version: 66.01
glider: 1
mission: 1
dive: 40
start: 10 13 106 7 58 56
data:
$ID,1
$MISSION,1
$DIVE,40
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,7.0000001e-06
$D_PITCH,1.5
$D_SAFE,100
$D_CALL,2
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,20
$SURFACE_URGENCY_FORCE,20
$T_DIVE,240
$T_MISSION,300
$T_ABORT,1440
$T_TURN,240
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,-1
$ICE_FREEZE_MARGIN,-2
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,0.94999993
$RHO,1.02765
$MASS,51747
$NAV_MODE,2
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.00312
$HD_B,0.0099099996
$HD_C,2.4896e-05
$HEADING,20
$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,450.37079
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,1
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-449569.03
$T_RSLEEP,57
$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,0.045000002
$PITCH_GAIN,20
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,180
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,0.5
$ROLL_MIN,166
$ROLL_MAX,3791
$C_ROLL_DIVE,1978
$C_ROLL_CLIMB,1978
$HEAD_ERRBAND,8
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,9
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,500
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$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,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,20
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-0.22280908
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,3.5
$ALTIM_PING_DEPTH,125
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,15
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,10
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,1
$PHONE_DEVICE,32
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042857998
$SEABIRD_T_H,0.00062588596
$SEABIRD_T_I,2.1643695e-05
$SEABIRD_T_J,2.0181028e-06
$SEABIRD_C_G,-10.005328
$SEABIRD_C_H,1.1235065
$SEABIRD_C_I,-0.0015880254
$SEABIRD_C_J,0.0001984441
$GPS1,075322,6700.674,-6034.203,14,1.1,14,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,075827,6700.674,-6034.203,34,1.1,34,18.0
$SPEED_LIMITS,0.226,0.242
$TGT_NAME,HEADING
$TGT_LATLONG,6710.822,-6032.770
$TGT_RADIUS,1852.000
$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,2.0,20000,-26.0,-13.750
$D_GRID,990
$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,35,end surface,CONTROL_FINISHED_OK
$STATE,35,begin dive
$GC,41,-1.49,-116.8,0.0,0.0,0,128,0.00,0.00,-76.18,0.000,6,0.000,0.000,634,1793,2743
$GC,134,-1.49,-116.8,0.1,-0.2,9,152,7.00,2.45,0.00,0.000,4,0.000,0.000,1984,269,2745
$GC,287,-1.58,-116.8,23.1,-9.7,33,295,0.47,3.65,0.00,0.000,6,0.000,0.000,1884,2101,2741
$GC,655,-1.29,-116.8,72.2,-12.3,94,663,0.70,2.75,0.00,0.000,4,0.000,0.000,2064,3635,2742
$GC,793,-1.50,-116.8,81.0,-5.7,116,802,0.82,3.15,0.00,0.000,6,0.000,0.000,1874,1934,2742
$GC,1157,-1.22,-116.8,121.1,-11.2,153,1160,1.12,0.00,0.00,0.000,6,0.000,0.000,2049,1939,2743
$GC,1466,-1.44,-116.8,138.2,-5.0,168,1474,0.77,2.60,0.00,0.000,4,0.000,0.000,1940,375,2734
$GC,1518,-1.36,-116.8,142.1,-8.5,170,1525,0.50,2.88,0.00,0.000,6,0.000,0.000,2046,2072,2743
