version: 66.00
glider: 99
mission: 1
dive: 27
start: 10 10 106 16 6 12
data:
$ID,99
$MISSION,1
$DIVE,27
$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,-291619.03
$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,7
$R_STBD_OVSHOOT,2
$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
$GPS1,132243,6659.145,-5657.258,38,1.1,38,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.58
$_SM_ANGLEo,-7.2
$GPS2,132243,6659.145,-5657.258,38,1.1,38,18.0
$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,241.1,168388,-19.6,-10.000
$D_GRID,689
$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,-170.3,0.0,0.0,0,37,0.00,0.00,-4.82,0.000,2,0.000,0.000,2176,1708,2664
$GC,41,-1.26,-170.3,7.7,-0.0,1,59,1.17,3.33,-9.93,0.000,4,0.004,0.003,1941,3501,2960
$GC,163,-1.26,-170.3,27.3,-17.7,22,171,0.50,3.92,0.00,0.000,6,0.003,0.003,2002,1805,2954
$GC,512,-1.26,-170.3,61.0,-9.0,83,518,0.55,2.65,0.00,0.000,4,0.004,0.003,1954,3469,2963
$GC,628,-1.26,-170.3,77.9,-15.1,103,635,0.52,3.47,0.00,0.000,6,0.002,0.003,2072,1772,2959
$GC,978,-1.26,-170.3,108.5,-8.5,156,989,0.62,3.33,0.00,0.000,4,0.004,0.003,1944,3634,2966
$GC,1083,-1.26,-170.3,121.8,-13.9,165,1094,0.50,3.42,0.00,0.000,6,0.003,0.003,2079,1819,2958
$GC,1417,-1.26,-170.3,149.2,-8.0,196,1428,0.90,3.75,0.00,0.000,4,0.004,0.003,1889,3488,2959
$GC,1535,-1.26,-170.3,169.4,-17.5,206,1543,0.77,3.47,0.00,0.000,6,0.003,0.003,2084,1999,2967
$GC,1862,-1.26,-170.3,195.3,-7.8,237,1872,0.80,2.65,0.00,0.000,4,0.004,0.003,1964,3645,2956
$GC,1911,-1.26,-170.3,201.0,-13.7,241,1923,0.50,3.75,0.00,0.000,6,0.003,0.003,2078,1821,2962
$GC,2242,-1.26,-170.3,228.0,-7.6,272,2254,1.08,3.50,0.00,0.000,4,0.003,0.003,1895,3651,2962
$GC,2335,-1.26,-170.3,242.7,-17.1,280,2347,0.77,3.78,0.00,0.000,6,0.003,0.003,2003,1803,2962
$GC,2666,-1.26,-170.3,278.5,-10.5,311,2676,0.00,3.75,0.00,0.000,4,0.000,0.003,2010,3509,2961
$GC,2773,-1.26,-170.3,289.9,-10.3,320,2780,0.08,3.85,0.00,0.000,6,0.003,0.003,2016,1680,2961
$GC,3098,-1.26,-170.3,323.6,-10.2,351,3110,0.82,3.50,0.00,0.000,4,0.004,0.003,1898,3672,2964
$GC,3229,-1.26,-170.3,345.2,-16.7,362,3236,0.77,3.25,0.00,0.000,6,0.003,0.003,2067,1793,2962
$GC,3555,-1.26,-170.3,370.7,-7.6,393,3566,0.75,3.53,0.00,0.000,4,0.004,0.003,1882,3667,2968
$GC,3658,-1.26,-170.3,387.1,-16.6,402,3670,0.77,3.28,0.00,0.000,6,0.003,0.003,2069,1845,2965
$GC,3990,-1.26,-170.3,414.0,-7.6,433,4001,0.65,3.55,0.00,0.000,4,0.004,0.003,1883,3691,2962
$GC,4074,-1.26,-170.3,427.5,-18.2,440,4083,0.77,3.58,0.00,0.000,6,0.003,0.003,2072,1864,2961
$GC,4414,-1.26,-170.3,456.0,-8.0,472,4426,0.73,3.53,0.00,0.000,4,0.003,0.003,1881,3573,2963
$GC,4507,-1.26,-170.3,471.1,-17.7,480,4518,0.77,3.55,0.00,0.000,6,0.003,0.003,2068,1680,2961
$GC,4838,-1.26,-170.3,498.0,-7.8,511,4849,0.68,3.53,0.00,0.000,4,0.004,0.003,1891,3692,2966
$GC,4967,-1.26,-170.3,519.7,-17.8,517,4976,0.82,3.35,0.00,0.000,6,0.003,0.003,2080,1669,2958
$GC,5284,-1.26,-170.3,545.1,-7.7,533,5292,0.73,3.25,0.00,0.000,4,0.004,0.003,1889,3557,2954
$GC,5420,-1.26,-170.3,567.3,-15.8,539,5429,0.75,3.55,0.00,0.000,6,0.003,0.003,2072,1709,2959
$GC,5753,-1.26,-170.3,594.3,-7.7,555,5762,1.12,3.22,0.00,0.000,4,0.003,0.003,1890,3572,2960
$GC,5877,-1.26,-170.3,614.0,-19.0,560,5888,0.77,3.88,0.00,0.000,6,0.003,0.003,2014,1739,2966
$GC,6198,-1.26,-170.3,649.0,-10.4,576,6206,0.55,3.10,0.00,0.000,4,0.004,0.003,1894,3599,2963
$GC,6315,-1.26,-170.3,667.8,-12.7,581,6323,0.77,3.08,0.00,0.000,6,0.003,0.003,2073,1907,2956
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,6610,-0.25,0.0,689.2,7.6,595,6789,0.77,0.00,165.45,0.003,6,0.003,0.000,2261,2229,2266
