version: 66.01
glider: 1
mission: 1
dive: 41
start: 10 13 106 11 35 28
data:
$ID,1
$MISSION,1
$DIVE,41
$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,-449586.69
$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,17
$R_STBD_OVSHOOT,18
$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
$GPS1,112745,6701.679,-6034.124,28,1.1,28,18.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,113502,6701.679,-6034.124,16,1.1,16,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6711.827,-6032.692
$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,40,end surface,CONTROL_FINISHED_OK
$STATE,40,begin dive
$GC,46,-1.49,-116.8,0.0,0.0,0,133,0.00,0.00,-76.95,0.000,6,0.000,0.000,592,1982,2742
$GC,139,-1.49,-116.8,-0.0,0.0,9,157,7.30,2.88,0.00,0.000,4,0.000,0.000,1993,3687,2746
$GC,248,-1.49,-116.8,19.4,-11.0,25,257,0.52,3.17,0.00,0.000,6,0.000,0.000,1856,1985,2740
$GC,617,-1.18,-116.8,71.1,-13.3,86,626,0.82,3.47,0.00,0.000,4,0.000,0.000,2067,3501,2747
$GC,749,-1.39,-116.8,80.0,-5.6,107,758,0.82,3.70,0.00,0.000,6,0.000,0.000,1880,1670,2740
$GC,1101,-1.10,-116.8,119.2,-11.3,144,1109,1.00,3.85,0.00,0.000,4,0.000,0.000,2045,3485,2748
$GC,1182,-1.32,-116.8,125.1,-5.4,147,1191,0.57,3.55,0.00,0.000,6,0.000,0.000,1947,1807,2737
$GC,1518,-1.19,-116.8,153.5,-8.7,163,1520,0.47,0.00,0.00,0.000,6,0.000,0.000,2052,1803,2749
$GC,1827,-1.40,-116.8,170.6,-5.1,178,1833,0.73,2.25,0.00,0.000,4,0.000,0.000,1890,319,2740
$GC,1872,-1.16,-116.8,174.7,-10.5,180,1880,0.80,3.12,0.00,0.000,6,0.000,0.000,2060,2143,2743
$GC,2208,-1.37,-116.8,192.3,-4.9,196,2216,0.88,2.97,0.00,0.000,4,0.000,0.000,1875,433,2743
$GC,2260,-1.12,-116.8,196.9,-10.2,198,2268,0.88,3.08,0.00,0.000,6,0.000,0.000,2074,2178,2748
$GC,2590,-1.37,-116.8,212.6,-4.5,214,2593,0.70,0.00,0.00,0.000,6,0.000,0.000,1914,2151,2743
$GC,2905,-1.12,-116.8,240.4,-9.1,229,2913,0.68,3.28,0.00,0.000,4,0.000,0.000,2049,324,2742
$GC,2962,-1.42,-116.8,244.1,-4.2,231,2975,0.80,3.75,0.00,0.000,6,0.000,0.000,1893,2152,2740
$GC,3292,-1.18,-116.8,271.6,-8.7,247,3294,0.73,0.00,0.00,0.000,6,0.000,0.000,2095,2164,2746
$GC,3601,-1.46,-116.8,284.8,-3.9,262,3609,0.75,3.53,0.00,0.000,4,0.000,0.000,1910,350,2745
$GC,3659,-1.27,-116.8,289.3,-8.7,264,3673,0.77,2.75,0.00,0.000,6,0.000,0.000,2097,2173,2745
$GC,3983,-1.55,-116.8,302.9,-4.0,280,3986,1.00,0.00,0.00,0.000,6,0.000,0.000,1850,2181,2744
$GC,4298,-1.17,-116.8,333.0,-10.1,295,4306,1.42,2.95,0.00,0.000,4,0.000,0.000,2092,507,2748
$GC,4328,-1.32,-116.8,335.8,-6.0,296,4336,0.77,3.17,0.00,0.000,6,0.000,0.000,1893,2162,2742
$GC,4664,-1.10,-116.8,360.7,-8.2,312,4672,0.88,2.97,0.00,0.000,4,0.000,0.000,2077,462,2741
$GC,4713,-1.42,-116.8,363.6,-3.7,314,4721,0.82,3.78,0.00,0.000,6,0.000,0.000,1972,2130,2746
$GC,5049,-1.39,-116.8,384.1,-6.4,330,5054,0.00,3.03,0.00,0.000,4,0.000,0.000,1945,413,2749
$GC,5103,-1.39,-116.8,387.7,-6.2,332,5114,0.00,3.17,0.00,0.000,6,0.000,0.000,1947,2076,2739
$GC,5432,-1.36,-116.8,408.0,-6.3,348,5433,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,2086,2741
$GC,5736,-1.32,-116.8,427.3,-6.2,363,5742,0.00,2.95,0.00,0.000,4,0.000,0.000,1958,336,2741
$GC,5783,-1.32,-116.8,430.4,-6.2,365,5790,0.00,3.62,0.00,0.000,6,0.000,0.000,1972,2167,2744
$GC,6118,-1.29,-116.8,450.9,-6.2,381,6126,0.00,3.72,0.00,0.000,4,0.000,0.000,1973,339,2745
$GC,6190,-1.29,-116.8,455.7,-6.3,384,6197,0.00,3.62,0.00,0.000,6,0.000,0.000,1986,2063,2745
$GC,6532,-1.26,-116.8,476.4,-6.2,400,6539,0.20,3.17,0.00,0.000,4,0.000,0.000,2035,572,2750
$GC,6583,-1.41,-116.8,479.6,-4.7,402,6591,0.52,3.22,0.00,0.000,6,0.000,0.000,1913,2212,2749
