version: 66.00
glider: 99
mission: 1
dive: 50
start: 10 14 106 1 54 14
data:
$ID,99
$MISSION,1
$DIVE,50
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_FINISH,5
$D_PITCH,4
$D_SAFE,100
$D_CALL,2
$SURFACE_URGENCY,1
$SURFACE_URGENCY_TRY,20
$SURFACE_URGENCY_FORCE,20
$T_DIVE,330
$T_MISSION,396
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,180
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,-2
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.02764
$MASS,51747
$KALMAN_USE,2
$HD_A,0.0038775599
$HD_B,0.0138418
$HD_C,4.7289599e-05
$HEADING,-1
$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,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,2
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-294415.84
$T_RSLEEP,2
$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,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,180
$PITCH_MAXERRORS,1
$ROLL_MIN,166
$ROLL_MAX,3791
$C_ROLL_DIVE,2101
$C_ROLL_CLIMB,2145
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,2
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,500
$ROLL_MAXERRORS,1
$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,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,20
$CF8_MAXERRORS,10
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-0.2278
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,3.5
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,1
$PHONE_DEVICE,32
$GPS_DEVICE,48
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043664104
$SEABIRD_T_H,0.0006442577
$SEABIRD_T_I,0
$SEABIRD_T_J,0
$SEABIRD_C_G,-10.008876
$SEABIRD_C_H,1.1380314
$SEABIRD_C_I,0
$SEABIRD_C_J,0
$GPS1,014719,6647.179,-5745.751,10,1.1,10,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,015332,6647.179,-5745.751,32,1.1,32,18.0
$SPEED_LIMITS,0.173,0.231
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,2000.000
$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,247.8,130197,-19.6,-10.000
$D_GRID,655
$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,end surface,CONTROL_FINISHED_OK
$STATE,start dive
$GC,33,-1.26,-170.3,0.0,0.0,0,94,0.00,0.00,-56.45,0.000,6,0.000,0.000,637,2310,2957
$GC,98,-1.26,-170.3,1.3,-5.0,12,115,7.28,3.03,0.00,0.000,4,0.003,0.003,2094,480,2954
$GC,201,-1.26,-170.3,17.4,-8.1,30,209,0.77,3.47,0.00,0.000,6,0.003,0.003,1908,2317,2952
$GC,549,-1.26,-170.3,74.5,-16.1,91,555,0.65,0.00,0.00,0.000,6,0.004,0.000,2036,2327,2950
$GC,890,-1.26,-170.3,106.0,-9.1,146,900,0.52,3.03,0.00,0.000,4,0.004,0.003,1911,485,2955
$GC,924,-1.26,-170.3,110.4,-15.1,149,935,0.77,3.17,0.00,0.000,6,0.003,0.003,2084,2160,2954
$GC,1254,-1.26,-170.3,134.6,-6.7,180,1265,0.88,2.75,0.00,0.000,4,0.004,0.003,1897,3659,2952
$GC,1293,-1.26,-170.3,139.8,-15.0,183,1300,0.77,3.17,0.00,0.000,6,0.003,0.003,2012,2001,2952
$GC,1618,-1.26,-170.3,162.9,-6.7,214,1629,0.68,3.03,0.00,0.000,4,0.004,0.003,1898,3669,2956
$GC,1675,-1.26,-170.3,170.5,-14.6,219,1686,0.77,3.65,0.00,0.000,6,0.003,0.003,2084,1790,2957
$GC,2006,-1.26,-170.3,193.2,-6.6,250,2017,0.77,3.45,0.00,0.000,4,0.004,0.003,1891,3676,2951
