version: 66.01
glider: 111
mission: 1
dive: 20
start: 7 23 107 9 58 44
data:
$ID,111
$MISSION,1
$DIVE,20
$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,-91061.266
$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,2300
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,31
$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
$GPS1,095125,3640.561,-12209.369,25,1.1,42,14.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-53.0
$GPS2,095732,3640.527,-12209.360,11,1.6,16,14.8
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,TWO
$TGT_LATLONG,3646.000,-12212.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.190,0.188
$KALMAN_X,18715.6,-1165.0,-529.4,-31656.4,4333.3
$KALMAN_Y,-63432.4,-256.4,-166.2,52582.8,-5167.0
$MHEAD_RNG_PITCHd_Wd,279.1,10866,-16.9,-10.000
$D_GRID,1267
$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,24,begin dive
$GC,26,-1.44,-155.7,0.0,0.0,0,89,0.00,0.00,-61.15,0.000,2,0.000,0.000,724,2718,2226
$GC,92,-1.44,-155.7,3.4,-7.7,9,121,7.53,1.77,-16.12,0.000,4,0.249,0.058,1786,3702,2958
$GC,212,-0.95,-155.7,37.6,-31.4,29,220,0.65,2.53,0.00,0.000,6,0.159,0.047,1897,2292,2961
$GC,558,-0.87,-155.7,93.3,-14.1,90,565,0.12,2.50,0.00,0.000,4,0.165,0.050,1915,889,2962
$GC,639,-0.87,-155.7,104.0,-12.2,104,646,0.00,2.38,0.00,0.000,6,0.000,0.026,1916,2313,2962
$GC,983,-0.87,-155.7,144.9,-12.4,165,990,0.00,2.55,0.00,0.000,4,0.000,0.048,1916,884,2963
$GC,1058,-0.87,-155.7,154.7,-13.4,178,1065,0.00,2.28,0.00,0.000,6,0.000,0.027,1916,2251,2963
$GC,1402,-0.87,-155.7,197.4,-12.4,239,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,2251,2963
$GC,1734,-0.87,-155.7,238.2,-12.4,272,1738,0.00,2.42,0.00,0.000,4,0.000,0.050,1916,887,2963
$GC,1800,-0.87,-155.7,246.8,-12.2,277,1807,0.00,2.25,0.00,0.000,6,0.000,0.027,1916,2236,2963
$GC,2126,-0.87,-155.7,285.5,-11.7,308,2130,0.00,2.40,0.00,0.000,4,0.000,0.051,1916,887,2963
$GC,2164,-0.87,-155.7,290.6,-12.7,311,2172,0.00,2.25,0.00,0.000,6,0.000,0.027,1916,2220,2963
$GC,2491,-0.87,-155.7,328.8,-11.9,342,2495,0.00,2.38,0.00,0.000,4,0.000,0.051,1916,889,2963
$GC,2523,-0.87,-155.7,333.2,-12.8,344,2530,0.00,2.17,0.00,0.000,6,0.000,0.027,1916,2196,2962
$GC,2849,-0.87,-155.7,373.3,-12.4,375,2850,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,2196,2963
$GC,3167,-0.87,-155.7,412.9,-12.2,405,3171,0.00,2.35,0.00,0.000,4,0.000,0.057,1916,892,2963
$GC,3210,-0.87,-155.7,418.7,-12.6,408,3217,0.00,2.17,0.00,0.000,6,0.000,0.027,1916,2172,2962
$GC,3536,-0.87,-155.7,456.6,-11.8,439,3538,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,2172,2962
