version: 66.00
glider: 99
mission: 1
dive: 24
start: 10 10 106 8 6 20
data:
$ID,99
$MISSION,1
$DIVE,24
$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,-291579.16
$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,1
$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
$GPS1,075851,6700.146,-5653.971,28,1.1,28,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-69.8
$GPS2,080535,6700.146,-5653.971,20,1.1,20,18.0
$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,240.7,171108,-19.6,-10.000
$D_GRID,664
$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,30,-1.26,-170.3,0.0,0.0,0,90,0.00,0.00,-56.55,0.000,6,0.000,0.000,591,1948,2945
$GC,94,-1.26,-170.3,1.3,-4.3,11,112,7.32,3.03,0.00,0.000,4,0.003,0.003,2071,3647,2954
$GC,281,-1.26,-170.3,27.5,-9.7,43,288,0.77,2.58,0.00,0.000,6,0.003,0.003,1889,2006,2960
$GC,630,-1.26,-170.3,94.0,-18.4,104,637,0.70,2.85,0.00,0.000,4,0.004,0.003,2067,3497,2949
$GC,684,-1.26,-170.3,99.5,-8.8,113,692,0.80,3.22,0.00,0.000,6,0.003,0.003,1892,1796,2953
$GC,1010,-1.26,-170.3,156.3,-17.6,144,1021,1.10,3.50,0.00,0.000,4,0.004,0.003,2070,3626,2949
$GC,1125,-1.26,-170.3,166.2,-7.6,154,1136,0.77,3.20,0.00,0.000,6,0.003,0.003,1907,1821,2953
$GC,1459,-1.26,-170.3,219.6,-16.3,185,1470,0.65,3.53,0.00,0.000,4,0.004,0.003,2089,3672,2950
$GC,1566,-1.26,-170.3,229.5,-7.5,194,1574,0.77,3.05,0.00,0.000,6,0.003,0.003,1912,1960,2954
$GC,1893,-1.26,-170.3,276.4,-16.7,225,1904,0.82,3.03,0.00,0.000,4,0.004,0.003,2074,3594,2951
$GC,1943,-1.26,-170.3,281.1,-7.2,229,1954,1.12,3.35,0.00,0.000,6,0.003,0.003,1887,1737,2952
$GC,2273,-1.26,-170.3,334.0,-13.2,260,2285,0.77,3.22,0.00,0.000,4,0.004,0.003,2015,3600,2953
$GC,2382,-1.26,-170.3,344.9,-8.7,269,2389,0.52,3.40,0.00,0.000,6,0.003,0.003,1900,1756,2952
$GC,2707,-1.26,-170.3,398.9,-16.9,300,2719,0.88,3.25,0.00,0.000,4,0.004,0.003,2078,3441,2956
$GC,2838,-1.26,-170.3,410.6,-7.7,311,2845,0.47,3.50,0.00,0.000,6,0.003,0.003,1933,1828,2960
$GC,3164,-1.26,-170.3,455.4,-13.8,342,3175,0.47,3.25,0.00,0.000,4,0.004,0.003,2059,3641,2956
$GC,3256,-1.26,-170.3,463.5,-7.7,350,3267,0.57,2.88,0.00,0.000,6,0.003,0.003,1935,1938,2950
$GC,3595,-1.26,-170.3,509.6,-14.3,379,3600,0.45,2.53,0.00,0.000,4,0.004,0.003,2058,3445,2951
$GC,3666,-1.26,-170.3,516.3,-9.3,382,3674,0.68,3.25,0.00,0.000,6,0.003,0.003,1943,1775,2952
$GC,3993,-1.26,-170.3,562.5,-14.8,398,4001,0.38,3.75,0.00,0.000,4,0.004,0.003,2059,3602,2953
$GC,4100,-1.26,-170.3,571.3,-8.1,402,4107,0.55,3.03,0.00,0.000,6,0.003,0.003,1935,1758,2948
$GC,4416,-1.26,-170.3,619.0,-16.0,418,4424,0.60,3.28,0.00,0.000,4,0.004,0.003,2065,3415,2946
$GC,4597,-1.26,-170.3,636.4,-15.5,426,4604,0.52,3.28,0.00,0.000,6,0.003,0.003,1942,1883,2956
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,4893,-0.25,0.0,666.1,8.9,440,5071,1.48,0.00,163.93,0.003,6,0.003,0.000,2250,2240,2264
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,5076,1.26,170.3,663.8,0.0,449,5263,1.77,3.83,164.05,0.004,4,0.003,0.003,2613,261,1570
