version: 66.04
glider: 108
mission: 11
dive: 72
start: 9 18 108 21 31 56
data:
$ID,108
$MISSION,11
$DIVE,72
$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,-112376.84
$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,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
$GPS1,212608,6658.396,-5712.685,38,0.8,38,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-69.8
$GPS2,213103,6658.394,-5712.571,9,1.6,9,-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,-0.198,0.028
$KALMAN_X,4154.7,-523.2,-281.1,49082.3,1708.4
$KALMAN_Y,-935.3,691.9,-500.0,11377.1,-429.4
$MHEAD_RNG_PITCHd_Wd,315.5,16280,-14.2,-7.021
$D_GRID,779
$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,-146.0,0.0,0.0,0,75,0.00,0.00,-56.90,0.000,2,0.000,0.000,342,2244,2952
$GC,78,-1.07,-146.0,3.3,-2.5,10,108,8.57,2.22,-15.68,0.000,4,0.264,0.087,2411,3604,3493
$GC,361,-0.87,-146.0,48.0,-14.3,60,368,0.20,2.20,0.00,0.000,6,0.146,0.050,2468,2215,3499
$GC,705,-0.87,-146.0,81.4,-9.3,121,711,0.00,2.25,0.00,0.000,4,0.000,0.063,2469,824,3502
$GC,767,-0.81,-146.0,87.5,-9.6,132,774,0.00,2.30,0.00,0.000,6,0.000,0.061,2460,2238,3502
$GC,1098,-0.81,-146.0,122.9,-11.0,164,1102,0.00,2.17,0.00,0.000,4,0.000,0.074,2450,3597,3503
$GC,1167,-0.77,-146.0,130.7,-12.0,167,1171,0.15,2.15,0.00,0.000,6,0.148,0.051,2491,2224,3502
$GC,1498,-0.86,-146.0,158.8,-7.8,183,1502,0.00,2.25,0.00,0.000,4,0.000,0.064,2491,817,3502
$GC,1587,-0.91,-146.0,166.1,-8.5,187,1592,0.10,2.30,0.00,0.000,6,0.090,0.061,2439,2240,3502
$GC,1913,-0.84,-146.0,198.5,-9.7,203,1918,0.15,2.17,0.00,0.000,4,0.153,0.074,2471,3608,3501
$GC,2046,-0.89,-146.0,209.5,-7.7,209,2051,0.00,2.15,0.00,0.000,6,0.000,0.053,2471,2225,3500
$GC,2372,-0.95,-146.0,235.2,-7.9,225,2376,0.00,2.22,0.00,0.000,4,0.000,0.074,2461,3602,3499
$GC,2462,-0.95,-146.0,243.0,-8.9,229,2466,0.00,2.15,0.00,0.000,6,0.000,0.051,2461,2222,3499
$GC,2795,-0.95,-146.0,272.0,-8.8,245,2796,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2222,3499
$GC,3103,-0.95,-146.0,297.8,-7.9,260,3104,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2221,3499
$GC,3411,-0.95,-146.0,321.8,-7.8,275,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2222,3499
$GC,3722,-0.95,-146.0,345.2,-7.3,290,3724,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2222,3499
$GC,4030,-0.95,-146.0,367.9,-7.5,305,4031,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2222,3500
$GC,4340,-0.95,-146.0,390.7,-7.1,320,4343,0.00,2.28,0.00,0.000,4,0.000,0.074,2451,3601,3499
$GC,4411,-0.95,-146.0,396.2,-8.0,323,4416,0.00,2.17,0.00,0.000,6,0.000,0.050,2451,2220,3499
$GC,4754,-0.95,-146.0,421.5,-7.4,333,4755,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2219,3499
$GC,5079,-0.95,-146.0,447.6,-8.2,341,5080,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2219,3500
$GC,5404,-0.95,-146.0,474.0,-8.1,349,5405,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2219,3500
$GC,5728,-0.95,-146.0,500.7,-8.3,357,5732,0.00,2.22,0.00,0.000,4,0.000,0.073,2441,3607,3500
$GC,5800,-0.95,-146.0,507.1,-8.8,358,5805,0.00,2.17,0.00,0.000,6,0.000,0.050,2440,2222,3500
$GC,6142,-0.95,-146.0,536.5,-8.7,367,6146,0.00,2.22,0.00,0.000,4,0.000,0.064,2441,824,3500
$GC,6220,-0.90,-146.0,543.8,-8.9,368,6225,0.08,2.30,0.00,0.000,6,0.137,0.061,2457,2237,3500
$GC,6557,-0.95,-146.0,569.4,-7.4,377,6560,0.00,2.15,0.00,0.000,4,0.000,0.073,2449,3600,3500