$GC,3854,-0.87,-155.7,491.9,-11.1,469,3858,0.00,2.33,0.00,0.000,4,0.000,0.061,1916,889,2962
$GC,3903,-0.87,-155.7,497.6,-11.5,473,3910,0.00,2.20,0.00,0.000,6,0.000,0.028,1916,2166,2962
$GC,4220,-0.87,-155.7,532.2,-11.1,490,4224,0.00,2.33,0.00,0.000,4,0.000,0.061,1916,892,2961
$GC,4242,-0.87,-155.7,534.8,-11.7,491,4246,0.00,2.15,0.00,0.000,6,0.000,0.028,1916,2159,2961
$GC,4563,-0.87,-155.7,569.7,-10.6,507,4567,0.00,2.33,0.00,0.000,4,0.000,0.061,1916,886,2961
$GC,4589,-0.87,-155.7,572.7,-10.9,508,4593,0.00,2.15,0.00,0.000,6,0.000,0.029,1916,2132,2960
$GC,4917,-0.87,-155.7,605.6,-10.2,524,4921,0.00,2.78,0.00,0.000,4,0.000,0.061,1916,3661,2961
$GC,4943,-0.98,-155.7,608.5,-10.4,525,4948,0.00,2.78,0.00,0.000,6,0.000,0.068,1916,2170,2960
$GC,5259,-0.98,-155.7,642.2,-11.1,540,5264,0.00,2.72,0.00,0.000,4,0.000,0.057,1916,3667,2959
$GC,5299,-1.10,-155.7,646.5,-11.0,542,5304,0.22,2.78,0.00,0.000,6,0.071,0.069,1867,2177,2959
$GC,5626,-0.98,-155.7,692.4,-14.0,558,5631,0.15,2.35,0.00,0.000,4,0.143,0.064,1891,890,2958
$GC,5653,-0.90,-155.7,696.2,-13.5,559,5657,0.12,2.17,0.00,0.000,6,0.162,0.028,1910,2176,2958
$GC,5973,-0.90,-155.7,730.1,-10.4,575,5977,0.00,2.35,0.00,0.000,4,0.000,0.061,1909,893,2958
$GC,6012,-0.90,-155.7,734.3,-11.0,577,6016,0.00,2.15,0.00,0.000,6,0.000,0.029,1910,2156,2958
$GC,6344,-0.90,-155.7,768.6,-10.1,593,6346,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,2156,2957
$GC,6653,-0.90,-155.7,801.5,-10.8,608,6657,0.00,2.33,0.00,0.000,4,0.000,0.064,1910,890,2956
$GC,6680,-0.90,-155.7,804.7,-11.9,609,6685,0.00,2.15,0.00,0.000,6,0.000,0.029,1910,2135,2956
$GC,7002,-0.90,-155.7,839.1,-10.4,625,7006,0.00,2.83,0.00,0.000,4,0.000,0.070,1910,3666,2956
$GC,7041,-1.01,-155.7,843.1,-10.3,627,7046,0.00,2.85,0.00,0.000,6,0.000,0.077,1910,2160,2956
$GC,7368,-1.01,-155.7,875.2,-9.7,643,7369,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,2157,2955
$GC,7677,-1.01,-155.7,906.0,-9.8,658,7682,0.00,2.78,0.00,0.000,4,0.000,0.062,1910,3669,2955
$GC,7704,-1.11,-155.7,908.7,-10.2,659,7709,0.20,2.80,0.00,0.000,6,0.073,0.075,1867,2174,2955
$GC,8020,-1.01,-155.7,951.2,-14.0,674,8024,0.12,2.35,0.00,0.000,4,0.153,0.066,1886,890,2954
$GC,8046,-0.92,-155.7,955.0,-14.3,675,8051,0.12,2.15,0.00,0.000,6,0.167,0.029,1904,2156,2954
$GC,8368,-0.92,-155.7,989.0,-10.4,691,8372,0.00,2.33,0.00,0.000,4,0.000,0.064,1904,891,2954
$STATE,8376,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8376,begin apogee
$GC,8383,-0.33,0.0,990.1,10.2,691,8522,0.70,0.00,135.43,1.339,6,0.154,0.000,2031,2374,2320
$STATE,8523,end apogee,CONTROL_FINISHED_OK
