version: 66.00
glider: 99
mission: 1
dive: 58
start: 10 14 106 23 31 44
data:
$ID,99
$MISSION,1
$DIVE,58
$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,280
$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,1
$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,-294605.75
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,0.2
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,5400
$PITCH_MIN,679
$PITCH_MAX,3252
$C_PITCH,2258
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$ROLL_MIN,166
$ROLL_MAX,3791
$C_ROLL_DIVE,2220
$C_ROLL_CLIMB,2331
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,5
$R_STBD_OVSHOOT,8
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$VBD_MIN,421
$VBD_MAX,3792
$C_VBD,2400
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,4
$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
$GPS1,232753,6644.258,-5804.383,21,1.1,21,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-69.9
$GPS2,233103,6644.258,-5804.383,36,1.1,36,18.0
$SPEED_LIMITS,0.204,0.245
$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,249.9,116270,-22.5,-11.786
$D_GRID,655
$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,-1.41,-170.3,0.0,0.0,0,95,0.00,0.00,-56.62,0.000,6,0.000,0.000,598,2477,3109
$GC,99,-1.41,-170.3,3.9,-19.5,12,115,6.85,3.10,0.00,0.000,4,0.003,0.003,2023,621,3106
$GC,178,-1.41,-170.3,22.1,-12.9,26,185,0.52,2.97,0.00,0.000,6,0.003,0.003,1895,2451,3100
$GC,523,-1.41,-170.3,91.1,-20.0,87,530,0.62,3.42,0.00,0.000,4,0.004,0.003,2019,770,3096
$GC,578,-1.41,-170.3,98.6,-12.0,96,584,0.52,3.05,0.00,0.000,6,0.003,0.003,1902,2491,3105
$GC,910,-1.41,-170.3,160.5,-18.4,128,920,0.47,3.42,0.00,0.000,4,0.004,0.003,1947,687,3103
$GC,966,-1.41,-170.3,169.1,-14.3,133,971,0.00,2.90,0.00,0.000,6,0.000,0.003,1960,2231,3105
$GC,1292,-1.41,-170.3,210.7,-14.5,163,1297,0.00,3.47,0.00,0.000,4,0.000,0.003,1961,741,3109
$GC,1345,-1.41,-170.3,218.1,-14.2,167,1350,0.00,3.25,0.00,0.000,6,0.000,0.003,1957,2226,3108
$GC,1673,-1.41,-170.3,265.0,-14.5,197,1678,0.00,3.17,0.00,0.000,4,0.000,0.003,1954,739,3102
$GC,1706,-1.41,-170.3,270.4,-14.3,199,1713,0.00,3.05,0.00,0.000,6,0.000,0.003,1953,2409,3104
$GC,2035,-1.41,-170.3,315.5,-13.1,230,2040,0.00,3.47,0.00,0.000,4,0.000,0.003,1963,775,3103
$GC,2076,-1.41,-170.3,321.3,-12.6,233,2080,0.00,3.28,0.00,0.000,6,0.000,0.003,1950,2316,3104
$GC,2404,-1.41,-170.3,365.9,-14.3,263,2409,0.00,3.62,0.00,0.000,4,0.000,0.003,1958,656,3101
$GC,2456,-1.41,-170.3,373.6,-14.2,267,2461,0.00,3.42,0.00,0.000,6,0.000,0.003,1953,2317,3096
$GC,2784,-1.41,-170.3,419.6,-14.0,297,2789,0.00,3.05,0.00,0.000,4,0.000,0.003,1954,793,3102
$GC,2837,-1.41,-170.3,427.2,-14.4,301,2846,0.00,3.62,0.00,0.000,6,0.000,0.003,1957,2537,3102
$GC,3171,-1.41,-170.3,473.8,-13.9,332,3176,0.00,3.62,0.00,0.000,4,0.000,0.003,1947,699,3099
$GC,3234,-1.41,-170.3,483.2,-13.9,337,3239,0.00,3.05,0.00,0.000,6,0.000,0.003,1959,2244,3100
$GC,3564,-1.41,-170.3,529.2,-13.6,358,3569,0.00,3.12,0.00,0.000,4,0.000,0.003,1955,705,3101
$GC,3597,-1.41,-170.3,532.9,-10.4,359,3603,0.00,3.28,0.00,0.000,6,0.000,0.003,1957,2383,3102
$GC,3913,-1.41,-170.3,574.7,-12.5,375,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2394,3106
$GC,4223,-1.41,-170.3,617.4,-14.0,390,4227,0.00,3.17,0.00,0.000,4,0.000,0.003,1952,707,3103
$GC,4268,-1.41,-170.3,622.7,-11.6,392,4275,0.00,4.03,0.00,0.000,6,0.000,0.003,1955,2515,3104
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,4517,-0.25,0.0,656.6,13.9,404,4691,1.52,0.00,166.43,0.003,6,0.003,0.000,2255,2182,2404
