version: 66.00
glider: 99
mission: 1
dive: 39
start: 10 12 106 3 40 21
data:
$ID,99
$MISSION,1
$DIVE,39
$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,3
$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
$GPS1,003414,6653.324,-5719.284,14,1.1,14,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.34
$_SM_ANGLEo,-7.9
$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,30,-1.26,-170.3,0.0,0.0,0,38,0.00,0.00,-6.18,0.000,2,0.000,0.000,2172,1727,2680
$GC,42,-1.26,-170.3,10.8,-0.0,1,59,1.42,0.00,-9.23,0.000,6,0.004,0.000,1939,1732,2966
$GC,402,-1.26,-170.3,64.6,-14.7,64,410,0.50,3.08,0.00,0.000,4,0.003,0.003,2053,3604,2949
$GC,540,-1.26,-170.3,77.3,-8.8,87,547,0.47,3.83,0.00,0.000,6,0.003,0.003,1929,1759,2959
$GC,879,-1.26,-170.3,123.8,-13.7,132,890,0.45,3.40,0.00,0.000,4,0.004,0.003,2053,3678,2961
$GC,983,-1.26,-170.3,132.9,-7.8,141,995,0.47,3.67,0.00,0.000,6,0.003,0.003,1934,1831,2957
$GC,1314,-1.26,-170.3,171.4,-13.1,172,1325,0.40,3.22,0.00,0.000,4,0.003,0.003,2064,3543,2955
$GC,1406,-1.26,-170.3,179.0,-7.4,180,1417,0.52,2.88,0.00,0.000,6,0.003,0.003,1940,1847,2960
$GC,1736,-1.26,-170.3,221.2,-13.0,211,1747,0.40,3.53,0.00,0.000,4,0.004,0.003,2056,3707,2959
$GC,1821,-1.26,-170.3,228.6,-7.7,218,1828,0.52,3.58,0.00,0.000,6,0.003,0.003,1917,1850,2964
$GC,2147,-1.26,-170.3,271.3,-13.4,249,2158,0.35,3.53,0.00,0.000,4,0.004,0.003,2052,3670,2954
$GC,2231,-1.26,-170.3,278.7,-7.3,256,2239,0.50,2.78,0.00,0.000,6,0.003,0.003,1924,1987,2960
$GC,2557,-1.26,-170.3,320.3,-11.3,287,2568,0.45,3.33,0.00,0.000,4,0.004,0.003,2048,3641,2961
$GC,2611,-1.26,-170.3,325.1,-7.9,291,2618,0.50,2.88,0.00,0.000,6,0.003,0.003,1925,1994,2961
$GC,2941,-1.26,-170.3,368.0,-13.5,322,2951,0.40,3.25,0.00,0.000,4,0.003,0.003,2043,3629,2959
$GC,3002,-1.26,-170.3,373.8,-7.3,327,3013,0.50,3.58,0.00,0.000,6,0.003,0.003,1937,1829,2963
$GC,3332,-1.26,-170.3,416.7,-13.2,358,3343,0.43,3.10,0.00,0.000,4,0.004,0.003,2044,3587,2960
$GC,3424,-1.26,-170.3,424.7,-7.7,366,3435,0.52,3.58,0.00,0.000,6,0.003,0.003,1916,1779,2954
$GC,3755,-1.26,-170.3,465.0,-13.1,397,3766,0.52,3.45,0.00,0.000,4,0.004,0.003,2045,3612,2961
$GC,3852,-1.26,-170.3,473.6,-7.8,405,3859,0.50,2.92,0.00,0.000,6,0.003,0.003,1925,1746,2961
$GC,4184,-1.26,-170.3,516.9,-13.3,431,4193,0.38,3.53,0.00,0.000,4,0.004,0.003,2047,3603,2957
$GC,4353,-1.26,-170.3,530.7,-8.0,438,4364,0.52,3.40,0.00,0.000,6,0.003,0.003,1924,1726,2956
$GC,4675,-1.26,-170.3,572.7,-13.4,454,4683,0.50,3.25,0.00,0.000,4,0.004,0.003,2045,3550,2964
$GC,4799,-1.26,-170.3,583.6,-7.7,459,4811,0.50,3.80,0.00,0.000,6,0.003,0.003,1915,1738,2955
$GC,5120,-1.26,-170.3,626.2,-13.6,475,5129,0.60,3.53,0.00,0.000,4,0.004,0.003,2030,3536,2961
$GC,5239,-1.26,-170.3,636.4,-8.1,480,5247,0.52,3.65,0.00,0.000,6,0.003,0.003,1926,1688,2956
$GC,5566,-1.26,-170.3,678.8,-13.2,496,5574,0.57,3.72,0.00,0.000,4,0.004,0.003,2041,3638,2960
$GC,5695,-1.26,-170.3,686.4,-0.7,501,5702,0.52,3.38,0.00,0.000,6,0.003,0.003,1918,1967,2968
$GC,6011,-1.26,-170.3,725.2,-13.1,517,6019,0.62,3.47,0.00,0.000,4,0.004,0.003,2044,3599,2955
$GC,6067,-1.26,-170.3,730.6,-7.9,519,6078,0.52,3.55,0.00,0.000,6,0.003,0.003,1903,1771,2958
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,6271,-0.25,0.0,756.3,13.7,529,6457,2.03,0.00,166.07,0.004,6,0.003,0.000,2265,2125,2260
