version: 66.00
glider: 99
mission: 1
dive: 15
start: 10 9 106 11 9 41
data:
$ID,99
$MISSION,1
$DIVE,15
$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,150
$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,-290357.19
$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,6
$R_STBD_OVSHOOT,10
$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
$GPS1,092143,6700.663,-5642.925,10,1.1,10,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.27
$_SM_ANGLEo,-7.6
$GPS2,092143,6700.663,-5642.925,10,1.1,10,18.0
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$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,301.7,5671,-21.2,-10.000
$D_GRID,472
$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,-1.31,-146.0,0.0,0.0,0,37,0.00,0.00,-4.88,0.000,2,0.000,0.000,2186,2150,2649
$GC,41,-1.31,-146.0,7.2,-0.0,1,53,1.10,0.00,-6.55,0.000,6,0.004,0.000,1941,2139,2854
$GC,395,-1.31,-146.0,57.1,-14.0,63,402,0.47,2.38,0.00,0.000,4,0.004,0.003,2062,3499,2858
$GC,421,-1.31,-146.0,60.1,-12.7,67,428,0.75,2.62,0.00,0.000,6,0.003,0.003,1877,2006,2841
$GC,766,-1.31,-146.0,113.9,-15.5,120,772,0.62,2.38,0.00,0.000,4,0.004,0.003,2061,3353,2854
$GC,831,-1.31,-146.0,119.8,-7.3,125,841,0.77,3.15,0.00,0.000,6,0.003,0.003,1872,1730,2856
$GC,1161,-1.31,-146.0,168.1,-15.0,156,1172,0.77,3.22,0.00,0.000,4,0.004,0.003,2069,3571,2853
$GC,1287,-1.31,-146.0,178.0,-7.0,167,1298,0.60,3.17,0.00,0.000,6,0.003,0.003,1938,1902,2853
$GC,1619,-1.31,-146.0,215.7,-11.9,198,1629,0.50,3.03,0.00,0.000,4,0.004,0.003,2049,3573,2847
$GC,1692,-1.31,-146.0,221.8,-7.5,204,1699,0.47,3.62,0.00,0.000,6,0.003,0.003,1926,1739,2858
$GC,2017,-1.31,-146.0,261.6,-12.4,235,2029,0.52,3.53,0.00,0.000,4,0.004,0.003,2049,3595,2858
$GC,2133,-1.31,-146.0,270.8,-7.2,245,2144,0.52,3.15,0.00,0.000,6,0.003,0.003,1918,1934,2846
$GC,2463,-1.31,-146.0,311.2,-12.4,276,2474,0.60,3.53,0.00,0.000,4,0.004,0.003,2038,3635,2851
$GC,2533,-1.31,-146.0,316.9,-7.2,282,2544,0.52,3.67,0.00,0.000,6,0.003,0.003,1921,1687,2852
$GC,2864,-1.31,-146.0,356.8,-11.3,313,2875,0.52,3.75,0.00,0.000,4,0.004,0.003,2051,3666,2850
$GC,2991,-1.31,-146.0,366.8,-7.6,324,3002,0.85,3.55,0.00,0.000,6,0.003,0.003,1932,2005,2851
$GC,3322,-1.31,-146.0,406.4,-12.1,355,3332,0.45,3.22,0.00,0.000,4,0.004,0.003,2060,3642,2860
$GC,3375,-1.31,-146.0,411.0,-7.0,359,3383,0.52,3.97,0.00,0.000,6,0.003,0.003,1994,1815,2856
$GC,3701,-1.31,-146.0,448.4,-11.9,390,3712,0.60,3.25,0.00,0.000,4,0.004,0.003,2057,3686,2853
$GC,3794,-1.31,-146.0,455.4,-7.4,398,3804,0.52,3.22,0.00,0.000,6,0.002,0.003,1936,1691,2853
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,3953,-0.25,0.0,472.2,11.6,412,4107,1.95,0.00,140.80,0.004,6,0.004,0.000,2307,2195,2264
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,4112,1.31,146.0,474.4,0.0,427,4269,1.67,3.40,140.02,0.004,4,0.003,0.004,2597,329,1669
