version: 66.00
glider: 99
mission: 1
dive: 41
start: 10 12 106 10 9 35
data:
$ID,99
$MISSION,1
$DIVE,41
$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,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
$GPS1,063608,6652.278,-5723.057,23,1.1,23,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.88
$_SM_ANGLEo,-5.8
$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,30,-1.26,-170.3,0.0,0.0,0,37,0.00,0.00,-4.93,0.000,2,0.000,0.000,2183,3625,2664
$GC,41,-1.26,-170.3,8.5,-0.0,1,58,1.00,0.62,-9.98,0.000,4,0.004,0.003,1938,3109,2970
$GC,253,-1.26,-170.3,40.3,-15.3,38,260,0.52,2.08,0.00,0.000,6,0.003,0.003,2061,1925,2959
$GC,603,-1.26,-170.3,71.0,-8.1,99,610,0.62,3.00,0.00,0.000,4,0.004,0.003,1934,3682,2958
$GC,674,-1.26,-170.3,80.9,-15.0,111,686,0.52,4.07,0.00,0.000,6,0.003,0.003,2074,1660,2963
$GC,1026,-1.26,-170.3,109.3,-7.5,163,1037,0.88,3.42,0.00,0.000,4,0.004,0.003,1943,3657,2965
$GC,1166,-1.26,-170.3,127.2,-12.8,175,1174,0.52,3.72,0.00,0.000,6,0.003,0.003,2073,1695,2961
$GC,1492,-1.26,-170.3,152.1,-7.1,206,1503,0.77,3.47,0.00,0.000,4,0.004,0.003,1890,3564,2960
$GC,1611,-1.26,-170.3,169.4,-15.3,216,1618,0.77,3.00,0.00,0.000,6,0.003,0.003,2076,1741,2960
$GC,1940,-1.26,-170.3,192.4,-6.6,247,1951,0.73,3.75,0.00,0.000,4,0.004,0.003,1895,3449,2962
$GC,2085,-1.26,-170.3,213.3,-15.1,259,2092,0.77,2.83,0.00,0.000,6,0.003,0.003,2074,1764,2960
$GC,2411,-1.26,-170.3,236.4,-6.7,290,2422,0.70,4.28,0.00,0.000,4,0.004,0.003,1898,3427,2965
$GC,2537,-1.26,-170.3,253.4,-14.1,301,2548,0.77,2.97,0.00,0.000,6,0.003,0.003,2093,1716,2965
$GC,2868,-1.26,-170.3,274.5,-6.2,332,2879,0.65,3.53,0.00,0.000,4,0.004,0.003,1902,3609,2960
$GC,2983,-1.26,-170.3,289.9,-14.1,342,2994,0.77,3.28,0.00,0.000,6,0.003,0.003,2083,1914,2964
$GC,3314,-1.26,-170.3,312.1,-6.3,373,3325,1.12,3.22,0.00,0.000,4,0.003,0.003,1892,3566,2965
$GC,3395,-1.26,-170.3,322.0,-12.6,380,3407,0.75,3.72,0.00,0.000,6,0.003,0.003,2079,1699,2963
$GC,3726,-1.26,-170.3,345.4,-6.5,411,3738,1.10,3.53,0.00,0.000,4,0.004,0.003,1909,3564,2972
$GC,3841,-1.26,-170.3,360.1,-14.6,421,3852,0.77,3.08,0.00,0.000,6,0.002,0.003,2087,1934,2958
$GC,4178,-1.26,-170.3,386.9,-6.3,452,4189,0.77,3.22,0.00,0.000,4,0.004,0.003,1904,3622,2968
$GC,4207,-1.26,-170.3,390.6,-12.7,454,4214,0.55,2.90,0.00,0.000,6,0.003,0.003,2019,1706,2965
$GC,4533,-1.26,-170.3,420.0,-8.5,485,4544,0.55,3.28,0.00,0.000,4,0.004,0.003,1907,3376,2966
$GC,4648,-1.26,-170.3,435.5,-14.3,495,4660,0.75,3.33,0.00,0.000,6,0.003,0.003,2102,1712,2964
$GC,4982,-1.26,-170.3,457.2,-6.0,526,4993,0.90,3.25,0.00,0.000,4,0.004,0.003,1905,3548,2965
