version: 66.01
glider: 111
mission: 1
dive: 17
start: 7 22 107 18 21 2
data:
$ID,111
$MISSION,1
$DIVE,17
$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,-90992.867
$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,35
$R_STBD_OVSHOOT,7
$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
$GPS1,181032,3643.044,-12206.184,40,1.2,40,14.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-52.5
$GPS2,181951,3642.900,-12206.063,17,1.2,17,14.8
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,TWO
$TGT_LATLONG,3646.000,-12212.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.145,0.224
$KALMAN_X,12292.0,1854.0,-88.9,-23821.5,-435.5
$KALMAN_Y,-47017.1,1234.3,65.7,38810.8,-7174.5
$MHEAD_RNG_PITCHd_Wd,260.8,10513,-16.9,-10.000
$D_GRID,1529
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.44,-155.7,0.0,0.0,0,91,0.00,0.00,-62.58,0.000,2,0.000,0.000,716,2654,2263
$GC,93,-1.44,-155.7,3.5,-8.7,9,122,7.68,2.12,-15.15,0.000,4,0.254,0.059,1784,3818,2959
$GC,248,-0.81,-155.7,41.2,-24.9,35,256,0.85,1.98,0.00,0.000,6,0.165,0.046,1928,2703,2961
$GC,593,-0.94,-155.7,83.8,-11.2,96,600,0.00,2.50,0.00,0.000,4,0.000,0.046,1928,1285,2963
$GC,826,-1.02,-155.7,110.5,-11.0,137,833,0.20,2.42,0.00,0.000,6,0.053,0.028,1877,2720,2963
$GC,1171,-0.90,-155.7,161.2,-13.7,198,1178,0.17,2.55,0.00,0.000,4,0.150,0.044,1908,1280,2963
$GC,1347,-0.90,-155.7,182.7,-11.8,229,1354,0.00,2.30,0.00,0.000,6,0.000,0.027,1908,2648,2963
$GC,1686,-0.97,-155.7,222.6,-10.8,273,1690,0.00,2.40,0.00,0.000,4,0.000,0.044,1908,1275,2963
$GC,1859,-0.97,-155.7,242.6,-11.8,288,1866,0.00,2.28,0.00,0.000,6,0.000,0.027,1908,2628,2963
$GC,2186,-1.04,-155.7,279.2,-10.9,319,2191,0.12,2.38,0.00,0.000,4,0.066,0.045,1880,1284,2963
$GC,2375,-0.89,-155.7,305.5,-14.3,335,2383,0.20,2.22,0.00,0.000,6,0.157,0.027,1912,2608,2963
$GC,2700,-0.99,-155.7,341.7,-11.0,366,2704,0.00,2.35,0.00,0.000,4,0.000,0.048,1912,1279,2963
$GC,2901,-0.99,-155.7,363.6,-11.0,383,2909,0.00,2.20,0.00,0.000,6,0.000,0.027,1912,2571,2963
$GC,3228,-1.09,-155.7,397.3,-11.0,414,3233,0.15,2.30,0.00,0.000,4,0.064,0.051,1874,1281,2962
$GC,3374,-0.93,-155.7,417.2,-13.5,426,3382,0.17,2.12,0.00,0.000,6,0.162,0.028,1900,2548,2961
$GC,3699,-0.93,-155.7,454.8,-11.0,457,3703,0.00,2.25,0.00,0.000,4,0.000,0.054,1901,1288,2961
$GC,3855,-0.93,-155.7,473.6,-12.0,470,3862,0.00,2.10,0.00,0.000,6,0.000,0.029,1901,2515,2961
$GC,4189,-1.00,-155.7,512.2,-11.6,497,4193,0.00,2.20,0.00,0.000,4,0.000,0.054,1901,1288,2960
$GC,4369,-1.00,-155.7,534.0,-11.8,505,4373,0.00,2.03,0.00,0.000,6,0.000,0.030,1901,2490,2960
$GC,4698,-1.06,-155.7,572.1,-11.6,521,4702,0.12,2.17,0.00,0.000,4,0.071,0.054,1874,1278,2959
$GC,4820,-0.93,-155.7,588.7,-13.5,526,4827,0.17,2.03,0.00,0.000,6,0.164,0.030,1901,2475,2958
$GC,5136,-1.00,-155.7,623.2,-10.8,542,5139,0.00,2.15,0.00,0.000,4,0.000,0.057,1901,1281,2958
$GC,5264,-1.00,-155.7,637.9,-10.9,547,5271,0.00,2.00,0.00,0.000,6,0.000,0.030,1901,2444,2958
$GC,5580,-1.07,-155.7,671.6,-10.4,563,5585,0.12,2.08,0.00,0.000,4,0.073,0.054,1875,1287,2957
$GC,5715,-0.95,-155.7,688.3,-12.5,569,5720,0.15,1.92,0.00,0.000,6,0.164,0.031,1897,2421,2957
