version: 66.00
glider: 99
mission: 1
dive: 43
start: 10 12 106 19 25 46
data:
$ID,99
$MISSION,1
$DIVE,43
$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,-293269.78
$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,1
$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
$GPS1,160021,6651.119,-5727.312,23,1.1,23,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.60
$_SM_ANGLEo,-4.9
$GPS2,160021,6651.119,-5727.312,23,1.1,23,18.0
$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,245.3,144343,-19.6,-10.000
$D_GRID,741
$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,-170.3,0.0,0.0,0,40,0.00,0.00,-4.62,0.000,2,0.000,0.000,2201,3581,2630
$GC,44,-1.26,-170.3,8.1,-0.0,1,61,1.67,0.62,-10.75,0.000,4,0.004,0.003,1894,3063,2958
$GC,233,-1.26,-170.3,41.3,-18.3,34,240,0.82,2.45,0.00,0.000,6,0.003,0.003,2066,1938,2960
$GC,582,-1.26,-170.3,70.6,-7.8,95,589,1.00,2.65,0.00,0.000,4,0.004,0.003,1952,3608,2953
$GC,653,-1.26,-170.3,80.0,-13.8,107,661,0.52,3.17,0.00,0.000,6,0.003,0.003,2069,1702,2958
$GC,996,-1.26,-170.3,107.6,-7.6,159,1007,0.60,3.95,0.00,0.000,4,0.004,0.003,1951,3482,2951
$GC,1149,-1.26,-170.3,127.6,-13.0,172,1156,0.52,3.58,0.00,0.000,6,0.003,0.003,2054,1788,2962
$GC,1475,-1.26,-170.3,152.5,-7.3,203,1486,0.50,3.22,0.00,0.000,4,0.004,0.003,1936,3622,2958
$GC,1571,-1.26,-170.3,164.5,-12.6,211,1578,0.50,3.62,0.00,0.000,6,0.003,0.003,2069,1784,2963
$GC,1897,-1.26,-170.3,188.9,-7.1,242,1903,0.57,2.65,0.00,0.000,4,0.004,0.003,1947,3467,2951
$GC,1999,-1.26,-170.3,201.3,-12.7,250,2007,0.52,3.38,0.00,0.000,6,0.003,0.003,2070,1954,2965
$GC,2325,-1.26,-170.3,224.8,-7.1,281,2336,0.65,3.20,0.00,0.000,4,0.004,0.003,1954,3585,2959
$GC,2388,-1.26,-170.3,232.2,-12.1,286,2395,0.52,2.83,0.00,0.000,6,0.003,0.003,2068,1763,2959
$GC,2715,-1.26,-170.3,255.4,-6.8,317,2726,0.68,3.28,0.00,0.000,4,0.004,0.003,1873,3455,2960
$GC,2855,-1.26,-170.3,275.1,-15.0,329,2866,0.77,3.53,0.00,0.000,6,0.003,0.003,2059,1796,2960
$GC,3189,-1.26,-170.3,299.9,-6.9,360,3202,0.70,3.25,0.00,0.000,4,0.003,0.003,1943,3660,2959
$GC,3283,-1.26,-170.3,311.2,-12.4,368,3294,0.52,3.58,0.00,0.000,6,0.003,0.003,2059,1986,2953
$GC,3618,-1.26,-170.3,335.1,-6.8,399,3628,0.45,2.92,0.00,0.000,4,0.004,0.003,1928,3509,2957
$GC,3690,-1.26,-170.3,344.0,-12.9,405,3698,0.52,3.08,0.00,0.000,6,0.003,0.003,2065,1869,2957
$GC,4017,-1.26,-170.3,367.2,-7.1,436,4028,0.62,3.22,0.00,0.000,4,0.003,0.003,1945,3703,2953
$GC,4090,-1.26,-170.3,376.1,-12.6,442,4097,0.52,3.47,0.00,0.000,6,0.003,0.003,2048,1932,2950
$GC,4419,-1.26,-170.3,400.4,-7.3,473,4424,0.35,2.78,0.00,0.000,4,0.004,0.003,1933,3456,2961
$GC,4506,-1.26,-170.3,410.9,-12.3,480,4517,0.47,3.30,0.00,0.000,6,0.003,0.003,2066,1821,2953
