version: 66.00
glider: 99
mission: 1
dive: 40
start: 10 12 106 6 36 50
data:
$ID,99
$MISSION,1
$DIVE,40
$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,-291791.84
$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,2
$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
$GPS1,063139,6652.278,-5723.057,8,1.1,9,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-69.4
$GPS2,063608,6652.278,-5723.057,23,1.1,23,18.0
$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,244.6,147700,-19.6,-10.000
$D_GRID,758
$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,-170.3,0.0,0.0,0,93,0.00,0.00,-56.30,0.000,6,0.000,0.000,610,1738,2957
$GC,98,-1.26,-170.3,1.3,-5.6,11,110,6.85,2.33,0.00,0.000,4,0.003,0.003,1971,337,2963
$GC,277,-1.26,-170.3,31.2,-13.9,42,285,0.17,3.35,0.00,0.000,6,0.003,0.003,2031,2191,2963
$GC,628,-1.26,-170.3,66.7,-9.3,103,635,0.55,3.00,0.00,0.000,4,0.004,0.003,1967,3658,2963
$GC,668,-1.26,-170.3,71.3,-13.3,109,675,0.00,3.25,0.00,0.000,6,0.000,0.003,1965,1818,2961
$GC,1010,-1.26,-170.3,113.2,-12.1,160,1015,0.00,3.05,0.00,0.000,4,0.000,0.003,1972,3503,2963
$GC,1118,-1.26,-170.3,125.2,-11.5,169,1129,0.40,3.28,0.00,0.000,6,0.003,0.003,2026,1791,2967
$GC,1449,-1.26,-170.3,155.8,-8.9,200,1460,0.55,3.25,0.00,0.000,4,0.004,0.003,1906,3618,2959
$GC,1545,-1.26,-170.3,169.3,-13.4,208,1552,0.77,2.97,0.00,0.000,6,0.003,0.003,2088,1954,2963
$GC,1871,-1.26,-170.3,191.0,-6.3,239,1882,0.95,3.38,0.00,0.000,4,0.004,0.003,1893,3690,2963
$GC,1936,-1.26,-170.3,199.4,-15.6,244,1944,0.98,3.28,0.00,0.000,6,0.003,0.003,2012,1677,2962
$GC,2262,-1.26,-170.3,226.6,-6.6,275,2274,1.12,3.53,0.00,0.000,4,0.003,0.003,1891,3666,2957
$GC,2298,-1.26,-170.3,230.8,-14.4,278,2309,0.77,3.08,0.00,0.000,6,0.003,0.003,2078,1968,2960
$GC,2632,-1.26,-170.3,255.7,-6.7,309,2642,1.12,2.58,0.00,0.000,4,0.003,0.003,1900,3372,2964
$GC,2686,-1.26,-170.3,262.7,-14.7,313,2693,0.77,3.08,0.00,0.000,6,0.003,0.003,2076,1853,2962
$GC,3012,-1.26,-170.3,286.2,-6.6,344,3024,1.08,3.03,0.00,0.000,4,0.003,0.003,1897,3670,2963
$GC,3094,-1.26,-170.3,296.9,-14.7,351,3105,0.82,3.38,0.00,0.000,6,0.003,0.003,2087,1752,2963
$GC,3425,-1.26,-170.3,319.0,-6.2,382,3436,0.70,3.25,0.00,0.000,4,0.004,0.003,1908,3582,2957
$GC,3540,-1.26,-170.3,334.1,-14.0,392,3551,0.65,3.53,0.00,0.000,6,0.003,0.003,2032,1750,2962
$GC,3874,-1.26,-170.3,363.2,-8.5,423,3885,0.50,3.28,0.00,0.000,4,0.004,0.003,1911,3376,2964
$GC,4014,-1.26,-170.3,382.3,-14.3,435,4025,0.55,2.80,0.00,0.000,6,0.003,0.003,2026,1783,2966
$GC,4345,-1.26,-170.3,410.4,-8.3,466,4356,0.50,3.53,0.00,0.000,4,0.004,0.003,1911,3597,2961
