version: 66.00
glider: 99
mission: 1
dive: 20
start: 10 9 106 21 59 50
data:
$ID,99
$MISSION,1
$DIVE,20
$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,-290428.56
$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,5
$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
$GPS1,215253,6701.276,-5649.814,27,1.1,27,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-69.4
$GPS2,215907,6701.276,-5649.814,14,1.1,14,18.0
$SPEED_LIMITS,0.173,0.215
$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,240.2,174511,-21.2,-10.000
$D_GRID,590
$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,29,-1.31,-146.0,0.0,0.0,0,88,0.00,0.00,-53.28,0.000,6,0.000,0.000,645,1709,2865
$GC,93,-1.31,-146.0,1.4,-3.5,11,110,7.28,3.00,0.00,0.000,4,0.003,0.003,2026,3569,2869
$GC,336,-1.31,-146.0,33.8,-10.1,53,343,0.50,2.72,0.00,0.000,6,0.003,0.003,1917,1710,2869
$GC,685,-1.31,-146.0,87.8,-14.7,114,692,0.57,3.28,0.00,0.000,4,0.004,0.003,2043,3410,2861
$GC,851,-1.31,-146.0,102.7,-8.3,140,858,0.52,3.10,0.00,0.000,6,0.003,0.003,1909,1672,2866
$GC,1180,-1.31,-146.0,146.3,-13.8,171,1191,0.38,3.75,0.00,0.000,4,0.003,0.003,2039,3678,2864
$GC,1299,-1.31,-146.0,157.1,-8.0,181,1306,0.52,2.55,0.00,0.000,6,0.002,0.003,1907,1985,2860
$GC,1625,-1.31,-146.0,200.5,-13.6,212,1635,0.60,3.25,0.00,0.000,4,0.004,0.003,2027,3640,2869
$GC,1686,-1.31,-146.0,206.2,-8.1,217,1694,0.52,3.78,0.00,0.000,6,0.003,0.003,1973,1817,2863
$GC,2012,-1.31,-146.0,246.2,-12.0,248,2023,0.60,3.28,0.00,0.000,4,0.004,0.003,2032,3464,2865
$GC,2119,-1.31,-146.0,255.4,-7.7,257,2127,0.52,3.72,0.00,0.000,6,0.003,0.003,1973,1794,2868
$GC,2449,-1.31,-146.0,296.7,-13.1,288,2460,0.35,3.78,0.00,0.000,4,0.004,0.003,2038,3503,2867
$GC,2564,-1.31,-146.0,306.3,-7.4,298,2575,0.52,3.50,0.00,0.000,6,0.002,0.003,1928,1818,2860
$GC,2894,-1.31,-146.0,346.0,-12.6,329,2906,0.57,3.58,0.00,0.000,4,0.004,0.003,2047,3640,2864
$GC,2979,-1.31,-146.0,353.2,-7.5,336,2987,0.57,3.78,0.00,0.000,6,0.003,0.003,1996,1986,2867
$GC,3305,-1.31,-146.0,392.6,-12.5,367,3311,0.52,2.30,0.00,0.000,4,0.004,0.003,2045,3366,2868
$GC,3373,-1.31,-146.0,398.1,-7.3,372,3380,0.52,2.50,0.00,0.000,6,0.003,0.003,1931,1831,2865
$GC,3699,-1.31,-146.0,438.2,-12.8,403,3710,0.52,3.25,0.00,0.000,4,0.004,0.003,2049,3661,2874
$GC,3791,-1.31,-146.0,445.5,-7.1,411,3802,0.52,3.47,0.00,0.000,6,0.003,0.003,1931,1943,2868
$GC,4122,-1.31,-146.0,484.6,-11.8,442,4132,0.40,3.28,0.00,0.000,4,0.004,0.003,2067,3468,2862
$GC,4202,-1.31,-146.0,490.8,-6.8,449,4213,0.52,3.25,0.00,0.000,6,0.003,0.003,1941,1816,2862
$GC,4536,-1.31,-146.0,530.9,-11.8,469,4544,0.43,3.53,0.00,0.000,4,0.003,0.003,2055,3652,2859
$GC,4631,-1.31,-146.0,538.4,-8.0,473,4640,0.52,3.05,0.00,0.000,6,0.003,0.003,1925,1972,2869
$GC,4962,-1.31,-146.0,580.0,-12.5,489,4970,0.55,3.03,0.00,0.000,4,0.004,0.003,1981,3621,2866
$GC,5017,-1.31,-146.0,586.0,-10.3,491,5022,0.00,3.15,0.00,0.000,6,0.000,0.003,1987,1945,2862
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,5071,-0.25,0.0,590.2,9.3,493,5231,1.27,0.00,143.00,0.003,6,0.003,0.000,2298,2284,2270
