version: 66.00
glider: 99
mission: 1
dive: 55
start: 10 14 106 14 40 0
data:
$ID,99
$MISSION,1
$DIVE,55
$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,280
$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,-294518.59
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,0.2
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,5400
$PITCH_MIN,679
$PITCH_MAX,3252
$C_PITCH,2258
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,140
$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,8
$R_STBD_OVSHOOT,2
$ROLL_AD_RATE,240
$ROLL_MAXERRORS,1
$VBD_MIN,421
$VBD_MAX,3792
$C_VBD,2053
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,4
$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
$GPS1,143616,6644.980,-5756.811,35,1.1,35,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-69.8
$GPS2,143919,6644.980,-5756.811,30,1.1,30,18.0
$SPEED_LIMITS,0.204,0.245
$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,249.4,121867,-22.5,-11.786
$D_GRID,659
$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,-1.41,-170.3,0.0,0.0,0,89,0.00,0.00,-49.85,0.000,6,0.000,0.000,601,1928,2756
$GC,93,-1.41,-170.3,0.9,-3.7,11,109,7.15,3.65,0.00,0.000,4,0.003,0.003,2043,3772,2753
$GC,235,-1.41,-170.3,17.4,-7.9,36,242,0.68,3.22,0.00,0.000,6,0.003,0.003,1918,1915,2759
$GC,581,-1.41,-170.3,60.4,-11.2,97,592,0.47,4.22,0.00,0.000,4,0.004,0.003,2039,3785,2758
$GC,650,-1.41,-170.3,65.7,-5.9,109,657,0.55,3.70,0.00,0.000,6,0.003,0.003,1919,1990,2755
$GC,995,-1.41,-170.3,101.3,-10.2,169,1006,0.47,3.40,0.00,0.000,4,0.004,0.003,2039,3795,2760
$GC,1045,-1.41,-170.3,104.9,-5.7,173,1052,0.82,3.42,0.00,0.000,6,0.003,0.003,1860,1906,2757
$GC,1371,-1.41,-170.3,141.3,-11.3,204,1382,0.85,3.90,0.00,0.000,4,0.004,0.003,2036,3795,2759
$GC,1440,-1.41,-170.3,146.2,-5.6,210,1451,0.80,3.22,0.00,0.000,6,0.003,0.003,1867,1959,2759
$GC,1770,-1.41,-170.3,179.1,-10.2,241,1780,0.70,3.45,0.00,0.000,4,0.004,0.003,2044,3788,2759
$GC,1816,-1.41,-170.3,182.2,-5.4,245,1828,0.82,3.28,0.00,0.000,6,0.003,0.003,1862,1933,2754
$GC,2147,-1.41,-170.3,217.3,-10.7,276,2157,0.77,3.92,0.00,0.000,4,0.004,0.003,2027,3797,2753
$GC,2209,-1.41,-170.3,221.7,-5.5,281,2215,0.82,3.08,0.00,0.000,6,0.003,0.003,1837,1902,2758
$GC,2534,-1.41,-170.3,256.4,-10.8,312,2545,0.82,3.67,0.00,0.000,4,0.004,0.003,2029,3731,2761
$GC,2603,-1.41,-170.3,260.8,-5.6,318,2613,0.75,3.12,0.00,0.000,6,0.003,0.003,1911,2072,2755
$GC,2933,-1.41,-170.3,289.7,-8.9,349,2945,0.50,3.92,0.00,0.000,4,0.004,0.003,2014,3803,2755
$GC,2970,-1.41,-170.3,292.3,-6.3,352,2980,0.50,3.62,0.00,0.000,6,0.003,0.003,1891,1933,2765
$GC,3300,-1.41,-170.3,321.7,-9.0,383,3311,0.55,4.22,0.00,0.000,4,0.004,0.003,2017,3807,2760
$GC,3362,-1.41,-170.3,325.6,-5.7,388,3368,0.52,2.95,0.00,0.000,6,0.003,0.003,1891,1947,2761
$GC,3687,-1.41,-170.3,354.6,-9.0,419,3698,0.43,3.78,0.00,0.000,4,0.004,0.003,2017,3791,2752
$GC,3749,-1.41,-170.3,358.6,-5.6,424,3756,0.52,3.42,0.00,0.000,6,0.003,0.003,1891,1928,2754
$GC,4075,-1.41,-170.3,387.6,-9.1,455,4085,0.50,3.47,0.00,0.000,4,0.004,0.003,2035,3798,2759
$GC,4136,-1.41,-170.3,391.3,-5.1,460,4143,0.55,3.03,0.00,0.000,6,0.003,0.003,1906,1938,2761
$GC,4462,-1.41,-170.3,419.4,-8.7,491,4473,0.45,4.22,0.00,0.000,4,0.004,0.003,2032,3795,2749
$GC,4520,-1.41,-170.3,423.1,-5.4,496,4531,0.52,3.72,0.00,0.000,6,0.003,0.003,1920,1987,2764
$GC,4851,-1.41,-170.3,450.3,-8.4,527,4861,0.52,3.38,0.00,0.000,4,0.004,0.003,2009,3784,2756
$GC,4900,-1.41,-170.3,453.3,-5.3,531,4907,0.62,3.62,0.00,0.000,6,0.003,0.003,1916,1977,2754
$GC,5226,-1.41,-170.3,480.5,-8.6,562,5236,0.43,3.47,0.00,0.000,4,0.004,0.003,2021,3790,2760
$GC,5276,-1.41,-170.3,483.7,-5.4,566,5283,0.52,3.08,0.00,0.000,6,0.003,0.003,1895,2123,2756
$GC,5602,-1.41,-170.3,511.3,-8.8,591,5610,0.55,3.62,0.00,0.000,4,0.004,0.003,2016,3802,2759
$GC,5630,-1.41,-170.3,513.7,-6.8,592,5637,0.52,3.22,0.00,0.000,6,0.003,0.003,1901,1964,2759
$GC,5959,-1.41,-170.3,542.0,-8.9,608,5967,0.45,3.92,0.00,0.000,4,0.004,0.003,2003,3803,2759
