version: 66.00
glider: 99
mission: 1
dive: 36
start: 10 11 106 18 0 12
data:
$ID,99
$MISSION,1
$DIVE,36
$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,-291751.31
$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,4
$R_STBD_OVSHOOT,3
$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
$GPS1,175358,6654.426,-5715.191,18,1.1,18,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-69.5
$GPS2,175930,6654.426,-5715.191,30,1.1,30,18.0
$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,243.4,153960,-19.6,-10.000
$D_GRID,735
$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,32,-1.26,-170.3,0.0,0.0,0,92,0.00,0.00,-56.38,0.000,6,0.000,0.000,622,1743,2955
$GC,97,-1.26,-170.3,1.0,-3.3,11,114,7.03,3.53,0.00,0.000,4,0.003,0.003,2032,3614,2957
$GC,298,-1.26,-170.3,29.2,-10.2,46,305,0.52,2.85,0.00,0.000,6,0.003,0.003,1916,1765,2956
$GC,646,-1.26,-170.3,85.7,-14.9,107,658,0.52,4.05,0.00,0.000,4,0.004,0.003,2050,3606,2961
$GC,768,-1.26,-170.3,97.3,-8.7,128,775,0.50,2.88,0.00,0.000,6,0.003,0.003,1919,1907,2961
$GC,1101,-1.26,-170.3,145.0,-14.2,161,1112,0.57,3.03,0.00,0.000,4,0.004,0.003,2051,3603,2960
$GC,1175,-1.26,-170.3,151.9,-8.0,167,1182,0.52,3.47,0.00,0.000,6,0.003,0.003,1928,1919,2960
$GC,1501,-1.26,-170.3,195.9,-14.0,198,1511,0.52,3.08,0.00,0.000,4,0.004,0.003,2060,3478,2963
$GC,1593,-1.26,-170.3,204.0,-7.7,206,1599,0.52,2.55,0.00,0.000,6,0.003,0.003,1993,1979,2961
$GC,1919,-1.26,-170.3,245.0,-13.2,236,1929,0.43,3.03,0.00,0.000,4,0.004,0.003,2051,3625,2954
$GC,1972,-1.26,-170.3,249.9,-7.8,240,1979,0.50,2.83,0.00,0.000,6,0.002,0.003,1930,1808,2960
$GC,2298,-1.26,-170.3,291.9,-13.8,271,2309,0.45,3.78,0.00,0.000,4,0.004,0.003,2051,3440,2957
$GC,2413,-1.26,-170.3,301.7,-8.5,281,2423,0.52,3.17,0.00,0.000,6,0.003,0.003,1934,1750,2962
$GC,2743,-1.26,-170.3,345.8,-13.7,312,2753,0.35,3.28,0.00,0.000,4,0.004,0.003,2064,3548,2956
$GC,2858,-1.26,-170.3,355.3,-7.3,322,2869,0.60,3.58,0.00,0.000,6,0.003,0.003,1937,1886,2967
$GC,3188,-1.26,-170.3,395.3,-13.4,353,3199,0.43,3.35,0.00,0.000,4,0.003,0.003,2067,3580,2955
$GC,3270,-1.26,-170.3,402.2,-7.6,360,3281,0.55,3.47,0.00,0.000,6,0.003,0.003,1937,1901,2952
$GC,3601,-1.26,-170.3,442.0,-12.9,391,3611,0.43,3.03,0.00,0.000,4,0.004,0.003,2066,3550,2951
$GC,3674,-1.26,-170.3,448.3,-7.3,397,3681,0.52,2.97,0.00,0.000,6,0.003,0.003,1938,1841,2954
$GC,4000,-1.26,-170.3,488.5,-12.7,428,4011,0.45,3.53,0.00,0.000,4,0.004,0.003,2075,3701,2960
$GC,4092,-1.26,-170.3,496.0,-7.4,436,4103,0.77,3.75,0.00,0.000,6,0.003,0.003,1950,1742,2960
$GC,4425,-1.26,-170.3,536.3,-12.4,454,4433,0.52,3.25,0.00,0.000,4,0.004,0.003,2016,3437,2958
$GC,4565,-1.26,-170.3,550.0,-9.0,460,4573,0.52,3.20,0.00,0.000,6,0.002,0.003,1898,1710,2962
$GC,4892,-1.26,-170.3,599.6,-16.1,476,4900,0.75,3.03,0.00,0.000,4,0.004,0.003,2063,3550,2962
$GC,5011,-1.26,-170.3,609.7,-8.2,481,5019,0.52,3.33,0.00,0.000,6,0.003,0.003,1950,1686,2957
$GC,5341,-1.26,-170.3,659.4,-20.2,497,5349,0.52,3.28,0.00,0.000,4,0.004,0.003,2080,3481,2950
$GC,5486,-1.26,-170.3,691.5,-62.8,503,5497,0.82,2.95,0.00,0.000,6,0.003,0.003,1890,1777,2963
$GC,5807,-1.26,-170.3,679.2,-14.1,519,5816,1.10,3.50,0.00,0.000,4,0.004,0.003,2078,3614,2955
$GC,5909,-1.26,-170.3,686.0,-6.1,523,5920,0.77,4.18,0.00,0.000,6,0.004,0.003,1937,1794,2955
$GC,6230,-1.26,-170.3,721.7,-11.5,539,6238,0.52,3.47,0.00,0.000,4,0.004,0.003,2072,3460,2951
$GC,6355,-1.26,-170.3,730.2,-6.3,544,6366,0.77,2.97,0.00,0.000,6,0.003,0.003,1903,1802,2957
