version: 66.01
glider: 1
mission: 1
dive: 51
start: 10 13 106 16 17 19
data:
$ID,1
$MISSION,1
$DIVE,51
$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,3
$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,-447680.75
$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,161
$R_STBD_OVSHOOT,12
$ROLL_AD_RATE,500
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,6
$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,0.27000001
$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
$GPS1,161222,6636.829,-6007.674,10,1.1,11,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-70.0
$GPS2,161650,6636.829,-6007.674,32,1.1,32,18.0
$SPEED_LIMITS,0.238,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,6638.029,-6003.417
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.221,0.063
$KALMAN_X,-18076.3,1112.0,191.8,29372.1,-5815.5
$KALMAN_Y,6077.1,-400.7,-1286.6,5721.4,4434.9
$MHEAD_RNG_PITCHd_Wd,65.6,20000,-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,-116.8,0.0,0.0,0,58,0.00,0.00,-8.07,0.000,6,0.000,0.000,595,2124,2893
$GC,64,-1.49,-116.8,0.3,0.1,2,81,6.90,2.65,0.00,0.000,4,0.000,0.000,1999,3569,2891
$GC,239,-1.49,-116.8,22.3,-8.9,29,249,0.52,3.50,0.00,0.000,6,0.000,0.000,1842,1920,2894
$GC,610,-1.75,-116.8,83.3,-16.9,90,618,0.00,3.08,0.00,0.000,4,0.000,0.000,1844,3378,2890
$GC,699,-1.42,-116.8,98.2,-16.5,104,708,0.77,3.03,0.00,0.000,6,0.000,0.000,2064,1883,2895
$GC,1031,-1.22,-116.8,124.2,-7.7,121,1038,0.43,2.95,0.00,0.000,4,0.000,0.000,1928,3547,2886
$GC,1122,-1.42,-116.8,134.9,-12.7,124,1130,0.05,2.58,0.00,0.000,6,0.000,0.000,1929,2189,2895
$GC,1447,-1.44,-116.8,176.5,-12.9,140,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,2186,2893
$GC,1751,-1.31,-116.8,216.3,-12.9,155,1753,0.45,0.00,0.00,0.000,6,0.000,0.000,2077,2189,2890
$GC,2065,-1.17,-116.8,240.9,-7.6,170,2067,0.45,0.00,0.00,0.000,6,0.000,0.000,1920,2203,2889
$GC,2374,-1.36,-116.8,280.2,-13.2,185,2380,0.60,2.62,0.00,0.000,4,0.000,0.000,2030,3538,2889
$GC,2406,-1.21,-116.8,284.6,-11.0,186,2412,0.52,2.67,0.00,0.000,6,0.000,0.000,1926,2222,2888
$GC,2730,-1.40,-116.8,324.0,-13.3,201,2732,0.10,0.00,0.00,0.000,6,0.000,0.000,1917,2209,2894
$GC,3040,-1.24,-116.8,363.8,-11.5,216,3042,0.57,0.00,0.00,0.000,6,0.000,0.000,2036,2204,2893
$GC,3349,-1.19,-116.8,389.4,-7.8,231,3351,0.03,0.00,0.00,0.000,6,0.000,0.000,2046,2222,2897
$GC,3658,-1.36,-116.8,413.7,-7.8,246,3660,0.47,0.00,0.00,0.000,6,0.000,0.000,1938,2211,2893
$GC,3967,-1.53,-116.8,454.5,-13.6,261,3969,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,2215,2893
$GC,4272,-1.36,-116.8,496.5,-13.5,276,4274,0.55,0.00,0.00,0.000,6,0.000,0.000,1989,2220,2893
$GC,4597,-1.19,-116.8,528.2,-8.8,285,4599,0.10,0.00,0.00,0.000,6,0.000,0.000,2039,2219,2890
$GC,4922,-1.27,-116.8,555.5,-7.8,293,4924,0.50,0.00,0.00,0.000,6,0.000,0.000,1913,2213,2893
