version: 66.04
glider: 108
mission: 11
dive: 59
start: 9 16 108 10 16 27
data:
$ID,108
$MISSION,11
$DIVE,59
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$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,470
$T_MISSION,530
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.02765
$MASS,51779
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0035999999
$HD_B,0.014
$HD_C,6.1000001e-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,275
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,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,-112166.23
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,2657
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15.9
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,2230
$C_ROLL_CLIMB,1740
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,275
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,588
$VBD_MAX,3951
$C_VBD,2895
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.639299
$PRESSURE_SLOPE,0.0001161151
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,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,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$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
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043498399
$SEABIRD_T_H,0.0006493734
$SEABIRD_T_I,2.8112627e-05
$SEABIRD_T_J,3.1957888e-06
$SEABIRD_C_G,-10.106751
$SEABIRD_C_H,1.1366181
$SEABIRD_C_I,0.00038917549
$SEABIRD_C_J,7.9540005e-05
$GPS1,101025,6659.534,-5716.064,41,1.1,41,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-70.6
$GPS2,101533,6659.538,-5715.982,10,1.0,10,-37.6
$SPEED_LIMITS,0.122,0.200
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.198,-0.026
$KALMAN_X,-3865.0,127.2,1009.7,52648.1,-1777.2
$KALMAN_Y,10670.1,-1403.1,-3711.7,7254.1,9274.2
$MHEAD_RNG_PITCHd_Wd,65.0,21200,-14.2,-7.021
$D_GRID,781
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.07,-146.0,0.0,0.0,0,82,0.00,0.00,-63.90,0.000,2,0.000,0.000,331,2212,2913
$GC,85,-1.07,-146.0,3.3,-2.0,10,117,8.70,2.28,-16.17,0.000,4,0.269,0.076,2432,823,3495
$GC,370,-0.85,-146.0,43.4,-11.0,60,378,0.17,2.33,0.00,0.000,6,0.149,0.060,2472,2240,3499
$GC,715,-0.85,-146.0,76.0,-9.7,121,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2239,3501
$GC,1067,-0.85,-146.0,107.7,-9.0,173,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2239,3502
$GC,1376,-0.85,-146.0,136.1,-9.1,188,1380,0.00,2.17,0.00,0.000,4,0.000,0.074,2464,3598,3501
$GC,1420,-0.85,-146.0,140.2,-9.3,190,1424,0.00,2.15,0.00,0.000,6,0.000,0.050,2464,2218,3501
$GC,1752,-0.85,-146.0,170.0,-8.8,206,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2217,3501
$GC,2061,-0.85,-146.0,197.7,-9.0,221,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2217,3500
$GC,2372,-0.85,-146.0,225.6,-8.7,236,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2217,3499
