version: 66.04
glider: 108
mission: 11
dive: 168
start: 10 11 108 13 26 56
data:
$ID,108
$MISSION,11
$DIVE,168
$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,900
$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,-114028.75
$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,30
$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
$GPS1,131932,6655.918,-5702.042,57,2.0,57,-37.4
$_CALLS,1
$_XMS_NAKs,22
$_XMS_TOUTs,1
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-63.4
$GPS2,132603,6655.893,-5702.072,11,1.4,11,-37.4
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.055,0.227
$KALMAN_X,10590.6,199.4,-330.5,14620.6,1727.4
$KALMAN_Y,-20416.1,-276.3,728.0,23193.5,-3637.8
$MHEAD_RNG_PITCHd_Wd,23.8,16630,-13.0,-7.021
$D_GRID,692
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.00,-146.0,0.0,0.0,0,68,0.00,0.00,-51.55,0.000,2,0.000,0.000,331,2252,2755
$GC,71,-1.00,-146.0,3.1,-1.4,9,108,8.43,2.45,-21.80,0.000,4,0.244,0.075,2446,802,3343
$GC,181,-0.69,-146.0,14.1,-12.8,28,188,0.25,2.35,0.00,0.000,6,0.136,0.061,2511,2241,3346
$GC,525,-0.62,-146.0,40.2,-7.9,89,531,0.00,2.22,0.00,0.000,4,0.000,0.072,2503,3605,3348
$GC,745,-0.62,-146.0,59.8,-9.6,128,751,0.00,2.22,0.00,0.000,6,0.000,0.050,2502,2212,3348
$GC,1089,-0.62,-146.0,84.3,-6.9,189,1095,0.00,2.22,0.00,0.000,4,0.000,0.061,2503,820,3349
$GC,1180,-0.57,-146.0,91.0,-7.5,205,1187,0.15,2.28,0.00,0.000,6,0.135,0.061,2535,2232,3349
$GC,1525,-0.71,-146.0,110.2,-5.3,242,1527,0.12,0.00,0.00,0.000,6,0.081,0.000,2483,2232,3349
$GC,1836,-0.66,-146.0,133.4,-7.7,257,1838,0.12,0.00,0.00,0.000,6,0.148,0.000,2517,2232,3349
$GC,2144,-0.76,-146.0,153.6,-6.5,272,2146,0.10,0.00,0.00,0.000,6,0.091,0.000,2474,2232,3348
$GC,2453,-0.70,-146.0,178.7,-8.3,287,2455,0.12,0.00,0.00,0.000,6,0.150,0.000,2507,2232,3348
$GC,2764,-0.79,-146.0,200.3,-6.9,302,2765,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2232,3348
$GC,3072,-0.88,-146.0,220.1,-6.1,317,3077,0.15,2.35,0.00,0.000,4,0.080,0.062,2446,816,3347
$GC,3179,-0.68,-146.0,228.6,-8.2,322,3184,0.25,2.33,0.00,0.000,6,0.140,0.061,2509,2240,3347
$GC,3505,-0.79,-146.0,245.1,-5.1,338,3507,0.10,0.00,0.00,0.000,6,0.088,0.000,2465,2240,3347
$GC,3815,-0.74,-146.0,264.7,-6.2,353,3820,0.12,2.35,0.00,0.000,4,0.145,0.062,2500,823,3347
$GC,3892,-0.74,-146.0,269.2,-5.5,356,3899,0.00,2.30,0.00,0.000,6,0.000,0.061,2492,2240,3347
$GC,4208,-0.78,-146.0,285.1,-5.1,372,4209,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2240,3347
$GC,4518,-0.83,-146.0,301.1,-5.1,387,4521,0.00,2.33,0.00,0.000,4,0.000,0.062,2492,819,3347
$GC,4590,-0.83,-146.0,305.5,-6.3,390,4594,0.00,2.30,0.00,0.000,6,0.000,0.061,2482,2242,3347
$GC,4917,-0.83,-146.0,324.1,-5.7,406,4918,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2242,3347
$GC,5226,-0.83,-146.0,341.8,-5.8,421,5227,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2242,3347
$GC,5537,-0.83,-146.0,359.9,-5.9,436,5540,0.00,2.30,0.00,0.000,4,0.000,0.061,2482,819,3347
$GC,5659,-0.83,-146.0,367.8,-6.5,441,5663,0.00,2.28,0.00,0.000,6,0.000,0.061,2472,2244,3347
$GC,5980,-0.83,-146.0,386.6,-5.8,457,5981,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2244,3347
$GC,6309,-0.83,-146.0,405.3,-5.7,471,6310,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2244,3348
$GC,6634,-0.83,-146.0,424.2,-6.0,479,6638,0.00,2.33,0.00,0.000,4,0.000,0.061,2472,811,3349
