version: 66.01
glider: 111
mission: 1
dive: 21
start: 7 23 107 15 16 31
data:
$ID,111
$MISSION,1
$DIVE,21
$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,-91075.492
$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,17
$R_STBD_OVSHOOT,35
$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
$GPS1,150237,3641.163,-12211.309,37,1.2,42,14.8
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-56.8
$GPS2,151521,3640.996,-12211.192,12,1.8,12,14.8
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,TWO
$TGT_LATLONG,3646.000,-12212.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.088,0.252
$KALMAN_X,18430.7,-310.4,-97.9,-35370.9,2143.4
$KALMAN_Y,-68535.7,1138.0,708.2,56258.8,-7998.2
$MHEAD_RNG_PITCHd_Wd,300.4,9345,-16.9,-10.000
$D_GRID,1078
$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,-155.7,0.0,0.0,0,90,0.00,0.00,-60.80,0.000,2,0.000,0.000,719,2290,2290
$GC,93,-1.44,-155.7,3.9,-9.6,9,121,7.53,2.47,-13.80,0.000,4,0.247,0.047,1787,3706,2958
$GC,151,-0.97,-155.7,20.1,-26.7,18,158,0.62,2.53,0.00,0.000,6,0.156,0.043,1894,2286,2958
$GC,497,-0.84,-155.7,82.3,-15.0,79,504,0.15,2.45,0.00,0.000,4,0.168,0.032,1920,3699,2961
$GC,561,-0.91,-155.7,90.8,-11.8,90,568,0.00,2.42,0.00,0.000,6,0.000,0.032,1920,2292,2961
$GC,906,-0.91,-155.7,131.9,-11.4,151,912,0.00,2.47,0.00,0.000,4,0.000,0.049,1920,896,2961
$GC,1003,-0.91,-155.7,143.3,-11.7,168,1010,0.00,2.38,0.00,0.000,6,0.000,0.026,1920,2318,2962
$GC,1348,-0.91,-155.7,183.2,-11.3,229,1354,0.00,2.53,0.00,0.000,4,0.000,0.048,1920,898,2962
$GC,1417,-0.91,-155.7,191.6,-11.9,241,1424,0.00,2.28,0.00,0.000,6,0.000,0.026,1920,2269,2961
$GC,1747,-0.91,-155.7,230.2,-11.8,278,1751,0.00,2.45,0.00,0.000,4,0.000,0.049,1920,887,2962
$GC,1779,-0.91,-155.7,234.4,-12.4,280,1786,0.00,2.28,0.00,0.000,6,0.000,0.027,1920,2235,2962
$GC,2105,-0.91,-155.7,274.9,-12.5,311,2109,0.00,2.38,0.00,0.000,4,0.000,0.051,1920,898,2962
$GC,2156,-0.91,-155.7,281.7,-13.4,315,2160,0.00,2.20,0.00,0.000,6,0.000,0.028,1920,2218,2961
$GC,2482,-0.91,-155.7,321.7,-11.7,345,2486,0.00,2.35,0.00,0.000,4,0.000,0.051,1920,898,2961
$GC,2532,-0.91,-155.7,328.0,-12.2,349,2536,0.00,2.17,0.00,0.000,6,0.000,0.027,1920,2200,2961
$GC,2858,-0.91,-155.7,365.5,-11.0,379,2859,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,2203,2961
$GC,3175,-0.91,-155.7,400.4,-10.5,409,3179,0.00,2.35,0.00,0.000,4,0.000,0.054,1919,894,2960
$GC,3219,-0.91,-155.7,405.3,-10.7,412,3226,0.00,2.17,0.00,0.000,6,0.000,0.027,1920,2172,2960
$GC,3545,-0.91,-155.7,440.0,-10.6,443,3546,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,2173,2959
