version: 66.00
glider: 99
mission: 1
dive: 47
start: 10 13 106 16 20 7
data:
$ID,99
$MISSION,1
$DIVE,47
$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,6
$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
$GPS1,132303,6649.142,-5735.747,21,1.1,21,18.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.21
$_SM_ANGLEo,-6.0
$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,33,-1.26,-170.3,0.0,0.0,0,41,0.00,0.00,-5.60,0.000,2,0.000,0.000,2177,3633,2667
$GC,45,-1.26,-170.3,6.9,-0.0,1,62,1.02,0.43,-9.62,0.000,4,0.004,0.004,1949,3293,2951
$GC,311,-1.26,-170.3,46.4,-14.9,48,317,0.50,2.42,0.00,0.000,6,0.003,0.003,2063,1790,2956
$GC,658,-1.26,-170.3,75.1,-7.7,109,668,0.60,3.80,0.00,0.000,4,0.004,0.003,1957,3781,2949
$GC,761,-1.26,-170.3,88.2,-13.2,127,772,0.47,3.95,0.00,0.000,6,0.004,0.003,2074,1954,2956
$GC,1100,-1.26,-170.3,113.8,-7.2,171,1111,0.77,3.95,0.00,0.000,4,0.004,0.003,1880,3597,2957
$GC,1168,-1.26,-170.3,123.8,-16.0,177,1179,0.82,3.50,0.00,0.000,6,0.003,0.003,2061,1922,2952
$GC,1499,-1.26,-170.3,149.3,-7.3,208,1510,0.47,3.42,0.00,0.000,4,0.004,0.003,1943,3775,2952
$GC,1560,-1.26,-170.3,156.7,-12.9,213,1567,0.52,2.65,0.00,0.000,6,0.003,0.003,2062,2066,2956
$GC,1886,-1.26,-170.3,181.1,-7.3,244,1896,0.43,3.28,0.00,0.000,4,0.004,0.003,1938,3529,2955
$GC,1932,-1.26,-170.3,186.2,-12.7,248,1942,0.50,3.12,0.00,0.000,6,0.003,0.003,2061,1862,2950
$GC,2262,-1.26,-170.3,211.9,-7.5,279,2273,0.47,3.53,0.00,0.000,4,0.004,0.003,1939,3667,2953
$GC,2342,-1.26,-170.3,221.4,-12.6,286,2352,0.52,2.88,0.00,0.000,6,0.003,0.003,2068,1949,2957
$GC,2672,-1.26,-170.3,246.2,-7.1,317,2682,0.60,3.33,0.00,0.000,4,0.004,0.003,1940,3791,2955
$GC,2733,-1.26,-170.3,253.3,-12.2,322,2740,0.52,3.17,0.00,0.000,6,0.003,0.003,2074,1946,2952
$GC,3059,-1.26,-170.3,278.3,-7.1,353,3069,0.35,3.03,0.00,0.000,4,0.003,0.003,1952,3769,2956
$GC,3097,-1.26,-170.3,282.7,-12.0,356,3104,0.50,3.42,0.00,0.000,6,0.003,0.003,2064,1921,2954
$GC,3423,-1.26,-170.3,306.2,-6.9,387,3433,0.62,3.12,0.00,0.000,4,0.004,0.003,1946,3766,2962
$GC,3491,-1.26,-170.3,313.6,-12.4,393,3502,0.47,4.03,0.00,0.000,6,0.004,0.003,2076,1914,2957
$GC,3822,-1.26,-170.3,337.0,-6.8,424,3833,0.45,3.58,0.00,0.000,4,0.004,0.003,1942,3620,2957
$GC,3895,-1.26,-170.3,345.6,-12.0,430,3902,0.52,3.33,0.00,0.000,6,0.003,0.003,2064,1914,2952
$GC,4220,-1.26,-170.3,369.2,-6.9,461,4231,0.40,3.53,0.00,0.000,4,0.003,0.003,1944,3758,2948
$GC,4294,-1.26,-170.3,377.4,-11.9,467,4301,0.52,3.53,0.00,0.000,6,0.003,0.003,1998,1937,2955
$GC,4620,-1.26,-170.3,408.6,-7.0,498,4632,0.62,3.15,0.00,0.000,4,0.004,0.003,1941,3776,2959
$GC,4678,-1.26,-170.3,415.3,-11.9,503,4689,0.47,3.62,0.00,0.000,6,0.003,0.003,2065,1960,2962
