version: 66.04
glider: 108
mission: 11
dive: 71
start: 9 18 108 16 12 14
data:
$ID,108
$MISSION,11
$DIVE,71
$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,-112365.16
$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,27
$R_STBD_OVSHOOT,22
$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
$GPS1,160538,6658.438,-5706.499,31,1.1,31,-37.5
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-67.0
$GPS2,161122,6658.502,-5706.648,14,1.2,14,-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,-0.194,0.045
$KALMAN_X,4826.2,-693.0,-475.9,53073.3,2173.6
$KALMAN_Y,-1230.9,173.4,1345.6,10558.3,-4366.6
$MHEAD_RNG_PITCHd_Wd,320.6,20551,-14.2,-7.021
$D_GRID,738
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.07,-146.0,0.0,0.0,0,70,0.00,0.00,-51.28,0.000,2,0.000,0.000,331,2252,2944
$GC,73,-1.07,-146.0,3.4,-2.3,9,103,8.70,2.38,-15.07,0.000,4,0.271,0.075,2423,808,3494
$GC,356,-0.86,-146.0,45.6,-12.9,59,363,0.20,2.35,0.00,0.000,6,0.148,0.061,2471,2249,3498
$GC,700,-0.86,-146.0,77.9,-9.5,120,706,0.00,2.15,0.00,0.000,4,0.000,0.072,2463,3598,3501
$GC,835,-0.81,-146.0,91.6,-10.3,144,841,0.00,2.17,0.00,0.000,6,0.000,0.050,2463,2205,3502
$GC,1167,-0.81,-146.0,124.1,-9.8,171,1168,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2204,3503
$GC,1476,-0.81,-146.0,155.1,-10.0,186,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2205,3503
$GC,1785,-0.81,-146.0,184.7,-9.3,201,1789,0.00,2.22,0.00,0.000,4,0.000,0.064,2463,813,3501
$GC,1852,-0.81,-146.0,191.0,-9.2,204,1856,0.12,2.30,0.00,0.000,6,0.150,0.062,2486,2238,3501
$GC,2184,-0.91,-146.0,214.9,-6.7,220,2189,0.10,2.15,0.00,0.000,4,0.093,0.074,2435,3595,3500
$GC,2251,-0.82,-146.0,220.7,-9.3,223,2256,0.15,2.15,0.00,0.000,6,0.155,0.052,2476,2218,3500
$GC,2578,-0.90,-146.0,242.4,-6.7,239,2582,0.00,2.22,0.00,0.000,4,0.000,0.066,2476,825,3500
$GC,2649,-0.94,-146.0,248.0,-7.9,242,2654,0.00,2.30,0.00,0.000,6,0.000,0.064,2468,2231,3500
$GC,2976,-0.94,-146.0,272.0,-7.5,258,2980,0.00,2.17,0.00,0.000,4,0.000,0.075,2457,3607,3499
$GC,3120,-0.94,-146.0,283.8,-8.1,264,3125,0.00,2.17,0.00,0.000,6,0.000,0.052,2457,2228,3499
$GC,3441,-0.94,-146.0,307.9,-7.3,280,3445,0.00,2.20,0.00,0.000,4,0.000,0.065,2457,827,3498
$GC,3531,-0.94,-146.0,314.8,-7.7,284,3534,0.00,2.28,0.00,0.000,6,0.000,0.062,2447,2245,3498
$GC,3862,-0.94,-146.0,339.3,-7.4,300,3863,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2245,3498
$GC,4171,-0.94,-146.0,361.7,-7.4,315,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2245,3499
$GC,4481,-0.94,-146.0,386.0,-8.2,330,4482,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2245,3499
$GC,4808,-0.94,-146.0,414.9,-8.9,342,4811,0.00,2.15,0.00,0.000,4,0.000,0.074,2436,3603,3499
$GC,4885,-0.94,-146.0,422.4,-9.3,343,4890,0.00,2.15,0.00,0.000,6,0.000,0.045,2436,2218,3499
$GC,5222,-0.94,-146.0,453.9,-9.4,352,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2218,3500
$GC,5547,-0.94,-146.0,483.5,-9.1,360,5548,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2218,3500
$GC,5871,-0.94,-146.0,512.4,-8.8,368,5873,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2219,3500
$GC,6196,-0.94,-146.0,541.3,-8.8,376,6198,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2218,3500
$GC,6521,-0.94,-146.0,569.4,-8.5,384,6525,0.00,2.25,0.00,0.000,4,0.000,0.072,2426,3591,3500
$GC,6627,-0.89,-146.0,579.2,-9.2,386,6632,0.15,2.10,0.00,0.000,6,0.151,0.046,2468,2220,3500