$GC,6042,-0.95,-155.7,722.6,-10.4,585,6046,0.00,2.05,0.00,0.000,4,0.000,0.057,1897,1280,2956
$GC,6136,-0.95,-155.7,732.8,-10.7,589,6140,0.00,1.95,0.00,0.000,6,0.000,0.030,1897,2408,2956
$GC,6465,-1.01,-155.7,765.6,-9.8,605,6468,0.00,2.03,0.00,0.000,4,0.000,0.059,1897,1288,2956
$GC,6578,-1.01,-155.7,777.1,-10.1,610,6581,0.00,1.88,0.00,0.000,6,0.000,0.031,1897,2388,2955
$GC,6910,-1.08,-155.7,810.7,-10.1,626,6914,0.00,2.00,0.00,0.000,4,0.000,0.061,1897,1282,2954
$GC,7000,-1.08,-155.7,820.3,-10.4,630,7004,0.00,1.88,0.00,0.000,6,0.000,0.031,1897,2385,2954
$GC,7333,-1.15,-155.7,854.0,-10.1,646,7337,0.15,2.00,0.00,0.000,4,0.072,0.059,1859,1280,2954
$GC,7416,-0.98,-155.7,864.6,-13.0,649,7423,0.20,1.88,0.00,0.000,6,0.172,0.031,1890,2383,2954
$GC,7731,-0.98,-155.7,898.2,-10.7,665,7735,0.00,1.98,0.00,0.000,4,0.000,0.061,1891,1289,2953
$GC,7809,-0.98,-155.7,907.1,-11.5,668,7813,0.00,1.83,0.00,0.000,6,0.000,0.031,1891,2346,2953
$GC,8131,-0.98,-155.7,939.7,-10.0,684,8135,0.00,1.92,0.00,0.000,4,0.000,0.061,1891,1281,2953
$GC,8236,-0.98,-155.7,950.8,-10.8,688,8244,0.00,1.83,0.00,0.000,6,0.000,0.031,1891,2338,2953
$GC,8553,-0.98,-155.7,981.9,-9.6,704,8556,0.00,1.90,0.00,0.000,4,0.000,0.060,1891,1282,2952
$GC,8620,-0.98,-155.7,988.7,-10.2,707,8624,0.00,1.83,0.00,0.000,6,0.000,0.031,1891,2336,2952
$STATE,8634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8634,begin apogee
$GC,8641,-0.33,0.0,990.4,10.3,707,8780,0.77,0.00,135.43,1.342,6,0.155,0.000,2031,3464,2320
$STATE,8781,end apogee,CONTROL_FINISHED_OK
$STATE,8781,begin climb
$GC,8783,1.44,155.7,995.7,0.0,714,8923,1.98,0.73,133.40,1.315,4,0.107,0.110,2422,3805,1684
$GC,9177,0.84,155.7,966.7,12.3,731,9181,0.75,0.60,0.00,0.000,6,0.202,0.087,2301,3511,1683
$GC,9498,0.89,229.9,943.8,6.8,747,9569,0.00,2.83,63.28,1.298,4,0.000,0.074,2301,2074,1382
$GC,9822,0.94,254.1,916.2,9.0,761,9852,0.00,2.60,20.25,1.309,6,0.000,0.057,2301,3482,1284
$GC,10160,0.95,258.3,883.8,9.8,778,10168,0.00,0.70,3.33,1.410,4,0.000,0.114,2301,3807,1265
$GC,10353,0.95,258.3,864.2,10.2,786,10360,0.00,0.77,0.00,0.000,6,0.000,0.088,2300,3426,1265
$GC,10669,0.95,258.3,832.1,10.4,802,10673,0.00,2.50,0.00,0.000,4,0.000,0.074,2301,2081,1265
$GC,10708,0.95,258.3,828.1,10.6,804,10712,0.00,2.40,0.00,0.000,6,0.000,0.052,2301,3394,1264
$GC,11034,0.95,258.3,793.0,11.0,820,11035,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,3394,1264
$GC,11343,0.95,258.3,760.1,10.7,835,11347,0.00,2.45,0.00,0.000,4,0.000,0.068,2301,2080,1264
$GC,11376,0.95,258.3,756.6,10.2,836,11383,0.00,2.30,0.00,0.000,6,0.000,0.050,2301,3353,1264
$GC,11693,0.96,266.1,724.7,9.7,852,11702,0.00,0.88,5.93,1.303,4,0.000,0.098,2301,3809,1235
$GC,11742,0.97,271.2,719.6,9.8,854,11752,0.00,1.00,4.38,1.305,6,0.000,0.079,2301,3294,1214
$GC,12068,1.00,286.3,689.8,9.3,870,12091,0.12,1.08,12.82,1.220,4,0.069,0.091,2328,3807,1152
$GC,12309,0.91,286.3,661.7,11.0,880,12316,0.00,1.05,0.00,0.000,6,0.000,0.074,2328,3252,1151
$GC,12625,0.91,286.3,626.9,10.9,896,12628,0.00,2.15,0.00,0.000,4,0.000,0.064,2329,2072,1151
$GC,12882,0.91,286.3,598.8,11.0,907,12886,0.00,2.08,0.00,0.000,6,0.000,0.042,2328,3220,1150
