version: 66.00
glider: 99
mission: 1
dive: 51
start: 10 14 106 5 0 8
data:
$ID,99
$MISSION,1
$DIVE,51
$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,14
$R_STBD_OVSHOOT,2
$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
$GPS1,015332,6647.179,-5745.751,32,1.1,32,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.46
$_SM_ANGLEo,-5.8
$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,30,-1.26,-170.3,0.0,0.0,0,37,0.00,0.00,-4.60,0.000,2,0.000,0.000,2186,3786,2622
$GC,41,-1.26,-170.3,8.1,-0.0,1,58,1.00,0.70,-11.48,0.000,4,0.004,0.003,1939,3469,2962
$GC,156,-1.26,-170.3,25.2,-17.0,21,163,0.47,2.72,0.00,0.000,6,0.003,0.003,2061,1950,2967
$GC,502,-1.26,-170.3,57.1,-8.4,82,509,0.40,3.75,0.00,0.000,4,0.004,0.003,1927,3624,2966
$GC,561,-1.26,-170.3,65.3,-15.2,92,568,0.52,3.38,0.00,0.000,6,0.003,0.003,2059,2105,2963
$GC,907,-1.26,-170.3,94.7,-8.1,153,914,0.55,2.97,0.00,0.000,4,0.004,0.003,1938,3617,2961
$GC,938,-1.26,-170.3,98.0,-11.5,158,945,0.52,3.28,0.00,0.000,6,0.003,0.003,2063,1907,2962
$GC,1265,-1.26,-170.3,123.9,-7.5,190,1276,0.47,3.45,0.00,0.000,4,0.004,0.003,1944,3780,2961
$GC,1334,-1.26,-170.3,132.3,-13.5,196,1345,0.47,3.72,0.00,0.000,6,0.003,0.003,2063,1948,2969
$GC,1664,-1.26,-170.3,157.4,-7.3,227,1675,0.52,3.53,0.00,0.000,4,0.004,0.003,1999,3781,2966
$GC,1726,-1.26,-170.3,163.3,-10.0,232,1733,0.00,3.53,0.00,0.000,6,0.000,0.003,2000,1918,2961
$GC,2055,-1.26,-170.3,193.4,-9.3,263,2064,0.00,3.28,0.00,0.000,4,0.000,0.003,2008,3577,2973
$GC,2127,-1.26,-170.3,200.7,-9.7,269,2133,0.00,2.83,0.00,0.000,6,0.000,0.003,2009,1892,2970
$GC,2456,-1.26,-170.3,231.9,-9.5,300,2466,0.00,3.85,0.00,0.000,4,0.000,0.003,2005,3782,2963
$GC,2524,-1.26,-170.3,238.8,-9.8,306,2534,0.00,3.42,0.00,0.000,6,0.000,0.003,2006,1927,2965
$GC,2859,-1.26,-170.3,269.3,-9.6,337,2869,0.00,3.75,0.00,0.000,4,0.000,0.003,2013,3776,2964
$GC,2920,-1.26,-170.3,275.6,-9.6,342,2926,0.00,2.95,0.00,0.000,6,0.000,0.003,2008,2114,2960
$GC,3250,-1.26,-170.3,306.4,-9.4,373,3260,0.08,3.25,0.00,0.000,4,0.004,0.003,2007,3606,2963
$GC,3277,-1.26,-170.3,309.6,-10.1,375,3284,0.00,2.35,0.00,0.000,6,0.000,0.004,2010,1922,2971
$GC,3607,-1.26,-170.3,340.3,-9.4,406,3616,0.00,3.67,0.00,0.000,4,0.000,0.003,1999,3786,2971
$GC,3676,-1.26,-170.3,347.1,-9.4,412,3682,0.00,3.22,0.00,0.000,6,0.000,0.003,2002,2086,2968
$GC,4005,-1.26,-170.3,378.0,-9.3,442,4010,0.00,2.92,0.00,0.000,4,0.000,0.003,2000,3624,2968
$GC,4068,-1.26,-170.3,384.3,-9.5,447,4078,0.00,3.58,0.00,0.000,6,0.000,0.003,2002,2114,2965
$GC,4398,-1.26,-170.3,415.4,-9.5,478,4407,0.00,3.28,0.00,0.000,4,0.000,0.003,1999,3755,2966
$GC,4425,-1.26,-170.3,418.0,-9.7,480,4431,0.15,3.45,0.00,0.000,6,0.003,0.003,2007,1900,2966
$GC,4750,-1.26,-170.3,448.2,-9.3,511,4760,0.00,3.58,0.00,0.000,4,0.000,0.003,2005,3601,2963
$GC,4822,-1.26,-170.3,455.1,-9.4,517,4829,0.00,3.05,0.00,0.000,6,0.000,0.003,1997,2094,2963
$GC,5153,-1.26,-170.3,485.5,-9.4,548,5158,0.00,3.08,0.00,0.000,4,0.000,0.003,2002,3629,2961
$GC,5182,-1.26,-170.3,488.4,-9.2,550,5187,0.00,3.08,0.00,0.000,6,0.000,0.003,1999,2085,2969
$GC,5502,-1.26,-170.3,518.3,-9.4,571,5507,0.00,3.10,0.00,0.000,4,0.000,0.003,2001,3596,2965
$GC,5530,-1.26,-170.3,520.8,-7.9,572,5540,0.17,3.25,0.00,0.000,6,0.003,0.003,1947,1886,2962
$GC,5851,-1.26,-170.3,557.7,-12.1,588,5859,0.45,3.25,0.00,0.000,4,0.004,0.003,2070,3591,2971
$GC,5923,-1.26,-170.3,563.6,-6.8,591,5932,0.80,3.03,0.00,0.000,6,0.003,0.003,1879,1894,2967
$GC,6249,-1.26,-170.3,610.2,-14.9,607,6258,0.80,3.72,0.00,0.000,4,0.004,0.003,2010,3779,2965
$GC,6322,-1.26,-170.3,617.6,-9.5,610,6329,0.00,3.62,0.00,0.000,6,0.000,0.003,2004,1904,2966
$GC,6649,-1.26,-170.3,647.8,-9.1,626,6653,0.00,2.97,0.00,0.000,4,0.000,0.003,2011,3588,2964
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,6736,-0.25,0.0,655.2,9.0,629,6907,0.95,0.00,167.60,0.004,6,0.004,0.000,2251,1907,2258
