version: 66.01
glider: 1
mission: 1
dive: 42
start: 10 13 106 15 9 23
data:
$ID,1
$MISSION,1
$DIVE,42
$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,-449614.16
$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,4
$R_STBD_OVSHOOT,4
$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
$GPS1,150401,6702.680,-6034.258,14,1.1,14,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,150854,6702.680,-6034.258,21,1.1,21,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6712.828,-6032.827
$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,-116.8,0.0,0.0,0,127,0.00,0.00,-77.03,0.000,6,0.000,0.000,616,2177,2744
$GC,134,-1.49,-116.8,-0.0,0.0,9,152,6.78,4.50,0.00,0.000,4,0.000,0.000,2002,289,2748
$GC,323,-1.64,-116.8,24.9,-8.9,39,331,0.75,3.12,0.00,0.000,6,0.000,0.000,1824,2138,2744
$GC,690,-1.25,-116.8,79.7,-14.2,100,700,1.02,3.22,0.00,0.000,4,0.000,0.000,2088,3624,2747
$GC,839,-1.70,-116.8,89.0,-5.5,124,849,1.40,3.17,0.00,0.000,6,0.000,0.000,1827,1913,2743
$GC,1190,-1.30,-116.8,132.1,-12.6,151,1198,0.80,3.22,0.00,0.000,4,0.000,0.000,2015,287,2740
$GC,1220,-1.34,-116.8,136.1,-8.4,152,1227,0.52,3.15,0.00,0.000,6,0.000,0.000,1889,2121,2744
$GC,1554,-1.42,-116.8,167.4,-8.6,168,1560,0.38,2.72,0.00,0.000,4,0.000,0.000,2025,3603,2740
$GC,1682,-1.52,-116.8,176.3,-6.3,173,1691,0.65,3.35,0.00,0.000,6,0.000,0.000,1883,1753,2741
$GC,2006,-1.27,-116.8,206.2,-9.5,189,2015,0.65,3.53,0.00,0.000,4,0.000,0.000,2081,3587,2744
$GC,2125,-1.52,-116.8,212.9,-4.4,194,2133,0.80,3.17,0.00,0.000,6,0.000,0.000,1886,1734,2743
$GC,2461,-1.27,-116.8,242.9,-9.1,210,2469,0.73,3.22,0.00,0.000,4,0.000,0.000,2067,3605,2740
$GC,2566,-1.51,-116.8,248.5,-4.3,214,2579,1.02,3.55,0.00,0.000,6,0.000,0.000,1887,1798,2748
$GC,2897,-1.40,-116.8,276.3,-8.8,230,2905,0.57,3.72,0.00,0.000,4,0.000,0.000,1941,3618,2742
$GC,2976,-1.32,-116.8,283.0,-8.8,233,2981,0.00,2.88,0.00,0.000,6,0.000,0.000,1947,1924,2749
$GC,3309,-1.23,-116.8,305.7,-7.2,249,3315,0.52,2.47,0.00,0.000,4,0.000,0.000,2015,575,2748
$GC,3346,-1.35,-116.8,308.6,-5.4,250,3355,0.55,3.05,0.00,0.000,6,0.000,0.000,1943,2271,2741
$GC,3670,-1.28,-116.8,330.4,-6.9,266,3678,0.50,3.55,0.00,0.000,4,0.000,0.000,2061,590,2745
$GC,3738,-1.53,-116.8,333.8,-4.6,268,3748,0.98,3.17,0.00,0.000,6,0.000,0.000,1892,2053,2741
$GC,4063,-1.30,-116.8,360.2,-8.3,284,4071,0.52,3.22,0.00,0.000,4,0.000,0.000,2033,329,2746
$GC,4121,-1.61,-116.8,364.3,-5.6,286,4134,0.77,3.05,0.00,0.000,6,0.000,0.000,1827,2168,2748
$GC,4445,-1.23,-116.8,395.3,-9.9,302,4453,0.88,3.95,0.00,0.000,4,0.000,0.000,2057,515,2740
$GC,4481,-1.39,-116.8,397.8,-5.0,303,4494,0.52,3.35,0.00,0.000,6,0.000,0.000,1906,1999,2743
$GC,4805,-1.20,-116.8,422.6,-7.9,319,4808,0.75,0.00,0.00,0.000,6,0.000,0.000,2087,1998,2753
$GC,5121,-1.50,-116.8,434.6,-3.7,334,5129,0.93,3.33,0.00,0.000,4,0.000,0.000,1973,345,2746
$GC,5161,-1.50,-116.8,437.3,-6.6,335,5170,0.35,3.62,0.00,0.000,6,0.000,0.000,1881,2236,2745
$GC,5486,-1.25,-116.8,462.8,-8.3,351,5494,0.75,3.62,0.00,0.000,4,0.000,0.000,2003,259,2739
$GC,5538,-1.37,-116.8,466.6,-5.2,353,5546,0.52,3.28,0.00,0.000,6,0.000,0.000,1887,2142,2745
$GC,5874,-1.12,-116.8,493.3,-8.2,369,5882,0.80,3.28,0.00,0.000,4,0.000,0.000,2073,493,2744
$GC,5932,-1.39,-116.8,496.7,-3.9,371,5946,0.77,3.22,0.00,0.000,6,0.000,0.000,1873,2155,2742
$GC,6274,-1.14,-116.8,523.3,-8.1,381,6282,0.95,3.33,0.00,0.000,4,0.000,0.000,2072,247,2743