$STATE,8523,begin climb
$GC,8525,1.44,155.7,995.5,0.0,698,8667,2.00,2.72,133.10,1.309,4,0.118,0.071,2419,3784,1685
$GC,8825,1.06,155.7,979.6,10.7,711,8830,0.45,2.62,0.00,0.000,6,0.163,0.072,2344,2401,1684
$GC,9141,1.05,223.8,956.5,7.1,726,9207,0.00,2.70,58.10,1.296,4,0.000,0.068,2344,3792,1406
$GC,9281,0.91,223.8,942.9,11.5,732,9286,0.22,2.65,0.00,0.000,6,0.215,0.074,2313,2410,1405
$GC,9602,0.95,244.4,912.8,9.1,748,9625,0.00,2.75,17.20,1.315,4,0.000,0.065,2313,988,1323
$GC,9680,0.95,244.4,904.8,10.8,751,9685,0.00,2.50,0.00,0.000,6,0.000,0.031,2314,2398,1322
$GC,10002,0.96,249.6,873.2,9.8,767,10011,0.00,2.65,4.00,1.394,4,0.000,0.067,2314,3786,1302
$GC,10039,0.96,249.6,869.1,10.4,768,10046,0.00,2.65,0.00,0.000,6,0.000,0.071,2314,2382,1302
$GC,10355,0.98,257.7,838.1,9.6,784,10364,0.00,0.00,6.85,1.342,6,0.000,0.000,2314,2382,1268
$GC,10664,0.99,262.0,808.1,9.8,799,10669,0.00,0.00,3.33,1.387,6,0.000,0.000,2313,2382,1251
$GC,10991,1.03,282.5,778.7,9.1,815,11012,0.00,0.00,17.40,1.254,6,0.000,0.000,2313,2381,1168
$GC,11320,1.03,282.5,745.7,10.1,831,11324,0.00,2.58,0.00,0.000,4,0.000,0.065,2314,985,1167
$GC,11391,1.03,282.5,737.7,11.5,834,11395,0.00,2.42,0.00,0.000,6,0.000,0.031,2314,2383,1167
$GC,11714,1.03,282.5,705.5,10.1,850,11715,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2383,1167
$GC,12022,1.04,287.3,674.8,9.8,865,12031,0.00,2.65,3.67,1.309,4,0.000,0.063,2313,989,1148
$GC,12071,1.04,287.3,669.5,10.4,867,12075,0.00,2.40,0.00,0.000,6,0.000,0.031,2313,2372,1148
$GC,12399,1.08,309.7,638.8,9.0,883,12425,0.15,2.67,19.08,1.159,4,0.072,0.063,2344,989,1057
$GC,12492,1.00,309.7,627.8,12.1,887,12496,0.00,2.38,0.00,0.000,6,0.000,0.031,2344,2354,1055
$GC,12813,1.00,309.7,592.1,10.6,903,12818,0.00,2.60,0.00,0.000,4,0.000,0.058,2344,3782,1055
$GC,12847,1.00,309.7,588.3,11.3,904,12854,0.00,2.67,0.00,0.000,6,0.000,0.063,2344,2336,1055
$GC,13162,1.00,309.7,553.0,11.2,920,13167,0.00,2.50,0.00,0.000,4,0.000,0.069,2344,987,1055
$GC,13225,0.92,309.7,545.5,12.0,923,13230,0.20,2.33,0.00,0.000,6,0.181,0.032,2314,2333,1055
$GC,13552,1.01,317.6,513.5,9.7,939,13565,0.00,2.55,6.40,1.141,4,0.000,0.064,2314,982,1025
$GC,13609,1.01,317.6,507.2,10.3,941,13617,0.00,2.33,0.00,0.000,6,0.000,0.031,2314,2321,1024
$GC,13935,1.12,331.2,475.8,9.4,968,13952,0.15,2.53,11.62,1.067,4,0.072,0.065,2349,990,968
$GC,14031,1.04,331.2,463.4,13.4,976,14035,0.00,2.22,0.00,0.000,6,0.000,0.031,2350,2274,967
$GC,14357,1.04,331.2,424.2,11.8,1006,14362,0.00,2.67,0.00,0.000,4,0.000,0.046,2349,3784,967
$GC,14389,1.04,331.2,420.1,11.6,1008,14397,0.00,2.72,0.00,0.000,6,0.000,0.047,2349,2268,967
