version: 66.04
glider: 108
mission: 11
dive: 136
start: 10 2 108 19 43 20
data:
$ID,108
$MISSION,11
$DIVE,136
$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,-2
$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,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-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,-113501.47
$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,23
$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,2745
$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
$GPS1,192926,6643.337,-6008.086,42,1.1,42,-38.0
$_CALLS,3
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-67.9
$GPS2,194229,6643.237,-6008.466,13,2.2,32,-38.0
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_ADD1_EB
$TGT_LATLONG,6647.000,-5956.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.127,0.196
$KALMAN_X,42431.1,-121.4,-73.9,-111672.8,1134.3
$KALMAN_Y,-67858.6,423.7,787.5,50737.9,-5219.6
$MHEAD_RNG_PITCHd_Wd,71.1,11463,-13.0,-7.021
$D_GRID,585
$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,-1.00,-146.0,0.0,0.0,0,59,0.00,0.00,-40.58,0.000,2,0.000,0.000,336,2238,2417
$GC,61,-1.00,-146.0,3.1,-1.6,7,114,8.55,2.42,-35.97,0.000,4,0.255,0.081,2444,818,3343
$GC,211,-0.56,-146.0,21.9,-16.8,33,218,0.35,2.35,0.00,0.000,6,0.143,0.067,2538,2238,3347
$GC,556,-0.61,-146.0,46.4,-7.0,94,563,0.00,2.22,0.00,0.000,4,0.000,0.079,2530,3596,3349
$GC,625,-0.69,-146.0,51.3,-7.3,106,632,0.10,2.22,0.00,0.000,6,0.094,0.054,2490,2218,3349
$GC,969,-0.60,-146.0,82.3,-9.3,167,975,0.15,0.00,0.00,0.000,6,0.147,0.000,2531,2218,3349
$GC,1314,-0.68,-146.0,108.4,-7.9,215,1318,0.00,2.30,0.00,0.000,4,0.000,0.080,2523,3602,3350
$GC,1375,-0.77,-146.0,113.4,-8.3,217,1382,0.12,2.20,0.00,0.000,6,0.091,0.056,2473,2227,3350
$GC,1691,-0.64,-146.0,143.8,-9.3,233,1692,0.17,0.00,0.00,0.000,6,0.146,0.000,2522,2227,3349
$GC,2002,-0.72,-146.0,164.8,-6.5,248,2006,0.00,2.33,0.00,0.000,4,0.000,0.070,2522,825,3349
$GC,2033,-0.72,-146.0,167.2,-7.0,249,2040,0.00,2.38,0.00,0.000,6,0.000,0.068,2514,2238,3349
$GC,2350,-0.78,-146.0,188.3,-6.8,265,2354,0.10,2.22,0.00,0.000,4,0.092,0.083,2460,3601,3348
$GC,2399,-0.64,-146.0,192.6,-9.4,267,2404,0.20,2.22,0.00,0.000,6,0.155,0.058,2516,2218,3348
$GC,2719,-0.72,-146.0,211.6,-5.5,283,2723,0.00,2.25,0.00,0.000,4,0.000,0.071,2516,820,3348
$GC,2758,-0.72,-146.0,213.9,-5.3,284,2764,0.00,2.30,0.00,0.000,6,0.000,0.067,2508,2238,3348
$GC,3074,-0.78,-146.0,233.6,-6.6,300,3077,0.00,2.20,0.00,0.000,4,0.000,0.083,2498,3603,3348
$GC,3112,-0.78,-146.0,236.3,-7.2,301,3119,0.00,2.20,0.00,0.000,6,0.000,0.058,2497,2230,3348
$GC,3429,-0.78,-146.0,257.5,-6.8,317,3430,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2230,3347
$GC,3737,-0.78,-146.0,277.1,-6.0,332,3738,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2230,3347
$GC,4046,-0.78,-146.0,294.7,-5.6,347,4047,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2230,3347
$GC,4355,-0.78,-146.0,312.2,-5.9,362,4359,0.00,2.30,0.00,0.000,4,0.000,0.072,2497,810,3347
$GC,4405,-0.78,-146.0,315.4,-6.1,364,4409,0.00,2.33,0.00,0.000,6,0.000,0.068,2487,2244,3347
$GC,4733,-0.78,-146.0,337.3,-6.8,380,4737,0.00,2.35,0.00,0.000,4,0.000,0.071,2488,823,3347
$GC,4776,-0.78,-146.0,340.6,-7.1,382,4780,0.00,2.30,0.00,0.000,6,0.000,0.068,2477,2237,3347
