version: 66.01
glider: 111
mission: 1
dive: 16
start: 7 22 107 12 58 57
data:
$ID,111
$MISSION,1
$DIVE,16
$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,-90975.039
$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,0.059999999
$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,30
$R_STBD_OVSHOOT,11
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$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
$GPS1,124738,3643.788,-12205.536,39,2.0,39,14.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-52.2
$GPS2,125747,3643.702,-12205.423,15,2.2,34,14.8
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,TWO
$TGT_LATLONG,3646.000,-12212.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.187,0.191
$KALMAN_X,11360.9,81.8,-150.6,-20088.1,2235.1
$KALMAN_Y,-42658.7,1351.7,677.5,35171.7,-7914.9
$MHEAD_RNG_PITCHd_Wd,244.5,10645,-16.9,-10.000
$D_GRID,1266
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-1.44,-155.7,0.0,0.0,0,97,0.00,0.00,-67.57,0.000,2,0.000,0.000,721,2653,2377
$GC,100,-1.44,-155.7,3.6,-8.9,10,128,7.82,2.08,-12.45,0.000,4,0.261,0.064,1786,3806,2957
$GC,303,-0.88,-155.7,55.5,-23.9,45,311,0.73,1.95,0.00,0.000,6,0.166,0.044,1909,2696,2959
$GC,648,-0.88,-155.7,99.0,-11.4,106,655,0.00,2.53,0.00,0.000,4,0.000,0.054,1909,1287,2960
$GC,813,-0.88,-155.7,118.8,-11.9,135,820,0.00,2.42,0.00,0.000,6,0.000,0.030,1909,2712,2960
$GC,1158,-0.94,-155.7,158.2,-12.2,196,1165,0.00,2.58,0.00,0.000,4,0.000,0.054,1909,1284,2961
$GC,1335,-0.94,-155.7,179.9,-12.1,227,1342,0.00,2.35,0.00,0.000,6,0.000,0.030,1909,2664,2961
$GC,1676,-1.01,-155.7,218.7,-10.6,273,1680,0.00,2.50,0.00,0.000,4,0.000,0.056,1909,1282,2961
$GC,1844,-1.01,-155.7,236.9,-10.4,287,1851,0.00,2.30,0.00,0.000,6,0.000,0.031,1909,2639,2961
$GC,2172,-1.09,-155.7,273.1,-11.5,318,2177,0.15,2.45,0.00,0.000,4,0.064,0.056,1871,1287,2961
$GC,2325,-0.90,-155.7,296.4,-15.2,331,2330,0.22,2.25,0.00,0.000,6,0.154,0.031,1908,2614,2961
$GC,2650,-0.97,-155.7,333.6,-11.0,361,2654,0.00,2.40,0.00,0.000,4,0.000,0.059,1908,1294,2961
$GC,2826,-0.97,-155.7,353.5,-11.3,376,2830,0.00,2.20,0.00,0.000,6,0.000,0.030,1909,2592,2961
$GC,3153,-1.06,-155.7,388.7,-10.2,406,3158,0.15,2.40,0.00,0.000,4,0.065,0.063,1876,1286,2960
$GC,3319,-0.93,-155.7,409.7,-12.7,420,3327,0.17,2.17,0.00,0.000,6,0.159,0.030,1903,2573,2960
$GC,3645,-1.00,-155.7,446.2,-11.5,451,3649,0.00,2.38,0.00,0.000,4,0.000,0.067,1903,1288,2960
$GC,3820,-1.00,-155.7,466.7,-12.0,466,3824,0.00,2.12,0.00,0.000,6,0.000,0.032,1903,2536,2959
$GC,4151,-1.07,-155.7,502.9,-10.6,496,4156,0.12,2.30,0.00,0.000,4,0.069,0.067,1876,1294,2958
$GC,4262,-0.95,-155.7,517.5,-12.4,501,4267,0.10,2.12,0.00,0.000,6,0.147,0.032,1901,2515,2958
$GC,4589,-1.01,-155.7,550.4,-10.0,517,4593,0.00,2.25,0.00,0.000,4,0.000,0.068,1901,1295,2957
$GC,4728,-1.01,-155.7,565.0,-10.7,523,4733,0.00,2.10,0.00,0.000,6,0.000,0.033,1901,2500,2956
$GC,5056,-1.09,-155.7,599.2,-10.6,539,5061,0.15,2.25,0.00,0.000,4,0.068,0.070,1868,1291,2956
$GC,5191,-0.94,-155.7,617.4,-13.7,545,5196,0.20,2.05,0.00,0.000,6,0.166,0.033,1899,2483,2956
$GC,5512,-1.01,-155.7,651.1,-10.3,561,5516,0.00,2.22,0.00,0.000,4,0.000,0.071,1899,1289,2955