$GC,6707,-0.95,-146.0,581.2,-7.5,380,6711,0.00,2.15,0.00,0.000,6,0.000,0.051,2448,2231,3500
$GC,7020,-0.95,-146.0,602.9,-6.9,388,7021,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2230,3500
$GC,7345,-0.95,-146.0,624.5,-6.6,396,7346,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2230,3500
$GC,7670,-0.95,-146.0,646.2,-6.7,404,7671,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2230,3500
$GC,7995,-0.95,-146.0,668.2,-6.9,412,7998,0.00,2.25,0.00,0.000,4,0.000,0.074,2438,3602,3499
$GC,8072,-0.95,-146.0,674.2,-7.8,413,8076,0.00,2.15,0.00,0.000,6,0.000,0.051,2438,2229,3499
$GC,8408,-0.95,-146.0,698.5,-7.3,422,8410,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2229,3499
$GC,8733,-0.95,-146.0,721.9,-7.3,430,8734,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2229,3499
$GC,9058,-0.95,-146.0,745.2,-7.3,438,9062,0.00,2.25,0.00,0.000,4,0.000,0.074,2428,3600,3499
$GC,9152,-0.95,-146.0,753.0,-8.1,440,9157,0.05,2.15,0.00,0.000,6,0.160,0.051,2445,2230,3499
$GC,9476,-0.95,-146.0,776.2,-7.2,448,9478,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2230,3499
$STATE,9557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9558,begin apogee
$GC,9562,-0.31,0.0,782.0,7.1,450,9690,0.45,0.00,124.90,1.354,6,0.131,0.000,2591,1745,2895
$STATE,9690,end apogee,CONTROL_FINISHED_OK
$STATE,9690,begin climb
$GC,9692,1.07,146.0,784.7,0.0,453,9823,0.95,0.00,127.03,1.281,6,0.093,0.000,2898,1744,2299
$GC,10123,0.79,146.0,740.3,11.4,464,10125,0.25,0.00,0.00,0.000,6,0.134,0.000,2827,1744,2294
$GC,10448,0.73,146.0,712.8,8.3,472,10449,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1744,2292
$GC,10773,0.67,146.0,686.2,8.1,480,10775,0.10,0.00,0.00,0.000,6,0.148,0.000,2800,1745,2292
$GC,11098,0.69,156.7,664.3,6.7,488,11112,0.00,2.42,8.98,1.134,4,0.000,0.069,2800,3150,2256
$GC,11117,0.69,156.7,662.8,7.7,488,11122,0.00,2.35,0.00,0.000,6,0.000,0.054,2807,1735,2256
$GC,11465,0.69,156.7,637.6,7.2,497,11466,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1735,2255
$GC,11790,0.69,156.7,613.5,7.5,505,11791,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1734,2255
$GC,12115,0.69,156.7,589.7,7.4,513,12119,0.00,2.35,0.00,0.000,4,0.000,0.067,2807,3150,2255
$GC,12130,0.69,156.7,588.3,7.6,513,12135,0.00,2.30,0.00,0.000,6,0.000,0.054,2817,1737,2254
$GC,12442,0.69,156.7,564.0,7.6,521,12446,0.00,2.33,0.00,0.000,4,0.000,0.068,2817,3150,2254
$GC,12471,0.60,156.7,561.7,8.5,521,12475,0.15,2.28,0.00,0.000,6,0.143,0.054,2785,1727,2254
$GC,12812,0.76,191.9,540.8,5.9,530,12848,0.12,2.38,30.08,1.206,4,0.084,0.067,2838,3152,2112
$GC,12875,0.59,191.9,535.5,9.4,530,12880,0.22,2.33,0.00,0.000,6,0.137,0.054,2785,1734,2109
$GC,13217,0.81,227.2,515.0,5.9,539,13253,0.17,2.45,30.50,1.172,4,0.071,0.067,2855,3155,1968
$GC,13269,0.65,227.2,510.2,10.5,539,13275,0.25,2.38,0.00,0.000,6,0.137,0.054,2794,1725,1964
$GC,13583,0.85,248.0,489.7,6.3,547,13604,0.15,0.00,18.45,1.124,6,0.076,0.000,2855,1725,1884
$GC,13907,0.78,248.0,457.0,10.3,555,13909,0.12,0.00,0.00,0.000,6,0.130,0.000,2820,1725,1878
$GC,14232,0.83,248.0,431.7,7.5,563,14233,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1725,1877
$GC,14558,0.89,248.0,408.2,7.2,571,14562,0.12,2.33,0.00,0.000,4,0.081,0.068,2870,3151,1877
$GC,14572,0.89,248.0,406.8,7.6,571,14577,0.08,2.30,0.00,0.000,6,0.143,0.054,2854,1739,1876
$GC,14904,0.83,248.0,374.9,9.8,585,14908,0.00,2.33,0.00,0.000,4,0.000,0.071,2862,329,1876