$GC,5102,-0.78,-146.0,365.3,-7.8,398,5106,0.00,2.20,0.00,0.000,4,0.000,0.082,2466,3599,3347
$GC,5147,-0.78,-146.0,368.8,-8.3,400,5151,0.10,2.22,0.00,0.000,6,0.165,0.058,2492,2217,3347
$GC,5473,-0.78,-146.0,389.6,-6.0,416,5476,0.00,2.28,0.00,0.000,4,0.000,0.070,2492,812,3347
$GC,5544,-0.78,-146.0,394.1,-6.0,419,5549,0.00,2.33,0.00,0.000,6,0.000,0.067,2484,2232,3347
$GC,5868,-0.78,-146.0,411.5,-5.1,430,5872,0.00,2.20,0.00,0.000,4,0.000,0.081,2474,3609,3347
$GC,5934,-0.78,-146.0,415.4,-5.9,431,5938,0.00,2.20,0.00,0.000,6,0.000,0.057,2474,2215,3347
$GC,6282,-0.78,-146.0,435.8,-5.9,440,6283,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2215,3347
$GC,6607,-0.78,-146.0,455.4,-6.1,448,6611,0.00,2.25,0.00,0.000,4,0.000,0.068,2473,818,3347
$GC,6674,-0.72,-146.0,459.8,-6.6,449,6679,0.15,2.30,0.00,0.000,6,0.143,0.066,2505,2244,3347
$GC,7016,-0.84,-146.0,475.9,-4.5,458,7017,0.12,0.00,0.00,0.000,6,0.087,0.000,2457,2244,3347
$GC,7341,-0.76,-146.0,497.0,-6.6,466,7342,0.15,0.00,0.00,0.000,6,0.157,0.000,2497,2244,3346
$GC,7666,-0.84,-146.0,513.5,-5.1,474,7668,0.10,0.00,0.00,0.000,6,0.097,0.000,2457,2244,3348
$GC,7990,-0.77,-146.0,534.6,-6.5,482,7992,0.12,0.00,0.00,0.000,6,0.160,0.000,2489,2244,3348
$GC,8315,-0.83,-146.0,552.1,-5.3,490,8317,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2244,3348
$GC,8641,-0.90,-146.0,569.5,-5.7,498,8642,0.12,0.00,0.00,0.000,6,0.091,0.000,2440,2243,3348
$STATE,8881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8882,begin apogee
$GC,8887,-0.31,0.0,586.9,7.4,504,9012,0.47,0.00,122.03,1.251,6,0.141,0.000,2590,1742,2745
$STATE,9013,end apogee,CONTROL_FINISHED_OK
$STATE,9013,begin climb
$GC,9015,1.00,146.0,589.0,0.0,507,9145,0.93,0.00,125.30,1.172,6,0.110,0.000,2879,1742,2149
$GC,9454,0.72,146.0,544.9,11.0,518,9459,0.22,2.53,0.00,0.000,4,0.128,0.070,2820,333,2141
$GC,9492,0.72,146.0,541.4,7.4,519,9497,0.00,2.42,0.00,0.000,6,0.000,0.058,2820,1752,2141
$GC,9816,0.72,146.0,517.5,7.4,527,9819,0.00,2.35,0.00,0.000,4,0.000,0.070,2821,3159,2140
$GC,9877,0.55,146.0,512.6,8.5,528,9882,0.20,2.42,0.00,0.000,6,0.134,0.057,2776,1729,2139
$GC,10189,0.79,213.8,497.3,4.8,536,10249,0.17,0.00,57.00,1.164,6,0.074,0.000,2847,1729,1873
$GC,10554,0.69,213.8,465.1,9.3,545,10559,0.15,2.47,0.00,0.000,4,0.127,0.068,2804,3164,1863
$GC,10586,0.69,213.8,462.2,7.8,545,10593,0.00,2.45,0.00,0.000,6,0.000,0.055,2811,1741,1862
$GC,10917,0.77,213.8,438.8,7.1,554,10919,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1741,1861
$GC,11242,0.84,213.8,415.2,7.2,562,11244,0.10,0.00,0.00,0.000,6,0.089,0.000,2856,1741,1860
$GC,11549,0.72,213.8,386.0,9.6,573,11554,0.17,2.40,0.00,0.000,4,0.126,0.071,2804,3157,1860
$GC,11570,0.67,213.8,384.1,8.6,574,11575,0.00,2.38,0.00,0.000,6,0.000,0.056,2812,1727,1859
$GC,11899,0.77,223.8,362.8,6.7,590,11909,0.00,0.00,7.65,0.972,6,0.000,0.000,2812,1727,1832
$GC,12207,0.87,226.7,342.0,6.9,605,12216,0.12,2.42,4.00,0.738,4,0.081,0.071,2866,3163,1820
$GC,12250,0.65,226.7,337.4,11.8,607,12255,0.28,2.35,0.00,0.000,6,0.135,0.057,2794,1736,1819
$GC,12577,1.33,226.7,311.6,9.1,623,12582,0.45,2.35,0.00,0.000,4,0.106,0.071,2949,333,1818
$GC,12665,0.98,226.7,300.4,15.1,627,12670,0.28,2.30,0.00,0.000,6,0.144,0.059,2868,1749,1819
