version: 66.04
glider: 108
mission: 11
dive: 66
start: 9 17 108 17 54 50
data:
$ID,108
$MISSION,11
$DIVE,66
$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,1
$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,-112286.77
$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,24
$R_STBD_OVSHOOT,25
$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
$GPS1,174926,6702.445,-5648.173,39,1.4,39,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-70.9
$GPS2,175357,6702.471,-5648.232,13,1.1,13,-37.5
$SPEED_LIMITS,0.122,0.200
$TGT_NAME,TARGET_ADD4_WB
$TGT_LATLONG,6659.000,-5735.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.199,-0.020
$KALMAN_X,717.0,-229.2,-964.3,70599.6,2608.0
$KALMAN_Y,7202.5,-1002.9,1099.5,10882.9,-2704.5
$MHEAD_RNG_PITCHd_Wd,301.7,34471,-14.2,-7.021
$D_GRID,534
$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,-146.0,0.0,0.0,0,76,0.00,0.00,-57.05,0.000,2,0.000,0.000,336,2236,2887
$GC,78,-1.07,-146.0,3.2,-2.1,10,109,8.68,2.30,-16.60,0.000,4,0.268,0.087,2411,3599,3494
$GC,362,-0.82,-146.0,50.7,-13.6,60,369,0.25,2.17,0.00,0.000,6,0.148,0.049,2483,2213,3500
$GC,706,-0.82,-146.0,83.4,-9.0,121,712,0.00,2.30,0.00,0.000,4,0.000,0.071,2475,3610,3502
$GC,963,-0.82,-146.0,109.3,-10.0,155,968,0.00,2.17,0.00,0.000,6,0.000,0.050,2474,2230,3502
$GC,1284,-0.82,-146.0,139.0,-8.9,171,1288,0.00,2.22,0.00,0.000,4,0.000,0.073,2464,3609,3502
$GC,1344,-0.82,-146.0,145.3,-10.1,173,1351,0.00,2.17,0.00,0.000,6,0.000,0.050,2464,2227,3501
$GC,1660,-0.82,-146.0,176.2,-9.9,189,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2227,3501
$GC,1969,-0.82,-146.0,205.9,-9.0,204,1970,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2227,3500
$GC,2278,-0.82,-146.0,233.1,-8.8,219,2282,0.00,2.25,0.00,0.000,4,0.000,0.064,2464,820,3499
$GC,2339,-0.82,-146.0,238.7,-9.7,221,2346,0.08,2.30,0.00,0.000,6,0.138,0.061,2480,2229,3499
$GC,2656,-0.92,-146.0,263.9,-7.9,237,2660,0.10,2.17,0.00,0.000,4,0.091,0.074,2426,3606,3498
$GC,2738,-0.83,-146.0,272.6,-11.3,240,2746,0.15,2.17,0.00,0.000,6,0.144,0.051,2476,2219,3498
$GC,3054,-0.92,-146.0,298.2,-7.6,256,3058,0.00,2.22,0.00,0.000,4,0.000,0.064,2476,819,3498
$GC,3125,-0.98,-146.0,304.1,-8.3,259,3130,0.05,2.30,0.00,0.000,6,0.054,0.061,2419,2231,3498
$GC,3452,-0.87,-146.0,336.1,-9.5,275,3456,0.17,2.17,0.00,0.000,4,0.152,0.073,2461,3606,3497
$GC,3579,-0.94,-146.0,346.8,-7.4,280,3586,0.00,2.15,0.00,0.000,6,0.000,0.046,2461,2216,3498
$GC,3895,-0.99,-146.0,370.9,-7.5,296,3898,0.00,2.20,0.00,0.000,4,0.000,0.058,2461,815,3497
$GC,3984,-0.99,-146.0,377.9,-7.8,300,3988,0.00,2.28,0.00,0.000,6,0.000,0.058,2451,2241,3497
