version: 66.00
glider: 99
mission: 1
dive: 32
start: 10 11 106 6 54 1
data:
$ID,99
$MISSION,1
$DIVE,32
$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,-291696.28
$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,9
$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
$GPS1,064637,6656.190,-5707.955,15,1.1,15,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,065315,6656.190,-5707.955,17,1.1,17,18.0
$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,242.5,159708,-19.6,-10.000
$D_GRID,741
$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,-170.3,0.0,0.0,0,90,0.00,0.00,-56.97,0.000,6,0.000,0.000,614,2287,2965
$GC,95,-1.26,-170.3,1.3,-4.4,11,112,7.07,3.03,0.00,0.000,4,0.003,0.003,2083,256,2969
$GC,137,-1.26,-170.3,14.8,-13.9,18,145,0.80,3.60,0.00,0.000,6,0.003,0.003,1909,2238,2965
$GC,488,-1.26,-170.3,82.8,-19.5,79,495,0.70,2.58,0.00,0.000,4,0.004,0.003,2090,3401,2964
$GC,532,-1.26,-170.3,87.7,-8.5,86,539,0.82,2.80,0.00,0.000,6,0.003,0.003,1895,1702,2975
$GC,863,-1.26,-170.3,148.1,-18.3,123,875,0.68,3.72,0.00,0.000,4,0.004,0.003,2080,3667,2966
$GC,982,-1.26,-170.3,159.4,-7.7,133,990,0.80,2.88,0.00,0.000,6,0.003,0.003,1911,1973,2968
$GC,1308,-1.26,-170.3,214.7,-17.8,164,1319,0.98,3.33,0.00,0.000,4,0.004,0.003,2021,3646,2961
$GC,1371,-1.26,-170.3,222.7,-10.3,169,1378,0.52,3.05,0.00,0.000,6,0.003,0.003,1903,1817,2964
$GC,1699,-1.26,-170.3,277.9,-17.5,200,1710,0.75,3.53,0.00,0.000,4,0.004,0.003,2087,3617,2961
$GC,1796,-1.26,-170.3,287.5,-7.9,208,1804,0.77,3.75,0.00,0.000,6,0.003,0.003,1894,1819,2965
$GC,2136,-1.26,-170.3,338.6,-17.4,240,2147,0.60,3.28,0.00,0.000,4,0.004,0.003,2022,3654,2969
$GC,2222,-1.26,-170.3,349.4,-10.6,247,2229,0.52,3.55,0.00,0.000,6,0.002,0.003,1910,1766,2966
$GC,2548,-1.26,-170.3,405.4,-18.7,278,2558,0.65,3.40,0.00,0.000,4,0.004,0.003,2015,3618,2972
$GC,2655,-1.26,-170.3,418.5,-11.3,287,2662,0.52,3.33,0.00,0.000,6,0.003,0.003,1905,1827,2960
$GC,2981,-1.26,-170.3,475.3,-17.7,318,2993,0.90,3.53,0.00,0.000,4,0.004,0.003,2080,3692,2969
$GC,3085,-1.26,-170.3,485.0,-7.3,327,3096,0.80,2.75,0.00,0.000,6,0.003,0.003,1948,1967,2968
$GC,3409,-1.26,-170.3,529.0,-13.8,348,3417,0.47,3.28,0.00,0.000,4,0.004,0.003,2070,3422,2965
$GC,3490,-1.26,-170.3,536.1,-7.1,351,3502,0.77,3.58,0.00,0.000,6,0.003,0.003,1886,1913,2970
$GC,3813,-1.26,-170.3,589.2,-16.5,367,3821,0.68,3.03,0.00,0.000,4,0.004,0.003,2081,3583,2962
$GC,3884,-1.26,-170.3,592.8,-3.7,370,3893,0.77,3.78,0.00,0.000,6,0.003,0.003,1893,1886,2970
$GC,4217,-1.26,-170.3,652.8,-18.7,386,4225,1.12,3.03,0.00,0.000,4,0.004,0.003,2083,3573,2963
$GC,4312,-1.26,-170.3,663.9,-12.6,390,4320,0.77,2.97,0.00,0.000,6,0.003,0.003,1948,1874,2965
$GC,4639,-1.26,-170.3,693.8,-1.6,406,4647,0.38,3.53,0.00,0.000,4,0.004,0.003,2081,3661,2968
$GC,4762,-1.26,-170.3,700.3,-5.3,411,4774,0.77,3.38,0.00,0.000,6,0.003,0.003,1894,1988,2972
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,5089,-0.25,0.0,741.1,4.3,427,5267,1.58,0.00,166.82,0.003,6,0.003,0.000,2268,1996,2260
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,5272,1.26,170.3,742.6,0.0,436,5450,1.88,3.03,162.98,0.004,4,0.003,0.003,2634,275,1574
