version: 66.00
glider: 99
mission: 1
dive: 31
start: 10 11 106 3 48 6
data:
$ID,99
$MISSION,1
$DIVE,31
$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,6
$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
$GPS1,004453,6657.234,-5704.427,23,1.1,24,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.95
$_SM_ANGLEo,-5.1
$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,33,-1.26,-170.3,0.0,0.0,0,40,0.00,0.00,-4.97,0.000,2,0.000,0.000,2198,3645,2660
$GC,45,-1.26,-170.3,11.0,-0.0,1,62,1.48,0.70,-9.98,0.000,4,0.004,0.003,1889,3156,2959
$GC,240,-1.26,-170.3,49.2,-19.4,35,248,0.93,2.67,0.00,0.000,6,0.003,0.003,2082,1827,2955
$GC,591,-1.26,-170.3,79.6,-7.9,96,598,1.15,3.25,0.00,0.000,4,0.004,0.003,1894,3653,2958
$GC,691,-1.26,-170.3,95.4,-17.4,113,699,0.80,2.95,0.00,0.000,6,0.003,0.003,2077,1969,2962
$GC,1026,-1.26,-170.3,123.4,-7.7,147,1038,0.77,3.47,0.00,0.000,4,0.004,0.003,1891,3492,2953
$GC,1101,-1.26,-170.3,135.1,-17.4,153,1108,0.77,3.28,0.00,0.000,6,0.003,0.003,2072,1991,2963
$GC,1427,-1.26,-170.3,161.2,-7.7,184,1438,0.77,3.45,0.00,0.000,4,0.004,0.003,1885,3671,2961
$GC,1474,-1.26,-170.3,167.7,-16.8,188,1485,0.80,3.67,0.00,0.000,6,0.003,0.003,2083,1672,2956
$GC,1805,-1.26,-170.3,194.5,-7.3,219,1816,1.10,3.75,0.00,0.000,4,0.004,0.003,1887,3663,2958
$GC,1925,-1.26,-170.3,213.9,-16.7,229,1934,0.77,4.25,0.00,0.000,6,0.004,0.003,2076,1670,2960
$GC,2266,-1.26,-170.3,240.7,-7.5,261,2277,0.77,3.38,0.00,0.000,4,0.004,0.003,1943,3373,2960
$GC,2438,-1.26,-170.3,263.1,-13.3,276,2448,0.52,2.75,0.00,0.000,6,0.003,0.003,2087,1875,2961
$GC,2768,-1.26,-170.3,287.3,-7.4,307,2779,1.12,3.75,0.00,0.000,4,0.004,0.003,1904,3511,2961
$GC,2871,-1.26,-170.3,302.4,-15.7,316,2883,0.77,3.42,0.00,0.000,6,0.003,0.003,2087,1763,2958
$GC,3205,-1.26,-170.3,327.8,-7.1,347,3217,0.77,3.42,0.00,0.000,4,0.004,0.003,1959,3631,2960
$GC,3310,-1.26,-170.3,340.8,-13.0,356,3320,0.50,2.88,0.00,0.000,6,0.003,0.003,2079,1938,2956
$GC,3640,-1.26,-170.3,365.4,-7.0,387,3651,0.77,3.08,0.00,0.000,4,0.004,0.003,1953,3464,2963
$GC,3725,-1.26,-170.3,376.4,-13.0,394,3732,0.50,2.62,0.00,0.000,6,0.003,0.003,2072,1799,2963
$GC,4051,-1.26,-170.3,401.1,-7.4,425,4063,0.68,3.53,0.00,0.000,4,0.004,0.003,1894,3624,2961
$GC,4144,-1.26,-170.3,415.6,-16.9,433,4155,0.77,3.78,0.00,0.000,6,0.003,0.003,2069,1941,2957
$GC,4475,-1.26,-170.3,442.1,-7.4,464,4486,1.02,3.33,0.00,0.000,4,0.004,0.003,1963,3645,2959
$GC,4538,-1.26,-170.3,449.7,-13.6,469,4546,0.52,3.38,0.00,0.000,6,0.003,0.003,2072,1934,2965
$GC,4867,-1.26,-170.3,475.2,-8.2,500,4878,0.70,3.35,0.00,0.000,4,0.004,0.003,1883,3637,2955
$GC,4936,-1.26,-170.3,486.2,-17.5,506,4947,0.80,3.17,0.00,0.000,6,0.003,0.003,2010,1953,2963
$GC,5275,-1.26,-170.3,522.6,-10.8,528,5279,0.00,2.88,0.00,0.000,4,0.000,0.003,2012,3460,2966
$GC,5363,-1.26,-170.3,532.3,-11.6,532,5369,0.00,3.12,0.00,0.000,6,0.000,0.003,2012,1953,2959
$GC,5691,-1.26,-170.3,566.8,-10.5,548,5698,0.00,3.47,0.00,0.000,4,0.000,0.003,2007,3612,2959
$GC,5786,-1.26,-170.3,576.9,-9.9,552,5794,0.52,3.58,0.00,0.000,6,0.003,0.003,1888,1911,2957
$GC,6113,-1.26,-170.3,629.2,-16.7,568,6121,0.70,3.33,0.00,0.000,4,0.004,0.003,2081,3610,2962
$GC,6184,-1.26,-170.3,636.3,-9.3,571,6192,0.77,3.75,0.00,0.000,6,0.003,0.003,1883,1739,2956
$GC,6518,-1.26,-170.3,691.7,-17.2,587,6526,0.88,3.78,0.00,0.000,4,0.004,0.003,2088,3407,2957
$GC,6698,-1.26,-170.3,717.1,-13.7,595,6707,0.77,3.53,0.00,0.000,6,0.003,0.003,1885,1740,2960