$GC,2680,-0.85,-146.0,250.5,-7.9,251,2684,0.00,2.25,0.00,0.000,4,0.000,0.074,2454,3602,3499
$GC,2728,-0.85,-146.0,254.7,-8.9,253,2733,0.00,2.17,0.00,0.000,6,0.000,0.050,2453,2223,3499
$GC,3056,-0.85,-146.0,281.5,-8.3,269,3057,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2222,3498
$GC,3365,-0.85,-146.0,306.6,-7.8,284,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2223,3498
$GC,3674,-0.85,-146.0,329.8,-7.5,299,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2222,3498
$GC,3983,-0.85,-146.0,353.0,-7.6,314,3984,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2222,3498
$GC,4293,-0.85,-146.0,378.3,-8.2,329,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2222,3498
$GC,4622,-0.85,-146.0,404.6,-8.1,344,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2222,3498
$GC,4947,-0.85,-146.0,429.7,-7.6,352,4948,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2222,3499
$GC,5272,-0.85,-146.0,455.1,-7.9,360,5273,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2222,3499
$GC,5596,-0.85,-146.0,481.5,-8.2,368,5600,0.00,2.22,0.00,0.000,4,0.000,0.072,2443,3603,3499
$GC,5651,-0.85,-146.0,486.4,-8.8,369,5656,0.08,2.15,0.00,0.000,6,0.148,0.048,2468,2219,3499
$GC,5970,-0.95,-146.0,510.0,-7.4,377,5972,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2219,3499
$GC,6295,-1.04,-146.0,534.6,-7.5,385,6297,0.15,0.00,0.00,0.000,6,0.077,0.000,2408,2219,3499
$GC,6621,-0.91,-146.0,566.1,-9.6,393,6623,0.17,0.00,0.00,0.000,6,0.150,0.000,2458,2219,3499
$GC,6945,-0.97,-146.0,590.2,-7.3,401,6947,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2219,3499
$GC,7270,-1.03,-146.0,613.1,-7.0,409,7275,0.10,2.25,0.00,0.000,4,0.092,0.074,2405,3604,3499
$GC,7302,-0.91,-146.0,616.1,-10.2,409,7307,0.12,2.12,0.00,0.000,6,0.136,0.049,2458,2234,3499
$GC,7639,-0.97,-146.0,639.2,-7.0,418,7640,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2233,3499
$GC,7963,-1.04,-146.0,661.9,-6.9,426,7965,0.12,0.00,0.00,0.000,6,0.083,0.000,2407,2234,3499
$GC,8291,-0.91,-146.0,691.6,-9.2,434,8293,0.17,0.00,0.00,0.000,6,0.150,0.000,2457,2234,3499
$GC,8613,-0.98,-146.0,714.6,-7.1,442,8616,0.00,2.22,0.00,0.000,4,0.000,0.064,2457,830,3498
$GC,8651,-0.98,-146.0,717.3,-7.0,442,8658,0.00,2.28,0.00,0.000,6,0.000,0.061,2449,2234,3498
$GC,8982,-0.98,-146.0,741.0,-7.4,451,8983,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2233,3498
$GC,9307,-1.03,-146.0,764.6,-7.3,459,9311,0.00,2.15,0.00,0.000,4,0.000,0.075,2438,3602,3498
$GC,9361,-1.03,-146.0,768.9,-8.1,460,9366,0.00,2.15,0.00,0.000,6,0.000,0.051,2438,2222,3498
$GC,9681,-1.51,-146.0,776.2,0.1,468,9686,0.30,2.22,0.00,0.000,4,0.065,0.073,2305,3595,3498
$STATE,9718,end dive,NO_VERTICAL_VELOCITY
$STATE,9718,begin apogee
$GC,9725,-0.31,0.0,776.2,0.0,469,9853,0.82,0.00,124.45,1.341,6,0.094,0.000,2594,1746,2895
