version: 66.01
glider: 111
mission: 1
dive: 19
start: 7 23 107 4 55 8
data:
$ID,111
$MISSION,1
$DIVE,19
$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,-91044.422
$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,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,171
$ROLL_MAX,3808
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,11
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,4
$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
$GPS1,044427,3641.379,-12207.292,31,2.6,50,14.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-48.7
$GPS2,045359,3641.201,-12207.273,14,3.2,33,14.8
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,TWO
$TGT_LATLONG,3646.000,-12212.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.143,0.226
$KALMAN_X,17999.8,-773.7,55.7,-28858.2,2373.3
$KALMAN_Y,-56728.4,-1081.0,-317.0,48088.6,-3874.9
$MHEAD_RNG_PITCHd_Wd,261.9,11320,-16.9,-10.000
$D_GRID,1729
$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,-1.44,-155.7,0.0,0.0,0,92,0.00,0.00,-62.42,0.000,2,0.000,0.000,724,2663,2269
$GC,94,-1.44,-155.7,3.5,-7.7,9,123,7.53,2.08,-15.25,0.000,4,0.249,0.054,1789,3813,2958
$GC,304,-1.05,-155.7,56.8,-24.4,45,311,0.50,1.92,0.00,0.000,6,0.160,0.038,1874,2700,2961
$GC,649,-0.95,-155.7,112.3,-14.5,106,656,0.15,2.47,0.00,0.000,4,0.177,0.043,1900,1287,2962
$GC,848,-0.88,-155.7,138.5,-13.8,141,855,0.00,2.38,0.00,0.000,6,0.000,0.026,1900,2697,2962
$GC,1192,-0.88,-155.7,181.8,-12.1,202,1199,0.00,2.47,0.00,0.000,4,0.000,0.044,1899,1292,2962
$GC,1396,-0.88,-155.7,208.4,-12.2,233,1400,0.00,2.20,0.00,0.000,6,0.000,0.026,1900,2607,2962
$GC,1722,-0.88,-155.7,249.3,-13.1,263,1726,0.00,2.33,0.00,0.000,4,0.000,0.045,1899,1288,2962
$GC,1852,-0.88,-155.7,266.3,-12.8,274,1855,0.00,2.15,0.00,0.000,6,0.000,0.027,1900,2570,2962
$GC,2183,-0.88,-155.7,305.3,-11.4,305,2187,0.00,2.28,0.00,0.000,4,0.000,0.048,1900,1285,2963
$GC,2334,-0.88,-155.7,324.1,-12.4,318,2338,0.00,2.10,0.00,0.000,6,0.000,0.027,1899,2540,2962
$GC,2666,-0.88,-155.7,364.2,-12.5,349,2670,0.00,2.22,0.00,0.000,4,0.000,0.049,1899,1287,2962
$GC,2799,-0.88,-155.7,381.9,-12.3,360,2806,0.00,2.05,0.00,0.000,6,0.000,0.027,1899,2492,2961
$GC,3125,-0.88,-155.7,420.2,-11.7,391,3129,0.00,2.15,0.00,0.000,4,0.000,0.051,1899,1287,2962
$GC,3253,-0.88,-155.7,435.9,-11.8,402,3261,0.00,1.98,0.00,0.000,6,0.000,0.028,1899,2443,2961
$GC,3580,-0.88,-155.7,474.6,-11.9,433,3584,0.00,2.05,0.00,0.000,4,0.000,0.054,1899,1296,2961
$GC,3704,-0.88,-155.7,490.4,-13.1,444,3708,0.00,1.88,0.00,0.000,6,0.000,0.028,1900,2411,2961
