version: 66.04
glider: 108
mission: 11
dive: 285
start: 11 8 108 1 58 56
data:
$ID,108
$MISSION,11
$DIVE,285
$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,-3
$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,225
$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,-116021.34
$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,32
$R_STBD_OVSHOOT,29
$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
$GPS1,014639,6704.708,-5658.340,34,1.1,35,-37.6
$_CALLS,2
$_XMS_NAKs,21
$_XMS_TOUTs,3
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-60.8
$GPS2,015802,6704.636,-5658.281,10,1.2,10,-37.6
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_ADD4_WB
$TGT_LATLONG,6659.000,-5735.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.169,-0.161
$KALMAN_X,55401.5,918.6,-14.8,-28481.4,-859.7
$KALMAN_Y,-177093.5,786.1,-77.6,195816.7,1202.4
$MHEAD_RNG_PITCHd_Wd,264.1,28565,-13.0,-7.021
$D_GRID,573
$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,15,-1.00,-146.0,0.0,0.0,0,69,0.00,0.00,-51.67,0.000,2,0.000,0.000,332,2259,2809
$GC,72,-1.00,-146.0,3.3,-2.0,9,103,8.50,2.25,-15.35,0.000,4,0.242,0.088,2426,3589,3343
$GC,356,-0.70,-146.0,50.0,-13.5,59,364,0.28,2.17,0.00,0.000,6,0.146,0.044,2507,2215,3346
$GC,701,-0.70,-146.0,75.8,-6.1,120,707,0.00,2.30,0.00,0.000,4,0.000,0.067,2499,3604,3346
$GC,758,-0.70,-146.0,79.6,-7.1,130,765,0.00,2.17,0.00,0.000,6,0.000,0.044,2499,2221,3346
$GC,1099,-0.70,-146.0,102.7,-6.3,185,1103,0.00,2.22,0.00,0.000,4,0.000,0.056,2499,826,3345
$GC,1155,-0.70,-146.0,106.6,-7.0,187,1159,0.00,2.30,0.00,0.000,6,0.000,0.057,2489,2243,3345
$GC,1476,-0.70,-146.0,128.7,-7.2,203,1479,0.00,2.20,0.00,0.000,4,0.000,0.069,2478,3602,3345
$GC,1570,-0.70,-146.0,136.1,-7.2,207,1575,0.10,2.15,0.00,0.000,6,0.148,0.044,2504,2222,3345
$GC,1898,-0.78,-146.0,157.0,-6.4,223,1902,0.00,2.22,0.00,0.000,4,0.000,0.057,2504,820,3345
$GC,1970,-0.78,-146.0,162.1,-6.9,226,1974,0.00,2.28,0.00,0.000,6,0.000,0.057,2496,2240,3345
$GC,2297,-0.83,-146.0,183.6,-6.4,242,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2240,3345
$GC,2606,-0.90,-146.0,201.9,-5.7,257,2611,0.12,2.28,0.00,0.000,4,0.078,0.054,2438,826,3344
$GC,2696,-0.72,-146.0,209.1,-7.6,261,2701,0.25,2.25,0.00,0.000,6,0.136,0.056,2502,2235,3344
$GC,3024,-0.84,-146.0,225.6,-4.4,277,3025,0.10,0.00,0.00,0.000,6,0.087,0.000,2458,2235,3344
$GC,3332,-0.78,-146.0,243.6,-6.0,292,3337,0.12,2.28,0.00,0.000,4,0.144,0.052,2494,825,3344
$GC,3403,-0.83,-146.0,247.3,-4.9,295,3407,0.00,2.25,0.00,0.000,6,0.000,0.055,2486,2235,3345
$GC,3737,-0.88,-146.0,263.8,-4.7,311,3738,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2235,3345
$GC,4045,-0.94,-146.0,277.6,-4.5,326,4046,0.12,0.00,0.00,0.000,6,0.075,0.000,2428,2235,3345
$GC,4354,-0.78,-146.0,298.2,-6.9,341,4359,0.20,2.28,0.00,0.000,4,0.142,0.051,2494,824,3345
$GC,4400,-0.84,-146.0,300.7,-5.2,343,4404,0.00,2.30,0.00,0.000,6,0.000,0.054,2487,2243,3345
$GC,4734,-0.90,-146.0,317.5,-5.1,359,4735,0.10,0.00,0.00,0.000,6,0.081,0.000,2437,2243,3347
$GC,5042,-0.78,-146.0,338.4,-6.8,374,5047,0.17,2.30,0.00,0.000,4,0.142,0.051,2487,813,3347
$GC,5075,-0.78,-146.0,340.4,-5.3,375,5079,0.00,2.30,0.00,0.000,6,0.000,0.052,2479,2238,3347