$GC,1853,-1.56,-116.8,160.2,-5.1,186,1861,0.77,3.22,0.00,0.000,4,0.000,0.000,1912,381,2741
$GC,1881,-1.56,-116.8,162.1,-7.4,187,1888,0.00,3.55,0.00,0.000,6,0.000,0.000,1933,2118,2738
$GC,2221,-1.41,-116.8,189.1,-8.6,203,2226,0.00,2.78,0.00,0.000,4,0.000,0.000,1935,413,2742
$GC,2280,-1.30,-116.8,194.6,-8.0,205,2289,0.52,3.20,0.00,0.000,6,0.000,0.000,2041,2251,2740
$GC,2605,-1.48,-116.8,211.0,-4.9,221,2613,0.68,3.25,0.00,0.000,4,0.000,0.000,1857,567,2739
$GC,2645,-1.20,-116.8,214.9,-10.0,222,2655,0.88,2.70,0.00,0.000,6,0.000,0.000,1991,2214,2740
$GC,2969,-1.20,-116.8,236.2,-6.5,238,2976,0.00,3.53,0.00,0.000,4,0.000,0.000,1983,348,2744
$GC,3004,-1.24,-116.8,238.9,-6.7,239,3016,0.03,3.42,0.00,0.000,6,0.000,0.000,1985,2235,2739
$GC,3333,-1.24,-116.8,259.4,-6.3,255,3340,0.00,3.58,0.00,0.000,4,0.000,0.000,1978,372,2738
$GC,3381,-1.28,-116.8,262.7,-6.1,257,3388,0.00,3.42,0.00,0.000,6,0.000,0.000,1973,2238,2742
$GC,3721,-1.28,-116.8,283.6,-6.2,273,3728,0.00,3.62,0.00,0.000,4,0.000,0.000,1985,397,2744
$GC,3750,-1.31,-116.8,285.8,-6.5,274,3755,0.00,2.42,0.00,0.000,6,0.000,0.000,1995,2083,2739
$GC,4081,-1.31,-116.8,305.7,-6.2,290,4086,0.00,2.67,0.00,0.000,4,0.000,0.000,1970,438,2739
$GC,4117,-1.33,-116.8,308.5,-6.4,291,4125,0.00,3.72,0.00,0.000,6,0.000,0.000,1974,2123,2740
$GC,4442,-1.55,-116.8,327.5,-5.6,307,4450,0.52,3.05,0.00,0.000,4,0.000,0.000,1839,612,2732
$GC,4476,-1.24,-116.8,330.7,-9.2,308,4489,0.77,2.97,0.00,0.000,6,0.000,0.000,2035,2085,2741
$GC,4806,-1.41,-116.8,346.6,-4.6,324,4812,0.50,2.78,0.00,0.000,4,0.000,0.000,1895,3650,2741
$GC,4855,-1.22,-116.8,350.4,-8.0,326,4863,0.55,3.30,0.00,0.000,6,0.000,0.000,2034,1969,2737
$GC,5189,-1.37,-116.8,366.3,-4.8,342,5197,0.85,3.45,0.00,0.000,4,0.000,0.000,1917,445,2739
$GC,5231,-1.22,-116.8,369.4,-7.7,343,5240,0.52,3.28,0.00,0.000,6,0.000,0.000,2026,2130,2738
$GC,5556,-1.37,-116.8,385.0,-4.7,359,5559,0.47,0.00,0.00,0.000,6,0.000,0.000,1891,2125,2742
$GC,5865,-1.19,-116.8,407.9,-7.6,374,5867,0.88,0.00,0.00,0.000,6,0.000,0.000,2108,2118,2740
$GC,6174,-1.52,-116.8,419.2,-3.4,389,6182,0.93,3.47,0.00,0.000,4,0.000,0.000,1849,302,2740
$GC,6250,-1.23,-116.8,425.2,-9.1,392,6258,0.80,3.35,0.00,0.000,6,0.000,0.000,1988,2150,2740
$GC,6591,-1.23,-116.8,445.9,-5.9,408,6592,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,2177,2743
$GC,6895,-1.23,-116.8,463.9,-5.9,423,6903,0.00,3.67,0.00,0.000,4,0.000,0.000,1972,271,2732
$GC,6944,-1.29,-116.8,466.7,-5.7,425,6951,0.00,3.72,0.00,0.000,6,0.000,0.000,1960,2225,2740
$GC,7284,-1.29,-116.8,486.1,-5.8,441,7289,0.00,3.08,0.00,0.000,4,0.000,0.000,1982,536,2744
$GC,7354,-1.32,-116.8,490.5,-5.8,444,7359,0.00,2.45,0.00,0.000,6,0.000,0.000,1981,1883,2745
$GC,7696,-1.32,-116.8,509.9,-5.7,457,7701,0.00,2.92,0.00,0.000,4,0.000,0.000,1986,3563,2733
$GC,7858,-1.32,-116.8,519.3,-5.7,460,7865,0.00,3.42,0.00,0.000,6,0.000,0.000,1992,1692,2736
$GC,8203,-1.32,-116.8,538.7,-5.7,469,8204,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1701,2744
$GC,8533,-1.32,-116.8,557.1,-5.6,477,8534,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1702,2739
$GC,8858,-1.32,-116.8,575.3,-5.6,485,8863,0.03,1.95,0.00,0.000,4,0.000,0.000,1959,546,2745
