version: 66.00
glider: 99
mission: 1
dive: 25
start: 10 10 106 10 32 22
data:
$ID,99
$MISSION,1
$DIVE,25
$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,3
$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
$GPS1,080535,6700.146,-5653.971,20,1.1,20,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.67
$_SM_ANGLEo,-4.2
$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,33,-1.26,-170.3,0.0,0.0,0,40,0.00,0.00,-4.88,0.000,2,0.000,0.000,2199,561,2660
$GC,45,-1.26,-170.3,9.9,-0.0,1,61,1.17,0.00,-10.00,0.000,4,0.004,0.000,1933,555,2961
$GC,137,-1.26,-170.3,24.6,-17.9,17,144,0.52,2.70,0.00,0.000,6,0.003,0.003,2056,2247,2950
$GC,487,-1.26,-170.3,59.6,-9.3,78,493,0.68,0.00,0.00,0.000,6,0.004,0.000,1888,2243,2962
$GC,827,-1.26,-170.3,121.8,-18.5,128,830,1.15,0.00,0.00,0.000,6,0.003,0.000,1987,2236,2955
$GC,1145,-1.26,-170.3,149.0,-8.1,158,1148,0.62,0.00,0.00,0.000,6,0.003,0.000,1940,2249,2950
$GC,1463,-1.26,-170.3,192.4,-14.1,188,1465,0.60,0.00,0.00,0.000,6,0.003,0.000,2000,2240,2954
$GC,1781,-1.26,-170.3,218.0,-7.9,218,1783,0.55,0.00,0.00,0.000,6,0.002,0.000,1959,2253,2958
$GC,2099,-1.26,-170.3,261.1,-14.0,248,2101,0.52,0.00,0.00,0.000,6,0.003,0.000,2006,2244,2957
$GC,2417,-1.26,-170.3,288.1,-8.1,278,2428,0.60,3.25,0.00,0.000,4,0.004,0.003,1946,547,2956
$GC,2445,-1.26,-170.3,291.7,-13.8,280,2452,0.50,2.38,0.00,0.000,6,0.003,0.003,2064,2074,2952
$GC,2771,-1.26,-170.3,318.5,-8.0,311,2782,0.62,3.30,0.00,0.000,4,0.004,0.003,1924,3610,2961
$GC,2832,-1.26,-170.3,326.3,-14.9,316,2843,0.47,3.33,0.00,0.000,6,0.003,0.003,2055,1770,2953
$GC,3163,-1.26,-170.3,355.8,-8.5,347,3173,0.45,3.03,0.00,0.000,4,0.004,0.003,1945,3590,2962
$GC,3270,-1.26,-170.3,370.0,-15.0,356,3277,0.52,3.05,0.00,0.000,6,0.003,0.003,2043,1717,2955
$GC,3599,-1.26,-170.3,398.5,-8.8,387,3610,0.35,3.50,0.00,0.000,4,0.003,0.003,1931,3549,2952
$GC,3717,-1.26,-170.3,414.5,-10.2,397,3724,0.50,3.03,0.00,0.000,6,0.003,0.003,2048,1765,2958
$GC,4046,-1.26,-170.3,443.5,-8.7,428,4057,0.35,3.25,0.00,0.000,4,0.004,0.003,1918,3569,2948
$GC,4165,-1.26,-170.3,461.2,-15.6,438,4172,0.50,2.72,0.00,0.000,6,0.003,0.003,2043,1751,2961
$GC,4491,-1.26,-170.3,490.3,-8.8,469,4502,0.85,3.50,0.00,0.000,4,0.004,0.003,1921,3620,2949
$GC,4599,-1.26,-170.3,505.9,-14.6,476,4606,0.52,3.25,0.00,0.000,6,0.003,0.003,2055,1766,2954
$GC,4915,-1.26,-170.3,533.7,-8.5,492,4924,0.82,3.60,0.00,0.000,4,0.004,0.003,1923,3664,2955
$GC,5016,-1.26,-170.3,548.4,-15.0,496,5027,0.52,3.70,0.00,0.000,6,0.003,0.003,2046,1809,2955
$GC,5338,-1.26,-170.3,577.5,-8.5,512,5346,0.38,3.25,0.00,0.000,4,0.004,0.003,1927,3639,2952
$GC,5432,-1.26,-170.3,591.4,-15.5,516,5440,0.50,3.15,0.00,0.000,6,0.003,0.003,2051,1810,2952
$GC,5759,-1.26,-170.3,621.0,-9.3,532,5767,0.62,3.12,0.00,0.000,4,0.004,0.003,1920,3662,2958
$GC,5853,-1.26,-170.3,635.2,-16.1,536,5861,0.50,3.83,0.00,0.000,6,0.003,0.003,2045,1700,2957
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,6148,-0.25,0.0,665.9,11.2,550,6342,1.15,0.00,164.52,0.003,6,0.003,0.000,2300,2014,2260
