version: 66.04
glider: 108
mission: 11
dive: 655
start: 1 10 109 22 49 58
data:
$ID,108
$MISSION,11
$DIVE,655
$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,-3
$USE_ICE,1
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,85
$ESCAPE_HEADING,15
$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,-130229.88
$T_RSLEEP,60
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$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,34
$R_STBD_OVSHOOT,31
$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
$GPS1,223831,6557.455,-5759.920,41,1.1,41,-36.4
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-62.9
$GPS2,224938,6557.300,-5800.044,9,1.2,9,-36.4
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6558.241,-5733.625
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,121.4,20000,-13.0,-7.021
$D_GRID,541
$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,-146.0,0.0,0.0,0,107,0.00,0.00,-88.22,0.000,2,0.000,0.000,336,2246,3046
$GC,112,-0.99,-146.0,3.0,-1.4,16,137,8.75,2.38,-6.40,0.000,4,0.242,0.067,2468,816,3249
$GC,365,-0.74,-146.0,36.5,-12.8,60,372,0.20,2.30,0.00,0.000,6,0.136,0.056,2517,2238,3252
$GC,713,-0.74,-146.0,62.5,-5.5,121,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2238,3251
$GC,1059,-0.80,-146.0,80.2,-6.6,182,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2238,3250
$GC,1398,-0.89,-146.0,106.6,-7.7,231,1402,0.12,2.17,0.00,0.000,4,0.081,0.069,2453,3598,3249
$GC,1410,-0.95,-146.0,107.7,-8.0,231,1413,0.00,2.12,0.00,0.000,6,0.000,0.044,2453,2222,3249
$GC,1732,-0.81,-146.0,138.7,-9.2,247,1736,0.17,2.20,0.00,0.000,4,0.142,0.056,2513,826,3249
$GC,1773,-0.86,-146.0,141.8,-7.7,249,1777,0.00,2.28,0.00,0.000,6,0.000,0.055,2505,2244,3249
$GC,2108,-0.92,-146.0,165.5,-6.7,265,2109,0.10,0.00,0.00,0.000,6,0.081,0.000,2455,2244,3249
$GC,2417,-0.82,-146.0,187.1,-5.9,280,2421,0.17,2.28,0.00,0.000,4,0.134,0.054,2511,824,3249
$GC,2487,-0.88,-146.0,189.9,-3.9,283,2491,0.00,2.28,0.00,0.000,6,0.000,0.054,2503,2244,3249
$GC,2818,-0.96,-146.0,203.7,-5.9,299,2822,0.12,2.28,0.00,0.000,4,0.074,0.053,2445,818,3250
$GC,2854,-0.78,-146.0,206.7,-8.8,300,2861,0.28,2.28,0.00,0.000,6,0.127,0.053,2516,2243,3249
$GC,3172,-0.92,-146.0,225.1,-5.1,316,3173,0.12,0.00,0.00,0.000,6,0.078,0.000,2460,2242,3251
$GC,3481,-0.86,-146.0,246.0,-6.9,331,3486,0.12,2.28,0.00,0.000,4,0.141,0.053,2495,811,3251
$GC,3561,-0.86,-146.0,250.8,-5.9,334,3567,0.00,2.28,0.00,0.000,6,0.000,0.051,2487,2239,3252
$GC,3878,-0.86,-146.0,267.2,-4.8,350,3882,0.00,2.25,0.00,0.000,4,0.000,0.052,2487,817,3252
$GC,3975,-0.86,-146.0,272.2,-5.6,354,3979,0.00,2.28,0.00,0.000,6,0.000,0.051,2477,2244,3252
$GC,4303,-0.86,-146.0,290.0,-5.6,370,4307,0.00,2.25,0.00,0.000,4,0.000,0.051,2477,817,3253
$GC,4344,-0.82,-146.0,292.4,-6.1,371,4351,0.15,2.25,0.00,0.000,6,0.123,0.050,2510,2236,3253
$GC,4662,-0.96,-146.0,305.8,-3.9,387,4664,0.15,0.00,0.00,0.000,6,0.071,0.000,2446,2235,3254
$GC,4970,-0.86,-146.0,322.9,-5.9,402,4972,0.17,0.00,0.00,0.000,6,0.135,0.000,2496,2236,3255
$GC,5280,-0.94,-146.0,336.8,-4.5,417,5284,0.00,2.28,0.00,0.000,4,0.000,0.049,2495,813,3255
$GC,5332,-0.94,-146.0,339.4,-4.6,419,5336,0.00,2.28,0.00,0.000,6,0.000,0.048,2488,2231,3255
