version: 66.04
glider: 108
mission: 11
dive: 67
start: 9 17 108 21 39 38
data:
$ID,108
$MISSION,11
$DIVE,67
$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,-112301.18
$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,28
$R_STBD_OVSHOOT,25
$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
$GPS1,213408,6700.594,-5649.842,40,1.1,40,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-70.7
$GPS2,213845,6700.611,-5649.766,12,1.3,12,-37.5
$SPEED_LIMITS,0.122,0.200
$TGT_NAME,TARGET_ADD4_WB
$TGT_LATLONG,6659.000,-5735.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.196,-0.040
$KALMAN_X,1540.2,-664.4,534.2,67599.7,1223.3
$KALMAN_Y,6278.6,224.9,-2333.5,10590.0,4062.9
$MHEAD_RNG_PITCHd_Wd,295.8,32891,-14.2,-7.021
$D_GRID,599
$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,-146.0,0.0,0.0,0,70,0.00,0.00,-51.50,0.000,2,0.000,0.000,340,2248,2768
$GC,72,-1.07,-146.0,3.1,-1.9,9,109,8.77,2.25,-21.58,0.000,4,0.272,0.088,2411,3597,3494
$GC,361,-0.81,-146.0,50.3,-13.9,60,368,0.25,2.17,0.00,0.000,6,0.149,0.050,2483,2211,3499
$GC,705,-0.81,-146.0,80.4,-8.7,121,711,0.00,2.28,0.00,0.000,4,0.000,0.072,2475,3602,3501
$GC,784,-0.81,-146.0,87.9,-9.5,135,790,0.00,2.15,0.00,0.000,6,0.000,0.046,2475,2212,3501
$GC,1122,-0.81,-146.0,118.2,-8.4,168,1126,0.00,2.22,0.00,0.000,4,0.000,0.061,2475,815,3501
$GC,1166,-0.81,-146.0,122.2,-8.9,170,1170,0.00,2.30,0.00,0.000,6,0.000,0.060,2464,2236,3502
$GC,1499,-0.81,-146.0,150.5,-8.4,186,1503,0.00,2.17,0.00,0.000,4,0.000,0.075,2454,3605,3501
$GC,1547,-0.81,-146.0,155.4,-9.7,188,1553,0.08,2.17,0.00,0.000,6,0.152,0.051,2478,2221,3500
$GC,1876,-0.86,-146.0,181.8,-8.1,204,1880,0.00,2.25,0.00,0.000,4,0.000,0.075,2470,3607,3500
$GC,1921,-0.90,-146.0,185.8,-8.9,206,1925,0.00,2.15,0.00,0.000,6,0.000,0.051,2470,2222,3500
$GC,2252,-0.90,-146.0,214.0,-8.4,222,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2222,3499
$GC,2561,-0.90,-146.0,240.0,-8.3,237,2565,0.00,2.22,0.00,0.000,4,0.000,0.066,2470,825,3498
$GC,2606,-0.90,-146.0,243.9,-8.5,239,2609,0.00,2.28,0.00,0.000,6,0.000,0.064,2460,2235,3498
$GC,2938,-0.90,-146.0,272.4,-8.7,255,2942,0.00,2.15,0.00,0.000,4,0.000,0.076,2449,3595,3497
$GC,3015,-0.90,-146.0,280.0,-9.7,258,3020,0.00,2.15,0.00,0.000,6,0.000,0.051,2449,2226,3497
$GC,3337,-0.90,-146.0,308.4,-8.4,274,3340,0.00,2.25,0.00,0.000,4,0.000,0.065,2449,815,3497
$GC,3386,-0.85,-146.0,312.7,-8.7,276,3391,0.08,2.30,0.00,0.000,6,0.141,0.061,2476,2230,3497
$GC,3713,-0.96,-146.0,334.5,-6.4,292,3717,0.12,2.17,0.00,0.000,4,0.085,0.074,2414,3610,3497
$GC,3796,-0.85,-146.0,342.5,-10.0,296,3801,0.20,2.15,0.00,0.000,6,0.148,0.051,2472,2215,3497
$GC,4122,-0.94,-146.0,363.6,-6.5,312,4126,0.00,2.22,0.00,0.000,4,0.000,0.064,2473,814,3496
$GC,4178,-1.00,-146.0,367.5,-7.0,314,4182,0.10,2.28,0.00,0.000,6,0.087,0.058,2420,2238,3496
$GC,4497,-0.91,-146.0,395.2,-8.9,330,4502,0.15,2.15,0.00,0.000,4,0.152,0.072,2454,3606,3497
$GC,4575,-0.95,-146.0,401.3,-7.6,333,4579,0.00,2.15,0.00,0.000,6,0.000,0.049,2454,2228,3497
