version: 66.00
glider: 99
mission: 1
dive: 30
start: 10 11 106 0 45 34
data:
$ID,99
$MISSION,1
$DIVE,30
$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,-291677.56
$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,1
$R_STBD_OVSHOOT,9
$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
$GPS1,003946,6657.234,-5704.427,34,1.1,34,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,004453,6657.234,-5704.427,23,1.1,24,18.0
$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,242.0,162582,-19.6,-10.000
$D_GRID,720
$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,-170.3,0.0,0.0,0,91,0.00,0.00,-56.35,0.000,6,0.000,0.000,610,2199,2956
$GC,96,-1.26,-170.3,1.6,-6.8,11,109,6.80,3.35,0.00,0.000,4,0.003,0.002,2064,500,2967
$GC,140,-1.26,-170.3,12.8,-9.3,18,147,0.52,2.83,0.00,0.000,6,0.003,0.003,1957,2174,2956
$GC,490,-1.26,-170.3,67.6,-14.9,79,497,0.52,2.75,0.00,0.000,4,0.004,0.003,2074,3673,2965
$GC,534,-1.26,-170.3,72.2,-8.5,86,546,0.77,3.95,0.00,0.000,6,0.003,0.003,1880,1687,2966
$GC,881,-1.26,-170.3,128.6,-17.1,132,893,0.77,3.55,0.00,0.000,4,0.004,0.003,2005,3505,2962
$GC,1026,-1.26,-170.3,144.9,-10.4,144,1033,0.00,3.78,0.00,0.000,6,0.000,0.003,2013,1687,2961
$GC,1352,-1.26,-170.3,179.2,-10.4,175,1362,0.00,4.05,0.00,0.000,4,0.000,0.003,2011,3709,2963
$GC,1454,-1.26,-170.3,190.0,-10.3,184,1464,0.00,3.62,0.00,0.000,6,0.000,0.003,2006,1770,2963
$GC,1784,-1.26,-170.3,224.6,-10.3,215,1794,0.00,3.53,0.00,0.000,4,0.000,0.003,2015,3639,2957
$GC,1891,-1.26,-170.3,235.8,-10.1,224,1897,0.00,3.75,0.00,0.000,6,0.000,0.003,2002,1783,2962
$GC,2216,-1.26,-170.3,269.7,-10.4,255,2227,0.45,3.25,0.00,0.000,4,0.004,0.003,1887,3673,2963
$GC,2319,-1.26,-170.3,286.3,-17.0,264,2330,0.77,3.08,0.00,0.000,6,0.003,0.003,2083,1931,2962
$GC,2653,-1.26,-170.3,313.2,-7.6,295,2664,0.70,3.03,0.00,0.000,4,0.003,0.003,1889,3578,2964
$GC,2715,-1.26,-170.3,322.5,-16.1,300,2724,0.77,4.03,0.00,0.000,6,0.003,0.003,2021,1749,2968
$GC,3055,-1.26,-170.3,356.6,-9.7,332,3066,0.35,3.25,0.00,0.000,4,0.003,0.003,1900,3429,2961
$GC,3196,-1.26,-170.3,379.6,-17.0,344,3203,0.77,2.33,0.00,0.000,6,0.003,0.003,2076,1766,2958
$GC,3522,-1.26,-170.3,403.7,-7.1,375,3534,0.77,3.72,0.00,0.000,4,0.004,0.003,1897,3601,2966
$GC,3626,-1.26,-170.3,419.8,-17.2,384,3638,0.82,3.25,0.00,0.000,6,0.003,0.003,2085,1873,2967
$GC,3958,-1.26,-170.3,446.2,-7.7,415,3969,0.77,3.25,0.00,0.000,4,0.003,0.002,1891,3564,2966
$GC,4043,-1.26,-170.3,459.5,-16.1,422,4050,0.77,3.12,0.00,0.000,6,0.003,0.003,2082,1759,2952
$GC,4369,-1.26,-170.3,485.5,-7.5,453,4380,0.75,3.03,0.00,0.000,4,0.003,0.003,1891,3591,2962
$GC,4488,-1.26,-170.3,504.8,-16.5,462,4495,0.77,2.75,0.00,0.000,6,0.003,0.003,2077,1764,2963
$GC,4814,-1.26,-170.3,530.3,-7.9,478,4823,0.88,3.25,0.00,0.000,4,0.003,0.003,1895,3420,2963
$GC,4944,-1.26,-170.3,552.7,-17.2,483,4951,0.77,2.33,0.00,0.000,6,0.003,0.003,2062,1784,2952
$GC,5261,-1.26,-170.3,579.3,-7.8,499,5269,0.35,3.75,0.00,0.000,4,0.004,0.003,1940,3621,2959
$GC,5356,-1.26,-170.3,591.9,-13.7,503,5363,0.52,3.12,0.00,0.000,6,0.003,0.003,2070,1770,2961
$GC,5682,-1.26,-170.3,618.1,-7.4,519,5691,0.88,3.25,0.00,0.000,4,0.004,0.003,1891,3652,2963
$GC,5769,-1.26,-170.3,631.2,-17.3,522,5776,0.73,2.78,0.00,0.000,6,0.003,0.003,2078,1829,2961
$GC,6085,-1.26,-170.3,655.1,-7.4,538,6093,0.77,2.85,0.00,0.000,4,0.003,0.003,1959,3370,2964
$GC,6242,-1.26,-170.3,673.2,-11.5,545,6250,0.52,3.17,0.00,0.000,6,0.003,0.003,2070,1838,2961
$GC,6574,-1.26,-170.3,695.3,-4.7,561,6583,0.77,3.45,0.00,0.000,4,0.004,0.003,1882,3363,2952
$GC,6692,-1.26,-170.3,713.5,-14.9,566,6700,0.80,3.10,0.00,0.000,6,0.003,0.003,2021,1703,2959