$GC,5009,-1.26,-170.3,438.7,-6.8,534,5019,0.55,3.15,0.00,0.000,4,0.004,0.003,1942,3792,2949
$GC,5059,-1.26,-170.3,443.9,-11.6,538,5066,0.47,3.62,0.00,0.000,6,0.003,0.003,1997,1962,2960
$GC,5384,-1.26,-170.3,468.2,-6.8,569,5396,0.77,3.50,0.00,0.000,4,0.004,0.003,1885,3787,2961
$GC,5442,-1.26,-170.3,476.2,-14.6,574,5453,0.77,2.75,0.00,0.000,6,0.003,0.003,2058,1934,2957
$GC,5772,-1.26,-170.3,499.1,-6.3,605,5783,0.38,3.78,0.00,0.000,4,0.004,0.003,1943,3592,2956
$GC,5841,-1.26,-170.3,506.5,-11.8,609,5849,0.50,3.78,0.00,0.000,6,0.003,0.003,2071,1950,2957
$GC,6174,-1.26,-170.3,530.4,-6.9,625,6179,0.43,2.75,0.00,0.000,4,0.004,0.003,1945,3601,2954
$GC,6230,-1.26,-170.3,536.1,-12.1,627,6237,0.52,3.15,0.00,0.000,6,0.003,0.003,2065,2095,2956
$GC,6549,-1.26,-170.3,558.8,-6.9,643,6557,0.52,3.03,0.00,0.000,4,0.004,0.003,1935,3722,2952
$GC,6582,-1.26,-170.3,562.4,-12.4,644,6592,0.50,3.22,0.00,0.000,6,0.003,0.003,2063,1832,2953
$GC,6903,-1.26,-170.3,585.4,-6.8,660,6911,0.45,3.50,0.00,0.000,4,0.004,0.003,1945,3494,2960
$GC,7015,-1.26,-170.3,598.3,-11.8,665,7024,0.52,3.38,0.00,0.000,6,0.003,0.003,2070,1831,2951
$GC,7348,-1.26,-170.3,621.5,-6.7,681,7356,0.93,3.35,0.00,0.000,4,0.004,0.003,1882,3665,2954
$GC,7431,-1.26,-170.3,633.3,-14.8,684,7440,0.77,3.38,0.00,0.000,6,0.003,0.003,2060,1994,2952
$GC,7770,-1.26,-170.3,657.8,-6.9,701,7778,0.82,3.05,0.00,0.000,4,0.004,0.003,1938,3656,2957
$GC,7825,-1.26,-170.3,664.0,-11.6,703,7835,0.52,3.15,0.00,0.000,6,0.003,0.003,2062,1816,2956
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,7967,-0.25,0.0,674.0,6.9,710,8146,1.08,0.00,165.27,0.003,6,0.003,0.000,2313,2339,2257
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,8151,1.26,170.3,676.4,0.0,719,8339,1.27,3.75,163.57,0.004,4,0.004,0.003,2613,496,1571
$GC,8363,1.26,170.3,635.2,25.4,729,8371,0.55,3.45,0.00,0.000,6,0.003,0.003,2485,2201,1562
$GC,8695,1.26,170.3,583.9,14.7,745,8704,0.50,2.72,0.28,0.005,4,0.004,0.003,2610,3707,1568
$GC,8756,1.26,170.3,569.3,25.4,747,8763,0.65,3.12,0.00,0.000,6,0.003,0.003,2497,1849,1573
$GC,9072,1.26,170.3,519.9,15.1,763,9080,0.45,3.35,0.00,0.000,4,0.004,0.003,2611,3698,1573
$GC,9185,1.26,170.3,492.8,26.2,769,9196,0.55,3.55,0.08,0.003,6,0.002,0.003,2476,1978,1561
$GC,9515,1.26,170.3,443.5,13.9,800,9525,0.35,3.25,0.00,0.000,4,0.003,0.003,2618,3802,1562
$GC,9594,1.26,170.3,425.2,25.5,807,9604,0.57,2.83,0.00,0.000,6,0.003,0.003,2490,1976,1563
$GC,9924,1.26,170.3,364.1,14.6,838,9935,0.82,4.35,0.15,0.003,4,0.004,0.003,2617,3785,1564
$GC,10005,1.26,170.3,344.9,24.4,845,10016,0.52,3.25,0.00,0.000,6,0.003,0.003,2489,1958,1567
$GC,10335,1.26,170.3,296.0,14.1,876,10345,0.50,3.62,0.00,0.000,4,0.004,0.003,2611,3786,1566