$GC,6939,-0.99,-146.0,601.2,-7.1,394,6943,0.10,2.20,0.00,0.000,4,0.094,0.058,2426,828,3500
$GC,7000,-0.89,-146.0,606.8,-9.6,395,7005,0.17,2.25,0.00,0.000,6,0.146,0.061,2467,2232,3500
$GC,7313,-0.99,-146.0,629.6,-7.3,403,7317,0.10,2.17,0.00,0.000,4,0.093,0.074,2415,3601,3500
$GC,7434,-0.90,-146.0,641.6,-10.5,405,7440,0.12,2.15,0.00,0.000,6,0.147,0.050,2457,2228,3500
$GC,7771,-0.96,-146.0,667.2,-7.5,414,7772,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2228,3500
$GC,8095,-1.02,-146.0,691.8,-7.6,422,8097,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2227,3500
$GC,8420,-1.09,-146.0,716.0,-7.3,430,8425,0.12,2.25,0.00,0.000,4,0.087,0.074,2398,3596,3500
$GC,8508,-0.95,-146.0,724.6,-10.6,432,8513,0.15,2.15,0.00,0.000,6,0.152,0.051,2449,2226,3499
$STATE,8708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8708,begin apogee
$GC,8713,-0.31,0.0,739.4,7.2,437,8840,0.45,0.00,124.40,1.325,6,0.128,0.000,2595,1740,2895
$STATE,8841,end apogee,CONTROL_FINISHED_OK
$STATE,8841,begin climb
$GC,8842,1.07,146.0,742.1,0.0,440,8972,0.90,0.00,126.18,1.253,6,0.097,0.000,2890,1740,2298
$GC,9289,0.82,146.0,698.8,11.0,451,9294,0.20,2.45,0.00,0.000,4,0.136,0.069,2839,335,2293
$GC,9309,0.68,146.0,696.5,9.9,451,9314,0.15,2.38,0.00,0.000,6,0.132,0.053,2799,1739,2293
$GC,9652,0.70,159.1,673.3,6.6,460,9668,0.00,2.35,11.38,1.143,4,0.000,0.066,2799,3153,2246
$GC,9695,0.70,159.1,670.1,7.4,461,9699,0.00,2.38,0.00,0.000,6,0.000,0.054,2806,1740,2244
$GC,10019,0.71,167.8,647.8,6.7,469,10030,0.00,0.00,8.85,1.101,6,0.000,0.000,2806,1740,2210
$GC,10344,0.71,170.2,625.5,6.9,477,10348,0.00,2.38,0.00,0.000,4,0.000,0.067,2806,3151,2208
$GC,10354,0.71,170.2,624.6,7.1,477,10359,0.00,2.33,0.00,0.000,6,0.000,0.054,2815,1743,2208
$GC,10672,0.71,170.2,601.6,7.1,485,10673,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1743,2208
$GC,10997,0.71,170.2,578.7,7.0,493,10998,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1743,2207
$GC,11322,0.72,178.8,556.7,6.7,501,11334,0.00,0.00,10.40,1.127,6,0.000,0.000,2816,1743,2166
$GC,11647,0.73,182.8,534.3,6.9,509,11654,0.00,0.00,5.05,0.913,6,0.000,0.000,2815,1743,2149
$GC,11972,0.73,182.8,510.8,7.3,517,11973,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1743,2148
$GC,12297,0.74,193.3,488.3,6.7,525,12309,0.00,0.00,10.20,1.088,6,0.000,0.000,2815,1743,2106
$GC,12622,0.74,193.3,465.2,7.3,533,12626,0.00,2.38,0.00,0.000,4,0.000,0.070,2816,3158,2105
$GC,12631,0.74,193.3,464.4,7.3,533,12636,0.00,2.33,0.00,0.000,6,0.000,0.054,2825,1735,2104
$GC,12950,0.74,193.3,440.6,7.4,541,12954,0.00,2.35,0.00,0.000,4,0.000,0.067,2825,3153,2104
$GC,12971,0.74,193.3,438.9,7.8,541,12975,0.00,2.30,0.00,0.000,6,0.000,0.054,2835,1739,2104
$GC,13319,0.74,193.3,411.9,7.6,550,13320,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1739,2104
$GC,13625,0.74,193.3,387.9,8.0,561,13629,0.00,2.33,0.00,0.000,4,0.000,0.068,2835,3154,2104
$GC,13641,0.68,193.3,386.5,8.0,561,13648,0.12,2.30,0.00,0.000,6,0.130,0.055,2792,1733,2104
$GC,13957,0.86,213.8,366.6,6.4,577,13980,0.17,2.42,18.02,1.080,4,0.073,0.068,2863,3149,2022
$GC,13991,0.70,213.8,363.3,9.5,578,13996,0.17,2.33,0.00,0.000,6,0.132,0.054,2805,1733,2020
$GC,14312,0.82,213.8,339.5,7.1,594,14314,0.12,0.00,0.00,0.000,6,0.081,0.000,2857,1733,2019
$GC,14621,0.74,213.8,309.3,9.8,609,14626,0.15,2.33,0.00,0.000,4,0.129,0.070,2822,332,2018
$GC,14641,0.74,213.8,307.4,8.3,610,14646,0.00,2.30,0.00,0.000,6,0.000,0.053,2822,1737,2018
