version: 66.04
glider: 108
mission: 11
dive: 123
start: 9 30 108 16 4 50
data:
$ID,108
$MISSION,11
$DIVE,123
$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,-113285.01
$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,24
$R_STBD_OVSHOOT,22
$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
$GPS1,155907,6639.960,-6036.093,23,1.1,23,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-70.1
$GPS2,160357,6639.959,-6036.080,11,1.8,11,-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,0.067,0.223
$KALMAN_X,37662.3,119.5,-82.3,-127228.7,779.2
$KALMAN_Y,-53162.3,589.5,2380.4,28211.1,-4441.1
$MHEAD_RNG_PITCHd_Wd,54.8,6323,-13.0,-7.021
$D_GRID,494
$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,-39.97,0.000,2,0.000,0.000,332,2242,2324
$GC,60,-1.00,-146.0,3.0,-1.4,7,120,8.60,2.40,-44.33,0.000,4,0.258,0.084,2445,811,3341
$GC,373,-0.72,-146.0,40.4,-12.3,62,380,0.22,2.35,0.00,0.000,6,0.146,0.068,2501,2234,3347
$GC,716,-0.67,-146.0,70.4,-7.6,123,722,0.00,2.22,0.00,0.000,4,0.000,0.082,2493,3599,3347
$GC,751,-0.62,-146.0,73.5,-8.8,129,758,0.12,2.22,0.00,0.000,6,0.147,0.057,2526,2208,3348
$GC,1104,-0.68,-146.0,107.5,-8.7,181,1108,0.00,2.25,0.00,0.000,4,0.000,0.071,2527,816,3349
$GC,1148,-0.68,-146.0,111.3,-8.3,183,1154,0.00,2.33,0.00,0.000,6,0.000,0.067,2518,2241,3349
$GC,1481,-0.73,-146.0,137.8,-7.9,199,1482,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2241,3349
$GC,1789,-0.79,-146.0,159.8,-7.0,214,1791,0.12,0.00,0.00,0.000,6,0.084,0.000,2466,2241,3348
$GC,2099,-0.65,-146.0,187.6,-9.0,229,2101,0.17,0.00,0.00,0.000,6,0.151,0.000,2514,2241,3348
$GC,2409,-0.73,-146.0,205.4,-5.1,244,2413,0.00,2.38,0.00,0.000,4,0.000,0.073,2514,819,3347
$GC,2470,-0.73,-146.0,208.8,-5.8,247,2474,0.00,2.33,0.00,0.000,6,0.000,0.071,2506,2231,3347
$GC,2796,-0.73,-146.0,226.2,-5.2,263,2800,0.00,2.22,0.00,0.000,4,0.000,0.084,2496,3605,3347
$GC,2845,-0.73,-146.0,229.1,-6.0,265,2849,0.00,2.25,0.00,0.000,6,0.000,0.059,2496,2221,3347
$GC,3172,-0.73,-146.0,251.9,-7.9,281,3176,0.00,2.28,0.00,0.000,4,0.000,0.074,2496,822,3347
$GC,3227,-0.73,-146.0,256.8,-8.7,283,3231,0.00,2.30,0.00,0.000,6,0.000,0.071,2486,2232,3347
$GC,3548,-0.73,-146.0,283.5,-7.8,299,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2232,3346
$GC,3857,-0.73,-146.0,304.0,-6.6,314,3861,0.00,2.33,0.00,0.000,4,0.000,0.073,2486,819,3346
$GC,3952,-0.67,-146.0,311.3,-8.2,318,3956,0.12,2.30,0.00,0.000,6,0.149,0.071,2509,2232,3346
$GC,4278,-0.77,-146.0,333.3,-7.0,334,4282,0.00,2.20,0.00,0.000,4,0.000,0.084,2501,3599,3346
$GC,4333,-0.86,-146.0,337.5,-7.7,336,4338,0.12,2.17,0.00,0.000,6,0.091,0.058,2452,2226,3346
