version: 66.04
glider: 108
mission: 11
dive: 213
start: 10 23 108 3 22 32
data:
$ID,108
$MISSION,11
$DIVE,213
$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,900
$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,-114801.07
$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,23
$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
$GPS1,031708,6638.817,-6013.730,31,1.3,31,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-66.6
$GPS2,032139,6638.708,-6013.644,10,1.3,10,-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,-0.176,0.154
$KALMAN_X,59628.7,169.1,-79.8,-173817.0,787.1
$KALMAN_Y,-89639.9,-637.2,-1070.8,62757.5,-1812.5
$MHEAD_RNG_PITCHd_Wd,349.1,22352,-13.0,-7.021
$D_GRID,539
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.00,-146.0,0.0,0.0,0,69,0.00,0.00,-51.92,0.000,2,0.000,0.000,334,2238,2543
$GC,72,-1.00,-146.0,3.2,-1.6,9,116,8.62,2.33,-29.90,0.000,4,0.252,0.095,2427,3605,3342
$GC,296,-0.61,-146.0,36.0,-15.1,48,303,0.32,2.22,0.00,0.000,6,0.153,0.057,2527,2218,3346
$GC,641,-0.66,-146.0,64.6,-7.6,109,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2218,3348
$GC,984,-0.73,-146.0,88.1,-6.9,170,990,0.12,0.00,0.00,0.000,6,0.090,0.000,2477,2218,3348
$GC,1328,-0.62,-146.0,119.1,-8.9,204,1333,0.17,2.33,0.00,0.000,4,0.150,0.086,2517,3602,3348
$GC,1405,-0.70,-146.0,125.1,-7.9,207,1412,0.00,2.20,0.00,0.000,6,0.000,0.056,2517,2217,3348
$GC,1722,-0.76,-146.0,145.0,-5.8,223,1726,0.10,2.25,0.00,0.000,4,0.095,0.070,2475,815,3348
$GC,1816,-0.61,-146.0,152.3,-8.1,227,1821,0.20,2.35,0.00,0.000,6,0.144,0.069,2522,2240,3347
$GC,2137,-0.70,-146.0,170.0,-5.7,243,2141,0.00,2.22,0.00,0.000,4,0.000,0.098,2513,3603,3347
$GC,2192,-0.81,-146.0,173.8,-7.0,245,2197,0.12,2.20,0.00,0.000,6,0.089,0.058,2462,2217,3347
$GC,2513,-0.67,-146.0,204.1,-9.4,261,2518,0.17,2.25,0.00,0.000,4,0.145,0.071,2513,817,3347
$GC,2624,-0.67,-146.0,212.6,-7.1,266,2628,0.00,2.35,0.00,0.000,6,0.000,0.070,2506,2244,3347
$GC,2951,-0.73,-146.0,232.5,-6.0,282,2955,0.00,2.22,0.00,0.000,4,0.000,0.094,2495,3595,3347
$GC,3037,-0.79,-146.0,238.7,-7.4,285,3043,0.00,2.17,0.00,0.000,6,0.000,0.058,2495,2223,3346
$GC,3352,-0.79,-146.0,258.8,-5.9,301,3355,0.00,2.25,0.00,0.000,4,0.000,0.072,2495,823,3346
$GC,3452,-0.79,-146.0,265.5,-6.7,305,3456,0.00,2.33,0.00,0.000,6,0.000,0.071,2487,2234,3347
$GC,3767,-0.79,-146.0,287.4,-6.9,320,3771,0.00,2.25,0.00,0.000,4,0.000,0.084,2477,3605,3346
$GC,3862,-0.79,-146.0,294.2,-6.9,324,3866,0.00,2.20,0.00,0.000,6,0.000,0.058,2477,2216,3347
$GC,4189,-0.79,-146.0,315.4,-6.8,340,4193,0.00,2.25,0.00,0.000,4,0.000,0.071,2477,809,3346
$GC,4312,-0.72,-146.0,324.8,-7.3,345,4317,0.12,2.35,0.00,0.000,6,0.140,0.070,2500,2240,3346
$GC,4628,-0.80,-146.0,343.9,-5.9,360,4630,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2240,3346
$GC,4937,-0.89,-146.0,361.6,-5.7,375,4942,0.12,2.33,0.00,0.000,4,0.087,0.069,2450,816,3347