$GC,4911,-0.95,-146.0,426.7,-7.5,342,4915,0.00,2.22,0.00,0.000,4,0.000,0.061,2454,816,3498
$GC,4955,-0.95,-146.0,430.4,-8.1,343,4959,0.00,2.25,0.00,0.000,6,0.000,0.058,2443,2233,3497
$GC,5284,-0.95,-146.0,455.7,-7.7,351,5288,0.00,2.12,0.00,0.000,4,0.000,0.071,2433,3603,3498
$GC,5367,-0.95,-146.0,462.6,-8.7,352,5374,0.00,2.15,0.00,0.000,6,0.000,0.048,2433,2218,3498
$GC,5698,-0.91,-146.0,489.6,-8.4,361,5703,0.10,2.20,0.00,0.000,4,0.160,0.059,2459,824,3498
$GC,5758,-0.91,-146.0,494.4,-7.9,362,5762,0.00,2.28,0.00,0.000,6,0.000,0.057,2451,2235,3498
$GC,6106,-0.91,-146.0,520.6,-7.5,371,6107,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2235,3499
$GC,6431,-0.91,-146.0,545.1,-7.6,379,6432,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2235,3500
$GC,6756,-0.91,-146.0,569.6,-7.6,387,6759,0.00,2.15,0.00,0.000,4,0.000,0.070,2440,3598,3501
$GC,6827,-0.91,-146.0,575.3,-7.9,388,6832,0.00,2.12,0.00,0.000,6,0.000,0.045,2440,2227,3501
$STATE,7168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7168,begin apogee
$GC,7173,-0.31,0.0,600.5,7.4,397,7298,0.47,0.00,122.35,1.205,6,0.130,0.000,2591,1735,2895
$STATE,7299,end apogee,CONTROL_FINISHED_OK
$STATE,7299,begin climb
$GC,7300,1.07,146.0,603.1,0.0,400,7427,0.90,0.00,122.55,1.142,6,0.093,0.000,2889,1735,2299
$GC,7747,0.79,146.0,556.1,11.9,411,7751,0.20,2.42,0.00,0.000,4,0.133,0.061,2829,3158,2294
$GC,7790,0.59,146.0,551.3,10.4,412,7795,0.15,2.35,0.00,0.000,6,0.130,0.049,2779,1745,2293
$GC,8114,0.73,158.9,529.7,6.6,420,8133,0.15,2.40,11.27,1.040,4,0.077,0.062,2840,3150,2246
$GC,8149,0.54,158.9,526.5,9.9,420,8156,0.28,2.30,0.00,0.000,6,0.136,0.050,2772,1737,2245
$GC,8480,0.73,180.5,505.2,6.3,429,8502,0.15,0.00,18.98,1.096,6,0.076,0.000,2832,1736,2159
$GC,8805,0.65,180.5,474.4,9.7,437,8810,0.12,2.38,0.00,0.000,4,0.133,0.063,2798,3163,2155
$GC,8831,0.65,180.5,472.0,8.7,437,8836,0.00,2.33,0.00,0.000,6,0.000,0.050,2805,1739,2155
$GC,9168,0.65,180.5,446.5,7.4,446,9172,0.00,2.35,0.00,0.000,4,0.000,0.063,2805,3163,2155
$GC,9177,0.65,180.5,445.6,7.4,446,9182,0.00,2.30,0.00,0.000,6,0.000,0.048,2814,1736,2154
$GC,9496,0.65,180.5,421.3,7.6,454,9500,0.00,2.30,0.00,0.000,4,0.000,0.063,2813,3149,2154
$GC,9516,0.65,180.5,419.5,8.7,454,9522,0.08,2.28,0.00,0.000,6,0.138,0.049,2798,1736,2154
$GC,9845,0.75,186.5,396.8,6.8,463,9856,0.08,2.33,6.03,0.878,4,0.099,0.061,2832,3156,2133
$GC,9878,0.61,186.5,393.8,9.5,464,9885,0.20,2.25,0.00,0.000,6,0.137,0.050,2785,1735,2133
$GC,10194,0.78,208.6,373.6,6.3,480,10219,0.15,2.38,19.23,1.035,4,0.075,0.062,2848,3149,2044
$GC,10241,0.60,208.6,369.1,10.9,482,10246,0.25,2.30,0.00,0.000,6,0.137,0.049,2784,1737,2042
$GC,10568,0.83,243.8,348.1,5.9,498,10601,0.17,0.00,30.38,1.030,6,0.071,0.000,2856,1737,1900
$GC,10896,0.72,243.8,313.8,10.6,514,10898,0.17,0.00,0.00,0.000,6,0.125,0.000,2805,1737,1894
$GC,11206,0.84,244.6,291.2,7.0,529,11211,0.12,2.33,0.00,0.000,4,0.079,0.062,2856,3153,1892
