version: 66.04
glider: 108
mission: 11
dive: 63
start: 9 17 108 6 44 50
data:
$ID,108
$MISSION,11
$DIVE,63
$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,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,0.0035999999
$HD_B,0.014
$HD_C,6.1000001e-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,-112224.61
$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,33
$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,2895
$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
$GPS1,063914,6702.373,-5656.321,39,1.7,45,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-71.6
$GPS2,064357,6702.386,-5656.344,12,1.3,12,-37.6
$SPEED_LIMITS,0.122,0.200
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.153,0.129
$KALMAN_X,-2882.4,378.4,-581.8,67304.2,1760.7
$KALMAN_Y,10194.0,313.5,-293.3,7807.7,-1393.0
$MHEAD_RNG_PITCHd_Wd,87.5,6132,-14.2,-7.021
$D_GRID,610
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.07,-146.0,0.0,0.0,0,71,0.00,0.00,-52.45,0.000,2,0.000,0.000,334,2213,2940
$GC,73,-1.07,-146.0,3.4,-2.5,9,104,8.60,2.28,-14.75,0.000,4,0.266,0.077,2430,813,3494
$GC,357,-0.88,-146.0,46.7,-11.3,59,364,0.17,2.33,0.00,0.000,6,0.148,0.060,2470,2245,3499
$GC,700,-0.88,-146.0,81.2,-9.5,120,707,0.00,2.30,0.00,0.000,4,0.000,0.061,2470,822,3501
$GC,825,-0.81,-146.0,93.2,-9.4,142,831,0.00,2.28,0.00,0.000,6,0.000,0.059,2462,2232,3501
$GC,1161,-0.81,-146.0,128.0,-10.2,167,1164,0.00,2.30,0.00,0.000,4,0.000,0.063,2462,809,3501
$GC,1228,-0.73,-146.0,135.3,-11.3,170,1233,0.17,2.30,0.00,0.000,6,0.145,0.060,2501,2232,3501
$GC,1554,-0.87,-146.0,161.9,-7.5,186,1558,0.12,2.17,0.00,0.000,4,0.084,0.074,2440,3599,3500
$GC,1608,-0.78,-146.0,167.6,-11.2,188,1613,0.12,2.15,0.00,0.000,6,0.146,0.051,2481,2226,3500
$GC,1929,-0.86,-146.0,194.8,-8.5,204,1932,0.00,2.22,0.00,0.000,4,0.000,0.074,2473,3601,3500
$GC,1961,-0.94,-146.0,197.9,-9.8,205,1966,0.00,2.15,0.00,0.000,6,0.000,0.051,2473,2227,3500
$GC,2282,-0.99,-146.0,223.7,-7.4,221,2284,0.12,0.00,0.00,0.000,6,0.087,0.000,2421,2227,3499
$GC,2592,-0.86,-146.0,254.5,-10.3,236,2594,0.17,0.00,0.00,0.000,6,0.150,0.000,2470,2227,3498
$GC,2901,-0.93,-146.0,277.4,-7.4,251,2902,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2227,3498
$GC,3210,-1.01,-146.0,300.9,-7.7,266,3212,0.12,0.00,0.00,0.000,6,0.085,0.000,2419,2226,3497
$GC,3520,-0.91,-146.0,331.0,-9.7,281,3521,0.15,0.00,0.00,0.000,6,0.150,0.000,2461,2227,3496
$GC,3830,-0.96,-146.0,355.2,-7.8,296,3831,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2227,3497
$GC,4138,-1.02,-146.0,379.1,-7.5,311,4140,0.12,0.00,0.00,0.000,6,0.085,0.000,2410,2227,3498
$GC,4446,-0.89,-146.0,408.1,-9.3,324,4448,0.20,0.00,0.00,0.000,6,0.146,0.000,2468,2227,3497
$GC,4772,-0.98,-146.0,429.6,-6.6,332,4774,0.10,0.00,0.00,0.000,6,0.091,0.000,2425,2227,3498
$GC,5096,-0.91,-146.0,457.1,-8.5,340,5100,0.12,2.22,0.00,0.000,4,0.151,0.058,2459,820,3498