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,6462,1.26,170.3,760.4,0.0,538,6675,1.95,0.00,163.62,0.004,6,0.004,0.000,2617,2124,1568
$GC,6976,1.26,170.3,637.5,27.2,563,6984,0.80,2.72,0.00,0.000,4,0.004,0.003,2502,3625,1567
$GC,7026,1.26,170.3,628.6,15.8,565,7034,0.50,3.62,0.00,0.000,6,0.003,0.003,2625,1765,1568
$GC,7353,1.26,170.3,542.9,26.8,581,7360,0.68,2.78,0.00,0.000,4,0.004,0.003,2436,3413,1563
$GC,7520,1.26,170.3,521.8,11.6,588,7532,0.77,3.22,0.05,0.003,6,0.003,0.003,2629,1773,1570
$GC,7849,1.26,170.3,436.0,26.8,615,7859,0.68,2.75,0.00,0.000,4,0.004,0.003,2457,3462,1564
$GC,8011,1.26,170.3,414.3,13.0,629,8018,0.70,2.70,0.00,0.000,6,0.003,0.003,2566,1733,1561
$GC,8337,1.26,170.3,346.0,21.7,660,8348,0.55,3.58,0.00,0.000,4,0.004,0.003,2513,3522,1565
$GC,8497,1.26,170.3,318.1,17.3,674,8508,0.52,3.35,0.00,0.000,6,0.003,0.003,2620,1703,1568
$GC,8827,1.26,170.3,229.4,26.7,705,8839,0.88,3.30,0.03,0.004,4,0.004,0.003,2448,3518,1560
$GC,8999,1.26,170.3,207.6,11.4,720,9010,0.57,3.47,0.00,0.000,6,0.003,0.003,2573,1678,1567
$GC,9330,1.26,170.3,137.0,21.5,751,9341,0.50,3.53,0.00,0.000,4,0.004,0.003,2461,3514,1565
$GC,9505,1.26,170.3,113.4,11.9,766,9514,0.77,3.58,0.12,0.003,6,0.003,0.003,2628,1678,1568
$GC,9849,1.26,170.3,25.8,25.1,821,9856,0.93,3.05,0.00,0.000,4,0.004,0.003,2446,3397,1566
$FREEZE,4.80,3.024,-2.001
$FREEZE,4.25,3.027,-2.001
$FREEZE,3.63,3.054,-1.984
$FREEZE,3.00,3.038,-1.988
$FREEZE,2.37,3.036,-2.003
$FREEZE,1.74,3.039,-1.997
$STATE,end climb,SURFACE_DEPTH_REACHED
$STATE,start surface coast
$FREEZE,1.27,3.026,-1.986
$FREEZE,0.93,3.025,-1.995
$FREEZE,-0.00,3.024,-1.998
$FINISH,-0.0,1.028938
$STATE,end surface coast,CONTROL_FINISHED_OK
$STATE,start surface
$SM_CCo,10106,49.92,0.003,4,0,1249,250.21
$SM_GC,-0.00,0.00,0.00,49.92,0.000,0.000,0.003,604,1740,1249,-7.59,-6.56,250.21
$RAFOS_CLK,0
$RAFOS,1,1160633951,6.333333,6.319722,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160633343,6.166667,6.150833,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160630942,5.500000,5.483889,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160630346,5.333333,5.318333,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160629756,5.166667,5.154444,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160627343,4.500000,4.484167,80,0,0,0,0,0,2497,0,0,0,0,0
$RAFOS,1,1160626751,4.333333,4.319722,80,0,0,0,0,0,2162,0,0,0,0,0
$RAFOS,0,1160626143,4.166667,4.150833,80,0,0,0,0,0,2411,0,0,0,0,0
$RAFOS,2,1160623744,3.500000,3.484444,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,5104.978027,-47647.144531,121006,040457,3,80,2110.16
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.039884
$HUMID,1729
$INTERNAL_PRESSURE,11.7387
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.7,19.3
$24V_AH,23.0,9.649
$10V_AH,9.8,2.478
$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,36.775,140.125,329.900,49.925,0.000,0.000,0.000,0.000,0.250,0.000,1581.186,6071.188,655.837,1420.837,581.783,0.000,1505.703,0.000,832.958,3840.000,2.374
$DEVICE_MAMPS,3.835,3.068,3.835,3.068,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,Optode,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,767.399,1473.081,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34691,861
$CFSIZE,260165632,247435264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,80,1089,15,0
$SOUNDSPEED,1475.6
$GPS,121006,063139,6652.278,-5723.057,8,1.1,9,18.0