version: 66.00
glider: 99
mission: 1
dive: 33
start: 10 11 106 9 28 52
data:
$ID,99
$MISSION,1
$DIVE,33
$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,-291696.28
$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,8
$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
$GPS1,065315,6656.190,-5707.955,17,1.1,17,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.31
$_SM_ANGLEo,-7.4
$GPS2,065315,6656.190,-5707.955,17,1.1,17,18.0
$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,242.5,159708,-19.6,-10.000
$D_GRID,741
$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,34,-1.26,-170.3,0.0,0.0,0,42,0.00,0.00,-6.18,0.000,2,0.000,0.000,2160,3663,2701
$GC,46,-1.26,-170.3,9.5,-0.0,1,60,1.00,0.68,-8.43,0.000,4,0.004,0.003,1902,3329,2955
$GC,164,-1.26,-170.3,31.8,-20.5,21,171,0.52,2.33,0.00,0.000,6,0.002,0.003,2030,1824,2955
$GC,513,-1.26,-170.3,72.7,-11.2,82,520,0.52,2.75,0.00,0.000,4,0.004,0.003,1901,3509,2960
$GC,618,-1.26,-170.3,91.1,-17.6,100,626,0.52,3.05,0.00,0.000,6,0.003,0.003,2033,1824,2959
$GC,956,-1.26,-170.3,125.8,-9.8,138,967,0.52,3.50,0.00,0.000,4,0.004,0.003,1916,3645,2955
$GC,1052,-1.26,-170.3,141.3,-16.1,146,1059,0.50,2.92,0.00,0.000,6,0.003,0.003,2043,1731,2970
$GC,1378,-1.26,-170.3,171.9,-9.1,177,1390,0.35,3.83,0.00,0.000,4,0.004,0.003,1929,3582,2959
$GC,1505,-1.26,-170.3,191.1,-15.0,188,1515,0.52,3.17,0.00,0.000,6,0.003,0.003,2040,1762,2957
$GC,1835,-1.26,-170.3,222.0,-9.2,219,1846,0.52,3.25,0.00,0.000,4,0.004,0.002,1912,3600,2956
$GC,1943,-1.26,-170.3,238.0,-15.6,228,1951,0.50,3.03,0.00,0.000,6,0.003,0.003,2045,1759,2956
$GC,2272,-1.26,-170.3,267.6,-8.7,259,2283,0.40,3.53,0.00,0.000,4,0.004,0.003,1924,3576,2958
$GC,2391,-1.26,-170.3,285.5,-15.1,269,2399,0.52,3.38,0.00,0.000,6,0.003,0.003,2051,1921,2958
$GC,2717,-1.26,-170.3,314.4,-9.0,300,2727,0.50,3.00,0.00,0.000,4,0.003,0.003,1924,3616,2954
$GC,2786,-1.26,-170.3,324.0,-14.5,306,2797,0.52,3.28,0.00,0.000,6,0.003,0.003,2040,1760,2952
$GC,3120,-1.26,-170.3,354.9,-9.3,337,3130,0.50,3.03,0.00,0.000,4,0.003,0.003,1921,3619,2958
$GC,3226,-1.26,-170.3,370.9,-15.0,346,3233,0.52,2.88,0.00,0.000,6,0.003,0.003,2048,1962,2958
$GC,3552,-1.26,-170.3,400.9,-9.3,377,3558,0.50,2.72,0.00,0.000,4,0.004,0.003,1939,3507,2958
$GC,3612,-1.26,-170.3,408.7,-14.7,381,3620,0.52,3.25,0.00,0.000,6,0.003,0.003,2051,1797,2962
$GC,3938,-1.26,-170.3,438.5,-8.6,412,3949,0.52,3.22,0.00,0.000,4,0.004,0.003,1930,3647,2956
$GC,4041,-1.26,-170.3,452.5,-14.6,421,4052,0.52,3.75,0.00,0.000,6,0.003,0.003,2062,1951,2962
$GC,4375,-1.26,-170.3,480.1,-7.8,452,4386,0.45,3.03,0.00,0.000,4,0.004,0.003,1935,3621,2959
$GC,4438,-1.26,-170.3,488.5,-15.5,457,4445,0.52,3.35,0.00,0.000,6,0.003,0.003,2053,1785,2955
$GC,4758,-1.26,-170.3,516.4,-8.5,479,4766,0.40,3.22,0.00,0.000,4,0.004,0.003,1940,3644,2954
$GC,4859,-1.26,-170.3,530.7,-14.6,483,4870,0.52,3.70,0.00,0.000,6,0.003,0.003,2081,1784,2957
$GC,5180,-1.26,-170.3,556.1,-7.4,499,5189,0.73,3.53,0.00,0.000,4,0.004,0.003,1894,3644,2955
$GC,5282,-1.26,-170.3,572.4,-17.5,503,5293,0.77,3.28,0.00,0.000,6,0.002,0.003,2076,1981,2963
$GC,5603,-1.26,-170.3,597.6,-7.5,519,5611,0.68,3.03,0.00,0.000,4,0.004,0.003,1884,3650,2953
$GC,5658,-1.26,-170.3,605.3,-15.5,521,5670,0.77,3.17,0.00,0.000,6,0.003,0.003,2077,1947,2949
$GC,5980,-1.26,-170.3,630.5,-7.3,537,5988,0.65,3.03,0.00,0.000,4,0.004,0.003,1896,3596,2961
$GC,6051,-1.26,-170.3,641.5,-15.5,540,6059,0.65,3.25,0.00,0.000,6,0.003,0.003,2014,1745,2954