$GC,5662,-1.01,-146.0,355.8,-5.0,435,5667,0.10,2.17,0.00,0.000,4,0.081,0.061,2425,3604,3256
$GC,5675,-1.01,-146.0,356.5,-5.0,435,5680,0.12,2.12,0.00,0.000,6,0.142,0.038,2464,2209,3256
$GC,5998,-1.01,-146.0,374.2,-5.4,451,5999,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2209,3257
$GC,6308,-1.01,-146.0,391.8,-5.5,466,6311,0.00,2.15,0.00,0.000,4,0.000,0.049,2464,821,3258
$GC,6337,-0.94,-146.0,393.6,-6.4,467,6341,0.00,2.22,0.00,0.000,6,0.000,0.048,2457,2244,3257
$GC,6664,-0.88,-146.0,413.9,-6.4,478,6668,0.12,2.25,0.00,0.000,4,0.130,0.049,2494,826,3258
$GC,6701,-0.93,-146.0,416.2,-6.0,478,6705,0.00,2.25,0.00,0.000,6,0.000,0.049,2487,2236,3258
$GC,7039,-0.99,-146.0,436.7,-6.1,487,7044,0.08,2.25,0.00,0.000,4,0.091,0.049,2441,817,3258
$GC,7057,-0.99,-146.0,437.8,-6.1,487,7061,0.12,2.28,0.00,0.000,6,0.131,0.048,2465,2243,3258
$GC,7401,-0.99,-146.0,458.7,-5.8,496,7405,0.00,2.25,0.00,0.000,4,0.000,0.049,2466,828,3259
$GC,7431,-0.94,-146.0,460.6,-6.6,496,7435,0.00,2.25,0.00,0.000,6,0.000,0.048,2458,2242,3258
$GC,7775,-0.89,-146.0,482.4,-6.3,505,7779,0.12,2.25,0.00,0.000,4,0.132,0.048,2494,828,3259
$GC,7787,-0.89,-146.0,483.2,-6.2,505,7791,0.00,2.25,0.00,0.000,6,0.000,0.048,2487,2242,3259
$GC,8108,-0.95,-146.0,501.4,-5.8,513,8112,0.00,2.25,0.00,0.000,4,0.000,0.049,2487,823,3259
$GC,8144,-0.95,-146.0,503.6,-6.4,513,8148,0.00,2.25,0.00,0.000,6,0.000,0.049,2477,2231,3259
$GC,8482,-0.95,-146.0,523.2,-5.6,522,8486,0.00,2.17,0.00,0.000,4,0.000,0.061,2467,3601,3259
$GC,8512,-0.95,-146.0,525.0,-6.8,522,8517,0.00,2.08,0.00,0.000,6,0.000,0.038,2467,2225,3259
$STATE,8811,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8811,begin apogee
$GC,8821,-0.31,0.0,542.6,5.8,530,8952,0.47,0.00,127.85,1.114,6,0.114,0.000,2619,1740,2650
$STATE,8952,end apogee,CONTROL_FINISHED_OK
$STATE,8952,begin climb
$GC,8957,0.99,146.0,544.3,0.0,533,9097,0.85,2.53,129.05,1.051,4,0.084,0.054,2900,3145,2053
$GC,9127,0.70,146.0,529.6,11.7,537,9132,0.30,2.38,0.00,0.000,6,0.126,0.041,2828,1739,2050
$GC,9466,0.76,147.6,505.6,7.0,546,9467,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1739,2047
$GC,9791,0.82,150.4,482.8,6.9,554,9798,0.12,0.00,3.90,0.660,6,0.071,0.000,2888,1739,2036
$GC,10115,0.65,150.4,449.4,10.6,562,10120,0.22,2.30,0.00,0.000,4,0.122,0.055,2824,323,2036
$GC,10150,0.78,150.4,446.3,7.4,562,10155,0.08,2.25,0.00,0.000,6,0.089,0.044,2870,1750,2036
$GC,10490,0.67,150.4,414.6,9.5,571,10494,0.17,2.20,0.00,0.000,4,0.127,0.057,2817,3148,2035
$GC,10564,0.67,150.4,408.6,7.9,572,10568,0.00,2.20,0.00,0.000,6,0.000,0.042,2824,1732,2034
$GC,10890,0.75,173.5,387.5,6.3,585,10913,0.00,0.00,20.48,1.001,6,0.000,0.000,2824,1732,1942
$GC,11220,0.81,173.5,364.4,7.8,601,11225,0.12,2.30,0.00,0.000,4,0.071,0.055,2885,3153,1940
$GC,11278,0.57,173.5,357.6,13.1,603,11283,0.32,2.20,0.00,0.000,6,0.123,0.042,2796,1738,1939
$GC,11596,0.81,191.4,335.8,6.4,618,11619,0.20,2.33,16.45,0.945,4,0.057,0.054,2908,337,1869
$GC,11649,0.65,191.4,330.2,11.6,620,11654,0.30,2.22,0.00,0.000,6,0.124,0.043,2816,1744,1869
$GC,11972,0.83,209.2,307.8,6.4,636,11995,0.15,2.22,15.98,0.915,4,0.064,0.054,2887,3149,1797
$GC,12081,0.62,209.2,295.6,12.4,640,12088,0.30,2.20,0.00,0.000,6,0.122,0.041,2807,1735,1794
$GC,12398,0.89,240.0,276.2,6.0,656,12434,0.20,2.33,27.70,0.920,4,0.058,0.054,2921,331,1671