$GC,5112,-1.26,-170.3,474.8,-13.6,537,5119,0.55,3.08,0.00,0.000,6,0.003,0.003,2024,1709,2964
$GC,5437,-1.26,-170.3,502.0,-8.1,567,5446,0.47,3.78,0.00,0.000,4,0.004,0.003,1906,3390,2962
$GC,5584,-1.26,-170.3,522.1,-14.1,573,5595,0.62,3.28,0.00,0.000,6,0.003,0.003,2042,1865,2961
$GC,5906,-1.26,-170.3,548.8,-8.2,589,5914,0.60,3.25,0.00,0.000,4,0.004,0.003,1904,3546,2958
$GC,5993,-1.26,-170.3,560.1,-14.6,592,6001,0.80,3.47,0.00,0.000,6,0.003,0.003,2075,1722,2968
$GC,6310,-1.26,-170.3,581.7,-6.3,608,6318,0.93,3.22,0.00,0.000,4,0.004,0.003,1908,3538,2969
$GC,6433,-1.26,-170.3,598.5,-14.0,613,6444,0.75,3.67,0.00,0.000,6,0.003,0.003,2092,1664,2963
$GC,6755,-1.26,-170.3,619.4,-6.1,629,6763,0.77,3.42,0.00,0.000,4,0.004,0.003,1909,3526,2968
$GC,6891,-1.26,-170.3,637.4,-14.3,635,6899,0.52,3.47,0.00,0.000,6,0.003,0.003,2022,1673,2965
$GC,7224,-1.26,-170.3,665.4,-8.2,651,7231,0.35,3.03,0.00,0.000,4,0.004,0.003,1906,3698,2963
$GC,7352,-1.26,-170.3,682.7,-14.6,656,7359,0.80,2.85,0.00,0.000,6,0.003,0.003,2034,1977,2958
$GC,7669,-1.26,-170.3,709.8,-8.3,672,7674,0.50,2.72,0.00,0.000,4,0.004,0.003,1906,3449,2965
$GC,7736,-1.26,-170.3,718.0,-13.7,675,7744,0.60,3.42,0.00,0.000,6,0.003,0.003,2031,1764,2966
$GC,8069,-1.26,-170.3,746.8,-8.3,691,8076,0.38,3.22,0.00,0.000,4,0.004,0.003,1918,3595,2960
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,8171,-0.25,0.0,758.3,14.3,695,8342,1.90,0.00,166.65,0.004,6,0.003,0.000,2269,1733,2266
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,8347,1.26,170.3,762.5,0.0,704,8539,1.67,3.15,163.60,0.004,4,0.003,0.003,2593,3439,1565
$GC,8697,1.26,170.3,686.1,25.0,720,8708,0.50,3.55,0.00,0.000,6,0.003,0.003,2478,1785,1558
$GC,9018,1.26,170.3,639.0,14.1,736,9027,0.55,3.05,0.25,0.004,4,0.004,0.003,2595,3639,1571
$GC,9141,1.26,170.3,601.8,24.1,741,9152,0.52,3.50,0.00,0.000,6,0.002,0.003,2472,1789,1570
$GC,9462,1.26,170.3,556.2,13.7,757,9471,0.43,3.22,0.28,0.004,4,0.003,0.003,2592,3612,1570
$GC,9591,1.26,170.3,525.9,24.5,762,9598,0.47,3.33,0.00,0.000,6,0.003,0.003,2479,1750,1563
$GC,9911,1.26,170.3,482.2,13.2,784,9921,0.43,3.30,0.00,0.000,4,0.004,0.003,2592,3576,1572
$GC,10060,1.26,170.3,448.0,24.1,797,10071,0.52,3.17,0.00,0.000,6,0.002,0.003,2467,1896,1566
$GC,10390,1.26,170.3,402.0,13.4,828,10396,0.52,2.53,0.00,0.000,4,0.004,0.003,2598,3380,1562
$GC,10504,1.26,170.3,375.7,23.6,837,10511,0.52,3.28,0.00,0.000,6,0.003,0.003,2462,1854,1563
$GC,10829,1.26,170.3,310.3,25.1,868,10840,0.45,2.97,0.00,0.000,4,0.003,0.003,2590,3594,1569
$GC,10936,1.26,170.3,285.8,23.2,877,10943,0.50,3.12,0.00,0.000,6,0.003,0.003,2463,1771,1564
$GC,11264,1.26,170.3,239.1,13.3,908,11275,0.82,3.25,0.00,0.000,4,0.004,0.003,2614,3437,1559