$GC,11238,0.69,244.6,287.9,11.0,530,11243,0.15,2.30,0.00,0.000,6,0.130,0.049,2805,1732,1892
$GC,11560,0.85,262.5,265.4,6.4,546,11581,0.12,2.40,15.45,0.951,4,0.078,0.063,2869,327,1824
$GC,11591,0.85,262.5,262.6,7.9,547,11596,0.08,2.33,0.00,0.000,6,0.126,0.048,2842,1740,1824
$GC,11912,0.85,262.5,232.9,9.1,563,11916,0.00,2.25,0.00,0.000,4,0.000,0.064,2843,3152,1821
$GC,11950,0.78,262.5,229.0,10.4,564,11958,0.10,2.25,0.00,0.000,6,0.143,0.050,2823,1732,1819
$GC,12266,0.90,262.5,204.9,7.3,580,12267,0.12,0.00,0.00,0.000,6,0.081,0.000,2875,1732,1819
$GC,12575,0.83,262.5,174.1,10.1,595,12580,0.15,2.33,0.00,0.000,4,0.128,0.064,2830,3159,1820
$GC,12597,0.83,262.5,171.9,9.0,596,12601,0.00,2.25,0.00,0.000,6,0.000,0.051,2838,1728,1819
$GC,12930,0.94,262.5,146.9,7.7,612,12934,0.10,2.33,0.00,0.000,4,0.089,0.064,2881,3164,1819
$GC,12979,0.77,262.5,141.5,11.6,614,12984,0.25,2.25,0.00,0.000,6,0.135,0.051,2815,1737,1819
$GC,13299,1.23,262.5,118.4,7.3,630,13304,0.30,2.30,0.00,0.000,4,0.072,0.064,2935,3157,1818
$GC,13309,1.58,262.5,117.5,7.3,630,13316,0.17,2.25,0.00,0.000,6,0.086,0.052,3011,1727,1817
$GC,13641,1.10,262.5,61.8,16.3,673,13648,0.38,2.33,0.00,0.000,4,0.152,0.067,2892,3159,1818
$GC,13784,0.94,262.5,45.7,10.9,698,13791,0.15,2.25,0.00,0.000,6,0.140,0.054,2857,1732,1818
$GC,14129,1.18,316.2,24.4,5.3,759,14182,0.17,2.42,44.28,0.905,4,0.074,0.067,2928,3146,1605
$GC,14194,1.09,316.2,19.6,7.3,770,14201,0.17,2.30,0.00,0.000,6,0.137,0.054,2888,1737,1602
$STATE,14474,end climb,SURFACE_DEPTH_REACHED
$STATE,14474,begin surface coast
$FINISH,1.4,1.025179
$STATE,14538,end surface coast,CONTROL_FINISHED_OK
$STATE,14538,begin surface
$SM_CCo,14613,0.00,0.000,0,0,1589,320.12
$SM_GC,2.23,6.93,0.00,0.00,0.053,0.000,0.000,334,2240,1589,-10.58,0.28,320.12
$RAFOS_CLK,583
$RAFOS,4,1221698658,0.750000,0.738333,112,66,57,56,53,51,772,207,192,183,162,148
$RAFOS,3,1221698061,0.583333,0.572500,99,61,58,58,58,58,890,191,122,203,222,155
$RAFOS,2,1221697444,0.416667,0.401111,97,65,57,57,56,56,651,197,154,169,211,225
$RAFOS,1,1221696869,0.250000,0.241389,107,61,59,54,54,51,742,202,166,135,190,220
$RAFOS,0,1221696259,0.083333,0.071944,59,57,57,55,51,49,151,199,220,171,211,1237
$RAFOS_FIX,6659.485840,-5655.746582,180908,000028,4,104,0.46
$IRIDIUM_FIX,6636.54,-5650.71,121297,181833
$TT8_MAMPS,0.026078
$HUMID,1832
$INTERNAL_PRESSURE,9.92226
$TCM_TEMP,15.60
$XPDR_PINGS,30
$24V_AH,23.5,16.248
$10V_AH,10.6,7.858
$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,22.850,137.150,390.500,0.000,0.000,25.337,30.088,120.865,7.500,0.000,0.000,13.790,1564.417,10920.503,536.346,1569.987,316.985,33.353,1396.932,0.000,1557.187,1800.000,0.531,0.000
$DEVICE_MAMPS,271.518,88.205,1204.957,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,579.111,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28441,831
$CAP_FILE_SIZE,121871,0
$CFSIZE,260165632,248795136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.0
$GPS,180908,014438,6659.542,-5650.681,31,0.9,31,-37.5