$GC,4836,-1.26,-170.3,436.5,-7.5,511,4847,0.45,3.45,0.00,0.000,4,0.004,0.003,1934,3665,2962
$GC,4897,-1.26,-170.3,442.8,-12.3,516,4909,0.50,3.75,0.00,0.000,6,0.003,0.003,2068,1687,2960
$GC,5228,-1.26,-170.3,466.5,-6.8,547,5239,0.65,3.33,0.00,0.000,4,0.004,0.003,1945,3558,2953
$GC,5358,-1.26,-170.3,481.8,-12.2,558,5366,0.47,3.53,0.00,0.000,6,0.003,0.003,2058,1718,2957
$GC,5683,-1.26,-170.3,504.7,-6.9,586,5691,0.68,3.40,0.00,0.000,4,0.004,0.003,1950,3536,2958
$GC,5811,-1.26,-170.3,519.5,-12.2,591,5818,0.52,2.95,0.00,0.000,6,0.003,0.003,2067,1870,2955
$GC,6128,-1.26,-170.3,541.6,-6.7,607,6136,0.50,3.20,0.00,0.000,4,0.004,0.003,1940,3387,2953
$GC,6228,-1.26,-170.3,552.6,-12.0,611,6238,0.52,2.97,0.00,0.000,6,0.002,0.003,2069,1870,2955
$GC,6549,-1.26,-170.3,575.4,-6.9,627,6554,0.60,2.47,0.00,0.000,4,0.004,0.003,2008,3379,2958
$GC,6639,-1.26,-170.3,583.2,-9.9,631,6646,0.00,3.70,0.00,0.000,6,0.000,0.003,1996,1684,2956
$GC,6971,-1.26,-170.3,613.8,-8.5,647,6979,0.00,3.95,0.00,0.000,4,0.000,0.003,2001,3673,2965
$GC,7089,-1.26,-170.3,625.1,-9.6,652,7096,0.00,3.67,0.00,0.000,6,0.000,0.003,1994,1834,2958
$GC,7417,-1.26,-170.3,655.8,-9.4,668,7424,0.00,3.72,0.00,0.000,4,0.000,0.003,2001,3678,2961
$GC,7512,-1.26,-170.3,665.1,-8.9,672,7518,0.00,3.10,0.00,0.000,6,0.000,0.003,2000,1991,2954
$GC,7835,-1.26,-170.3,695.3,-9.5,688,7841,0.00,3.42,0.00,0.000,4,0.000,0.003,2004,3673,2954
$GC,7927,-1.26,-170.3,703.7,-9.4,692,7933,0.00,3.08,0.00,0.000,6,0.000,0.003,1994,2007,2956
$GC,8256,-1.26,-170.3,734.3,-9.4,708,8261,0.00,3.08,0.00,0.000,4,0.000,0.003,2001,3517,2958
$GC,8297,-1.26,-170.3,738.2,-9.8,710,8304,0.00,3.22,0.00,0.000,6,0.000,0.003,2003,1717,2950
$STATE,end dive,TARGET_DEPTH_EXCEEDED
$STATE,start apogee
$GC,8346,-0.25,0.0,742.3,9.8,712,8524,1.27,0.00,164.57,0.003,6,0.003,0.000,2303,2201,2262
STATE,end apogee,CONTROL_FINISHED_OK
$STATE,start climb
$GC,8529,1.26,170.3,744.8,0.0,721,8706,1.27,2.15,163.10,0.003,4,0.003,0.003,2592,3583,1566
$GC,8737,1.26,170.3,704.1,25.2,731,8745,0.50,3.03,0.00,0.000,6,0.003,0.003,2484,1724,1565
$GC,9063,1.26,170.3,656.0,14.4,747,9072,0.60,3.40,0.68,0.004,4,0.004,0.003,2602,3546,1565
$GC,9232,1.26,170.3,613.6,26.8,754,9242,0.55,2.90,0.00,0.000,6,0.003,0.003,2474,1679,1563
$GC,9552,1.26,170.3,566.3,14.2,770,9560,0.43,3.58,0.00,0.000,4,0.004,0.003,2607,3398,1572
$GC,9738,1.26,170.3,515.5,40.0,778,9745,0.50,3.15,0.00,0.000,6,0.003,0.003,2484,1728,1566
$GC,10071,1.26,170.3,465.3,14.7,805,10082,0.45,3.55,0.00,0.000,4,0.003,0.003,2607,3588,1569
$GC,10223,1.26,170.3,424.1,25.3,818,10230,0.55,2.95,0.00,0.000,6,0.003,0.003,2488,1724,1562
$GC,10552,1.26,170.3,371.3,14.7,849,10563,0.85,3.45,0.00,0.000,4,0.004,0.003,2615,3425,1568
$GC,10735,1.26,170.3,325.7,25.6,865,10746,0.55,2.90,0.20,0.003,6,0.003,0.003,2486,1771,1576