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,6793,1.26,170.3,691.1,0.0,604,6972,1.52,3.25,163.48,0.003,4,0.003,0.003,2626,574,1566
$GC,7004,1.26,170.3,641.5,32.6,614,7012,0.77,2.62,0.00,0.000,6,0.003,0.003,2440,2244,1571
$GC,7336,1.26,170.3,581.7,14.0,630,7345,0.77,2.62,1.25,0.003,4,0.004,0.003,2644,3586,1568
$GC,7377,1.26,170.3,571.0,33.1,631,7384,0.77,2.83,0.00,0.000,6,0.003,0.003,2460,1739,1570
$GC,7693,1.26,170.3,523.9,14.2,647,7701,0.73,3.53,0.00,0.000,4,0.003,0.003,2648,3584,1569
$GC,7844,1.26,170.3,476.5,34.3,656,7851,0.77,3.38,0.00,0.000,6,0.003,0.003,2525,1735,1557
$GC,8173,1.26,170.3,422.8,22.7,687,8184,0.62,3.25,0.00,0.000,4,0.003,0.003,2583,3578,1565
$GC,8321,1.26,170.3,384.0,27.4,700,8332,0.52,3.35,0.00,0.000,6,0.003,0.003,2458,1788,1569
$GC,8655,1.26,170.3,335.2,14.4,731,8667,0.52,3.45,0.08,0.003,4,0.003,0.003,2517,3451,1563
$GC,8819,1.26,170.3,302.5,21.3,745,8826,0.03,3.22,0.00,0.000,6,0.002,0.003,2515,1756,1559
$GC,9145,1.26,170.3,239.6,19.2,776,9155,0.00,3.78,0.00,0.000,4,0.000,0.003,2522,3559,1565
$GC,9300,1.26,170.3,207.2,29.8,789,9306,0.00,3.28,0.00,0.000,6,0.000,0.003,2514,1847,1566
$GC,9625,1.26,170.3,141.6,19.0,820,9635,0.00,3.35,0.00,0.000,4,0.000,0.003,2526,3684,1566
$GC,9740,1.26,170.3,118.0,19.4,830,9751,0.00,3.53,0.00,0.000,6,0.000,0.003,2521,1683,1563
$GC,10087,1.26,170.3,53.3,19.1,883,10093,0.00,3.05,0.00,0.000,4,0.000,0.003,2514,3491,1571
$GC,10275,1.26,170.3,18.9,17.6,915,10281,0.00,2.97,0.00,0.000,6,0.000,0.003,2529,1948,1558
$FREEZE,4.35,1.598,-1.989
$FREEZE,3.30,1.614,-1.993
$FREEZE,1.96,1.609,-1.983
$STATE,end climb,SURFACE_DEPTH_REACHED
$STATE,start surface coast
$FREEZE,1.29,1.623,-1.976
$FREEZE,0.47,1.616,-1.991
$FINISH,0.5,1.028949
$STATE,end surface coast,CONTROL_FINISHED_OK
$STATE,start surface
$SM_CCo,10403,49.60,0.003,2,0,1245,250.21
$SM_GC,-0.00,0.00,0.00,49.60,0.000,0.000,0.003,592,2128,1245,-7.71,4.24,250.21
$RAFOS_CLK,0
$RAFOS,2,1160504946,18.500000,18.485001,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160504347,18.333334,18.318611,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160503743,18.166666,18.150833,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160501344,17.500000,17.484444,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160500748,17.333334,17.318890,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160500145,17.166666,17.151388,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160497750,16.500000,16.486111,80,0,0,0,0,0,2532,0,0,0,0,0
$RAFOS,1,1160497144,16.333334,16.317778,80,0,0,0,0,0,2250,0,0,0,0,0
$RAFOS,0,1160496546,16.166666,16.151667,80,0,0,0,0,0,2454,0,0,0,0,0
$RAFOS_FIX,5108.967773,-47632.351562,101006,161601,3,80,2649.65
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.047554
$HUMID,1749
$INTERNAL_PRESSURE,11.602
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.9,16.0
$24V_AH,23.0,5.984
$10V_AH,9.8,1.582
$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,38.375,155.450,330.250,49.600,0.000,0.000,0.000,0.000,0.250,0.000,1647.099,6200.911,624.190,1516.483,608.576,0.000,1516.507,0.000,880.216,4320.000,2.379
$DEVICE_MAMPS,3.835,3.068,3.068,3.068,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,Optode,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,817.680,1584.321,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34715,933
$CFSIZE,260165632,248299520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,82,1202,5,0
$SOUNDSPEED,1476.3
$GPS,101006,190241,6658.182,-5700.693,34,1.1,34,18.0