$GC,3863,-0.91,-155.7,474.0,-10.8,473,3864,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,2173,2958
$GC,4190,-0.97,-155.7,509.2,-11.1,500,4194,0.00,2.33,0.00,0.000,4,0.000,0.059,1919,892,2957
$GC,4229,-0.97,-155.7,513.8,-11.5,502,4233,0.00,2.15,0.00,0.000,6,0.000,0.028,1920,2162,2957
$GC,4556,-1.03,-155.7,549.2,-10.7,518,4561,0.15,2.70,0.00,0.000,4,0.067,0.054,1883,3666,2956
$GC,4588,-1.03,-155.7,553.4,-13.2,519,4596,0.00,2.70,0.00,0.000,6,0.000,0.062,1882,2194,2956
$GC,4905,-0.96,-155.7,595.2,-13.3,535,4906,0.00,0.00,0.00,0.000,6,0.000,0.000,1883,2192,2956
$GC,5214,-0.90,-155.7,636.8,-13.4,550,5219,0.15,2.67,0.00,0.000,4,0.140,0.058,1910,3660,2955
$GC,5258,-1.00,-155.7,642.1,-11.0,552,5262,0.00,2.72,0.00,0.000,6,0.000,0.069,1910,2186,2955
$GC,5579,-1.00,-155.7,676.8,-10.5,568,5583,0.00,2.35,0.00,0.000,4,0.000,0.066,1910,900,2954
$GC,5641,-1.00,-155.7,683.6,-10.9,571,5645,0.00,2.08,0.00,0.000,6,0.000,0.029,1910,2129,2954
$GC,5973,-1.00,-155.7,719.4,-10.9,587,5975,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,2130,2954
$GC,6283,-1.00,-155.7,754.4,-11.6,602,6287,0.00,2.80,0.00,0.000,4,0.000,0.064,1911,3661,2954
$GC,6309,-1.08,-155.7,757.7,-12.1,603,6315,0.17,2.83,0.00,0.000,6,0.074,0.076,1873,2153,2953
$GC,6625,-1.00,-155.7,803.1,-14.2,618,6630,0.00,2.78,0.00,0.000,4,0.000,0.063,1873,3659,2952
$GC,6687,-1.00,-155.7,811.6,-13.3,621,6692,0.00,2.83,0.00,0.000,6,0.000,0.076,1873,2162,2952
$GC,7014,-0.91,-155.7,857.7,-14.4,637,7019,0.17,2.78,0.00,0.000,4,0.145,0.062,1905,3666,2952
$GC,7047,-0.99,-155.7,862.2,-12.6,638,7055,0.00,2.75,0.00,0.000,6,0.000,0.073,1905,2192,2952
$GC,7363,-0.99,-155.7,898.2,-10.8,654,7367,0.00,2.35,0.00,0.000,4,0.000,0.065,1905,901,2951
$GC,7412,-0.99,-155.7,903.9,-10.8,656,7416,0.00,2.12,0.00,0.000,6,0.000,0.029,1905,2136,2951
$GC,7733,-0.99,-155.7,938.1,-11.0,672,7738,0.00,2.78,0.00,0.000,4,0.000,0.063,1905,3661,2950
$GC,7766,-1.08,-155.7,942.0,-11.8,673,7774,0.15,2.80,0.00,0.000,6,0.080,0.074,1874,2160,2949
$GC,8082,-1.00,-155.7,984.9,-13.7,689,8086,0.00,2.80,0.00,0.000,4,0.000,0.067,1874,3665,2949
$STATE,8119,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8119,begin apogee
$GC,8127,-0.33,0.0,990.1,13.2,691,8265,0.90,0.00,134.27,1.341,6,0.157,0.000,2032,2416,2320
$STATE,8265,end apogee,CONTROL_FINISHED_OK
$STATE,8265,begin climb
$GC,8267,1.44,155.7,997.7,0.0,698,8410,2.00,2.62,133.20,1.312,4,0.120,0.069,2419,3750,1685
$GC,8456,1.18,220.0,997.4,7.2,706,8517,0.30,2.58,54.58,1.309,6,0.152,0.071,2370,2400,1423
