version: 66.04
glider: 108
mission: 11
dive: 210
start: 10 22 108 13 38 20
data:
$ID,108
$MISSION,11
$DIVE,210
$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,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,-114756.62
$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,26
$R_STBD_OVSHOOT,21
$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
$GPS1,133238,6642.162,-6000.549,38,0.9,38,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-70.2
$GPS2,133727,6642.159,-6000.455,12,1.0,12,-38.0
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.232,-0.027
$KALMAN_X,57541.6,-72.2,290.6,-162288.6,-343.7
$KALMAN_Y,-83431.0,-265.5,-516.3,62008.7,430.5
$MHEAD_RNG_PITCHd_Wd,301.5,31168,-13.0,-7.021
$D_GRID,624
$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,15,-1.00,-146.0,0.0,0.0,0,57,0.00,0.00,-40.45,0.000,2,0.000,0.000,338,2241,2385
$GC,60,-1.00,-146.0,3.1,-1.2,7,120,8.57,2.33,-45.38,0.000,4,0.249,0.094,2431,3598,3342
$GC,272,-0.65,-146.0,27.5,-15.6,44,279,0.30,2.22,0.00,0.000,6,0.154,0.056,2518,2217,3346
$GC,617,-0.65,-146.0,58.4,-7.8,105,623,0.00,2.38,0.00,0.000,4,0.000,0.079,2510,3610,3347
$GC,668,-0.65,-146.0,62.7,-8.5,114,674,0.00,2.25,0.00,0.000,6,0.000,0.057,2510,2221,3347
$GC,1012,-0.65,-146.0,91.8,-8.2,175,1018,0.00,2.28,0.00,0.000,4,0.000,0.068,2510,814,3348
$GC,1091,-0.65,-146.0,98.6,-8.4,189,1098,0.00,2.38,0.00,0.000,6,0.000,0.074,2500,2236,3348
$GC,1424,-0.65,-146.0,124.5,-7.8,208,1428,0.00,2.28,0.00,0.000,4,0.000,0.081,2490,3609,3348
$GC,1530,-0.65,-146.0,133.7,-8.5,212,1537,0.12,2.22,0.00,0.000,6,0.153,0.058,2522,2217,3347
$GC,1846,-0.73,-146.0,153.9,-6.4,228,1851,0.10,2.28,0.00,0.000,4,0.098,0.069,2482,810,3348
$GC,1918,-0.63,-146.0,159.9,-8.5,231,1923,0.17,2.35,0.00,0.000,6,0.143,0.068,2522,2241,3348
$GC,2234,-0.73,-146.0,180.6,-6.4,246,2238,0.10,2.22,0.00,0.000,4,0.097,0.083,2471,3594,3347
$GC,2301,-0.64,-146.0,186.3,-8.5,249,2306,0.17,2.17,0.00,0.000,6,0.150,0.057,2520,2225,3347
$GC,2633,-0.75,-146.0,207.2,-6.1,265,2638,0.10,2.28,0.00,0.000,4,0.097,0.071,2478,818,3347
$GC,2711,-0.65,-146.0,213.6,-8.4,268,2718,0.17,2.33,0.00,0.000,6,0.146,0.070,2516,2235,3347
$GC,3027,-0.76,-146.0,233.6,-6.0,284,3028,0.10,0.00,0.00,0.000,6,0.095,0.000,2477,2235,3347
$GC,3336,-0.71,-146.0,255.0,-6.8,299,3338,0.10,0.00,0.00,0.000,6,0.157,0.000,2501,2235,3347
$GC,3646,-0.77,-146.0,272.8,-5.8,314,3649,0.00,2.35,0.00,0.000,4,0.000,0.071,2501,821,3346
$GC,3774,-0.77,-146.0,280.3,-5.3,319,3780,0.00,2.33,0.00,0.000,6,0.000,0.070,2494,2236,3346
$GC,4089,-0.77,-146.0,297.3,-5.6,335,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2235,3346
$GC,4399,-0.81,-146.0,315.7,-5.9,350,4401,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2236,3346
$GC,4708,-0.87,-146.0,334.6,-6.1,365,4713,0.10,2.25,0.00,0.000,4,0.090,0.081,2440,3596,3346
$GC,4758,-0.72,-146.0,338.6,-8.8,367,4762,0.22,2.20,0.00,0.000,6,0.152,0.056,2504,2225,3346
$GC,5081,-0.83,-146.0,356.7,-5.4,383,5085,0.12,2.30,0.00,0.000,4,0.089,0.069,2453,810,3347
$GC,5180,-0.69,-146.0,364.4,-7.9,387,5187,0.22,2.38,0.00,0.000,6,0.143,0.067,2507,2239,3346
$GC,5497,-0.82,-146.0,381.1,-5.3,403,5499,0.12,0.00,0.00,0.000,6,0.090,0.000,2456,2239,3347
