version: 66.04
glider: 108
mission: 11
dive: 116
start: 9 29 108 11 51 43
data:
$ID,108
$MISSION,11
$DIVE,116
$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,-113179.77
$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,21
$R_STBD_OVSHOOT,20
$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
$GPS1,114607,6640.404,-6013.495,28,1.2,28,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-70.4
$GPS2,115050,6640.398,-6013.515,13,1.2,13,-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,-0.217,-0.086
$KALMAN_X,34290.1,-202.8,-210.8,-106984.2,857.6
$KALMAN_Y,-40999.7,-405.5,-767.4,21009.6,1678.0
$MHEAD_RNG_PITCHd_Wd,286.3,21802,-13.0,-7.021
$D_GRID,543
$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,-40.10,0.000,2,0.000,0.000,336,2240,2365
$GC,60,-1.00,-146.0,3.1,-1.5,7,115,8.50,2.35,-39.25,0.000,4,0.255,0.093,2432,3606,3343
$GC,368,-0.69,-146.0,45.8,-12.3,61,375,0.28,2.28,0.00,0.000,6,0.151,0.055,2512,2218,3348
$GC,712,-0.69,-146.0,72.2,-6.9,122,718,0.00,2.35,0.00,0.000,4,0.000,0.079,2504,3604,3350
$GC,858,-0.69,-146.0,83.5,-7.9,148,865,0.00,2.25,0.00,0.000,6,0.000,0.056,2504,2228,3350
$GC,1205,-0.69,-146.0,113.6,-9.2,191,1209,0.00,2.33,0.00,0.000,4,0.000,0.080,2493,3605,3350
$GC,1243,-0.69,-146.0,117.3,-9.3,192,1250,0.00,2.28,0.00,0.000,6,0.000,0.055,2493,2230,3350
$GC,1559,-0.69,-146.0,144.3,-8.1,208,1563,0.00,2.35,0.00,0.000,4,0.000,0.069,2494,813,3350
$GC,1630,-0.60,-146.0,150.4,-8.5,211,1635,0.12,2.35,0.00,0.000,6,0.137,0.067,2525,2232,3350
$GC,1954,-0.69,-146.0,173.2,-7.6,227,1955,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2232,3350
$GC,2260,-0.79,-146.0,196.2,-7.2,242,2265,0.15,2.35,0.00,0.000,4,0.085,0.070,2465,817,3349
$GC,2331,-0.65,-146.0,203.3,-10.7,245,2337,0.17,2.35,0.00,0.000,6,0.139,0.068,2530,2233,3349
$GC,2653,-0.79,-146.0,223.8,-5.9,261,2657,0.17,2.35,0.00,0.000,4,0.081,0.070,2462,819,3348
$GC,2701,-0.63,-146.0,228.1,-9.2,263,2706,0.25,2.33,0.00,0.000,6,0.145,0.068,2524,2240,3348
$GC,3023,-0.76,-146.0,247.0,-5.7,279,3027,0.12,2.20,0.00,0.000,4,0.089,0.082,2465,3599,3348
$GC,3094,-0.68,-146.0,253.0,-8.3,282,3099,0.17,2.22,0.00,0.000,6,0.153,0.058,2515,2228,3348
$GC,3421,-0.78,-146.0,275.0,-6.7,298,3426,0.10,2.30,0.00,0.000,4,0.100,0.072,2473,812,3347
$GC,3483,-0.67,-146.0,280.0,-9.0,301,3487,0.17,2.30,0.00,0.000,6,0.147,0.068,2512,2232,3347
$GC,3815,-0.77,-146.0,299.9,-5.6,317,3819,0.10,2.20,0.00,0.000,4,0.097,0.082,2462,3610,3347
$GC,3886,-0.69,-146.0,305.2,-8.1,320,3891,0.17,2.20,0.00,0.000,6,0.153,0.058,2511,2228,3347
$GC,4213,-0.79,-146.0,321.5,-4.9,336,4217,0.10,2.30,0.00,0.000,4,0.098,0.071,2469,816,3347
$GC,4297,-0.68,-146.0,327.5,-7.5,340,4301,0.17,2.30,0.00,0.000,6,0.147,0.068,2509,2234,3347
$GC,4628,-0.79,-146.0,345.9,-5.6,356,4632,0.10,2.20,0.00,0.000,4,0.097,0.081,2459,3602,3347