$GC,14717,1.04,331.2,383.1,11.4,1039,14721,0.00,2.35,0.00,0.000,4,0.000,0.065,2349,984,967
$GC,14751,1.04,331.2,378.6,12.0,1041,14758,0.00,2.17,0.00,0.000,6,0.000,0.029,2349,2269,967
$GC,15077,1.04,331.2,338.4,12.4,1072,15082,0.00,2.67,0.00,0.000,4,0.000,0.042,2349,3790,967
$GC,15131,1.04,331.2,331.3,13.1,1076,15139,0.00,2.72,0.00,0.000,6,0.000,0.042,2349,2259,967
$GC,15458,1.04,331.2,291.6,11.8,1107,15462,0.00,2.30,0.00,0.000,4,0.000,0.061,2349,986,967
$GC,15535,1.04,331.2,281.1,12.8,1113,15543,0.00,2.20,0.00,0.000,6,0.000,0.028,2350,2288,967
$GC,15862,1.04,331.2,243.1,11.0,1144,15863,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2291,967
$GC,16180,1.04,331.2,207.8,10.9,1174,16184,0.00,2.38,0.00,0.000,4,0.000,0.056,2349,977,967
$GC,16242,1.04,331.2,200.2,12.0,1179,16246,0.00,2.20,0.00,0.000,6,0.000,0.028,2350,2278,967
$GC,16585,1.04,331.2,163.3,12.3,1239,16591,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2282,967
$GC,16928,1.04,331.2,126.4,10.0,1300,16934,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2282,967
$GC,17272,1.07,346.0,89.7,9.4,1361,17292,0.00,2.38,11.82,0.775,4,0.000,0.054,2349,986,908
$GC,17315,1.07,346.0,85.1,11.8,1368,17322,0.00,2.17,0.00,0.000,6,0.000,0.028,2349,2266,908
$GC,17660,1.20,357.6,51.5,9.5,1429,17674,0.00,2.75,9.23,0.755,4,0.000,0.038,2350,3786,860
$GC,17827,1.38,404.3,36.9,8.0,1458,17874,0.28,2.60,39.53,0.675,6,0.067,0.034,2409,2297,671
$STATE,18108,end climb,SURFACE_DEPTH_REACHED
$STATE,18108,begin surface coast
$FINISH,0.3,1.021480
$STATE,18121,end surface coast,CONTROL_FINISHED_OK
$STATE,18121,begin surface
$SM_CCo,18137,13.18,0.691,0,0,599,422.16
$SM_GC,1.74,0.00,0.00,13.18,0.000,0.000,0.691,719,2292,599,-6.39,-0.23,422.16
$RAFOS_CLK,824
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,3629.60,-12206.02,230707,080814
$TT8_MAMPS,0.024544
$HUMID,3226
$INTERNAL_PRESSURE,7.90069
$TCM_TEMP,19.20
$XPDR_PINGS,390
$24V_AH,23.1,9.368
$10V_AH,10.1,3.116
$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,21.075,181.450,476.750,13.175,0.000,40.901,42.865,160.647,97.500,16.209,3183.015,11576.776,662.901,2602.974,501.274,33.352,2014.518,0.000,2567.503,0.000,0.475
$DEVICE_MAMPS,249.275,77.467,1393.639,691.067,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1032.918,1248.237,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53523,1509
$CFSIZE,260165632,256811008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$SOUNDSPEED,1498.8
$CURRENT,0.105,111.4,1
$GPS,230707,150237,3641.163,-12211.309,37,1.2,42,14.8