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,6414,-0.25,0.0,736.4,12.1,547,6610,1.77,0.00,165.95,0.003,6,0.003,0.000,2272,2139,2255
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,6615,1.26,170.3,739.8,0.0,557,6813,1.65,3.05,163.38,0.003,4,0.003,0.003,2605,3502,1573
$GC,6869,1.26,170.3,686.6,32.8,569,6877,0.40,3.30,0.00,0.000,6,0.003,0.003,2473,1822,1569
$GC,7203,1.26,170.3,636.7,14.1,585,7212,0.62,3.42,0.32,0.003,4,0.003,0.002,2603,3645,1566
$GC,7332,1.26,170.3,605.2,25.0,590,7339,0.50,3.62,0.00,0.000,6,0.002,0.003,2468,1665,1563
$GC,7648,1.26,170.3,555.5,14.0,606,7656,0.57,3.75,0.00,0.000,4,0.004,0.003,2605,3382,1572
$GC,7840,1.26,170.3,506.1,25.4,614,7851,0.52,2.97,0.00,0.000,6,0.002,0.003,2485,1719,1563
$GC,8169,1.26,170.3,453.4,14.0,643,8180,0.52,3.60,0.00,0.000,4,0.003,0.003,2612,3632,1555
$GC,8323,1.26,170.3,415.3,25.4,656,8331,0.52,3.08,0.00,0.000,6,0.003,0.003,2489,1888,1566
$GC,8649,1.26,170.3,366.7,14.6,687,8660,0.55,3.25,0.00,0.000,4,0.003,0.003,2609,3571,1572
$GC,8763,1.26,170.3,338.6,26.5,697,8774,0.55,3.83,0.00,0.000,6,0.003,0.003,2480,1753,1556
$GC,9097,1.26,170.3,287.7,14.6,728,9108,0.85,3.75,0.00,0.000,4,0.003,0.003,2607,3421,1563
$GC,9267,1.26,170.3,245.8,25.5,743,9279,0.50,3.22,0.05,0.003,6,0.003,0.003,2482,1746,1568
$GC,9601,1.26,170.3,193.6,15.2,774,9611,0.45,2.97,0.00,0.000,4,0.003,0.003,2594,3435,1567
$GC,9775,1.26,170.3,152.7,24.8,789,9781,0.52,2.55,0.00,0.000,6,0.003,0.003,2467,1804,1572
$GC,10100,1.26,170.3,107.7,13.0,820,10111,0.38,2.85,0.17,0.004,4,0.004,0.003,2593,3663,1564
$GC,10233,1.26,170.3,79.2,23.0,839,10240,0.52,3.83,0.00,0.000,6,0.003,0.003,2532,1677,1568
$GC,10583,1.26,170.3,33.4,11.7,900,10591,0.52,3.55,0.00,0.000,4,0.003,0.003,2522,3691,1560
$GC,10752,1.26,170.3,7.1,15.7,929,10759,0.00,3.28,0.00,0.000,6,0.000,0.003,2528,1983,1564
$STATE,end climb,FINISH_DEPTH_REACHED
$STATE,start subsurface finish
$FINISH1,4.9,1.028851,-59
$GC,10774,-0.10,-59.3,4.9,-16.3,931,10820,1.38,2.72,-31.38,0.000,4,0.003,0.003,2161,334,2515
$FINISH2,-0.0
$STATE,end subsurface finish,CONTROL_FINISHED_OK
$STATE,start surface
$RAFOS_CLK,0
$RAFOS,2,1160598543,20.500000,20.484167,80,0,0,0,0,0,2518,0,0,0,0,0
$RAFOS,1,1160597950,20.333334,20.319445,80,0,0,0,0,0,2180,0,0,0,0,0
$RAFOS,0,1160597351,20.166666,20.153055,80,0,0,0,0,0,2385,0,0,0,0,0
$RAFOS,2,1160594946,19.500000,19.485001,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160594356,19.333334,19.321112,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160593745,19.166666,19.151388,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160591346,18.500000,18.485001,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160590745,18.333334,18.318056,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160590142,18.166666,18.150555,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,4538.862305,-48710.695312,111006,202057,3,80,3810.63
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.047554
$HUMID,1818
$INTERNAL_PRESSURE,11.6704
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.9,18.2
$24V_AH,23.0,8.965
$10V_AH,9.8,2.241
$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,36.900,161.325,329.875,0.000,0.000,0.000,0.000,80.944,0.250,30.496,1656.352,6481.248,651.895,1581.476,824.238,0.000,1599.313,0.000,904.171,4320.000,2.365
$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,823.239,1618.303,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34791,939
$CFSIZE,260165632,247644160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,94,1247,10,0
$SOUNDSPEED,1475.4
$GPS,111006,175930,6654.426,-5715.191,30,1.1,30,18.0