version: 66.04
glider: 108
mission: 11
dive: 121
start: 9 30 108 8 31 56
data:
$ID,108
$MISSION,11
$DIVE,121
$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,-113256.04
$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,20
$R_STBD_OVSHOOT,21
$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
$GPS1,082556,6636.917,-6031.189,39,1.0,39,-37.9
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-70.7
$GPS2,083103,6636.878,-6031.125,13,1.5,13,-37.9
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.112,0.205
$KALMAN_X,36207.3,2.7,254.5,-122389.5,-94.8
$KALMAN_Y,-50498.0,-903.4,-1581.4,25302.6,-1041.2
$MHEAD_RNG_PITCHd_Wd,9.3,12870,-13.0,-7.021
$D_GRID,487
$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,-1.00,-146.0,0.0,0.0,0,65,0.00,0.00,-47.00,0.000,2,0.000,0.000,336,2245,2375
$GC,68,-1.00,-146.0,3.1,-1.4,8,122,8.65,2.35,-39.83,0.000,4,0.258,0.094,2431,3595,3343
$GC,363,-0.71,-146.0,45.4,-13.4,60,370,0.25,2.28,0.00,0.000,6,0.150,0.057,2503,2218,3348
$GC,707,-0.71,-146.0,76.3,-7.7,121,713,0.00,2.33,0.00,0.000,4,0.000,0.070,2503,819,3349
$GC,820,-0.65,-146.0,85.5,-8.1,141,826,0.00,2.35,0.00,0.000,6,0.000,0.068,2495,2244,3350
$GC,1165,-0.61,-146.0,113.4,-8.1,181,1170,0.12,2.22,0.00,0.000,4,0.150,0.084,2520,3605,3350
$GC,1249,-0.69,-146.0,120.1,-8.3,184,1255,0.00,2.25,0.00,0.000,6,0.000,0.058,2520,2215,3350
$GC,1564,-0.75,-146.0,141.6,-6.3,200,1569,0.10,2.30,0.00,0.000,4,0.097,0.071,2478,821,3350
$GC,1632,-0.63,-146.0,147.2,-8.4,203,1637,0.20,2.33,0.00,0.000,6,0.143,0.069,2526,2236,3350
$GC,1958,-0.74,-146.0,165.4,-5.3,219,1960,0.12,0.00,0.00,0.000,6,0.090,0.000,2477,2235,3350
$GC,2267,-0.65,-146.0,188.5,-8.0,234,2269,0.15,0.00,0.00,0.000,6,0.153,0.000,2518,2236,3350
$GC,2578,-0.74,-146.0,210.0,-6.4,249,2580,0.10,0.00,0.00,0.000,6,0.098,0.000,2478,2235,3350
$GC,2885,-0.68,-146.0,234.5,-7.9,264,2887,0.12,0.00,0.00,0.000,6,0.156,0.000,2511,2235,3349
$GC,3195,-0.75,-146.0,254.6,-6.4,279,3196,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2235,3349
$GC,3506,-0.83,-146.0,274.4,-6.6,294,3508,0.12,0.00,0.00,0.000,6,0.094,0.000,2462,2235,3349
$GC,3813,-0.72,-146.0,299.8,-8.5,309,3815,0.15,0.00,0.00,0.000,6,0.156,0.000,2504,2236,3349
$GC,4123,-0.78,-146.0,321.1,-7.0,324,4124,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2235,3349
$GC,4434,-0.84,-146.0,340.9,-6.0,339,4439,0.12,2.40,0.00,0.000,4,0.095,0.072,2454,823,3348
$GC,4511,-0.68,-146.0,347.3,-8.6,342,4518,0.22,2.33,0.00,0.000,6,0.146,0.071,2509,2235,3348
$GC,4827,-0.78,-146.0,366.2,-5.8,358,4828,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2235,3348
$GC,5136,-0.88,-146.0,383.6,-5.5,373,5138,0.15,0.00,0.00,0.000,6,0.085,0.000,2450,2235,3348
$GC,5444,-0.75,-146.0,406.8,-7.7,386,5448,0.17,2.22,0.00,0.000,4,0.160,0.082,2490,3599,3348
$GC,5555,-0.83,-146.0,414.2,-5.9,388,5559,0.00,2.22,0.00,0.000,6,0.000,0.058,2490,2226,3348
$GC,5903,-0.83,-146.0,435.0,-5.7,397,5906,0.00,2.30,0.00,0.000,4,0.000,0.071,2490,813,3348
$GC,5992,-0.83,-146.0,440.6,-6.7,399,5996,0.00,2.33,0.00,0.000,6,0.000,0.068,2480,2240,3348
$GC,6322,-0.83,-146.0,459.5,-5.7,407,6326,0.00,2.20,0.00,0.000,4,0.000,0.082,2469,3606,3348
$GC,6461,-0.83,-146.0,468.3,-6.1,410,6465,0.00,2.25,0.00,0.000,6,0.000,0.058,2470,2206,3348
$STATE,6742,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6743,begin apogee
$GC,6748,-0.31,0.0,487.3,7.1,417,6872,0.40,0.00,121.15,1.190,6,0.133,0.000,2595,1734,2745
$STATE,6872,end apogee,CONTROL_FINISHED_OK
$STATE,6873,begin climb
$GC,6874,1.00,146.0,490.8,0.0,420,7002,0.85,0.00,123.72,1.117,6,0.103,0.000,2870,1734,2149