$GC,5396,-0.78,-146.0,356.7,-5.0,391,5397,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2238,3348
$GC,5705,-0.78,-146.0,372.1,-5.0,406,5706,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2238,3348
$GC,6014,-0.78,-146.0,389.5,-5.6,421,6018,0.00,2.25,0.00,0.000,4,0.000,0.051,2479,823,3348
$GC,6059,-0.78,-146.0,392.3,-5.8,423,6064,0.00,2.28,0.00,0.000,6,0.000,0.052,2469,2235,3348
$GC,6389,-0.78,-146.0,412.2,-5.8,434,6393,0.00,2.25,0.00,0.000,4,0.000,0.050,2469,824,3349
$GC,6416,-0.78,-146.0,414.0,-6.7,434,6421,0.12,2.28,0.00,0.000,6,0.134,0.051,2494,2235,3349
$GC,6760,-0.89,-146.0,431.8,-5.2,443,6762,0.12,0.00,0.00,0.000,6,0.074,0.000,2438,2235,3349
$GC,7084,-0.78,-146.0,453.0,-6.5,451,7088,0.17,2.28,0.00,0.000,4,0.143,0.050,2487,825,3349
$GC,7117,-0.78,-146.0,454.9,-5.7,451,7121,0.00,2.30,0.00,0.000,6,0.000,0.051,2480,2241,3350
$GC,7455,-0.83,-146.0,472.1,-5.0,460,7458,0.00,2.28,0.00,0.000,4,0.000,0.051,2480,827,3350
$GC,7488,-0.83,-146.0,473.9,-5.5,460,7492,0.00,2.28,0.00,0.000,6,0.000,0.051,2470,2233,3350
$GC,7825,-0.83,-146.0,490.9,-5.2,469,7826,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2232,3350
$GC,8149,-0.83,-146.0,507.8,-5.2,477,8153,0.00,2.28,0.00,0.000,4,0.000,0.050,2469,827,3350
$GC,8184,-0.78,-146.0,509.6,-5.5,477,8188,0.12,2.30,0.00,0.000,6,0.133,0.051,2494,2235,3350
$GC,8520,-0.90,-146.0,524.5,-4.5,486,8522,0.12,0.00,0.00,0.000,6,0.076,0.000,2438,2236,3350
$GC,8845,-0.80,-146.0,544.0,-6.1,494,8847,0.17,0.00,0.00,0.000,6,0.143,0.000,2488,2236,3350
$GC,9171,-0.89,-146.0,559.9,-4.7,502,9175,0.10,2.28,0.00,0.000,4,0.088,0.050,2443,820,3350
$GC,9209,-0.75,-146.0,562.4,-7.0,502,9216,0.22,2.30,0.00,0.000,6,0.132,0.052,2498,2239,3350
$STATE,9456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9456,begin apogee
$GC,9463,-0.31,0.0,573.4,4.2,509,9589,0.30,0.00,123.47,1.167,6,0.115,0.000,2596,1741,2745
$STATE,9590,end apogee,CONTROL_FINISHED_OK
$STATE,9590,begin climb
$GC,9593,1.00,146.0,574.5,0.0,512,9726,0.82,2.58,125.97,1.098,4,0.096,0.057,2870,3157,2149
$GC,9748,0.72,146.0,561.3,11.5,515,9755,0.25,2.45,0.00,0.000,6,0.128,0.041,2813,1736,2146
$GC,10080,0.72,146.0,536.1,7.4,524,10084,0.00,2.33,0.00,0.000,4,0.000,0.058,2821,334,2143
$GC,10112,0.72,146.0,533.5,8.3,524,10119,0.00,2.35,0.00,0.000,6,0.000,0.045,2821,1752,2144
$GC,10444,0.72,146.0,508.3,7.6,533,10447,0.00,2.28,0.00,0.000,4,0.000,0.060,2821,3157,2142
$GC,10528,0.58,146.0,501.0,9.0,534,10535,0.17,2.28,0.00,0.000,6,0.128,0.043,2781,1730,2141
$GC,10859,0.79,182.2,481.7,5.9,543,10892,0.15,0.00,29.95,1.091,6,0.066,0.000,2853,1729,2002
$GC,11183,0.66,182.2,450.6,9.8,551,11185,0.20,0.00,0.00,0.000,6,0.120,0.000,2794,1729,1996
$GC,11509,0.82,209.4,430.0,6.1,559,11539,0.15,2.40,23.55,1.055,4,0.068,0.059,2862,3157,1890
$GC,11556,0.62,209.4,425.3,10.9,560,11561,0.28,2.28,0.00,0.000,6,0.127,0.044,2790,1738,1887
$GC,11875,0.81,226.9,404.6,6.5,568,11896,0.15,2.30,15.40,1.006,4,0.065,0.057,2872,330,1819
$GC,11914,0.72,226.9,400.9,11.0,569,11919,0.22,2.28,0.00,0.000,6,0.117,0.046,2804,1751,1818
$GC,12245,0.86,231.8,377.6,6.9,584,12255,0.15,2.22,5.28,0.789,4,0.064,0.058,2872,3154,1799
$GC,12323,0.59,231.8,368.0,12.7,587,12330,0.32,2.28,0.00,0.000,6,0.127,0.044,2784,1727,1797