$GC,12481,0.77,240.0,266.4,13.1,659,12488,0.25,2.25,0.00,0.000,6,0.122,0.042,2845,1754,1669
$GC,12798,0.86,240.0,238.7,8.7,675,12802,0.00,2.20,0.00,0.000,4,0.000,0.054,2845,3154,1666
$GC,12901,0.86,240.0,228.4,10.2,679,12905,0.00,2.20,0.00,0.000,6,0.000,0.041,2852,1735,1664
$GC,13224,0.91,240.0,201.1,7.8,695,13225,0.10,0.00,0.00,0.000,6,0.081,0.000,2904,1735,1664
$GC,13534,0.80,240.0,166.8,11.3,710,13536,0.17,0.00,0.00,0.000,6,0.120,0.000,2851,1735,1664
$GC,13842,0.96,278.9,146.4,5.8,725,13885,0.12,2.38,33.83,0.841,4,0.071,0.054,2911,3143,1512
$GC,13904,0.81,278.9,140.5,11.5,727,13911,0.22,2.22,0.00,0.000,6,0.120,0.040,2854,1732,1510
$GC,14224,0.99,278.9,115.1,8.8,743,14228,0.15,2.25,0.00,0.000,4,0.063,0.054,2936,323,1506
$GC,14258,0.93,278.9,110.7,13.0,744,14263,0.20,2.28,0.00,0.000,6,0.121,0.042,2876,1746,1506
$GC,14596,1.13,331.1,84.6,5.3,789,14649,0.15,2.30,45.25,0.804,4,0.063,0.055,2948,3152,1300
$GC,14697,0.95,331.1,73.2,13.4,806,14704,0.25,2.25,0.00,0.000,6,0.123,0.041,2882,1729,1296
$GC,15045,1.16,331.1,47.0,7.9,867,15052,0.17,2.25,0.00,0.000,4,0.061,0.055,2965,327,1292
$GC,15106,1.09,331.1,40.0,12.8,877,15113,0.17,2.28,0.00,0.000,6,0.121,0.044,2913,1750,1292
$GC,15454,1.18,331.1,9.7,8.2,938,15461,0.08,2.25,0.00,0.000,4,0.090,0.058,2962,3159,1291
$FREEZE,6.78,-0.919,-1.813
$GC,15487,1.18,331.1,6.8,8.9,943,15494,0.15,2.25,0.00,0.000,6,0.138,0.047,2929,1728,1289
$FREEZE,4.80,-0.920,-1.811
$FREEZE,4.06,-0.936,-1.810
$FREEZE,3.55,-0.911,-1.810
$FREEZE,3.01,-0.939,-1.809
$FREEZE,2.49,-0.934,-1.808
$STATE,15521,end climb,SURFACE_DEPTH_REACHED
$STATE,15521,begin surface coast
$FREEZE,1.96,-0.949,-1.809
$FREEZE,1.70,-0.995,-1.808
$FREEZE,1.69,-1.000,-1.807
$FREEZE,1.62,-0.997,-1.808
$FREEZE,1.69,-0.996,-1.807
$FINISH,1.7,1.026503
$STATE,15554,end surface coast,CONTROL_FINISHED_OK
$STATE,15554,begin surface
$SM_CCo,15649,0.00,0.000,0,0,1287,334.34
$SM_GC,2.47,7.00,0.00,0.00,0.051,0.000,0.000,329,2246,1287,-10.69,0.45,334.34
$RAFOS_CLK,610
$RAFOS,4,1231634670,0.750000,0.741667,72,58,58,58,56,55,192,136,118,224,213,169
$RAFOS,3,1231634059,0.583333,0.571944,58,58,54,53,51,48,166,209,187,156,145,135
$RAFOS,2,1231633454,0.416667,0.403889,59,58,57,51,51,50,219,199,143,128,111,165
$RAFOS,1,1231632846,0.250000,0.235000,71,64,60,59,57,52,218,172,143,203,133,231
$RAFOS,0,1231632248,0.083333,0.068889,60,56,52,51,51,47,215,154,110,191,171,180
$RAFOS_FIX,6617.756348,-5909.147949,080109,000040,2,99,0.64
$IRIDIUM_FIX,6532.72,-5811.44,060498,181807
$TT8_MAMPS,0.026845
$HUMID,1795
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,15.90
$XPDR_PINGS,231
$24V_AH,22.1,99.623
$10V_AH,10.5,44.134
$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,24.350,136.650,420.475,0.000,0.000,24.580,31.615,349.316,57.750,0.000,0.000,10.478,1754.590,11303.525,552.892,1748.591,944.901,0.000,1528.052,0.000,1735.604,1800.000,0.533,0.000
$DEVICE_MAMPS,241.605,69.030,1114.451,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,661.791,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31565,954
$CAP_FILE_SIZE,140966,0
$CFSIZE,260165632,211787776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.6
$GPS,100109,224938,6557.300,-5800.044,9,1.2,9,-36.4