version: 66.00
glider: 99
mission: 1
dive: 56
start: 10 14 106 17 40 42
data:
$ID,99
$MISSION,1
$DIVE,56
$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,-294541.06
$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,5
$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
$GPS1,173457,6644.745,-5759.134,12,1.1,12,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-69.9
$GPS2,173957,6644.745,-5759.134,20,1.1,20,18.0
$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,249.6,120148,-22.5,-11.786
$D_GRID,658
$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,-1.41,-170.3,0.0,0.0,0,92,0.00,0.00,-56.33,0.000,6,0.000,0.000,631,2468,2760
$GC,96,-1.41,-170.3,0.8,-3.3,12,112,6.80,3.60,0.00,0.000,4,0.003,0.003,2036,617,2749
$GC,182,-1.41,-170.3,12.6,-8.2,27,188,0.70,3.22,0.00,0.000,6,0.003,0.003,1903,2465,2745
$GC,527,-1.41,-170.3,56.0,-11.4,88,534,0.52,3.95,0.00,0.000,4,0.004,0.003,2044,777,2754
$GC,582,-1.41,-170.3,60.4,-6.8,97,588,0.80,3.22,0.00,0.000,6,0.003,0.003,1863,2460,2764
$GC,926,-1.41,-170.3,102.7,-12.3,156,937,0.80,3.62,0.00,0.000,4,0.004,0.003,2053,584,2752
$GC,977,-1.41,-170.3,106.3,-5.7,160,983,0.85,3.35,0.00,0.000,6,0.003,0.003,1863,2468,2766
$GC,1302,-1.41,-170.3,142.8,-11.5,191,1313,0.90,3.38,0.00,0.000,4,0.004,0.003,2047,628,2753
$GC,1349,-1.41,-170.3,146.3,-5.4,195,1359,0.82,3.08,0.00,0.000,6,0.003,0.003,1863,2260,2762
$GC,1678,-1.41,-170.3,180.9,-10.6,226,1681,0.77,0.00,0.00,0.000,6,0.003,0.000,1977,2260,2756
$GC,2000,-1.41,-170.3,206.2,-5.2,256,2005,0.75,0.00,0.00,0.000,6,0.004,0.000,1858,2268,2753
$GC,2326,-1.41,-170.3,240.7,-10.9,287,2336,0.82,3.08,0.00,0.000,4,0.004,0.003,2025,760,2758
$GC,2353,-1.41,-170.3,242.7,-6.0,289,2360,0.55,3.65,0.00,0.000,6,0.003,0.003,1902,2451,2749
$GC,2679,-1.41,-170.3,271.4,-8.9,320,2690,0.52,3.92,0.00,0.000,4,0.004,0.003,2018,595,2762
$GC,2726,-1.41,-170.3,274.4,-5.4,324,2736,0.57,3.08,0.00,0.000,6,0.003,0.003,1905,2470,2752
$GC,3055,-1.41,-170.3,302.3,-7.7,355,3065,0.43,3.38,0.00,0.000,4,0.004,0.003,2035,605,2757
$GC,3128,-1.41,-170.3,306.5,-5.5,361,3135,0.57,3.67,0.00,0.000,6,0.003,0.003,1910,2260,2758
$GC,3454,-1.41,-170.3,334.6,-8.9,392,3456,0.47,0.00,0.00,0.000,6,0.003,0.000,1959,2263,2760
$GC,3776,-1.41,-170.3,351.9,-5.3,422,3781,0.60,0.00,0.00,0.000,6,0.004,0.000,1902,2266,2759
$GC,4104,-1.41,-170.3,381.2,-8.8,453,4115,0.50,3.38,0.00,0.000,4,0.004,0.003,2027,570,2764
$GC,4128,-1.41,-170.3,383.1,-7.5,455,4138,0.55,3.08,0.00,0.000,6,0.003,0.003,1903,2269,2757
$GC,4458,-1.41,-170.3,411.2,-8.8,486,4460,0.57,0.00,0.00,0.000,6,0.003,0.000,1966,2269,2756
$GC,4779,-1.41,-170.3,429.9,-5.3,516,4785,0.55,3.05,0.00,0.000,4,0.004,0.003,1890,769,2752