$STATE,5038,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5038,begin apogee
$GC,5051,-0.25,0.0,570.7,11.4,296,5071,2.08,0.00,15.55,0.000,6,0.000,0.000,2271,1870,2251
$STATE,5072,end apogee,CONTROL_FINISHED_OK
$STATE,5072,begin climb
$GC,5077,1.49,116.8,570.7,0.0,296,5093,1.52,0.00,11.30,0.000,6,0.000,0.000,2662,1898,1766
$GC,5413,1.49,116.8,506.7,21.1,305,5420,0.50,3.20,0.00,0.000,4,0.000,0.000,2535,3689,1771
$GC,5532,1.23,124.7,489.0,13.1,309,5540,0.00,3.05,0.77,0.000,6,0.000,0.000,2535,2049,1732
$GC,5867,1.43,124.7,440.3,16.4,325,5872,0.40,2.25,0.00,0.000,4,0.000,0.000,2649,3577,1723
$GC,5953,1.34,124.7,422.2,22.5,328,5962,0.77,2.92,0.00,0.000,6,0.000,0.000,2476,2004,1727
$GC,6278,1.19,168.1,377.1,10.3,344,6290,0.82,2.97,4.25,0.000,4,0.000,0.000,2593,3540,1549
$GC,6360,1.46,168.1,362.0,21.1,347,6364,0.00,2.15,0.00,0.000,6,0.000,0.000,2584,2179,1553
$GC,6685,1.46,168.1,295.5,20.8,362,6686,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2182,1558
$GC,6989,1.33,168.1,222.0,24.6,377,6995,0.35,2.88,0.00,0.000,4,0.000,0.000,2547,3675,1551
$GC,7037,0.87,168.1,213.1,15.9,379,7043,0.47,2.70,0.00,0.000,6,0.000,0.000,2414,2343,1556
$GC,7368,1.06,241.5,185.9,7.9,395,7383,0.77,3.10,5.90,0.000,4,0.000,0.000,2539,575,1255
$GC,7397,1.55,271.8,180.7,11.3,396,7411,0.45,2.67,2.40,0.001,6,0.000,0.000,2653,2252,1132
$GC,7736,1.86,271.8,71.8,34.7,421,7744,0.00,2.22,0.00,0.000,4,0.000,0.000,2661,3587,1126
$GC,7803,1.55,271.8,47.1,33.5,431,7812,0.52,2.60,0.00,0.000,6,0.000,0.000,2536,2078,1131
$STATE,8005,end climb,SURFACE_DEPTH_REACHED
$STATE,8005,begin surface coast
$FINISH,0.3,1.024947
$STATE,8019,end surface coast,CONTROL_FINISHED_OK
$STATE,8019,begin surface
$SM_CCo,8047,11.18,0.000,0,0,391,452.33
$SM_GC,0.34,0.00,0.00,11.18,0.000,0.000,0.000,659,2085,391,-7.52,2.88,452.33
$RAFOS_CLK,0
$RAFOS,3,1160757260,16.583334,16.572222,80,0,0,0,0,0,636,0,0,0,0,0
$RAFOS,2,1160756648,16.416666,16.402222,80,0,0,0,0,0,917,0,0,0,0,0
$RAFOS_FIX,6637.942871,-6003.323242,131006,161645,3,80,10.78
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2391
$INTERNAL_PRESSURE,26.0846
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.4,19.7
$ALTIM_BOTTOM_PING,501.2,74.8
$24V_AH,23.7,43.055
$10V_AH,9.7,6.559
$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,30.950,56.325,40.175,11.175,0.000,0.000,0.000,67.235,4.500,32.967,1493.754,5508.469,194.161,490.755,654.374,0.000,599.954,0.000,401.791,720.000,26.148
$DEVICE_MAMPS,119.000,60.000,1300.000,600.000,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,389.366,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15892,466
$CFSIZE,255582208,241086464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,59,429,0,0
$SOUNDSPEED,1460.0
$CURRENT,0.062,329.6,1
$GPS,131006,183319,6637.232,-6005.547,26,1.1,26,18.0