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,6781,-0.25,0.0,722.5,9.8,570,6956,1.17,0.00,166.18,0.003,6,0.003,0.000,2268,2067,2270
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,6961,1.26,170.3,727.4,0.0,579,7149,1.77,2.62,163.68,0.003,4,0.003,0.003,2581,3548,1569
$GC,7209,1.26,170.3,678.6,25.5,590,7220,0.52,3.42,0.00,0.000,6,0.002,0.003,2468,1719,1570
$GC,7531,1.26,170.3,629.6,14.8,606,7540,0.82,3.75,0.00,0.000,4,0.003,0.003,2590,3696,1571
$GC,7684,1.26,170.3,588.9,27.9,612,7692,0.52,3.47,0.03,0.004,6,0.003,0.003,2459,1849,1569
$GC,8001,1.26,170.3,541.3,14.2,628,8011,0.90,3.15,0.03,0.003,4,0.003,0.003,2586,3511,1561
$GC,8130,1.26,170.3,509.4,25.7,633,8138,0.50,2.72,0.00,0.000,6,0.003,0.003,2449,1797,1568
$GC,8454,1.26,170.3,464.7,13.7,661,8466,0.68,3.60,0.00,0.000,4,0.003,0.003,2625,3670,1564
$GC,8585,1.26,170.3,426.3,32.2,672,8593,0.77,3.83,0.00,0.000,6,0.003,0.003,2506,1708,1566
$GC,8911,1.26,170.3,381.1,13.2,703,8922,0.68,3.75,0.00,0.000,4,0.003,0.003,2624,3415,1565
$GC,9097,1.26,170.3,326.5,30.0,719,9105,0.77,3.25,0.00,0.000,6,0.003,0.003,2495,1733,1564
$GC,9426,1.26,170.3,229.0,17.4,750,9437,0.47,2.75,0.32,0.004,4,0.003,0.003,2618,3632,1562
$GC,9560,1.26,170.3,189.9,30.5,761,9567,0.77,3.53,0.00,0.000,6,0.003,0.003,2508,1795,1555
$GC,9889,1.26,170.3,145.9,12.2,792,9900,0.75,3.53,0.00,0.000,4,0.003,0.003,2625,3638,1562
$GC,10029,1.26,170.3,106.9,28.5,804,10040,0.77,3.53,0.00,0.000,6,0.003,0.003,2438,1790,1561
$GC,10382,1.26,170.3,61.7,11.4,864,10389,0.73,3.67,0.00,0.000,4,0.003,0.003,2626,3627,1573
$GC,10525,1.26,170.3,24.5,25.9,888,10533,0.80,3.42,0.00,0.000,6,0.003,0.003,2438,1798,1564
$STATE,end climb,FINISH_DEPTH_REACHED
$STATE,start subsurface finish
$FINISH1,4.9,1.028864,-60
$GC,10679,-0.10,-59.9,4.9,-11.1,913,10725,1.27,2.92,-31.25,0.000,4,0.003,0.003,2207,3649,2516
$FINISH2,1.3
$STATE,end subsurface finish,CONTROL_FINISHED_OK
$STATE,start surface
$RAFOS_CLK,0
$RAFOS,2,1160537342,3.500000,3.483889,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160536751,3.333333,3.319722,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160536144,3.166667,3.151111,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160533743,2.500000,2.484167,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160533151,2.333333,2.319722,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160532543,2.166667,2.150833,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160530148,1.500000,1.485556,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160529545,1.333333,1.318056,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160528944,1.166667,1.151111,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160526545,0.500000,0.484722,80,0,0,0,0,0,2542,0,0,0,0,0
$RAFOS_FIX,5106.601074,-47634.859375,111006,000001,3,80,0.01
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.03068
$HUMID,1815
$INTERNAL_PRESSURE,11.6118
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.7,999.0
$24V_AH,23.0,7.170
$10V_AH,9.8,1.805
$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,39.600,162.700,330.225,0.000,0.000,0.000,0.000,82.419,0.250,24.545,1664.275,6409.563,621.226,1559.908,827.360,0.000,1560.895,0.000,902.533,4320.000,2.302
$DEVICE_MAMPS,3.835,3.068,3.835,0.000,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,Optode,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,786.734,1572.179,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34737,921
$CFSIZE,260165632,248074240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,96,1266,4,0
$SOUNDSPEED,1476.0
$GPS,111006,004453,6657.234,-5704.427,23,1.1,24,18.0