$GC,4802,-1.41,-170.3,431.9,-7.1,517,4809,0.52,2.80,0.00,0.000,6,0.003,0.003,2006,2458,2761
$GC,5128,-1.41,-170.3,451.0,-5.8,548,5138,0.55,3.38,0.00,0.000,4,0.004,0.003,1885,625,2761
$GC,5178,-1.41,-170.3,455.1,-9.2,552,5185,0.52,3.25,0.00,0.000,6,0.003,0.003,2017,2278,2759
$GC,5505,-1.41,-170.3,475.9,-5.5,583,5510,0.68,2.50,0.00,0.000,4,0.004,0.003,1891,3661,2762
$GC,5546,-1.41,-170.3,479.2,-9.0,586,5552,0.52,3.08,0.00,0.000,6,0.003,0.003,1949,1934,2758
$GC,5872,-1.41,-170.3,499.4,-5.5,616,5882,0.60,3.38,0.00,0.000,4,0.004,0.003,1899,3798,2754
$GC,5928,-1.41,-170.3,503.9,-9.2,619,5938,0.52,3.35,0.00,0.000,6,0.003,0.003,2025,1921,2759
$GC,6248,-1.41,-170.3,522.1,-5.5,635,6256,0.55,3.95,0.00,0.000,4,0.004,0.003,1892,3788,2759
$GC,6317,-1.41,-170.3,527.8,-9.1,638,6325,0.50,3.62,0.00,0.000,6,0.002,0.003,2007,1912,2756
$GC,6649,-1.41,-170.3,546.8,-5.5,654,6656,0.60,3.20,0.00,0.000,4,0.004,0.003,1881,3792,2757
$GC,6710,-1.41,-170.3,552.0,-9.3,656,6716,0.55,3.08,0.00,0.000,6,0.003,0.003,2004,2078,2758
$GC,7026,-1.41,-170.3,570.3,-5.7,672,7034,0.60,3.38,0.00,0.000,4,0.004,0.003,1878,3799,2762
$GC,7053,-1.41,-170.3,572.5,-9.0,673,7061,0.52,3.72,0.00,0.000,6,0.003,0.003,1993,1960,2757
$GC,7380,-1.41,-170.3,591.7,-5.8,689,7388,0.52,3.38,0.00,0.000,4,0.004,0.003,1884,3797,2752
$GC,7435,-1.41,-170.3,596.3,-9.4,691,7441,0.50,3.08,0.00,0.000,6,0.003,0.003,1948,2104,2761
$GC,7751,-1.41,-170.3,614.9,-5.6,706,7759,0.38,3.62,0.00,0.000,4,0.004,0.003,1882,3794,2759
$GC,7779,-1.41,-170.3,617.1,-9.3,707,7786,0.52,3.08,0.00,0.000,6,0.003,0.003,2021,2142,2754
$GC,8105,-1.41,-170.3,635.9,-5.7,723,8107,0.60,0.00,0.00,0.000,6,0.003,0.000,1944,2135,2757
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,8358,-0.25,0.0,658.1,9.2,735,8531,2.17,0.00,166.32,0.003,6,0.003,0.000,2305,2643,2056
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,8536,1.41,170.3,655.2,0.0,744,8715,1.73,3.65,163.82,0.004,4,0.003,0.003,2655,796,1359
$GC,8805,1.41,170.3,579.6,32.6,756,8812,0.85,3.08,0.00,0.000,6,0.003,0.003,2477,2515,1358
$GC,9121,1.41,170.3,526.1,15.3,772,9130,0.95,3.38,0.00,0.000,4,0.003,0.003,2645,649,1365
$GC,9154,1.41,170.3,517.9,29.1,773,9164,0.80,3.45,0.00,0.000,6,0.003,0.003,2474,2477,1375
$GC,9485,1.41,170.3,467.2,14.4,799,9495,0.80,3.15,0.00,0.000,4,0.004,0.003,2660,747,1364
$GC,9518,1.41,170.3,458.6,29.2,802,9529,0.82,3.28,0.00,0.000,6,0.003,0.003,2478,2584,1365
$GC,9848,1.41,170.3,399.0,14.7,833,9859,0.90,3.67,0.00,0.000,4,0.004,0.003,2656,622,1355
$GC,9906,1.41,170.3,382.8,32.3,838,9916,0.80,4.03,0.00,0.000,6,0.003,0.003,2466,2641,1362
$GC,10237,1.41,170.3,331.7,14.5,869,10248,0.80,3.90,0.00,0.000,4,0.004,0.003,2658,630,1361
$GC,10299,1.41,170.3,312.4,32.7,874,10307,0.82,3.65,0.00,0.000,6,0.003,0.003,2473,2506,1366