$GC,2109,-1.26,-170.3,206.9,-14.3,259,2119,0.82,3.40,0.00,0.000,6,0.003,0.003,2090,1781,2953
$GC,2439,-1.26,-170.3,229.8,-8.5,290,2450,0.77,3.75,0.00,0.000,4,0.004,0.003,1916,3641,2954
$GC,2519,-1.26,-170.3,240.0,-14.4,297,2530,0.77,3.28,0.00,0.000,6,0.002,0.003,2086,1981,2952
$GC,2850,-1.26,-170.3,261.8,-6.2,328,2860,1.10,2.80,0.00,0.000,4,0.004,0.003,1898,3659,2951
$GC,2907,-1.26,-170.3,268.4,-14.2,333,2918,0.52,3.62,0.00,0.000,6,0.003,0.003,2034,1832,2955
$GC,3238,-1.26,-170.3,296.6,-8.1,364,3249,0.60,3.53,0.00,0.000,4,0.004,0.003,1914,3671,2951
$GC,3329,-1.26,-170.3,308.3,-13.7,372,3340,0.52,3.50,0.00,0.000,6,0.003,0.003,2033,1840,2952
$GC,3660,-1.26,-170.3,335.6,-7.8,403,3671,0.40,3.78,0.00,0.000,4,0.004,0.003,1919,3663,2956
$GC,3744,-1.26,-170.3,345.5,-9.7,410,3752,0.52,3.47,0.00,0.000,6,0.003,0.003,2042,2007,2956
$GC,4070,-1.26,-170.3,371.8,-7.7,441,4080,0.45,2.97,0.00,0.000,4,0.004,0.003,1913,3510,2950
$GC,4127,-1.26,-170.3,378.5,-13.2,446,4138,0.52,3.17,0.00,0.000,6,0.003,0.003,2039,2003,2958
$GC,4457,-1.26,-170.3,405.6,-7.9,477,4468,0.60,3.03,0.00,0.000,4,0.004,0.003,1914,3652,2956
$GC,4514,-1.26,-170.3,412.6,-13.0,482,4520,0.55,2.65,0.00,0.000,6,0.003,0.003,1985,1972,2953
$GC,4840,-1.26,-170.3,440.3,-7.8,512,4850,0.45,3.25,0.00,0.000,4,0.004,0.003,1909,3794,2955
$GC,4897,-1.26,-170.3,447.5,-13.7,517,4908,0.50,3.72,0.00,0.000,6,0.003,0.003,2033,1839,2954
$GC,5229,-1.26,-170.3,474.4,-8.0,548,5239,0.35,3.28,0.00,0.000,4,0.004,0.003,1909,3521,2954
$GC,5319,-1.26,-170.3,486.0,-13.4,556,5330,0.52,3.28,0.00,0.000,6,0.003,0.003,2044,1861,2961
$GC,5659,-1.26,-170.3,513.2,-7.8,580,5666,0.45,2.97,0.00,0.000,4,0.004,0.003,1914,3532,2954
$GC,5759,-1.26,-170.3,526.1,-13.5,584,5769,0.55,3.25,0.00,0.000,6,0.003,0.003,2031,1867,2955
$GC,6080,-1.26,-170.3,552.2,-7.8,600,6088,0.52,3.22,0.00,0.000,4,0.004,0.003,1970,3748,2957
$GC,6157,-1.26,-170.3,560.2,-10.5,603,6167,0.00,3.58,0.00,0.000,6,0.000,0.003,1970,1958,2953
$GC,6478,-1.26,-170.3,593.5,-10.5,619,6483,0.00,3.12,0.00,0.000,4,0.000,0.003,1983,3648,2952
$GC,6534,-1.26,-170.3,599.4,-10.4,621,6541,0.00,3.58,0.00,0.000,6,0.000,0.003,1980,2003,2952
$GC,6850,-1.26,-170.3,632.1,-10.4,637,6855,0.00,3.17,0.00,0.000,4,0.000,0.003,1983,3512,2957
$GC,6906,-1.26,-170.3,638.1,-10.8,639,6913,0.00,3.83,0.00,0.000,6,0.000,0.003,1973,1803,2958
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,7084,-0.25,0.0,655.9,10.3,648,7278,1.52,0.00,165.27,0.003,6,0.003,0.000,2280,2297,2257
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,7282,1.26,170.3,658.3,0.0,658,7462,1.75,2.95,161.65,0.004,4,0.003,0.003,2586,619,1570
$GC,7486,1.26,170.3,623.6,23.2,667,7495,0.45,3.83,0.22,0.005,6,0.003,0.003,2464,2463,1573
$GC,7819,1.26,170.3,580.1,12.5,683,7828,0.40,3.45,0.38,0.004,4,0.004,0.003,2583,449,1573
$GC,7846,1.26,170.3,574.8,22.1,684,7855,0.45,3.72,0.00,0.000,6,0.003,0.003,2473,2285,1565
$GC,8172,1.26,170.3,526.1,13.2,700,8181,0.52,2.47,0.90,0.004,4,0.004,0.003,2587,3631,1561
