version: 66.04
glider: 108
mission: 11
dive: 237
start: 10 27 108 2 31 50
data:
$ID,108
$MISSION,11
$DIVE,237
$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,-115184.57
$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,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
$GPS1,022432,6644.766,-6006.249,128,1.4,128,-38.0
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-64.1
$GPS2,023057,6644.811,-6006.270,11,1.1,11,-38.0
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_ADD2_EB
$TGT_LATLONG,6651.000,-5910.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.215,0.091
$KALMAN_X,76896.5,186.2,-132.2,-185690.4,671.6
$KALMAN_Y,-140182.6,-536.9,1814.8,121618.1,-5665.2
$MHEAD_RNG_PITCHd_Wd,104.9,42543,-13.0,-7.021
$D_GRID,609
$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,-146.0,0.0,0.0,0,70,0.00,0.00,-51.35,0.000,2,0.000,0.000,336,2238,2538
$GC,73,-1.00,-146.0,3.1,-1.5,9,116,8.52,2.35,-27.40,0.000,4,0.245,0.092,2431,3604,3342
$GC,128,-0.34,-146.0,10.9,-16.0,18,135,0.52,2.28,0.00,0.000,6,0.150,0.054,2587,2219,3345
$GC,473,-0.61,-146.0,35.8,-5.7,79,480,0.20,2.33,0.00,0.000,4,0.070,0.079,2494,3596,3348
$GC,514,-0.61,-146.0,39.2,-8.5,86,521,0.12,2.22,0.00,0.000,6,0.153,0.054,2526,2214,3347
$GC,858,-0.61,-146.0,64.7,-7.2,147,864,0.00,2.28,0.00,0.000,4,0.000,0.067,2526,811,3348
$GC,892,-0.61,-146.0,67.4,-7.9,153,899,0.00,2.35,0.00,0.000,6,0.000,0.067,2518,2240,3348
$GC,1236,-0.61,-146.0,93.9,-7.8,214,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2240,3348
$GC,1564,-0.66,-146.0,119.8,-7.7,240,1568,0.00,2.22,0.00,0.000,4,0.000,0.083,2508,3601,3348
$GC,1592,-0.66,-146.0,122.2,-8.4,241,1596,0.00,2.17,0.00,0.000,6,0.000,0.054,2507,2222,3348
$GC,1918,-0.66,-146.0,145.4,-6.5,257,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2222,3348
$GC,2227,-0.66,-146.0,164.9,-6.9,272,2228,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2222,3347
$GC,2537,-0.71,-146.0,188.5,-7.8,287,2541,0.00,2.30,0.00,0.000,4,0.000,0.083,2498,3603,3347
$GC,2552,-0.75,-146.0,189.9,-8.2,287,2559,0.00,2.17,0.00,0.000,6,0.000,0.054,2497,2220,3347
$GC,2868,-0.75,-146.0,215.0,-7.5,303,2871,0.00,2.25,0.00,0.000,4,0.000,0.069,2497,815,3347
$GC,2907,-0.75,-146.0,218.1,-7.9,304,2913,0.00,2.35,0.00,0.000,6,0.000,0.070,2487,2242,3347
$GC,3221,-0.75,-146.0,240.9,-7.1,320,3225,0.00,2.33,0.00,0.000,4,0.000,0.068,2487,817,3347
$GC,3244,-0.75,-146.0,242.6,-7.8,321,3248,0.00,2.35,0.00,0.000,6,0.000,0.070,2477,2245,3347
$GC,3576,-0.75,-146.0,267.9,-7.4,337,3577,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2245,3347
$GC,3885,-0.75,-146.0,289.6,-7.2,352,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2245,3347
$GC,4194,-0.75,-146.0,310.5,-6.3,367,4198,0.00,2.33,0.00,0.000,4,0.000,0.067,2477,819,3346
$GC,4222,-0.68,-146.0,312.4,-7.1,368,4226,0.15,2.33,0.00,0.000,6,0.142,0.069,2508,2234,3346
$GC,4549,-0.79,-146.0,329.1,-5.1,384,4553,0.10,2.35,0.00,0.000,4,0.094,0.066,2467,816,3347
$GC,4582,-0.68,-146.0,331.2,-6.9,385,4588,0.17,2.38,0.00,0.000,6,0.140,0.068,2507,2235,3346
$GC,4898,-0.80,-146.0,348.7,-5.6,401,4899,0.10,0.00,0.00,0.000,6,0.094,0.000,2466,2235,3347
$GC,5206,-0.80,-146.0,371.1,-7.2,416,5210,0.00,2.33,0.00,0.000,4,0.000,0.066,2466,823,3347
