version: 66.00
glider: 99
mission: 1
dive: 35
start: 10 11 106 15 8 27
data:
$ID,99
$MISSION,1
$DIVE,35
$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,-291720.19
$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,12
$R_STBD_OVSHOOT,3
$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
$GPS1,122516,6655.190,-5711.500,22,1.1,23,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.80
$_SM_ANGLEo,-7.0
$GPS2,122516,6655.190,-5711.500,22,1.1,23,18.0
$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,243.0,156849,-19.6,-10.000
$D_GRID,745
$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,-170.3,0.0,0.0,0,36,0.00,0.00,-4.85,0.000,2,0.000,0.000,2194,2117,2645
$GC,41,-1.26,-170.3,7.7,-0.0,1,59,1.08,2.15,-10.38,0.000,4,0.004,0.003,1941,3620,2952
$GC,96,-1.26,-170.3,16.0,-18.4,10,103,0.50,3.62,0.00,0.000,6,0.003,0.003,2063,1768,2956
$GC,446,-1.26,-170.3,52.8,-10.0,71,453,0.50,3.08,0.00,0.000,4,0.004,0.003,1939,3439,2950
$GC,585,-1.26,-170.3,75.0,-16.8,94,593,0.52,3.05,0.00,0.000,6,0.003,0.003,2058,1791,2960
$GC,928,-1.26,-170.3,108.8,-9.1,146,939,0.43,3.22,0.00,0.000,4,0.004,0.003,1923,3628,2947
$GC,1012,-1.26,-170.3,121.4,-15.4,153,1019,0.52,3.33,0.00,0.000,6,0.003,0.003,2074,1744,2955
$GC,1341,-1.26,-170.3,149.7,-8.3,184,1352,0.65,3.28,0.00,0.000,4,0.003,0.003,1886,3421,2954
$GC,1485,-1.26,-170.3,175.2,-18.0,196,1492,0.77,2.58,0.00,0.000,6,0.003,0.003,2062,1877,2956
$GC,1811,-1.26,-170.3,204.4,-8.1,227,1822,1.00,3.60,0.00,0.000,4,0.003,0.003,1936,3716,2947
$GC,1881,-1.26,-170.3,214.0,-14.7,233,1893,0.50,4.18,0.00,0.000,6,0.004,0.003,2072,1675,2959
$GC,2212,-1.26,-170.3,242.5,-8.6,264,2223,0.47,4.00,0.00,0.000,4,0.004,0.003,1943,3718,2955
$GC,2338,-1.26,-170.3,260.2,-14.9,275,2350,0.50,3.62,0.00,0.000,6,0.002,0.003,2067,1713,2950
$GC,2669,-1.26,-170.3,288.9,-8.4,306,2681,0.47,4.03,0.00,0.000,4,0.004,0.003,1946,3672,2960
$GC,2784,-1.26,-170.3,305.0,-14.2,316,2795,0.52,2.95,0.00,0.000,6,0.003,0.003,2060,1802,2952
$GC,3114,-1.26,-170.3,333.9,-8.5,347,3125,0.62,3.25,0.00,0.000,4,0.004,0.003,1946,3625,2955
$GC,3207,-1.26,-170.3,345.6,-14.8,355,3218,0.52,3.12,0.00,0.000,6,0.003,0.003,2067,1780,2958
$GC,3537,-1.26,-170.3,375.3,-9.1,386,3548,0.35,3.53,0.00,0.000,4,0.004,0.003,1934,3621,2960
$GC,3645,-1.26,-170.3,390.6,-14.2,395,3652,0.52,3.35,0.00,0.000,6,0.003,0.003,2061,1758,2953
$GC,3971,-1.26,-170.3,419.4,-9.1,426,3981,0.60,2.72,0.00,0.000,4,0.003,0.003,2001,3601,2954
$GC,4085,-1.26,-170.3,432.3,-11.1,436,4095,0.00,3.50,0.00,0.000,6,0.000,0.003,2003,1744,2948
$GC,4416,-1.26,-170.3,468.6,-11.3,467,4425,0.00,3.38,0.00,0.000,4,0.000,0.003,2003,3399,2948
$GC,4556,-1.26,-170.3,482.8,-10.8,479,4562,0.00,2.83,0.00,0.000,6,0.000,0.003,2006,1752,2952
$GC,4890,-1.26,-170.3,518.5,-10.4,503,4895,0.00,3.12,0.00,0.000,4,0.000,0.003,2007,3400,2941
$GC,5014,-1.26,-170.3,533.0,-11.9,508,5021,0.00,3.53,0.00,0.000,6,0.000,0.003,2000,1716,2952
$GC,5336,-1.26,-170.3,566.5,-10.7,524,5343,0.00,3.58,0.00,0.000,4,0.000,0.003,1994,3556,2952
$GC,5453,-1.26,-170.3,579.6,-10.6,529,5461,0.12,3.83,0.00,0.000,6,0.003,0.003,2005,1765,2962
$GC,5780,-1.26,-170.3,612.9,-10.7,545,5787,0.05,3.33,0.00,0.000,4,0.003,0.003,2007,3594,2955
$GC,5886,-1.26,-170.3,624.8,-8.9,549,5893,0.00,3.62,0.00,0.000,6,0.000,0.003,2000,1747,2952
$GC,6206,-1.26,-170.3,656.4,-9.9,565,6211,0.00,3.20,0.00,0.000,4,0.000,0.003,2007,3445,2956
$GC,6318,-1.26,-170.3,666.7,-8.8,570,6325,0.00,3.45,0.00,0.000,6,0.000,0.003,2005,1799,2956