$GC,8826,1.00,220.0,958.7,10.9,724,8831,0.22,2.55,0.00,0.000,4,0.166,0.066,2331,3753,1421
$GC,8881,0.99,258.3,953.3,8.3,726,8919,0.00,2.53,32.85,1.303,6,0.000,0.074,2331,2421,1266
$GC,9237,1.04,282.5,923.1,9.0,744,9262,0.00,2.78,20.08,1.305,4,0.000,0.068,2331,988,1167
$GC,9515,1.04,282.5,893.5,10.6,756,9520,0.00,2.38,0.00,0.000,6,0.000,0.031,2330,2358,1166
$GC,9837,1.04,282.5,858.7,11.3,772,9841,0.00,2.55,0.00,0.000,4,0.000,0.064,2331,986,1165
$GC,9953,1.04,282.5,845.5,10.0,777,9958,0.00,2.38,0.00,0.000,6,0.000,0.032,2331,2338,1165
$GC,10275,1.05,288.7,814.4,9.7,793,10285,0.00,2.70,4.70,1.362,4,0.000,0.066,2330,3781,1142
$GC,10504,1.06,290.2,792.0,9.9,803,10508,0.00,2.58,0.00,0.000,6,0.000,0.071,2330,2407,1142
$GC,10826,1.12,319.9,764.1,8.7,819,10859,0.00,2.65,27.23,1.224,4,0.000,0.065,2331,3782,1015
$GC,10903,1.12,319.9,756.3,10.5,822,10910,0.00,2.58,0.00,0.000,6,0.000,0.074,2331,2433,1013
$GC,11219,1.14,330.3,725.8,9.5,838,11234,0.12,2.58,8.32,1.257,4,0.076,0.064,2357,3776,973
$GC,11436,1.14,330.3,697.3,12.4,847,11443,0.00,2.45,0.00,0.000,6,0.000,0.074,2357,2481,973
$GC,11752,1.14,330.3,659.0,11.7,863,11756,0.00,2.42,0.00,0.000,4,0.000,0.063,2357,3785,972
$GC,11836,1.14,330.3,648.1,11.4,867,11840,0.00,2.38,0.00,0.000,6,0.000,0.070,2357,2522,972
$GC,12163,1.14,330.3,611.0,11.4,883,12167,0.00,2.35,0.00,0.000,4,0.000,0.061,2357,3788,971
$GC,12273,1.14,330.3,598.0,11.0,888,12278,0.00,2.55,0.00,0.000,6,0.000,0.068,2357,2427,971
$GC,12601,1.14,330.3,558.2,12.1,904,12605,0.00,2.70,0.00,0.000,4,0.000,0.074,2357,984,972
$GC,12644,1.03,330.3,552.4,13.1,906,12649,0.12,2.50,0.00,0.000,6,0.152,0.032,2338,2432,971
$GC,12965,1.03,330.3,518.6,10.2,922,12969,0.00,2.70,0.00,0.000,4,0.000,0.068,2338,988,971
$GC,13049,1.03,330.3,509.3,10.9,926,13053,0.00,2.42,0.00,0.000,6,0.000,0.032,2338,2392,971
$GC,13373,1.05,341.8,478.3,9.5,952,13388,0.00,2.70,9.50,1.088,4,0.000,0.067,2338,989,925
$GC,13444,1.05,341.8,470.4,11.7,958,13452,0.00,2.40,0.00,0.000,6,0.000,0.032,2338,2374,924
$GC,13771,1.05,341.8,436.5,10.3,989,13775,0.00,2.58,0.00,0.000,4,0.000,0.066,2338,985,924
$GC,13859,1.05,341.8,426.3,11.8,996,13866,0.00,2.33,0.00,0.000,6,0.000,0.031,2338,2337,924
$GC,14185,1.05,341.8,391.6,10.5,1027,14190,0.00,2.50,0.00,0.000,4,0.000,0.064,2338,984,924
$GC,14225,1.05,341.8,387.2,10.4,1030,14229,0.00,2.30,0.00,0.000,6,0.000,0.031,2338,2328,924
$GC,14556,1.05,341.8,353.2,10.3,1061,14560,0.00,2.47,0.00,0.000,4,0.000,0.062,2338,983,924
$GC,14633,1.05,341.8,344.0,11.5,1067,14640,0.00,2.28,0.00,0.000,6,0.000,0.030,2338,2302,924