$GC,5144,-0.91,-146.0,460.9,-7.6,341,5149,0.00,2.30,0.00,0.000,6,0.000,0.056,2451,2242,3499
$GC,5464,-0.91,-146.0,483.3,-7.0,349,5466,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2242,3499
$GC,5788,-0.91,-146.0,505.8,-6.8,357,5789,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2242,3500
$GC,6113,-0.91,-146.0,527.6,-6.9,365,6116,0.00,2.28,0.00,0.000,4,0.000,0.058,2451,817,3500
$GC,6150,-0.91,-146.0,530.7,-7.7,365,6157,0.00,2.28,0.00,0.000,6,0.000,0.054,2441,2229,3500
$GC,6481,-0.91,-146.0,557.0,-8.0,374,6483,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2229,3501
$GC,6806,-0.91,-146.0,583.4,-8.2,382,6807,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2229,3502
$GC,7132,-1.15,-146.0,605.0,-5.4,390,7137,0.12,2.25,0.00,0.000,4,0.080,0.058,2384,823,3502
$STATE,7270,end dive,NO_VERTICAL_VELOCITY
$STATE,7271,begin apogee
$GC,7276,-0.31,0.0,605.1,0.0,393,7401,0.57,0.00,121.80,1.203,6,0.090,0.000,2594,1750,2895
$STATE,7402,end apogee,CONTROL_FINISHED_OK
$STATE,7402,begin climb
$GC,7404,1.07,146.0,604.9,0.0,396,7533,0.90,2.45,121.47,1.143,4,0.092,0.061,2892,3150,2298
$GC,7684,0.63,146.0,574.7,13.6,402,7690,0.40,2.35,0.00,0.000,6,0.145,0.049,2789,1736,2294
$GC,8026,0.74,173.8,552.7,6.1,411,8056,0.12,2.45,23.08,1.103,4,0.083,0.061,2838,3146,2185
$GC,8072,0.57,173.8,548.6,9.1,412,8077,0.22,2.38,0.00,0.000,6,0.130,0.049,2780,1732,2184
$GC,8396,0.76,204.0,528.8,6.0,420,8428,0.15,2.42,26.15,1.110,4,0.077,0.061,2840,3155,2062
$GC,8450,0.58,204.0,523.9,10.5,421,8455,0.25,2.35,0.00,0.000,6,0.137,0.049,2781,1731,2059
$GC,8763,0.77,224.2,502.4,6.4,429,8783,0.15,0.00,17.23,1.078,6,0.075,0.000,2841,1730,1981
$GC,9087,0.66,224.2,469.4,10.5,437,9092,0.15,2.38,0.00,0.000,4,0.130,0.062,2799,3160,1977
$GC,9119,0.66,224.2,466.2,9.7,437,9126,0.00,2.33,0.00,0.000,6,0.000,0.049,2806,1733,1977
$GC,9450,0.66,224.2,439.0,8.1,446,9451,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1733,1976
$GC,9775,0.66,224.2,412.7,8.0,454,9776,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1733,1976
$GC,10082,0.72,224.2,389.1,7.6,464,10083,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1733,1976
$GC,10391,0.79,224.2,366.1,7.5,479,10396,0.08,2.30,0.00,0.000,4,0.097,0.061,2843,3148,1977
$GC,10430,0.61,224.2,362.3,11.1,481,10435,0.22,2.22,0.00,0.000,6,0.136,0.049,2787,1734,1976
$GC,10755,0.82,240.9,341.4,6.5,497,10776,0.17,0.00,15.10,0.999,6,0.069,0.000,2860,1734,1911
$GC,11085,0.69,240.9,305.8,10.7,513,11087,0.20,0.00,0.00,0.000,6,0.125,0.000,2801,1734,1909
$GC,11394,0.85,246.7,284.3,6.8,528,11405,0.15,2.33,5.82,0.814,4,0.074,0.061,2862,3154,1889
$GC,11438,0.64,246.7,279.6,12.5,530,11443,0.28,2.25,0.00,0.000,6,0.133,0.049,2790,1734,1887
$GC,11764,0.91,278.4,259.3,6.0,546,11799,0.20,2.42,27.02,0.982,4,0.067,0.064,2881,328,1760
$GC,11815,0.83,278.4,254.3,10.3,548,11820,0.17,2.33,0.00,0.000,6,0.126,0.048,2830,1747,1759
$GC,12137,0.93,278.4,229.4,7.1,564,12141,0.10,2.25,0.00,0.000,4,0.085,0.062,2871,3152,1754