$GC,5464,1.26,170.3,701.7,32.2,445,5473,0.77,3.75,0.93,0.004,6,0.003,0.003,2461,2286,1571
$GC,5791,1.26,170.3,650.4,14.1,461,5799,0.77,2.75,0.30,0.004,4,0.003,0.003,2521,3645,1576
$GC,5831,1.26,170.3,643.4,18.3,462,5837,0.00,3.28,0.00,0.000,6,0.000,0.003,2508,1794,1573
$GC,6150,1.26,170.3,583.7,17.9,478,6157,0.00,3.47,0.00,0.000,4,0.000,0.003,2508,3503,1572
$GC,6290,1.26,170.3,556.3,17.7,484,6295,0.00,3.10,0.00,0.000,6,0.000,0.003,2510,1953,1566
$GC,6612,1.26,170.3,492.8,20.9,501,6618,0.12,3.08,0.00,0.000,4,0.002,0.003,2506,3426,1564
$GC,6779,1.26,170.3,456.5,26.3,515,6783,0.00,2.83,0.00,0.000,6,0.000,0.003,2514,1922,1569
$GC,7104,1.26,170.3,390.6,20.1,545,7114,0.00,3.55,0.00,0.000,4,0.000,0.003,2521,3611,1565
$GC,7255,1.26,170.3,361.0,19.8,558,7266,0.03,3.05,0.38,0.003,6,0.004,0.003,2515,1746,1558
$GC,7588,1.26,170.3,295.6,19.6,589,7593,0.00,3.22,0.00,0.000,4,0.000,0.003,2519,3493,1560
$GC,7731,1.26,170.3,267.1,19.9,601,7736,0.00,3.15,0.00,0.000,6,0.000,0.003,2525,1832,1565
$GC,8057,1.26,170.3,190.5,19.3,631,8061,0.00,2.65,0.00,0.000,4,0.000,0.003,2515,3518,1559
$GC,8176,1.26,170.3,167.2,19.4,641,8181,0.00,3.12,0.00,0.000,6,0.000,0.003,2509,1833,1564
$GC,8507,1.26,170.3,91.7,18.5,674,8514,0.15,3.28,0.00,0.000,4,0.003,0.003,2571,3525,1556
$GC,8647,1.26,170.3,59.4,23.6,697,8654,0.52,3.58,0.00,0.000,6,0.003,0.003,2455,1848,1571
$GC,8997,1.26,170.3,6.5,12.5,758,9004,0.47,3.42,0.00,0.000,4,0.003,0.003,2575,3651,1564
$STATE,end climb,FINISH_DEPTH_REACHED
$STATE,start subsurface finish
$FINISH1,4.0,1.028891,-61
$GC,9022,-0.10,-61.3,4.0,-14.0,760,9068,2.08,2.97,-31.67,0.000,4,0.003,0.003,2158,3678,2511
$FINISH2,-0.0
$STATE,end subsurface finish,CONTROL_FINISHED_OK
$STATE,start surface
$RAFOS_CLK,0
$RAFOS,0,1160557746,9.166667,9.151667,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160555345,8.500000,8.484722,80,0,0,0,0,0,2527,0,0,0,0,0
$RAFOS,1,1160554742,8.333333,8.317223,80,0,0,0,0,0,2234,0,0,0,0,0
$RAFOS,0,1160554153,8.166667,8.153611,80,0,0,0,0,0,2393,0,0,0,0,0
$RAFOS,2,1160551749,7.500000,7.485833,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160551142,7.333333,7.317222,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160550541,7.166667,7.150278,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,5105.925293,-47636.675781,111006,080818,3,80,5254.35
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1775
$INTERNAL_PRESSURE,11.6118
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.0,15.4
$24V_AH,23.0,7.807
$10V_AH,9.8,1.949
$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,32.025,139.475,331.400,0.000,0.000,0.000,0.000,102.040,0.250,18.105,1388.238,5470.452,559.833,1267.883,802.471,0.000,1333.451,0.000,732.292,3840.000,2.379
$DEVICE_MAMPS,3.835,3.068,3.835,0.000,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,Optode,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,670.050,1307.177,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28408,768
$CFSIZE,260165632,247975936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,74,1086,2,0
$SOUNDSPEED,1475.7
$GPS,111006,065315,6656.190,-5707.955,17,1.1,17,18.0