version: 66.01
glider: 111
mission: 1
dive: 18
start: 7 22 107 23 38 57
data:
$ID,111
$MISSION,1
$DIVE,18
$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,-91009.203
$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,0.059999999
$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,42
$R_STBD_OVSHOOT,9
$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
$GPS1,232838,3642.410,-12206.867,29,1.8,29,14.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-50.2
$GPS2,233745,3642.270,-12206.748,15,1.6,15,14.8
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,TWO
$TGT_LATLONG,3646.000,-12212.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.104,0.246
$KALMAN_X,14561.9,813.5,583.4,-26749.8,-1848.1
$KALMAN_Y,-51571.2,-246.6,533.9,43216.6,-7186.6
$MHEAD_RNG_PITCHd_Wd,258.3,10414,-16.9,-10.000
$D_GRID,1617
$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,-1.44,-155.7,0.0,0.0,0,90,0.00,0.00,-61.90,0.000,2,0.000,0.000,719,2663,2231
$GC,93,-1.44,-155.7,3.3,-8.5,9,122,7.82,2.08,-15.90,0.000,4,0.261,0.055,1789,3813,2958
$GC,259,-0.80,-155.7,45.6,-26.1,37,267,0.85,1.92,0.00,0.000,6,0.170,0.038,1931,2702,2961
$GC,605,-0.87,-155.7,91.2,-11.5,98,611,0.00,2.47,0.00,0.000,4,0.000,0.043,1931,1283,2962
$GC,769,-0.87,-155.7,111.0,-11.2,127,776,0.00,2.40,0.00,0.000,6,0.000,0.026,1931,2711,2963
$GC,1114,-0.99,-155.7,149.6,-11.2,188,1122,0.15,2.50,0.00,0.000,4,0.059,0.041,1892,1286,2963
$GC,1325,-0.83,-155.7,180.1,-14.7,225,1332,0.20,2.28,0.00,0.000,6,0.151,0.027,1925,2644,2962
$GC,1668,-0.92,-155.7,219.4,-11.3,271,1672,0.00,2.38,0.00,0.000,4,0.000,0.044,1925,1291,2962
$GC,1856,-0.92,-155.7,241.4,-11.4,287,1860,0.00,2.25,0.00,0.000,6,0.000,0.027,1925,2630,2963
$GC,2182,-1.03,-155.7,277.7,-10.9,317,2187,0.15,2.38,0.00,0.000,4,0.064,0.044,1884,1282,2963
$GC,2346,-0.87,-155.7,300.8,-14.0,331,2351,0.20,2.22,0.00,0.000,6,0.156,0.027,1916,2607,2963
$GC,2673,-0.95,-155.7,336.6,-10.9,361,2677,0.00,2.33,0.00,0.000,4,0.000,0.046,1916,1290,2962
$GC,2848,-0.95,-155.7,355.8,-10.7,376,2852,0.00,2.15,0.00,0.000,6,0.000,0.028,1916,2570,2962
$GC,3180,-1.04,-155.7,391.3,-10.7,407,3185,0.15,2.28,0.00,0.000,4,0.066,0.050,1878,1294,2962
$GC,3347,-0.86,-155.7,415.1,-14.3,421,3355,0.22,2.10,0.00,0.000,6,0.157,0.028,1915,2541,2962
$GC,3672,-0.95,-155.7,450.7,-10.5,452,3676,0.00,2.22,0.00,0.000,4,0.000,0.052,1915,1295,2961
$GC,3805,-0.95,-155.7,465.2,-10.6,463,3812,0.00,2.08,0.00,0.000,6,0.000,0.028,1915,2520,2961
$GC,4132,-1.03,-155.7,498.9,-10.2,494,4137,0.15,2.20,0.00,0.000,4,0.068,0.052,1878,1288,2960
$GC,4255,-0.86,-155.7,516.1,-14.4,500,4260,0.25,2.05,0.00,0.000,6,0.157,0.029,1919,2497,2959
$GC,4577,-0.97,-155.7,549.9,-10.2,516,4580,0.00,2.17,0.00,0.000,4,0.000,0.054,1918,1285,2959
$GC,4714,-1.04,-155.7,564.7,-11.7,522,4718,0.17,2.03,0.00,0.000,6,0.063,0.030,1880,2475,2959
$GC,5040,-0.96,-155.7,609.2,-13.3,538,5044,0.00,2.12,0.00,0.000,4,0.000,0.054,1879,1292,2958
$GC,5157,-0.83,-155.7,625.1,-13.6,543,5162,0.28,1.98,0.00,0.000,6,0.157,0.030,1925,2458,2958