$GC,5825,-0.74,-146.0,404.4,-7.4,418,5827,0.15,0.00,0.00,0.000,6,0.151,0.000,2497,2239,3347
$GC,6151,-0.82,-146.0,424.4,-6.2,426,6152,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2238,3347
$GC,6475,-0.91,-146.0,444.3,-6.1,434,6477,0.15,0.00,0.00,0.000,6,0.083,0.000,2438,2238,3348
$GC,6800,-0.77,-146.0,471.7,-8.5,442,6802,0.20,0.00,0.00,0.000,6,0.157,0.000,2493,2238,3348
$GC,7126,-0.84,-146.0,492.5,-6.3,450,7130,0.00,2.30,0.00,0.000,4,0.000,0.080,2485,3605,3349
$GC,7181,-0.92,-146.0,496.3,-6.5,451,7186,0.10,2.22,0.00,0.000,6,0.093,0.054,2441,2225,3349
$GC,7499,-0.80,-146.0,520.9,-7.7,459,7504,0.15,2.30,0.00,0.000,4,0.150,0.067,2484,815,3349
$GC,7588,-0.80,-146.0,526.5,-6.7,461,7593,0.00,2.40,0.00,0.000,6,0.000,0.068,2476,2233,3349
$GC,7906,-0.80,-146.0,546.4,-6.4,469,7908,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2233,3349
$GC,8231,-0.80,-146.0,565.9,-5.8,477,8235,0.00,2.28,0.00,0.000,4,0.000,0.078,2465,3610,3349
$GC,8310,-0.80,-146.0,571.0,-6.0,478,8314,0.00,2.20,0.00,0.000,6,0.000,0.053,2466,2224,3349
$GC,8646,-0.80,-146.0,591.7,-6.1,487,8650,0.00,2.28,0.00,0.000,4,0.000,0.067,2465,820,3349
$GC,8769,-0.74,-146.0,599.7,-6.9,489,8774,0.15,2.38,0.00,0.000,6,0.139,0.065,2497,2234,3349
$GC,9100,-0.86,-146.0,617.9,-5.6,497,9105,0.12,2.28,0.00,0.000,4,0.082,0.077,2436,3603,3350
$GC,9155,-0.75,-146.0,622.0,-7.6,498,9160,0.20,2.20,0.00,0.000,6,0.153,0.052,2495,2215,3350
$STATE,9222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9222,begin apogee
$GC,9228,-0.31,0.0,626.1,5.8,500,9356,0.30,0.00,124.75,1.261,6,0.124,0.000,2591,1743,2745
$STATE,9356,end apogee,CONTROL_FINISHED_OK
$STATE,9356,begin climb
$GC,9359,1.00,146.0,629.1,0.0,503,9496,0.88,2.72,128.10,1.188,4,0.103,0.069,2871,3149,2148
$GC,9548,0.64,146.0,613.5,11.2,507,9553,0.32,2.50,0.00,0.000,6,0.138,0.054,2794,1742,2144
$GC,9890,0.76,174.3,591.9,6.1,516,9918,0.10,0.00,24.70,1.151,6,0.085,0.000,2839,1742,2034
$GC,10215,0.69,174.3,566.1,7.9,524,10217,0.12,0.00,0.00,0.000,6,0.128,0.000,2806,1742,2030
$GC,10541,0.82,210.3,546.7,5.9,532,10582,0.12,2.47,31.48,1.172,4,0.080,0.069,2857,3159,1886
$GC,10593,0.66,210.3,542.2,8.8,533,10598,0.25,2.40,0.00,0.000,6,0.132,0.054,2797,1733,1884
$GC,10906,0.86,251.5,523.8,5.7,541,10948,0.15,2.55,36.30,1.161,4,0.071,0.069,2861,3152,1719
$GC,10954,0.88,265.3,519.8,6.6,542,10974,0.10,2.40,13.82,1.061,6,0.149,0.054,2846,1729,1663
$GC,11316,0.88,265.3,488.2,8.6,551,11317,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1729,1653
$GC,11641,0.88,265.3,460.0,8.8,559,11643,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1729,1651
$GC,11966,0.88,265.3,431.3,8.7,567,11970,0.00,2.45,0.00,0.000,4,0.000,0.069,2846,3155,1650
$GC,11977,0.88,265.3,430.3,8.7,567,11981,0.00,2.33,0.00,0.000,6,0.000,0.054,2854,1734,1649
$GC,12290,0.83,265.3,400.4,9.7,575,12294,0.00,2.38,0.00,0.000,4,0.000,0.069,2854,3156,1649
$GC,12305,0.75,265.3,398.5,9.9,575,12310,0.17,2.30,0.00,0.000,6,0.130,0.055,2812,1731,1649
$GC,12637,0.93,267.6,374.6,6.9,591,12639,0.15,0.00,0.00,0.000,6,0.072,0.000,2877,1731,1648
$GC,12947,0.81,267.6,341.2,10.5,606,12949,0.17,0.00,0.00,0.000,6,0.126,0.000,2825,1732,1648
$GC,13257,0.96,289.5,321.0,6.3,621,13280,0.15,0.00,20.15,1.055,6,0.073,0.000,2886,1731,1564
