version: 66.00
glider: 99
mission: 1
dive: 38
start: 10 12 106 0 34 57
data:
$ID,99
$MISSION,1
$DIVE,38
$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,-291766.72
$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,11
$R_STBD_OVSHOOT,13
$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
$GPS1,002802,6653.324,-5719.284,33,1.1,33,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,003414,6653.324,-5719.284,14,1.1,14,18.0
$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,244.0,150699,-19.6,-10.000
$D_GRID,755
$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,-1.26,-170.3,0.0,0.0,0,94,0.00,0.00,-56.95,0.000,6,0.000,0.000,590,2224,2958
$GC,98,-1.26,-170.3,1.3,-5.6,11,112,7.05,3.28,0.00,0.000,4,0.003,0.003,2054,523,2951
$GC,165,-1.26,-170.3,14.5,-9.4,22,172,0.52,2.78,0.00,0.000,6,0.003,0.003,1917,2056,2964
$GC,515,-1.26,-170.3,70.4,-15.5,83,522,0.38,2.72,0.00,0.000,4,0.003,0.003,2045,3562,2953
$GC,587,-1.26,-170.3,77.4,-8.6,95,595,0.52,3.28,0.00,0.000,6,0.002,0.003,1918,1867,2959
$GC,925,-1.26,-170.3,123.6,-11.3,140,937,0.57,3.30,0.00,0.000,4,0.003,0.003,2047,3380,2956
$GC,1034,-1.26,-170.3,133.7,-8.6,149,1041,0.50,2.58,0.00,0.000,6,0.003,0.003,1913,1895,2951
$GC,1360,-1.26,-170.3,178.5,-14.0,180,1370,0.38,3.00,0.00,0.000,4,0.003,0.003,2053,3574,2958
$GC,1441,-1.26,-170.3,185.8,-8.0,187,1452,0.50,3.78,0.00,0.000,6,0.003,0.003,1928,1773,2952
$GC,1772,-1.26,-170.3,226.6,-9.7,218,1783,0.62,3.25,0.00,0.000,4,0.004,0.003,2037,3637,2956
$GC,1878,-1.26,-170.3,234.7,-7.8,227,1889,0.47,3.75,0.00,0.000,6,0.003,0.003,1927,1774,2950
$GC,2208,-1.26,-170.3,277.5,-13.1,258,2219,0.57,3.25,0.00,0.000,4,0.004,0.003,2059,3579,2955
$GC,2316,-1.26,-170.3,286.4,-7.6,267,2323,0.50,2.90,0.00,0.000,6,0.003,0.003,1929,1702,2955
$GC,2645,-1.26,-170.3,321.9,-13.0,298,2656,0.38,3.95,0.00,0.000,4,0.004,0.003,2046,3385,2958
$GC,2789,-1.26,-170.3,333.8,-7.6,310,2796,0.52,3.47,0.00,0.000,6,0.002,0.003,1924,1898,2960
$GC,3115,-1.26,-170.3,376.8,-13.5,341,3125,0.45,3.08,0.00,0.000,4,0.004,0.003,2049,3431,2959
$GC,3206,-1.26,-170.3,384.4,-7.9,349,3212,0.47,2.53,0.00,0.000,6,0.003,0.003,1977,1770,2948
$GC,3532,-1.26,-170.3,427.1,-13.3,379,3543,0.55,3.05,0.00,0.000,4,0.004,0.003,2049,3614,2958
$GC,3635,-1.26,-170.3,436.0,-7.9,388,3646,0.50,3.55,0.00,0.000,6,0.003,0.003,1920,1764,2956
$GC,3969,-1.26,-170.3,478.6,-13.1,419,3980,0.50,3.25,0.00,0.000,4,0.004,0.003,2051,3616,2956
$GC,4084,-1.26,-170.3,488.6,-7.8,429,4096,0.47,3.53,0.00,0.000,6,0.003,0.003,1919,1788,2957
$GC,4408,-1.26,-170.3,530.4,-13.4,449,4417,0.55,3.53,0.00,0.000,4,0.004,0.003,1981,3646,2958
$GC,4509,-1.26,-170.3,541.4,-10.4,453,4519,0.00,3.45,0.00,0.000,6,0.000,0.003,1989,1776,2952
$GC,4833,-1.26,-170.3,573.7,-10.1,469,4841,0.00,3.55,0.00,0.000,4,0.000,0.003,1978,3594,2957
$GC,4940,-1.26,-170.3,584.4,-10.0,473,4946,0.00,3.33,0.00,0.000,6,0.000,0.003,1985,1753,2962
$GC,5260,-1.26,-170.3,616.4,-10.2,489,5267,0.00,3.50,0.00,0.000,4,0.000,0.003,1997,3664,2951
$GC,5365,-1.26,-170.3,627.6,-10.0,493,5372,0.00,2.55,0.00,0.000,6,0.000,0.003,1992,1818,2955
$GC,5685,-1.26,-170.3,659.5,-10.1,509,5690,0.00,3.05,0.00,0.000,4,0.000,0.003,1991,3511,2961
$GC,5786,-1.26,-170.3,669.8,-8.3,513,5792,0.00,3.08,0.00,0.000,6,0.000,0.003,1993,1791,2958
$GC,6105,-1.26,-170.3,701.1,-10.2,529,6112,0.00,3.60,0.00,0.000,4,0.000,0.003,1983,3641,2964
$GC,6200,-1.26,-170.3,711.1,-10.2,533,6207,0.00,3.33,0.00,0.000,6,0.000,0.003,1994,1780,2958
$GC,6527,-1.26,-170.3,744.1,-10.2,549,6535,0.00,3.78,0.00,0.000,4,0.000,0.003,1986,3631,2956