$GC,4037,-0.88,-155.7,531.2,-11.9,464,4041,0.00,2.00,0.00,0.000,4,0.000,0.055,1899,1296,2959
$GC,4165,-0.88,-155.7,546.6,-11.7,469,4173,0.00,1.85,0.00,0.000,6,0.000,0.029,1900,2380,2960
$GC,4481,-0.88,-155.7,581.8,-11.6,485,4485,0.00,1.95,0.00,0.000,4,0.000,0.055,1899,1292,2959
$GC,4581,-0.88,-155.7,594.1,-11.8,489,4585,0.00,1.83,0.00,0.000,6,0.000,0.029,1900,2358,2958
$GC,4902,-0.88,-155.7,630.6,-11.0,505,4906,0.00,1.90,0.00,0.000,4,0.000,0.054,1899,1296,2958
$GC,4970,-0.88,-155.7,638.0,-11.1,508,4974,0.00,1.77,0.00,0.000,6,0.000,0.029,1900,2350,2958
$GC,5302,-0.88,-155.7,672.5,-10.2,524,5306,0.00,1.90,0.00,0.000,4,0.000,0.056,1899,1293,2957
$GC,5402,-0.88,-155.7,683.1,-10.5,528,5406,0.00,1.77,0.00,0.000,6,0.000,0.029,1899,2332,2956
$GC,5724,-0.88,-155.7,713.9,-9.3,544,5727,0.00,1.88,0.00,0.000,4,0.000,0.055,1899,1286,2956
$GC,5796,-0.88,-155.7,721.2,-9.9,547,5800,0.00,1.80,0.00,0.000,6,0.000,0.029,1900,2334,2956
$GC,6123,-0.88,-155.7,754.7,-10.5,563,6126,0.00,1.88,0.00,0.000,4,0.000,0.056,1899,1289,2955
$GC,6213,-0.88,-155.7,764.5,-11.3,567,6217,0.00,1.77,0.00,0.000,6,0.000,0.030,1900,2336,2954
$GC,6545,-0.88,-155.7,800.3,-10.9,583,6549,0.00,1.88,0.00,0.000,4,0.000,0.057,1899,1294,2955
$GC,6645,-0.88,-155.7,811.5,-11.4,587,6649,0.00,1.80,0.00,0.000,6,0.000,0.030,1900,2333,2954
$GC,6967,-0.88,-155.7,845.6,-10.8,603,6971,0.00,1.88,0.00,0.000,4,0.000,0.058,1899,1292,2954
$GC,7045,-0.88,-155.7,854.2,-10.5,606,7049,0.00,1.80,0.00,0.000,6,0.000,0.030,1899,2332,2954
$GC,7366,-0.88,-155.7,886.4,-10.1,622,7370,0.00,1.88,0.00,0.000,4,0.000,0.057,1899,1288,2953
$GC,7427,-0.88,-155.7,892.7,-9.9,624,7434,0.00,1.80,0.00,0.000,6,0.000,0.031,1899,2331,2953
$GC,7743,-0.88,-155.7,923.5,-10.0,640,7747,0.00,1.88,0.00,0.000,4,0.000,0.058,1900,1289,2952
$GC,7821,-0.88,-155.7,931.6,-10.2,643,7825,0.00,1.80,0.00,0.000,6,0.000,0.031,1899,2329,2952
$GC,8143,-0.88,-155.7,963.4,-9.8,659,8146,0.00,1.88,0.00,0.000,4,0.000,0.059,1899,1291,2952
$GC,8203,-0.88,-155.7,969.8,-10.4,661,8211,0.00,1.80,0.00,0.000,6,0.000,0.031,1900,2331,2952
$STATE,8414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8414,begin apogee
$GC,8419,-0.33,0.0,991.6,10.5,672,8558,0.73,0.00,135.20,1.341,6,0.150,0.000,2030,2385,2320
$STATE,8559,end apogee,CONTROL_FINISHED_OK
$STATE,8559,begin climb
$GC,8561,1.44,155.7,998.0,0.0,679,8703,2.00,2.72,133.38,1.312,4,0.115,0.068,2419,3789,1685
$GC,8957,1.05,155.7,974.9,11.2,696,8962,0.45,2.62,0.00,0.000,6,0.167,0.071,2345,2406,1684
