version: 66.00
glider: 99
mission: 1
dive: 29
start: 10 10 106 21 46 7
data:
$ID,99
$MISSION,1
$DIVE,29
$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,-291652.41
$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,16
$R_STBD_OVSHOOT,10
$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
$GPS1,190824,6658.182,-5700.693,32,1.1,32,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.22
$_SM_ANGLEo,-0.6
$GPS2,190824,6658.182,-5700.693,32,1.1,32,18.0
$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,241.6,165586,-19.6,-10.000
$D_GRID,697
$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,-170.3,0.0,0.0,0,40,0.00,0.00,-4.78,0.000,2,0.000,0.000,2256,3669,2622
$GC,44,-1.26,-170.3,7.9,-0.0,1,62,1.60,0.70,-11.12,0.000,4,0.004,0.003,1894,3173,2962
$GC,231,-1.26,-170.3,44.4,-21.1,33,238,0.77,1.92,0.00,0.000,6,0.003,0.003,2069,1814,2961
$GC,581,-1.26,-170.3,76.8,-8.2,94,588,0.77,2.65,0.00,0.000,4,0.003,0.003,1951,3489,2963
$GC,698,-1.26,-170.3,93.0,-14.3,114,705,0.47,3.00,0.00,0.000,6,0.003,0.003,2077,1999,2961
$GC,1035,-1.26,-170.3,121.6,-8.0,151,1045,0.52,3.00,0.00,0.000,4,0.003,0.003,1940,3701,2958
$GC,1081,-1.26,-170.3,127.3,-14.4,155,1092,0.47,3.53,0.00,0.000,6,0.003,0.003,2075,1850,2955
$GC,1412,-1.26,-170.3,154.4,-7.7,186,1423,0.60,3.42,0.00,0.000,4,0.004,0.003,1946,3680,2961
$GC,1493,-1.26,-170.3,164.5,-14.1,193,1504,0.52,3.15,0.00,0.000,6,0.003,0.003,2066,1979,2957
$GC,1826,-1.26,-170.3,191.4,-7.9,224,1837,0.50,3.28,0.00,0.000,4,0.004,0.003,1931,3701,2965
$GC,1884,-1.26,-170.3,199.4,-14.3,229,1895,0.50,3.92,0.00,0.000,6,0.003,0.003,2057,1701,2963
$GC,2215,-1.26,-170.3,228.8,-8.3,260,2226,0.38,4.25,0.00,0.000,4,0.004,0.003,1917,3518,2963
$GC,2355,-1.26,-170.3,248.5,-14.7,272,2366,0.52,2.90,0.00,0.000,6,0.003,0.003,2046,1885,2960
$GC,2689,-1.26,-170.3,277.8,-8.7,303,2699,0.47,3.03,0.00,0.000,4,0.004,0.003,1928,3538,2970
$GC,2773,-1.26,-170.3,289.8,-14.6,310,2780,0.50,3.33,0.00,0.000,6,0.003,0.003,2055,1713,2957
$GC,3099,-1.26,-170.3,318.6,-8.1,341,3111,0.50,3.80,0.00,0.000,4,0.003,0.003,1932,3514,2962
$GC,3229,-1.26,-170.3,336.7,-14.9,352,3237,0.47,3.30,0.00,0.000,6,0.003,0.003,2052,1987,2957
$GC,3556,-1.26,-170.3,364.1,-8.1,383,3566,0.57,3.30,0.00,0.000,4,0.003,0.003,1941,3642,2963
$GC,3616,-1.26,-170.3,371.9,-13.9,388,3628,0.47,4.05,0.00,0.000,6,0.004,0.003,2053,1800,2958
$GC,3948,-1.26,-170.3,401.2,-8.5,419,3959,0.60,3.53,0.00,0.000,4,0.004,0.003,1923,3609,2959
$GC,4053,-1.26,-170.3,415.6,-15.2,428,4064,0.47,3.33,0.00,0.000,6,0.003,0.003,2073,1790,2964
$GC,4383,-1.26,-170.3,443.9,-8.2,459,4389,0.40,2.75,0.00,0.000,4,0.003,0.003,1931,3457,2958
$GC,4485,-1.26,-170.3,457.2,-14.4,467,4492,0.52,3.28,0.00,0.000,6,0.003,0.003,2063,1746,2953
$GC,4811,-1.26,-170.3,484.5,-7.8,498,4822,0.85,3.62,0.00,0.000,4,0.004,0.003,1927,3619,2962
$GC,4918,-1.26,-170.3,499.2,-14.2,507,4926,0.50,2.88,0.00,0.000,6,0.003,0.003,2054,1988,2963
$GC,5235,-1.26,-170.3,526.4,-8.4,523,5240,0.35,2.55,0.00,0.000,4,0.004,0.003,1926,3517,2958
$GC,5286,-1.26,-170.3,533.1,-14.7,525,5297,0.50,3.75,0.00,0.000,6,0.003,0.003,2051,1810,2965
$GC,5607,-1.26,-170.3,561.1,-8.7,541,5615,0.38,3.25,0.00,0.000,4,0.004,0.003,1935,3642,2956
$GC,5702,-1.26,-170.3,574.2,-13.5,545,5711,0.52,3.67,0.00,0.000,6,0.003,0.003,2060,1955,2960
$GC,6030,-1.26,-170.3,601.6,-8.0,561,6037,0.50,2.97,0.00,0.000,4,0.003,0.003,1930,3639,2957
$GC,6100,-1.26,-170.3,610.6,-14.5,564,6108,0.50,3.83,0.00,0.000,6,0.003,0.003,2059,1795,2962
$GC,6433,-1.26,-170.3,641.3,-9.6,580,6441,0.60,3.25,0.00,0.000,4,0.004,0.003,1929,3472,2959