$STATE,9853,end apogee,CONTROL_FINISHED_OK
$STATE,9853,begin climb
$GC,9855,1.07,146.0,776.1,0.0,472,9990,0.90,2.62,125.43,1.268,4,0.090,0.067,2891,3150,2297
$GC,10214,0.63,146.0,736.0,13.3,480,10219,0.32,2.40,0.00,0.000,6,0.137,0.054,2794,1747,2292
$GC,10532,0.65,158.6,713.4,6.6,488,10548,0.00,2.42,11.02,1.144,4,0.000,0.067,2794,3160,2247
$GC,10563,0.66,167.2,711.1,6.7,488,10577,0.00,2.40,8.95,1.087,6,0.000,0.053,2801,1733,2213
$GC,10895,0.66,167.2,687.7,7.1,497,10900,0.00,2.38,0.00,0.000,4,0.000,0.067,2801,3153,2211
$GC,10922,0.66,167.2,685.5,7.8,497,10927,0.00,2.35,0.00,0.000,6,0.000,0.054,2811,1734,2210
$GC,11264,0.66,167.2,658.9,7.8,506,11268,0.00,2.35,0.00,0.000,4,0.000,0.067,2811,3150,2210
$GC,11302,0.54,167.2,655.6,8.9,506,11310,0.17,2.33,0.00,0.000,6,0.139,0.055,2773,1715,2209
$GC,11634,0.75,208.3,635.9,5.7,515,11677,0.17,2.47,35.38,1.246,4,0.074,0.067,2843,3149,2044
$GC,11726,0.52,208.3,626.9,11.0,517,11731,0.30,2.38,0.00,0.000,6,0.137,0.054,2768,1733,2040
$GC,12052,0.96,215.9,606.3,6.8,525,12066,0.28,2.42,6.82,1.025,4,0.068,0.067,2878,3162,2013
$GC,12230,0.64,215.9,583.9,14.4,529,12235,0.32,2.33,0.00,0.000,6,0.143,0.055,2794,1729,2012
$GC,12554,0.77,217.0,560.2,7.0,537,12556,0.12,0.00,0.00,0.000,6,0.084,0.000,2844,1729,2012
$GC,12879,0.69,217.0,528.4,9.9,545,12880,0.15,0.00,0.00,0.000,6,0.133,0.000,2802,1729,2011
$GC,13204,0.81,226.0,505.5,6.7,553,13219,0.12,2.38,9.50,1.078,4,0.084,0.069,2852,3150,1973
$GC,13229,0.74,226.0,503.2,9.0,553,13234,0.17,2.28,0.00,0.000,6,0.138,0.054,2813,1734,1972
$GC,13571,0.80,226.0,477.2,7.5,562,13572,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1733,1972
$GC,13896,0.87,226.0,452.4,7.6,570,13897,0.12,0.00,0.00,0.000,6,0.084,0.000,2862,1734,1972
$GC,14221,0.74,226.0,418.8,10.5,578,14223,0.17,0.00,0.00,0.000,6,0.132,0.000,2811,1733,1971
$GC,14526,0.82,229.4,396.9,6.9,586,14536,0.10,2.38,4.38,0.803,4,0.091,0.068,2851,3164,1959
$GC,14552,0.72,229.4,394.5,8.9,587,14557,0.15,2.30,0.00,0.000,6,0.130,0.054,2812,1740,1958
$GC,14880,0.82,229.4,371.8,7.2,603,14882,0.10,0.00,0.00,0.000,6,0.092,0.000,2852,1740,1958
$GC,15187,0.73,229.4,342.4,9.8,618,15192,0.15,2.35,0.00,0.000,4,0.132,0.069,2808,3164,1958
$GC,15213,0.73,229.4,339.7,9.8,619,15218,0.00,2.30,0.00,0.000,6,0.000,0.053,2816,1735,1958
$GC,15535,0.80,229.4,314.6,8.2,635,15536,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1735,1958
$GC,15844,0.85,229.4,289.2,8.2,650,15849,0.10,2.33,0.00,0.000,4,0.091,0.067,2859,3157,1957
$GC,15876,0.67,229.4,285.7,10.7,651,15883,0.17,2.28,0.00,0.000,6,0.133,0.054,2800,1735,1957
$GC,16192,0.83,245.8,264.1,6.5,667,16212,0.12,0.00,15.35,1.002,6,0.082,0.000,2852,1735,1891
$GC,16521,0.76,245.8,232.4,10.1,683,16522,0.12,0.00,0.00,0.000,6,0.131,0.000,2817,1735,1889