$GC,9273,1.00,212.1,949.9,7.6,711,9326,0.00,2.67,47.78,1.302,4,0.000,0.066,2345,3785,1454
$GC,9428,0.82,212.1,934.8,10.9,718,9433,0.35,2.60,0.00,0.000,6,0.212,0.073,2294,2424,1454
$GC,9749,0.93,267.2,909.2,7.6,734,9802,0.00,2.75,47.35,1.282,4,0.000,0.066,2294,985,1229
$GC,9824,1.03,313.7,903.1,8.0,737,9875,0.17,2.55,40.65,1.266,6,0.065,0.031,2330,2425,1040
$GC,10184,1.03,313.7,860.0,12.3,755,10189,0.00,2.70,0.00,0.000,4,0.000,0.064,2330,981,1036
$GC,10268,0.94,313.7,848.6,13.8,759,10273,0.00,2.45,0.00,0.000,6,0.000,0.031,2330,2383,1034
$GC,10595,0.94,313.7,809.3,12.1,775,10599,0.00,2.60,0.00,0.000,4,0.000,0.064,2330,987,1034
$GC,10635,0.85,313.7,804.3,13.1,777,10640,0.20,2.40,0.00,0.000,6,0.186,0.031,2301,2368,1034
$GC,10963,0.96,331.3,772.6,9.2,793,10985,0.00,2.65,13.82,1.256,4,0.000,0.064,2300,987,968
$GC,11069,0.96,331.3,761.6,10.2,797,11076,0.00,2.33,0.00,0.000,6,0.000,0.031,2301,2321,967
$GC,11386,1.06,336.8,731.0,9.8,813,11395,0.15,2.53,4.20,1.312,4,0.071,0.064,2335,987,946
$GC,11468,0.98,336.8,720.4,13.8,816,11475,0.00,2.25,0.00,0.000,6,0.000,0.031,2335,2284,946
$GC,11784,0.98,336.8,679.7,13.2,832,11788,0.00,2.42,0.00,0.000,4,0.000,0.065,2336,984,946
$GC,11824,0.90,336.8,674.1,13.9,834,11829,0.17,2.22,0.00,0.000,6,0.183,0.031,2310,2269,946
$GC,12150,0.97,336.8,637.6,11.0,850,12154,0.00,2.40,0.00,0.000,4,0.000,0.066,2310,981,946
$GC,12205,0.97,336.8,631.0,11.6,852,12212,0.00,2.20,0.00,0.000,6,0.000,0.031,2310,2237,945
$GC,12522,1.04,336.8,596.7,11.0,868,12524,0.12,0.00,0.00,0.000,6,0.078,0.000,2335,2238,945
$GC,12830,1.04,336.8,556.8,12.6,883,12834,0.00,2.33,0.00,0.000,4,0.000,0.066,2335,988,945
$GC,12896,1.04,336.8,547.9,13.8,886,12901,0.00,2.17,0.00,0.000,6,0.000,0.031,2335,2246,946
$GC,13224,1.04,336.8,507.4,12.3,902,13228,0.00,2.78,0.00,0.000,4,0.000,0.053,2335,3784,946
$GC,13250,1.04,336.8,503.9,12.5,903,13254,0.00,2.88,0.00,0.000,6,0.000,0.058,2335,2220,945
$GC,13575,1.04,336.8,465.2,11.7,931,13579,0.00,2.28,0.00,0.000,4,0.000,0.067,2335,984,945
$GC,13631,1.04,336.8,457.9,13.3,936,13635,0.00,2.15,0.00,0.000,6,0.000,0.031,2335,2237,946
$GC,13962,1.04,336.8,417.6,12.1,967,13964,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2238,946
$GC,14279,1.04,336.8,378.2,11.8,997,14281,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2239,945
$GC,14598,1.04,336.8,340.2,12.0,1027,14602,0.00,2.30,0.00,0.000,4,0.000,0.060,2335,980,945
$GC,14648,1.04,336.8,333.9,12.3,1031,14652,0.00,2.10,0.00,0.000,6,0.000,0.029,2335,2217,945