$GC,8210,1.26,170.3,518.0,23.0,701,8217,0.52,2.65,0.00,0.000,6,0.003,0.003,2483,2111,1572
$GC,8532,1.26,170.3,473.5,13.6,726,8542,0.52,3.03,0.00,0.000,4,0.003,0.003,2595,3782,1569
$GC,8577,1.26,170.3,460.7,38.1,730,8588,0.52,3.58,0.00,0.000,6,0.003,0.003,2469,2116,1568
$GC,8908,1.26,170.3,414.1,13.2,761,8918,0.52,3.03,0.00,0.000,4,0.004,0.003,2536,3779,1565
$GC,8957,1.26,170.3,405.2,18.1,765,8963,0.00,3.47,0.00,0.000,6,0.000,0.003,2533,1913,1567
$GC,9286,1.26,170.3,345.5,20.1,796,9292,0.00,2.92,0.30,0.004,4,0.000,0.003,2537,3556,1565
$GC,9376,1.26,170.3,326.6,18.5,803,9382,0.00,2.95,0.00,0.000,6,0.000,0.003,2535,2080,1562
$GC,9705,1.26,170.3,267.7,18.3,834,9709,0.00,2.58,0.00,0.000,4,0.000,0.003,2531,3582,1564
$GC,9761,1.26,170.3,253.9,20.5,838,9767,0.00,3.30,0.47,0.003,6,0.000,0.003,2543,1905,1560
$GC,10086,1.26,170.3,147.1,26.1,869,10096,0.00,3.83,0.00,0.000,4,0.000,0.003,2529,3544,1564
$GC,10158,1.26,170.3,132.3,22.8,875,10165,0.00,2.85,0.00,0.000,6,0.000,0.003,2538,2006,1557
$GC,10492,1.26,170.3,71.1,17.3,919,10499,0.00,3.33,0.03,0.004,4,0.000,0.003,2526,3793,1565
$GC,10574,1.26,170.3,57.2,16.5,933,10581,0.00,3.72,0.10,0.003,6,0.000,0.003,2534,1943,1564
$STATE,end climb,FINISH_DEPTH_REACHED
$STATE,start subsurface finish
$FINISH1,4.2,1.028687,-51
$GC,10899,-0.09,-51.2,4.2,-16.6,989,10937,1.52,2.67,-30.12,0.000,4,0.003,0.003,2169,3790,2478
$FINISH2,-0.0
$STATE,end subsurface finish,CONTROL_FINISHED_OK
$STATE,start surface
$RAFOS_CLK,0
$RAFOS,2,1160800143,4.500000,4.484167,80,0,0,0,0,0,2424,0,0,0,0,0
$RAFOS,1,1160799546,4.333333,4.318333,80,0,0,0,0,0,2211,0,0,0,0,0
$RAFOS,0,1160798961,4.166667,4.155833,80,0,0,0,0,0,2251,0,0,0,0,0
$RAFOS,2,1160796542,3.500000,3.483889,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160795950,3.333333,3.319444,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160795342,3.166667,3.150556,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160792942,2.500000,2.483889,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160792341,2.333333,2.316944,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160791747,2.166667,2.151944,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,41115.691406,-5352839.000000,141006,040414,3,80,92277.97
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.047554
$HUMID,1727
$INTERNAL_PRESSURE,11.6606
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.3,19.4
$24V_AH,23.0,14.843
$10V_AH,9.8,3.486
$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,34.125,174.275,329.325,0.000,0.000,0.000,0.000,95.466,0.250,32.719,1757.530,7092.206,679.172,1240.654,602.940,0.000,1566.520,0.000,872.225,4320.000,2.376
$DEVICE_MAMPS,3.835,3.068,4.602,0.000,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,Optode,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,808.923,1030.437,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37897,996
$CFSIZE,260165632,246358016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,87,1346,5,0
$SOUNDSPEED,1475.5
$GPS,141006,015332,6647.179,-5745.751,32,1.1,32,18.0