version: 66.04
glider: 108
mission: 11
dive: 170
start: 10 12 108 0 31 15
data:
$ID,108
$MISSION,11
$DIVE,170
$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,-114057.22
$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,25
$R_STBD_OVSHOOT,27
$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
$GPS1,002408,6659.377,-5656.831,35,1.6,35,-37.5
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-64.0
$GPS2,003021,6659.355,-5656.872,13,1.5,13,-37.5
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.013,0.233
$KALMAN_X,13494.7,-168.7,-149.4,15680.2,1797.8
$KALMAN_Y,-23016.4,526.3,407.4,31726.3,-2357.0
$MHEAD_RNG_PITCHd_Wd,40.8,9307,-13.0,-7.021
$D_GRID,680
$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,-146.0,0.0,0.0,0,69,0.00,0.00,-52.50,0.000,2,0.000,0.000,338,2254,2704
$GC,72,-1.00,-146.0,3.2,-1.7,9,109,8.35,2.45,-24.12,0.000,4,0.243,0.075,2445,806,3343
$GC,261,-0.69,-146.0,22.2,-11.9,42,268,0.25,2.33,0.00,0.000,6,0.140,0.060,2509,2234,3346
$GC,605,-0.69,-146.0,52.8,-5.7,103,611,0.00,2.22,0.00,0.000,4,0.000,0.072,2501,3597,3347
$GC,735,-0.69,-146.0,62.6,-8.0,126,741,0.00,2.20,0.00,0.000,6,0.000,0.050,2500,2213,3347
$GC,1078,-0.69,-146.0,89.1,-7.4,187,1084,0.00,2.22,0.00,0.000,4,0.000,0.061,2500,817,3347
$GC,1263,-0.64,-146.0,102.8,-6.8,215,1268,0.10,2.33,0.00,0.000,6,0.142,0.060,2517,2244,3348
$GC,1589,-0.73,-146.0,121.7,-5.8,231,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2243,3348
$GC,1899,-0.82,-146.0,140.6,-5.9,246,1904,0.15,2.30,0.00,0.000,4,0.077,0.062,2454,822,3347
$GC,2080,-0.65,-146.0,156.6,-9.2,254,2085,0.25,2.33,0.00,0.000,6,0.140,0.062,2517,2235,3347
$GC,2412,-0.76,-146.0,173.7,-4.9,270,2414,0.10,0.00,0.00,0.000,6,0.087,0.000,2474,2235,3347
$GC,2722,-0.76,-146.0,193.4,-6.6,285,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2235,3346
$GC,3030,-0.76,-146.0,214.0,-6.5,300,3034,0.00,2.33,0.00,0.000,4,0.000,0.063,2474,819,3346
$GC,3125,-0.68,-146.0,220.7,-7.3,304,3130,0.17,2.35,0.00,0.000,6,0.137,0.061,2514,2233,3346
$GC,3446,-0.81,-146.0,236.1,-4.6,320,3448,0.12,0.00,0.00,0.000,6,0.081,0.000,2462,2233,3346
$GC,3755,-0.75,-146.0,257.4,-6.9,335,3760,0.12,2.33,0.00,0.000,4,0.150,0.061,2497,825,3346
$GC,3833,-0.75,-146.0,262.3,-6.5,338,3839,0.00,2.33,0.00,0.000,6,0.000,0.062,2489,2238,3345
$GC,4148,-0.75,-146.0,281.5,-6.2,354,4149,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2238,3345
$GC,4459,-0.75,-146.0,300.3,-5.8,369,4460,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2238,3345
$GC,4767,-0.80,-146.0,316.3,-4.7,384,4768,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2238,3345
$GC,5076,-0.85,-146.0,331.1,-4.6,399,5080,0.00,2.33,0.00,0.000,4,0.000,0.061,2489,819,3345
$GC,5154,-0.85,-146.0,335.4,-4.9,402,5158,0.00,2.33,0.00,0.000,6,0.000,0.059,2479,2235,3345
$GC,5475,-0.85,-146.0,352.5,-5.2,418,5479,0.00,2.20,0.00,0.000,4,0.000,0.072,2469,3604,3345
$GC,5531,-0.85,-146.0,355.9,-6.4,420,5535,0.00,2.17,0.00,0.000,6,0.000,0.048,2469,2213,3346
$GC,5852,-0.85,-146.0,374.8,-6.1,436,5856,0.00,2.22,0.00,0.000,4,0.000,0.060,2469,813,3346
$GC,5997,-0.78,-146.0,384.7,-6.6,442,6002,0.12,2.33,0.00,0.000,6,0.138,0.058,2493,2239,3346
$GC,6313,-0.87,-146.0,400.8,-5.1,457,6315,0.10,0.00,0.00,0.000,6,0.087,0.000,2449,2239,3347
$GC,6638,-0.78,-146.0,422.1,-6.6,465,6640,0.15,0.00,0.00,0.000,6,0.143,0.000,2491,2239,3347
$GC,6963,-0.86,-146.0,439.0,-5.1,473,6967,0.00,2.28,0.00,0.000,4,0.000,0.060,2492,822,3347
$GC,7046,-0.86,-146.0,443.8,-5.3,474,7052,0.00,2.30,0.00,0.000,6,0.000,0.058,2484,2242,3348
