version: 66.04
glider: 108
mission: 11
dive: 70
start: 9 18 108 11 16 24
data:
$ID,108
$MISSION,11
$DIVE,70
$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,-112348.9
$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,29
$R_STBD_OVSHOOT,24
$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
$GPS1,110955,6657.829,-5659.654,64,0.9,64,-37.5
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-65.1
$GPS2,111532,6657.830,-5659.675,12,1.0,12,-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,-0.199,-0.009
$KALMAN_X,4252.1,-124.7,680.7,56999.8,-415.1
$KALMAN_Y,77.7,-122.4,-1137.9,10777.8,548.6
$MHEAD_RNG_PITCHd_Wd,304.9,25671,-14.2,-7.021
$D_GRID,697
$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,15,begin dive
$GC,17,-1.07,-146.0,0.0,0.0,0,65,0.00,0.00,-46.00,0.000,2,0.000,0.000,331,2239,2829
$GC,67,-1.07,-146.0,3.0,-2.0,8,103,8.60,2.28,-19.70,0.000,4,0.263,0.087,2412,3594,3494
$GC,356,-0.85,-146.0,50.1,-14.4,59,363,0.20,2.17,0.00,0.000,6,0.146,0.050,2469,2209,3499
$GC,700,-0.85,-146.0,85.8,-9.4,120,706,0.00,2.30,0.00,0.000,4,0.000,0.071,2461,3600,3502
$GC,812,-0.85,-146.0,97.6,-10.5,140,819,0.00,2.15,0.00,0.000,6,0.000,0.050,2461,2228,3503
$GC,1129,-0.85,-146.0,130.0,-10.2,159,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2228,3503
$GC,1439,-0.85,-146.0,161.3,-10.2,174,1443,0.00,2.25,0.00,0.000,4,0.000,0.074,2451,3597,3502
$GC,1528,-0.85,-146.0,170.8,-10.5,178,1533,0.08,2.15,0.00,0.000,6,0.166,0.051,2470,2221,3502
$GC,1859,-0.85,-146.0,201.7,-9.0,194,1861,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2221,3501
$GC,2169,-0.90,-146.0,229.9,-9.1,209,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2221,3500
$GC,2479,-0.95,-146.0,256.1,-8.0,224,2480,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2221,3500
$GC,2790,-1.01,-146.0,278.4,-6.7,239,2794,0.12,2.25,0.00,0.000,4,0.085,0.075,2409,3595,3499
$GC,2873,-0.88,-146.0,286.4,-10.1,243,2878,0.20,2.12,0.00,0.000,6,0.147,0.053,2467,2228,3499
$GC,3201,-0.95,-146.0,308.2,-6.5,259,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2228,3499
$GC,3508,-1.03,-146.0,328.7,-6.6,274,3510,0.12,0.00,0.00,0.000,6,0.084,0.000,2416,2228,3499
$GC,3818,-0.92,-146.0,357.5,-9.6,289,3822,0.15,2.25,0.00,0.000,4,0.148,0.072,2450,3606,3498
$GC,3905,-0.92,-146.0,364.9,-8.0,293,3910,0.00,2.17,0.00,0.000,6,0.000,0.050,2450,2221,3498
$GC,4232,-0.92,-146.0,389.7,-7.9,309,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2221,3499
$GC,4539,-0.92,-146.0,414.3,-8.0,320,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2221,3499
$GC,4864,-0.92,-146.0,440.9,-8.3,328,4867,0.00,2.25,0.00,0.000,4,0.000,0.073,2440,3599,3499
$GC,4963,-0.92,-146.0,449.9,-9.2,330,4968,0.00,2.15,0.00,0.000,6,0.000,0.050,2440,2225,3499
$GC,5285,-0.92,-146.0,477.5,-8.7,338,5288,0.00,2.22,0.00,0.000,4,0.000,0.063,2439,816,3500
$GC,5351,-0.86,-146.0,483.7,-8.7,339,5355,0.10,2.30,0.00,0.000,6,0.134,0.059,2475,2240,3500
$GC,5699,-0.98,-146.0,506.7,-6.4,348,5704,0.12,2.12,0.00,0.000,4,0.085,0.071,2413,3598,3500
$GC,5782,-0.87,-146.0,514.3,-9.3,349,5789,0.15,2.12,0.00,0.000,6,0.143,0.049,2463,2229,3500
