version: 66.04
glider: 108
mission: 11
dive: 113
start: 9 28 108 21 37 31
data:
$ID,108
$MISSION,11
$DIVE,113
$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,100
$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,-113137.94
$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,21
$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
$GPS1,213137,6642.962,-6000.446,28,1.2,28,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-70.1
$GPS2,213638,6642.968,-6000.367,9,1.6,14,-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,-0.221,-0.075
$KALMAN_X,32176.9,9.5,-71.9,-95656.3,1532.6
$KALMAN_Y,-35373.9,212.3,-1798.1,20557.9,1207.6
$MHEAD_RNG_PITCHd_Wd,289.2,31282,-13.0,-7.021
$D_GRID,628
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.00,-146.0,0.0,0.0,0,58,0.00,0.00,-40.10,0.000,2,0.000,0.000,339,2243,2295
$GC,60,-1.00,-146.0,3.0,-1.3,7,120,8.48,2.50,-45.00,0.000,4,0.253,0.081,2448,813,3343
$GC,249,-0.65,-146.0,27.3,-17.1,40,256,0.28,2.35,0.00,0.000,6,0.140,0.066,2520,2233,3347
$GC,593,-0.65,-146.0,53.7,-7.5,101,599,0.00,2.22,0.00,0.000,4,0.000,0.077,2511,3599,3350
$GC,678,-0.65,-146.0,60.9,-8.6,116,684,0.00,2.25,0.00,0.000,6,0.000,0.054,2511,2211,3350
$GC,1021,-0.65,-146.0,89.9,-8.9,177,1027,0.00,2.28,0.00,0.000,4,0.000,0.067,2511,812,3351
$GC,1077,-0.65,-146.0,95.3,-9.6,187,1084,0.00,2.35,0.00,0.000,6,0.000,0.064,2501,2238,3351
$GC,1397,-0.65,-146.0,124.9,-9.0,209,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2238,3351
$GC,1706,-0.65,-146.0,147.6,-6.8,224,1710,0.00,2.22,0.00,0.000,4,0.000,0.079,2492,3605,3351
$GC,1789,-0.65,-146.0,153.9,-7.1,227,1797,0.08,2.25,0.00,0.000,6,0.146,0.056,2516,2228,3350
$GC,2105,-0.71,-146.0,174.0,-6.1,243,2109,0.00,2.28,0.00,0.000,4,0.000,0.071,2516,825,3350
$GC,2182,-0.71,-146.0,179.3,-7.2,246,2187,0.00,2.35,0.00,0.000,6,0.000,0.069,2508,2237,3350
$GC,2504,-0.71,-146.0,201.1,-6.8,262,2508,0.00,2.20,0.00,0.000,4,0.000,0.081,2497,3601,3349
$GC,2553,-0.71,-146.0,204.9,-7.6,264,2557,0.00,2.20,0.00,0.000,6,0.000,0.058,2497,2233,3349
$GC,2881,-0.71,-146.0,228.9,-7.4,280,2885,0.00,2.28,0.00,0.000,4,0.000,0.071,2497,810,3349
$GC,2975,-0.71,-146.0,236.6,-8.1,284,2980,0.00,2.33,0.00,0.000,6,0.000,0.067,2487,2227,3348
$GC,3302,-0.71,-146.0,261.3,-7.2,300,3306,0.00,2.20,0.00,0.000,4,0.000,0.081,2477,3605,3348
$GC,3407,-0.71,-146.0,269.7,-7.9,304,3415,0.08,2.20,0.00,0.000,6,0.153,0.058,2501,2231,3348
$GC,3724,-0.76,-146.0,288.1,-5.5,320,3725,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2231,3347
$GC,4033,-0.83,-146.0,304.9,-5.6,335,4037,0.10,2.25,0.00,0.000,4,0.097,0.070,2460,823,3347
$GC,4094,-0.70,-146.0,309.7,-8.1,338,4099,0.20,2.28,0.00,0.000,6,0.148,0.067,2507,2236,3347
$GC,4420,-0.80,-146.0,330.5,-6.6,354,4422,0.10,0.00,0.00,0.000,6,0.094,0.000,2466,2236,3347
$GC,4729,-0.73,-146.0,355.1,-8.1,369,4734,0.12,2.33,0.00,0.000,4,0.154,0.069,2500,810,3347
$GC,4790,-0.73,-146.0,359.6,-7.0,372,4794,0.00,2.30,0.00,0.000,6,0.000,0.065,2492,2239,3347
$GC,5122,-0.73,-146.0,382.5,-6.4,388,5123,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2238,3347
$GC,5433,-0.79,-146.0,400.0,-5.3,403,5437,0.00,2.30,0.00,0.000,4,0.000,0.069,2492,820,3347
$GC,5500,-0.79,-146.0,404.1,-6.1,404,5504,0.00,2.28,0.00,0.000,6,0.000,0.066,2482,2237,3347
