version: 66.01
glider: 111
mission: 1
dive: 15
start: 7 22 107 8 6 17
data:
$ID,111
$MISSION,1
$DIVE,15
$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,-90939.172
$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,3500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,36
$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
$GPS1,075908,3642.299,-12205.894,35,1.3,35,14.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-50.5
$GPS2,080503,3642.216,-12205.900,16,1.3,16,14.8
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,ONE
$TGT_LATLONG,3644.000,-12205.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.050,0.263
$KALMAN_X,11943.4,-1931.8,-232.2,-19277.1,4187.0
$KALMAN_Y,-41145.5,992.5,1296.3,30645.3,-11695.6
$MHEAD_RNG_PITCHd_Wd,356.4,3564,-23.2,-10.000
$D_GRID,1620
$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,27,-1.72,-85.8,0.0,0.0,0,97,0.00,0.00,-68.55,0.000,2,0.000,0.000,718,2725,2409
$GC,100,-1.77,-110.0,3.8,-8.1,10,122,7.15,2.67,-7.82,0.000,4,0.254,0.062,1716,1277,2772
$GC,146,-1.39,-110.0,17.6,-27.8,17,154,0.55,2.45,0.00,0.000,6,0.199,0.028,1800,2709,2774
$GC,492,-1.32,-110.0,89.5,-18.0,78,500,0.12,2.58,0.00,0.000,4,0.190,0.050,1816,1278,2776
$GC,534,-1.24,-110.0,97.6,-18.9,85,542,0.12,2.42,0.00,0.000,6,0.193,0.028,1834,2699,2776
$GC,879,-1.24,-110.0,156.0,-16.3,146,886,0.00,2.58,0.00,0.000,4,0.000,0.053,1833,1276,2776
$GC,1010,-1.20,-110.0,178.5,-16.8,169,1017,0.00,2.42,0.00,0.000,6,0.000,0.029,1834,2695,2776
$GC,1343,-1.20,-110.0,232.6,-15.5,211,1348,0.00,2.55,0.00,0.000,4,0.000,0.054,1834,1284,2777
$GC,1507,-1.20,-110.0,259.9,-17.3,225,1511,0.00,2.38,0.00,0.000,6,0.000,0.030,1834,2676,2777
$GC,1833,-1.20,-110.0,313.3,-16.3,255,1837,0.00,2.53,0.00,0.000,4,0.000,0.057,1833,1284,2777
$GC,1944,-1.20,-110.0,332.5,-16.5,264,1951,0.00,2.38,0.00,0.000,6,0.000,0.030,1834,2673,2777
$GC,2270,-1.20,-110.0,383.2,-15.3,295,2274,0.00,2.53,0.00,0.000,4,0.000,0.061,1834,1281,2776
$GC,2403,-1.20,-110.0,404.4,-15.7,306,2411,0.00,2.35,0.00,0.000,6,0.000,0.030,1834,2657,2777
$GC,2730,-1.20,-110.0,452.9,-14.2,337,2734,0.00,2.53,0.00,0.000,4,0.000,0.065,1834,1287,2777
$GC,2859,-1.20,-110.0,472.4,-15.4,348,2863,0.00,2.35,0.00,0.000,6,0.000,0.032,1833,2651,2776
$GC,3180,-1.20,-110.0,519.2,-14.4,372,3184,0.00,2.53,0.00,0.000,4,0.000,0.066,1834,1288,2776
$GC,3331,-1.20,-110.0,542.0,-14.7,379,3336,0.00,2.33,0.00,0.000,6,0.000,0.033,1834,2632,2776
$GC,3658,-1.20,-110.0,589.0,-14.2,395,3662,0.00,2.53,0.00,0.000,4,0.000,0.071,1834,1281,2776
$GC,3780,-1.20,-110.0,607.2,-15.0,400,3787,0.00,2.33,0.00,0.000,6,0.000,0.034,1834,2618,2775
$GC,4096,-1.24,-110.0,652.4,-14.3,416,4101,0.00,2.50,0.00,0.000,4,0.000,0.073,1834,1287,2774
$GC,4213,-1.24,-110.0,669.3,-13.9,421,4218,0.00,2.33,0.00,0.000,6,0.000,0.035,1833,2600,2774
$GC,4535,-1.27,-110.0,712.6,-13.6,437,4539,0.00,2.47,0.00,0.000,4,0.000,0.074,1834,1282,2773
