version: 66.04
glider: 108
mission: 11
dive: 333
start: 11 20 108 11 19 20
data:
$ID,108
$MISSION,11
$DIVE,333
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,50
$D_FINISH,7
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,470
$T_MISSION,550
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$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,80
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,225
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-118268.59
$T_RSLEEP,60
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,2680
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$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,2650
$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,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$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
$GPS1,042504,6629.271,-5906.320,0,4085.8,0,-37.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.53
$_SM_ANGLEo,-3.9
$GPS2,042504,6629.271,-5906.320,0,4085.8,0,-37.9
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,8000.000
$KALMAN_CONTROL,-0.226,0.060
$KALMAN_X,168717.3,11586.0,-6564.6,-238907.4,12603.5
$KALMAN_Y,-252140.2,-18290.2,58.0,224125.9,1749.1
$MHEAD_RNG_PITCHd_Wd,322.8,74643,-13.0,-7.021
$D_GRID,754
$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,16,-0.99,-146.0,0.0,0.0,0,63,0.00,0.00,-44.95,0.000,2,0.000,0.000,2687,3157,3214
$GC,66,-0.99,-146.0,3.0,-1.7,8,73,0.62,0.75,-1.35,0.000,4,0.078,0.132,2457,3599,3247
$GC,271,-0.77,-146.0,26.4,-12.0,44,278,0.20,2.17,0.00,0.000,6,0.156,0.055,2511,2220,3250
$GC,615,-0.77,-146.0,55.1,-7.4,105,622,0.00,2.25,0.00,0.000,4,0.000,0.068,2512,810,3251
$GC,690,-0.72,-146.0,60.8,-7.5,118,697,0.00,2.35,0.00,0.000,6,0.000,0.068,2504,2240,3251
$GC,1035,-0.72,-146.0,88.2,-8.0,179,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2240,3251
$GC,1375,-0.72,-146.0,115.2,-8.3,215,1379,0.00,2.22,0.00,0.000,4,0.000,0.084,2494,3598,3250
$GC,1448,-0.72,-146.0,121.8,-9.2,218,1452,0.12,2.15,0.00,0.000,6,0.153,0.055,2526,2227,3250
$GC,1774,-0.81,-146.0,146.7,-7.7,234,1778,0.10,2.25,0.00,0.000,4,0.097,0.067,2484,823,3251
$GC,1891,-0.71,-146.0,157.8,-9.7,239,1896,0.17,2.33,0.00,0.000,6,0.143,0.070,2523,2232,3251
$GC,2213,-0.81,-146.0,179.2,-6.1,255,2217,0.00,2.25,0.00,0.000,4,0.000,0.096,2515,3595,3251
$GC,2269,-0.91,-146.0,183.0,-6.7,257,2273,0.12,2.17,0.00,0.000,6,0.088,0.054,2462,2214,3250
$GC,2590,-0.76,-146.0,209.5,-7.7,273,2595,0.20,2.25,0.00,0.000,4,0.145,0.067,2526,815,3251
$GC,2687,-0.86,-146.0,215.2,-5.5,277,2691,0.10,2.35,0.00,0.000,6,0.089,0.069,2476,2240,3250
