version: 66.00
glider: 99
mission: 1
dive: 46
start: 10 13 106 13 23 48
data:
$ID,99
$MISSION,1
$DIVE,46
$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,-294347.75
$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,8
$R_STBD_OVSHOOT,11
$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
$GPS1,131745,6649.142,-5735.747,26,1.1,26,18.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-70.0
$GPS2,132303,6649.142,-5735.747,21,1.1,21,18.0
$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,246.5,137808,-19.6,-10.000
$D_GRID,673
$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,-56.65,0.000,6,0.000,0.000,613,2269,2963
$GC,95,-1.26,-170.3,1.3,-4.9,12,112,7.57,2.92,0.00,0.000,4,0.003,0.003,2074,3795,2957
$GC,268,-1.26,-170.3,22.8,-7.8,42,275,0.65,3.33,0.00,0.000,6,0.003,0.003,1955,1814,2955
$GC,614,-1.26,-170.3,71.1,-13.3,103,625,0.47,3.78,0.00,0.000,4,0.004,0.003,2090,3673,2958
$GC,707,-1.26,-170.3,78.5,-7.3,119,717,0.77,3.78,0.00,0.000,6,0.003,0.003,1894,2024,2960
$GC,1044,-1.26,-170.3,125.3,-15.6,163,1055,0.88,3.03,0.00,0.000,4,0.004,0.003,2073,3674,2953
$GC,1084,-1.26,-170.3,129.5,-6.8,166,1091,0.77,2.78,0.00,0.000,6,0.003,0.003,1893,1973,2960
$GC,1409,-1.26,-170.3,178.5,-15.5,197,1420,0.77,3.45,0.00,0.000,4,0.004,0.003,2013,3656,2957
$GC,1472,-1.26,-170.3,185.2,-9.6,202,1478,0.03,3.65,0.00,0.000,6,0.005,0.003,2015,1811,2963
$GC,1797,-1.26,-170.3,215.9,-9.5,233,1807,0.00,3.45,0.00,0.000,4,0.000,0.003,2002,3666,2959
$GC,1887,-1.26,-170.3,224.3,-8.9,241,1897,0.00,3.62,0.00,0.000,6,0.000,0.003,2018,1819,2960
$GC,2221,-1.26,-170.3,255.2,-9.2,272,2226,0.00,3.05,0.00,0.000,4,0.000,0.003,2007,3623,2949
$GC,2306,-1.26,-170.3,263.2,-7.9,279,2316,0.00,3.47,0.00,0.000,6,0.000,0.003,2002,1787,2963
$GC,2640,-1.26,-170.3,293.9,-9.2,310,2651,0.35,3.97,0.00,0.000,4,0.004,0.003,1950,3634,2956
$GC,2742,-1.26,-170.3,306.4,-11.9,319,2753,0.52,3.33,0.00,0.000,6,0.003,0.003,2070,1812,2963
$GC,3072,-1.26,-170.3,329.6,-6.7,350,3083,0.68,3.38,0.00,0.000,4,0.004,0.003,1886,3646,2954
$GC,3169,-1.26,-170.3,342.9,-13.5,358,3176,0.80,3.30,0.00,0.000,6,0.003,0.003,2006,1855,2955
$GC,3494,-1.26,-170.3,373.2,-8.1,389,3500,0.47,2.75,0.00,0.000,4,0.004,0.003,1897,3511,2953
$GC,3573,-1.26,-170.3,384.2,-15.0,395,3582,0.77,3.53,0.00,0.000,6,0.003,0.003,2058,1836,2956
$GC,3910,-1.26,-170.3,408.5,-6.8,427,3920,0.43,4.15,0.00,0.000,4,0.004,0.003,1941,3641,2957
$GC,3994,-1.26,-170.3,418.3,-12.4,434,4001,0.47,3.42,0.00,0.000,6,0.003,0.003,2067,1939,2966
$GC,4319,-1.26,-170.3,442.7,-6.9,465,4329,0.52,2.97,0.00,0.000,4,0.004,0.003,1950,3603,2960
$GC,4391,-1.26,-170.3,450.9,-12.3,471,4398,0.52,2.65,0.00,0.000,6,0.003,0.003,2057,1938,2949
$GC,4717,-1.26,-170.3,473.9,-7.0,502,4727,0.68,3.25,0.00,0.000,4,0.004,0.003,1891,3750,2960
$GC,4778,-1.26,-170.3,482.6,-15.2,507,4785,0.77,3.45,0.00,0.000,6,0.003,0.003,1997,1916,2950
$GC,5117,-1.26,-170.3,506.0,-6.6,535,5125,0.65,3.80,0.00,0.000,4,0.004,0.003,1900,3764,2955
$GC,5185,-1.26,-170.3,515.2,-14.5,538,5193,0.77,3.17,0.00,0.000,6,0.003,0.003,2085,2064,2958
$GC,5517,-1.26,-170.3,536.8,-6.2,554,5526,1.17,3.03,0.00,0.000,4,0.004,0.003,1906,3735,2957
$GC,5556,-1.26,-170.3,541.4,-13.7,555,5563,0.77,2.62,0.00,0.000,6,0.003,0.003,2079,1910,2956
$GC,5872,-1.26,-170.3,562.6,-6.3,571,5881,1.12,3.53,0.00,0.000,4,0.004,0.003,1902,3734,2956
$GC,5941,-1.26,-170.3,571.2,-13.8,574,5949,0.77,3.42,0.00,0.000,6,0.003,0.003,2088,1937,2959
$GC,6273,-1.26,-170.3,592.7,-6.1,590,6281,0.65,3.15,0.00,0.000,4,0.004,0.003,1881,3668,2954