$GC,5623,-1.01,-155.7,663.3,-10.6,566,5627,0.00,2.05,0.00,0.000,6,0.000,0.034,1899,2458,2955
$GC,5950,-1.08,-155.7,698.8,-11.0,582,5955,0.12,2.17,0.00,0.000,4,0.073,0.071,1873,1292,2954
$GC,6050,-0.98,-155.7,712.2,-13.6,586,6058,0.12,1.98,0.00,0.000,6,0.172,0.034,1891,2436,2954
$GC,6366,-0.98,-155.7,749.3,-11.3,602,6369,0.00,2.15,0.00,0.000,4,0.000,0.073,1891,1285,2954
$GC,6465,-0.98,-155.7,760.8,-11.4,606,6470,0.00,2.00,0.00,0.000,6,0.000,0.035,1891,2426,2953
$GC,6787,-0.98,-155.7,796.5,-11.7,622,6791,0.00,2.12,0.00,0.000,4,0.000,0.074,1891,1292,2953
$GC,6870,-0.98,-155.7,806.6,-12.2,625,6878,0.00,1.98,0.00,0.000,6,0.000,0.035,1891,2412,2953
$GC,7186,-0.98,-155.7,841.9,-10.7,641,7190,0.00,2.10,0.00,0.000,4,0.000,0.076,1891,1292,2952
$GC,7281,-0.98,-155.7,852.4,-10.9,645,7285,0.00,1.95,0.00,0.000,6,0.000,0.035,1891,2398,2952
$GC,7608,-0.98,-155.7,887.0,-11.0,661,7611,0.00,2.08,0.00,0.000,4,0.000,0.076,1891,1292,2952
$GC,7668,-0.98,-155.7,894.0,-11.6,663,7675,0.00,1.92,0.00,0.000,6,0.000,0.035,1891,2384,2952
$GC,7984,-0.98,-155.7,927.7,-10.4,679,7988,0.00,2.05,0.00,0.000,4,0.000,0.076,1891,1292,2951
$GC,8056,-0.98,-155.7,935.4,-10.8,682,8060,0.00,1.90,0.00,0.000,6,0.000,0.035,1891,2371,2950
$GC,8385,-0.98,-155.7,969.0,-10.6,698,8388,0.00,2.03,0.00,0.000,4,0.000,0.074,1891,1288,2950
$GC,8452,-0.98,-155.7,977.0,-11.5,701,8456,0.00,1.88,0.00,0.000,6,0.000,0.035,1891,2370,2950
$STATE,8578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8578,begin apogee
$GC,8585,-0.33,0.0,991.4,11.4,707,8724,0.80,0.00,135.43,1.349,6,0.152,0.000,2033,3466,2320
$STATE,8724,end apogee,CONTROL_FINISHED_OK
$STATE,8725,begin climb
$GC,8727,1.44,155.7,1000.1,0.0,714,8867,1.95,0.80,133.43,1.319,4,0.107,0.141,2421,3805,1685
$GC,9121,0.83,155.7,975.8,11.2,731,9125,0.75,0.65,0.00,0.000,6,0.199,0.123,2299,3515,1684
$GC,9447,0.89,239.1,953.8,6.4,747,9526,0.00,2.92,71.57,1.301,4,0.000,0.094,2299,2082,1345
$GC,9780,0.94,264.0,925.5,8.9,762,9806,0.00,2.65,20.77,1.315,6,0.000,0.067,2299,3481,1243
$GC,10128,0.94,264.0,889.3,10.6,779,10132,0.00,0.70,0.00,0.000,4,0.000,0.142,2299,3802,1241
$GC,10323,0.94,264.0,867.5,10.8,787,10331,0.00,0.85,0.00,0.000,6,0.000,0.120,2299,3415,1240
$GC,10639,0.94,264.0,834.4,10.2,803,10643,0.00,0.85,0.00,0.000,4,0.000,0.124,2299,3800,1240
$GC,10846,0.94,264.0,812.0,11.4,812,10850,0.00,0.90,0.00,0.000,6,0.000,0.114,2299,3374,1240
$GC,11174,0.94,265.5,778.8,9.9,828,11177,0.00,0.93,0.00,0.000,4,0.000,0.120,2299,3799,1239
$GC,11391,0.94,265.5,756.8,10.2,837,11399,0.00,0.95,0.00,0.000,6,0.000,0.106,2299,3337,1239
$GC,11709,0.99,286.8,727.6,9.1,853,11733,0.12,1.05,18.65,1.228,4,0.070,0.115,2327,3806,1150
$GC,11985,0.91,286.8,696.2,11.0,865,11989,0.00,1.05,0.00,0.000,6,0.000,0.101,2327,3295,1149
$GC,12313,0.85,286.8,659.7,11.5,881,12318,0.17,2.30,0.00,0.000,4,0.186,0.083,2299,2081,1149
$GC,12570,0.96,290.4,633.1,9.8,892,12578,0.00,2.15,2.35,1.338,6,0.000,0.051,2300,3262,1136
$GC,12886,1.07,295.0,602.1,9.8,908,12896,0.17,1.12,4.12,1.245,4,0.057,0.110,2346,3803,1117
$GC,12947,0.93,295.0,594.5,12.4,910,12954,0.17,1.20,0.00,0.000,6,0.183,0.094,2317,3203,1117
$GC,13264,0.93,295.0,560.4,10.4,926,13267,0.00,2.10,0.00,0.000,4,0.000,0.074,2317,2074,1117