$GC,4283,1.31,146.0,439.7,28.3,443,4293,0.55,2.85,0.00,0.000,6,0.003,0.003,2492,2206,1662
$GC,4613,1.31,146.0,389.0,14.6,474,4619,0.85,2.17,0.08,0.005,4,0.004,0.003,2604,3514,1670
$GC,4689,1.31,146.0,370.5,26.7,480,4700,0.50,3.47,0.00,0.000,6,0.002,0.003,2474,1828,1660
$GC,5019,1.31,146.0,319.0,14.7,511,5030,0.43,3.53,0.00,0.000,4,0.004,0.003,2604,3649,1677
$GC,5145,1.31,146.0,287.4,26.5,522,5156,0.50,3.53,0.00,0.000,6,0.003,0.003,2478,1828,1662
$GC,5479,1.31,146.0,234.4,15.5,553,5490,0.40,3.25,0.00,0.000,4,0.003,0.003,2603,3653,1666
$GC,5597,1.31,146.0,202.1,33.4,563,5604,0.43,2.62,0.00,0.000,6,0.003,0.003,2486,1996,1662
$GC,5923,1.31,146.0,152.0,14.8,594,5934,0.55,3.22,0.00,0.000,4,0.004,0.003,2533,3667,1665
$GC,6008,1.31,146.0,135.6,19.3,601,6015,0.00,3.35,0.00,0.000,6,0.000,0.003,2536,1846,1664
$GC,6343,1.31,146.0,71.2,19.2,645,6350,0.00,2.67,0.00,0.000,4,0.000,0.003,2537,3365,1665
$GC,6499,1.31,146.0,42.7,18.1,672,6506,0.00,3.45,0.00,0.000,6,0.000,0.003,2536,1727,1667
$FREEZE,4.55,4.121,-2.001
$FREEZE,3.46,4.166,-1.991
$FREEZE,2.38,4.203,-1.991
$FREEZE,1.45,4.187,-2.001
$STATE,end climb,SURFACE_DEPTH_REACHED
$STATE,start surface coast
$FREEZE,0.62,4.216,-1.993
$FREEZE,0.00,4.261,-1.989
$FINISH,0.0,1.028683
$STATE,end surface coast,CONTROL_FINISHED_OK
$STATE,start surface
$SM_CCo,6771,65.15,0.003,0,0,1239,250.45
$SM_GC,0.00,0.00,0.00,65.15,0.000,0.000,0.003,612,2050,1239,-7.61,2.40,250.45
$RAFOS_CLK,0
$RAFOS,2,1160396942,12.500000,12.483889,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160396342,12.333333,12.317223,80,0,0,0,0,0,2296,0,0,0,0,0
$RAFOS,0,1160395751,12.166667,12.153055,80,0,0,0,0,0,2467,0,0,0,0,0
$RAFOS,2,1160393346,11.500000,11.485000,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160392741,11.333333,11.316944,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,-67551.710938,203711.171875,091006,121220,2,80,17285.77
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.039884
$HUMID,1643
$INTERNAL_PRESSURE,11.6313
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.3,17.1
$24V_AH,23.0,2.347
$10V_AH,9.8,0.762
$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,29.575,97.675,280.900,65.150,0.000,0.000,0.000,0.000,0.250,0.000,1238.796,3697.684,484.139,1104.975,443.732,0.000,1138.554,0.000,619.122,2400.000,2.371
$DEVICE_MAMPS,3.835,3.835,4.602,3.068,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,Optode,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,610.027,1207.531,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28496,715
$CFSIZE,260165632,249135104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,62,752,2,0
$SOUNDSPEED,1476.2
$GPS,091006,130539,6701.152,-5645.437,32,1.1,32,18.0