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,6721,-0.25,0.0,721.4,24.1,595,6896,1.70,0.00,166.38,0.004,6,0.004,0.000,2264,2248,2252
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,6901,1.26,170.3,722.5,0.0,604,7080,2.03,3.03,163.65,0.004,4,0.003,0.003,2627,3390,1573
$GC,7112,1.26,170.3,682.0,40.3,614,7121,0.82,3.22,0.00,0.000,6,0.003,0.003,2439,1749,1565
$GC,7445,1.26,170.3,636.5,12.3,630,7453,0.75,3.28,0.00,0.000,4,0.004,0.003,2634,3392,1563
$GC,7619,1.26,170.3,577.4,31.8,637,7626,0.77,2.95,0.00,0.000,6,0.003,0.003,2451,1701,1556
$GC,7935,1.26,170.3,530.9,13.8,653,7945,0.77,4.55,0.17,0.003,4,0.004,0.003,2566,3563,1557
$GC,8094,1.26,170.3,489.9,25.9,661,8105,0.47,3.62,0.00,0.000,6,0.002,0.003,2447,1721,1574
$GC,8424,1.26,170.3,438.2,13.8,692,8436,0.77,3.50,0.00,0.000,4,0.003,0.003,2573,3609,1559
$GC,8584,1.26,170.3,391.9,36.7,706,8595,0.52,3.42,0.00,0.000,6,0.003,0.003,2436,1774,1566
$GC,8914,1.26,170.3,340.6,19.7,737,8925,0.75,3.47,0.00,0.000,4,0.004,0.003,2634,3596,1569
$GC,9056,1.26,170.3,295.3,32.2,749,9064,0.77,3.45,0.00,0.000,6,0.003,0.003,2442,1754,1575
$GC,9382,1.26,170.3,248.0,13.5,780,9393,0.77,3.50,0.00,0.000,4,0.003,0.003,2630,3653,1567
$GC,9526,1.26,170.3,204.0,36.6,792,9535,0.77,4.22,0.03,0.004,6,0.003,0.003,2508,1672,1570
$GC,9866,1.26,170.3,134.7,18.5,824,9876,0.52,3.05,0.00,0.000,4,0.004,0.003,2568,3542,1566
$GC,10036,1.26,170.3,86.5,25.6,843,10043,0.50,3.28,0.00,0.000,6,0.003,0.003,2456,1905,1561
$GC,10386,1.26,170.3,37.6,21.8,904,10393,0.77,3.03,0.00,0.000,4,0.004,0.003,2633,3611,1569
$GC,10503,1.26,170.3,6.2,29.3,924,10511,0.77,2.83,0.03,0.004,6,0.003,0.003,2459,1781,1566
$FREEZE,1.82,1.930,-1.985
$STATE,end climb,SURFACE_DEPTH_REACHED
$STATE,start surface coast
$FREEZE,1.16,1.998,-1.980
$FINISH,1.2,1.028769
$STATE,end surface coast,CONTROL_FINISHED_OK
$STATE,start surface
$SM_CCo,10551,49.92,0.003,1,0,1248,250.94
$SM_GC,0.00,0.00,0.00,49.92,0.000,0.000,0.003,624,2286,1248,-7.57,8.54,250.94
$RAFOS_CLK,0
$RAFOS,2,1160548143,6.500000,6.484167,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160547546,6.333333,6.318333,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160546943,6.166667,6.150833,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160544557,5.500000,5.488056,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160543947,5.333333,5.318611,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160543346,5.166667,5.151667,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160540942,4.500000,4.483889,80,0,0,0,0,0,2554,0,0,0,0,0
$RAFOS,1,1160540349,4.333333,4.319167,80,0,0,0,0,0,2204,0,0,0,0,0
$RAFOS,0,1160539742,4.166667,4.150556,80,0,0,0,0,0,2460,0,0,0,0,0
$RAFOS_FIX,5105.017090,-47633.273438,111006,040440,3,80,2204.61
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.039884
$HUMID,1746
$INTERNAL_PRESSURE,11.602
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.2,14.6
$24V_AH,23.0,7.171
$10V_AH,9.8,1.881
$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,47.400,160.775,330.250,49.925,0.000,0.000,0.000,0.000,0.250,0.000,1689.427,6278.601,629.601,1522.354,619.574,0.000,1534.377,0.000,883.944,4320.000,2.374
$DEVICE_MAMPS,3.835,3.068,3.835,3.068,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,Optode,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,815.427,1576.060,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34784,927
$CFSIZE,260165632,247980032
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,113,1248,3,0
$SOUNDSPEED,1476.4
$GPS,111006,064637,6656.190,-5707.955,15,1.1,15,18.0