$GC,5216,-0.74,-146.0,371.8,-7.1,416,5221,0.15,2.33,0.00,0.000,6,0.143,0.067,2497,2236,3347
$GC,5539,-0.83,-146.0,391.3,-6.1,432,5543,0.00,2.33,0.00,0.000,4,0.000,0.065,2497,822,3347
$GC,5550,-0.90,-146.0,392.2,-5.9,432,5556,0.10,2.35,0.00,0.000,6,0.087,0.067,2448,2237,3347
$GC,5862,-0.81,-146.0,416.6,-8.0,443,5864,0.12,0.00,0.00,0.000,6,0.157,0.000,2480,2236,3347
$GC,6187,-0.81,-146.0,438.2,-6.6,451,6188,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2236,3347
$GC,6513,-0.81,-146.0,458.8,-6.3,459,6517,0.00,2.35,0.00,0.000,4,0.000,0.064,2481,812,3348
$GC,6540,-0.81,-146.0,460.6,-6.9,459,6544,0.00,2.40,0.00,0.000,6,0.000,0.065,2472,2242,3348
$GC,6883,-0.81,-146.0,481.9,-6.1,468,6884,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2242,3348
$GC,7207,-0.81,-146.0,500.8,-5.7,476,7208,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2242,3349
$GC,7532,-0.81,-146.0,520.2,-6.0,484,7533,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2242,3349
$GC,7857,-0.81,-146.0,540.0,-6.1,492,7861,0.00,2.35,0.00,0.000,4,0.000,0.064,2472,814,3349
$GC,7891,-0.76,-146.0,541.9,-5.9,492,7896,0.12,2.38,0.00,0.000,6,0.138,0.064,2496,2238,3349
$GC,8222,-0.86,-146.0,557.7,-4.9,500,8224,0.12,0.00,0.00,0.000,6,0.084,0.000,2447,2238,3349
$GC,8548,-0.78,-146.0,578.8,-6.7,508,8552,0.15,2.28,0.00,0.000,4,0.156,0.077,2479,3597,3349
$GC,8587,-0.85,-146.0,581.4,-6.4,508,8593,0.00,2.20,0.00,0.000,6,0.000,0.049,2479,2226,3349
$GC,8918,-0.85,-146.0,599.6,-5.5,517,8922,0.00,2.28,0.00,0.000,4,0.000,0.063,2479,820,3350
$GC,8934,-0.85,-146.0,600.6,-5.4,517,8938,0.00,2.35,0.00,0.000,6,0.000,0.064,2469,2234,3350
$STATE,9082,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9082,begin apogee
$GC,9088,-0.31,0.0,610.9,7.1,521,9216,0.40,0.00,124.88,1.262,6,0.127,0.000,2594,1730,2745
$STATE,9217,end apogee,CONTROL_FINISHED_OK
$STATE,9217,begin climb
$GC,9219,1.00,146.0,611.5,0.0,524,9352,0.88,0.00,129.20,1.179,6,0.104,0.000,2872,1730,2149
$GC,9665,0.79,146.0,569.5,10.0,535,9670,0.17,0.57,0.00,0.000,4,0.132,0.063,2824,2047,2142
$GC,9922,0.79,146.0,549.3,8.1,540,9927,0.00,0.55,0.00,0.000,6,0.000,0.059,2824,1738,2142
$GC,10259,0.79,146.0,523.7,7.5,549,10263,0.00,2.42,0.00,0.000,4,0.000,0.070,2824,3154,2141
$GC,10332,0.63,146.0,517.4,9.4,550,10337,0.15,2.35,0.00,0.000,6,0.140,0.053,2792,1723,2140
$GC,10669,0.78,167.2,495.9,6.3,559,10694,0.12,2.50,17.67,1.135,4,0.078,0.069,2848,3149,2062
$GC,10734,0.55,167.2,489.7,10.9,560,10739,0.30,2.35,0.00,0.000,6,0.137,0.052,2772,1728,2060
$GC,11076,1.00,167.2,466.0,7.3,569,11081,0.28,2.42,0.00,0.000,4,0.075,0.067,2877,3155,2059
$GC,11238,0.67,167.2,448.4,11.9,572,11243,0.30,2.30,0.00,0.000,6,0.138,0.053,2800,1739,2059
$GC,11569,0.84,198.2,428.0,6.0,580,11599,0.15,0.00,26.90,1.128,6,0.071,0.000,2866,1739,1937
$GC,11894,0.72,198.2,397.4,9.6,588,11896,0.20,0.00,0.00,0.000,6,0.124,0.000,2806,1739,1932
$GC,12204,0.88,218.8,377.6,6.4,603,12227,0.15,2.42,18.12,1.078,4,0.073,0.069,2870,3164,1853
$GC,12255,0.67,218.8,372.7,10.3,605,12260,0.28,2.35,0.00,0.000,6,0.133,0.052,2799,1731,1850
$GC,12576,1.12,218.8,350.9,7.4,621,12581,0.28,2.42,0.00,0.000,4,0.077,0.069,2905,3158,1848
$GC,12683,0.76,218.8,338.9,12.8,626,12688,0.32,2.35,0.00,0.000,6,0.141,0.053,2819,1728,1847
