version: 66.01
glider: 1
mission: 1
dive: 11
start: 10 9 106 15 27 34
data:
$ID,1
$MISSION,1
$DIVE,11
$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,-448868.41
$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,171
$R_STBD_OVSHOOT,6
$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
$GPS1,152232,6636.731,-6031.684,10,1.1,11,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-69.9
$GPS2,152704,6636.731,-6031.684,18,1.1,18,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6646.879,-6030.228
$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,-76.97,0.000,6,0.000,0.000,641,1890,2745
$GC,133,-1.49,-116.8,-0.0,0.0,9,150,6.62,2.70,0.00,0.000,4,0.000,0.000,1992,3582,2749
$GC,301,-1.54,-116.8,23.6,-10.1,35,310,0.52,2.65,0.00,0.000,6,0.000,0.000,1876,2043,2744
$GC,671,-1.22,-116.8,75.2,-12.7,96,680,0.68,2.72,0.00,0.000,4,0.000,0.000,2029,3575,2746
$GC,725,-1.42,-116.8,79.2,-6.5,103,733,0.50,2.95,0.00,0.000,6,0.000,0.000,1920,1919,2747
$GC,1078,-1.38,-116.8,113.9,-9.6,144,1085,0.47,3.22,0.00,0.000,4,0.000,0.000,2067,3593,2748
$GC,1154,-1.60,-116.8,118.9,-5.7,147,1162,0.85,3.25,0.00,0.000,6,0.000,0.000,1864,2124,2749
$GC,1490,-1.43,-116.8,157.2,-11.4,163,1492,0.45,0.00,0.00,0.000,6,0.000,0.000,1994,2122,2748
$GC,1803,-1.45,-116.8,179.8,-7.0,178,1811,0.45,3.03,0.00,0.000,4,0.000,0.000,1877,3611,2750
$GC,1852,-1.18,-116.8,184.7,-10.9,180,1860,0.85,2.72,0.00,0.000,6,0.000,0.000,2070,1974,2746
$GC,2193,-1.38,-116.8,203.1,-5.1,196,2201,0.73,3.47,0.00,0.000,4,0.000,0.000,1872,3456,2749
$GC,2269,-1.12,-116.8,209.6,-10.5,199,2276,0.85,2.67,0.00,0.000,6,0.000,0.000,2004,2133,2744
$GC,2604,-1.18,-116.8,232.0,-6.3,215,2605,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,2146,2753
$GC,2914,-1.34,-116.8,251.1,-6.1,230,2919,0.00,2.35,0.00,0.000,4,0.000,0.000,2025,3667,2750
$GC,2950,-1.50,-116.8,253.4,-5.7,231,2959,0.50,3.08,0.00,0.000,6,0.000,0.000,1883,2000,2745
$GC,3269,-1.22,-116.8,282.9,-9.4,247,3277,0.75,3.25,0.00,0.000,4,0.000,0.000,2059,3679,2746
$GC,3319,-1.54,-116.8,286.1,-4.8,249,3327,0.95,2.85,0.00,0.000,6,0.000,0.000,1878,2195,2749
$GC,3654,-1.27,-116.8,315.8,-9.1,265,3657,0.77,0.00,0.00,0.000,6,0.000,0.000,2063,2182,2743
$GC,3968,-1.49,-116.8,330.1,-4.4,280,3971,0.73,0.00,0.00,0.000,6,0.000,0.000,1875,2192,2750
$GC,4278,-1.21,-116.8,357.5,-9.1,295,4281,1.17,0.00,0.00,0.000,6,0.000,0.000,2067,2199,2747
$GC,4587,-1.45,-116.8,371.3,-4.1,310,4593,0.68,2.50,0.00,0.000,4,0.000,0.000,1872,3566,2745
$GC,4613,-1.42,-116.8,373.1,-5.3,311,4620,0.52,2.83,0.00,0.000,6,0.000,0.000,2016,2029,2746
$GC,4947,-1.52,-116.8,390.7,-5.2,327,4954,0.38,2.97,0.00,0.000,4,0.000,0.000,1891,3705,2746
$GC,4998,-1.32,-116.8,394.9,-8.4,329,5006,0.62,3.00,0.00,0.000,6,0.000,0.000,1988,2033,2754
$GC,5333,-1.40,-116.8,413.0,-5.5,345,5341,0.82,2.95,0.00,0.000,4,0.000,0.000,1879,3548,2744
$GC,5382,-1.30,-116.8,416.3,-5.6,347,5388,0.77,2.47,0.00,0.000,6,0.000,0.000,2064,2213,2754
$GC,5714,-1.68,-116.8,431.7,-5.0,363,5717,1.02,0.00,0.00,0.000,6,0.000,0.000,1819,2202,2745