$GC,4335,-0.99,-146.0,403.8,-7.4,316,4339,0.00,2.12,0.00,0.000,4,0.000,0.071,2440,3596,3498
$GC,4412,-0.99,-146.0,410.2,-8.4,317,4417,0.00,2.12,0.00,0.000,6,0.000,0.048,2440,2229,3498
$GC,4749,-0.99,-146.0,435.8,-7.5,326,4753,0.00,2.22,0.00,0.000,4,0.000,0.061,2440,816,3498
$GC,4798,-0.93,-146.0,439.8,-7.7,327,4803,0.05,2.28,0.00,0.000,6,0.141,0.058,2459,2229,3498
$GC,5122,-1.00,-146.0,461.0,-6.5,335,5126,0.00,2.12,0.00,0.000,4,0.000,0.071,2451,3596,3499
$GC,5205,-1.05,-146.0,467.2,-7.5,336,5213,0.05,2.10,0.00,0.000,6,0.087,0.047,2418,2230,3499
$GC,5536,-0.96,-146.0,494.9,-8.6,345,5538,0.12,0.00,0.00,0.000,6,0.152,0.000,2452,2230,3499
$GC,5862,-1.01,-146.0,518.0,-7.2,353,5863,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2230,3500
$STATE,6104,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6104,begin apogee
$GC,6108,-0.31,0.0,535.1,7.1,359,6232,0.43,0.00,121.25,1.158,6,0.124,0.000,2591,1738,2895
$STATE,6233,end apogee,CONTROL_FINISHED_OK
$STATE,6233,begin climb
$GC,6235,1.07,146.0,538.7,0.0,362,6363,0.90,2.53,120.62,1.100,4,0.092,0.064,2901,336,2299
$GC,6368,0.75,146.0,529.6,9.7,365,6374,0.30,2.45,0.00,0.000,6,0.132,0.046,2818,1741,2298
$GC,6680,0.75,146.0,505.8,7.4,373,6684,0.00,2.33,0.00,0.000,4,0.000,0.061,2818,3150,2294
$GC,6718,0.61,146.0,502.3,8.8,373,6726,0.12,2.33,0.00,0.000,6,0.128,0.048,2786,1746,2294
$GC,7050,0.74,181.7,482.4,5.9,382,7085,0.12,2.42,29.40,1.075,4,0.080,0.061,2838,3160,2154
$GC,7095,0.62,181.7,478.8,8.1,383,7100,0.22,2.35,0.00,0.000,6,0.132,0.048,2787,1731,2152
$GC,7419,0.77,204.9,458.4,6.3,391,7442,0.12,0.00,20.27,1.048,6,0.081,0.000,2838,1730,2059
$GC,7744,0.68,204.9,428.4,9.3,399,7749,0.15,2.38,0.00,0.000,4,0.127,0.061,2795,3163,2056
$GC,7759,0.62,204.9,426.8,9.3,399,7763,0.00,2.30,0.00,0.000,6,0.000,0.047,2803,1726,2055
$GC,8107,0.69,204.9,400.8,7.5,408,8111,0.00,2.35,0.00,0.000,4,0.000,0.062,2803,3157,2055
$GC,8122,0.69,204.9,399.4,8.0,408,8126,0.00,2.28,0.00,0.000,6,0.000,0.048,2813,1724,2054
$GC,8454,0.69,204.9,371.0,8.6,424,8458,0.00,2.35,0.00,0.000,4,0.000,0.062,2813,3165,2054
$GC,8465,0.69,204.9,370.1,8.8,424,8469,0.00,2.25,0.00,0.000,6,0.000,0.048,2822,1737,2054
$GC,8785,0.69,204.9,341.6,8.8,440,8789,0.00,2.30,0.00,0.000,4,0.000,0.063,2833,330,2055
$GC,8800,0.69,204.9,340.2,8.5,440,8807,0.08,2.30,0.00,0.000,6,0.128,0.047,2806,1747,2055
$GC,9118,0.79,214.7,318.4,6.7,456,9132,0.10,2.28,8.93,0.920,4,0.088,0.062,2849,3154,2019
$GC,9154,0.63,214.7,314.6,10.7,457,9161,0.17,2.25,0.00,0.000,6,0.129,0.048,2789,1745,2018
$GC,9471,0.86,239.4,294.9,6.2,473,9495,0.17,0.00,21.80,0.989,6,0.069,0.000,2862,1745,1918
$GC,9799,0.76,239.4,260.7,10.2,489,9801,0.15,0.00,0.00,0.000,6,0.124,0.000,2818,1745,1913
