version: 66.00
glider: 99
mission: 1
dive: 22
start: 10 10 106 2 49 14
data:
$ID,99
$MISSION,1
$DIVE,22
$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,-291557.72
$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,1
$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
$GPS1,024504,6700.858,-5651.208,30,1.1,30,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-66.9
$GPS2,024833,6700.858,-5651.208,19,1.1,19,18.0
$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,240.4,173354,-21.2,-10.000
$D_GRID,615
$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,-146.0,0.0,0.0,0,115,0.00,0.00,-80.60,0.000,6,0.000,0.000,624,3342,2861
$GC,122,-1.31,-146.0,1.1,-4.2,16,135,7.03,0.45,0.00,0.000,4,0.003,0.003,2035,3676,2854
$GC,233,-1.31,-146.0,19.9,-10.4,35,245,0.52,4.28,0.00,0.000,6,0.003,0.003,1905,1675,2861
$GC,588,-1.31,-146.0,77.7,-14.4,97,596,0.85,3.42,0.00,0.000,4,0.003,0.003,2030,3697,2862
$GC,726,-1.31,-146.0,90.6,-8.8,120,734,0.52,3.08,0.00,0.000,6,0.003,0.003,1909,1847,2859
$GC,1064,-1.31,-146.0,138.0,-13.7,157,1074,0.55,2.97,0.00,0.000,4,0.004,0.003,1962,3554,2855
$GC,1149,-1.31,-146.0,147.7,-9.8,164,1155,0.00,3.17,0.00,0.000,6,0.000,0.003,1974,1690,2857
$GC,1475,-1.31,-146.0,182.7,-10.8,195,1484,0.00,3.28,0.00,0.000,4,0.000,0.003,1967,3585,2851
$GC,1610,-1.31,-146.0,197.2,-10.9,207,1620,0.00,3.28,0.00,0.000,6,0.000,0.003,1958,1752,2852
$GC,1940,-1.31,-146.0,232.6,-10.9,238,1950,0.00,3.33,0.00,0.000,4,0.000,0.003,1969,3559,2859
$GC,2057,-1.31,-146.0,245.3,-10.9,248,2064,0.00,3.72,0.00,0.000,6,0.000,0.003,1975,1713,2862
$GC,2383,-1.31,-146.0,279.6,-10.3,279,2393,0.00,3.35,0.00,0.000,4,0.000,0.003,1966,3564,2859
$GC,2511,-1.31,-146.0,293.2,-10.7,290,2518,0.00,3.53,0.00,0.000,6,0.000,0.003,1957,1731,2859
$GC,2837,-1.31,-146.0,327.5,-10.7,321,2847,0.00,3.35,0.00,0.000,4,0.000,0.003,1961,3388,2856
$GC,2984,-1.31,-146.0,342.9,-10.4,334,2989,0.03,3.08,0.00,0.000,6,0.004,0.003,1968,1909,2860
$GC,3309,-1.31,-146.0,377.1,-10.6,364,3314,0.00,3.08,0.00,0.000,4,0.000,0.003,1960,3539,2854
$GC,3380,-1.31,-146.0,384.5,-10.8,369,3387,0.00,3.72,0.00,0.000,6,0.000,0.003,1972,1713,2856
$GC,3705,-1.31,-146.0,418.6,-10.2,400,3716,0.00,3.55,0.00,0.000,4,0.000,0.003,1974,3554,2860
$GC,3831,-1.31,-146.0,431.7,-10.4,411,3841,0.00,3.72,0.00,0.000,6,0.000,0.003,1960,1739,2859
$GC,4161,-1.31,-146.0,466.2,-9.8,442,4171,0.00,3.22,0.00,0.000,4,0.000,0.003,1974,3541,2859
$GC,4279,-1.31,-146.0,479.0,-9.9,452,4286,0.00,3.22,0.00,0.000,6,0.000,0.003,1970,1679,2858
$GC,4612,-1.31,-146.0,513.7,-10.5,478,4620,0.00,3.97,0.00,0.000,4,0.000,0.003,1968,3508,2864
$GC,4758,-1.31,-146.0,528.7,-10.3,484,4769,0.00,3.78,0.00,0.000,6,0.000,0.003,1965,1695,2857
$GC,5080,-1.31,-146.0,563.3,-11.2,500,5087,0.00,3.33,0.00,0.000,4,0.000,0.003,1960,3678,2854
$GC,5197,-1.31,-146.0,576.5,-10.1,505,5204,0.00,3.17,0.00,0.000,6,0.000,0.003,1966,1844,2863
$GC,5523,-1.31,-146.0,609.8,-9.5,521,5529,0.00,3.08,0.00,0.000,4,0.000,0.003,1969,3501,2856
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,5596,-0.25,0.0,615.1,8.0,524,5749,1.27,0.00,142.18,0.003,6,0.003,0.000,2269,1678,2259