$GC,5294,1.26,170.3,612.6,31.3,459,5303,0.77,3.92,0.32,0.004,6,0.003,0.003,2438,2269,1561
$GC,5621,1.26,170.3,570.1,12.7,475,5627,0.75,1.98,0.00,0.000,4,0.004,0.002,2627,3455,1567
$GC,5672,1.26,170.3,556.4,30.2,477,5683,0.77,3.15,0.00,0.000,6,0.002,0.003,2438,1785,1561
$GC,5993,1.26,170.3,512.7,12.8,493,6001,0.75,3.28,0.00,0.000,4,0.003,0.003,2607,3451,1564
$GC,6158,1.26,170.3,465.7,30.6,504,6167,0.57,3.75,0.12,0.003,6,0.002,0.003,2482,1751,1566
$GC,6488,1.26,170.3,407.8,17.1,535,6500,0.55,3.15,0.65,0.004,4,0.003,0.003,2616,3424,1571
$GC,6659,1.26,170.3,353.9,34.8,550,6670,0.70,2.88,0.00,0.000,6,0.003,0.003,2502,1935,1562
$GC,6992,1.26,170.3,291.7,17.4,581,6998,0.38,2.75,0.00,0.000,4,0.004,0.003,2620,3479,1559
$GC,7095,1.26,170.3,261.4,29.5,589,7102,0.77,3.08,0.00,0.000,6,0.003,0.003,2501,1965,1564
$GC,7421,1.26,170.3,203.9,17.1,620,7432,0.50,3.15,0.10,0.005,4,0.003,0.003,2615,3648,1563
$GC,7513,1.26,170.3,178.4,29.7,628,7524,0.75,3.45,0.00,0.000,6,0.003,0.003,2437,1772,1570
$GC,7844,1.26,170.3,135.5,11.9,659,7857,0.77,4.00,0.00,0.000,4,0.003,0.003,2605,3602,1570
$GC,7985,1.26,170.3,98.9,28.2,671,7992,0.57,2.85,0.00,0.000,6,0.002,0.003,2496,1765,1561
$GC,8334,1.26,170.3,40.7,15.5,732,8342,0.45,3.45,0.00,0.000,4,0.003,0.003,2621,3668,1565
$STATE,end climb,FINISH_DEPTH_REACHED
$STATE,start subsurface finish
$FINISH1,4.1,1.028878,-61
$GC,8485,-0.10,-60.6,4.1,-34.4,756,8531,2.28,2.85,-31.40,0.000,4,0.003,0.003,2198,568,2507
$FINISH2,-0.0
$STATE,end subsurface finish,CONTROL_FINISHED_OK
$STATE,start surface
$RAFOS_CLK,0
$RAFOS,1,1160475541,10.333333,10.316944,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160474944,10.166667,10.151111,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160472545,9.500000,9.484722,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160471954,9.333333,9.320556,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160471342,9.166667,9.150556,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160468950,8.500000,8.486111,80,0,0,0,0,0,2551,0,0,0,0,0
$RAFOS,1,1160468342,8.333333,8.317223,80,0,0,0,0,0,2274,0,0,0,0,0
$RAFOS,0,1160467747,8.166667,8.151944,80,0,0,0,0,0,2471,0,0,0,0,0
$RAFOS_FIX,5109.716309,-47628.578125,101006,080801,3,80,22794.88
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.048321
$HUMID,1741
$INTERNAL_PRESSURE,11.6215
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.4,15.1
$24V_AH,23.0,5.432
$10V_AH,9.8,1.365
$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,36.325,125.475,329.175,0.000,0.000,0.000,0.000,98.940,0.250,20.812,1352.615,4998.031,567.002,1261.166,781.221,0.000,1326.227,0.000,722.726,3840.000,2.373
$DEVICE_MAMPS,3.835,3.068,4.602,0.000,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,Optode,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,658.795,1289.747,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28465,764
$CFSIZE,260165632,248549376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,83,981,4,0
$SOUNDSPEED,1476.1
$GPS,101006,080535,6700.146,-5653.971,20,1.1,20,18.0