$GC,6556,-1.26,-170.3,659.3,-14.2,585,6566,0.47,2.92,0.00,0.000,6,0.003,0.003,2056,1793,2963
$GC,6876,-1.26,-170.3,690.8,-4.9,601,6884,0.62,2.92,0.00,0.000,4,0.004,0.003,1940,3659,2954
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,6940,-0.25,0.0,697.5,12.2,603,7115,1.55,0.00,166.07,0.003,6,0.003,0.000,2253,1806,2260
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,7120,1.26,170.3,697.3,0.0,612,7299,1.85,2.83,163.82,0.003,4,0.003,0.003,2618,438,1564
$GC,7312,1.26,170.3,654.2,31.1,621,7320,0.52,3.17,0.00,0.000,6,0.002,0.003,2484,2000,1573
$GC,7639,1.26,170.3,574.8,16.7,637,7646,0.43,2.97,0.00,0.000,4,0.004,0.003,2617,3633,1568
$GC,7739,1.26,170.3,547.4,28.8,641,7750,0.50,3.03,0.00,0.000,6,0.002,0.003,2487,1802,1561
$GC,8061,1.26,170.3,491.7,17.0,659,8072,0.55,3.25,0.00,0.000,4,0.003,0.003,2551,3608,1570
$GC,8191,1.26,170.3,462.5,22.7,670,8198,0.00,3.35,0.00,0.000,6,0.000,0.003,2559,1763,1565
$GC,8517,1.26,170.3,388.1,23.3,701,8527,0.00,3.58,0.00,0.000,4,0.000,0.003,2560,3445,1559
$GC,8680,1.26,170.3,350.4,23.1,715,8686,0.00,3.10,0.00,0.000,6,0.000,0.003,2553,1759,1568
$GC,9005,1.26,170.3,276.5,22.5,746,9016,0.00,4.03,0.00,0.000,4,0.000,0.003,2555,3583,1568
$GC,9149,1.26,170.3,244.4,21.9,758,9156,0.00,3.38,0.00,0.000,6,0.000,0.003,2546,1931,1557
$GC,9475,1.26,170.3,168.4,22.4,789,9480,0.00,2.78,0.00,0.000,4,0.000,0.003,2554,3421,1566
$GC,9587,1.26,170.3,138.7,22.6,798,9594,0.10,3.12,0.00,0.000,6,0.002,0.003,2575,1733,1570
$GC,9922,1.26,170.3,63.6,21.9,843,9929,0.00,2.85,0.00,0.000,4,0.000,0.003,2556,3407,1568
$GC,10100,1.26,170.3,24.6,20.3,874,10107,0.00,3.33,0.00,0.000,6,0.000,0.003,2562,1696,1562
$FREEZE,4.89,1.792,-1.995
$FREEZE,3.41,1.767,-2.000
$FREEZE,2.10,1.757,-1.988
$FREEZE,1.29,1.759,-1.990
$STATE,end climb,SURFACE_DEPTH_REACHED
$STATE,start surface coast
$FREEZE,-0.01,1.716,-1.980
$FINISH,-0.0,1.028804
$STATE,end surface coast,CONTROL_FINISHED_OK
$STATE,start surface
$SM_CCo,10235,50.00,0.003,1,0,1237,250.45
$SM_GC,-0.00,0.00,0.00,50.00,0.000,0.000,0.003,606,2202,1237,-7.64,6.42,250.45
$RAFOS_CLK,0
$RAFOS,1,1160525951,0.333333,0.319722,80,0,0,0,0,0,2191,0,0,0,0,0
$RAFOS,0,1160525342,0.166667,0.150556,80,0,0,0,0,0,2459,0,0,0,0,0
$RAFOS,2,1160522949,23.500000,23.485834,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160522350,23.333334,23.319445,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160521751,23.166666,23.153055,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160519342,22.500000,22.483889,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160518744,22.333334,22.317778,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160518143,22.166666,22.150833,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,-67543.617188,-156245.718750,111006,000020,2,80,7748.09
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.048321
$HUMID,1852
$INTERNAL_PRESSURE,11.602
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.6,17.3
$24V_AH,23.0,6.586
$10V_AH,9.8,1.725
$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,34.075,153.650,329.900,50.000,0.000,0.000,0.000,0.000,0.250,0.000,1584.999,6195.589,608.500,1443.243,593.693,0.000,1460.163,0.000,833.223,4320.000,2.394
$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,766.698,1513.786,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34690,893
$CFSIZE,260165632,248102912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,73,1179,2,0
$SOUNDSPEED,1476.4
$GPS,111006,003946,6657.234,-5704.427,34,1.1,34,18.0