$GC,4701,-0.72,-146.0,351.4,-8.2,359,4705,0.15,2.17,0.00,0.000,6,0.156,0.058,2500,2228,3346
$GC,5027,-0.79,-146.0,371.6,-6.4,375,5030,0.00,2.25,0.00,0.000,4,0.000,0.071,2500,822,3347
$GC,5096,-0.79,-146.0,376.2,-6.8,378,5099,0.00,2.30,0.00,0.000,6,0.000,0.067,2492,2244,3347
$GC,5428,-0.79,-146.0,396.3,-6.0,394,5429,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2244,3347
$GC,5754,-0.84,-146.0,415.7,-6.0,404,5757,0.00,2.35,0.00,0.000,4,0.000,0.070,2491,810,3347
$GC,5826,-0.84,-146.0,420.3,-6.5,405,5830,0.00,2.33,0.00,0.000,6,0.000,0.066,2482,2247,3347
$GC,6168,-0.84,-146.0,440.8,-6.0,414,6169,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2246,3347
$GC,6493,-0.84,-146.0,460.0,-5.7,422,6494,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2246,3348
$GC,6818,-0.84,-146.0,479.5,-6.1,430,6822,0.00,2.33,0.00,0.000,4,0.000,0.068,2482,817,3348
$GC,6873,-0.84,-146.0,483.3,-6.5,431,6877,0.00,2.30,0.00,0.000,6,0.000,0.065,2470,2247,3348
$GC,7192,-0.84,-146.0,503.1,-5.9,439,7196,0.00,2.30,0.00,0.000,4,0.000,0.067,2471,820,3348
$GC,7218,-0.84,-146.0,505.0,-6.8,439,7223,0.00,2.30,0.00,0.000,6,0.000,0.065,2461,2233,3348
$GC,7561,-0.79,-146.0,527.3,-6.8,448,7563,0.10,0.00,0.00,0.000,6,0.161,0.000,2486,2232,3348
$STATE,7843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7843,begin apogee
$GC,7849,-0.31,0.0,544.6,6.1,455,7974,0.32,0.00,121.78,1.211,6,0.125,0.000,2592,1730,2745
$STATE,7974,end apogee,CONTROL_FINISHED_OK
$STATE,7975,begin climb
$GC,7976,1.00,146.0,547.2,0.0,458,8109,0.88,2.62,123.75,1.139,4,0.104,0.072,2885,335,2148
$GC,8153,0.75,146.0,532.2,11.7,462,8158,0.25,2.50,0.00,0.000,6,0.129,0.058,2817,1742,2146
$GC,8471,0.75,146.0,508.7,7.2,470,8474,0.00,2.38,0.00,0.000,4,0.000,0.071,2817,3150,2141
$GC,8492,0.69,146.0,507.0,7.9,470,8496,0.00,2.38,0.00,0.000,6,0.000,0.057,2825,1734,2140
$GC,8840,0.69,146.0,481.0,7.6,479,8841,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1733,2140
$GC,9165,0.64,146.0,456.9,7.4,487,9167,0.12,0.00,0.00,0.000,6,0.135,0.000,2790,1733,2140
$GC,9490,0.80,189.9,438.3,5.6,495,9533,0.15,2.45,35.70,1.128,4,0.079,0.071,2852,3159,1970
$GC,9561,0.58,189.9,432.1,10.8,496,9565,0.28,2.38,0.00,0.000,6,0.137,0.057,2783,1733,1966
$GC,9902,0.83,228.8,412.6,5.8,505,9943,0.17,0.00,33.40,1.105,6,0.071,0.000,2855,1733,1811
$GC,10249,0.75,228.8,379.5,9.8,518,10254,0.15,2.38,0.00,0.000,4,0.126,0.071,2820,331,1805
$GC,10270,0.75,228.8,377.7,8.8,519,10274,0.00,2.35,0.00,0.000,6,0.000,0.057,2820,1750,1804
$GC,10598,0.82,228.8,354.0,7.3,535,10602,0.00,2.33,0.00,0.000,4,0.000,0.071,2819,3164,1803
$GC,10625,0.82,228.8,351.6,8.3,536,10629,0.00,2.38,0.00,0.000,6,0.000,0.056,2829,1736,1802
$GC,10952,0.87,228.8,326.4,7.4,552,10953,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1736,1802
$GC,11262,0.94,243.6,305.8,6.5,567,11276,0.12,0.00,12.50,1.019,6,0.083,0.000,2882,1736,1751
