version: 66.00
glider: 99
mission: 1
dive: 23
start: 10 10 106 5 23 31
data:
$ID,99
$MISSION,1
$DIVE,23
$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,-291557.72
$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,13
$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
$GPS1,024833,6700.858,-5651.208,19,1.1,19,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.33
$_SM_ANGLEo,-9.1
$GPS2,024833,6700.858,-5651.208,19,1.1,19,18.0
$SPEED_LIMITS,0.173,0.215
$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,240.4,173354,-21.2,-10.000
$D_GRID,615
$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,29,-1.31,-146.0,0.0,0.0,0,36,0.00,0.00,-4.60,0.000,2,0.000,0.000,2145,3575,2632
$GC,40,-1.31,-146.0,11.2,-0.0,1,52,1.08,0.43,-7.25,0.000,4,0.004,0.003,1906,3228,2855
$GC,254,-1.31,-146.0,48.1,-17.7,38,262,0.77,2.83,0.00,0.000,6,0.003,0.003,2071,1726,2854
$GC,604,-1.31,-146.0,76.2,-7.2,99,611,0.77,3.42,0.00,0.000,4,0.004,0.003,1939,3393,2849
$GC,741,-1.31,-146.0,92.3,-12.2,122,748,0.52,3.17,0.00,0.000,6,0.003,0.003,2069,1733,2854
$GC,1081,-1.31,-146.0,117.3,-6.9,161,1093,0.68,3.72,0.00,0.000,4,0.004,0.003,1887,3701,2853
$GC,1197,-1.31,-146.0,133.8,-14.7,171,1208,0.77,3.47,0.00,0.000,6,0.003,0.003,2060,1851,2854
$GC,1528,-1.31,-146.0,158.1,-7.0,202,1539,0.75,3.60,0.00,0.000,4,0.004,0.003,2010,3651,2854
$GC,1620,-1.31,-146.0,166.1,-9.2,210,1626,0.00,2.83,0.00,0.000,6,0.000,0.003,1994,1928,2845
$GC,1946,-1.31,-146.0,195.8,-9.1,240,1957,0.40,3.25,0.00,0.000,4,0.004,0.003,1876,3595,2855
$GC,2054,-1.31,-146.0,210.9,-14.1,249,2061,0.80,3.42,0.00,0.000,6,0.003,0.003,2002,1689,2846
$GC,2380,-1.31,-146.0,239.7,-8.5,280,2391,0.47,3.25,0.00,0.000,4,0.004,0.003,1898,3550,2853
$GC,2520,-1.31,-146.0,258.4,-14.1,292,2531,0.55,3.03,0.00,0.000,6,0.003,0.003,2016,1692,2850
$GC,2851,-1.31,-146.0,288.4,-8.7,323,2862,0.47,3.53,0.00,0.000,4,0.004,0.003,1875,3694,2850
$GC,2970,-1.31,-146.0,305.1,-14.3,333,2977,0.77,3.28,0.00,0.000,6,0.003,0.003,2064,1835,2850
$GC,3296,-1.31,-146.0,327.7,-6.8,364,3307,1.10,3.75,0.00,0.000,4,0.004,0.003,1889,3497,2850
$GC,3410,-1.31,-146.0,343.0,-13.5,374,3422,0.75,3.38,0.00,0.000,6,0.003,0.003,2076,1817,2848
$GC,3741,-1.31,-146.0,365.8,-6.4,405,3753,0.93,3.40,0.00,0.000,4,0.004,0.003,1882,3686,2852
$GC,3825,-1.31,-146.0,376.2,-14.6,412,3836,0.88,3.80,0.00,0.000,6,0.003,0.003,2062,1837,2852
$GC,4156,-1.31,-146.0,400.4,-6.8,443,4167,0.43,3.75,0.00,0.000,4,0.004,0.003,1955,3699,2849
$GC,4237,-1.31,-146.0,408.8,-11.2,450,4248,0.52,3.67,0.00,0.000,6,0.003,0.003,2071,1663,2846
$GC,4571,-1.31,-146.0,431.2,-6.5,481,4582,0.68,4.25,0.00,0.000,4,0.004,0.003,1889,3500,2853
$GC,4720,-1.31,-146.0,451.5,-14.2,494,4732,0.77,3.25,0.00,0.000,6,0.003,0.003,2076,1810,2851
$GC,5051,-1.31,-146.0,473.9,-6.2,525,5063,0.77,3.72,0.00,0.000,4,0.004,0.003,1908,3679,2853
$GC,5148,-1.31,-146.0,486.6,-13.7,533,5155,0.77,3.10,0.00,0.000,6,0.003,0.003,2073,1980,2853
$GC,5471,-1.31,-146.0,508.7,-6.5,558,5479,0.65,3.03,0.00,0.000,4,0.004,0.003,1904,3607,2849
$GC,5526,-1.31,-146.0,515.9,-13.6,560,5538,0.52,3.10,0.00,0.000,6,0.003,0.003,2024,1795,2851
$GC,5848,-1.31,-146.0,548.2,-9.3,576,5856,0.45,3.25,0.00,0.000,4,0.004,0.003,1900,3457,2854