$GC,14970,0.79,213.8,282.0,7.8,626,14974,0.00,2.25,0.00,0.000,4,0.000,0.068,2822,3153,2018
$GC,14980,0.79,213.8,280.9,7.8,626,14984,0.00,2.28,0.00,0.000,6,0.000,0.054,2831,1740,2018
$GC,15301,0.79,213.8,255.1,8.0,642,15302,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1739,2018
$GC,15610,0.79,213.8,230.8,7.8,657,15614,0.00,2.30,0.00,0.000,4,0.000,0.067,2831,3150,2018
$GC,15632,0.79,213.8,229.1,7.4,658,15636,0.00,2.25,0.00,0.000,6,0.000,0.054,2840,1727,2018
$GC,15963,0.79,213.8,203.1,7.8,674,15965,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1727,2018
$GC,16273,0.79,214.1,180.9,7.0,689,16277,0.00,2.33,0.00,0.000,4,0.000,0.069,2841,3154,2019
$GC,16299,0.79,214.1,178.7,8.7,690,16305,0.08,2.28,0.00,0.000,6,0.131,0.055,2824,1737,2019
$GC,16627,0.94,236.9,158.7,6.3,706,16649,0.12,0.00,19.80,0.955,6,0.081,0.000,2875,1736,1929
$GC,16955,0.94,236.9,129.8,9.1,722,16957,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1736,1925
$GC,17264,0.94,236.9,103.2,8.2,737,17266,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1736,1925
$GC,17598,0.98,271.9,80.5,5.9,791,17633,0.00,2.38,29.20,0.933,4,0.000,0.071,2886,335,1786
$GC,17650,1.00,292.2,77.2,6.4,800,17675,0.00,2.33,18.55,0.881,6,0.000,0.054,2886,1740,1703
$GC,18011,1.00,292.2,47.6,8.0,864,18017,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1740,1693
$GC,18354,1.14,304.6,21.1,6.6,925,18372,0.00,2.35,9.40,0.851,4,0.000,0.071,2886,3151,1652
$GC,18405,1.14,304.6,17.4,7.4,934,18412,0.00,2.33,0.00,0.000,6,0.000,0.058,2896,1727,1651
$STATE,18606,end climb,SURFACE_DEPTH_REACHED
$STATE,18606,begin surface coast
$FINISH,1.7,1.025597
$STATE,18647,end surface coast,CONTROL_FINISHED_OK
$STATE,18647,begin surface
$SM_CCo,18722,0.00,0.000,0,0,1644,306.62
$SM_GC,2.49,7.03,0.00,0.00,0.062,0.000,0.000,343,2243,1644,-10.57,0.37,306.62
$RAFOS_CLK,783
$RAFOS,4,1221770643,20.750000,20.734167,90,60,57,53,53,51,798,220,201,191,173,936
$RAFOS,3,1221770048,20.583334,20.568890,99,77,69,67,60,55,904,185,222,160,204,171
$RAFOS,2,1221769448,20.416666,20.402222,75,60,57,57,54,54,567,181,151,166,212,115
$RAFOS,1,1221768850,20.250000,20.236111,73,64,62,54,54,53,782,197,213,186,153,132
$RAFOS,0,1221768247,20.083334,20.068611,75,57,56,56,50,47,966,220,129,161,176,146
$RAFOS,4,1221756248,16.750000,16.735556,75,72,59,58,58,56,780,203,142,217,184,155
$RAFOS,3,1221755643,16.583334,16.567499,99,63,62,59,57,56,948,175,165,217,119,228
$RAFOS,2,1221755044,16.416666,16.401112,122,55,55,54,52,50,602,217,175,151,128,201
$RAFOS,1,1221754441,16.250000,16.233612,91,64,64,57,54,52,844,198,185,225,118,130
$RAFOS_FIX,6657.909180,-5717.930176,180908,202014,5,82,0.54
$IRIDIUM_FIX,6631.12,-5656.72,131297,111117
$TT8_MAMPS,0.026845
$HUMID,1859
$INTERNAL_PRESSURE,9.93202
$TCM_TEMP,15.70
$XPDR_PINGS,36
$24V_AH,23.1,16.803
$10V_AH,10.6,8.100
$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,19.875,115.275,391.425,0.000,0.000,26.176,31.529,173.975,9.000,0.000,0.000,15.635,1797.065,14608.588,520.892,1780.966,389.010,33.356,1467.323,0.000,1765.363,3240.000,0.530,0.000
$DEVICE_MAMPS,270.751,75.166,1324.609,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,681.870,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31540,977
$CAP_FILE_SIZE,130823,0
$CFSIZE,260165632,248537088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.1
$GPS,180908,212608,6658.396,-5712.685,38,0.8,38,-37.5