version: 66.00
glider: 99
mission: 1
dive: 17
start: 10 9 106 15 5 25
data:
$ID,99
$MISSION,1
$DIVE,17
$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,150
$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,-290394.41
$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,14
$R_STBD_OVSHOOT,8
$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
$GPS1,131106,6701.152,-5645.437,36,1.1,36,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.60
$_SM_ANGLEo,-7.3
$GPS2,131106,6701.152,-5645.437,36,1.1,36,18.0
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$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,313.6,3891,-21.2,-10.000
$D_GRID,514
$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,-1.31,-146.0,0.0,0.0,0,40,0.00,0.00,-4.82,0.000,2,0.000,0.000,2156,3563,2626
$GC,44,-1.31,-146.0,7.3,-0.0,1,61,1.42,0.38,-7.93,0.000,4,0.004,0.002,1916,3224,2862
$GC,261,-1.31,-146.0,41.2,-16.4,39,268,0.52,3.10,0.00,0.000,6,0.003,0.003,2055,1697,2864
$GC,611,-1.31,-146.0,73.0,-8.3,100,618,0.38,3.67,0.00,0.000,4,0.004,0.003,1925,3364,2866
$GC,767,-1.31,-146.0,94.0,-13.5,127,774,0.52,3.03,0.00,0.000,6,0.003,0.003,2051,1750,2860
$GC,1099,-1.31,-146.0,121.4,-7.8,163,1110,0.80,3.42,0.00,0.000,4,0.004,0.003,1930,3644,2862
$GC,1214,-1.31,-146.0,135.6,-13.4,173,1225,0.52,3.17,0.00,0.000,6,0.003,0.003,2041,1977,2854
$GC,1548,-1.31,-146.0,161.3,-7.4,204,1558,0.52,2.97,0.00,0.000,4,0.004,0.003,1921,3501,2864
$GC,1601,-1.31,-146.0,167.7,-13.0,208,1608,0.52,2.75,0.00,0.000,6,0.003,0.003,2046,1671,2860
$GC,1927,-1.31,-146.0,194.1,-7.7,239,1938,0.82,3.97,0.00,0.000,4,0.004,0.003,1921,3508,2863
$GC,2076,-1.31,-146.0,212.6,-13.5,252,2087,0.50,3.20,0.00,0.000,6,0.003,0.003,2039,1989,2861
$GC,2409,-1.31,-146.0,238.5,-7.8,283,2420,0.55,2.80,0.00,0.000,4,0.004,0.003,1985,3532,2858
$GC,2470,-1.31,-146.0,244.3,-10.2,288,2479,0.00,3.28,0.00,0.000,6,0.000,0.003,1985,1688,2868
$GC,2799,-1.31,-146.0,278.9,-10.4,319,2809,0.00,3.53,0.00,0.000,4,0.000,0.003,1976,3681,2866
$GC,2917,-1.31,-146.0,290.8,-8.8,329,2924,0.00,3.33,0.00,0.000,6,0.000,0.003,1975,1806,2862
$GC,3243,-1.31,-146.0,324.3,-10.0,360,3247,0.00,2.85,0.00,0.000,4,0.000,0.003,1978,3491,2864
$GC,3344,-1.31,-146.0,335.0,-10.3,368,3350,0.00,3.28,0.00,0.000,6,0.000,0.003,1972,1970,2857
$GC,3670,-1.31,-146.0,368.4,-10.2,399,3674,0.00,2.88,0.00,0.000,4,0.000,0.003,1976,3450,2865
$GC,3739,-1.31,-146.0,375.5,-10.7,404,3746,0.00,3.08,0.00,0.000,6,0.000,0.003,1975,1772,2865
$GC,4065,-1.31,-146.0,409.1,-10.2,435,4075,0.00,3.78,0.00,0.000,4,0.000,0.003,1970,3437,2863
$GC,4183,-1.31,-146.0,421.2,-10.5,445,4189,0.00,3.53,0.00,0.000,6,0.000,0.003,1973,1789,2870
$GC,4508,-1.31,-146.0,454.3,-10.7,476,4518,0.00,3.45,0.00,0.000,4,0.000,0.003,1977,3625,2860
$GC,4644,-1.31,-146.0,467.9,-9.8,488,4654,0.00,3.58,0.00,0.000,6,0.000,0.003,1975,1926,2869