$GC,11428,1.26,170.3,200.3,24.4,922,11435,0.52,2.75,0.00,0.000,6,0.003,0.003,2469,1950,1562
$GC,11754,1.26,170.3,152.0,16.6,953,11760,0.43,2.78,0.00,0.000,4,0.004,0.003,2593,3442,1572
$GC,11867,1.26,170.3,126.2,22.5,962,11874,0.52,3.08,0.00,0.000,6,0.003,0.003,2459,1896,1565
$GC,12202,1.26,170.3,80.8,12.2,1006,12209,0.43,2.67,0.00,0.000,4,0.003,0.003,2587,3403,1567
$GC,12344,1.26,170.3,52.2,20.2,1030,12351,0.47,3.12,0.00,0.000,6,0.003,0.003,2453,1677,1563
$GC,12694,1.26,170.3,10.4,11.1,1091,12702,0.82,3.67,0.00,0.000,4,0.003,0.003,2578,3518,1564
$FREEZE,4.91,3.429,-1.998
$FREEZE,3.43,3.427,-1.994
$FREEZE,2.21,3.432,-1.990
$FREEZE,1.27,3.436,-1.992
$STATE,end climb,SURFACE_DEPTH_REACHED
$STATE,start surface coast
$FREEZE,-0.00,3.450,-1.999
$FINISH,-0.0,1.028908
$STATE,end surface coast,CONTROL_FINISHED_OK
$STATE,start surface
$SM_CCo,12776,49.33,0.003,3,0,1250,250.45
$SM_GC,-0.00,0.00,0.00,49.33,0.000,0.000,0.003,630,1702,1250,-7.54,-7.80,250.45
$RAFOS_CLK,0
$RAFOS,2,1160659751,13.500000,13.486389,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160659144,13.333333,13.317778,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160658548,13.166667,13.152223,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160656142,12.500000,12.483889,80,0,0,0,0,0,2493,0,0,0,0,0
$RAFOS,1,1160655551,12.333333,12.319722,80,0,0,0,0,0,2160,0,0,0,0,0
$RAFOS,0,1160654957,12.166667,12.154722,80,0,0,0,0,0,2320,0,0,0,0,0
$RAFOS,2,1160652548,11.500000,11.485556,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160651943,11.333333,11.317500,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160651349,11.166667,11.152500,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160648945,10.500000,10.484722,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160648346,10.333333,10.318334,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,4544.582031,-48709.683594,121006,121257,3,80,1591.91
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.048321
$HUMID,1724
$INTERNAL_PRESSURE,11.729
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.8,18.1
$24V_AH,23.0,10.279
$10V_AH,9.8,2.657
$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,48.725,185.550,330.775,49.325,0.000,0.000,0.000,0.000,0.250,0.000,1975.415,7787.713,673.341,1826.495,718.177,0.000,1750.342,0.000,1066.618,5280.000,2.366
$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,966.729,1876.142,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41043,1100
$CFSIZE,260165632,247189504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,120,1442,6,0
$SOUNDSPEED,1475.6
$GPS,121006,134522,6651.119,-5727.312,8,1.1,8,18.0