$GC,14980,1.04,336.8,293.9,11.6,1062,14981,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2221,946
$GC,15298,1.04,336.8,258.2,10.9,1092,15303,0.00,2.75,0.00,0.000,4,0.000,0.041,2335,3785,945
$GC,15319,1.04,336.8,255.6,10.2,1093,15327,0.00,2.83,0.00,0.000,6,0.000,0.039,2335,2183,946
$GC,15647,1.04,336.8,221.1,10.4,1124,15648,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2184,946
$GC,15969,1.04,336.8,188.7,10.0,1164,15975,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2184,946
$GC,16313,1.10,363.8,156.2,8.8,1225,16345,0.00,2.92,22.55,0.796,4,0.000,0.038,2335,3784,837
$GC,16363,1.17,363.8,151.2,10.0,1233,16370,0.15,2.83,0.00,0.000,6,0.086,0.038,2365,2196,836
$GC,16708,1.17,363.8,108.2,14.3,1294,16715,0.00,2.17,0.00,0.000,4,0.000,0.057,2365,984,834
$GC,16732,1.17,363.8,104.8,12.6,1298,16739,0.00,2.10,0.00,0.000,6,0.000,0.028,2365,2234,834
$GC,17077,1.17,363.8,62.7,10.3,1359,17083,0.00,2.72,0.00,0.000,4,0.000,0.038,2365,3792,834
$GC,17096,1.17,365.2,60.6,9.9,1362,17103,0.00,2.75,0.00,0.000,6,0.000,0.036,2365,2219,834
$GC,17440,1.27,413.6,28.2,7.9,1423,17492,0.00,2.30,41.72,0.671,4,0.000,0.053,2365,988,632
$GC,17510,1.35,420.1,22.5,9.7,1434,17525,0.17,2.17,5.05,0.742,6,0.059,0.027,2405,2273,606
$STATE,17663,end climb,SURFACE_DEPTH_REACHED
$STATE,17663,begin surface coast
$FINISH,0.4,1.021743
$STATE,17676,end surface coast,CONTROL_FINISHED_OK
$STATE,17676,begin surface
$SM_CCo,17693,0.20,1.477,0,0,599,422.16
$SM_GC,1.61,0.00,0.00,0.20,0.000,0.000,1.477,724,2716,599,-6.38,0.42,422.16
$RAFOS_CLK,805
$RAFOS,3,1185170644,6.083333,6.067778,44,42,41,0,0,0,579,328,1161,0,0,0
$RAFOS,1,1185168570,5.505560,5.491667,47,43,42,0,0,0,758,245,1106,0,0,0
$RAFOS,0,1185167143,5.111111,5.095278,53,46,45,0,0,0,309,413,109,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,3629.60,-12208.29,230707,080844
$TT8_MAMPS,0.024544
$HUMID,3144
$INTERNAL_PRESSURE,7.89093
$TCM_TEMP,19.20
$XPDR_PINGS,157
$24V_AH,23.1,9.175
$10V_AH,10.1,3.023
$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,20.625,165.775,491.700,0.200,0.000,78.954,64.157,217.574,39.250,34.590,3127.294,11120.420,644.253,2754.947,624.282,33.356,2046.345,0.000,2697.281,1080.000,0.475
$DEVICE_MAMPS,248.508,84.370,1341.483,1477.242,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1001.283,1210.365,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53463,1463
$CFSIZE,260165632,256892928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1498.7
$CURRENT,0.101,118.1,1
$GPS,230707,095125,3640.561,-12209.369,25,1.1,42,14.8