$GC,13586,0.83,289.5,285.2,11.4,637,13587,0.17,0.00,0.00,0.000,6,0.127,0.000,2835,1731,1559
$GC,13895,0.95,291.9,262.3,6.9,652,13899,0.12,2.35,0.00,0.000,4,0.077,0.071,2897,335,1558
$GC,13911,1.03,291.9,261.0,7.5,653,13915,0.00,2.30,0.00,0.000,6,0.000,0.056,2897,1747,1558
$GC,14244,0.89,291.9,222.8,11.7,669,14249,0.17,2.28,0.00,0.000,4,0.135,0.070,2845,3157,1557
$GC,14288,0.89,291.9,218.1,9.8,671,14293,0.00,2.30,0.00,0.000,6,0.000,0.058,2852,1738,1557
$GC,14620,0.99,291.9,191.5,7.9,687,14624,0.00,2.38,0.00,0.000,4,0.000,0.072,2853,3159,1557
$GC,14643,1.04,291.9,189.4,8.8,688,14648,0.08,2.30,0.00,0.000,6,0.100,0.058,2898,1737,1556
$GC,14971,0.96,291.9,155.6,9.9,704,14976,0.12,2.33,0.00,0.000,4,0.139,0.072,2871,326,1557
$GC,14998,1.01,291.9,152.8,8.7,705,15002,0.00,2.33,0.00,0.000,6,0.000,0.058,2872,1766,1557
$GC,15319,1.07,291.9,127.6,7.6,721,15322,0.00,2.25,0.00,0.000,4,0.000,0.074,2872,3166,1556
$GC,15345,1.07,291.9,125.2,8.7,722,15350,0.00,2.30,0.00,0.000,6,0.000,0.058,2882,1728,1556
$GC,15673,1.07,291.9,99.9,7.6,738,15679,0.00,2.30,0.00,0.000,4,0.000,0.077,2891,324,1556
$GC,15702,1.11,291.9,97.6,7.7,743,15708,0.00,2.30,0.00,0.000,6,0.000,0.060,2892,1746,1556
$GC,16045,1.11,291.9,71.5,7.2,804,16052,0.00,2.30,0.00,0.000,4,0.000,0.075,2892,3157,1555
$GC,16086,1.04,291.9,67.9,8.9,811,16092,0.00,2.28,0.00,0.000,6,0.000,0.061,2901,1738,1555
$GC,16430,1.09,291.9,41.3,7.2,872,16436,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1738,1555
$GC,16774,1.21,327.4,18.7,5.9,933,16815,0.00,2.40,32.33,0.939,4,0.000,0.077,2910,327,1410
$GC,16827,1.38,365.4,15.5,5.8,942,16869,0.15,2.35,34.10,0.894,6,0.077,0.062,2972,1740,1254
$STATE,16940,end climb,SURFACE_DEPTH_REACHED
$STATE,16940,begin surface coast
$FINISH,1.8,1.015207
$STATE,16964,end surface coast,CONTROL_FINISHED_OK
$STATE,16964,begin surface
$SM_CCo,17041,0.00,0.000,0,0,1243,368.20
$SM_GC,2.62,7.32,0.00,0.00,0.056,0.000,0.000,334,2233,1243,-10.59,0.08,368.20
$RAFOS_CLK,726
$RAFOS,4,1224693852,16.750000,16.736666,74,59,57,54,53,52,784,208,188,123,161,175
$RAFOS,3,1224693245,16.583334,16.568056,60,59,58,56,54,54,196,734,168,222,112,154
$RAFOS,2,1224692669,16.416666,16.408056,67,61,61,60,55,55,788,216,116,198,176,139
$RAFOS,1,1224692043,16.250000,16.234167,65,61,56,56,55,50,193,157,135,209,122,223
$RAFOS,0,1224691444,16.083334,16.067778,139,67,65,59,56,53,537,175,204,126,230,214
$RAFOS_FIX,6644.404785,-6005.627930,221008,161640,2,106,0.55
$IRIDIUM_FIX,6614.97,-5954.40,160198,080822
$TT8_MAMPS,0.026845
$HUMID,1792
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,15.30
$XPDR_PINGS,58
$24V_AH,22.6,38.971
$10V_AH,10.5,17.984
$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,23.200,131.625,445.725,0.000,0.000,24.571,31.552,115.975,14.500,0.000,0.000,14.337,1766.202,12788.456,575.063,1817.427,388.764,33.373,1566.901,0.000,1791.064,1800.000,0.530,0.000
$DEVICE_MAMPS,249.275,93.574,1260.948,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,674.909,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31552,966
$CAP_FILE_SIZE,137239,0
$CFSIZE,260165632,237490176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.8
$GPS,221008,182338,6641.583,-6005.864,24,1.3,24,-38.0