version: 66.00
glider: 99
mission: 1
dive: 45
start: 10 13 106 1 51 43
data:
$ID,99
$MISSION,1
$DIVE,45
$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,-293299.75
$T_RSLEEP,1
$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,1978
$C_ROLL_CLIMB,1978
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,1
$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
$GPS1,230427,6650.049,-5731.634,28,1.1,28,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.22
$_SM_ANGLEo,-6.8
$GPS2,230427,6650.049,-5731.634,28,1.1,28,18.0
$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,245.9,140975,-19.6,-10.000
$D_GRID,710
$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,-170.3,0.0,0.0,0,39,0.00,0.00,-4.88,0.000,2,0.000,0.000,2179,3546,2660
$GC,44,-1.26,-170.3,9.1,-0.0,1,61,1.20,0.43,-10.00,0.000,4,0.004,0.003,1926,3207,2965
$GC,246,-1.26,-170.3,41.5,-16.1,36,253,0.55,3.47,0.00,0.000,6,0.003,0.003,2037,1736,2963
$GC,597,-1.26,-170.3,75.2,-9.1,97,604,0.52,3.58,0.00,0.000,4,0.003,0.003,1981,3556,2961
$GC,720,-1.26,-170.3,89.4,-11.6,118,726,0.00,3.33,0.00,0.000,6,0.000,0.003,1980,1681,2959
$GC,1053,-1.26,-170.3,126.1,-10.9,157,1063,0.00,3.67,0.00,0.000,4,0.000,0.003,1971,3515,2964
$GC,1178,-1.26,-170.3,139.7,-11.2,168,1183,0.00,2.95,0.00,0.000,6,0.000,0.003,1981,2017,2952
$GC,1504,-1.26,-170.3,175.5,-11.0,198,1509,0.00,3.05,0.00,0.000,4,0.000,0.003,1977,3540,2963
$GC,1594,-1.26,-170.3,185.5,-10.7,205,1601,0.00,3.58,0.00,0.000,6,0.000,0.003,1977,1837,2962
$GC,1920,-1.26,-170.3,218.6,-10.0,236,1931,0.03,3.58,0.00,0.000,4,0.005,0.003,1985,3704,2952
$GC,2004,-1.26,-170.3,227.6,-10.8,243,2011,0.00,3.65,0.00,0.000,6,0.000,0.003,1979,1652,2962
$GC,2330,-1.26,-170.3,262.2,-10.6,274,2340,0.00,3.62,0.00,0.000,4,0.000,0.003,1978,3721,2962
$GC,2455,-1.26,-170.3,275.4,-10.4,285,2465,0.00,3.97,0.00,0.000,6,0.000,0.003,1983,1744,2957
$GC,2785,-1.26,-170.3,310.3,-10.6,316,2796,0.00,3.67,0.00,0.000,4,0.000,0.003,1975,3579,2965
$GC,2903,-1.26,-170.3,322.7,-10.9,326,2910,0.00,3.15,0.00,0.000,6,0.000,0.003,1971,1724,2959
$GC,3229,-1.26,-170.3,353.9,-8.2,357,3240,0.00,3.62,0.00,0.000,4,0.000,0.003,1978,3588,2968
$GC,3332,-1.26,-170.3,364.2,-10.4,366,3342,0.00,3.33,0.00,0.000,6,0.000,0.003,1985,1683,2963
$GC,3662,-1.26,-170.3,398.4,-10.2,397,3673,0.00,3.70,0.00,0.000,4,0.000,0.003,1977,3660,2960
$GC,3791,-1.26,-170.3,412.1,-10.5,408,3798,0.00,3.10,0.00,0.000,6,0.000,0.003,1974,1728,2961
$GC,4117,-1.26,-170.3,445.7,-10.4,439,4122,0.00,3.22,0.00,0.000,4,0.000,0.003,1985,3541,2959
$GC,4229,-1.26,-170.3,457.3,-10.3,448,4236,0.00,3.88,0.00,0.000,6,0.000,0.003,1972,1889,2962
$GC,4555,-1.26,-170.3,490.6,-10.3,479,4560,0.00,2.97,0.00,0.000,4,0.000,0.003,1975,3409,2961
$GC,4633,-1.26,-170.3,499.0,-10.6,485,4640,0.00,3.55,0.00,0.000,6,0.000,0.003,1974,1916,2965
$GC,4961,-1.26,-170.3,531.0,-9.8,502,4968,0.00,3.55,0.00,0.000,4,0.000,0.003,1971,3545,2959
$GC,5032,-1.26,-170.3,538.3,-10.5,505,5037,0.00,2.90,0.00,0.000,6,0.000,0.003,1973,1865,2965
$GC,5354,-1.26,-170.3,571.4,-10.4,521,5361,0.00,3.53,0.00,0.000,4,0.000,0.003,1977,3570,2967
$GC,5491,-1.26,-170.3,585.1,-10.2,527,5498,0.00,3.53,0.00,0.000,6,0.000,0.003,1974,1703,2967
$GC,5823,-1.26,-170.3,618.7,-10.3,543,5830,0.00,3.28,0.00,0.000,4,0.000,0.003,1975,3408,2964
$GC,5963,-1.26,-170.3,633.2,-10.2,549,5967,0.00,2.65,0.00,0.000,6,0.000,0.003,1983,1860,2963
$GC,6287,-1.26,-170.3,664.7,-10.3,565,6292,0.00,2.95,0.00,0.000,4,0.000,0.003,1985,3403,2962
$GC,6433,-1.26,-170.3,680.2,-10.3,571,6440,0.00,3.08,0.00,0.000,6,0.000,0.003,1981,1890,2957
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,6739,-0.25,0.0,710.3,10.3,586,6914,1.30,0.00,166.52,0.003,6,0.003,0.000,2231,2235,2263