$GC,4691,-1.27,-110.0,734.6,-13.8,444,4695,0.00,2.30,0.00,0.000,6,0.000,0.036,1834,2592,2773
$GC,5019,-1.32,-110.0,780.4,-13.9,460,5023,0.00,2.47,0.00,0.000,4,0.000,0.076,1834,1281,2773
$GC,5118,-1.32,-110.0,795.2,-15.1,464,5126,0.00,2.30,0.00,0.000,6,0.000,0.037,1834,2590,2773
$GC,5435,-1.36,-110.0,840.6,-14.4,480,5439,0.00,2.47,0.00,0.000,4,0.000,0.077,1834,1281,2772
$GC,5529,-1.36,-110.0,854.9,-14.3,484,5533,0.00,2.28,0.00,0.000,6,0.000,0.037,1834,2576,2772
$GC,5851,-1.41,-110.0,898.6,-13.3,500,5856,0.15,2.45,0.00,0.000,4,0.085,0.077,1799,1281,2771
$GC,5945,-1.35,-110.0,913.3,-15.7,504,5949,0.00,2.25,0.00,0.000,6,0.000,0.038,1800,2565,2771
$GC,6267,-1.32,-110.0,960.6,-14.6,520,6272,0.12,2.42,0.00,0.000,4,0.181,0.076,1816,1281,2771
$GC,6344,-1.32,-110.0,971.9,-14.0,523,6351,0.00,2.28,0.00,0.000,6,0.000,0.038,1817,2556,2771
$STATE,6493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6493,begin apogee
$GC,6499,-0.33,0.0,992.8,14.2,531,6600,1.25,0.00,96.78,1.352,6,0.177,0.000,2029,3480,2320
$STATE,6600,end apogee,CONTROL_FINISHED_OK
$STATE,6601,begin climb
$GC,6603,1.77,110.0,998.1,0.0,536,6704,2.35,0.73,94.75,1.322,4,0.108,0.140,2492,3802,1871
$GC,6957,1.47,110.0,976.7,10.5,551,6964,0.35,0.65,0.00,0.000,6,0.185,0.120,2434,3502,1868
$GC,7273,1.30,123.6,948.0,8.9,567,7288,0.22,0.68,11.05,1.369,4,0.214,0.133,2401,3805,1815
$GC,7541,1.19,126.3,922.6,9.8,579,7547,0.17,0.68,2.00,1.479,6,0.225,0.118,2373,3503,1805
$GC,7870,1.17,147.6,894.5,8.3,595,7893,0.00,0.73,18.05,1.327,4,0.000,0.136,2373,3805,1718
$GC,8146,1.12,148.0,866.9,10.0,607,8149,0.00,0.70,0.00,0.000,6,0.000,0.123,2374,3489,1718
$GC,8473,1.11,154.7,835.1,9.5,623,8485,0.12,2.75,5.95,1.368,4,0.214,0.087,2357,2077,1689
$GC,8542,1.12,163.1,828.8,9.3,626,8559,0.00,2.65,6.82,1.345,6,0.000,0.063,2357,3489,1655
$GC,8867,1.12,163.1,796.0,10.1,642,8871,0.00,2.75,0.00,0.000,4,0.000,0.085,2357,2067,1655
$GC,9029,1.16,163.1,780.3,10.0,649,9034,0.00,2.62,0.00,0.000,6,0.000,0.063,2357,3479,1654
$GC,9345,1.19,174.9,750.7,9.1,664,9360,0.00,2.75,9.73,1.282,4,0.000,0.083,2357,2076,1606
$GC,9541,1.25,188.9,732.4,8.9,672,9564,0.12,2.60,11.45,1.258,6,0.088,0.060,2381,3471,1549
$GC,9871,1.25,188.9,695.2,11.7,688,9875,0.00,2.67,0.00,0.000,4,0.000,0.078,2381,2072,1550
$GC,10094,1.25,188.9,669.9,11.5,698,10098,0.00,2.58,0.00,0.000,6,0.000,0.057,2381,3468,1550
$GC,10421,1.25,188.9,634.7,10.5,714,10425,0.00,2.62,0.00,0.000,4,0.000,0.072,2381,2072,1549
$GC,10515,1.25,188.9,624.8,10.4,718,10519,0.00,2.55,0.00,0.000,6,0.000,0.054,2381,3463,1549
$GC,10837,1.25,188.9,591.0,10.2,734,10841,0.00,2.60,0.00,0.000,4,0.000,0.069,2381,2072,1549
$GC,11088,1.25,190.9,565.8,9.8,745,11092,0.00,2.53,0.00,0.000,6,0.000,0.053,2381,3457,1549
$GC,11409,1.25,190.9,533.5,10.3,761,11414,0.00,2.55,0.00,0.000,4,0.000,0.064,2381,2078,1549