$GC,6343,-1.43,-116.8,526.8,-4.1,382,6351,0.73,3.72,0.00,0.000,6,0.000,0.000,1915,2118,2745
$GC,6694,-1.20,-116.8,553.9,-8.0,391,6702,0.75,3.10,0.00,0.000,4,0.000,0.000,2060,3626,2741
$GC,6887,-1.47,-116.8,561.9,-3.7,395,6896,0.77,3.62,0.00,0.000,6,0.000,0.000,1895,1767,2742
$GC,7209,-1.23,-116.8,586.2,-7.9,403,7212,0.75,0.00,0.00,0.000,6,0.000,0.000,2082,1782,2749
$GC,7534,-1.49,-116.8,599.9,-3.8,411,7543,0.88,3.38,0.00,0.000,4,0.000,0.000,1891,3433,2742
$GC,7745,-1.25,-116.8,616.1,-7.8,415,7752,0.77,3.03,0.00,0.000,6,0.000,0.000,2076,1779,2744
$GC,8091,-1.51,-116.8,631.0,-3.7,424,8099,1.17,2.60,0.00,0.000,4,0.000,0.000,1907,589,2743
$STATE,8108,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8109,begin apogee
$GC,8124,-0.25,0.0,632.4,4.9,424,8253,2.05,0.00,114.35,0.000,6,0.000,0.000,2241,2110,2259
$STATE,8254,end apogee,CONTROL_FINISHED_OK
$STATE,8254,begin climb
$GC,8260,1.49,116.8,634.0,0.0,427,8394,2.20,0.00,112.68,0.001,6,0.000,0.000,2656,2124,1782
$GC,8721,1.16,116.8,529.5,24.9,438,8729,1.10,3.33,0.00,0.000,4,0.000,0.000,2492,274,1785
$GC,8779,1.41,143.6,518.7,11.6,439,8814,0.68,3.45,25.35,0.001,6,0.000,0.000,2622,1995,1673
$GC,9127,1.23,143.6,444.5,22.6,453,9136,0.50,3.45,0.28,0.001,4,0.000,0.000,2487,3698,1670
$GC,9208,1.39,151.4,432.1,13.1,456,9227,0.47,3.53,7.93,0.001,6,0.000,0.000,2624,1700,1637
$GC,9537,1.21,151.4,353.1,22.2,472,9545,0.70,3.50,0.00,0.000,4,0.000,0.000,2485,3552,1641
$GC,9755,1.37,156.1,323.8,13.4,481,9765,0.45,3.00,3.90,0.000,6,0.000,0.000,2631,1835,1626
$GC,10084,1.18,156.1,251.7,22.8,496,10093,0.93,3.22,0.00,0.000,4,0.000,0.000,2399,3675,1618
$GC,10271,1.62,214.5,232.1,9.1,504,10341,1.33,3.72,55.25,0.001,6,0.000,0.000,2653,1833,1386
$GC,10673,1.30,214.5,102.6,29.7,523,10676,0.70,0.00,0.00,0.000,6,0.000,0.000,2485,1828,1389
$GC,11028,1.47,214.5,51.1,13.8,580,11037,0.77,3.72,0.00,0.000,4,0.000,0.000,2678,3685,1387
$STATE,11196,end climb,SURFACE_DEPTH_REACHED
$STATE,11197,begin surface coast
$FINISH,0.0,1.024469
$STATE,11203,end surface coast,CONTROL_FINISHED_OK
$STATE,11203,begin surface
$SM_CCo,11237,148.85,0.000,0,0,422,450.86
$SM_GC,-0.00,0.00,0.00,148.85,0.000,0.000,0.000,598,1690,422,-7.60,-8.14,450.86
$RAFOS_CLK,0
$RAFOS,3,1160757250,16.583334,16.569445,80,0,0,0,0,0,862,0,0,0,0,0
$RAFOS,2,1160756647,16.416666,16.401945,80,0,0,0,0,0,956,0,0,0,0,0
$RAFOS,1,1160756049,16.250000,16.235834,80,0,0,0,0,0,743,0,0,0,0,0
$RAFOS,0,1160755457,16.083334,16.071388,80,0,0,0,0,0,591,0,0,0,0,0
$RAFOS,4,1160753344,15.500000,15.484445,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,6702.379883,-6030.904785,131006,161620,4,80,0.57
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2301
$INTERNAL_PRESSURE,26.1041
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.2,19.7
$ALTIM_BOTTOM_PING,550.7,91.6
$24V_AH,23.7,68.106
$10V_AH,9.7,10.214
$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,54.775,153.900,319.725,148.850,0.000,0.000,0.000,88.428,5.000,26.831,1935.453,7298.912,803.076,799.449,852.418,0.000,1499.303,0.000,678.409,1800.000,28.796
$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,495.505,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22089,609
$CFSIZE,255582208,241020928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,113,1185,5,0
$SOUNDSPEED,1471.8
$CURRENT,0.049,263.4,1
$GPS,131006,182056,6703.591,-6034.297,27,1.1,28,18.0