$GC,16830,0.90,258.8,210.1,6.6,698,16852,0.12,2.42,11.45,0.932,4,0.082,0.067,2867,3162,1839
$GC,16862,0.79,258.8,207.2,8.8,699,16867,0.12,2.30,0.00,0.000,6,0.130,0.052,2823,1741,1838
$GC,17183,0.92,260.3,184.6,7.0,715,17188,0.12,2.33,0.00,0.000,4,0.083,0.067,2883,327,1837
$GC,17215,0.92,260.3,181.4,10.2,716,17220,0.08,2.35,0.00,0.000,6,0.130,0.053,2857,1742,1838
$GC,17535,0.92,260.3,152.7,8.6,732,17539,0.00,2.30,0.00,0.000,4,0.000,0.068,2856,3169,1838
$GC,17574,0.82,260.3,149.0,9.5,733,17581,0.12,2.28,0.00,0.000,6,0.140,0.054,2829,1734,1836
$GC,17889,0.96,260.3,125.8,7.2,749,17891,0.15,0.00,0.00,0.000,6,0.080,0.000,2888,1733,1837
$GC,18202,0.89,260.3,95.2,8.9,770,18209,0.15,2.30,0.00,0.000,4,0.132,0.068,2852,332,1837
$GC,18225,0.89,260.3,93.3,8.3,774,18232,0.00,2.30,0.00,0.000,6,0.000,0.054,2853,1747,1838
$GC,18569,0.99,260.3,68.2,7.7,835,18575,0.00,2.28,0.00,0.000,4,0.000,0.070,2853,3164,1837
$GC,18604,0.99,260.3,65.3,8.2,841,18610,0.00,2.28,0.00,0.000,6,0.000,0.055,2861,1725,1837
$GC,18948,1.09,277.0,39.4,6.5,902,18968,0.12,0.00,16.10,0.897,6,0.090,0.000,2911,1725,1765
$GC,19306,1.11,295.8,10.7,6.4,965,19331,0.00,2.35,16.35,0.874,4,0.000,0.071,2920,335,1688
$GC,19359,1.17,306.4,7.2,6.7,974,19378,0.00,2.33,10.02,0.816,6,0.000,0.054,2920,1751,1643
$STATE,19422,end climb,SURFACE_DEPTH_REACHED
$STATE,19422,begin surface coast
$FINISH,1.5,1.012400
$STATE,19470,end surface coast,CONTROL_FINISHED_OK
$STATE,19470,begin surface
$SM_CCo,19544,0.00,0.000,0,0,1636,308.59
$SM_GC,2.41,7.15,0.00,0.00,0.063,0.000,0.000,338,2248,1636,-10.58,0.51,308.59
$RAFOS_CLK,808
$RAFOS,4,1221569045,12.750000,12.734722,63,58,58,57,55,53,190,130,226,214,199,178
$RAFOS,3,1221568473,12.583333,12.575833,69,69,59,54,53,51,196,791,175,221,119,1436
$RAFOS,2,1221567864,12.416667,12.406667,58,55,50,49,45,43,211,124,141,180,63,165
$RAFOS,1,1221567252,12.250000,12.236667,59,53,51,50,49,49,210,153,197,121,112,1736
$RAFOS,0,1221566642,12.083333,12.067223,61,60,56,52,51,48,205,222,122,249,148,180
$RAFOS_FIX,-23132.753906,1433128.625000,160908,080852,2,88,72161.03
$IRIDIUM_FIX,6631.12,-5725.81,111297,040418
$TT8_MAMPS,0.026845
$HUMID,1825
$INTERNAL_PRESSURE,9.92226
$TCM_TEMP,15.80
$XPDR_PINGS,42
$24V_AH,23.1,15.150
$10V_AH,10.6,7.410
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,23.450,112.000,395.200,0.000,0.000,24.846,30.628,143.601,10.500,0.000,0.000,12.176,1947.448,15198.575,528.409,1825.205,348.089,33.371,1521.169,0.000,1809.264,1800.000,0.530,0.000
$DEVICE_MAMPS,269.217,75.933,1341.483,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,692.402,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34797,993
$CAP_FILE_SIZE,136899,0
$CFSIZE,260165632,249241600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.8
$CURRENT,0.082, 34.0,1
$GPS,160908,154331,6702.373,-5712.375,39,1.1,39,-37.6