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,6346,1.26,170.3,664.7,0.0,560,6542,1.65,3.28,162.12,0.004,4,0.003,0.003,2594,493,1574
$GC,6554,1.26,170.3,622.7,27.5,570,6562,0.52,3.25,0.60,0.003,6,0.003,0.003,2478,2162,1567
$GC,6881,1.26,170.3,570.7,16.0,586,6886,0.60,2.53,0.00,0.000,4,0.004,0.003,2597,3516,1567
$GC,6948,1.26,170.3,555.6,27.4,589,6956,0.50,3.22,0.00,0.000,6,0.003,0.003,2458,1820,1564
$GC,7281,1.26,170.3,502.3,15.1,605,7289,0.62,3.25,0.00,0.000,4,0.004,0.003,2589,3697,1562
$GC,7406,1.26,170.3,467.5,28.8,615,7417,0.52,3.67,0.90,0.004,6,0.003,0.003,2466,1866,1567
$GC,7740,1.26,170.3,414.5,14.7,646,7750,0.32,3.33,0.00,0.000,4,0.003,0.003,2593,3534,1570
$GC,7858,1.26,170.3,383.4,29.3,656,7865,0.47,3.33,0.00,0.000,6,0.003,0.003,2460,1709,1562
$GC,8183,1.26,170.3,255.1,39.7,687,8195,0.57,3.47,0.00,0.000,4,0.004,0.003,2585,3376,1565
$GC,8324,1.26,170.3,218.2,25.5,699,8330,0.52,2.67,0.03,0.004,6,0.003,0.003,2526,1877,1563
$GC,8649,1.26,170.3,168.4,15.3,729,8661,0.82,3.75,0.00,0.000,4,0.004,0.003,2580,3510,1566
$GC,8776,1.26,170.3,137.4,25.4,740,8787,0.52,3.67,0.00,0.000,6,0.003,0.003,2468,1680,1558
$GC,9112,1.26,170.3,87.7,14.4,778,9119,0.47,3.40,0.00,0.000,4,0.004,0.003,2587,3539,1567
$GC,9301,1.26,170.3,43.6,23.6,810,9308,0.52,3.17,0.00,0.000,6,0.003,0.003,2457,1871,1570
$FREEZE,4.59,2.040,-1.975
$FREEZE,3.75,2.089,-1.983
$FREEZE,2.96,2.052,-1.990
$FREEZE,2.15,2.103,-1.980
$FREEZE,1.47,2.099,-1.986
$STATE,end climb,SURFACE_DEPTH_REACHED
$STATE,start surface coast
$FREEZE,0.92,2.106,-1.988
$FREEZE,-0.01,2.087,-1.985
$FINISH,-0.0,1.028840
$STATE,end surface coast,CONTROL_FINISHED_OK
$STATE,start surface
$SM_CCo,9618,50.15,0.003,0,0,1240,250.94
$SM_GC,-0.00,0.00,0.00,50.15,0.000,0.000,0.003,585,2033,1240,-7.69,1.50,250.94
$RAFOS_CLK,0
$RAFOS,2,1160483350,12.500000,12.486111,80,0,0,0,0,0,2541,0,0,0,0,0
$RAFOS,1,1160482742,12.333333,12.317223,80,0,0,0,0,0,2264,0,0,0,0,0
$RAFOS,0,1160482143,12.166667,12.150833,80,0,0,0,0,0,2481,0,0,0,0,0
$RAFOS,2,1160479742,11.500000,11.483889,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160479145,11.333333,11.318055,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160478543,11.166667,11.150833,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,5108.514160,-47628.960938,101006,121240,3,80,1870.83
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.039884
$HUMID,1743
$INTERNAL_PRESSURE,11.602
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.9,17.0
$24V_AH,23.0,5.432
$10V_AH,9.8,1.433
$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,34.825,108.350,328.175,50.150,0.000,0.000,0.000,0.000,0.250,0.000,1520.880,5798.487,566.391,1353.974,556.399,0.000,1352.035,0.000,772.549,3360.000,2.378
$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,754.047,1468.101,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31610,861
$CFSIZE,260165632,248344576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,81,827,9,0
$SOUNDSPEED,1476.3
$GPS,101006,131522,6659.145,-5657.258,29,1.1,29,18.0