$GC,4974,-1.31,-146.0,499.9,-9.0,519,4980,0.00,3.08,0.00,0.000,4,0.000,0.003,1971,3409,2861
$GC,5025,-1.31,-146.0,505.1,-9.3,521,5035,0.00,3.58,0.00,0.000,6,0.000,0.003,1967,1930,2868
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,5128,-0.25,0.0,514.6,10.3,526,5281,1.27,0.00,141.77,0.003,6,0.003,0.000,2277,2271,2261
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,5286,1.31,146.0,516.4,0.0,534,5439,1.70,0.00,142.43,0.004,6,0.003,0.000,2650,2265,1668
$GC,5761,1.31,146.0,384.4,30.8,575,5766,0.77,2.25,0.00,0.000,4,0.004,0.003,2524,3446,1670
$GC,5791,1.31,146.0,375.7,24.7,577,5802,0.25,3.47,0.15,0.003,6,0.003,0.003,2578,1790,1667
$GC,6125,1.31,146.0,296.3,24.6,608,6136,0.60,3.25,0.00,0.000,4,0.003,0.003,2464,3629,1665
$GC,6265,1.31,146.0,275.5,13.6,620,6276,0.77,3.05,0.00,0.000,6,0.003,0.003,2643,1832,1658
$GC,6596,1.31,146.0,178.3,29.8,651,6607,1.10,4.20,0.00,0.000,4,0.003,0.003,2450,3665,1672
$GC,6715,1.31,146.0,159.9,12.5,661,6722,0.77,3.35,0.00,0.000,6,0.003,0.003,2646,1814,1664
$GC,7050,1.31,146.0,55.2,28.2,705,7058,0.93,3.40,0.00,0.000,4,0.003,0.003,2465,3673,1667
$GC,7178,1.31,146.0,37.7,12.0,727,7186,0.52,3.08,0.00,0.000,6,0.003,0.003,2587,1985,1660
$FREEZE,3.80,3.736,-1.990
$FREEZE,2.48,3.811,-1.978
$FREEZE,1.42,3.824,-1.992
$STATE,end climb,SURFACE_DEPTH_REACHED
$STATE,start surface coast
$FREEZE,-0.01,3.833,-1.987
$FINISH,-0.0,1.028706
$STATE,end surface coast,CONTROL_FINISHED_OK
$STATE,start surface
$SM_CCo,7388,65.60,0.003,2,0,1249,250.21
$SM_GC,0.00,0.00,0.00,65.60,0.000,0.000,0.003,572,1990,1249,-7.69,0.14,250.21
$RAFOS_CLK,0
$RAFOS,2,1160411341,16.500000,16.483612,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160410745,16.333334,16.318056,80,0,0,0,0,0,2278,0,0,0,0,0
$RAFOS,0,1160410142,16.166666,16.150555,80,0,0,0,0,0,2512,0,0,0,0,0
$RAFOS,2,1160407749,15.500000,15.485833,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160407143,15.333333,15.317500,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160406543,15.166667,15.150833,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,148409.031250,419711.031250,091006,161620,2,80,32764.41
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.049855
$HUMID,1738
$INTERNAL_PRESSURE,11.6411
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.3,15.3
$24V_AH,23.0,2.749
$10V_AH,9.8,0.877
$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,25.625,102.100,284.350,65.600,0.000,0.000,0.000,0.000,0.250,0.000,1323.337,4119.296,526.508,1157.047,478.087,0.000,1187.201,0.000,652.557,2880.000,2.381
$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,666.965,1278.384,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28386,759
$CFSIZE,260165632,248889344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,54,793,3,0
$SOUNDSPEED,1476.2
$GPS,091006,171154,6701.956,-5647.441,28,1.1,28,18.0