$GC,7377,-0.91,-146.0,462.0,-5.5,483,7382,0.10,2.20,0.00,0.000,4,0.081,0.069,2426,3601,3348
$GC,7432,-0.75,-146.0,466.1,-7.6,484,7437,0.22,2.15,0.00,0.000,6,0.143,0.046,2494,2222,3348
$GC,7750,-0.84,-146.0,482.1,-4.9,492,7754,0.00,2.20,0.00,0.000,4,0.000,0.059,2494,828,3349
$GC,7812,-0.90,-146.0,485.3,-5.3,493,7817,0.10,2.28,0.00,0.000,6,0.081,0.056,2440,2244,3348
$GC,8125,-0.78,-146.0,506.3,-6.9,501,8129,0.17,2.20,0.00,0.000,4,0.145,0.067,2482,3598,3349
$GC,8202,-0.85,-146.0,511.0,-5.9,502,8206,0.00,2.15,0.00,0.000,6,0.000,0.046,2482,2223,3349
$GC,8539,-0.85,-146.0,528.7,-5.2,511,8542,0.00,2.25,0.00,0.000,4,0.000,0.059,2482,824,3350
$GC,8667,-0.85,-146.0,536.1,-6.1,513,8674,0.00,2.30,0.00,0.000,6,0.000,0.056,2472,2236,3350
$GC,8998,-0.85,-146.0,555.2,-5.9,522,8999,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2236,3350
$GC,9323,-0.85,-146.0,573.7,-5.5,530,9324,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2236,3350
$GC,9648,-0.85,-146.0,591.5,-5.5,538,9649,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2236,3350
$GC,9973,-0.85,-146.0,609.9,-5.7,546,9977,0.00,2.33,0.00,0.000,4,0.000,0.059,2472,822,3350
$GC,10041,-0.85,-146.0,614.0,-6.1,547,10045,0.00,2.25,0.00,0.000,6,0.000,0.058,2462,2236,3350
$GC,10389,-0.85,-146.0,634.6,-6.0,556,10390,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2235,3350
$GC,10713,-0.85,-146.0,653.5,-5.9,564,10714,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2235,3350
$GC,11038,-0.85,-146.0,672.7,-6.0,572,11039,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2235,3350
$STATE,11361,end dive,NO_VERTICAL_VELOCITY
$STATE,11361,begin apogee
$GC,11368,-0.31,0.0,677.1,0.0,580,11493,0.40,0.00,123.07,1.270,6,0.092,0.000,2601,1743,2745
$STATE,11494,end apogee,CONTROL_FINISHED_OK
$STATE,11494,begin climb
$GC,11496,1.00,146.0,676.8,0.0,583,11626,0.85,0.00,126.57,1.200,6,0.091,0.000,2879,1743,2149
$GC,11928,0.71,146.0,630.7,11.8,594,11930,0.25,0.00,0.00,0.000,6,0.124,0.000,2807,1743,2143
$GC,12253,0.71,146.0,606.7,7.2,602,12257,0.00,2.45,0.00,0.000,4,0.000,0.064,2807,3150,2141
$GC,12262,0.71,146.0,605.9,7.2,602,12267,0.00,2.38,0.00,0.000,6,0.000,0.051,2814,1732,2141
$GC,12581,0.71,146.0,582.1,7.5,610,12585,0.00,2.42,0.00,0.000,4,0.000,0.064,2814,3149,2140
$GC,12597,0.66,146.0,580.7,7.6,610,12601,0.10,2.35,0.00,0.000,6,0.143,0.050,2798,1727,2140
$GC,12910,0.73,163.4,560.1,6.5,618,12929,0.00,2.45,14.43,1.135,4,0.000,0.064,2797,3154,2078
$GC,12952,0.73,163.4,557.0,7.3,619,12956,0.00,2.35,0.00,0.000,6,0.000,0.051,2805,1738,2076
$GC,13275,0.74,164.3,534.0,7.0,627,13279,0.00,2.38,0.00,0.000,4,0.000,0.064,2805,3147,2075
$GC,13297,0.74,164.3,532.4,7.6,627,13301,0.00,2.33,0.00,0.000,6,0.000,0.051,2814,1736,2075
$GC,13645,0.74,164.3,506.0,7.7,636,13646,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1735,2075
$GC,13971,0.74,164.3,481.5,7.4,644,13975,0.00,2.38,0.00,0.000,4,0.000,0.064,2815,3156,2075
$GC,13981,0.74,164.3,480.6,7.3,644,13985,0.00,2.33,0.00,0.000,6,0.000,0.051,2824,1732,2074
$GC,14294,0.67,164.3,454.6,8.5,652,14296,0.10,0.00,0.00,0.000,6,0.137,0.000,2797,1732,2074
$GC,14619,0.73,169.7,432.0,6.8,660,14630,0.00,2.40,6.05,0.920,4,0.000,0.064,2797,3159,2052
$GC,14640,0.74,178.0,430.4,6.8,660,14658,0.00,2.33,8.52,0.991,6,0.000,0.051,2803,1740,2018
$GC,14983,0.74,178.0,405.5,7.2,669,14984,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1741,2017
$GC,15289,0.74,178.0,383.4,7.4,682,15293,0.00,2.35,0.00,0.000,4,0.000,0.064,2804,3158,2017