$GC,6735,-0.77,-146.0,430.7,-6.4,481,6740,0.10,2.30,0.00,0.000,6,0.142,0.058,2488,2242,3349
$GC,7047,-0.83,-146.0,448.2,-5.8,489,7048,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2242,3349
$GC,7373,-0.90,-146.0,466.7,-5.6,497,7374,0.10,0.00,0.00,0.000,6,0.089,0.000,2446,2242,3349
$GC,7697,-0.80,-146.0,490.5,-7.5,505,7699,0.15,0.00,0.00,0.000,6,0.147,0.000,2488,2242,3349
$GC,8022,-0.86,-146.0,510.1,-5.9,513,8026,0.00,2.33,0.00,0.000,4,0.000,0.061,2487,817,3349
$GC,8089,-0.86,-146.0,514.3,-6.1,514,8093,0.00,2.28,0.00,0.000,6,0.000,0.059,2480,2243,3349
$GC,8436,-0.86,-146.0,535.4,-6.0,523,8437,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2243,3350
$GC,8761,-0.86,-146.0,554.7,-6.0,531,8762,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2243,3350
$GC,9086,-0.86,-146.0,574.0,-5.9,539,9090,0.00,2.33,0.00,0.000,4,0.000,0.061,2480,817,3350
$GC,9169,-0.86,-146.0,579.2,-6.1,540,9176,0.00,2.30,0.00,0.000,6,0.000,0.060,2470,2236,3350
$GC,9501,-0.86,-146.0,599.6,-6.2,549,9502,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2236,3350
$GC,9827,-0.86,-146.0,620.1,-6.3,557,9828,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2236,3350
$GC,10151,-0.86,-146.0,640.5,-6.3,565,10152,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2236,3349
$GC,10475,-0.86,-146.0,660.2,-5.9,573,10479,0.00,2.33,0.00,0.000,4,0.000,0.062,2469,813,3349
$GC,10593,-0.81,-146.0,667.7,-6.5,575,10598,0.08,2.33,0.00,0.000,6,0.156,0.061,2480,2244,3349
$GC,10929,-0.86,-146.0,685.9,-5.3,584,10931,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2244,3349
$STATE,11050,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11050,begin apogee
$GC,11056,-0.31,0.0,692.3,5.2,587,11182,0.35,0.00,123.55,1.297,6,0.127,0.000,2592,1734,2745
$STATE,11183,end apogee,CONTROL_FINISHED_OK
$STATE,11183,begin climb
$GC,11185,1.00,146.0,693.9,0.0,590,11316,0.90,0.00,127.78,1.220,6,0.100,0.000,2879,1734,2149
$GC,11616,0.76,146.0,650.2,10.7,601,11621,0.22,2.45,0.00,0.000,4,0.127,0.066,2815,3144,2142
$GC,11632,0.56,146.0,648.6,10.7,601,11637,0.17,2.40,0.00,0.000,6,0.131,0.051,2776,1738,2141
$GC,11945,0.76,191.2,630.7,5.6,609,11988,0.15,2.53,37.90,1.216,4,0.073,0.066,2839,3151,1965
$GC,12010,0.60,191.2,625.0,9.0,610,12015,0.22,2.42,0.00,0.000,6,0.131,0.051,2787,1732,1961
$GC,12358,0.79,221.6,603.4,6.0,619,12392,0.15,2.53,26.52,1.188,4,0.071,0.066,2850,3160,1840
$GC,12399,0.66,221.6,599.9,9.0,620,12404,0.22,2.42,0.00,0.000,6,0.132,0.052,2798,1731,1838
$GC,12723,0.81,239.0,578.1,6.5,628,12741,0.12,0.00,15.45,1.142,6,0.077,0.000,2852,1730,1770
$GC,13048,0.69,239.0,546.1,10.2,636,13053,0.17,2.38,0.00,0.000,4,0.123,0.068,2801,3149,1765
$GC,13091,0.69,239.0,542.1,9.1,637,13095,0.00,2.38,0.00,0.000,6,0.000,0.052,2807,1730,1764
$GC,13416,0.78,239.0,519.1,7.1,645,13420,0.00,2.38,0.00,0.000,4,0.000,0.067,2807,3162,1763
$GC,13442,0.78,239.0,516.9,7.5,645,13446,0.00,2.35,0.00,0.000,6,0.000,0.053,2816,1728,1763
$GC,13784,0.78,239.0,491.0,7.7,654,13788,0.00,2.35,0.00,0.000,4,0.000,0.067,2816,3152,1763
$GC,13810,0.78,239.0,488.7,8.1,654,13815,0.00,2.33,0.00,0.000,6,0.000,0.053,2826,1738,1762
$GC,14153,0.78,239.0,459.7,8.5,663,14156,0.00,2.30,0.00,0.000,4,0.000,0.067,2826,3152,1762
$GC,14163,0.78,239.0,458.8,8.4,663,14167,0.00,2.30,0.00,0.000,6,0.000,0.053,2836,1734,1761