$GC,6645,-1.26,-170.3,705.7,-12.8,586,6652,0.17,3.42,0.00,0.000,4,0.003,0.003,1956,3643,2951
$GC,6745,-1.26,-170.3,727.6,-44.6,590,6756,0.52,3.05,0.00,0.000,6,0.003,0.003,2069,1733,2954
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,6869,-0.25,0.0,751.6,31.1,596,7047,1.08,0.00,164.23,0.003,6,0.003,0.000,2297,2221,2274
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,7052,1.26,170.3,659.8,0.0,605,7236,1.52,0.00,164.10,0.003,6,0.003,0.000,2623,2227,1569
$GC,7544,1.26,170.3,530.3,31.7,629,7553,0.60,2.72,0.93,0.003,4,0.003,0.002,2505,3579,1562
$GC,7568,1.26,170.3,525.3,22.0,630,7576,0.52,3.47,0.00,0.000,6,0.003,0.003,2636,1921,1565
$GC,7897,1.26,170.3,430.4,29.0,656,7908,0.77,3.03,0.03,0.003,4,0.004,0.003,2510,3664,1564
$GC,8004,1.26,170.3,410.6,17.3,665,8012,0.50,3.28,0.17,0.003,6,0.003,0.003,2630,1972,1566
$GC,8335,1.26,170.3,318.3,28.8,696,8346,0.68,3.28,0.00,0.000,4,0.004,0.003,2440,3480,1564
$GC,8431,1.26,170.3,302.9,11.6,704,8440,1.10,2.55,0.00,0.000,6,0.003,0.003,2627,1953,1564
$GC,8760,1.26,170.3,213.6,28.5,735,8772,0.77,3.10,0.15,0.004,4,0.004,0.003,2457,3583,1566
$GC,8864,1.26,170.3,197.8,12.6,744,8875,0.55,3.10,0.00,0.000,6,0.003,0.003,2569,1735,1565
$GC,9197,1.26,170.3,124.4,23.1,775,9209,0.45,3.22,0.20,0.004,4,0.003,0.003,2452,3649,1563
$GC,9351,1.26,170.3,101.8,11.8,788,9358,0.82,3.15,0.00,0.000,6,0.003,0.003,2643,1898,1566
$GC,9697,1.26,170.3,7.7,25.9,848,9705,0.73,2.95,0.00,0.000,4,0.003,0.003,2456,3598,1566
$FREEZE,4.47,2.386,-1.992
$FREEZE,3.78,2.423,-1.986
$FREEZE,3.08,2.386,-1.982
$FREEZE,2.35,2.375,-1.988
$FREEZE,1.49,2.377,-1.993
$STATE,end climb,SURFACE_DEPTH_REACHED
$STATE,start surface coast
$FREEZE,1.28,2.384,-1.990
$FREEZE,0.89,2.396,-1.995
$FINISH,0.9,1.028936
$STATE,end surface coast,CONTROL_FINISHED_OK
$STATE,start surface
$SM_CCo,9773,49.30,0.003,0,0,1240,250.45
$SM_GC,-0.00,0.00,0.00,49.30,0.000,0.000,0.003,624,1736,1240,-7.64,-6.73,250.45
$RAFOS_CLK,0
$RAFOS,2,1160587743,17.500000,17.484167,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160587147,17.333334,17.318611,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160586559,17.166666,17.155277,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160584149,16.500000,16.485834,80,0,0,0,0,0,2491,0,0,0,0,0
$RAFOS,1,1160583552,16.333334,16.320000,80,0,0,0,0,0,2170,0,0,0,0,0
$RAFOS,0,1160582944,16.166666,16.151112,80,0,0,0,0,0,2424,0,0,0,0,0
$RAFOS,2,1160580546,15.500000,15.485000,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160579944,15.333333,15.317778,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160579352,15.166667,15.153334,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,5106.413574,-47642.179688,111006,161618,3,80,2027.63
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.039117
$HUMID,1806
$INTERNAL_PRESSURE,11.6606
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.5,17.7
$24V_AH,23.0,8.385
$10V_AH,9.8,2.160
$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,31.175,144.800,329.800,49.300,0.000,0.000,0.000,0.000,0.250,0.000,1528.760,5855.555,607.679,1387.866,576.454,0.000,1428.420,0.000,809.309,4320.000,2.379
$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,749.404,1455.431,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31622,856
$CFSIZE,260165632,247750656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,67,1120,5,0
$SOUNDSPEED,1475.7
$GPS,111006,175358,6654.426,-5715.191,18,1.1,18,18.0