$GC,12638,1.20,231.8,346.5,8.0,603,12643,0.38,2.35,0.00,0.000,4,0.091,0.057,2918,3160,1796
$GC,12671,1.20,231.8,343.1,10.2,604,12675,0.00,2.28,0.00,0.000,6,0.000,0.044,2927,1734,1795
$GC,12992,0.84,231.8,293.3,15.5,620,12997,0.28,2.30,0.00,0.000,4,0.137,0.054,2848,326,1796
$GC,13054,0.84,231.8,286.8,8.7,623,13058,0.00,2.30,0.00,0.000,6,0.000,0.047,2848,1742,1796
$GC,13386,0.79,231.8,255.8,9.3,639,13389,0.00,2.30,0.00,0.000,4,0.000,0.059,2848,3158,1796
$GC,13425,0.65,231.8,251.7,10.5,640,13431,0.22,2.28,0.00,0.000,6,0.119,0.043,2790,1725,1795
$GC,13741,1.22,231.8,232.3,7.1,656,13743,0.43,0.00,0.00,0.000,6,0.100,0.000,2933,1725,1794
$GC,14049,0.88,231.8,190.2,15.3,671,14054,0.28,2.35,0.00,0.000,4,0.133,0.058,2845,3151,1795
$GC,14116,0.78,231.8,182.7,10.5,674,14121,0.10,2.25,0.00,0.000,6,0.132,0.044,2824,1724,1795
$GC,14443,0.90,231.8,158.2,7.3,690,14448,0.10,2.22,0.00,0.000,4,0.077,0.055,2884,326,1796
$GC,14476,0.85,231.8,155.0,10.6,691,14480,0.15,2.22,0.00,0.000,6,0.122,0.045,2839,1746,1796
$GC,14797,0.91,231.8,129.4,7.8,707,14801,0.00,2.22,0.00,0.000,4,0.000,0.059,2839,3147,1796
$GC,14857,0.91,231.8,124.0,9.3,709,14864,0.00,2.22,0.00,0.000,6,0.000,0.043,2846,1735,1796
$GC,15173,0.96,231.8,98.8,7.4,725,15179,0.00,2.28,0.00,0.000,4,0.000,0.057,2856,332,1796
$GC,15209,1.04,231.8,96.1,7.5,731,15216,0.10,2.28,0.00,0.000,6,0.079,0.045,2906,1739,1796
$GC,15555,0.89,231.8,63.1,8.1,792,15562,0.20,2.33,0.00,0.000,4,0.127,0.058,2841,3158,1796
$GC,15591,0.93,264.4,61.0,6.0,798,15627,0.00,2.25,28.55,0.851,6,0.000,0.044,2847,1736,1665
$GC,15967,1.48,290.4,40.4,6.2,864,15997,0.35,2.40,22.45,0.826,4,0.075,0.061,2981,3160,1560
$GC,16009,1.48,290.4,37.0,7.8,871,16016,0.00,2.28,0.00,0.000,6,0.000,0.045,2992,1742,1558
$STATE,16255,end climb,SURFACE_DEPTH_REACHED
$STATE,16255,begin surface coast
$FINISH,1.5,1.026436
$STATE,16273,end surface coast,CONTROL_FINISHED_OK
$STATE,16273,begin surface
$SM_CCo,16351,0.00,0.000,0,0,1550,293.13
$SM_GC,2.12,7.22,0.00,0.00,0.055,0.000,0.000,338,2234,1550,-10.57,0.11,293.13
$RAFOS_CLK,628
$RAFOS,4,1226119450,4.750000,4.736111,65,55,53,53,51,51,201,181,121,150,168,228
$RAFOS,3,1226118871,4.583333,4.575278,58,58,53,51,50,49,193,213,127,159,142,175
$RAFOS,2,1226118256,4.416667,4.404444,67,59,54,53,52,52,214,569,201,128,190,171
$RAFOS,1,1226117642,4.250000,4.233889,73,58,54,54,53,53,196,219,120,174,162,228
$RAFOS,0,1226117073,4.083333,4.075833,59,58,57,53,51,48,179,161,198,209,131,225
$RAFOS_FIX,6701.073730,-5544.408203,061108,161620,2,94,4.46
$IRIDIUM_FIX,6636.54,-5704.59,020298,010118
$TT8_MAMPS,0.026078
$HUMID,1773
$INTERNAL_PRESSURE,9.93202
$TCM_TEMP,16.50
$XPDR_PINGS,75
$24V_AH,22.7,50.261
$10V_AH,10.6,22.979
$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,24.225,138.525,374.625,0.000,0.000,53.122,75.126,365.981,18.750,0.000,0.000,11.934,1714.462,12342.083,501.767,1713.718,760.731,33.407,1439.034,0.000,1693.903,1800.000,0.532,0.000
$DEVICE_MAMPS,241.605,88.205,1166.607,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,636.775,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31592,918
$CAP_FILE_SIZE,138970,0
$CFSIZE,260165632,232611840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.5
$GPS,081108,063308,6703.247,-5658.898,55,1.4,55,-37.6