version: 66.01
glider: 111
mission: 1
dive: 14
start: 7 22 107 3 7 35
data:
$ID,111
$MISSION,1
$DIVE,14
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51939
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,422.16129
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$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,-90922.203
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,722
$PITCH_MAX,3310
$C_PITCH,2110
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,120
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,171
$ROLL_MAX,3808
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,599
$VBD_MAX,3942
$C_VBD,2320
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-2.5243471
$PRESSURE_SLOPE,9.0714857e-05
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,4
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,0
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043273787
$SEABIRD_T_H,0.0006414231
$SEABIRD_T_I,2.3931538e-05
$SEABIRD_T_J,2.340664e-06
$SEABIRD_C_G,-10.258962
$SEABIRD_C_H,1.1819305
$SEABIRD_C_I,-0.0037964056
$SEABIRD_C_J,0.00031207138
$GPS1,024452,3642.418,-12204.709,42,2.2,61,14.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-49.6
$GPS2,030621,3641.911,-12204.504,15,1.9,15,14.8
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,ONE
$TGT_LATLONG,3644.000,-12205.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.123,0.237
$KALMAN_X,12567.5,-1950.9,-835.0,-17196.1,4273.4
$KALMAN_Y,-38030.2,1771.1,663.2,26835.2,-14047.7
$MHEAD_RNG_PITCHd_Wd,289.4,3939,-18.6,-10.000
$D_GRID,1395
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.50,-130.4,0.0,0.0,0,92,0.00,0.00,-63.38,0.000,2,0.000,0.000,718,2690,2532
$GC,95,-1.54,-151.3,4.0,-8.9,9,117,7.35,2.55,-8.30,0.000,4,0.246,0.060,1766,1300,2940
$GC,129,-0.81,-151.3,15.1,-29.6,14,137,1.00,2.40,0.00,0.000,6,0.183,0.027,1928,2710,2942
$GC,475,-0.89,-151.3,60.2,-11.6,75,482,0.00,2.50,0.00,0.000,4,0.000,0.049,1928,1312,2943
$GC,573,-0.97,-151.3,71.6,-11.8,92,580,0.15,2.35,0.00,0.000,6,0.056,0.028,1892,2698,2943
$GC,918,-0.97,-151.3,116.1,-12.6,153,924,0.00,2.50,0.00,0.000,4,0.000,0.051,1892,1307,2943
$GC,1100,-0.97,-151.3,142.2,-14.2,185,1107,0.00,2.33,0.00,0.000,6,0.000,0.029,1892,2678,2944
$GC,1445,-1.00,-151.3,189.3,-12.9,246,1452,0.00,2.47,0.00,0.000,4,0.000,0.054,1892,1303,2944
$GC,1586,-1.00,-151.3,208.0,-12.8,265,1593,0.00,2.30,0.00,0.000,6,0.000,0.029,1892,2661,2944
$GC,1912,-1.00,-151.3,248.3,-12.4,296,1916,0.00,2.42,0.00,0.000,4,0.000,0.055,1892,1305,2944
$GC,2047,-1.00,-151.3,267.0,-14.1,308,2051,0.00,2.30,0.00,0.000,6,0.000,0.029,1892,2658,2944
$GC,2373,-1.04,-151.3,309.5,-13.0,338,2377,0.00,2.42,0.00,0.000,4,0.000,0.056,1892,1314,2943
$GC,2526,-1.04,-151.3,329.6,-12.9,351,2530,0.00,2.25,0.00,0.000,6,0.000,0.030,1892,2640,2943
$GC,2852,-1.08,-151.3,369.2,-12.2,381,2856,0.00,2.42,0.00,0.000,4,0.000,0.061,1892,1310,2943
$GC,3032,-1.08,-151.3,391.9,-12.2,396,3039,0.00,2.25,0.00,0.000,6,0.000,0.030,1892,2635,2942
$GC,3360,-1.13,-151.3,431.2,-12.2,427,3364,0.15,2.42,0.00,0.000,4,0.056,0.062,1852,1315,2942
$GC,3513,-1.05,-151.3,455.1,-16.0,440,3517,0.15,2.22,0.00,0.000,6,0.160,0.032,1875,2613,2941
$GC,3837,-1.05,-151.3,500.7,-13.4,470,3841,0.00,2.40,0.00,0.000,4,0.000,0.068,1875,1318,2941