$GC,5014,-0.74,-146.0,367.8,-8.6,378,5021,0.20,2.33,0.00,0.000,6,0.145,0.070,2496,2232,3347
$GC,5331,-0.81,-146.0,386.4,-5.8,394,5332,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2232,3347
$GC,5659,-0.89,-146.0,405.8,-5.8,408,5664,0.12,2.33,0.00,0.000,4,0.087,0.067,2446,817,3346
$GC,5782,-0.74,-146.0,415.2,-7.7,410,5789,0.22,2.35,0.00,0.000,6,0.141,0.067,2501,2233,3346
$GC,6113,-0.84,-146.0,432.3,-5.1,419,6115,0.12,0.00,0.00,0.000,6,0.088,0.000,2451,2233,3347
$GC,6438,-0.75,-146.0,454.2,-6.8,427,6443,0.17,2.25,0.00,0.000,4,0.151,0.079,2491,3597,3348
$GC,6505,-0.85,-146.0,458.5,-6.4,428,6510,0.00,2.17,0.00,0.000,6,0.000,0.054,2491,2222,3348
$GC,6853,-0.91,-146.0,478.7,-6.0,437,6858,0.12,2.28,0.00,0.000,4,0.087,0.067,2439,813,3348
$GC,6993,-0.74,-146.0,490.5,-9.1,440,6998,0.22,2.38,0.00,0.000,6,0.141,0.066,2494,2235,3348
$GC,7312,-0.81,-146.0,504.4,-3.9,448,7316,0.00,2.25,0.00,0.000,4,0.000,0.079,2487,3600,3348
$GC,7396,-0.88,-146.0,509.2,-5.1,449,7402,0.00,2.17,0.00,0.000,6,0.000,0.054,2487,2223,3349
$GC,7728,-0.96,-146.0,527.1,-5.1,458,7732,0.12,2.25,0.00,0.000,4,0.087,0.066,2434,819,3348
$GC,7839,-0.77,-146.0,535.4,-7.7,460,7843,0.22,2.30,0.00,0.000,6,0.142,0.066,2489,2232,3348
$STATE,7940,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7940,begin apogee
$GC,7946,-0.31,0.0,541.2,5.4,463,8072,0.32,0.00,123.22,1.215,6,0.126,0.000,2593,1736,2745
$STATE,8073,end apogee,CONTROL_FINISHED_OK
$STATE,8073,begin climb
$GC,8075,1.00,146.0,543.6,0.0,466,8209,0.88,2.62,126.53,1.141,4,0.104,0.071,2884,324,2148
$GC,8244,0.76,146.0,530.6,10.2,470,8249,0.25,2.53,0.00,0.000,6,0.132,0.056,2818,1739,2145
$GC,8562,0.76,146.0,507.6,7.3,478,8565,0.00,2.40,0.00,0.000,4,0.000,0.071,2818,3160,2141
$GC,8589,0.69,146.0,505.7,7.2,478,8593,0.00,2.40,0.00,0.000,6,0.000,0.056,2825,1727,2141
$GC,8931,0.69,146.0,480.3,7.8,487,8935,0.00,2.42,0.00,0.000,4,0.000,0.071,2826,3158,2140
$GC,8970,0.54,146.0,477.0,8.2,487,8977,0.22,2.33,0.00,0.000,6,0.133,0.056,2773,1736,2140
$GC,9301,0.92,167.6,457.8,6.3,496,9326,0.25,2.42,17.88,1.108,4,0.072,0.071,2871,3150,2061
$GC,9354,0.66,167.6,453.2,9.9,497,9359,0.30,2.30,0.00,0.000,6,0.143,0.056,2796,1739,2059
$GC,9667,0.86,215.2,435.2,5.5,505,9714,0.17,2.42,41.17,1.127,4,0.067,0.071,2869,3162,1866
$GC,9831,0.59,215.2,416.9,12.5,508,9838,0.32,2.33,0.00,0.000,6,0.136,0.058,2785,1740,1859
$GC,10143,1.27,215.2,392.5,9.0,518,10148,0.43,2.30,0.00,0.000,4,0.100,0.070,2931,331,1856
$GC,10170,1.49,215.2,389.7,10.4,519,10174,0.17,2.33,0.00,0.000,6,0.077,0.058,2999,1753,1857
$GC,10496,0.87,215.2,322.7,21.3,535,10501,0.50,2.28,0.00,0.000,4,0.157,0.071,2848,3155,1857
$GC,10536,0.71,215.2,316.7,12.4,537,10541,0.17,2.28,0.00,0.000,6,0.129,0.058,2806,1737,1855
$GC,10868,1.07,234.9,295.5,6.4,553,10891,0.22,2.35,15.75,1.024,4,0.081,0.071,2892,3150,1786
$GC,10930,0.88,234.9,289.9,9.1,555,10937,0.20,2.28,0.00,0.000,6,0.141,0.057,2848,1736,1784
