version: 66.04
glider: 108
mission: 11
dive: 219
start: 10 24 108 3 46 37
data:
$ID,108
$MISSION,11
$DIVE,219
$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,-114919.09
$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,22
$R_STBD_OVSHOOT,19
$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
$GPS1,033708,6638.092,-6035.526,29,1.2,29,-38.0
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-67.1
$GPS2,034544,6637.888,-6035.280,9,1.4,14,-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,0.004,0.233
$KALMAN_X,59957.6,-74.6,-36.4,-189665.6,170.9
$KALMAN_Y,-103718.3,-791.4,-730.5,75141.1,-3436.4
$MHEAD_RNG_PITCHd_Wd,38.8,9486,-13.0,-7.021
$D_GRID,472
$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,-40.75,0.000,2,0.000,0.000,336,2241,2335
$GC,61,-1.00,-146.0,3.0,-1.5,7,122,8.73,2.45,-46.53,0.000,4,0.254,0.078,2448,816,3342
$GC,214,-0.62,-146.0,18.7,-16.7,33,221,0.30,2.42,0.00,0.000,6,0.153,0.067,2523,2244,3346
$GC,559,-0.62,-146.0,52.3,-7.7,94,565,0.00,2.40,0.00,0.000,4,0.000,0.066,2524,802,3347
$GC,745,-0.62,-146.0,68.7,-9.3,127,752,0.00,2.42,0.00,0.000,6,0.000,0.068,2516,2240,3348
$GC,1088,-0.62,-146.0,96.9,-8.0,188,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2240,3348
$GC,1423,-0.62,-146.0,122.0,-7.4,210,1427,0.00,2.28,0.00,0.000,4,0.000,0.084,2506,3604,3348
$GC,1467,-0.62,-146.0,125.8,-8.7,212,1472,0.00,2.25,0.00,0.000,6,0.000,0.053,2506,2210,3348
$GC,1800,-0.62,-146.0,151.3,-7.5,228,1804,0.00,2.28,0.00,0.000,4,0.000,0.068,2505,819,3347
$GC,1895,-0.62,-146.0,159.3,-7.9,232,1900,0.08,2.40,0.00,0.000,6,0.137,0.069,2521,2232,3347
$GC,2223,-0.69,-146.0,181.7,-6.7,248,2227,0.00,2.28,0.00,0.000,4,0.000,0.083,2512,3604,3348
$GC,2273,-0.77,-146.0,185.6,-7.5,250,2278,0.08,2.22,0.00,0.000,6,0.106,0.054,2478,2216,3347
$GC,2602,-0.68,-146.0,214.8,-8.9,266,2607,0.12,2.30,0.00,0.000,4,0.150,0.067,2513,812,3347
$GC,2690,-0.68,-146.0,222.4,-8.7,270,2695,0.00,2.40,0.00,0.000,6,0.000,0.069,2505,2229,3347
$GC,3017,-0.68,-146.0,247.7,-7.6,286,3018,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2229,3347
$GC,3326,-0.68,-146.0,271.2,-7.4,301,3327,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2229,3347
$GC,3636,-0.68,-146.0,292.8,-6.5,316,3637,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2229,3347
$GC,3946,-0.73,-146.0,315.0,-7.7,331,3947,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2229,3347
$GC,4254,-0.80,-146.0,338.6,-7.5,346,4256,0.08,0.00,0.00,0.000,6,0.107,0.000,2468,2229,3346
$GC,4564,-0.73,-146.0,363.9,-7.7,361,4568,0.12,2.30,0.00,0.000,4,0.154,0.083,2493,3596,3346
$GC,4664,-0.81,-146.0,371.3,-7.5,365,4670,0.00,2.22,0.00,0.000,6,0.000,0.055,2493,2220,3346
$GC,4981,-0.81,-146.0,391.3,-6.0,381,4982,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2220,3346
$GC,5288,-0.87,-146.0,410.1,-6.2,392,5293,0.10,2.30,0.00,0.000,4,0.096,0.066,2451,820,3346
$GC,5384,-0.71,-146.0,417.9,-8.3,394,5389,0.22,2.40,0.00,0.000,6,0.143,0.070,2505,2240,3346
$GC,5697,-0.82,-146.0,434.9,-5.1,402,5699,0.10,0.00,0.00,0.000,6,0.093,0.000,2464,2241,3346
$GC,6022,-0.82,-146.0,455.4,-6.6,410,6023,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2241,3346
$STATE,6263,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6263,begin apogee
$GC,6269,-0.31,0.0,472.3,7.2,416,6394,0.43,0.00,122.20,1.191,6,0.137,0.000,2594,1733,2745
$STATE,6395,end apogee,CONTROL_FINISHED_OK
$STATE,6395,begin climb
$GC,6397,1.00,146.0,475.6,0.0,419,6528,0.88,0.00,126.12,1.117,6,0.107,0.000,2872,1732,2149
$GC,6846,0.82,146.0,437.8,9.1,430,6851,0.15,2.58,0.00,0.000,4,0.132,0.072,2832,3156,2142