$GC,6114,-0.95,-146.0,536.4,-6.6,358,6118,0.00,2.22,0.00,0.000,4,0.000,0.062,2463,818,3500
$GC,6169,-0.95,-146.0,540.5,-7.0,359,6173,0.00,2.28,0.00,0.000,6,0.000,0.059,2455,2247,3500
$GC,6487,-0.95,-146.0,563.9,-7.5,367,6491,0.00,2.12,0.00,0.000,4,0.000,0.073,2445,3604,3500
$GC,6564,-0.95,-146.0,570.3,-8.5,368,6569,0.00,2.15,0.00,0.000,6,0.000,0.049,2445,2222,3500
$GC,6900,-0.95,-146.0,597.3,-8.1,377,6901,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2222,3500
$GC,7225,-0.95,-146.0,623.3,-8.0,385,7226,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2222,3500
$GC,7550,-0.95,-146.0,648.8,-7.8,393,7554,0.00,2.22,0.00,0.000,4,0.000,0.073,2434,3598,3500
$GC,7667,-0.95,-146.0,658.6,-8.3,395,7671,0.00,2.12,0.00,0.000,6,0.000,0.050,2434,2233,3500
$GC,8009,-0.95,-146.0,686.5,-8.3,404,8010,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2233,3500
$STATE,8170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8170,begin apogee
$GC,8174,-0.31,0.0,698.9,7.6,408,8301,0.50,0.00,123.70,1.296,6,0.133,0.000,2593,1746,2895
$STATE,8302,end apogee,CONTROL_FINISHED_OK
$STATE,8302,begin climb
$GC,8303,1.07,146.0,702.5,0.0,411,8432,0.90,0.00,124.32,1.227,6,0.096,0.000,2889,1745,2299
$GC,8751,0.81,146.0,660.0,11.0,422,8756,0.20,2.45,0.00,0.000,4,0.132,0.068,2842,332,2293
$GC,8771,0.67,146.0,657.8,9.6,422,8777,0.15,2.40,0.00,0.000,6,0.130,0.053,2802,1736,2293
$GC,9114,0.68,150.8,634.3,6.9,431,9123,0.00,2.35,4.38,0.832,4,0.000,0.067,2802,3163,2280
$GC,9157,0.61,150.8,631.0,8.0,432,9161,0.00,2.33,0.00,0.000,6,0.000,0.054,2808,1738,2280
$GC,9486,0.61,152.1,608.0,7.0,440,9487,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1738,2279
$GC,9811,0.61,152.7,585.3,7.0,448,9812,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1738,2279
$GC,10136,0.62,157.7,562.8,6.9,456,10145,0.00,0.00,7.35,1.043,6,0.000,0.000,2808,1738,2252
$GC,10461,0.63,171.0,541.1,6.6,464,10475,0.00,0.00,12.48,1.131,6,0.000,0.000,2808,1738,2198
$GC,10786,0.63,173.4,518.7,6.9,472,10787,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1738,2196
$GC,11111,0.64,176.5,496.2,6.9,480,11122,0.00,2.35,6.25,0.974,4,0.000,0.069,2818,335,2174
$GC,11132,0.64,176.5,494.5,7.9,480,11137,0.08,2.33,0.00,0.000,6,0.128,0.053,2792,1740,2174
$GC,11474,0.79,201.5,473.1,6.2,489,11504,0.15,2.38,22.02,1.144,4,0.077,0.067,2853,3153,2072
$GC,11526,0.60,201.5,468.4,10.0,490,11531,0.28,2.33,0.00,0.000,6,0.138,0.054,2784,1725,2069
$GC,11844,0.85,249.0,449.8,5.5,498,11891,0.20,2.47,40.88,1.136,4,0.067,0.067,2870,3158,1879
$GC,11902,0.68,249.0,444.2,11.2,499,11907,0.28,2.38,0.00,0.000,6,0.136,0.053,2802,1732,1875
$GC,12249,0.86,268.3,421.1,6.4,508,12268,0.15,0.00,16.10,1.069,6,0.074,0.000,2864,1732,1801
$GC,12555,0.78,268.3,390.2,10.2,517,12557,0.15,0.00,0.00,0.000,6,0.128,0.000,2821,1732,1796
$GC,12864,0.86,268.3,366.6,7.4,532,12866,0.10,0.00,0.00,0.000,6,0.086,0.000,2862,1732,1794
$GC,13173,0.78,268.3,335.6,10.3,547,13175,0.15,0.00,0.00,0.000,6,0.131,0.000,2818,1731,1793
$GC,13483,0.87,268.3,312.0,7.3,562,13487,0.10,2.33,0.00,0.000,4,0.087,0.069,2870,331,1793