$GC,4441,-1.26,-170.3,423.3,-13.5,474,4449,0.50,3.35,0.00,0.000,6,0.003,0.003,2030,1743,2959
$GC,4768,-1.26,-170.3,450.5,-8.2,505,4779,0.60,3.25,0.00,0.000,4,0.004,0.003,1919,3601,2961
$GC,4886,-1.26,-170.3,466.1,-13.8,515,4894,0.52,3.38,0.00,0.000,6,0.002,0.003,2036,1926,2959
$GC,5212,-1.26,-170.3,493.2,-8.2,546,5223,0.57,3.25,0.00,0.000,4,0.004,0.003,1913,3614,2959
$GC,5275,-1.26,-170.3,500.8,-11.7,551,5282,0.52,3.53,0.00,0.000,6,0.003,0.003,2042,1759,2963
$GC,5591,-1.26,-170.3,527.4,-7.9,567,5600,0.52,3.25,0.00,0.000,4,0.004,0.003,1917,3430,2961
$GC,5720,-1.26,-170.3,544.2,-13.2,572,5727,0.50,2.72,0.00,0.000,6,0.003,0.003,2038,1774,2957
$GC,6038,-1.26,-170.3,569.7,-7.9,588,6046,0.35,3.28,0.00,0.000,4,0.004,0.003,1921,3475,2960
$GC,6155,-1.26,-170.3,585.5,-14.1,593,6161,0.57,2.53,0.00,0.000,6,0.002,0.003,1973,1785,2964
$GC,6478,-1.26,-170.3,612.0,-8.1,609,6486,0.52,3.25,0.00,0.000,4,0.004,0.003,1972,3448,2960
$GC,6595,-1.26,-170.3,624.6,-11.0,614,6600,0.00,2.75,0.00,0.000,6,0.000,0.003,1962,1954,2957
$GC,6917,-1.26,-170.3,658.6,-11.0,630,6925,0.52,2.97,0.00,0.000,4,0.004,0.003,2026,3599,2960
$GC,6972,-1.26,-170.3,663.8,-8.3,632,6983,0.52,3.47,0.00,0.000,6,0.003,0.003,1900,1921,2970
$GC,7294,-1.26,-170.3,708.0,-14.1,648,7302,0.52,3.22,0.00,0.000,4,0.004,0.003,2032,3563,2953
$GC,7369,-1.26,-170.3,714.9,-8.4,651,7377,0.50,3.03,0.00,0.000,6,0.003,0.003,1908,1724,2955
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,7703,-0.25,0.0,758.9,12.9,667,7899,1.58,0.00,166.27,0.004,6,0.003,0.000,2279,2239,2264
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,7904,1.26,170.3,763.0,0.0,677,8091,1.27,3.85,163.15,0.004,4,0.004,0.003,2590,515,1569
$GC,8151,1.26,170.3,717.1,23.4,688,8161,0.52,2.85,0.00,0.000,6,0.003,0.003,2454,2220,1570
$GC,8471,1.26,170.3,675.3,12.6,704,8480,0.52,3.00,0.57,0.004,4,0.004,0.003,2584,3713,1565
$GC,8523,1.26,170.3,664.7,23.6,706,8531,0.50,3.50,0.00,0.000,6,0.003,0.003,2463,1714,1570
$GC,8849,1.26,170.3,621.5,12.8,722,8858,0.35,3.83,0.00,0.000,4,0.004,0.003,2591,3549,1571
$GC,9012,1.26,170.3,583.9,23.4,729,9021,0.62,2.95,0.00,0.000,6,0.003,0.003,2465,1827,1569
$GC,9339,1.26,170.3,534.5,14.0,745,9347,0.45,3.42,0.05,0.004,4,0.003,0.003,2583,3633,1561
$GC,9467,1.26,170.3,505.2,23.4,750,9474,0.52,3.05,0.00,0.000,6,0.003,0.003,2453,1800,1571
$GC,9792,1.26,170.3,460.2,18.0,779,9802,0.55,2.97,0.00,0.000,4,0.003,0.003,2586,3454,1567
$GC,9935,1.26,170.3,428.0,22.5,791,9942,0.52,2.45,0.00,0.000,6,0.003,0.003,2451,1955,1562
$GC,10261,1.26,170.3,372.5,19.2,822,10272,0.77,3.17,0.00,0.000,4,0.004,0.003,2636,3447,1563
$GC,10357,1.26,170.3,346.1,28.7,830,10364,0.77,2.45,0.00,0.000,6,0.003,0.003,2453,1795,1572