$GC,11245,0.88,234.9,266.0,7.3,571,11249,0.00,2.30,0.00,0.000,4,0.000,0.071,2855,333,1783
$GC,11267,0.88,234.9,264.4,7.6,572,11271,0.00,2.30,0.00,0.000,6,0.000,0.058,2855,1746,1783
$GC,11598,0.88,234.9,239.9,7.2,588,11602,0.00,2.28,0.00,0.000,4,0.000,0.072,2855,3152,1782
$GC,11643,0.77,234.9,236.2,8.8,590,11647,0.15,2.28,0.00,0.000,6,0.131,0.057,2821,1726,1781
$GC,11975,1.00,281.8,217.3,5.5,606,12022,0.17,2.42,40.62,1.028,4,0.069,0.072,2895,3163,1596
$GC,12044,0.82,281.8,210.9,11.3,609,12049,0.25,2.35,0.00,0.000,6,0.134,0.058,2834,1729,1592
$GC,12365,1.44,281.8,188.8,7.9,625,12370,0.40,2.30,0.00,0.000,4,0.097,0.071,2973,332,1586
$GC,12386,1.80,281.8,186.7,9.1,626,12391,0.25,2.33,0.00,0.000,6,0.067,0.058,3070,1753,1586
$GC,12713,1.11,281.8,112.6,23.0,642,12715,0.60,0.00,0.00,0.000,6,0.163,0.000,2897,1753,1585
$GC,13038,1.11,281.8,83.5,8.4,681,13044,0.00,2.40,0.00,0.000,4,0.000,0.074,2904,323,1583
$GC,13068,1.11,281.8,80.9,8.3,686,13075,0.00,2.33,0.00,0.000,6,0.000,0.061,2904,1741,1583
$GC,13411,1.11,281.8,54.1,7.4,747,13418,0.00,2.30,0.00,0.000,4,0.000,0.076,2904,3156,1582
$GC,13452,1.01,281.8,50.8,8.3,754,13459,0.15,2.28,0.00,0.000,6,0.138,0.061,2871,1737,1582
$GC,13796,1.57,281.8,28.0,7.9,815,13803,0.38,2.33,0.00,0.000,4,0.094,0.074,3002,327,1580
$GC,13929,1.32,281.8,13.2,12.0,838,13937,0.22,2.33,0.00,0.000,6,0.150,0.065,2939,1745,1580
$STATE,14036,end climb,SURFACE_DEPTH_REACHED
$STATE,14036,begin surface coast
$FINISH,1.8,1.013041
$STATE,14077,end surface coast,CONTROL_FINISHED_OK
$STATE,14078,begin surface
$SM_CCo,14154,0.00,0.000,0,0,1578,286.27
$SM_GC,2.51,7.07,0.00,0.00,0.060,0.000,0.000,338,2235,1578,-10.57,0.14,286.27
$RAFOS_CLK,601
$RAFOS,4,1224737045,4.750000,4.734722,72,64,55,53,47,47,854,212,188,170,229,124
$RAFOS,3,1224736446,4.583333,4.568333,70,65,64,58,52,51,193,134,211,166,175,119
$RAFOS,2,1224735855,4.416667,4.404167,62,58,55,55,53,52,200,897,211,134,186,168
$RAFOS,1,1224735254,4.250000,4.237222,75,63,54,53,51,48,678,216,120,130,162,173
$RAFOS,0,1224734642,4.083333,4.067222,82,67,60,59,52,51,588,211,190,154,121,165
$RAFOS_FIX,6620.255371,-5855.395996,231008,040404,4,75,17.74
$IRIDIUM_FIX,6614.97,-6013.96,160198,232319
$TT8_MAMPS,0.026845
$HUMID,1807
$INTERNAL_PRESSURE,9.86366
$TCM_TEMP,15.10
$XPDR_PINGS,61
$24V_AH,22.7,39.381
$10V_AH,10.6,18.165
$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,25.725,140.150,365.175,0.000,0.000,22.956,32.988,104.209,15.250,0.000,0.000,13.493,1697.488,10116.715,489.576,1808.288,360.834,33.376,1465.603,0.000,1778.401,1800.000,0.529,0.000
$DEVICE_MAMPS,252.343,98.176,1214.928,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,604.351,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28410,864
$CAP_FILE_SIZE,128489,0
$CFSIZE,260165632,237322240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.6
$GPS,231008,072049,6638.745,-6016.521,41,1.5,51,-37.9