$GC,12186,0.72,278.4,224.0,11.0,566,12191,0.20,2.28,0.00,0.000,6,0.127,0.050,2815,1742,1753
$GC,12514,0.97,317.6,204.6,5.8,582,12557,0.17,2.45,33.05,0.956,4,0.069,0.064,2896,321,1599
$GC,12568,0.90,317.6,199.2,10.9,584,12573,0.10,2.38,0.00,0.000,6,0.109,0.048,2851,1737,1598
$GC,12889,1.00,317.6,172.5,7.8,600,12894,0.10,2.28,0.00,0.000,4,0.088,0.064,2891,3152,1592
$GC,12921,0.84,317.6,169.2,11.0,601,12928,0.20,2.28,0.00,0.000,6,0.128,0.051,2835,1742,1591
$GC,13237,1.03,328.1,148.0,6.7,617,13251,0.15,2.35,8.98,0.858,4,0.073,0.067,2906,335,1557
$GC,13273,0.97,328.1,144.3,11.1,618,13281,0.15,2.30,0.00,0.000,6,0.133,0.049,2863,1751,1556
$GC,13590,1.06,328.1,116.1,8.6,634,13594,0.10,2.25,0.00,0.000,4,0.089,0.065,2904,3161,1554
$GC,13657,0.86,328.1,107.8,13.2,637,13661,0.25,2.25,0.00,0.000,6,0.136,0.053,2839,1739,1553
$GC,13990,1.10,349.6,85.5,6.3,681,14015,0.20,2.40,19.33,0.916,4,0.069,0.068,2934,335,1469
$GC,14044,1.01,349.6,79.8,11.6,690,14051,0.22,2.30,0.00,0.000,6,0.133,0.052,2869,1743,1467
$GC,14388,1.17,353.1,52.3,6.9,751,14401,0.15,2.33,3.50,0.588,4,0.077,0.068,2928,3154,1455
$GC,14424,1.12,353.1,48.5,10.1,757,14431,0.15,2.28,0.00,0.000,6,0.150,0.055,2898,1732,1455
$GC,14768,1.26,378.6,18.1,6.2,818,14799,0.12,2.38,22.83,0.897,4,0.084,0.070,2958,327,1351
$GC,14810,1.26,378.6,14.3,9.1,825,14817,0.12,2.35,0.00,0.000,6,0.137,0.054,2925,1750,1350
$STATE,14944,end climb,SURFACE_DEPTH_REACHED
$STATE,14944,begin surface coast
$FINISH,1.4,1.002892
$STATE,14985,end surface coast,CONTROL_FINISHED_OK
$STATE,14985,begin surface
$SM_CCo,15059,0.00,0.000,0,0,1341,381.20
$SM_GC,2.36,7.07,0.00,0.00,0.058,0.000,0.000,338,2245,1341,-10.58,0.42,381.20
$RAFOS_CLK,598
$RAFOS,4,1221641043,8.750000,8.734167,60,58,54,53,53,52,212,183,133,155,165,194
$RAFOS,3,1221640451,8.583333,8.569722,131,65,60,58,55,51,952,205,234,220,158,175
$RAFOS,2,1221639879,8.416667,8.410833,91,68,61,58,53,50,465,204,192,179,146,137
$RAFOS,1,1221639270,8.250000,8.241667,60,58,52,51,48,45,170,208,181,144,131,122
$RAFOS,0,1221638659,8.083333,8.071944,67,62,59,55,53,52,220,204,188,162,117,172
$RAFOS_FIX,6700.078613,-5654.342285,170908,080800,2,111,0.70
$IRIDIUM_FIX,6636.54,-5658.34,121297,020233
$TT8_MAMPS,0.026845
$HUMID,1841
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,15.50
$XPDR_PINGS,23
$24V_AH,23.5,15.742
$10V_AH,10.6,7.653
$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,24.425,106.125,445.350,0.000,0.000,22.873,32.987,124.078,5.750,0.000,0.000,13.770,1582.047,11348.325,533.300,1580.069,307.151,33.360,1411.852,0.000,1562.997,1800.000,0.531,0.000
$DEVICE_MAMPS,266.149,76.700,1202.656,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,596.395,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28432,856
$CAP_FILE_SIZE,122145,0
$CFSIZE,260165632,249016320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.9
$GPS,170908,105708,6701.617,-5648.468,30,1.1,30,-37.5