$GC,6861,0.67,146.0,436.4,9.0,430,6866,0.15,2.47,0.00,0.000,6,0.138,0.054,2800,1734,2141
$GC,7204,0.84,197.9,417.9,5.4,439,7250,0.15,0.00,43.60,1.104,6,0.073,0.000,2861,1733,1938
$GC,7551,0.75,197.9,388.1,9.0,450,7553,0.17,0.00,0.00,0.000,6,0.126,0.000,2811,1733,1931
$GC,7861,0.92,219.1,368.1,6.3,465,7887,0.17,2.50,18.48,1.058,4,0.074,0.072,2881,3147,1850
$GC,7898,0.75,219.1,364.9,9.9,466,7905,0.25,2.38,0.00,0.000,6,0.136,0.054,2820,1735,1849
$GC,8213,0.90,230.4,343.6,6.7,482,8226,0.12,0.00,10.68,0.994,6,0.077,0.000,2874,1735,1805
$GC,8522,0.84,230.4,314.5,9.5,497,8524,0.15,0.00,0.00,0.000,6,0.125,0.000,2830,1735,1802
$GC,8831,0.99,245.7,294.2,6.5,512,8852,0.15,0.00,14.57,1.020,6,0.077,0.000,2892,1735,1742
$GC,9160,0.91,245.7,261.9,9.8,528,9165,0.15,2.42,0.00,0.000,4,0.128,0.073,2848,3162,1738
$GC,9194,0.91,245.7,258.8,9.2,529,9201,0.00,2.38,0.00,0.000,6,0.000,0.054,2856,1730,1737
$GC,9510,0.98,245.7,235.1,7.2,545,9511,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1730,1737
$GC,9820,1.06,245.7,213.0,7.2,560,9825,0.12,2.38,0.00,0.000,4,0.084,0.073,2908,3153,1736
$GC,9848,0.90,245.7,210.4,9.8,561,9852,0.25,2.30,0.00,0.000,6,0.141,0.056,2846,1735,1735
$GC,10168,1.05,245.8,187.8,7.0,577,10173,0.15,2.35,0.00,0.000,4,0.075,0.071,2917,330,1735
$GC,10185,1.10,245.8,186.5,7.3,578,10189,0.00,2.33,0.00,0.000,6,0.000,0.061,2918,1753,1735
$GC,10519,0.96,245.8,151.5,10.1,594,10521,0.20,0.00,0.00,0.000,6,0.136,0.000,2858,1753,1735
$GC,10827,1.09,267.0,130.8,6.3,609,10848,0.12,0.00,18.67,0.989,6,0.084,0.000,2909,1753,1656
$GC,11156,1.00,267.0,102.3,8.6,625,11161,0.15,2.45,0.00,0.000,4,0.138,0.071,2874,333,1651
$GC,11173,1.00,267.0,101.1,8.1,626,11177,0.00,2.35,0.00,0.000,6,0.000,0.061,2874,1752,1651
$GC,11516,1.09,267.0,77.5,7.1,684,11521,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1751,1650
$GC,11859,1.24,286.9,54.4,6.4,745,11883,0.17,0.00,17.83,0.945,6,0.074,0.000,2947,1751,1574
$GC,12222,1.13,286.9,18.9,8.3,809,12229,0.17,2.33,0.00,0.000,4,0.134,0.077,2896,3156,1568
$GC,12307,1.13,286.9,11.9,8.7,824,12314,0.00,2.35,0.00,0.000,6,0.000,0.059,2903,1739,1567
$STATE,12441,end climb,SURFACE_DEPTH_REACHED
$STATE,12441,begin surface coast
$FINISH,1.8,1.023113
$STATE,12488,end surface coast,CONTROL_FINISHED_OK
$STATE,12488,begin surface
$SM_CCo,12565,0.00,0.000,0,0,1564,289.70
$SM_GC,2.52,7.05,0.00,0.00,0.061,0.000,0.000,332,2229,1564,-10.60,-0.03,289.70
$RAFOS_CLK,548
$RAFOS,4,1224823445,4.750000,4.734722,64,57,55,53,52,49,214,114,174,201,152,127
$RAFOS,3,1224822847,4.583333,4.568611,58,57,57,56,54,51,206,181,227,147,158,124
$RAFOS,2,1224822246,4.416667,4.401667,72,56,54,53,53,52,1006,150,202,214,115,162
$RAFOS,1,1224821650,4.250000,4.236111,56,55,51,51,50,50,190,213,139,223,156,235
$RAFOS,0,1224821044,4.083333,4.067778,80,58,58,56,55,55,618,217,193,142,175,155
$RAFOS_FIX,6640.861816,-6032.325195,241008,040400,2,76,3.26
$IRIDIUM_FIX,6614.97,-6040.90,170198,232359
$TT8_MAMPS,0.026845
$HUMID,1806
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,15.10
$XPDR_PINGS,43
$24V_AH,22.7,40.218
$10V_AH,10.5,18.511
$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,21.250,72.575,372.150,0.000,0.000,48.447,120.314,164.387,10.750,0.000,0.000,16.473,1509.878,9126.678,470.849,1469.580,510.792,33.371,1253.849,0.000,1450.139,1800.000,0.530,0.000
$DEVICE_MAMPS,253.877,83.603,1191.151,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,600.053,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28410,856
$CAP_FILE_SIZE,100850,0
$CFSIZE,260165632,236998656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1445.8
$GPS,241008,071737,6637.820,-6035.122,39,1.8,44,-37.9