$GC,11629,1.25,190.9,511.2,10.9,771,11633,0.00,2.47,0.00,0.000,6,0.000,0.050,2381,3446,1550
$GC,11952,1.25,190.9,478.1,10.3,796,11956,0.00,2.50,0.00,0.000,4,0.000,0.059,2381,2067,1549
$GC,12208,1.25,190.9,451.9,10.3,818,12216,0.00,2.45,0.00,0.000,6,0.000,0.046,2381,3436,1550
$GC,12535,1.26,195.0,419.0,9.7,849,12547,0.00,2.47,5.32,1.098,4,0.000,0.050,2381,2072,1523
$GC,12755,1.27,198.0,397.1,9.8,868,12763,0.00,2.42,2.08,1.167,6,0.000,0.042,2381,3435,1512
$GC,13080,1.27,198.0,363.4,10.9,899,13084,0.00,2.42,0.00,0.000,4,0.000,0.047,2381,2070,1512
$GC,13248,1.30,198.0,345.6,10.6,913,13255,0.00,2.40,0.00,0.000,6,0.000,0.041,2381,3426,1512
$GC,13574,1.30,198.0,311.7,10.4,944,13578,0.00,2.40,0.00,0.000,4,0.000,0.046,2381,2072,1512
$GC,13738,1.34,200.3,294.8,9.8,958,13750,0.00,2.38,1.85,1.108,6,0.000,0.041,2381,3419,1503
$GC,14068,1.35,204.1,261.6,9.7,989,14081,0.12,2.45,2.97,1.024,4,0.081,0.044,2407,2068,1487
$GC,14265,1.35,204.1,240.3,11.0,1006,14272,0.00,2.38,0.00,0.000,6,0.000,0.040,2408,3412,1487
$GC,14592,1.33,210.4,207.8,9.5,1037,14605,0.00,2.40,5.05,0.938,4,0.000,0.044,2407,2065,1462
$GC,14796,1.33,210.4,185.9,10.9,1066,14803,0.00,2.38,0.00,0.000,6,0.000,0.039,2408,3412,1462
$GC,15140,1.33,210.4,148.2,11.2,1127,15147,0.00,2.38,0.00,0.000,4,0.000,0.043,2407,2061,1462
$GC,15294,1.33,210.4,132.1,10.2,1154,15301,0.00,2.33,0.00,0.000,6,0.000,0.038,2408,3395,1462
$GC,15639,1.33,210.4,97.4,10.2,1215,15645,0.00,2.33,0.00,0.000,4,0.000,0.042,2408,2067,1462
$GC,15899,1.33,210.4,70.9,10.5,1261,15905,0.00,2.33,0.00,0.000,6,0.000,0.038,2407,3395,1462
$GC,16243,1.40,245.1,41.6,7.3,1322,16276,0.00,2.45,27.35,0.705,4,0.000,0.040,2408,2062,1320
$GC,16529,1.48,255.6,16.8,9.2,1372,16544,0.12,2.35,7.75,0.742,6,0.073,0.037,2434,3401,1278
$STATE,16668,end climb,SURFACE_DEPTH_REACHED
$STATE,16668,begin surface coast
$FINISH,0.3,1.021877
$STATE,16685,end surface coast,CONTROL_FINISHED_OK
$STATE,16685,begin surface
$SM_CCo,16702,98.45,0.632,0,0,599,422.16
$SM_GC,1.08,0.00,0.00,98.45,0.000,0.000,0.632,720,2654,599,-6.38,-1.33,422.16
$RAFOS_CLK,759
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,3626.92,-12206.02,220707,070728
$TT8_MAMPS,0.02301
$HUMID,3016
$INTERNAL_PRESSURE,7.88116
$TCM_TEMP,19.40
$XPDR_PINGS,2
$24V_AH,23.1,8.427
$10V_AH,10.1,2.617
$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,21.275,160.050,308.950,98.450,0.000,37.906,41.333,155.112,0.500,16.334,3055.133,10110.451,602.901,2928.355,472.783,33.342,2034.228,0.000,2876.034,0.000,0.475
$DEVICE_MAMPS,253.877,140.361,1478.776,632.008,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,958.678,1151.209,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50396,1399
$CFSIZE,260165632,257245184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$SOUNDSPEED,1498.4
$CURRENT,0.025,109.0,1
$GPS,220707,124738,3643.788,-12205.536,39,2.0,39,14.8