version: 66.00
glider: 99
mission: 1
dive: 26
start: 10 10 106 13 23 24
data:
$ID,99
$MISSION,1
$DIVE,26
$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,-291619.03
$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
$GPS1,131522,6659.145,-5657.258,29,1.1,29,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-69.9
$GPS2,132243,6659.145,-5657.258,38,1.1,38,18.0
$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,241.1,168388,-19.6,-10.000
$D_GRID,689
$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,-170.3,0.0,0.0,0,94,0.00,0.00,-56.97,0.000,6,0.000,0.000,583,2027,2957
$GC,99,-1.26,-170.3,1.3,-4.2,11,111,7.53,2.53,0.00,0.000,4,0.003,0.003,2077,3525,2956
$GC,139,-1.26,-170.3,13.9,-22.6,17,146,0.77,3.55,0.00,0.000,6,0.003,0.003,1887,1656,2961
$GC,489,-1.26,-170.3,81.4,-18.4,78,497,0.88,3.45,0.00,0.000,4,0.004,0.003,2067,3512,2961
$GC,635,-1.26,-170.3,94.8,-8.1,103,642,0.80,3.25,0.00,0.000,6,0.003,0.003,1940,1832,2959
$GC,965,-1.26,-170.3,142.2,-14.6,137,976,0.50,3.78,0.00,0.000,4,0.004,0.003,2071,3698,2959
$GC,1058,-1.26,-170.3,150.5,-8.3,145,1069,0.45,3.83,0.00,0.000,6,0.003,0.003,1936,1671,2960
$GC,1389,-1.26,-170.3,195.6,-14.5,176,1400,0.52,3.72,0.00,0.000,4,0.004,0.003,1997,3662,2961
$GC,1507,-1.26,-170.3,209.5,-11.4,186,1514,0.00,3.78,0.00,0.000,6,0.000,0.003,1994,1798,2962
$GC,1833,-1.26,-170.3,245.2,-11.1,217,1843,0.00,3.38,0.00,0.000,4,0.000,0.003,1995,3648,2957
$GC,1928,-1.26,-170.3,255.9,-10.9,225,1934,0.00,2.90,0.00,0.000,6,0.000,0.003,2007,1760,2960
$GC,2254,-1.26,-170.3,291.8,-10.9,256,2264,0.00,3.42,0.00,0.000,4,0.000,0.003,2003,3591,2965
$GC,2367,-1.26,-170.3,304.4,-11.1,266,2372,0.00,3.17,0.00,0.000,6,0.000,0.003,1997,1919,2961
$GC,2693,-1.26,-170.3,340.4,-11.0,296,2698,0.00,2.85,0.00,0.000,4,0.000,0.003,2005,3432,2953
$GC,2838,-1.26,-170.3,356.1,-11.1,308,2848,0.00,3.38,0.00,0.000,6,0.000,0.003,1996,1755,2962
$GC,3168,-1.26,-170.3,392.9,-11.2,339,3178,0.00,3.47,0.00,0.000,4,0.000,0.003,2000,3630,2955
$GC,3272,-1.26,-170.3,404.4,-11.1,348,3277,0.00,3.08,0.00,0.000,6,0.000,0.003,2006,1937,2958
$GC,3598,-1.26,-170.3,440.4,-10.9,378,3603,0.00,2.78,0.00,0.000,4,0.000,0.003,2007,3454,2954
$GC,3683,-1.26,-170.3,449.7,-9.6,385,3688,0.00,3.20,0.00,0.000,6,0.000,0.003,1999,1975,2959
$GC,4009,-1.26,-170.3,485.3,-10.8,415,4018,0.00,3.47,0.00,0.000,4,0.000,0.003,1999,3663,2954
$GC,4092,-1.26,-170.3,494.4,-11.8,422,4099,0.00,3.35,0.00,0.000,6,0.000,0.003,2004,1781,2959
$GC,4420,-1.26,-170.3,530.1,-10.9,441,4429,0.00,3.47,0.00,0.000,4,0.000,0.003,2004,3468,2958
$GC,4548,-1.26,-170.3,544.4,-11.5,446,4555,0.05,2.97,0.00,0.000,6,0.003,0.003,2004,1980,2958
$GC,4865,-1.26,-170.3,579.0,-10.7,462,4870,0.10,2.67,0.00,0.000,4,0.003,0.003,1996,3493,2955
$GC,4928,-1.26,-170.3,586.1,-11.3,465,4933,0.00,3.08,0.00,0.000,6,0.000,0.003,1994,1933,2958
$GC,5256,-1.26,-170.3,623.0,-11.8,481,5261,0.00,3.17,0.00,0.000,4,0.000,0.003,1989,3446,2958
$GC,5375,-1.26,-170.3,635.7,-10.7,486,5384,0.00,3.35,0.00,0.000,6,0.000,0.003,1994,1758,2951
$GC,5699,-1.26,-170.3,673.2,-11.7,502,5706,0.00,3.62,0.00,0.000,4,0.000,0.003,1993,3576,2966
$GC,5805,-1.26,-170.3,683.0,-11.6,506,5811,0.00,3.47,0.00,0.000,6,0.000,0.003,2003,1705,2962
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,5860,-0.25,0.0,689.0,12.6,509,6039,1.48,0.00,165.18,0.003,6,0.003,0.000,2307,2212,2262