$GC,13492,0.94,268.3,311.1,7.4,562,13499,0.00,2.30,0.00,0.000,6,0.000,0.053,2870,1736,1793
$GC,13808,0.84,268.3,279.7,10.1,578,13812,0.12,2.28,0.00,0.000,4,0.139,0.067,2834,3154,1792
$GC,13824,0.76,268.3,278.1,9.8,579,13828,0.00,2.28,0.00,0.000,6,0.000,0.054,2842,1726,1791
$GC,14156,0.76,268.3,247.5,9.5,595,14158,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1726,1791
$GC,14464,0.76,268.3,219.5,8.4,610,14468,0.00,2.30,0.00,0.000,4,0.000,0.069,2851,327,1791
$GC,14491,0.83,268.3,217.3,8.7,611,14496,0.00,2.30,0.00,0.000,6,0.000,0.054,2851,1742,1792
$GC,14819,0.83,268.3,190.0,8.3,627,14820,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1742,1792
$GC,15127,0.87,268.3,166.7,7.1,642,15128,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1742,1792
$GC,15437,0.95,268.3,143.8,7.6,657,15441,0.00,2.30,0.00,0.000,4,0.000,0.071,2851,3166,1792
$GC,15447,1.03,268.3,142.9,7.7,657,15451,0.00,2.25,0.00,0.000,6,0.000,0.054,2860,1739,1792
$GC,15768,1.09,268.3,116.0,8.2,673,15772,0.12,2.30,0.00,0.000,4,0.086,0.070,2922,329,1792
$GC,15777,1.09,268.3,115.1,8.0,673,15784,0.08,2.08,0.00,0.000,6,0.142,0.052,2896,1618,1793
$GC,16105,1.09,268.3,84.4,9.3,710,16111,0.00,2.45,0.00,0.000,4,0.000,0.069,2896,3162,1793
$GC,16151,0.95,268.3,79.7,10.3,718,16158,0.15,2.25,0.00,0.000,6,0.144,0.056,2862,1736,1792
$GC,16496,1.05,272.4,56.1,6.9,779,16509,0.10,2.35,3.58,0.624,4,0.091,0.069,2904,3152,1784
$GC,16520,1.05,272.4,54.0,7.6,783,16527,0.12,2.25,0.00,0.000,6,0.151,0.057,2880,1726,1784
$GC,16864,1.15,272.4,27.7,7.4,844,16870,0.10,0.00,0.00,0.000,6,0.091,0.000,2920,1726,1783
$STATE,17200,end climb,SURFACE_DEPTH_REACHED
$STATE,17200,begin surface coast
$FINISH,1.4,1.014034
$STATE,17253,end surface coast,CONTROL_FINISHED_OK
$STATE,17253,begin surface
$SM_CCo,17268,0.82,0.120,0,0,1774,275.23
$SM_GC,2.72,0.00,0.00,0.82,0.000,0.000,0.120,334,2242,1774,-10.69,0.34,275.23
$RAFOS_CLK,720
$RAFOS,4,1221741864,12.750000,12.740000,72,56,51,51,51,50,711,206,97,217,191,152
$RAFOS,3,1221741243,12.583333,12.567500,65,65,64,59,58,57,193,210,955,159,177,222
$RAFOS,2,1221740649,12.416667,12.402500,81,66,65,64,60,56,593,201,137,179,163,222
$RAFOS,1,1221740049,12.250000,12.235833,80,61,59,54,50,48,820,181,228,208,127,117
$RAFOS,0,1221739444,12.083333,12.067778,56,52,50,50,48,48,203,187,145,178,167,125
$RAFOS_FIX,6659.753418,-5705.851074,180908,121230,3,78,1.29
$IRIDIUM_FIX,6631.12,-5656.72,131297,060652
$TT8_MAMPS,0.026845
$HUMID,1878
$INTERNAL_PRESSURE,9.93202
$TCM_TEMP,15.70
$XPDR_PINGS,21
$24V_AH,23.2,16.657
$10V_AH,10.6,8.036
$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,21.050,105.725,361.050,0.825,0.000,29.347,36.501,165.121,5.250,0.000,0.000,13.913,1691.492,13399.046,473.619,1680.568,373.202,33.356,1381.196,0.000,1666.456,1800.000,0.531,0.000
$DEVICE_MAMPS,263.081,87.438,1296.230,120.419,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,637.681,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31492,913
$CAP_FILE_SIZE,125869,0
$CFSIZE,260165632,248606720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.6
$GPS,180908,160538,6658.438,-5706.499,31,1.1,31,-37.5