$GC,14960,1.05,341.8,308.3,11.4,1098,14964,0.00,2.40,0.00,0.000,4,0.000,0.061,2338,987,924
$GC,15034,1.05,341.8,299.6,11.4,1104,15038,0.00,2.17,0.00,0.000,6,0.000,0.030,2338,2268,924
$GC,15359,1.05,341.8,265.1,10.6,1134,15363,0.00,2.35,0.00,0.000,4,0.000,0.060,2338,981,924
$GC,15443,1.05,341.8,255.5,11.8,1141,15446,0.00,2.12,0.00,0.000,6,0.000,0.029,2338,2234,924
$GC,15775,1.14,352.2,222.6,9.5,1172,15788,0.00,2.38,8.32,0.907,4,0.000,0.058,2338,981,884
$GC,15823,1.14,352.2,217.5,10.6,1176,15826,0.00,2.10,0.00,0.000,6,0.000,0.029,2338,2217,883
$GC,16156,1.24,361.2,184.4,9.6,1220,16171,0.15,2.33,7.62,0.876,4,0.059,0.056,2381,984,846
$GC,16189,1.18,361.2,180.4,12.8,1225,16196,0.00,2.10,0.00,0.000,6,0.000,0.028,2381,2221,846
$GC,16534,1.18,361.2,134.4,13.3,1286,16541,0.00,2.75,0.00,0.000,4,0.000,0.039,2381,3789,845
$GC,16564,1.18,361.2,130.1,14.8,1291,16571,0.00,2.83,0.00,0.000,6,0.000,0.040,2381,2190,845
$GC,16908,1.18,361.2,82.4,13.4,1352,16915,0.00,2.80,0.00,0.000,4,0.000,0.038,2381,3788,845
$GC,16938,1.18,361.2,78.5,11.3,1357,16945,0.00,2.78,0.00,0.000,6,0.000,0.037,2381,2205,845
$GC,17282,1.22,379.8,40.9,9.2,1418,17303,0.00,2.90,14.93,0.725,4,0.000,0.038,2381,3795,771
$GC,17388,1.22,379.8,29.8,10.4,1436,17395,0.00,2.67,0.00,0.000,6,0.000,0.037,2381,2273,769
$STATE,17668,end climb,SURFACE_DEPTH_REACHED
$STATE,17668,begin surface coast
$FINISH,0.4,1.021480
$STATE,17692,end surface coast,CONTROL_FINISHED_OK
$STATE,17693,begin surface
$SM_CCo,17708,35.05,0.658,0,0,599,422.16
$SM_GC,1.17,0.00,0.00,35.05,0.000,0.000,0.658,719,2268,599,-6.40,-0.90,422.16
$RAFOS_CLK,811
$RAFOS,1,1185211767,17.505560,17.490833,39,38,38,0,0,0,876,235,809,0,0,0
$RAFOS,0,1185210351,17.111111,17.097500,46,43,38,0,0,0,109,467,161,0,0,0
$RAFOS,2,1185206942,16.166700,16.150555,45,40,40,0,0,0,1007,257,908,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,3626.92,-12214.27,230707,191936
$TT8_MAMPS,0.024544
$HUMID,3276
$INTERNAL_PRESSURE,7.91046
$TCM_TEMP,19.20
$XPDR_PINGS,369
$24V_AH,23.1,9.576
$10V_AH,10.1,3.214
$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,20.300,199.700,455.600,35.050,0.000,113.197,94.532,302.482,92.250,13.596,3191.281,11152.040,664.850,2727.513,781.067,33.352,2069.856,0.000,2688.891,1080.000,0.475
$DEVICE_MAMPS,246.974,79.768,1362.192,658.086,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1019.856,1227.825,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53512,1490
$CFSIZE,260165632,256720896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$SOUNDSPEED,1498.9
$CURRENT,0.094,100.0,1
$GPS,230707,201338,3642.635,-12212.297,40,1.3,40,14.8