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,4696,1.41,170.3,662.8,0.0,413,4872,1.70,3.33,163.02,0.004,4,0.003,0.003,2626,3787,1711
$GC,4924,1.41,170.3,621.2,24.0,424,4930,0.50,3.05,0.00,0.000,6,0.003,0.003,2577,2150,1709
$GC,5252,1.41,170.3,571.7,14.7,440,5260,0.62,3.17,0.00,0.000,4,0.004,0.003,2635,3801,1717
$GC,5290,1.41,170.3,562.9,24.5,441,5297,0.55,3.12,0.00,0.000,6,0.003,0.003,2502,2110,1713
$GC,5607,1.41,170.3,514.1,14.4,457,5613,0.47,3.03,0.10,0.004,4,0.004,0.003,2622,3750,1711
$GC,5653,1.41,170.3,504.1,25.6,459,5661,0.55,3.40,0.00,0.000,6,0.003,0.003,2524,2127,1714
$GC,5988,1.41,170.3,450.6,14.8,490,5994,0.50,3.17,0.00,0.000,4,0.004,0.003,2567,3796,1708
$GC,6033,1.41,170.3,441.9,20.3,493,6039,0.00,3.12,0.00,0.000,6,0.000,0.003,2568,2169,1717
$GC,6362,1.41,170.3,380.3,19.1,524,6372,0.00,3.88,0.00,0.000,4,0.000,0.003,2561,3789,1712
$GC,6396,1.41,170.3,373.2,19.5,527,6401,0.00,3.33,0.00,0.000,6,0.000,0.003,2565,2273,1707
$GC,6725,1.41,170.3,311.4,19.0,557,6730,0.00,3.03,0.00,0.000,4,0.000,0.003,2560,3753,1711
$GC,6776,1.41,170.3,300.2,18.7,561,6782,0.00,3.17,0.08,0.004,6,0.000,0.003,2569,2142,1708
$GC,7102,1.41,170.3,238.8,19.0,591,7107,0.00,3.40,0.00,0.000,4,0.000,0.003,2572,3802,1709
$GC,7142,1.41,170.3,231.1,19.2,594,7147,0.00,2.83,0.22,0.003,6,0.000,0.003,2578,2131,1708
$GC,7467,1.41,170.3,170.1,18.6,624,7472,0.00,3.20,0.00,0.000,4,0.000,0.003,2569,3794,1711
$GC,7507,1.41,170.3,160.3,29.5,627,7512,0.00,2.75,0.00,0.000,6,0.000,0.003,2565,2332,1716
$GC,7832,1.41,170.3,100.4,18.1,657,7837,0.00,3.40,0.00,0.000,4,0.000,0.003,2576,3786,1714
$GC,7873,1.41,170.3,92.6,20.1,663,7879,0.00,3.05,0.00,0.000,6,0.000,0.003,2572,2131,1712
$GC,8218,1.41,170.3,32.3,16.9,724,8224,0.00,3.22,0.00,0.000,4,0.000,0.003,2561,3787,1706
$GC,8266,1.41,170.3,24.6,16.5,732,8272,0.00,3.10,0.00,0.000,6,0.000,0.003,2563,2086,1713
$FREEZE,4.41,6.312,-1.997
$FREEZE,3.47,6.314,-1.994
$FREEZE,2.46,6.462,-1.999
$FREEZE,1.46,6.440,-2.003
$STATE,end climb,SURFACE_DEPTH_REACHED
$STATE,start surface coast
$FREEZE,0.90,6.552,-2.004
$FREEZE,-0.00,6.869,-1.994
$FINISH,-0.0,1.028416
$STATE,end surface coast,CONTROL_FINISHED_OK
$STATE,start surface
$SM_CCo,8444,50.47,0.003,0,0,1370,250.94
$SM_GC,-0.00,0.00,0.00,50.47,0.000,0.000,0.003,598,2437,1370,-7.61,5.77,250.94
$RAFOS_CLK,0
$RAFOS,2,1160875749,1.500000,1.485833,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160875146,1.333333,1.318333,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160874550,1.166667,1.152778,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160872161,0.500000,0.489167,80,0,0,0,0,0,2280,0,0,0,0,0
$RAFOS,1,1160871544,0.333333,0.317778,80,0,0,0,0,0,2254,0,0,0,0,0
$RAFOS,0,1160870942,0.166667,0.150556,80,0,0,0,0,0,2313,0,0,0,0,0
$RAFOS,1,1160867942,23.333334,23.317223,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,6733.838379,-22245.953125,151006,000036,3,80,2134.81
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.048321
$HUMID,1777
$INTERNAL_PRESSURE,11.5727
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.6,19.1
$24V_AH,23.0,17.110
$10V_AH,9.8,3.936
$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,25.200,137.625,329.850,50.475,0.000,0.000,0.000,49.121,0.250,36.777,1369.425,5527.073,552.242,939.391,390.242,0.000,1212.731,0.000,648.904,2880.000,2.380
$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,618.486,785.092,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28458,759
$CFSIZE,260165632,246018048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,14,254,0,0
$SOUNDSPEED,1475.3
$GPS,151006,015531,6643.668,-5806.708,26,1.1,26,18.0