$GC,13204,0.91,286.3,564.1,11.0,923,13207,0.00,1.12,0.00,0.000,4,0.000,0.088,2328,3803,1150
$GC,13326,0.85,286.3,550.1,12.0,928,13331,0.15,1.20,0.00,0.000,6,0.175,0.067,2302,3168,1150
$GC,13648,0.95,288.5,518.9,9.9,944,13652,0.00,1.95,0.00,0.000,4,0.000,0.057,2302,2074,1150
$GC,13704,1.10,309.0,513.4,9.1,946,13730,0.20,1.90,18.70,1.085,6,0.059,0.038,2350,3159,1060
$GC,14054,0.97,309.0,470.3,13.1,974,14058,0.15,1.23,0.00,0.000,4,0.178,0.075,2326,3806,1058
$GC,14110,0.97,309.0,463.5,11.4,979,14113,0.00,1.23,0.00,0.000,6,0.000,0.054,2326,3131,1058
$GC,14441,0.97,309.0,427.7,11.0,1010,14445,0.00,1.85,0.00,0.000,4,0.000,0.049,2326,2080,1058
$GC,14468,0.97,309.0,424.4,10.9,1012,14475,0.00,1.90,0.00,0.000,6,0.000,0.035,2326,3159,1058
$GC,14794,0.97,309.0,390.0,10.5,1043,14798,0.00,1.20,0.00,0.000,4,0.000,0.067,2326,3809,1058
$GC,14821,0.97,309.0,386.8,10.9,1045,14829,0.00,1.20,0.00,0.000,6,0.000,0.042,2326,3121,1058
$GC,15148,0.97,309.0,353.5,10.2,1076,15151,0.00,1.83,0.00,0.000,4,0.000,0.047,2326,2074,1058
$GC,15406,0.97,309.0,326.4,11.1,1099,15410,0.00,1.88,0.00,0.000,6,0.000,0.033,2326,3166,1058
$GC,15738,0.97,309.0,290.1,10.8,1130,15741,0.00,1.15,0.00,0.000,4,0.000,0.060,2326,3803,1058
$GC,15839,0.97,309.0,278.6,11.6,1139,15843,0.00,1.17,0.00,0.000,6,0.000,0.035,2326,3113,1058
$GC,16171,0.98,310.8,244.0,9.9,1170,16175,0.00,1.27,0.00,0.000,4,0.000,0.055,2326,3808,1058
$GC,16374,0.99,320.2,223.4,9.6,1188,16387,0.00,1.17,9.15,0.909,6,0.000,0.034,2326,3112,1014
$GC,16708,1.09,336.6,191.9,9.3,1226,16728,0.00,1.27,13.48,0.856,4,0.000,0.052,2326,3813,946
$GC,16880,1.19,349.6,174.7,9.4,1256,16896,0.17,1.20,10.60,0.848,6,0.065,0.033,2368,3108,893
$GC,17235,1.11,349.6,129.6,13.0,1318,17241,0.00,1.27,0.00,0.000,4,0.000,0.051,2368,3810,892
$GC,17450,1.03,349.6,100.9,14.9,1356,17457,0.15,1.17,0.00,0.000,6,0.163,0.034,2341,3122,892
$GC,17795,1.21,377.7,64.0,8.8,1417,17822,0.15,1.33,22.88,0.727,4,0.068,0.050,2378,3816,780
$GC,17991,1.21,377.7,40.4,11.8,1451,17998,0.00,1.20,0.00,0.000,6,0.000,0.033,2378,3119,776
$STATE,18316,end climb,SURFACE_DEPTH_REACHED
$STATE,18316,begin surface coast
$FINISH,0.3,1.021671
$STATE,18335,end surface coast,CONTROL_FINISHED_OK
$STATE,18335,begin surface
$SM_CCo,18352,34.03,0.663,0,0,599,422.16
$SM_GC,1.01,0.00,0.00,34.03,0.000,0.000,0.663,720,2665,599,-6.39,-0.99,422.16
$RAFOS_CLK,835
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,3629.60,-12209.72,220707,222254
$TT8_MAMPS,0.023777
$HUMID,3094
$INTERNAL_PRESSURE,7.88116
$TCM_TEMP,19.10
$XPDR_PINGS,3
$24V_AH,23.1,8.798
$10V_AH,10.1,2.825
$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,22.775,139.600,453.600,34.025,0.000,71.917,76.388,216.089,0.750,17.199,3283.161,11317.548,639.616,3073.923,638.036,33.340,2167.116,0.000,3018.850,0.000,0.473
$DEVICE_MAMPS,253.877,113.516,1409.746,663.455,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1035.624,1245.750,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56638,1512
$CFSIZE,260165632,257056768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,4,0,0
$SOUNDSPEED,1498.2
$CURRENT,0.039, 85.8,1
$GPS,220707,232838,3642.410,-12206.867,29,1.8,29,14.8