$GC,4656,-0.73,-146.0,364.9,-8.1,352,4658,0.17,0.00,0.00,0.000,6,0.150,0.000,2500,2226,3346
$GC,4964,-0.80,-146.0,384.3,-6.0,367,4966,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2226,3346
$GC,5273,-0.88,-146.0,402.8,-6.2,381,5278,0.12,2.30,0.00,0.000,4,0.087,0.071,2451,820,3346
$GC,5383,-0.73,-146.0,412.6,-9.1,383,5388,0.20,2.33,0.00,0.000,6,0.150,0.071,2497,2242,3346
$GC,5726,-0.79,-146.0,434.6,-6.2,392,5727,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2242,3346
$GC,6051,-0.87,-146.0,452.6,-5.4,400,6055,0.12,2.20,0.00,0.000,4,0.087,0.082,2437,3602,3346
$GC,6178,-0.73,-146.0,462.9,-8.7,402,6185,0.22,2.20,0.00,0.000,6,0.152,0.058,2503,2227,3346
$GC,6510,-0.83,-146.0,482.0,-5.5,411,6514,0.10,2.28,0.00,0.000,4,0.097,0.071,2460,815,3346
$STATE,6676,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6676,begin apogee
$GC,6682,-0.31,0.0,494.0,7.9,414,6806,0.40,0.00,121.18,1.195,6,0.140,0.000,2583,1748,2745
$STATE,6806,end apogee,CONTROL_FINISHED_OK
$STATE,6806,begin climb
$GC,6809,1.00,146.0,497.2,0.0,417,6941,0.90,2.75,123.53,1.119,4,0.108,0.073,2882,342,2148
$GC,6963,0.77,146.0,486.7,9.3,420,6968,0.22,2.53,0.00,0.000,6,0.133,0.058,2823,1738,2145
$GC,7300,0.71,146.0,461.3,7.4,429,7301,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1738,2141
$GC,7624,0.73,163.5,439.7,6.5,437,7641,0.00,0.00,14.75,1.068,6,0.000,0.000,2823,1738,2078
$GC,7949,0.74,169.8,417.9,6.8,445,7962,0.00,2.42,6.68,0.934,4,0.000,0.073,2823,3163,2052
$GC,8002,0.63,169.8,413.7,8.3,446,8007,0.15,2.38,0.00,0.000,6,0.133,0.058,2790,1743,2051
$GC,8321,0.86,223.4,396.4,5.3,455,8370,0.17,0.00,46.42,1.104,6,0.073,0.000,2860,1742,1834
$GC,8670,0.76,223.4,365.0,9.4,472,8672,0.15,0.00,0.00,0.000,6,0.125,0.000,2817,1742,1824
$GC,8980,0.90,233.6,344.1,6.7,487,8991,0.12,0.00,8.40,0.963,6,0.081,0.000,2867,1743,1792
$GC,9289,0.82,233.6,315.1,9.5,502,9291,0.12,0.00,0.00,0.000,6,0.130,0.000,2832,1743,1790
$GC,9598,0.91,233.6,292.5,7.3,517,9600,0.10,0.00,0.00,0.000,6,0.091,0.000,2873,1742,1789
$GC,9907,0.82,233.6,263.9,9.0,532,9912,0.15,2.42,0.00,0.000,4,0.127,0.074,2837,324,1789
$GC,9934,0.88,233.6,261.7,7.2,533,9938,0.00,2.35,0.00,0.000,6,0.000,0.060,2837,1750,1789
$GC,10257,0.98,233.6,238.3,7.6,549,10261,0.12,2.30,0.00,0.000,4,0.082,0.074,2890,3163,1788
$GC,10277,0.89,233.6,236.1,9.7,550,10282,0.20,2.35,0.00,0.000,6,0.140,0.060,2843,1739,1787
$GC,10603,0.97,233.6,209.9,7.9,566,10608,0.10,2.38,0.00,0.000,4,0.089,0.075,2895,321,1787
$GC,10624,0.97,233.6,208.0,8.7,567,10629,0.12,2.33,0.00,0.000,6,0.136,0.061,2861,1742,1788