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,6919,1.26,170.3,713.5,0.0,595,7113,2.00,3.15,163.50,0.003,4,0.003,0.003,2578,374,1568
$GC,7153,1.26,170.3,672.6,22.7,606,7162,0.52,3.25,1.42,0.004,6,0.002,0.003,2477,2200,1562
$GC,7485,1.26,170.3,617.1,12.6,622,7490,0.60,2.22,0.00,0.000,4,0.003,0.003,2528,3385,1563
$GC,7535,1.26,170.3,608.5,17.3,624,7546,0.00,3.72,0.00,0.000,6,0.000,0.003,2517,1732,1574
$GC,7859,1.26,170.3,545.2,26.2,640,7868,0.00,3.80,0.05,0.004,4,0.000,0.003,2516,3613,1565
$GC,8011,1.26,170.3,518.1,17.8,646,8018,0.00,3.50,0.00,0.000,6,0.000,0.003,2533,1740,1563
$GC,8333,1.26,170.3,452.8,21.9,672,8343,0.00,3.33,0.00,0.000,4,0.000,0.003,2534,3571,1566
$GC,8483,1.26,170.3,427.2,17.0,685,8493,0.00,3.75,0.00,0.000,6,0.000,0.003,2524,1747,1563
$GC,8814,1.26,170.3,369.7,17.1,716,8824,0.00,3.88,0.00,0.000,4,0.000,0.003,2522,3575,1569
$GC,8965,1.26,170.3,342.6,19.5,729,8972,0.00,3.58,0.00,0.000,6,0.000,0.003,2527,1935,1569
$GC,9291,1.26,170.3,285.1,17.0,760,9300,0.00,3.22,0.00,0.000,4,0.000,0.003,2526,3594,1559
$GC,9385,1.26,170.3,268.5,17.7,768,9392,0.00,3.47,0.00,0.000,6,0.000,0.003,2524,1891,1555
$GC,9711,1.26,170.3,213.1,17.4,799,9715,0.00,2.65,0.00,0.000,4,0.000,0.003,2523,3433,1572
$GC,9843,1.26,170.3,188.4,16.7,810,9848,0.00,3.00,0.00,0.000,6,0.000,0.003,2523,1972,1566
$GC,10168,1.26,170.3,133.0,16.6,840,10178,0.00,3.22,0.00,0.000,4,0.000,0.003,2517,3628,1561
$GC,10306,1.26,170.3,110.4,16.7,852,10316,0.00,3.33,0.00,0.000,6,0.000,0.003,2517,1758,1568
$GC,10655,1.26,170.3,53.1,16.0,908,10662,0.00,3.33,0.00,0.000,4,0.000,0.003,2529,3596,1562
$GC,10806,1.26,170.3,28.1,22.1,934,10814,0.25,3.40,0.00,0.000,6,0.003,0.003,2587,1781,1562
$FREEZE,4.49,4.532,-1.995
$FREEZE,3.25,4.559,-2.001
$FREEZE,1.65,4.623,-2.002
$STATE,end climb,SURFACE_DEPTH_REACHED
$STATE,start surface coast
$FREEZE,0.99,4.585,-2.001
$FINISH,1.0,1.028804
$STATE,end surface coast,CONTROL_FINISHED_OK
$STATE,start surface
$SM_CCo,10970,49.88,0.003,2,0,1241,250.45
$SM_GC,-0.00,0.00,0.00,49.88,0.000,0.000,0.003,626,2122,1241,-7.49,4.13,250.45
$RAFOS_CLK,0
$RAFOS,2,1160713745,4.500000,4.484722,80,0,0,0,0,0,2446,0,0,0,0,0
$RAFOS,1,1160713142,4.333333,4.317222,80,0,0,0,0,0,2212,0,0,0,0,0
$RAFOS,0,1160712548,4.166667,4.152222,80,0,0,0,0,0,2347,0,0,0,0,0
$RAFOS,2,1160710145,3.500000,3.484722,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160709550,3.333333,3.319444,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160708951,3.166667,3.153056,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160706544,2.500000,2.484444,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160705943,2.333333,2.317500,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160705341,2.166667,2.150278,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,41108.937500,-371701.468750,131006,040457,3,80,13371.68
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.048321
$HUMID,1730
$INTERNAL_PRESSURE,11.6704
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.1,18.2
$24V_AH,23.0,12.681
$10V_AH,9.8,3.053
$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,16.550,159.525,331.500,49.875,0.000,0.000,0.000,0.000,0.250,0.000,1734.622,6649.125,600.299,1567.948,618.021,0.000,1519.498,0.000,910.055,4320.000,2.380
$DEVICE_MAMPS,4.602,3.068,3.835,3.068,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,Optode,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,828.847,1612.980,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37831,958
$CFSIZE,260165632,246792192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,25,1233,7,0
$SOUNDSPEED,1475.4
$GPS,131006,045727,6649.142,-5735.747,16,1.1,16,18.0