$GC,10683,1.26,170.3,303.6,12.0,861,10694,0.55,3.03,0.00,0.000,4,0.003,0.003,2582,3698,1572
$GC,10813,1.26,170.3,274.1,23.7,872,10821,0.50,3.25,0.00,0.000,6,0.003,0.004,2463,1688,1566
$GC,11142,1.26,170.3,231.3,12.6,903,11153,0.45,3.38,0.00,0.000,4,0.003,0.003,2602,3566,1565
$GC,11307,1.26,170.3,192.8,23.1,917,11315,0.52,3.47,0.00,0.000,6,0.003,0.003,2472,1718,1564
$GC,11633,1.26,170.3,149.0,13.2,948,11645,0.52,3.53,0.00,0.000,4,0.003,0.003,2588,3548,1560
$GC,11798,1.26,170.3,111.3,22.4,962,11805,0.52,3.53,0.00,0.000,6,0.003,0.003,2465,1684,1569
$GC,12141,1.26,170.3,65.8,12.0,1016,12148,0.52,3.40,0.00,0.000,4,0.004,0.003,2591,3615,1574
$GC,12316,1.26,170.3,28.4,21.4,1046,12324,0.50,2.83,0.00,0.000,6,0.003,0.003,2475,1787,1560
$STATE,end climb,FINISH_DEPTH_REACHED
$STATE,start subsurface finish
$FINISH1,4.7,1.028850,-59
$GC,12509,-0.10,-59.2,4.7,-12.5,1077,12555,1.27,2.72,-31.40,0.000,4,0.004,0.003,2180,3621,2509
$FINISH2,0.6
$STATE,end subsurface finish,CONTROL_FINISHED_OK
$STATE,start surface
$RAFOS_CLK,0
$RAFOS,2,1160645342,9.500000,9.483889,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160644745,9.333333,9.318055,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160644142,9.166667,9.150556,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160641758,8.500000,8.488334,80,0,0,0,0,0,2411,0,0,0,0,0
$RAFOS,1,1160641146,8.333333,8.318334,80,0,0,0,0,0,2190,0,0,0,0,0
$RAFOS,0,1160640556,8.166667,8.154445,80,0,0,0,0,0,2335,0,0,0,0,0
$RAFOS,2,1160638144,7.500000,7.484445,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160637543,7.333333,7.317500,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160636941,7.166667,7.150278,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,5105.288086,-47648.785156,121006,080836,3,80,4465.88
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.048321
$HUMID,1720
$INTERNAL_PRESSURE,11.7583
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.4,17.9
$24V_AH,23.0,10.278
$10V_AH,9.8,2.568
$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,41.450,181.450,330.050,0.000,0.000,0.000,0.000,69.750,0.250,24.488,1920.518,7601.507,669.432,1796.577,886.762,0.000,1729.714,0.000,1018.628,4320.000,2.385
$DEVICE_MAMPS,3.835,3.835,3.835,0.000,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,Optode,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,921.665,1853.426,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41038,1085
$CFSIZE,260165632,247283712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,103,1411,7,0
$SOUNDSPEED,1475.5
$GPS,121006,063608,6652.278,-5723.057,23,1.1,23,18.0