$GC,6345,-1.26,-170.3,602.2,-15.0,593,6354,0.80,3.83,0.00,0.000,6,0.003,0.003,2012,1797,2959
$GC,6672,-1.26,-170.3,632.2,-9.0,609,6679,0.00,3.45,0.00,0.000,4,0.000,0.003,2002,3794,2960
$GC,6762,-1.26,-170.3,640.3,-8.9,613,6771,0.52,3.67,0.00,0.000,6,0.003,0.003,1888,1942,2957
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,7018,-0.25,0.0,675.6,14.4,625,7199,1.92,0.00,166.05,0.003,6,0.003,0.000,2315,2273,2262
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,7204,1.26,170.3,679.3,0.0,634,7397,1.73,3.25,163.48,0.004,4,0.003,0.003,2615,428,1567
$GC,7416,1.26,170.3,637.2,26.8,644,7425,0.57,3.88,0.00,0.000,6,0.003,0.003,2497,2293,1574
$GC,7743,1.26,170.3,583.1,16.0,660,7748,0.52,2.47,0.00,0.000,4,0.004,0.003,2564,3615,1566
$GC,7784,1.26,170.3,574.0,26.0,662,7791,0.43,3.15,0.00,0.000,6,0.003,0.003,2515,1956,1565
$GC,8115,1.26,170.3,520.0,16.0,678,8123,0.00,3.47,0.00,0.000,4,0.000,0.003,2503,3792,1570
$GC,8205,1.26,170.3,505.8,15.6,682,8214,0.52,3.67,0.00,0.000,6,0.003,0.003,2630,2129,1565
$GC,8536,1.26,170.3,419.6,26.7,711,8546,0.77,3.03,0.00,0.000,4,0.004,0.003,2432,3803,1562
$GC,8582,1.26,170.3,412.2,10.9,715,8593,0.77,3.42,0.00,0.000,6,0.003,0.003,2622,1964,1559
$GC,8912,1.26,170.3,329.4,25.8,746,8923,0.57,3.42,0.00,0.000,4,0.004,0.003,2494,3787,1567
$GC,8996,1.26,170.3,315.5,15.0,753,9003,0.52,3.62,0.00,0.000,6,0.003,0.003,2545,1959,1568
$GC,9321,1.26,170.3,235.6,25.4,784,9332,0.52,3.42,0.00,0.000,4,0.004,0.003,2488,3797,1569
$GC,9405,1.26,170.3,221.8,14.3,791,9412,0.50,3.62,0.00,0.000,6,0.003,0.003,2552,1934,1563
$GC,9732,1.26,170.3,142.5,24.8,822,9743,0.40,3.53,0.00,0.000,4,0.004,0.003,2488,3757,1569
$GC,9823,1.26,170.3,128.2,14.9,830,9833,0.52,3.15,0.00,0.000,6,0.003,0.003,2613,1948,1574
$GC,10167,1.26,170.3,35.4,23.1,883,10173,0.77,3.25,0.00,0.000,4,0.004,0.003,2486,3626,1567
$GC,10254,1.26,170.3,21.9,14.1,898,10260,0.52,3.03,0.00,0.000,6,0.003,0.003,2615,1933,1564
$STATE,end climb,FINISH_DEPTH_REACHED
$STATE,start subsurface finish
$FINISH1,4.4,1.028775,-56
$GC,10349,-0.09,-55.6,4.4,-22.4,913,10391,1.92,2.38,-30.85,0.000,4,0.003,0.003,2185,3624,2490
$FINISH2,0.0
$STATE,end subsurface finish,CONTROL_FINISHED_OK
$STATE,start surface
$RAFOS_CLK,0
$RAFOS,2,1160753361,15.500000,15.489166,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160752754,15.333333,15.320556,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160752143,15.166667,15.150833,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160749741,14.500000,14.483611,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160749149,14.333333,14.319167,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160748544,14.166667,14.151111,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160746146,13.500000,13.485000,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.048321
$HUMID,1706
$INTERNAL_PRESSURE,11.5727
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,20.0,19.6
$24V_AH,23.0,13.539
$10V_AH,9.8,3.215
$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,39.700,172.050,329.525,0.000,0.000,0.000,0.000,0.000,0.250,21.829,1573.988,6791.020,657.825,1162.887,329.013,0.000,1501.192,0.000,829.349,3840.000,2.371
$DEVICE_MAMPS,4.602,3.068,3.835,0.000,0.000,0.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,Optode,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,750.740,953.935,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34694,921
$CFSIZE,260165632,246587392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,94,1336,5,0
$SOUNDSPEED,1475.5
$GPS,131006,132303,6649.142,-5735.747,21,1.1,21,18.0