2745
$GC,6716,-1.31,-116.8,461.6,-6.4,418,6721,0.00,3.12,0.00,0.000,6,0.000,0.000,1939,2074,2744
$GC,7042,-1.26,-116.8,481.8,-6.4,433,7043,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,2069,2745
$GC,7364,-1.26,-116.8,502.7,-6.4,448,7370,0.03,2.72,0.00,0.000,4,0.000,0.000,1964,402,2743
$GC,7429,-1.24,-116.8,506.9,-6.6,449,7436,0.30,3.03,0.00,0.000,6,0.000,0.000,2022,2075,2752
$GC,7780,-1.48,-116.8,524.0,-4.9,458,7786,0.57,2.67,0.00,0.000,4,0.000,0.000,1895,3612,2746
$STATE,7918,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7919,begin apogee
$GC,7935,-0.25,0.0,535.1,7.9,461,8054,1.77,0.00,115.10,0.000,6,0.000,0.000,2266,1739,2266
$STATE,8055,end apogee,CONTROL_FINISHED_OK
$STATE,8055,begin climb
$GC,8061,1.49,116.8,535.8,0.0,464,8186,1.83,2.03,111.47,0.001,4,0.000,0.000,2662,365,1788
$GC,8211,1.19,116.8,506.2,26.9,466,8220,0.85,3.22,0.17,0.000,6,0.000,0.000,2475,2220,1783
$GC,8551,1.36,146.6,466.2,11.4,481,8588,0.43,3.22,28.00,0.001,4,0.000,0.000,2594,383,1661
$GC,8636,1.25,146.6,448.8,22.1,484,8649,0.52,3.55,0.00,0.000,6,0.000,0.000,2476,2267,1671
$GC,8966,1.46,165.0,405.7,12.3,500,8993,0.75,4.05,17.62,0.001,4,0.000,0.000,2631,440,1594
$GC,9046,1.20,165.0,386.0,28.2,503,9055,0.77,3.22,0.73,0.000,6,0.000,0.000,2478,2128,1582
$GC,9376,1.43,184.9,342.4,12.2,519,9403,1.60,3.72,18.30,0.001,4,0.000,0.000,2659,275,1504
$GC,9468,1.20,184.9,318.6,28.6,523,9477,0.82,3.15,0.93,0.001,6,0.000,0.000,2482,2004,1506
$GC,9798,1.44,201.6,275.5,12.4,539,9823,0.70,3.45,16.02,0.001,4,0.000,0.000,2649,3677,1438
$GC,9878,1.14,201.6,256.4,29.3,542,9886,0.85,2.97,0.00,0.000,6,0.000,0.000,2468,1969,1436
$GC,10218,1.33,201.6,207.5,13.8,558,10226,0.57,3.17,0.00,0.000,4,0.000,0.000,2594,305,1441
$GC,10252,1.26,201.6,199.8,23.1,559,10267,0.50,3.88,0.17,0.001,6,0.000,0.000,2476,2009,1435
$GC,10577,1.33,201.6,151.7,15.4,575,10580,0.55,0.00,0.00,0.000,6,0.000,0.000,2546,2007,1443
$GC,10886,1.38,201.6,99.4,17.0,590,10895,0.35,3.25,0.00,0.000,4,0.000,0.000,2633,336,1436
$GC,10936,1.16,201.6,87.2,28.2,597,10945,0.77,3.28,0.00,0.000,6,0.000,0.000,2466,1982,1434
$GC,11304,1.41,224.0,40.4,12.0,658,11335,0.77,3.50,18.60,0.001,4,0.000,0.000,2633,286,1340
$GC,11359,1.18,224.0,28.5,28.5,665,11368,0.77,3.28,0.00,0.000,6,0.000,0.000,2469,1936,1351
$STATE,11555,end climb,SURFACE_DEPTH_REACHED
$STATE,11555,begin surface coast
$FREEZE,-0.01,5.109,-1.662
$FINISH,0.0,1.024337
$STATE,11575,end surface coast,CONTROL_FINISHED_OK
$STATE,11575,begin surface
$SM_CCo,11604,141.52,0.000,2,0,432,450.37
$SM_GC,-0.00,0.00,0.00,141.52,0.000,0.000,0.000,657,1939,432,-7.43,-0.79,450.37
$RAFOS_CLK,0
$RAFOS,3,1160570060,12.583333,12.572222,80,0,0,0,0,0,739,0,0,0,0,0
$RAFOS,2,1160569445,12.416667,12.401389,80,0,0,0,0,0,976,0,0,0,0,0
$RAFOS,1,1160568842,12.250000,12.233889,80,0,0,0,0,0,769,0,0,0,0,0
$RAFOS,0,1160568261,12.083333,12.072500,80,0,0,0,0,0,507,0,0,0,0,0
$RAFOS_FIX,6647.858398,-6031.366211,111006,121252,4,80,0.98
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2300
$INTERNAL_PRESSURE,25.9772
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.3,20.5
$ALTIM_BOTTOM_PING,475.2,69.8
$24V_AH,23.7,61.571
$10V_AH,9.7,9.334
$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,52.500,151.075,327.125,141.525,0.000,0.000,0.000,86.602,4.250,14.459,2158.934,7355.614,792.715,818.395,914.462,0.000,1507.935,0.000,698.655,1440.000,24.848
$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,567.453,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25324,701
$CFSIZE,255582208,242315264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,123,1163,2,0
$SOUNDSPEED,1470.2
$CURRENT,0.055,267.4,1
$GPS,111006,145755,6649.298,-6034.466,13,1.1,13,18.0