$GC,3003,-0.80,-146.0,236.7,-7.3,292,3007,0.12,2.25,0.00,0.000,4,0.155,0.088,2500,3596,3250
$GC,3098,-0.87,-146.0,243.1,-6.6,296,3102,0.00,2.17,0.00,0.000,6,0.000,0.055,2500,2221,3250
$GC,3420,-0.87,-146.0,263.2,-6.4,312,3423,0.00,2.25,0.00,0.000,4,0.000,0.069,2499,816,3250
$GC,3503,-0.87,-146.0,269.2,-6.8,315,3510,0.00,2.35,0.00,0.000,6,0.000,0.070,2490,2238,3250
$GC,3819,-0.87,-146.0,292.0,-7.0,331,3820,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2238,3250
$GC,4129,-0.87,-146.0,310.3,-5.4,346,4133,0.00,2.33,0.00,0.000,4,0.000,0.068,2490,817,3250
$GC,4197,-0.87,-146.0,314.1,-5.9,349,4201,0.00,2.35,0.00,0.000,6,0.000,0.071,2480,2238,3250
$GC,4519,-0.87,-146.0,329.7,-5.0,365,4522,0.00,2.25,0.00,0.000,4,0.000,0.084,2470,3606,3250
$GC,4625,-0.87,-146.0,335.8,-5.8,369,4632,0.08,2.20,0.00,0.000,6,0.169,0.056,2488,2219,3250
$GC,4943,-0.87,-146.0,350.4,-4.8,385,4946,0.00,2.25,0.00,0.000,4,0.000,0.069,2488,815,3250
$GC,5056,-0.87,-146.0,356.9,-6.0,390,5060,0.00,2.35,0.00,0.000,6,0.000,0.070,2481,2240,3249
$GC,5389,-0.87,-146.0,377.4,-6.7,406,5393,0.00,2.33,0.00,0.000,4,0.000,0.068,2480,818,3250
$GC,5451,-0.87,-146.0,382.2,-8.1,409,5455,0.00,2.35,0.00,0.000,6,0.000,0.071,2470,2240,3250
$GC,5782,-0.87,-146.0,408.1,-8.0,423,5785,0.00,2.25,0.00,0.000,4,0.000,0.082,2460,3610,3250
$GC,5860,-0.82,-146.0,415.0,-9.3,424,5864,0.15,2.20,0.00,0.000,6,0.154,0.054,2499,2219,3250
$GC,6197,-0.93,-146.0,436.0,-5.6,433,6199,0.10,0.00,0.00,0.000,6,0.097,0.000,2458,2219,3250
$GC,6522,-0.88,-146.0,454.7,-5.7,441,6527,0.12,2.33,0.00,0.000,4,0.154,0.079,2483,3606,3250
$GC,6629,-0.97,-146.0,460.5,-5.0,443,6633,0.00,2.17,0.00,0.000,6,0.000,0.054,2483,2226,3250
$GC,6978,-1.02,-146.0,478.9,-5.5,452,6982,0.10,2.25,0.00,0.000,4,0.096,0.066,2440,821,3251
$GC,7055,-0.86,-146.0,484.8,-7.5,453,7062,0.22,2.33,0.00,0.000,6,0.137,0.067,2492,2236,3250
$GC,7387,-0.95,-146.0,501.9,-4.9,462,7391,0.00,2.22,0.00,0.000,4,0.000,0.079,2484,3597,3251
$GC,7466,-1.04,-146.0,506.2,-5.5,463,7471,0.12,2.15,0.00,0.000,6,0.084,0.051,2431,2226,3251
$GC,7803,-0.89,-146.0,528.8,-6.9,472,7808,0.20,2.25,0.00,0.000,4,0.140,0.065,2501,820,3251
$GC,7910,-0.97,-146.0,534.6,-5.4,474,7915,0.10,2.30,0.00,0.000,6,0.086,0.065,2450,2234,3252
$GC,8223,-0.91,-146.0,552.8,-5.7,482,8228,0.12,2.22,0.00,0.000,4,0.153,0.077,2473,3606,3252
$GC,8354,-0.96,-146.0,559.9,-6.8,484,8360,0.00,2.17,0.00,0.000,6,0.000,0.051,2473,2219,3252
$GC,8685,-0.96,-146.0,579.3,-5.1,493,8689,0.00,2.22,0.00,0.000,4,0.000,0.064,2473,816,3253