$GC,6917,-1.21,-116.8,504.0,-7.6,417,6925,0.65,3.42,0.00,0.000,4,0.000,0.000,1984,364,2739
$GC,6970,-1.21,-116.8,507.9,-6.1,418,6977,0.30,3.53,0.00,0.000,6,0.000,0.000,2044,2205,2743
$GC,7297,-1.35,-116.8,523.2,-4.7,426,7303,0.57,2.47,0.00,0.000,4,0.000,0.000,1920,3561,2740
$GC,7447,-1.17,-116.8,534.1,-7.5,429,7453,0.55,2.62,0.00,0.000,6,0.000,0.000,2058,1715,2739
$GC,7802,-1.34,-116.8,550.0,-4.4,438,7810,0.85,3.42,0.00,0.000,4,0.000,0.000,1930,3541,2744
$GC,7951,-1.18,-116.8,560.5,-7.2,441,7958,0.50,2.88,0.00,0.000,6,0.000,0.000,2026,1880,2747
$GC,8272,-1.36,-116.8,574.8,-4.3,449,8280,0.62,3.25,0.00,0.000,4,0.000,0.000,1951,3555,2743
$GC,8511,-1.22,-116.8,591.3,-7.0,454,8519,0.47,3.42,0.00,0.000,6,0.000,0.000,2057,1713,2738
$GC,8832,-1.42,-116.8,604.7,-4.1,462,8841,0.90,3.75,0.00,0.000,4,0.000,0.000,1889,3383,2738
$STATE,9003,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9003,begin apogee
$GC,9018,-0.25,0.0,619.1,8.3,465,9153,2.28,0.00,115.03,0.000,6,0.000,0.000,2315,1873,2254
$STATE,9154,end apogee,CONTROL_FINISHED_OK
$STATE,9154,begin climb
$GC,9160,1.49,116.8,619.6,0.0,469,9292,1.95,3.58,111.68,0.001,4,0.000,0.000,2673,362,1791
$GC,9334,1.18,116.8,585.2,25.1,472,9343,0.82,3.72,0.00,0.000,6,0.000,0.000,2486,2221,1781
$GC,9669,1.44,153.3,547.1,10.8,481,9714,1.10,3.55,34.80,0.001,4,0.000,0.000,2671,358,1633
$GC,9791,1.19,153.3,516.5,27.0,483,9799,0.77,2.97,0.00,0.000,6,0.000,0.000,2489,2044,1640
$GC,10125,1.43,175.9,462.6,12.0,497,10155,1.10,2.15,22.38,0.001,4,0.000,0.000,2663,3381,1546
$GC,10300,1.12,175.9,414.1,31.3,504,10309,0.80,3.05,0.00,0.000,6,0.000,0.000,2480,1700,1540
$GC,10625,1.34,192.1,372.2,12.5,520,10643,0.60,0.00,15.80,0.000,6,0.000,0.000,2585,1708,1470
$GC,10954,1.18,192.1,294.0,24.1,536,10962,0.65,3.58,0.00,0.000,4,0.000,0.000,2422,3390,1475
$GC,11221,1.63,246.5,265.3,9.4,547,11282,1.35,3.05,52.22,0.001,6,0.000,0.000,2680,1697,1258
$GC,11614,1.31,246.5,140.4,33.2,566,11622,0.70,3.35,0.00,0.000,4,0.000,0.000,2489,3357,1262
$GC,11747,1.39,246.5,115.2,21.1,571,11756,0.50,2.92,0.00,0.000,6,0.000,0.000,2603,1813,1256
$GC,12103,1.21,246.5,24.4,24.3,623,12112,0.43,3.53,0.00,0.000,4,0.000,0.000,2455,3615,1256
$GC,12218,1.40,251.5,7.9,13.4,641,12234,0.55,3.47,3.30,0.001,6,0.000,0.000,2589,1827,1234
$STATE,12255,end climb,SURFACE_DEPTH_REACHED
$STATE,12255,begin surface coast
$FINISH,0.0,1.024313
$STATE,12260,end surface coast,CONTROL_FINISHED_OK
$STATE,12260,begin surface
$SM_CCo,12290,124.93,0.000,1,0,423,450.62
$SM_GC,-0.00,0.00,0.00,124.93,0.000,0.000,0.000,604,2170,423,-7.66,5.51,450.62
$RAFOS_CLK,0
$RAFOS,3,1160742855,12.583333,12.570833,80,0,0,0,0,0,827,0,0,0,0,0
$RAFOS,2,1160742246,12.416667,12.401667,80,0,0,0,0,0,961,0,0,0,0,0
$RAFOS,1,1160741645,12.250000,12.234722,80,0,0,0,0,0,763,0,0,0,0,0
$RAFOS,0,1160741060,12.083333,12.072222,80,0,0,0,0,0,566,0,0,0,0,0
$RAFOS_FIX,6701.236328,-6030.533691,131006,121252,4,80,0.97
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2287
$INTERNAL_PRESSURE,26.0944
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.7,19.6
$ALTIM_BOTTOM_PING,550.0,79.4
$24V_AH,23.7,67.658
$10V_AH,9.7,10.159
$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,54.375,155.750,355.200,124.925,0.000,0.000,0.000,98.282,5.000,17.043,2057.897,8132.964,812.473,858.906,1003.042,0.000,1562.600,0.000,738.482,1440.000,28.812
$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,527.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22097,647
$CFSIZE,255582208,241090560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,115,1213,4,0
$SOUNDSPEED,1472.3
$CURRENT,0.050,265.1,1
$GPS,131006,150401,6702.680,-6034.258,14,1.1,14,18.0