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,5754,1.31,146.0,615.9,0.0,532,5907,1.88,3.78,140.80,0.004,4,0.003,0.003,2648,3503,1662
$GC,6043,1.31,146.0,537.0,31.2,545,6054,0.77,3.53,0.00,0.000,6,0.003,0.003,2470,1738,1664
$GC,6366,1.31,146.0,487.7,14.0,564,6377,0.52,3.45,0.00,0.000,4,0.004,0.003,2585,3601,1661
$GC,6515,1.31,146.0,452.2,25.7,577,6526,0.52,2.88,0.00,0.000,6,0.003,0.003,2465,1953,1668
$GC,6845,1.31,146.0,400.2,14.0,608,6856,0.50,3.17,0.00,0.000,4,0.004,0.003,2589,3459,1652
$GC,6952,1.31,146.0,374.1,24.9,617,6959,0.52,2.55,0.00,0.000,6,0.002,0.003,2463,1793,1662
$GC,7278,1.31,146.0,323.7,17.6,648,7290,0.90,3.17,0.00,0.000,4,0.004,0.003,2591,3471,1661
$GC,7430,1.31,146.0,287.3,24.9,661,7438,0.52,3.30,0.00,0.000,6,0.003,0.003,2458,1800,1668
$GC,7756,1.31,146.0,235.4,13.9,692,7768,0.85,3.42,0.05,0.005,4,0.003,0.003,2625,3620,1664
$GC,7891,1.31,146.0,195.3,30.4,703,7898,0.77,3.45,0.00,0.000,6,0.003,0.003,2462,1793,1664
$GC,8216,1.31,146.0,146.0,12.9,734,8228,0.88,3.25,0.00,0.000,4,0.004,0.003,2636,3453,1667
$GC,8365,1.31,146.0,105.3,29.4,747,8377,0.77,3.53,0.00,0.000,6,0.003,0.003,2450,1773,1660
$GC,8720,1.31,146.0,58.0,12.2,807,8727,0.75,3.12,0.00,0.000,4,0.004,0.003,2641,3597,1669
$GC,8877,1.31,146.0,17.9,26.2,834,8886,0.77,3.72,0.00,0.000,6,0.003,0.003,2447,1736,1661
$STATE,end climb,FINISH_DEPTH_REACHED
$STATE,start subsurface finish
$FINISH1,4.8,1.028782,-56
$GC,8975,-0.09,-55.9,4.8,-10.8,849,9017,1.52,2.45,-27.10,0.000,4,0.004,0.003,2145,3573,2496
$FINISH2,1.4
$STATE,end subsurface finish,CONTROL_FINISHED_OK
$STATE,start surface
$RAFOS_CLK,0
$RAFOS,0,1160456944,5.166667,5.151111,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160454544,4.500000,4.484445,80,0,0,0,0,0,2587,0,0,0,0,0
$RAFOS,1,1160453950,4.333333,4.319445,80,0,0,0,0,0,2232,0,0,0,0,0
$RAFOS,0,1160453361,4.166667,4.155833,80,0,0,0,0,0,2390,0,0,0,0,0
$RAFOS,2,1160450941,3.500000,3.483611,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160450342,3.333333,3.317222,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160449749,3.166667,3.152500,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,40556.804688,347143.531250,101006,040457,3,80,47095.06
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.048321
$HUMID,1740
$INTERNAL_PRESSURE,11.6411
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.2,16.3
$24V_AH,23.0,3.889
$10V_AH,9.8,1.230
$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,23.250,135.450,283.025,0.000,0.000,0.000,0.000,0.000,0.250,19.565,1523.453,5173.255,536.498,1408.301,541.330,0.000,1372.728,0.000,803.366,3840.000,2.371
$DEVICE_MAMPS,3.835,3.068,4.602,0.000,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,Optode,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,749.999,1448.696,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31567,856
$CFSIZE,260165632,248467456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,55,1055,0,0
$SOUNDSPEED,1476.2
$GPS,101006,024833,6700.858,-5651.208,19,1.1,19,18.0