$GC,11066,1.26,170.3,275.1,14.2,896,11077,0.52,3.28,0.00,0.000,4,0.003,0.003,2533,3580,1568
$GC,11216,1.26,170.3,247.3,18.9,909,11221,0.00,2.97,0.00,0.000,6,0.000,0.003,2549,1908,1563
$GC,11542,1.26,170.3,180.9,18.5,939,11547,0.00,2.92,0.00,0.000,4,0.000,0.003,2546,3454,1564
$GC,11649,1.26,170.3,158.2,20.8,948,11654,0.00,2.80,0.00,0.000,6,0.000,0.003,2532,2002,1569
$GC,11980,1.26,170.3,78.3,18.0,985,11986,0.00,2.88,0.00,0.000,4,0.000,0.003,2542,3514,1564
$GC,12051,1.26,170.3,65.8,16.8,997,12057,0.00,2.58,0.00,0.000,6,0.000,0.003,2551,1819,1563
$GC,12400,1.26,170.3,6.1,16.2,1058,12406,0.00,3.25,0.00,0.000,4,0.000,0.003,2532,3667,1561
$FREEZE,3.82,3.886,-2.004
$FREEZE,2.71,3.930,-1.997
$FREEZE,1.69,3.990,-1.996
$STATE,end climb,SURFACE_DEPTH_REACHED
$STATE,start surface coast
$FREEZE,0.89,4.012,-1.994
$FREEZE,0.00,4.001,-1.997
$FINISH,0.0,1.028815
$STATE,end surface coast,CONTROL_FINISHED_OK
$STATE,start surface
$SM_CCo,12463,50.25,0.003,2,0,1242,250.21
$SM_GC,-0.00,0.00,0.00,50.25,0.000,0.000,0.003,563,1850,1242,-7.73,-3.34,250.21
$RAFOS_CLK,0
$RAFOS,2,1160692143,22.500000,22.484167,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160691543,22.333334,22.317499,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160690959,22.166666,22.155277,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160688558,21.500000,21.488333,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160687948,21.333334,21.318890,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,0,1160687343,21.166666,21.150833,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,2,1160684946,20.500000,20.485001,80,0,0,0,0,0,2453,0,0,0,0,0
$RAFOS,1,1160684344,20.333334,20.317778,80,0,0,0,0,0,2197,0,0,0,0,0
$RAFOS,0,1160683749,20.166666,20.152500,80,0,0,0,0,0,2351,0,0,0,0,0
$RAFOS,2,1160681341,19.500000,19.483612,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS,1,1160680749,19.333334,19.319166,40,0,0,0,0,0,0,0,0,0,0,0
$RAFOS_FIX,5108.455078,-47658.886719,121006,202057,3,80,1838.74
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.046787
$HUMID,1768
$INTERNAL_PRESSURE,11.6899
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.4,18.5
$24V_AH,23.0,11.137
$10V_AH,9.8,2.900
$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,36.475,183.425,328.550,50.250,0.000,0.000,0.000,0.000,0.250,0.000,1896.256,7643.658,645.764,1753.496,723.524,0.000,1676.368,0.000,1027.962,4800.000,2.377
$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,932.566,1803.220,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41013,1064
$CFSIZE,260165632,246972416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,82,1420,5,0
$SOUNDSPEED,1475.6
$GPS,121006,225636,6650.049,-5731.634,30,1.1,30,18.0