$GC,8902,-1.35,-116.8,578.0,-5.7,486,8907,0.03,2.38,0.00,0.000,6,0.002,0.000,1987,2037,2744
$STATE,9020,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9020,begin apogee
$GC,9033,-0.25,0.0,585.0,5.6,489,9161,1.77,0.00,113.62,0.000,6,0.000,0.000,2280,1871,2260
$STATE,9162,end apogee,CONTROL_FINISHED_OK
$STATE,9162,begin climb
$GC,9167,1.49,116.8,585.5,0.0,492,9294,2.00,0.00,113.05,0.001,6,0.000,0.000,2634,1879,1778
$GC,9601,1.20,116.8,491.2,23.6,503,9603,0.73,0.00,0.00,0.000,6,0.000,0.000,2462,1880,1790
$GC,9910,1.45,152.1,455.6,10.9,518,9949,0.77,0.00,33.25,0.001,6,0.000,0.000,2639,1863,1637
$GC,10265,1.15,152.1,367.4,26.0,535,10273,0.80,2.53,0.47,0.001,4,0.000,0.000,2474,375,1639
$GC,10306,1.43,177.6,358.9,11.7,536,10339,0.62,3.38,24.90,0.001,6,0.000,0.000,2615,2042,1531
$GC,10648,1.28,177.6,283.4,22.7,553,10656,0.45,3.03,0.00,0.000,4,0.000,0.000,2469,340,1532
$GC,10677,1.44,177.6,278.2,14.6,554,10686,0.77,3.38,0.00,0.000,6,0.000,0.000,2658,2004,1535
$GC,11012,1.12,177.6,188.2,28.5,570,11015,0.77,0.00,0.00,0.000,6,0.000,0.000,2471,1999,1526
$GC,11322,1.31,189.0,144.5,12.8,585,11337,0.47,3.08,8.50,0.001,4,0.000,0.000,2599,487,1489
$GC,11373,1.20,189.0,132.7,24.0,586,11386,0.55,2.65,0.17,0.000,6,0.000,0.000,2488,1999,1487
$GC,11710,1.39,198.4,87.0,13.0,614,11726,0.45,3.35,7.05,0.000,4,0.000,0.000,2583,327,1451
$GC,11753,1.32,198.4,79.7,21.8,619,11763,0.50,3.53,0.00,0.000,6,0.000,0.000,2470,2162,1455
$GC,12122,1.53,218.9,28.0,12.1,680,12145,0.70,0.00,17.00,0.000,6,0.000,0.000,2657,2154,1372
$FREEZE,-0.01,4.655,-1.690
$STATE,12228,end climb,SURFACE_DEPTH_REACHED
$STATE,12229,begin surface coast
$FREEZE,-0.00,4.502,-1.691
$FINISH,-0.0,1.024507
$STATE,12235,end surface coast,CONTROL_FINISHED_OK
$STATE,12235,begin surface
$SM_CCo,12265,145.80,0.000,2,0,419,450.37
$SM_GC,0.00,0.00,0.00,145.80,0.000,0.000,0.000,591,2016,419,-7.68,0.31,450.37
$RAFOS_CLK,0
$RAFOS,4,1160731755,9.500000,9.487500,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,3,1160728442,8.583333,8.567223,80,0,0,0,0,0,893,0,0,0,0,0
$RAFOS,2,1160727843,8.416667,8.400833,80,0,0,0,0,0,976,0,0,0,0,0
$RAFOS,1,1160727242,8.250000,8.233889,80,0,0,0,0,0,774,0,0,0,0,0
$RAFOS,0,1160726646,8.083333,8.068334,80,0,0,0,0,0,637,0,0,0,0,0
$RAFOS_FIX,6700.235352,-6029.918457,131006,080820,4,80,2.34
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2332
$INTERNAL_PRESSURE,26.0944
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.8,19.1
$ALTIM_BOTTOM_PING,527.2,86.6
$24V_AH,23.7,67.216
$10V_AH,9.7,10.098
$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,42.650,137.875,318.025,145.800,0.000,0.000,0.000,88.752,4.750,40.393,2114.536,8156.496,788.430,776.964,901.853,0.000,1449.092,0.000,641.770,1800.000,32.135
$DEVICE_MAMPS,119.000,60.000,1300.000,600.000,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,572.180,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25285,698
$CFSIZE,255582208,241176576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,84,1064,5,0
$SOUNDSPEED,1471.4
$CURRENT,0.048,269.6,1
$GPS,131006,112745,6701.679,-6034.124,28,1.1,28,18.0