$GC,3993,-1.05,-151.3,521.9,-13.2,477,3997,0.00,2.22,0.00,0.000,6,0.000,0.033,1875,2596,2940
$GC,4321,-1.05,-151.3,563.6,-12.5,493,4325,0.00,2.38,0.00,0.000,4,0.000,0.069,1875,1315,2939
$GC,4482,-1.05,-151.3,584.6,-12.5,500,4486,0.00,2.20,0.00,0.000,6,0.000,0.033,1876,2577,2939
$GC,4804,-1.05,-151.3,624.2,-12.4,516,4808,0.00,2.35,0.00,0.000,4,0.000,0.070,1875,1310,2938
$GC,4920,-1.05,-151.3,639.7,-13.6,521,4924,0.00,2.20,0.00,0.000,6,0.000,0.033,1875,2571,2938
$GC,5242,-1.05,-151.3,680.6,-12.4,537,5246,0.00,2.35,0.00,0.000,4,0.000,0.071,1875,1308,2937
$GC,5394,-1.05,-151.3,699.4,-12.9,544,5397,0.00,2.15,0.00,0.000,6,0.000,0.034,1876,2552,2937
$GC,5726,-1.05,-151.3,739.7,-12.5,560,5730,0.00,2.30,0.00,0.000,4,0.000,0.070,1875,1315,2937
$GC,5864,-1.05,-151.3,757.4,-12.8,566,5869,0.00,2.15,0.00,0.000,6,0.000,0.035,1875,2539,2936
$GC,6186,-1.05,-151.3,797.3,-12.7,582,6190,0.00,2.30,0.00,0.000,4,0.000,0.071,1875,1307,2935
$GC,6315,-1.05,-151.3,814.0,-13.3,588,6319,0.00,2.12,0.00,0.000,6,0.000,0.035,1876,2541,2935
$GC,6649,-1.05,-151.3,855.6,-12.9,604,6653,0.00,2.30,0.00,0.000,4,0.000,0.071,1875,1308,2935
$GC,6765,-1.05,-151.3,871.4,-13.6,609,6769,0.00,2.12,0.00,0.000,6,0.000,0.035,1876,2518,2934
$GC,7087,-1.09,-151.3,911.9,-12.0,625,7092,0.00,2.25,0.00,0.000,4,0.000,0.071,1875,1309,2933
$GC,7187,-1.09,-151.3,924.3,-12.5,629,7191,0.00,2.12,0.00,0.000,6,0.000,0.035,1875,2513,2933
$GC,7509,-1.13,-151.3,960.5,-10.9,645,7513,0.00,2.22,0.00,0.000,4,0.000,0.070,1876,1314,2933
$GC,7648,-1.13,-151.3,976.4,-11.8,651,7652,0.00,2.10,0.00,0.000,6,0.000,0.035,1875,2502,2933
$STATE,7782,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7782,begin apogee
$GC,7788,-0.33,0.0,991.4,11.0,658,7926,0.88,0.00,131.00,1.349,6,0.156,0.000,2030,2927,2320
$STATE,7926,end apogee,CONTROL_FINISHED_OK
$STATE,7926,begin climb
$GC,7929,1.54,151.3,997.6,0.0,665,8066,2.05,1.85,129.48,1.321,4,0.103,0.104,2441,3799,1703
$GC,8319,1.24,151.3,966.4,12.8,682,8324,0.35,1.62,0.00,0.000,6,0.182,0.097,2387,2979,1701
$GC,8648,1.06,151.3,931.1,10.5,698,8652,0.25,1.65,0.00,0.000,4,0.196,0.098,2346,3801,1701
$GC,8906,0.99,181.6,908.2,8.4,709,8939,0.00,1.67,25.23,1.312,6,0.000,0.094,2346,2949,1579
$GC,9248,0.92,185.4,876.3,9.8,726,9253,0.22,0.00,2.83,1.446,6,0.204,0.000,2313,2949,1564
$GC,9557,0.96,204.0,848.2,9.0,741,9580,0.00,2.72,15.60,1.305,4,0.000,0.075,2314,1538,1487
$GC,9697,0.97,212.6,834.4,9.6,747,9715,0.00,2.53,7.20,1.338,6,0.000,0.041,2314,2945,1453
$GC,10023,1.00,223.4,803.3,9.4,763,10037,0.00,2.72,9.10,1.309,4,0.000,0.070,2314,1533,1409
$GC,10211,1.00,223.4,784.4,10.3,771,10215,0.00,2.53,0.00,0.000,6,0.000,0.040,2314,2945,1408
$GC,10533,1.00,227.0,753.1,9.8,787,10542,0.00,2.72,2.97,1.378,4,0.000,0.068,2313,1533,1394
$GC,10711,1.00,227.0,735.3,10.5,795,10716,0.00,2.50,0.00,0.000,6,0.000,0.039,2314,2934,1394
$GC,11038,1.00,227.0,703.3,10.4,811,11042,0.00,2.62,0.00,0.000,4,0.000,0.067,2314,1534,1394
$GC,11193,1.00,227.0,686.5,11.0,818,11198,0.00,2.45,0.00,0.000,6,0.000,0.038,2314,2917,1394
$GC,11521,1.00,227.0,652.8,10.3,834,11525,0.00,2.58,0.00,0.000,4,0.000,0.065,2314,1533,1394
$GC,11654,1.00,227.0,638.9,10.2,840,11658,0.00,2.42,0.00,0.000,6,0.000,0.038,2314,2905,1393
$GC,11982,1.04,228.3,606.0,9.9,856,11986,0.00,2.55,0.00,0.000,4,0.000,0.064,2314,1534,1394