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,6912,1.26,170.3,658.1,0.0,638,7087,1.83,3.60,164.23,0.004,4,0.004,0.003,2611,3793,1571
$GC,7110,1.26,170.3,619.3,26.1,647,7119,0.77,3.97,0.00,0.000,6,0.003,0.003,2445,1998,1563
$GC,7449,1.26,170.3,579.5,11.2,664,7458,0.70,3.53,0.03,0.004,4,0.004,0.003,2613,3788,1565
$GC,7532,1.26,170.3,557.0,25.7,667,7539,0.73,2.85,0.00,0.000,6,0.003,0.003,2432,1914,1560
$GC,7848,1.26,170.3,521.9,10.4,683,7857,0.70,3.65,0.15,0.005,4,0.004,0.003,2620,3577,1573
$GC,7948,1.26,170.3,497.8,25.7,687,7958,0.60,3.25,0.00,0.000,6,0.003,0.003,2492,1931,1573
$GC,8278,1.26,170.3,448.0,14.9,718,8288,0.40,3.38,0.00,0.000,4,0.004,0.003,2612,3650,1571
$GC,8373,1.26,170.3,422.1,26.0,726,8382,0.73,3.20,0.38,0.003,6,0.003,0.003,2487,1956,1566
$GC,8708,1.26,170.3,372.5,14.4,758,8719,0.55,3.53,0.00,0.000,4,0.004,0.003,2551,3759,1567
$GC,8803,1.26,170.3,354.1,20.1,766,8810,0.00,3.47,0.00,0.000,6,0.000,0.003,2545,1936,1561
$GC,9130,1.26,170.3,287.2,28.3,797,9135,0.00,2.65,0.00,0.000,4,0.000,0.003,2556,3656,1567
$GC,9219,1.26,170.3,267.2,20.2,804,9225,0.00,3.45,0.00,0.000,6,0.000,0.003,2550,1989,1562
$GC,9548,1.26,170.3,204.4,19.6,835,9553,0.00,3.15,0.00,0.000,4,0.000,0.003,2555,3670,1562
$GC,9633,1.26,170.3,187.1,19.2,842,9643,0.00,3.33,0.00,0.000,6,0.000,0.003,2558,1980,1564
$GC,9966,1.26,170.3,121.3,19.2,873,9976,0.00,3.28,0.00,0.000,4,0.000,0.003,2549,3684,1562
$GC,10049,1.26,170.3,104.7,18.5,880,10055,0.00,3.38,0.00,0.000,6,0.000,0.003,2550,1854,1565
$GC,10392,1.26,170.3,41.1,18.8,939,10399,0.00,3.22,0.20,0.004,4,0.000,0.003,2545,3796,1572
$GC,10507,1.26,170.3,21.3,17.3,959,10514,0.00,3.55,0.00,0.000,6,0.000,0.003,2551,1911,1567
$FREEZE,4.75,6.218,-1.995
$FREEZE,3.75,6.343,-2.009
$FREEZE,2.69,6.323,-2.003
$FREEZE,1.62,6.447,-2.015
$STATE,end climb,SURFACE_DEPTH_REACHED
$STATE,start surface coast
$FREEZE,0.91,6.454,-2.008
$FREEZE,-0.00,6.639,-1.991
$FINISH,-0.0,1.028404
$STATE,end surface coast,CONTROL_FINISHED_OK
$STATE,start surface
$SM_CCo,10657,49.45,0.003,2,0,1235,250.70
$SM_GC,-0.00,0.00,0.00,49.45,0.000,0.000,0.003,576,2260,1235,-7.76,4.58,250.70
$RAFOS_CLK,0
$RAFOS,2,1160810942,7.500000,7.483889,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160810344,7.333333,7.317778,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160809749,7.166667,7.152500,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160807341,6.500000,6.483611,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160806744,6.333333,6.317778,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160806147,6.166667,6.151945,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160803748,5.500000,5.485556,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160803142,5.333333,5.317222,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160802543,5.166667,5.150833,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,41115.691406,-5352839.000000,141006,040414,3,80,92277.97
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.048321
$HUMID,1707
$INTERNAL_PRESSURE,11.6313
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,18.9,18.9
$24V_AH,23.0,14.844
$10V_AH,9.8,3.549
$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,24.975,176.750,332.575,49.450,0.000,0.000,0.000,0.000,0.250,0.000,1714.951,6922.637,640.731,1184.157,359.794,0.000,1495.322,0.000,852.687,4320.000,2.387
$DEVICE_MAMPS,3.835,3.835,4.602,3.068,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,Optode,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,804.126,1017.825,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37951,981
$CFSIZE,260165632,246317056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,47,1368,2,0
$SOUNDSPEED,1475.2
$GPS,141006,080008,6646.163,-5750.770,20,1.1,20,18.0