$STATE,8918,end dive,NO_VERTICAL_VELOCITY
$STATE,8919,begin apogee
$GC,8927,-0.31,0.0,584.6,0.0,498,9056,0.43,0.00,126.28,1.233,6,0.112,0.000,2610,1747,2650
$STATE,9057,end apogee,CONTROL_FINISHED_OK
$STATE,9057,begin climb
$GC,9060,0.99,146.0,584.1,0.0,501,9200,0.90,0.00,132.15,1.151,6,0.087,0.000,2899,1747,2053
$GC,9527,0.73,146.0,537.1,10.5,513,9532,0.20,2.38,0.00,0.000,4,0.131,0.071,2839,3151,2047
$GC,9543,0.53,146.0,535.2,10.6,513,9548,0.20,2.35,0.00,0.000,6,0.127,0.052,2791,1734,2046
$GC,9886,0.76,201.3,518.0,5.2,522,9941,0.17,2.50,47.33,1.145,4,0.066,0.070,2865,3154,1828
$GC,9948,0.64,201.3,512.8,8.7,523,9953,0.22,2.35,0.00,0.000,6,0.128,0.052,2812,1734,1826
$GC,10290,0.82,224.7,490.9,6.3,532,10313,0.15,0.00,20.77,1.101,6,0.068,0.000,2876,1734,1734
$GC,10615,0.69,224.7,457.1,10.6,540,10620,0.17,2.35,0.00,0.000,4,0.125,0.070,2825,3155,1730
$GC,10626,0.57,224.7,455.9,10.6,540,10631,0.12,2.28,0.00,0.000,6,0.133,0.053,2798,1730,1729
$GC,10975,1.19,224.7,426.6,9.9,549,10979,0.40,2.28,0.00,0.000,4,0.091,0.067,2940,330,1727
$GC,11002,1.43,224.7,423.6,10.4,549,11007,0.17,2.30,0.00,0.000,6,0.076,0.058,3009,1748,1728
$GC,11317,0.84,224.7,361.1,20.9,561,11322,0.50,2.28,0.00,0.000,4,0.157,0.071,2860,3155,1728
$GC,11395,0.71,224.7,350.8,10.8,564,11402,0.12,2.25,0.00,0.000,6,0.134,0.054,2832,1738,1726
$GC,11711,0.85,224.7,329.1,7.1,580,11713,0.12,0.00,0.00,0.000,6,0.074,0.000,2888,1737,1727
$GC,12020,0.77,224.7,297.3,10.0,595,12025,0.15,2.35,0.00,0.000,4,0.126,0.070,2844,3158,1727
$GC,12041,0.77,224.7,295.1,9.1,596,12046,0.00,2.25,0.00,0.000,6,0.000,0.054,2851,1733,1726
$GC,12369,0.88,224.7,271.4,7.1,612,12370,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1733,1727
$GC,12680,1.01,239.7,251.1,6.5,627,12702,0.15,2.38,13.65,0.993,4,0.074,0.072,2918,3146,1672
$GC,12709,0.92,239.7,248.5,8.7,628,12713,0.17,2.25,0.00,0.000,6,0.143,0.054,2879,1734,1671
$GC,13031,0.92,239.7,223.5,7.3,644,13032,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1734,1670
$GC,13338,0.93,247.5,202.2,6.8,659,13348,0.00,0.00,7.72,0.909,6,0.000,0.000,2878,1734,1641
$GC,13649,0.98,247.5,180.1,7.2,674,13652,0.00,2.30,0.00,0.000,4,0.000,0.072,2885,327,1640
$GC,13676,1.06,247.5,178.0,7.4,675,13681,0.10,2.33,0.00,0.000,6,0.084,0.061,2934,1750,1640
$GC,14003,0.91,247.5,148.0,8.8,691,14008,0.20,2.30,0.00,0.000,4,0.136,0.076,2871,3154,1639
$GC,14058,0.91,247.5,143.6,7.2,693,14065,0.00,2.28,0.00,0.000,6,0.000,0.058,2878,1733,1638
$GC,14374,1.00,247.5,120.6,7.6,709,14375,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1733,1638