$GC,5847,-0.79,-146.0,422.7,-5.2,413,5851,0.00,2.15,0.00,0.000,4,0.000,0.078,2472,3594,3348
$GC,5908,-0.79,-146.0,426.5,-6.4,414,5912,0.00,2.17,0.00,0.000,6,0.000,0.056,2471,2221,3348
$GC,6221,-0.79,-146.0,445.3,-6.0,422,6225,0.00,2.22,0.00,0.000,4,0.000,0.070,2472,812,3348
$GC,6267,-0.72,-146.0,448.1,-6.5,423,6271,0.15,2.28,0.00,0.000,6,0.145,0.064,2503,2236,3348
$GC,6596,-0.83,-146.0,465.7,-5.4,431,6600,0.10,2.17,0.00,0.000,4,0.092,0.076,2452,3606,3349
$GC,6679,-0.75,-146.0,472.1,-8.0,432,6686,0.17,2.17,0.00,0.000,6,0.153,0.054,2501,2214,3349
$GC,7010,-0.85,-146.0,491.4,-5.7,441,7015,0.12,2.22,0.00,0.000,4,0.089,0.067,2449,813,3349
$GC,7065,-0.70,-146.0,495.6,-8.3,442,7070,0.22,2.28,0.00,0.000,6,0.145,0.064,2504,2232,3349
$GC,7377,-0.82,-146.0,513.6,-5.6,450,7379,0.10,0.00,0.00,0.000,6,0.091,0.000,2462,2232,3349
$GC,7703,-0.77,-146.0,534.8,-6.5,458,7707,0.12,2.28,0.00,0.000,4,0.153,0.067,2497,823,3349
$GC,7769,-0.83,-146.0,538.7,-5.7,459,7773,0.00,2.28,0.00,0.000,6,0.000,0.064,2489,2242,3349
$GC,8116,-0.89,-146.0,557.2,-5.3,468,8118,0.10,0.00,0.00,0.000,6,0.087,0.000,2445,2242,3350
$GC,8441,-0.78,-146.0,578.9,-6.7,476,8446,0.17,2.30,0.00,0.000,4,0.152,0.066,2497,819,3350
$GC,8490,-0.84,-146.0,582.5,-7.2,477,8494,0.00,2.28,0.00,0.000,6,0.000,0.064,2489,2241,3350
$GC,8812,-0.91,-146.0,599.7,-4.9,485,8814,0.12,0.00,0.00,0.000,6,0.083,0.000,2436,2241,3350
$GC,9134,-0.79,-146.0,623.3,-7.5,493,9138,0.17,2.17,0.00,0.000,4,0.150,0.076,2477,3607,3350
$GC,9183,-0.84,-146.0,626.9,-6.9,494,9187,0.00,2.17,0.00,0.000,6,0.000,0.052,2477,2220,3350
$STATE,9197,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9197,begin apogee
$GC,9202,-0.31,0.0,628.2,7.9,494,9328,0.32,0.00,123.30,1.252,6,0.127,0.000,2585,1743,2745
$STATE,9328,end apogee,CONTROL_FINISHED_OK
$STATE,9328,begin climb
$GC,9330,1.00,146.0,630.3,0.0,497,9463,0.93,2.60,125.75,1.179,4,0.099,0.067,2881,3147,2148
$GC,9474,0.67,146.0,618.6,10.2,501,9479,0.35,2.53,0.00,0.000,6,0.136,0.053,2798,1744,2146
$GC,9821,0.73,146.0,594.1,7.4,510,9822,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1744,2141
$GC,10146,0.75,165.9,572.0,6.4,518,10166,0.10,0.00,17.05,1.133,6,0.091,0.000,2840,1744,2068
$GC,10471,0.64,165.9,542.6,9.1,526,10473,0.17,0.00,0.00,0.000,6,0.127,0.000,2790,1744,2065
$GC,10796,0.80,194.4,522.4,6.1,534,10824,0.15,0.00,24.80,1.152,6,0.077,0.000,2852,1744,1952
$GC,11121,0.67,194.4,490.8,10.0,542,11123,0.17,0.00,0.00,0.000,6,0.127,0.000,2801,1744,1948
$GC,11446,0.78,194.4,466.8,7.3,550,11451,0.10,2.38,0.00,0.000,4,0.087,0.070,2844,3152,1947
$GC,11473,0.67,194.4,464.2,10.5,550,11478,0.15,2.38,0.00,0.000,6,0.126,0.056,2804,1732,1946
$GC,11810,0.77,195.8,439.7,7.0,559,11811,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1732,1946
$GC,12135,0.89,212.7,418.4,6.5,567,12154,0.15,0.00,16.42,1.090,6,0.076,0.000,2866,1732,1877
$GC,12441,0.74,212.7,385.8,11.3,577,12443,0.17,0.00,0.00,0.000,6,0.130,0.000,2814,1732,1873
$GC,12750,0.82,212.7,361.5,7.5,592,12752,0.10,0.00,0.00,0.000,6,0.088,0.000,2856,1732,1872
$GC,13059,0.74,212.7,331.6,9.7,607,13064,0.15,2.38,0.00,0.000,4,0.127,0.071,2820,330,1872
$GC,13086,0.81,212.7,329.5,7.8,608,13090,0.00,2.33,0.00,0.000,6,0.000,0.057,2820,1754,1872
$GC,13407,0.89,219.5,307.2,6.8,624,13421,0.12,2.35,6.47,0.904,4,0.081,0.071,2873,3156,1848