$GC,6383,-1.26,-170.3,676.1,-9.0,556,6391,0.40,3.53,0.00,0.000,4,0.004,0.003,1903,3568,2956
$GC,6503,-1.26,-170.3,694.4,-16.1,561,6511,0.77,3.25,0.00,0.000,6,0.003,0.003,2085,1876,2957
$GC,6830,-1.26,-170.3,721.2,-9.9,577,6838,0.77,3.47,0.00,0.000,4,0.004,0.003,1906,3716,2957
$GC,6911,-1.26,-170.3,735.2,-18.5,580,6922,0.77,3.75,0.00,0.000,6,0.003,0.003,2088,1731,2957
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,6970,-0.25,0.0,743.1,12.9,583,7144,0.77,0.00,163.52,0.003,6,0.003,0.000,2269,2232,2265
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,7149,1.26,170.3,735.2,0.0,592,7328,1.77,0.00,165.38,0.003,6,0.003,0.000,2632,2231,1573
$GC,7637,1.26,170.3,602.5,31.1,616,7646,0.65,2.15,2.20,0.003,4,0.003,0.003,2442,3582,1567
$GC,7676,1.26,170.3,592.9,20.0,617,7683,0.77,2.62,0.00,0.000,6,0.003,0.003,2624,1749,1562
$GC,7992,1.26,170.3,498.5,30.6,633,8003,0.47,3.67,0.00,0.000,4,0.003,0.003,2488,3537,1560
$GC,8152,1.26,170.3,469.4,16.9,647,8164,0.50,3.65,0.00,0.000,6,0.003,0.003,2608,1747,1562
$GC,8483,1.26,170.3,372.1,30.4,678,8494,0.57,3.25,0.00,0.000,4,0.004,0.003,2552,3544,1569
$GC,8642,1.26,170.3,333.2,23.7,692,8653,0.08,3.50,0.00,0.000,6,0.003,0.003,2546,1706,1566
$GC,8972,1.26,170.3,255.2,23.6,723,8982,0.00,3.33,0.00,0.000,4,0.000,0.003,2557,3561,1564
$GC,9141,1.26,170.3,215.6,24.1,738,9146,0.00,2.83,0.00,0.000,6,0.000,0.003,2554,1900,1561
$GC,9467,1.26,170.3,137.6,26.8,768,9477,0.00,3.85,0.00,0.000,4,0.000,0.003,2573,3609,1568
$GC,9620,1.26,170.3,100.2,30.6,781,9627,0.00,2.97,0.00,0.000,6,0.000,0.003,2555,1960,1563
$GC,9972,1.26,170.3,22.6,26.0,842,9978,0.00,2.75,0.00,0.000,4,0.000,0.003,2550,3635,1568
$FREEZE,4.19,2.142,-2.000
$FREEZE,2.89,2.179,-1.988
$FREEZE,1.45,2.170,-1.991
$STATE,end climb,SURFACE_DEPTH_REACHED
$STATE,start surface coast
$FREEZE,0.77,2.167,-1.991
$FINISH,0.8,1.028903
$STATE,end surface coast,CONTROL_FINISHED_OK
$STATE,start surface
$SM_CCo,10099,49.78,0.003,0,0,1246,250.21
$SM_GC,-0.00,0.00,0.00,49.78,0.000,0.000,0.003,603,1790,1246,-7.61,-5.26,250.21
$RAFOS_CLK,0
$RAFOS,2,1160566154,11.500000,11.487223,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160565555,11.333333,11.320833,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160564942,11.166667,11.150556,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160562548,10.500000,10.485556,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160561949,10.333333,10.319167,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160561348,10.166667,10.152223,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160558982,9.500000,9.495000,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160558345,9.333333,9.318055,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,5105.925293,-47636.675781,111006,080818,3,80,5254.35
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.047554
$HUMID,1765
$INTERNAL_PRESSURE,11.6313
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,18.6,15.3
$24V_AH,23.0,7.808
$10V_AH,9.8,2.019
$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,35.350,146.025,331.100,49.775,0.000,0.000,0.000,0.000,0.250,0.000,1519.307,6144.379,623.076,1384.827,583.333,0.000,1441.578,0.000,802.912,3840.000,2.382
$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,749.462,1458.270,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31590,859
$CFSIZE,260165632,247848960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,86,1130,2,0
$SOUNDSPEED,1476.3
$GPS,111006,121933,6655.190,-5711.500,29,1.1,29,18.0