$GC,14684,1.11,263.9,99.8,6.5,724,14705,0.15,2.38,15.57,0.951,4,0.075,0.074,2954,319,1575
$GC,14729,1.03,263.9,95.6,8.5,731,14736,0.20,2.35,0.00,0.000,6,0.135,0.062,2897,1743,1574
$GC,15074,1.10,263.9,70.1,7.3,792,15081,0.10,2.33,0.00,0.000,4,0.084,0.077,2941,3153,1571
$GC,15110,1.00,263.9,66.7,9.0,798,15117,0.20,2.30,0.00,0.000,6,0.140,0.059,2895,1728,1571
$GC,15456,1.12,277.6,42.9,6.6,859,15474,0.10,0.00,13.25,0.911,6,0.087,0.000,2941,1728,1518
$GC,15812,1.02,277.6,12.4,9.0,922,15818,0.15,0.00,0.00,0.000,6,0.137,0.000,2898,1728,1514
$FREEZE,6.68,-1.751,-1.777
$FREEZE,6.35,-1.751,-1.777
$FREEZE,6.00,-1.752,-1.777
$FREEZE,5.79,-1.753,-1.777
$FREEZE,5.62,-1.750,-1.777
$FREEZE,5.11,-1.748,-1.776
$FREEZE,4.60,-1.748,-1.776
$FREEZE,4.18,-1.747,-1.775
$FREEZE,3.73,-1.747,-1.775
$FREEZE,3.28,-1.747,-1.775
$FREEZE,2.84,-1.748,-1.774
$STATE,15943,end climb,SURFACE_DEPTH_REACHED
$STATE,15943,begin surface coast
$FREEZE,2.29,-1.751,-1.774
$FREEZE,1.92,-1.758,-1.774
$FREEZE,1.82,-1.757,-1.774
$FREEZE,1.89,-1.730,-1.773
$FREEZE,1.84,-1.759,-1.774
$FREEZE,1.91,-1.756,-1.774
$FREEZE,2.00,-1.757,-1.774
$FINISH,2.0,1.026052
$STATE,15982,end surface coast,CONTROL_FINISHED_OK
$STATE,15982,begin surface
$SM_CCo,16181,0.00,0.000,0,0,1512,279.15
$SM_GC,2.83,7.20,0.00,0.00,0.072,0.000,0.000,319,2237,1512,-10.70,0.23,279.15
$RAFOS_CLK,737
$RAFOS,4,1227185057,12.750000,12.738055,67,59,59,58,52,51,775,216,184,151,125,231
$RAFOS,3,1227184455,12.583333,12.570833,99,65,64,58,56,54,660,213,154,137,198,125
$RAFOS,2,1227183859,12.416667,12.405278,94,64,62,61,59,55,860,211,194,174,122,153
$RAFOS,1,1227183252,12.250000,12.236667,103,61,58,51,50,49,665,215,200,179,167,153
$RAFOS,0,1227182643,12.083333,12.067500,136,58,58,57,56,52,575,221,191,158,206,145
$RAFOS_FIX,6639.488281,-5958.256348,201108,121220,4,108,1.49
$IRIDIUM_FIX,6614.97,-5912.45,100298,030321
$TT8_MAMPS,0.026845
$HUMID,1810
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,15.10
$XPDR_PINGS,28
$24V_AH,22.1,58.098
$10V_AH,10.5,26.619
$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,15.875,135.475,376.725,0.000,0.000,0.000,0.000,0.000,7.000,0.000,0.000,0.000,1832.764,11796.854,478.990,1912.856,235.304,33.342,1510.520,0.000,1899.100,1800.000,0.528,0.000
$DEVICE_MAMPS,168.740,131.924,1232.569,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,667.797,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31562,952
$CAP_FILE_SIZE,135612,0
$CFSIZE,260165632,229101568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.1
$GPS,201108,122120,6639.488,-5958.256,0,4108.0,0,-37.9