$GC,10108,0.88,239.4,238.3,7.1,504,10110,0.12,0.00,0.00,0.000,6,0.079,0.000,2869,1745,1912
$GC,10418,0.80,239.4,207.8,9.5,519,10419,0.15,0.00,0.00,0.000,6,0.129,0.000,2824,1745,1912
$GC,10728,0.95,261.9,187.1,6.3,534,10749,0.15,0.00,18.67,0.942,6,0.076,0.000,2884,1745,1827
$GC,11056,0.87,261.9,154.9,9.7,550,11058,0.15,0.00,0.00,0.000,6,0.130,0.000,2841,1745,1823
$GC,11365,1.00,265.1,133.7,6.9,565,11367,0.12,0.00,0.00,0.000,6,0.080,0.000,2891,1745,1821
$GC,11674,0.94,265.1,103.8,10.1,580,11679,0.12,2.33,0.00,0.000,4,0.136,0.067,2855,3152,1821
$GC,11713,0.94,265.1,100.1,9.4,582,11717,0.00,2.25,0.00,0.000,6,0.000,0.054,2861,1736,1820
$GC,12055,1.01,265.1,72.5,7.7,640,12062,0.00,2.30,0.00,0.000,4,0.000,0.068,2871,335,1820
$GC,12090,1.11,265.1,69.8,7.9,646,12096,0.10,2.28,0.00,0.000,6,0.093,0.051,2913,1751,1820
$GC,12434,1.03,265.1,38.4,8.8,707,12440,0.12,0.00,0.00,0.000,6,0.146,0.000,2878,1751,1819
$GC,12778,1.24,321.9,16.8,5.2,768,12836,0.17,2.50,49.00,0.912,4,0.078,0.070,2954,330,1581
$GC,12921,1.18,321.9,4.9,8.6,793,12928,0.17,2.35,0.00,0.000,6,0.125,0.057,2903,1743,1574
$STATE,12949,end climb,SURFACE_DEPTH_REACHED
$STATE,12949,begin surface coast
$FINISH,1.3,1.023623
$STATE,12990,end surface coast,CONTROL_FINISHED_OK
$STATE,12990,begin surface
$SM_CCo,13065,0.00,0.000,0,0,1568,325.51
$SM_GC,2.29,7.10,0.00,0.00,0.061,0.000,0.000,339,2247,1568,-10.58,0.48,325.51
$RAFOS_CLK,517
$RAFOS,4,1221684258,20.750000,20.738333,75,60,55,55,54,52,771,199,126,141,175,152
$RAFOS,3,1221683660,20.583334,20.572222,90,61,54,53,51,51,901,213,198,139,176,95
$RAFOS,2,1221683059,20.416666,20.405277,81,63,60,58,56,52,570,117,162,216,203,228
$RAFOS,1,1221682460,20.250000,20.238890,61,59,59,57,52,51,210,157,139,197,125,185
$RAFOS,0,1221681842,20.083334,20.067223,60,59,58,52,48,48,180,208,198,154,166,121
$RAFOS_FIX,6700.532227,-5654.913086,170908,202037,3,82,0.62
$IRIDIUM_FIX,6631.12,-5644.51,121297,141404
$TT8_MAMPS,0.026845
$HUMID,1841
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,15.60
$XPDR_PINGS,36
$24V_AH,23.5,16.115
$10V_AH,10.6,7.803
$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,21.250,101.500,389.950,0.000,0.000,22.365,28.310,118.307,9.000,0.000,0.000,14.691,1464.588,9605.456,498.562,1496.756,285.206,33.384,1311.832,0.000,1479.801,1800.000,0.531,0.000
$DEVICE_MAMPS,267.683,87.438,1158.170,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,560.823,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28386,805
$CAP_FILE_SIZE,108692,0
$CFSIZE,260165632,248864768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.3
$GPS,170908,213408,6700.594,-5649.842,40,1.1,40,-37.5