$GC,12138,1.04,228.4,590.5,10.0,863,12143,0.00,2.40,0.00,0.000,6,0.000,0.038,2314,2896,1393
$GC,12460,1.12,252.3,561.2,8.8,879,12487,0.17,2.60,21.05,1.108,4,0.071,0.063,2354,1538,1291
$GC,12600,1.06,252.3,545.2,11.1,885,12605,0.00,2.40,0.00,0.000,6,0.000,0.038,2354,2896,1290
$GC,12918,1.02,252.3,509.6,11.5,900,12923,0.12,2.53,0.00,0.000,4,0.188,0.063,2337,1537,1290
$GC,13051,1.02,252.3,495.2,10.6,907,13059,0.00,2.40,0.00,0.000,6,0.000,0.038,2337,2884,1289
$GC,13378,1.02,252.3,459.3,10.8,938,13382,0.00,2.50,0.00,0.000,4,0.000,0.064,2337,1532,1290
$GC,13511,1.02,252.3,443.0,11.8,949,13518,0.00,2.35,0.00,0.000,6,0.000,0.035,2337,2874,1289
$GC,13838,1.02,252.3,405.3,11.5,980,13842,0.00,2.45,0.00,0.000,4,0.000,0.060,2337,1536,1290
$GC,13967,1.02,252.3,390.4,11.2,991,13971,0.00,2.33,0.00,0.000,6,0.000,0.035,2337,2871,1289
$GC,14294,1.05,268.2,358.4,9.2,1021,14317,0.00,2.55,12.75,0.986,4,0.000,0.057,2337,1535,1226
$GC,14421,1.15,316.2,346.5,7.5,1032,14468,0.10,2.30,40.17,0.920,6,0.072,0.034,2357,2851,1030
$GC,14784,1.15,316.2,305.0,11.4,1066,14788,0.00,1.70,0.00,0.000,4,0.000,0.055,2357,3799,1026
$GC,14959,1.15,316.2,284.1,12.0,1081,14965,0.00,1.73,0.00,0.000,6,0.000,0.035,2357,2795,1026
$GC,15284,1.15,316.2,244.3,12.8,1112,15288,0.00,2.28,0.00,0.000,4,0.000,0.058,2357,1534,1025
$GC,15543,1.15,316.2,208.9,12.8,1135,15547,0.00,2.22,0.00,0.000,6,0.000,0.032,2357,2821,1025
$GC,15881,1.15,316.2,168.0,11.2,1188,15888,0.00,2.35,0.00,0.000,4,0.000,0.056,2358,1529,1025
$GC,16141,1.15,316.2,137.6,12.5,1234,16148,0.00,2.20,0.00,0.000,6,0.000,0.033,2357,2803,1025
$GC,16485,1.15,316.2,96.2,11.2,1295,16492,0.00,2.30,0.00,0.000,4,0.000,0.054,2357,1530,1025
$GC,16744,1.15,316.2,65.3,12.3,1341,16751,0.00,2.17,0.00,0.000,6,0.000,0.032,2358,2792,1025
$GC,17090,1.25,334.2,28.8,9.1,1402,17111,0.12,2.38,13.50,0.725,4,0.063,0.052,2387,1528,956
$STATE,17322,end climb,SURFACE_DEPTH_REACHED
$STATE,17322,begin surface coast
$FINISH,0.3,1.021743
$STATE,17341,end surface coast,CONTROL_FINISHED_OK
$STATE,17341,begin surface
$SM_CCo,17359,57.17,0.653,0,0,599,422.16
$SM_GC,1.05,0.00,0.00,57.17,0.000,0.000,0.653,718,2725,599,-6.40,0.71,422.16
$RAFOS_CLK,798
$RAFOS,3,1185084246,6.083333,6.068333,43,41,41,0,0,0,268,60,1158,0,0,0
$RAFOS,1,1185082174,5.505560,5.492778,47,41,38,0,0,0,346,666,1054,0,0,0
$RAFOS,0,1185080746,5.111111,5.096111,48,43,38,0,0,0,1137,112,57,0,0,0
$RAFOS,2,1185077352,4.166700,4.153333,46,40,40,0,0,0,1077,51,558,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,3629.60,-12202.32,220707,070714
$TT8_MAMPS,0.024544
$HUMID,2993
$INTERNAL_PRESSURE,7.8714
$TCM_TEMP,19.10
$XPDR_PINGS,3
$24V_AH,23.1,8.287
$10V_AH,10.1,2.524
$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,20.725,162.500,410.875,57.175,0.000,193.095,171.613,486.770,0.750,15.349,3175.510,10744.804,616.340,3011.688,1153.532,33.344,2099.175,0.000,2954.281,1440.000,0.474
$DEVICE_MAMPS,246.207,104.312,1445.795,652.717,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,990.842,1186.144,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53521,1446
$CFSIZE,260165632,257310720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1498.7
$CURRENT,0.043,138.6,1
$GPS,220707,075908,3642.299,-12205.894,35,1.3,35,14.8