$GC,10635,1.41,170.3,256.5,14.6,906,10645,0.90,3.20,0.00,0.000,4,0.003,0.003,2654,624,1360
$GC,10674,1.41,170.3,245.6,33.5,909,10683,0.80,3.62,0.35,0.004,6,0.003,0.003,2472,2502,1366
$GC,11010,1.41,170.3,192.8,15.1,941,11020,0.93,3.38,0.00,0.000,4,0.004,0.003,2653,655,1364
$GC,11044,1.41,170.3,183.3,33.7,944,11055,0.80,3.42,0.00,0.000,6,0.003,0.003,2480,2506,1361
$GC,11374,1.41,170.3,132.3,14.6,975,11385,0.75,3.40,0.00,0.000,4,0.004,0.003,2657,671,1361
$GC,11409,1.41,170.3,122.9,33.6,978,11419,0.82,3.20,0.00,0.000,6,0.003,0.003,2453,2487,1360
$GC,11751,1.41,170.3,72.8,13.9,1026,11762,0.80,3.92,0.00,0.000,4,0.004,0.003,2644,651,1365
$GC,11786,1.41,170.3,64.6,28.0,1032,11793,0.55,3.75,0.00,0.000,6,0.003,0.003,2514,2526,1363
$FREEZE,2.21,6.837,-1.998
$FREEZE,-0.01,7.134,-2.014
$STATE,end climb,SURFACE_DEPTH_REACHED
$STATE,start surface coast
$FREEZE,-0.00,7.168,-2.006
$FINISH,-0.0,1.028544
$STATE,end surface coast,CONTROL_FINISHED_OK
$STATE,start surface
$SM_CCo,12141,50.08,0.003,0,0,1043,250.94
$SM_GC,0.00,0.00,0.00,50.08,0.000,0.000,0.003,620,2040,1043,-7.58,-5.06,250.94
$RAFOS_CLK,0
$RAFOS,2,1160857747,20.500000,20.485277,80,0,0,0,0,0,2369,0,0,0,0,0
$RAFOS,1,1160857147,20.333334,20.318611,80,0,0,0,0,0,2235,0,0,0,0,0
$RAFOS,0,1160856553,20.166666,20.153610,80,0,0,0,0,0,2262,0,0,0,0,0
$RAFOS,2,1160854143,19.500000,19.484167,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160853544,19.333334,19.317778,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160852951,19.166666,19.153055,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160850545,18.500000,18.484722,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160849943,18.333334,18.317499,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160849348,18.166666,18.152222,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160846942,17.500000,17.483889,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,6656.157227,-22133.410156,141006,202014,3,80,718.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.048321
$HUMID,1752
$INTERNAL_PRESSURE,11.5825
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.2,18.8
$24V_AH,23.0,16.495
$10V_AH,9.8,3.832
$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,57.375,178.300,330.500,50.075,0.000,0.000,0.000,82.920,0.250,21.829,1877.196,8101.891,687.223,1302.152,586.668,0.000,1610.021,0.000,910.706,4320.000,2.400
$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,887.894,1130.591,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40984,1090
$CFSIZE,260165632,246063104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,60,458,0,0
$SOUNDSPEED,1475.7
$GPS,141006,210550,6644.430,-5801.815,9,1.1,9,18.0