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,6044,1.26,170.3,689.8,0.0,518,6238,1.40,2.22,164.12,0.004,4,0.003,0.003,2612,3593,1566
$GC,6263,1.26,170.3,640.4,30.7,529,6271,0.75,3.42,0.00,0.000,6,0.002,0.003,2431,1770,1567
$GC,6595,1.26,170.3,595.7,12.0,545,6604,0.70,3.78,0.00,0.000,4,0.004,0.003,2607,3609,1565
$GC,6747,1.26,170.3,551.4,30.3,551,6755,0.50,3.62,0.17,0.003,6,0.003,0.003,2497,1797,1561
$GC,7064,1.26,170.3,496.7,17.0,567,7075,0.50,3.78,0.00,0.000,4,0.004,0.003,2605,3623,1566
$GC,7193,1.26,170.3,460.9,29.9,578,7201,0.55,3.55,0.00,0.000,6,0.003,0.003,2481,1784,1562
$GC,7520,1.26,170.3,403.1,17.0,609,7531,0.82,3.50,0.00,0.000,4,0.003,0.003,2611,3597,1571
$GC,7663,1.26,170.3,359.8,30.0,621,7671,0.52,3.42,0.00,0.000,6,0.003,0.003,2488,1783,1564
$GC,7989,1.26,170.3,300.8,17.4,652,8000,0.47,3.25,0.12,0.004,4,0.004,0.003,2610,3660,1567
$GC,8122,1.26,170.3,262.5,34.8,663,8129,0.77,3.03,0.00,0.000,6,0.002,0.003,2434,1813,1565
$GC,8448,1.26,170.3,221.3,11.6,694,8459,0.88,3.12,0.00,0.000,4,0.003,0.002,2607,3562,1559
$GC,8578,1.26,170.3,185.6,27.8,705,8585,0.45,2.80,0.00,0.000,6,0.003,0.003,2490,1807,1557
$GC,8904,1.26,170.3,130.3,16.2,736,8915,0.47,3.25,0.00,0.000,4,0.003,0.003,2612,3669,1561
$GC,9038,1.26,170.3,95.8,27.7,748,9045,0.52,3.65,0.00,0.000,6,0.003,0.003,2478,1698,1562
$GC,9388,1.26,170.3,40.8,14.3,809,9396,0.57,3.75,0.00,0.000,4,0.004,0.003,2606,3702,1569
$STATE,end climb,FINISH_DEPTH_REACHED
$STATE,start subsurface finish
$FINISH1,4.6,1.028933,-63
$GC,9551,-0.11,-63.3,4.6,-25.2,835,9591,2.28,0.00,-31.70,0.000,6,0.003,0.000,2189,1708,2515
$FINISH2,0.0
$STATE,end subsurface finish,CONTROL_FINISHED_OK
$STATE,start surface
$RAFOS_CLK,0
$RAFOS,2,1160494144,15.500000,15.484445,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160493561,15.333333,15.322500,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160492948,15.166667,15.152223,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160490545,14.500000,14.484722,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160489946,14.333333,14.318334,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160489345,14.166667,14.151389,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160486942,13.500000,13.483889,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160485745,13.166667,13.151389,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,5108.514160,-47628.960938,101006,121240,3,80,1870.83
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.048321
$HUMID,1735
$INTERNAL_PRESSURE,11.602
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,18.7,15.8
$24V_AH,23.0,5.983
$10V_AH,9.8,1.507
$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,25.250,146.700,329.600,0.000,0.000,0.000,0.000,113.895,0.250,39.257,1452.880,5731.137,577.585,1417.048,849.305,0.000,1414.371,0.000,802.575,3360.000,2.377
$DEVICE_MAMPS,3.835,3.068,3.835,0.000,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,Optode,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,739.519,1423.309,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31478,842
$CFSIZE,260165632,248393728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,53,1128,5,0
$SOUNDSPEED,1476.4
$GPS,101006,132243,6659.145,-5657.258,38,1.1,38,18.0