$GC,13438,0.70,219.5,304.3,10.4,625,13443,0.25,2.33,0.00,0.000,6,0.139,0.056,2810,1734,1847
$GC,13760,0.87,237.4,283.1,6.4,641,13780,0.12,0.00,16.10,1.017,6,0.079,0.000,2862,1733,1777
$GC,14088,0.82,237.4,252.6,9.1,657,14093,0.12,2.40,0.00,0.000,4,0.128,0.070,2827,3154,1773
$GC,14104,0.82,237.4,251.4,8.5,658,14108,0.00,2.35,0.00,0.000,6,0.000,0.056,2833,1731,1773
$GC,14436,0.92,237.4,226.7,7.2,674,14441,0.08,2.38,0.00,0.000,4,0.100,0.071,2880,328,1773
$GC,14462,0.92,237.4,224.3,9.2,675,14467,0.08,2.35,0.00,0.000,6,0.126,0.058,2853,1736,1773
$GC,14783,0.92,237.4,199.6,7.2,691,14787,0.00,2.30,0.00,0.000,4,0.000,0.074,2853,3156,1772
$GC,14820,0.83,237.4,196.5,8.4,692,14828,0.10,2.33,0.00,0.000,6,0.146,0.058,2833,1730,1772
$GC,15136,0.98,251.6,176.4,6.6,708,15159,0.12,2.40,12.95,0.962,4,0.083,0.073,2894,328,1719
$GC,15164,0.98,251.6,174.0,8.9,709,15168,0.12,2.30,0.00,0.000,6,0.136,0.058,2859,1743,1718
$GC,15490,1.03,251.6,147.3,7.9,725,15494,0.08,2.28,0.00,0.000,4,0.103,0.073,2892,3155,1715
$GC,15505,1.03,251.6,145.9,8.1,725,15513,0.00,2.33,0.00,0.000,6,0.000,0.058,2902,1742,1715
$GC,15822,0.92,251.6,115.7,9.2,741,15827,0.17,2.35,0.00,0.000,4,0.136,0.074,2859,324,1715
$GC,15848,0.99,251.6,113.6,7.3,742,15853,0.00,2.35,0.00,0.000,6,0.000,0.059,2858,1753,1714
$GC,16176,1.12,277.4,92.8,6.2,771,16207,0.15,2.33,22.85,0.958,4,0.081,0.074,2919,3159,1612
$GC,16241,0.89,277.4,86.3,11.0,782,16248,0.28,2.38,0.00,0.000,6,0.143,0.061,2850,1727,1609
$GC,16585,1.10,313.4,63.3,5.9,843,16621,0.15,0.00,31.35,0.943,6,0.079,0.000,2910,1727,1467
$GC,16958,1.10,313.4,28.8,9.5,909,16963,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,1727,1457
$GC,17300,1.28,352.2,6.6,5.8,970,17337,0.08,2.50,31.62,0.908,4,0.102,0.077,2953,324,1309
$STATE,17347,end climb,SURFACE_DEPTH_REACHED
$STATE,17347,begin surface coast
$FINISH,2.4,1.024936
$STATE,17354,end surface coast,CONTROL_FINISHED_OK
$STATE,17354,begin surface
$SM_CCo,17432,0.00,0.000,0,0,1302,353.97
$SM_GC,2.71,7.25,0.00,0.00,0.056,0.000,0.000,340,2229,1302,-10.57,-0.03,353.97
$RAFOS_CLK,740
$RAFOS,4,1222649051,0.750000,0.736389,75,59,59,56,49,46,771,209,189,156,223,123
$RAFOS,3,1222648442,0.583333,0.567222,107,59,54,52,51,51,761,156,206,114,193,141
$RAFOS,2,1222647873,0.416667,0.409167,63,59,59,58,55,54,211,195,119,175,166,223
$RAFOS,1,1222647242,0.250000,0.233889,75,61,59,53,53,51,695,215,170,153,190,118
$RAFOS,0,1222646658,0.083333,0.071667,115,57,52,50,48,48,454,194,203,162,231,118
$RAFOS_FIX,6644.447266,-5958.940918,290908,000040,4,93,0.29
$IRIDIUM_FIX,6620.33,-6102.03,231297,161623
$TT8_MAMPS,0.026078
$HUMID,1831
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,15.30
$XPDR_PINGS,31
$24V_AH,22.9,23.618
$10V_AH,10.6,11.043
$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,23.300,139.850,428.675,0.000,0.000,24.450,31.697,134.001,7.750,0.000,0.000,15.934,1805.307,13170.274,584.676,1814.581,364.954,33.364,1569.932,0.000,1793.193,1800.000,0.530,0.000
$DEVICE_MAMPS,253.110,81.302,1251.744,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,683.901,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31573,979
$CAP_FILE_SIZE,140351,0
$CFSIZE,260165632,245063680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.2
$GPS,290908,022938,6643.363,-6004.966,41,1.1,41,-38.0