version: 66.00
glider: 99
mission: 1
dive: 52
start: 10 14 106 8 6 25
data:
$ID,99
$MISSION,1
$DIVE,52
$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,220
$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,1
$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,-294442.44
$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,2220
$C_ROLL_CLIMB,2331
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,3
$R_STBD_OVSHOOT,8
$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
$GPS1,080008,6646.163,-5750.770,20,1.1,20,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,080541,6646.163,-5750.770,25,1.1,25,18.0
$SPEED_LIMITS,0.260,0.263
$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,248.5,126402,-27.2,-15.000
$D_GRID,671
$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,30,-1.64,-170.3,0.0,0.0,0,90,0.00,0.00,-56.30,0.000,6,0.000,0.000,580,2256,2957
$GC,95,-1.64,-170.3,1.9,-9.8,12,111,7.57,2.75,0.00,0.000,4,0.003,0.003,1994,781,2953
$GC,158,-1.64,-170.3,16.5,-11.6,23,166,0.77,2.55,0.00,0.000,6,0.003,0.004,1818,2279,2951
$GC,505,-1.64,-170.3,93.3,-21.2,84,510,0.77,0.00,0.00,0.000,6,0.004,0.000,1932,2280,2956
$GC,837,-1.64,-170.3,139.1,-13.3,119,848,0.50,3.25,0.00,0.000,4,0.004,0.003,1801,618,2953
$GC,865,-1.64,-170.3,143.8,-17.6,121,873,0.77,3.42,0.00,0.000,6,0.003,0.003,1981,2512,2956
$GC,1201,-1.64,-170.3,179.5,-10.4,153,1212,0.82,3.75,0.00,0.000,4,0.004,0.003,1799,690,2956
$GC,1270,-1.64,-170.3,191.7,-20.4,159,1282,0.93,3.33,0.00,0.000,6,0.003,0.003,1986,2369,2960
$GC,1601,-1.64,-170.3,226.8,-10.2,190,1611,0.77,3.25,0.00,0.000,4,0.004,0.003,1800,538,2957
$GC,1628,-1.64,-170.3,230.8,-15.0,192,1637,0.77,3.45,0.00,0.000,6,0.003,0.003,1999,2441,2948
$GC,1965,-1.64,-170.3,265.3,-9.7,224,1976,1.12,3.75,0.00,0.000,4,0.004,0.003,1814,771,2953
$GC,2015,-1.64,-170.3,273.6,-19.1,228,2022,0.77,2.62,0.00,0.000,6,0.003,0.003,2000,2455,2952
$GC,2341,-1.64,-170.3,305.4,-9.8,259,2352,0.68,3.75,0.00,0.000,4,0.004,0.003,1812,771,2949
$GC,2393,-1.64,-170.3,313.6,-18.8,263,2400,0.77,3.22,0.00,0.000,6,0.003,0.003,2006,2521,2960
$GC,2719,-1.64,-170.3,346.3,-9.4,294,2730,0.88,3.97,0.00,0.000,4,0.004,0.003,1830,670,2953
$GC,2781,-1.64,-170.3,356.2,-18.3,299,2790,0.57,3.85,0.00,0.000,6,0.003,0.003,1953,2500,2955
$GC,3117,-1.64,-170.3,396.4,-11.7,331,3128,0.85,3.50,0.00,0.000,4,0.004,0.003,1834,608,2953
$GC,3179,-1.64,-170.3,407.0,-18.0,336,3186,0.55,2.88,0.00,0.000,6,0.003,0.003,1958,2307,2951
$GC,3505,-1.64,-170.3,444.7,-10.8,367,3507,0.65,0.00,0.00,0.000,6,0.003,0.000,1900,2292,2951
$GC,3826,-1.64,-170.3,498.5,-17.4,397,3836,0.57,2.97,0.00,0.000,4,0.004,0.003,1941,751,2952
$GC,3854,-1.64,-170.3,503.4,-14.6,399,3861,0.50,3.03,0.00,0.000,6,0.003,0.003,1824,2425,2958
$GC,4180,-1.64,-170.3,559.4,-17.5,415,4188,0.60,3.47,0.00,0.000,4,0.004,0.003,1952,596,2951
$GC,4219,-1.64,-170.3,564.8,-11.5,416,4227,0.50,3.72,0.00,0.000,6,0.003,0.003,1830,2384,2952
$GC,4557,-1.64,-170.3,622.8,-17.5,433,4565,0.55,3.50,0.00,0.000,4,0.004,0.003,1890,529,2945
$GC,4590,-1.64,-170.3,628.2,-15.0,434,4600,0.00,3.95,0.00,0.000,6,0.000,0.003,1885,2521,2954