$GC,12992,0.89,226.7,266.2,10.1,643,12995,0.00,2.28,0.00,0.000,4,0.000,0.073,2868,3162,1819
$GC,13030,0.69,226.7,261.6,11.5,644,13037,0.25,2.35,0.00,0.000,6,0.131,0.058,2801,1729,1818
$GC,13345,1.31,226.7,236.6,8.6,660,13350,0.40,2.33,0.00,0.000,4,0.107,0.072,2940,324,1817
$GC,13400,1.07,226.7,230.9,10.8,662,13407,0.20,2.30,0.00,0.000,6,0.146,0.059,2884,1746,1818
$GC,13715,0.98,226.7,199.5,9.5,678,13719,0.00,2.28,0.00,0.000,4,0.000,0.072,2884,3162,1818
$GC,13738,0.84,226.7,197.2,10.2,679,13743,0.20,2.33,0.00,0.000,6,0.134,0.058,2833,1736,1818
$GC,14064,0.97,233.5,175.0,6.8,695,14078,0.12,2.40,7.15,0.895,4,0.081,0.073,2896,334,1793
$GC,14095,0.89,233.5,172.3,8.4,696,14099,0.17,2.30,0.00,0.000,6,0.129,0.058,2844,1751,1793
$GC,14418,1.02,260.4,151.1,6.2,712,14448,0.12,2.35,24.40,0.989,4,0.080,0.073,2894,3148,1683
$GC,14476,0.82,260.4,146.0,10.1,714,14483,0.25,2.38,0.00,0.000,6,0.136,0.058,2832,1736,1679
$GC,14792,1.26,260.4,124.6,7.4,730,14797,0.28,2.38,0.00,0.000,4,0.079,0.074,2938,330,1675
$GC,14818,1.34,260.4,122.2,8.2,731,14823,0.00,2.35,0.00,0.000,6,0.000,0.059,2938,1745,1675
$GC,15144,1.15,260.4,87.7,10.6,761,15151,0.12,2.42,0.00,0.000,4,0.150,0.072,2913,331,1674
$GC,15208,1.07,260.4,81.7,8.7,772,15215,0.10,2.33,0.00,0.000,6,0.140,0.061,2887,1747,1674
$GC,15552,1.07,260.4,56.0,7.7,833,15558,0.00,2.30,0.00,0.000,4,0.000,0.077,2886,3152,1672
$GC,15569,1.07,260.4,54.6,7.7,836,15576,0.00,2.33,0.00,0.000,6,0.000,0.061,2894,1732,1672
$GC,15913,1.08,269.1,29.6,6.7,897,15924,0.00,0.00,7.15,0.855,6,0.000,0.000,2894,1732,1647
$GC,16261,1.19,269.1,7.6,8.3,959,16268,0.08,2.40,0.00,0.000,4,0.103,0.075,2932,3162,1644
$STATE,16311,end climb,SURFACE_DEPTH_REACHED
$STATE,16311,begin surface coast
$FINISH,2.5,1.025008
$STATE,16318,end surface coast,CONTROL_FINISHED_OK
$STATE,16318,begin surface
$SM_CCo,16334,5.43,0.788,0,0,1623,275.23
$SM_GC,3.72,0.00,0.00,5.43,0.000,0.000,0.788,332,2214,1623,-10.70,-0.45,275.23
$RAFOS_CLK,711
$RAFOS,0,1222992241,0.083333,0.066944,68,60,59,59,51,48,169,208,196,556,184,219
$RAFOS,4,1222980252,20.750000,20.736666,63,59,57,56,56,54,223,211,180,170,115,143
$RAFOS,3,1222979650,20.583334,20.569445,105,53,52,51,50,49,708,122,213,172,201,191
$RAFOS,2,1222979049,20.416666,20.402500,65,62,56,56,53,52,904,220,176,193,140,157
$RAFOS,1,1222978453,20.250000,20.236944,105,56,56,55,53,51,650,221,212,188,121,108
$RAFOS,0,1222977850,20.083334,20.069445,66,60,57,56,52,51,515,205,220,180,190,170
$RAFOS_FIX,6642.268555,-6001.628418,021008,202040,2,105,2.01
$IRIDIUM_FIX,6614.97,-6013.96,271297,191921
$TT8_MAMPS,0.029146
$HUMID,1792
$INTERNAL_PRESSURE,9.87343
$TCM_TEMP,15.00
$XPDR_PINGS,19
$24V_AH,22.8,26.798
$10V_AH,10.6,12.348
$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,23.600,130.150,354.675,5.425,0.000,80.836,110.982,328.420,4.750,0.000,0.000,34.492,1761.031,12388.261,515.029,1766.970,702.045,33.360,1454.307,0.000,1725.889,2520.000,0.531,0.000
$DEVICE_MAMPS,254.644,82.836,1250.977,788.476,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,678.541,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31533,969
$CAP_FILE_SIZE,139824,0
$CFSIZE,260165632,243716096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.0
$GPS,031008,001707,6641.591,-6003.972,32,1.0,32,-38.0