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,6643,-0.25,0.0,755.0,10.0,553,6811,1.27,0.00,164.35,0.003,6,0.004,0.000,2242,1965,2264
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,6816,1.26,170.3,757.8,0.0,562,7015,1.52,3.15,164.70,0.003,4,0.004,0.003,2608,3455,1569
$GC,7050,1.26,170.3,709.7,33.9,572,7062,0.47,3.22,0.25,0.003,6,0.002,0.003,2487,1808,1564
$GC,7371,1.26,170.3,660.3,14.8,588,7379,0.50,3.25,0.00,0.000,4,0.003,0.003,2604,3660,1565
$GC,7499,1.26,170.3,628.0,26.1,593,7507,0.47,4.07,0.00,0.000,6,0.003,0.003,2555,1838,1565
$GC,7816,1.26,170.3,578.2,15.0,609,7824,0.38,3.25,0.00,0.000,4,0.004,0.003,2603,3664,1560
$GC,7929,1.26,170.3,550.0,26.6,614,7937,0.55,3.35,0.00,0.000,6,0.003,0.003,2479,1669,1563
$GC,8264,1.26,170.3,499.6,14.4,630,8275,0.52,3.75,0.00,0.000,4,0.003,0.003,2603,3529,1563
$GC,8446,1.26,170.3,454.2,24.7,646,8458,0.50,4.07,0.00,0.000,6,0.004,0.003,2485,1719,1567
$GC,8777,1.26,170.3,405.5,14.3,677,8788,0.55,3.53,0.00,0.000,4,0.003,0.003,2550,3572,1568
$GC,8941,1.26,170.3,371.8,26.3,691,8948,0.00,3.42,0.00,0.000,6,0.000,0.003,2535,1697,1569
$GC,9267,1.26,170.3,304.8,19.3,722,9273,0.00,2.88,0.03,0.003,4,0.000,0.003,2541,3402,1569
$GC,9455,1.26,170.3,268.6,18.8,738,9464,0.00,3.25,0.00,0.000,6,0.000,0.003,2533,1739,1567
$GC,9785,1.26,170.3,205.1,19.3,769,9790,0.00,3.15,0.00,0.000,4,0.000,0.003,2546,3459,1577
$GC,9956,1.26,170.3,172.0,18.7,783,9962,0.00,2.67,0.00,0.000,6,0.000,0.003,2549,1944,1574
$GC,10281,1.26,170.3,110.5,19.1,814,10286,0.00,2.62,0.00,0.000,4,0.000,0.003,2541,3457,1570
$GC,10379,1.26,170.3,92.3,18.3,825,10386,0.00,3.00,0.10,0.003,6,0.000,0.003,2544,1765,1571
$GC,10728,1.26,170.3,28.6,17.6,886,10734,0.00,3.47,0.00,0.000,4,0.000,0.003,2532,3573,1563
$STATE,end climb,FINISH_DEPTH_REACHED
$STATE,start subsurface finish
$FINISH1,4.7,1.028794,-56
$GC,10874,-0.09,-56.5,4.7,-16.9,909,10914,1.42,0.00,-30.80,0.000,6,0.004,0.000,2171,1724,2493
$FINISH2,-0.0
$STATE,end subsurface finish,CONTROL_FINISHED_OK
$STATE,start surface
$RAFOS_CLK,0
$RAFOS,1,1160623141,3.333333,3.316944,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160622550,3.166667,3.152778,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160620142,2.500000,2.483889,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160619552,2.333333,2.320000,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160618955,2.166667,2.154167,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160616549,1.500000,1.485833,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160615945,1.333333,1.318056,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160615342,1.166667,1.150556,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160612346,0.333333,0.318333,80,0,0,0,0,0,2193,0,0,0,0,0
$RAFOS_FIX,-283537.906250,131711.562500,121006,000016,2,80,0.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.047554
$HUMID,1800
$INTERNAL_PRESSURE,11.7387
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.3,17.6
$24V_AH,23.0,9.648
$10V_AH,9.8,2.406
$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,25.175,163.925,329.425,0.000,0.000,0.000,0.000,94.123,0.250,14.767,1663.680,6628.365,616.912,1538.069,865.199,0.000,1541.411,0.000,895.889,4320.000,2.363
$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,788.566,1565.193,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34687,916
$CFSIZE,260165632,247488512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,52,1269,5,0
$SOUNDSPEED,1475.6
$GPS,121006,003414,6653.324,-5719.284,14,1.1,14,18.0