$GC,6028,-1.24,-116.8,462.7,-10.3,378,6031,1.05,0.00,0.00,0.000,6,0.000,0.000,2067,2202,2742
$GC,6337,-1.48,-116.8,476.4,-4.0,393,6340,0.77,0.00,0.00,0.000,6,0.000,0.000,1887,2200,2747
$STATE,6553,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6553,begin apogee
$GC,6566,-0.25,0.0,494.4,8.3,404,6695,2.15,0.00,114.97,0.001,6,0.000,0.000,2270,1875,2262
$STATE,6701,end apogee,CONTROL_FINISHED_OK
$STATE,6701,begin climb
$GC,6706,1.49,116.8,495.1,0.0,411,6834,1.98,2.97,113.18,0.001,4,0.000,0.000,2640,3372,1790
$GC,6931,1.27,116.8,453.8,22.4,420,6940,0.70,3.28,0.00,0.000,6,0.000,0.000,2518,1714,1783
$GC,7256,1.38,123.8,406.4,13.2,436,7270,0.47,3.10,6.95,0.001,4,0.000,0.000,2642,3435,1750
$GC,7420,1.16,123.8,369.1,22.5,443,7428,0.77,3.38,0.00,0.000,6,0.000,0.000,2435,1952,1756
$GC,7755,1.47,169.0,333.8,10.2,459,7806,0.70,3.50,43.22,0.001,4,0.000,0.000,2630,3624,1572
$GC,7913,1.24,169.0,294.2,26.2,466,7921,0.80,2.85,0.00,0.000,6,0.000,0.000,2446,1939,1568
$GC,8253,1.51,193.6,252.7,11.8,482,8285,0.73,2.75,23.70,0.001,4,0.000,0.000,2639,3588,1465
$GC,8393,1.09,193.6,215.3,27.3,488,8401,0.82,3.50,0.00,0.000,6,0.000,0.000,2458,1716,1478
$GC,8734,1.33,210.8,170.2,12.4,504,8758,0.45,3.38,13.32,0.001,4,0.000,0.000,2587,3527,1406
$GC,8924,1.16,210.8,126.6,22.0,512,8932,0.55,3.30,0.00,0.000,6,0.000,0.000,2460,1817,1402
$GC,9264,1.44,232.5,84.5,12.0,542,9290,0.65,3.17,18.15,0.001,4,0.000,0.000,2658,3468,1313
$GC,9449,1.20,232.5,33.5,28.1,571,9458,0.77,3.65,0.00,0.000,6,0.000,0.000,2465,1781,1306
$STATE,9687,end climb,SURFACE_DEPTH_REACHED
$STATE,9687,begin surface coast
$FREEZE,-0.01,4.706,-1.710
$FREEZE,-0.00,4.801,-1.712
$FINISH,-0.0,1.024768
$STATE,9710,end surface coast,CONTROL_FINISHED_OK
$STATE,9711,begin surface
$SM_CCo,9740,137.05,0.000,7,0,426,450.37
$SM_GC,0.00,0.00,0.00,137.05,0.000,0.000,0.000,643,1950,426,-7.46,-0.90,450.37
$RAFOS_CLK,0
$RAFOS,3,1160411651,16.583334,16.569723,80,0,0,0,0,0,735,0,0,0,0,0
$RAFOS,2,1160411053,16.416666,16.403610,80,0,0,0,0,0,945,0,0,0,0,0
$RAFOS,1,1160410457,16.250000,16.238056,80,0,0,0,0,0,705,0,0,0,0,0
$RAFOS,0,1160409850,16.083334,16.069445,80,0,0,0,0,0,582,0,0,0,0,0
$RAFOS,4,1160407744,15.500000,15.484445,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,6635.643555,-6027.437500,091006,161620,4,80,1.14
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2375
$INTERNAL_PRESSURE,25.9674
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.9,20.5
$ALTIM_BOTTOM_PING,425.4,77.7
$24V_AH,23.7,55.740
$10V_AH,9.7,8.531
$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,45.225,97.550,333.500,137.050,0.000,0.000,0.000,87.962,3.750,19.424,1852.549,6117.076,729.400,699.187,802.844,0.000,1329.391,0.000,591.219,1800.000,22.230
$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,500.980,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18961,614
$CFSIZE,255582208,243519488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,93,755,8,0
$SOUNDSPEED,1469.1
$CURRENT,0.052,248.8,1
$GPS,091006,181429,6637.459,-6032.189,23,1.1,24,18.0