$GC,15316,0.74,178.0,381.2,7.9,683,15320,0.00,2.35,0.00,0.000,6,0.000,0.050,2813,1734,2016
$GC,15639,0.74,178.0,356.0,7.8,699,15640,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1734,2016
$GC,15946,0.74,178.0,332.1,7.8,714,15948,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1734,2016
$GC,16256,0.74,178.0,308.4,7.6,729,16257,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1734,2016
$GC,16565,0.74,178.0,285.3,7.5,744,16567,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1733,2017
$GC,16875,0.74,178.3,262.9,7.0,759,16878,0.00,2.35,0.00,0.000,4,0.000,0.064,2813,3155,2017
$GC,16890,0.74,178.3,261.6,7.5,759,16897,0.00,2.33,0.00,0.000,6,0.000,0.050,2822,1742,2017
$GC,17206,0.74,178.3,237.9,7.4,775,17207,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1741,2018
$GC,17515,0.74,178.3,215.4,7.2,790,17516,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1741,2018
$GC,17824,0.75,193.1,195.1,6.5,805,17846,0.00,2.40,13.62,0.930,4,0.000,0.064,2822,3143,1956
$GC,17851,0.78,215.9,193.3,6.3,806,17877,0.00,2.30,20.30,0.933,6,0.000,0.050,2831,1734,1864
$GC,18200,0.83,215.9,168.0,7.6,823,18201,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1734,1858
$GC,18508,0.89,215.9,144.1,7.7,838,18509,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1734,1857
$GC,18818,1.03,265.4,124.6,5.4,853,18862,0.17,0.00,41.00,0.927,6,0.069,0.000,2907,1734,1662
$GC,19176,0.88,265.4,84.1,12.5,885,19182,0.20,0.00,0.00,0.000,6,0.123,0.000,2842,1733,1652
$GC,19519,1.04,265.4,56.1,7.8,946,19525,0.15,0.00,0.00,0.000,6,0.072,0.000,2905,1733,1650
$GC,19862,0.97,265.4,26.4,8.9,1007,19869,0.15,2.45,0.00,0.000,4,0.127,0.066,2861,3148,1648
$GC,19886,0.97,265.4,24.3,9.0,1011,19892,0.00,2.33,0.00,0.000,6,0.000,0.053,2867,1743,1647
$STATE,20194,end climb,SURFACE_DEPTH_REACHED
$STATE,20194,begin surface coast
$FINISH,1.6,1.013839
$STATE,20229,end surface coast,CONTROL_FINISHED_OK
$STATE,20229,begin surface
$SM_CCo,20245,4.78,0.688,0,0,1623,275.23
$SM_GC,3.21,0.00,0.00,4.78,0.000,0.000,0.688,340,2229,1623,-10.66,-0.03,275.23
$RAFOS_CLK,804
$RAFOS,4,1223786659,4.750000,4.738611,67,64,60,59,53,49,211,196,142,178,157,112
$RAFOS,3,1223786051,4.583333,4.569722,58,56,53,51,50,48,194,209,120,142,218,167
$RAFOS,2,1223785442,4.416667,4.400556,60,59,59,55,55,52,174,220,645,160,198,145
$RAFOS,1,1223784874,4.250000,4.242778,64,63,58,56,51,50,703,222,166,194,146,204
$RAFOS,0,1223784260,4.083333,4.072222,67,59,58,57,57,56,225,208,166,142,198,178
$RAFOS,4,1223772242,0.750000,0.733889,113,59,53,53,53,51,841,206,164,223,174,120
$RAFOS,3,1223771644,0.583333,0.567778,57,57,56,54,53,53,206,226,165,217,188,132
$RAFOS_FIX,6703.417480,-5658.791016,121008,000040,2,108,0.00
$IRIDIUM_FIX,6625.71,-5647.52,050198,191910
$TT8_MAMPS,0.026845
$HUMID,1802
$INTERNAL_PRESSURE,9.93202
$TCM_TEMP,16.10
$XPDR_PINGS,57
$24V_AH,23.0,32.532
$10V_AH,10.6,14.981
$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,19.775,117.150,353.575,4.775,0.000,25.144,36.595,199.839,14.250,0.000,0.000,15.127,1962.409,15726.783,519.211,1946.663,476.086,33.383,1533.625,0.000,1927.820,2520.000,0.532,0.000
$DEVICE_MAMPS,243.139,75.166,1270.152,687.999,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,746.134,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34679,1072
$CAP_FILE_SIZE,140246,0
$CFSIZE,260165632,240336896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.3
$GPS,121008,061038,6701.306,-5655.109,60,1.2,60,-37.5