$GC,11572,0.80,243.6,274.5,10.4,582,11576,0.17,2.40,0.00,0.000,4,0.127,0.071,2829,3166,1747
$GC,11581,0.68,243.6,273.2,10.5,582,11588,0.12,2.35,0.00,0.000,6,0.132,0.055,2802,1728,1747
$GC,11897,1.33,243.6,248.3,9.4,598,11902,0.40,2.38,0.00,0.000,4,0.082,0.070,2950,3155,1745
$GC,11923,1.33,243.6,245.3,11.4,599,11928,0.00,2.35,0.00,0.000,6,0.000,0.058,2961,1731,1746
$GC,12244,0.96,243.6,196.1,15.3,615,12249,0.30,2.30,0.00,0.000,4,0.146,0.072,2875,334,1746
$GC,12316,0.96,243.6,188.7,8.9,618,12320,0.00,2.33,0.00,0.000,6,0.000,0.058,2875,1744,1746
$GC,12637,0.96,243.6,161.1,8.4,634,12641,0.00,2.25,0.00,0.000,4,0.000,0.073,2875,3152,1746
$GC,12663,0.86,243.6,158.7,8.8,635,12668,0.15,2.28,0.00,0.000,6,0.135,0.059,2842,1733,1746
$GC,12990,1.02,273.4,138.0,6.1,651,13019,0.12,0.00,26.00,0.989,6,0.082,0.000,2894,1733,1630
$GC,13320,0.97,273.4,108.7,8.6,667,13322,0.12,0.00,0.00,0.000,6,0.130,0.000,2858,1733,1622
$GC,13644,1.12,282.9,87.2,6.7,706,13656,0.15,0.00,8.30,0.884,6,0.079,0.000,2918,1733,1591
$GC,13994,1.01,282.9,51.5,10.7,768,14000,0.15,0.00,0.00,0.000,6,0.136,0.000,2875,1733,1588
$GC,14338,1.13,303.2,26.5,6.4,829,14362,0.10,0.00,18.52,0.925,6,0.090,0.000,2915,1732,1509
$GC,14700,1.23,325.7,3.4,6.3,893,14707,0.00,0.00,5.62,0.775,2,0.000,0.000,2915,1732,1483
$STATE,14708,end climb,SURFACE_DEPTH_REACHED
$STATE,14708,begin surface coast
$FINISH,1.8,1.012179
$STATE,14758,end surface coast,CONTROL_FINISHED_OK
$STATE,14758,begin surface
$SM_CCo,14833,0.00,0.000,0,0,1479,310.55
$SM_GC,2.55,7.10,0.00,0.00,0.061,0.000,0.000,331,2236,1479,-10.59,0.17,310.55
$RAFOS_CLK,633
$RAFOS,4,1222692254,12.750000,12.737223,56,52,48,48,46,46,203,177,120,217,159,226
$RAFOS,3,1222691650,12.583333,12.569445,83,61,59,58,57,54,724,208,197,155,234,170
$RAFOS,2,1222691052,12.416667,12.403334,67,67,60,57,53,53,215,910,146,181,120,137
$RAFOS,1,1222690453,12.250000,12.236944,113,67,62,60,58,55,678,212,162,119,180,152
$RAFOS,0,1222689842,12.083333,12.067223,60,59,57,56,53,52,157,572,183,201,222,147
$RAFOS_FIX,6639.233398,-6008.353027,290908,121240,2,98,2.03
$IRIDIUM_FIX,6609.62,-6011.94,241297,070728
$TT8_MAMPS,0.026845
$HUMID,1821
$INTERNAL_PRESSURE,9.86366
$TCM_TEMP,15.20
$XPDR_PINGS,60
$24V_AH,22.9,24.040
$10V_AH,10.6,11.222
$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,22.475,113.175,385.575,0.000,0.000,24.353,30.171,123.879,15.000,0.000,0.000,14.967,1653.578,10966.029,492.108,1681.698,332.185,33.367,1398.730,0.000,1660.661,1800.000,0.529,0.000
$DEVICE_MAMPS,254.644,92.807,1211.093,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,632.128,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28441,903
$CAP_FILE_SIZE,121974,0
$CFSIZE,260165632,244903936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.6
$GPS,290908,160026,6640.935,-6016.830,39,1.2,39,-38.0