$GC,13521,0.93,295.3,534.3,10.0,937,13525,0.00,2.00,0.00,0.000,6,0.000,0.045,2317,3172,1117
$GC,13843,0.93,295.3,502.1,10.2,953,13846,0.00,1.25,0.00,0.000,4,0.000,0.100,2317,3804,1117
$GC,13955,0.93,295.3,490.4,10.4,962,13959,0.00,1.30,0.00,0.000,6,0.000,0.077,2317,3131,1117
$GC,14287,0.93,295.3,455.4,10.9,993,14290,0.00,1.90,0.00,0.000,4,0.000,0.061,2317,2074,1117
$GC,14545,0.93,295.3,427.7,10.1,1016,14549,0.00,1.92,0.00,0.000,6,0.000,0.038,2317,3174,1117
$GC,14875,0.93,295.3,392.1,10.7,1047,14879,0.00,1.20,0.00,0.000,4,0.000,0.081,2317,3805,1117
$GC,14992,0.93,295.3,379.0,10.8,1057,14999,0.00,1.23,0.00,0.000,6,0.000,0.054,2317,3126,1117
$GC,15318,0.94,301.4,345.7,9.7,1088,15330,0.00,1.88,5.43,1.040,4,0.000,0.052,2317,2077,1090
$GC,15582,1.01,301.4,319.3,10.3,1111,15589,0.00,1.90,0.00,0.000,6,0.000,0.035,2317,3169,1090
$GC,15909,1.09,301.4,286.4,10.0,1142,15913,0.15,1.17,0.00,0.000,4,0.064,0.067,2360,3803,1090
$GC,16026,0.94,301.4,271.8,12.4,1152,16033,0.22,1.20,0.00,0.000,6,0.181,0.041,2322,3116,1090
$GC,16351,0.97,313.2,239.8,9.5,1183,16366,0.00,1.90,9.45,0.915,4,0.000,0.048,2322,2077,1043
$GC,16621,1.07,331.3,214.0,9.2,1207,16644,0.00,1.90,15.12,0.864,6,0.000,0.035,2322,3170,968
$GC,16973,1.18,331.3,177.1,10.1,1258,16981,0.17,1.17,0.00,0.000,4,0.058,0.061,2370,3807,966
$GC,17049,1.05,331.3,167.3,15.2,1271,17057,0.15,1.20,0.00,0.000,6,0.170,0.036,2344,3117,966
$GC,17394,1.05,331.3,128.0,12.0,1332,17401,0.00,1.27,0.00,0.000,4,0.000,0.056,2344,3807,966
$GC,17591,1.05,331.3,104.8,10.1,1367,17598,0.00,1.17,0.00,0.000,6,0.000,0.034,2344,3117,966
$GC,17936,1.12,331.3,67.4,10.1,1428,17942,0.00,1.83,0.00,0.000,4,0.000,0.045,2344,2068,966
$GC,18102,1.25,353.9,50.6,9.0,1457,18129,0.17,1.90,18.17,0.728,6,0.063,0.034,2385,3170,876
$GC,18468,1.25,353.9,9.5,10.6,1521,18475,0.00,1.15,0.00,0.000,4,0.000,0.059,2385,3805,873
$STATE,18535,end climb,SURFACE_DEPTH_REACHED
$STATE,18535,begin surface coast
$FINISH,0.3,1.021553
$STATE,18548,end surface coast,CONTROL_FINISHED_OK
$STATE,18548,begin surface
$SM_CCo,18566,46.58,0.653,0,0,599,422.16
$SM_GC,0.81,0.00,0.00,46.58,0.000,0.000,0.653,716,2656,599,-6.41,-1.24,422.16
$RAFOS_CLK,853
$RAFOS,1,1185125368,17.505560,17.491112,44,41,38,0,0,0,57,1049,734,0,0,0
$RAFOS,0,1185123946,17.111111,17.096111,48,40,38,0,0,0,110,51,214,0,0,0
$RAFOS,2,1185120553,16.166700,16.153610,41,40,38,0,0,0,282,1065,687,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,3629.60,-12206.02,220707,161653
$TT8_MAMPS,0.023777
$HUMID,3075
$INTERNAL_PRESSURE,7.88116
$TCM_TEMP,19.20
$XPDR_PINGS,1
$24V_AH,23.1,8.613
$10V_AH,10.1,2.723
$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,22.875,140.425,434.500,46.575,0.000,79.170,97.999,222.883,0.250,35.244,3374.782,11282.333,641.947,3255.859,676.180,33.338,2233.669,0.000,3180.652,1080.000,0.474
$DEVICE_MAMPS,260.780,141.895,1349.153,652.717,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1051.353,1265.563,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56645,1535
$CFSIZE,260165632,257138688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$SOUNDSPEED,1498.2
$CURRENT,0.021,101.0,1
$GPS,220707,181032,3643.044,-12206.184,40,1.2,40,14.8