$GC,14481,0.78,239.0,429.6,9.2,671,14482,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1733,1761
$GC,14806,0.73,239.0,399.6,9.2,679,14808,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1734,1761
$GC,15118,0.66,239.0,370.9,9.3,694,15122,0.15,2.38,0.00,0.000,4,0.131,0.066,2792,3159,1761
$GC,15138,0.66,239.0,368.9,8.6,695,15143,0.00,2.33,0.00,0.000,6,0.000,0.053,2799,1733,1760
$GC,15466,0.81,251.6,346.8,6.6,711,15482,0.12,2.35,10.77,1.006,4,0.076,0.065,2856,3153,1719
$GC,15487,0.81,251.6,344.9,8.3,711,15492,0.12,2.28,0.00,0.000,6,0.143,0.053,2832,1741,1718
$GC,15813,0.81,251.6,315.8,9.0,727,15814,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1741,1717
$GC,16122,0.81,251.6,288.3,9.0,742,16126,0.00,2.33,0.00,0.000,4,0.000,0.067,2841,318,1717
$GC,16155,0.86,251.6,285.4,8.5,743,16159,0.00,2.28,0.00,0.000,6,0.000,0.053,2841,1747,1717
$GC,16475,0.86,251.6,255.1,9.7,759,16479,0.00,2.22,0.00,0.000,4,0.000,0.067,2841,3151,1716
$GC,16530,0.71,251.6,248.7,11.6,761,16535,0.15,2.25,0.00,0.000,6,0.131,0.052,2808,1729,1716
$GC,16851,0.86,260.5,225.2,6.7,777,16863,0.12,0.00,8.88,0.904,6,0.074,0.000,2864,1729,1683
$GC,17160,0.76,260.5,192.8,10.7,792,17162,0.15,0.00,0.00,0.000,6,0.124,0.000,2819,1729,1682
$GC,17470,0.92,273.3,171.1,6.6,807,17489,0.12,0.00,12.57,0.914,6,0.075,0.000,2873,1729,1630
$GC,17798,0.83,273.3,138.1,10.1,823,17800,0.15,0.00,0.00,0.000,6,0.128,0.000,2827,1729,1628
$GC,18107,1.04,300.7,117.6,6.1,838,18134,0.17,0.00,24.42,0.920,6,0.068,0.000,2900,1729,1519
$GC,18451,0.92,300.7,79.2,12.1,878,18457,0.17,0.00,0.00,0.000,6,0.126,0.000,2847,1729,1514
$GC,18794,1.11,300.7,51.2,7.6,939,18800,0.17,0.00,0.00,0.000,6,0.068,0.000,2920,1729,1512
$GC,19136,0.99,300.7,18.4,9.6,1000,19143,0.17,2.33,0.00,0.000,4,0.125,0.068,2876,335,1510
$GC,19155,0.93,300.7,16.5,10.6,1003,19161,0.00,2.28,0.00,0.000,6,0.000,0.053,2876,1742,1511
$STATE,19344,end climb,SURFACE_DEPTH_REACHED
$STATE,19344,begin surface coast
$FINISH,1.7,1.026286
$STATE,19379,end surface coast,CONTROL_FINISHED_OK
$STATE,19379,begin surface
$SM_CCo,19455,0.00,0.000,0,0,1506,303.93
$SM_GC,2.63,6.88,0.00,0.00,0.059,0.000,0.000,338,2238,1506,-10.57,0.23,303.93
$RAFOS_CLK,791
$RAFOS,4,1223743477,16.750000,16.743610,61,59,59,58,54,53,226,214,177,200,190,166
$RAFOS,3,1223742865,16.583334,16.573610,69,64,57,55,54,51,199,225,148,212,113,166
$RAFOS,2,1223742258,16.416666,16.405001,70,64,60,59,51,51,548,167,209,190,144,153
$RAFOS,1,1223741642,16.250000,16.233889,67,58,57,53,52,51,854,178,193,215,161,204
$RAFOS,0,1223741074,16.083334,16.076111,68,60,59,55,54,54,216,185,159,856,142,196
$RAFOS_FIX,6654.167969,-5708.797852,111008,121216,2,96,0.19
$IRIDIUM_FIX,6620.33,-5812.44,050198,070725
$TT8_MAMPS,0.026078
$HUMID,1823
$INTERNAL_PRESSURE,9.92226
$TCM_TEMP,15.90
$XPDR_PINGS,58
$24V_AH,22.9,32.248
$10V_AH,10.6,14.845
$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,21.725,108.875,387.850,0.000,0.000,24.821,36.508,217.024,14.500,0.000,0.000,13.119,1879.637,15092.075,535.798,1847.905,488.107,33.356,1506.915,0.000,1833.517,1800.000,0.533,0.000
$DEVICE_MAMPS,243.906,75.166,1296.997,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,726.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34736,1043
$CAP_FILE_SIZE,138155,0
$CFSIZE,260165632,240467968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.8
$GPS,111008,185237,6657.178,-5701.241,38,1.8,43,-37.5