$GC,6014,-1.41,-170.3,545.7,-5.8,610,6024,0.50,3.20,0.00,0.000,6,0.003,0.003,1882,1986,2753
$GC,6335,-1.41,-170.3,573.2,-8.8,626,6343,0.50,3.62,0.00,0.000,4,0.004,0.003,2026,3790,2753
$GC,6403,-1.41,-170.3,577.4,-5.3,629,6411,0.52,3.72,0.00,0.000,6,0.003,0.003,1902,2010,2760
$GC,6735,-1.41,-170.3,605.6,-8.7,645,6743,0.35,3.92,0.00,0.000,4,0.004,0.003,1959,3802,2749
$GC,6781,-1.41,-170.3,608.9,-6.9,647,6788,0.00,3.75,0.00,0.000,6,0.000,0.003,1968,1994,2757
$GC,7113,-1.41,-170.3,631.7,-6.9,663,7118,0.00,3.28,0.00,0.000,4,0.000,0.003,1956,3673,2762
$GC,7163,-1.41,-170.3,635.3,-6.7,665,7168,0.00,2.88,0.00,0.000,6,0.000,0.003,1958,2136,2744
$GC,7479,-1.41,-170.3,656.9,-6.8,680,7484,0.00,3.40,0.00,0.000,4,0.000,0.003,1961,3652,2766
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,7521,-0.25,0.0,659.3,6.8,681,7691,1.42,0.00,165.90,0.003,6,0.004,0.000,2259,2126,2058
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,7696,1.41,170.3,656.4,0.0,690,7864,1.67,0.00,162.55,0.004,6,0.003,0.000,2636,2132,1374
$GC,8171,1.41,170.3,521.3,31.3,713,8180,0.70,3.38,0.50,0.003,4,0.004,0.003,2510,3795,1375
$GC,8231,1.41,170.3,507.1,18.3,715,8238,0.52,2.67,0.00,0.000,6,0.003,0.003,2637,2293,1367
$GC,8555,1.41,170.3,396.4,31.0,744,8559,0.50,0.00,0.32,0.004,6,0.004,0.000,2521,2299,1364
$GC,8886,1.41,170.3,329.3,18.7,775,8888,0.57,0.00,0.00,0.000,6,0.003,0.000,2574,2300,1371
$GC,9205,1.41,170.3,227.0,30.4,805,9208,0.55,0.00,0.75,0.003,6,0.003,0.000,2522,2288,1366
$GC,9523,1.41,170.3,144.6,18.3,835,9534,0.60,3.62,0.00,0.000,4,0.003,0.003,2625,628,1368
$GC,9550,1.41,170.3,138.8,25.9,837,9561,0.65,3.72,0.05,0.004,6,0.002,0.003,2516,2494,1361
$GC,9888,1.41,170.3,75.2,17.7,879,9895,0.57,3.65,0.00,0.000,4,0.004,0.003,2634,790,1365
$GC,9919,1.41,170.3,67.9,24.8,884,9930,0.52,3.62,1.42,0.004,6,0.003,0.003,2519,2642,1360
$FREEZE,4.81,6.854,-2.011
$FREEZE,3.66,7.088,-2.005
$FREEZE,2.37,7.240,-2.009
$GC,10271,1.41,170.3,3.7,16.7,946,10283,0.43,4.22,0.00,0.000,4,0.003,0.003,2637,634,1355
$FREEZE,-0.01,7.397,-2.001
$STATE,end climb,SURFACE_DEPTH_REACHED
$STATE,start surface coast
$FREEZE,0.00,7.372,-2.003
$FREEZE,0.00,7.579,-2.015
$FINISH,0.0,1.028601
$STATE,end surface coast,CONTROL_FINISHED_OK
$STATE,start surface
$SM_CCo,10328,49.28,0.003,0,0,1040,250.21
$SM_GC,0.00,0.00,0.00,49.28,0.000,0.000,0.003,629,2458,1040,-7.44,6.95,250.21
$RAFOS_CLK,0
$RAFOS,1,1160846343,17.333334,17.317499,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160845747,17.166666,17.151945,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160843346,16.500000,16.485001,80,0,0,0,0,0,2384,0,0,0,0,0
$RAFOS,1,1160842752,16.333334,16.320000,80,0,0,0,0,0,2200,0,0,0,0,0
$RAFOS,0,1160842143,16.166666,16.150833,80,0,0,0,0,0,2327,0,0,0,0,0
$RAFOS,2,1160839741,15.500000,15.483611,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160839150,15.333333,15.319445,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160838545,15.166667,15.151389,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160836143,14.500000,14.484167,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,6627.376465,-22022.515625,141006,161636,3,80,1130.76
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.048321
$HUMID,1738
$INTERNAL_PRESSURE,11.5629
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.4,19.6
$24V_AH,23.0,16.183
$10V_AH,9.8,3.759
$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,45.775,169.150,331.500,49.275,0.000,0.000,0.000,49.056,0.250,30.544,1663.568,6750.096,669.412,1137.383,435.752,0.000,1473.359,0.000,793.157,4320.000,2.385
$DEVICE_MAMPS,3.835,3.068,3.835,3.068,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,Optode,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,775.325,982.786,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34737,951
$CFSIZE,260165632,246140928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,48,441,0,0
$SOUNDSPEED,1475.4
$GPS,141006,173457,6644.745,-5759.134,12,1.1,12,18.0