$GC,10415,1.26,170.3,276.7,26.5,883,10426,0.57,2.92,0.25,0.003,6,0.003,0.003,2489,1954,1564
$GC,10746,1.26,170.3,195.3,15.1,914,10757,0.52,3.42,0.10,0.004,4,0.004,0.003,2553,3788,1564
$GC,10815,1.26,170.3,182.1,19.5,920,10825,0.12,3.33,0.00,0.000,6,0.003,0.003,2555,1908,1565
$GC,11145,1.26,170.3,117.6,19.5,951,11154,0.00,3.28,0.00,0.000,4,0.000,0.003,2551,3585,1567
$GC,11246,1.26,170.3,97.2,22.7,961,11252,0.10,3.03,0.00,0.000,6,0.002,0.003,2551,1929,1560
$GC,11591,1.26,170.3,28.3,17.6,1022,11597,0.00,3.50,0.00,0.000,4,0.000,0.003,2558,3735,1568
$GC,11694,1.26,170.3,10.2,17.2,1040,11701,0.03,3.42,0.00,0.000,6,0.004,0.003,2552,1907,1565
$FREEZE,4.30,5.050,-1.995
$FREEZE,2.85,5.239,-2.000
$FREEZE,1.36,5.261,-2.000
$STATE,end climb,SURFACE_DEPTH_REACHED
$STATE,start surface coast
$FREEZE,0.94,5.308,-2.000
$FINISH,0.9,1.028697
$STATE,end surface coast,CONTROL_FINISHED_OK
$STATE,start surface
$SM_CCo,11765,50.12,0.003,2,0,1240,250.21
$SM_GC,-0.00,0.00,0.00,50.12,0.000,0.000,0.003,592,2238,1240,-7.65,3.96,250.21
$RAFOS_CLK,0
$RAFOS,1,1160767148,19.333334,19.318890,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160766547,19.166666,19.151945,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160764152,18.500000,18.486666,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160763545,18.333334,18.318056,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160762949,18.166666,18.152500,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160760549,17.500000,17.485834,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160759949,17.333334,17.319166,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160759345,17.166666,17.151388,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160756941,16.500000,16.483612,80,0,0,0,0,0,2462,0,0,0,0,0
$RAFOS,0,1160755744,16.166666,16.151112,80,0,0,0,0,0,2367,0,0,0,0,0
$RAFOS_FIX,-31311.888672,-12853.331055,131006,161640,2,80,3864.77
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.048321
$HUMID,1749
$INTERNAL_PRESSURE,11.6118
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,20.0,18.8
$24V_AH,23.0,13.540
$10V_AH,9.8,3.284
$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,41.325,191.725,329.700,50.125,0.000,0.000,0.000,0.000,0.250,0.000,1820.998,7746.492,713.563,1291.517,380.169,0.000,1656.730,0.000,926.379,4800.000,2.388
$DEVICE_MAMPS,3.835,3.835,4.602,3.068,0.000,0.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,Optode,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,850.820,1083.870,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41033,1048
$CFSIZE,260165632,246476800
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,95,1478,6,0
$SOUNDSPEED,1475.5
$GPS,131006,193901,6648.227,-5740.655,23,1.1,24,18.0