$GC,5977,-1.31,-146.0,566.1,-16.4,581,5984,0.65,2.55,0.00,0.000,6,0.003,0.003,2018,1945,2854
$GC,6294,-1.31,-146.0,595.1,-9.1,597,6302,0.60,2.72,0.00,0.000,4,0.004,0.003,1889,3621,2854
$GC,6351,-1.31,-146.0,600.1,-5.3,599,6362,0.62,3.45,0.00,0.000,6,0.003,0.003,2029,1790,2856
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,6575,-0.25,0.0,617.0,8.9,610,6732,1.15,0.00,138.65,0.003,6,0.003,0.000,2261,2110,2278
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,6736,1.31,146.0,616.7,0.0,618,6903,2.03,0.00,140.25,0.004,6,0.003,0.000,2629,2111,1675
$GC,7212,1.31,146.0,490.5,29.5,642,7223,0.50,2.42,0.85,0.004,4,0.003,0.003,2509,3611,1668
$GC,7270,1.31,146.0,478.5,17.4,647,7280,0.52,2.75,0.00,0.000,6,0.003,0.003,2621,1894,1666
$GC,7604,1.31,146.0,382.1,29.3,678,7615,0.52,3.15,0.00,0.000,4,0.003,0.003,2498,3593,1666
$GC,7707,1.31,146.0,359.5,16.5,687,7718,0.47,3.42,0.00,0.000,6,0.002,0.003,2635,1754,1668
$GC,8038,1.31,146.0,264.6,33.8,718,8049,0.50,3.22,0.00,0.000,4,0.004,0.003,2489,3649,1667
$GC,8182,1.31,146.0,236.3,22.0,730,8190,0.52,3.88,0.00,0.000,6,0.003,0.003,2628,1669,1671
$GC,8508,1.31,146.0,147.5,27.5,761,8520,0.60,3.38,0.25,0.004,4,0.004,0.003,2505,3531,1668
$GC,8680,1.31,146.0,115.6,17.9,776,8691,0.52,3.28,0.00,0.000,6,0.003,0.003,2625,1868,1674
$GC,9030,1.31,146.0,18.0,24.4,832,9037,0.75,2.90,0.00,0.000,4,0.004,0.003,2509,3623,1667
$FREEZE,4.92,2.635,-1.999
$FREEZE,4.00,2.650,-1.995
$FREEZE,2.85,2.629,-1.992
$FREEZE,1.92,2.670,-1.980
$STATE,end climb,SURFACE_DEPTH_REACHED
$STATE,start surface coast
$FREEZE,1.34,2.678,-1.999
$FREEZE,0.84,2.729,-1.981
$FINISH,0.8,1.028722
$STATE,end surface coast,CONTROL_FINISHED_OK
$STATE,start surface
$SM_CCo,9162,65.45,0.003,0,0,1237,250.94
$SM_GC,-0.00,0.00,0.00,65.45,0.000,0.000,0.003,602,1954,1237,-7.65,-0.71,250.94
$RAFOS_CLK,0
$RAFOS,2,1160465344,7.500000,7.484445,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160464752,7.333333,7.320000,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160464147,7.166667,7.151945,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160461750,6.500000,6.486111,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160461144,6.333333,6.317778,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160460551,6.166667,6.153056,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160458145,5.500000,5.484722,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160457543,5.333333,5.317500,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,40556.804688,347143.531250,101006,040457,3,80,47095.06
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.048321
$HUMID,1762
$INTERNAL_PRESSURE,11.6215
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.3,999.0
$24V_AH,23.0,3.889
$10V_AH,9.8,1.297
$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,37.300,129.425,280.000,65.450,0.000,0.000,0.000,0.000,0.250,0.000,1502.912,5357.306,582.410,1351.995,540.444,0.000,1371.179,0.000,772.644,3360.000,2.298
$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,743.440,1433.829,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31599,850
$CFSIZE,260165632,248594432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,83,999,6,0
$SOUNDSPEED,1476.6
$GPS,101006,075851,6700.146,-5653.971,28,1.1,28,18.0