$GC,5485,-0.98,-155.7,656.0,-9.0,559,5490,0.15,2.10,0.00,0.000,4,0.065,0.054,1892,1290,2957
$GC,5585,-0.98,-155.7,667.4,-11.4,563,5592,0.00,1.95,0.00,0.000,6,0.000,0.030,1892,2421,2957
$GC,5901,-0.98,-155.7,702.9,-11.7,579,5905,0.00,2.03,0.00,0.000,4,0.000,0.054,1892,1291,2956
$GC,6001,-0.92,-155.7,714.8,-11.9,583,6005,0.00,1.90,0.00,0.000,6,0.000,0.030,1892,2411,2956
$GC,6323,-0.92,-155.7,752.5,-11.7,599,6326,0.00,2.03,0.00,0.000,4,0.000,0.056,1892,1287,2956
$GC,6400,-0.92,-155.7,762.1,-12.6,602,6404,0.00,1.88,0.00,0.000,6,0.000,0.030,1892,2395,2955
$GC,6723,-0.92,-155.7,801.0,-12.3,618,6727,0.00,2.00,0.00,0.000,4,0.000,0.056,1892,1286,2955
$GC,6813,-0.92,-155.7,812.5,-12.5,622,6817,0.00,1.88,0.00,0.000,6,0.000,0.031,1892,2377,2955
$GC,7147,-0.92,-155.7,852.5,-11.9,638,7151,0.00,1.95,0.00,0.000,4,0.000,0.055,1892,1291,2955
$GC,7215,-0.92,-155.7,860.9,-12.7,641,7218,0.00,1.83,0.00,0.000,6,0.000,0.030,1892,2369,2954
$GC,7547,-0.92,-155.7,900.4,-12.1,657,7550,0.00,1.92,0.00,0.000,4,0.000,0.057,1892,1297,2954
$GC,7624,-0.92,-155.7,909.9,-12.4,660,7628,0.00,1.83,0.00,0.000,6,0.000,0.030,1892,2359,2954
$GC,7946,-0.92,-155.7,946.8,-11.8,676,7949,0.00,1.92,0.00,0.000,4,0.000,0.058,1892,1289,2953
$GC,8006,-0.92,-155.7,954.2,-12.1,678,8014,0.00,1.83,0.00,0.000,6,0.000,0.030,1892,2350,2953
$STATE,8320,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8321,begin apogee
$GC,8328,-0.33,0.0,992.1,11.9,694,8467,0.77,0.00,135.38,1.344,6,0.150,0.000,2031,3464,2320
$STATE,8467,end apogee,CONTROL_FINISHED_OK
$STATE,8467,begin climb
$GC,8469,1.44,155.7,999.9,0.0,701,8610,1.98,0.70,133.48,1.314,4,0.106,0.094,2421,3805,1685
$GC,8863,0.86,155.7,971.9,11.8,718,8868,0.70,0.57,0.00,0.000,6,0.194,0.074,2307,3514,1683
$GC,9185,0.89,232.4,948.1,6.7,734,9258,0.00,2.78,65.38,1.295,4,0.000,0.064,2307,2079,1371
$GC,9511,0.95,259.1,919.4,8.8,748,9540,0.00,2.53,22.33,1.302,6,0.000,0.049,2307,3464,1262
$GC,9848,0.95,261.5,886.7,9.9,765,9852,0.00,0.65,0.00,0.000,4,0.000,0.092,2307,3799,1261
$GC,10073,0.95,261.5,864.6,10.7,775,10077,0.00,0.75,0.00,0.000,6,0.000,0.072,2307,3418,1260
$GC,10405,0.95,261.5,830.7,10.4,791,10409,0.00,2.45,0.00,0.000,4,0.000,0.063,2307,2076,1260
$GC,10663,0.96,268.4,805.5,9.7,802,10675,0.00,2.38,7.15,1.330,6,0.000,0.045,2307,3393,1225
$GC,10996,0.96,268.4,771.4,10.6,819,10999,0.00,0.80,0.00,0.000,4,0.000,0.086,2306,3806,1225
$GC,11109,0.96,268.4,759.7,10.3,824,11112,0.00,0.88,0.00,0.000,6,0.000,0.067,2307,3348,1225
$GC,11442,0.99,280.1,727.4,9.5,840,11457,0.00,2.35,9.70,1.259,4,0.000,0.059,2307,2083,1178
$GC,11712,1.06,280.2,699.4,10.0,852,11717,0.15,2.20,0.00,0.000,6,0.064,0.042,2343,3314,1177
$GC,12038,0.94,280.2,659.2,12.0,868,12042,0.15,0.93,0.00,0.000,4,0.176,0.077,2318,3802,1177
$GC,12179,0.96,287.1,644.6,9.7,874,12188,0.00,1.00,5.72,1.241,6,0.000,0.061,2318,3271,1149
$GC,12505,0.99,301.5,613.3,9.4,890,12527,0.00,2.25,12.32,1.164,4,0.000,0.056,2318,2079,1089
$GC,12779,0.99,302.2,587.0,10.0,902,12783,0.00,2.10,0.00,0.000,6,0.000,0.038,2318,3267,1088