$GC,10950,0.97,233.6,181.9,7.7,583,10954,0.00,2.28,0.00,0.000,4,0.000,0.075,2860,3153,1787
$GC,10982,0.87,233.6,179.2,8.9,584,10987,0.10,2.30,0.00,0.000,6,0.146,0.061,2841,1735,1787
$GC,11303,1.00,255.3,158.2,6.3,600,11329,0.12,2.45,19.12,0.998,4,0.082,0.076,2904,326,1704
$GC,11347,0.92,255.3,154.5,8.9,602,11352,0.17,2.35,0.00,0.000,6,0.133,0.061,2853,1740,1703
$GC,11675,1.04,273.9,132.9,6.4,618,11698,0.12,2.40,16.80,0.968,4,0.082,0.075,2904,3154,1628
$GC,11714,0.89,273.9,128.9,10.0,619,11721,0.25,2.38,0.00,0.000,6,0.139,0.061,2842,1733,1626
$GC,12029,1.33,273.9,105.6,8.1,635,12034,0.30,2.38,0.00,0.000,4,0.077,0.075,2957,3162,1621
$GC,12096,0.90,273.9,97.4,14.5,638,12103,0.40,2.35,0.00,0.000,6,0.146,0.064,2849,1735,1620
$GC,12441,1.06,273.9,70.7,7.6,699,12447,0.15,0.00,0.00,0.000,6,0.076,0.000,2911,1734,1619
$GC,12784,0.99,273.9,35.6,9.0,760,12791,0.15,2.35,0.00,0.000,4,0.131,0.078,2867,3154,1619
$GC,12814,0.99,273.9,33.6,7.2,765,12820,0.00,2.30,0.00,0.000,6,0.000,0.064,2873,1736,1619
$GC,13157,1.47,308.9,15.1,5.9,826,13193,0.28,2.45,30.00,0.931,4,0.080,0.080,2990,329,1485
$STATE,13288,end climb,SURFACE_DEPTH_REACHED
$STATE,13288,begin surface coast
$FINISH,1.8,1.025041
$STATE,13305,end surface coast,CONTROL_FINISHED_OK
$STATE,13305,begin surface
$SM_CCo,13383,0.00,0.000,0,0,1476,311.29
$SM_GC,2.57,7.32,0.00,0.00,0.060,0.000,0.000,340,2237,1476,-10.57,0.20,311.29
$RAFOS_CLK,572
$RAFOS,4,1222793055,16.750000,16.737499,155,63,61,56,54,51,833,188,216,156,119,167
$RAFOS,3,1222792457,16.583334,16.571388,91,66,62,57,57,51,732,219,199,229,134,169
$RAFOS,2,1222791842,16.416666,16.400555,74,58,57,56,56,53,1015,215,137,227,196,125
$RAFOS,1,1222791242,16.250000,16.233889,107,59,57,53,52,50,785,148,165,88,199,216
$RAFOS_FIX,6640.157227,-6028.702148,300908,161628,4,107,3.29
$IRIDIUM_FIX,6609.62,-6026.73,251297,121247
$TT8_MAMPS,0.026845
$HUMID,1811
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,15.20
$XPDR_PINGS,40
$24V_AH,22.9,24.989
$10V_AH,10.6,11.613
$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,22.875,102.750,386.875,0.000,0.000,25.018,33.597,125.665,10.000,0.000,0.000,12.878,1541.322,9747.186,495.452,1574.083,330.984,33.374,1341.162,0.000,1555.437,1440.000,0.529,0.000
$DEVICE_MAMPS,258.479,83.603,1194.986,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,596.428,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28413,852
$CAP_FILE_SIZE,112098,0
$CFSIZE,260165632,244502528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.9
$GPS,300908,194931,6639.631,-6033.007,37,1.1,42,-38.0