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,5236,1.31,146.0,591.3,0.0,501,5395,1.45,2.25,140.65,0.003,4,0.003,0.003,2588,3455,1669
$GC,5413,1.31,146.0,555.5,27.1,510,5421,0.47,3.33,0.15,0.003,6,0.003,0.003,2472,1792,1672
$GC,5741,1.31,146.0,501.6,14.3,526,5749,0.52,3.47,0.00,0.000,4,0.003,0.003,2528,3655,1669
$GC,5869,1.31,146.0,471.8,28.1,536,5877,0.00,3.45,1.00,0.003,6,0.000,0.003,2533,1815,1666
$GC,6209,1.31,146.0,399.6,34.5,568,6219,0.00,3.35,0.00,0.000,4,0.000,0.003,2540,3670,1665
$GC,6338,1.31,146.0,370.3,20.3,579,6344,0.00,3.25,0.00,0.000,6,0.000,0.003,2537,1854,1670
$GC,6663,1.31,146.0,302.8,19.9,610,6668,0.00,2.70,0.00,0.000,4,0.000,0.003,2526,3362,1668
$GC,6798,1.31,146.0,274.6,19.5,621,6804,0.00,2.35,0.00,0.000,6,0.000,0.003,2541,1993,1667
$GC,7124,1.31,146.0,211.2,19.6,652,7128,0.00,2.67,0.00,0.000,4,0.000,0.003,2536,3518,1664
$GC,7213,1.31,146.0,192.1,19.9,659,7220,0.00,2.60,0.00,0.000,6,0.000,0.003,2533,1810,1665
$GC,7539,1.31,146.0,129.7,19.5,690,7549,0.00,3.33,0.00,0.000,4,0.000,0.003,2540,3654,1664
$GC,7676,1.31,146.0,102.9,18.6,702,7686,0.00,3.58,0.00,0.000,6,0.000,0.003,2525,1977,1666
$GC,8029,1.31,146.0,38.1,17.7,762,8036,0.00,3.47,0.00,0.000,4,0.000,0.003,2539,3645,1667
$GC,8126,1.31,146.0,21.6,16.9,778,8133,0.00,2.70,0.00,0.000,6,0.000,0.003,2531,1801,1676
$STATE,end climb,FINISH_DEPTH_REACHED
$STATE,start subsurface finish
$FINISH1,4.4,1.028684,-51
$GC,8224,-0.09,-51.1,4.4,-17.1,793,8261,1.35,2.85,-26.60,0.000,4,0.004,0.003,2173,3484,2469
$FINISH2,-0.0
$STATE,end subsurface finish,CONTROL_FINISHED_OK
$STATE,start surface
$RAFOS_CLK,0
$RAFOS,0,1160438941,0.166667,0.150278,80,0,0,0,0,0,2504,0,0,0,0,0
$RAFOS,2,1160436553,23.500000,23.486944,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160435942,23.333334,23.317223,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160435343,23.166666,23.150833,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160432944,22.500000,22.484444,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160432342,22.333334,22.317223,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160431741,22.166666,22.150278,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,5145.256348,-479644.968750,091006,202020,2,80,29822.82
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.048321
$HUMID,1805
$INTERNAL_PRESSURE,11.6704
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.9,17.2
$24V_AH,23.0,3.671
$10V_AH,9.8,1.074
$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,23.650,124.075,284.800,0.000,0.000,0.000,0.000,125.408,0.250,14.500,1344.919,4743.268,521.660,1267.177,765.816,0.000,1264.699,0.000,714.033,3360.000,2.397
$DEVICE_MAMPS,3.835,3.068,3.068,0.000,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,Optode,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,690.048,1360.972,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31610,799
$CFSIZE,260165632,248786944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,61,960,4,0
$SOUNDSPEED,1476.0
$GPS,091006,215907,6701.276,-5649.814,14,1.1,14,18.0