$GC,7322,0.78,146.0,450.5,9.9,431,7327,0.17,2.53,0.00,0.000,4,0.128,0.073,2821,3154,2141
$GC,7361,0.63,146.0,446.6,9.5,432,7366,0.15,2.47,0.00,0.000,6,0.137,0.059,2789,1739,2140
$GC,7685,0.81,191.0,427.8,5.6,440,7728,0.15,2.60,37.17,1.102,4,0.076,0.073,2849,3160,1966
$GC,7750,0.65,191.0,422.1,9.7,441,7755,0.22,2.50,0.00,0.000,6,0.134,0.059,2797,1731,1962
$GC,8092,0.85,233.2,401.7,5.7,450,8134,0.15,0.00,36.33,1.088,6,0.073,0.000,2858,1731,1794
$GC,8442,0.75,233.2,370.9,9.1,466,8443,0.15,0.00,0.00,0.000,6,0.125,0.000,2815,1730,1785
$GC,8751,0.95,276.7,352.9,5.6,481,8792,0.17,0.00,37.72,1.072,6,0.073,0.000,2883,1730,1616
$GC,9100,0.82,276.7,317.9,10.6,498,9105,0.17,2.47,0.00,0.000,4,0.126,0.074,2840,318,1607
$GC,9127,0.88,276.7,315.4,8.5,499,9131,0.00,2.40,0.00,0.000,6,0.000,0.058,2840,1738,1607
$GC,9448,0.96,276.7,291.7,7.4,515,9453,0.10,2.33,0.00,0.000,4,0.091,0.072,2883,3156,1604
$GC,9469,0.90,276.7,289.5,10.1,516,9474,0.17,2.38,0.00,0.000,6,0.138,0.058,2844,1735,1604
$GC,9797,0.98,276.7,261.7,8.2,532,9802,0.10,2.40,0.00,0.000,4,0.087,0.075,2895,320,1603
$GC,9813,0.98,276.7,260.2,8.5,533,9818,0.12,2.35,0.00,0.000,6,0.135,0.058,2861,1750,1603
$GC,10138,0.98,276.7,230.5,8.8,549,10140,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1750,1602
$GC,10447,0.98,276.7,205.1,7.8,564,10451,0.00,2.30,0.00,0.000,4,0.000,0.077,2860,3154,1602
$GC,10457,0.98,276.7,204.3,7.5,564,10462,0.00,2.35,0.00,0.000,6,0.000,0.059,2868,1739,1602
$GC,10779,0.98,278.0,181.0,7.0,580,10782,0.00,2.40,0.00,0.000,4,0.000,0.076,2878,328,1602
$GC,10794,0.99,281.7,179.9,6.9,580,10801,0.00,2.35,0.00,0.000,6,0.000,0.061,2878,1741,1602
$GC,11109,0.99,281.7,155.7,8.1,596,11110,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1741,1602
$GC,11419,0.99,281.7,129.2,8.7,611,11420,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1741,1601
$GC,11728,0.99,281.7,102.8,8.8,626,11729,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1741,1601
$GC,12061,0.99,281.7,74.8,8.2,680,12067,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1741,1601
$GC,12404,1.04,285.6,47.8,6.9,741,12417,0.00,2.42,6.40,0.841,4,0.000,0.076,2887,332,1580
$GC,12429,1.09,285.6,45.9,7.2,745,12436,0.00,2.33,0.00,0.000,6,0.000,0.061,2887,1748,1579
$GC,12774,1.33,324.9,21.3,5.8,806,12814,0.17,0.00,34.95,0.933,6,0.077,0.000,2959,1747,1420
$STATE,12975,end climb,SURFACE_DEPTH_REACHED
$STATE,12975,begin surface coast
$FINISH,1.7,1.018823
$STATE,13010,end surface coast,CONTROL_FINISHED_OK
$STATE,13010,begin surface
$SM_CCo,13086,0.00,0.000,0,0,1409,327.72
$SM_GC,2.63,7.22,0.00,0.00,0.059,0.000,0.000,335,2236,1409,-10.58,0.17,327.72
$RAFOS_CLK,564
$RAFOS,4,1222764244,8.750000,8.734445,75,72,60,59,55,51,899,116,197,157,140,212
$RAFOS,3,1222763642,8.583333,8.567223,69,57,56,53,50,48,224,787,181,157,170,243
$RAFOS_FIX,6638.782715,-6027.773926,300908,080828,3,92,0.00
$IRIDIUM_FIX,6614.97,-6021.37,251297,040429
$TT8_MAMPS,0.028379
$HUMID,1808
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,15.30
$XPDR_PINGS,17
$24V_AH,23.0,24.718
$10V_AH,10.6,11.504
$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,21.275,76.750,397.450,0.000,0.000,25.603,36.209,140.235,4.250,0.000,0.000,15.192,1498.891,9571.425,506.097,1487.359,340.958,33.369,1292.596,0.000,1472.897,1080.000,0.529,0.000
$DEVICE_MAMPS,258.479,93.574,1190.384,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,593.571,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28370,848
$CAP_FILE_SIZE,103190,0
$CFSIZE,260165632,244621312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.6
$GPS,300908,121132,6638.450,-6032.453,39,1.2,39,-38.0