$GC,13010,0.93,235.6,316.1,6.5,642,13033,0.15,2.35,14.82,1.040,4,0.072,0.067,2894,320,1784
$GC,13056,0.81,235.6,311.8,10.1,644,13061,0.22,2.35,0.00,0.000,6,0.128,0.058,2828,1751,1784
$GC,13383,0.94,237.5,288.5,7.0,660,13387,0.12,2.28,0.00,0.000,4,0.074,0.070,2882,3156,1780
$GC,13444,0.69,237.5,282.0,12.3,662,13451,0.30,2.30,0.00,0.000,6,0.135,0.053,2804,1736,1779
$GC,13760,1.30,237.5,258.7,8.0,678,13764,0.38,2.35,0.00,0.000,4,0.085,0.067,2941,322,1778
$GC,13810,1.12,237.5,253.7,9.9,680,13814,0.17,2.35,0.00,0.000,6,0.150,0.058,2893,1752,1779
$GC,14125,1.03,237.5,222.1,9.6,695,14126,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1752,1779
$GC,14434,0.95,237.5,194.5,8.9,710,14436,0.12,0.00,0.00,0.000,6,0.143,0.000,2856,1751,1779
$GC,14744,1.02,237.5,171.9,7.3,725,14749,0.08,2.40,0.00,0.000,4,0.100,0.068,2901,326,1779
$GC,14770,1.02,237.5,169.4,9.0,726,14775,0.10,2.35,0.00,0.000,6,0.140,0.060,2874,1752,1779
$GC,15093,1.02,237.5,143.9,7.8,742,15097,0.00,2.28,0.00,0.000,4,0.000,0.074,2875,3153,1778
$GC,15138,0.91,237.5,139.8,9.5,744,15143,0.12,2.30,0.00,0.000,6,0.137,0.055,2847,1731,1778
$GC,15465,1.26,237.5,116.2,8.3,760,15470,0.22,2.30,0.00,0.000,4,0.080,0.071,2938,330,1778
$GC,15521,1.10,237.5,110.4,10.2,762,15528,0.17,2.33,0.00,0.000,6,0.148,0.062,2889,1753,1778
$GC,15852,1.10,237.5,82.0,7.8,805,15858,0.00,2.28,0.00,0.000,4,0.000,0.076,2889,3159,1777
$GC,15893,1.02,237.5,78.5,8.7,812,15899,0.00,2.28,0.00,0.000,6,0.000,0.058,2897,1734,1777
$GC,16237,1.02,237.5,52.6,7.4,873,16243,0.00,2.30,0.00,0.000,4,0.000,0.072,2907,323,1777
$GC,16271,1.02,237.5,49.9,7.7,879,16278,0.12,2.33,0.00,0.000,6,0.135,0.062,2873,1746,1777
$GC,16616,1.27,280.4,29.0,5.6,940,16658,0.20,0.00,38.25,0.947,6,0.073,0.000,2960,1745,1603
$STATE,16903,end climb,SURFACE_DEPTH_REACHED
$STATE,16903,begin surface coast
$FINISH,1.7,1.025429
$STATE,16938,end surface coast,CONTROL_FINISHED_OK
$STATE,16938,begin surface
$SM_CCo,17016,0.00,0.000,0,0,1589,283.57
$SM_GC,2.42,7.18,0.00,0.00,0.056,0.000,0.000,337,2229,1589,-10.57,-0.03,283.57
$RAFOS_CLK,727
$RAFOS,4,1225082645,4.750000,4.734722,59,59,54,51,51,48,154,194,205,176,217,163
$RAFOS,3,1225082077,4.583333,4.576944,59,57,55,54,50,49,197,214,176,148,244,164
$RAFOS,2,1225081468,4.416667,4.407778,69,64,58,56,56,53,202,132,148,188,212,179
$RAFOS,1,1225080853,4.250000,4.236945,59,55,53,53,50,50,148,118,187,198,169,223
$RAFOS,0,1225080244,4.083333,4.067778,139,66,60,55,54,52,532,216,178,205,134,125
$RAFOS_FIX,149857.625000,1110628.375000,261008,202012,2,75,57400.97
$IRIDIUM_FIX,6614.97,-6006.54,200198,212142
$TT8_MAMPS,0.027612
$HUMID,1787
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,15.00
$XPDR_PINGS,29
$24V_AH,22.6,42.739
$10V_AH,10.6,19.528
$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,24.325,132.975,369.850,0.000,0.000,25.573,33.440,204.583,7.250,0.000,0.000,13.136,1823.811,12725.322,531.858,1813.889,503.307,33.365,1502.182,0.000,1794.583,1800.000,0.531,0.000
$DEVICE_MAMPS,244.673,92.040,1262.482,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,698.122,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31526,997
$CAP_FILE_SIZE,137067,0
$CFSIZE,260165632,235925504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.2
$GPS,271008,071656,6642.136,-6000.862,46,1.1,46,-38.0