$GC,13106,0.99,302.2,553.6,11.2,918,13110,0.00,1.00,0.00,0.000,4,0.000,0.071,2318,3803,1088
$GC,13200,0.99,302.2,542.4,11.6,922,13204,0.00,1.10,0.00,0.000,6,0.000,0.053,2318,3198,1088
$GC,13527,0.99,302.2,508.6,10.5,938,13531,0.00,1.98,0.00,0.000,4,0.000,0.052,2318,2085,1088
$GC,13786,1.05,302.2,482.2,10.5,957,13789,0.00,1.92,0.00,0.000,6,0.000,0.036,2318,3191,1088
$GC,14118,1.14,315.2,450.5,9.4,988,14135,0.15,1.15,11.00,1.056,4,0.064,0.059,2358,3805,1035
$GC,14303,1.01,315.2,428.3,11.8,1004,14310,0.12,1.20,0.00,0.000,6,0.176,0.040,2337,3117,1035
$GC,14628,1.01,316.7,394.9,9.9,1035,14631,0.00,1.83,0.00,0.000,4,0.000,0.047,2337,2073,1034
$GC,14887,1.01,316.7,365.8,11.6,1058,14890,0.00,1.90,0.00,0.000,6,0.000,0.032,2337,3175,1034
$GC,15218,1.01,316.7,329.0,11.0,1089,15221,0.00,1.12,0.00,0.000,4,0.000,0.051,2336,3807,1034
$GC,15331,1.01,316.7,316.4,11.5,1099,15334,0.00,1.17,0.00,0.000,6,0.000,0.035,2336,3120,1034
$GC,15662,1.01,316.7,280.7,10.8,1130,15666,0.00,1.80,0.00,0.000,4,0.000,0.044,2337,2079,1035
$GC,15922,1.01,316.7,251.8,10.7,1153,15926,0.00,1.88,0.00,0.000,6,0.000,0.031,2336,3172,1034
$GC,16252,1.01,316.7,214.8,11.0,1184,16256,0.00,1.12,0.00,0.000,4,0.000,0.049,2337,3810,1035
$GC,16346,1.01,316.7,204.1,11.9,1192,16354,0.00,1.17,0.00,0.000,6,0.000,0.031,2337,3113,1034
$GC,16688,1.01,316.7,168.1,10.4,1249,16695,0.00,1.80,0.00,0.000,4,0.000,0.042,2337,2066,1034
$GC,16865,1.02,322.5,150.2,9.7,1280,16879,0.00,1.90,6.10,0.871,6,0.000,0.031,2337,3180,1005
$GC,17217,1.11,322.5,113.2,10.3,1342,17224,0.00,1.10,0.00,0.000,4,0.000,0.048,2337,3806,1005
$GC,17315,1.19,322.5,102.8,10.0,1359,17322,0.10,1.17,0.00,0.000,6,0.064,0.031,2364,3110,1005
$GC,17659,1.23,345.1,63.9,9.0,1420,17685,0.00,1.83,18.70,0.732,4,0.000,0.039,2364,2069,912
$GC,17939,1.35,370.8,33.4,8.9,1469,17967,0.17,1.90,20.70,0.700,6,0.053,0.031,2409,3179,808
$STATE,18167,end climb,SURFACE_DEPTH_REACHED
$STATE,18167,begin surface coast
$FINISH,0.3,1.021709
$STATE,18180,end surface coast,CONTROL_FINISHED_OK
$STATE,18180,begin surface
$SM_CCo,18198,39.25,0.654,0,0,599,422.16
$SM_GC,1.02,0.00,0.00,39.25,0.000,0.000,0.654,724,2665,599,-6.37,-0.99,422.16
$RAFOS_CLK,828
$RAFOS,2,1185163744,4.166700,4.151111,43,43,42,0,0,0,187,481,668,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,3629.60,-12208.29,230707,030302
$TT8_MAMPS,0.023777
$HUMID,3116
$INTERNAL_PRESSURE,7.88116
$TCM_TEMP,19.20
$XPDR_PINGS,18
$24V_AH,23.1,8.981
$10V_AH,10.1,2.927
$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,22.800,133.875,447.950,39.250,0.000,78.102,87.097,191.931,4.500,15.702,3329.724,11063.057,607.498,3165.434,627.804,33.351,2165.871,0.000,3113.040,360.000,0.474
$DEVICE_MAMPS,260.780,94.341,1343.784,654.251,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1035.363,1245.560,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56695,1511
$CFSIZE,260165632,256970752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1498.3
$CURRENT,0.054,147.7,1
$GPS,230707,044427,3641.379,-12207.292,31,2.6,50,14.8