$GC,14919,0.83,248.0,373.2,10.0,585,14927,0.08,2.33,0.00,0.000,6,0.127,0.054,2834,1745,1876
$GC,15234,0.83,248.0,345.6,8.5,601,15238,0.00,2.25,0.00,0.000,4,0.000,0.069,2834,3157,1876
$GC,15256,0.83,248.0,343.7,9.2,602,15260,0.00,2.28,0.00,0.000,6,0.000,0.055,2843,1724,1875
$GC,15589,0.83,248.0,312.9,9.4,618,15590,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1724,1875
$GC,15897,0.83,248.0,284.3,9.2,633,15901,0.00,2.33,0.00,0.000,4,0.000,0.067,2843,3162,1875
$GC,15912,0.78,248.0,282.8,9.4,633,15920,0.08,2.30,0.00,0.000,6,0.137,0.054,2827,1732,1874
$GC,16228,0.83,248.0,256.0,8.3,649,16229,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1732,1874
$GC,16537,0.90,248.0,230.1,8.4,664,16539,0.10,0.00,0.00,0.000,6,0.090,0.000,2868,1732,1874
$GC,16846,0.81,248.0,196.8,10.8,679,16851,0.15,2.30,0.00,0.000,4,0.130,0.068,2832,325,1875
$GC,16873,0.90,248.0,194.1,8.5,680,16878,0.00,2.30,0.00,0.000,6,0.000,0.054,2832,1742,1875
$GC,17199,0.99,248.0,168.3,7.6,696,17204,0.12,2.25,0.00,0.000,4,0.083,0.067,2884,3157,1875
$GC,17221,0.90,248.0,166.2,9.5,697,17226,0.17,2.25,0.00,0.000,6,0.143,0.054,2845,1734,1875
$GC,17553,0.97,248.0,140.3,7.9,713,17554,0.08,0.00,0.00,0.000,6,0.100,0.000,2879,1733,1876
$GC,17861,0.97,248.0,110.5,9.6,728,17865,0.00,2.30,0.00,0.000,4,0.000,0.070,2889,327,1876
$GC,17894,0.97,248.0,107.2,9.0,729,17899,0.08,2.30,0.00,0.000,6,0.132,0.054,2862,1743,1876
$GC,18229,0.97,248.0,78.5,7.9,777,18236,0.00,2.22,0.00,0.000,4,0.000,0.071,2863,3151,1876
$GC,18252,0.97,248.0,76.4,8.5,781,18259,0.00,2.25,0.00,0.000,6,0.000,0.055,2870,1722,1876
$GC,18596,1.01,248.0,48.1,8.0,842,18601,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1722,1876
$GC,18938,1.14,267.9,23.1,6.4,903,18963,0.12,2.35,16.12,0.900,4,0.087,0.072,2931,331,1802
$GC,19030,1.14,267.9,15.6,7.7,919,19037,0.12,2.30,0.00,0.000,6,0.140,0.057,2897,1746,1799
$STATE,19243,end climb,SURFACE_DEPTH_REACHED
$STATE,19243,begin surface coast
$FINISH,1.3,1.019733
$STATE,19295,end surface coast,CONTROL_FINISHED_OK
$STATE,19295,begin surface
$SM_CCo,19310,4.62,0.690,0,0,1773,275.23
$SM_GC,3.25,0.00,0.00,4.62,0.000,0.000,0.690,335,2248,1773,-10.68,0.51,275.23
$RAFOS_CLK,803
$RAFOS,4,1221785060,0.750000,0.738889,75,63,61,55,54,52,692,212,153,221,135,165
$RAFOS,3,1221784449,0.583333,0.569167,60,59,59,57,56,56,207,196,896,219,136,183
$RAFOS,2,1221783881,0.416667,0.411389,67,57,55,53,52,51,384,224,201,113,187,148
$RAFOS,1,1221783273,0.250000,0.242500,75,67,64,59,57,51,661,651,187,213,200,169
$RAFOS,0,1221782645,0.083333,0.068056,75,62,60,59,59,59,977,219,162,207,143,120
$RAFOS_FIX,6700.061523,-5720.059082,190908,000028,3,75,0.60
$IRIDIUM_FIX,6631.12,-5659.72,131297,161654
$TT8_MAMPS,0.026845
$HUMID,1835
$INTERNAL_PRESSURE,9.93202
$TCM_TEMP,15.90
$XPDR_PINGS,51
$24V_AH,23.2,16.943
$10V_AH,10.6,8.163
$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,20.450,119.325,356.050,4.625,0.000,24.644,35.211,130.604,12.750,0.000,0.000,11.043,1798.937,15195.562,508.917,1787.947,329.610,33.359,1459.455,0.000,1767.496,1800.000,0.531,0.000
$DEVICE_MAMPS,263.848,86.671,1353.755,690.300,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,674.336,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31536,966
$CAP_FILE_SIZE,133093,0
$CFSIZE,260165632,248471552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.8
$GPS,190908,025525,6658.895,-5717.363,40,1.4,40,-37.6