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,4917,-0.25,0.0,671.7,13.8,450,5091,1.80,0.00,164.12,0.004,6,0.003,0.000,2260,2027,2261
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,5096,1.64,170.3,674.9,0.0,459,5290,2.15,4.00,163.85,0.004,4,0.003,0.003,2668,3804,1574
$GC,5364,1.64,170.3,608.1,31.4,472,5372,0.52,3.25,0.00,0.000,6,0.003,0.003,2551,2248,1565
$GC,5697,1.64,170.3,542.2,19.4,488,5699,0.57,0.00,0.00,0.000,6,0.003,0.000,2661,2249,1566
$GC,6011,1.64,170.3,439.6,30.6,511,6021,0.43,3.30,0.00,0.000,4,0.003,0.003,2557,3805,1572
$GC,6038,1.64,170.3,432.0,25.7,513,6045,0.52,3.17,0.00,0.000,6,0.003,0.003,2667,2304,1567
$GC,6364,1.64,170.3,333.3,31.1,544,6366,0.40,0.00,0.00,0.000,6,0.003,0.000,2604,2303,1571
$GC,6683,1.64,170.3,269.4,19.4,574,6685,0.52,0.00,0.00,0.000,6,0.003,0.000,2595,2299,1573
$GC,7001,1.64,170.3,171.7,31.3,604,7003,0.43,0.00,0.00,0.000,6,0.002,0.000,2603,2299,1566
$GC,7320,1.64,170.3,109.8,18.7,634,7331,0.40,3.22,0.35,0.004,4,0.004,0.003,2676,3788,1567
$GC,7348,1.64,170.3,102.7,26.5,636,7355,0.50,2.95,0.00,0.000,6,0.003,0.003,2561,2119,1563
$GC,7692,1.64,170.3,33.7,18.1,696,7699,0.47,3.28,0.00,0.000,4,0.003,0.003,2677,3798,1564
$GC,7739,1.64,170.3,22.4,26.6,704,7747,0.52,3.03,0.00,0.000,6,0.003,0.003,2550,2138,1564
$FREEZE,3.88,6.463,-1.997
$FREEZE,2.84,6.480,-1.995
$FREEZE,1.77,6.628,-2.001
$STATE,end climb,SURFACE_DEPTH_REACHED
$STATE,start surface coast
$FREEZE,1.20,6.639,-2.003
$FREEZE,-0.00,6.790,-2.005
$FINISH,-0.0,1.028585
$STATE,end surface coast,CONTROL_FINISHED_OK
$STATE,start surface
$SM_CCo,7880,50.22,0.003,0,0,1246,251.19
$SM_GC,0.00,0.00,0.00,50.22,0.000,0.000,0.003,616,2484,1246,-7.59,7.12,251.19
$RAFOS_CLK,0
$RAFOS,0,1160820547,10.166667,10.151944,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160818153,9.500000,9.486944,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160817552,9.333333,9.320000,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160816951,9.166667,9.153055,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160814548,8.500000,8.485556,80,0,0,0,0,0,2386,0,0,0,0,0
$RAFOS,1,1160813944,8.333333,8.317778,80,0,0,0,0,0,2226,0,0,0,0,0
$RAFOS,0,1160813347,8.166667,8.151944,80,0,0,0,0,0,2318,0,0,0,0,0
$RAFOS_FIX,5117.823730,-47723.250000,141006,080836,3,80,24456.43
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.048321
$HUMID,1719
$INTERNAL_PRESSURE,11.6118
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,18.6,999.0
$24V_AH,23.0,15.490
$10V_AH,9.8,3.601
$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,41.900,101.525,328.325,50.225,0.000,0.000,0.000,86.611,0.250,25.982,1259.071,5101.318,589.706,870.963,492.786,0.000,1214.657,0.000,610.171,3360.000,2.295
$DEVICE_MAMPS,3.835,3.835,3.835,3.068,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,Optode,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,598.665,753.526,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28497,724
$CFSIZE,260165632,246292480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,85,790,4,0
$SOUNDSPEED,1475.4
$GPS,141006,102035,6645.670,-5752.809,32,1.1,32,18.0