version: 66.04
glider: 108
mission: 11
dive: 238
start: 10 27 108 7 24 2
data:
$ID,108
$MISSION,11
$DIVE,238
$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,-115200.4
$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,27
$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
$GPS1,071656,6642.136,-6000.862,46,1.1,46,-38.0
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-69.5
$GPS2,072309,6642.083,-6000.687,13,1.0,13,-38.0
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_ADD2_EB
$TGT_LATLONG,6651.000,-5910.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.233,-0.015
$KALMAN_X,76924.6,268.0,84.5,-181963.9,-398.5
$KALMAN_Y,-142481.4,-1217.9,-1845.2,123212.0,1999.2
$MHEAD_RNG_PITCHd_Wd,131.7,40431,-13.0,-7.021
$D_GRID,640
$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,-146.0,0.0,0.0,0,70,0.00,0.00,-51.47,0.000,2,0.000,0.000,336,2237,2702
$GC,73,-1.00,-146.0,3.1,-1.7,9,109,8.60,2.38,-21.08,0.000,4,0.249,0.079,2446,811,3344
$GC,150,-0.60,-146.0,13.3,-13.2,22,157,0.32,2.42,0.00,0.000,6,0.146,0.068,2530,2236,3347
$GC,494,-0.65,-146.0,46.7,-7.8,83,501,0.00,2.28,0.00,0.000,4,0.000,0.087,2522,3594,3348
$GC,507,-0.70,-146.0,47.7,-7.4,85,513,0.00,2.22,0.00,0.000,6,0.000,0.052,2522,2210,3348
$GC,850,-0.70,-146.0,73.1,-7.5,146,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2210,3349
$GC,1193,-0.76,-146.0,98.3,-7.1,207,1199,0.12,0.00,0.00,0.000,6,0.088,0.000,2470,2210,3349
$GC,1521,-0.63,-146.0,130.9,-10.2,225,1525,0.17,2.28,0.00,0.000,4,0.155,0.067,2526,820,3349
$GC,1531,-0.55,-146.0,132.0,-10.2,225,1535,0.00,2.33,0.00,0.000,6,0.000,0.067,2518,2245,3349
$GC,1852,-0.61,-146.0,157.3,-7.6,241,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2245,3349
$GC,2161,-0.69,-146.0,178.1,-6.1,256,2165,0.00,2.35,0.00,0.000,4,0.000,0.067,2518,819,3349
$GC,2178,-0.76,-146.0,179.1,-5.9,256,2184,0.00,2.33,0.00,0.000,6,0.000,0.068,2508,2233,3349
$GC,2494,-0.81,-146.0,200.2,-7.0,272,2499,0.10,2.25,0.00,0.000,4,0.091,0.081,2454,3606,3348
$GC,2504,-0.81,-146.0,201.0,-6.9,272,2511,0.12,2.20,0.00,0.000,6,0.167,0.054,2485,2217,3348
$GC,2819,-0.81,-146.0,225.3,-7.3,288,2823,0.00,2.25,0.00,0.000,4,0.000,0.068,2485,816,3348
$GC,2830,-0.81,-146.0,226.1,-7.1,288,2834,0.00,2.35,0.00,0.000,6,0.000,0.069,2477,2245,3348
$GC,3152,-0.81,-146.0,248.5,-6.7,304,3156,0.00,2.35,0.00,0.000,4,0.000,0.067,2477,810,3347
$GC,3213,-0.73,-146.0,253.2,-8.1,306,3220,0.12,2.35,0.00,0.000,6,0.145,0.069,2500,2241,3347
$GC,3531,-0.80,-146.0,271.7,-5.9,322,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2241,3347
$GC,3838,-0.87,-146.0,292.3,-7.1,337,3840,0.12,0.00,0.00,0.000,6,0.087,0.000,2451,2241,3347
$GC,4148,-0.76,-146.0,319.9,-9.0,352,4149,0.15,0.00,0.00,0.000,6,0.157,0.000,2491,2241,3347
$GC,4457,-0.81,-146.0,340.9,-6.3,367,4458,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2240,3347
$GC,4766,-0.86,-146.0,358.6,-5.6,382,4770,0.00,2.38,0.00,0.000,4,0.000,0.066,2491,813,3347
$GC,4777,-0.86,-146.0,359.3,-5.4,382,4781,0.00,2.35,0.00,0.000,6,0.000,0.066,2483,2234,3347
$GC,5098,-0.86,-146.0,378.1,-6.0,398,5102,0.00,2.35,0.00,0.000,4,0.000,0.064,2483,817,3347
$GC,5124,-0.86,-146.0,379.8,-6.4,399,5128,0.00,2.38,0.00,0.000,6,0.000,0.066,2473,2245,3348
$GC,5452,-0.86,-146.0,400.2,-6.3,415,5456,0.00,2.35,0.00,0.000,4,0.000,0.064,2473,820,3348
$GC,5462,-0.86,-146.0,401.1,-6.4,415,5467,0.00,2.33,0.00,0.000,6,0.000,0.065,2463,2236,3348
$GC,5781,-0.81,-146.0,425.0,-7.7,423,5785,0.00,2.35,0.00,0.000,4,0.000,0.064,2463,812,3348
$GC,5791,-0.76,-146.0,425.8,-7.6,423,5796,0.15,2.35,0.00,0.000,6,0.140,0.065,2494,2242,3348
$GC,6110,-0.84,-146.0,445.2,-5.7,431,6114,0.00,2.35,0.00,0.000,4,0.000,0.064,2494,812,3348
$GC,6133,-0.89,-146.0,446.7,-6.3,431,6137,0.10,2.35,0.00,0.000,6,0.087,0.064,2446,2243,3348
$GC,6475,-0.79,-146.0,471.4,-7.4,440,6480,0.15,2.35,0.00,0.000,4,0.142,0.064,2487,814,3348
$GC,6496,-0.79,-146.0,473.1,-7.4,440,6500,0.00,2.35,0.00,0.000,6,0.000,0.064,2480,2244,3348
$GC,6838,-0.79,-146.0,495.4,-6.5,449,6842,0.00,2.35,0.00,0.000,4,0.000,0.063,2479,813,3349
$GC,6849,-0.79,-146.0,496.1,-6.4,449,6853,0.00,2.33,0.00,0.000,6,0.000,0.064,2469,2234,3348
$GC,7168,-0.79,-146.0,518.3,-7.1,457,7172,0.00,2.30,0.00,0.000,4,0.000,0.063,2469,816,3349
$GC,7178,-0.79,-146.0,519.2,-7.2,457,7183,0.10,2.33,0.00,0.000,6,0.147,0.064,2486,2243,3349
$GC,7497,-0.86,-146.0,539.0,-6.3,465,7501,0.00,2.33,0.00,0.000,4,0.000,0.064,2486,813,3350
$GC,7509,-0.91,-146.0,539.8,-6.3,465,7512,0.00,2.33,0.00,0.000,6,0.000,0.064,2478,2238,3349
$GC,7827,-0.91,-146.0,560.4,-6.4,473,7831,0.00,2.33,0.00,0.000,4,0.000,0.063,2478,811,3350
$GC,7837,-0.91,-146.0,561.0,-6.4,473,7841,0.00,2.35,0.00,0.000,6,0.000,0.064,2468,2241,3349
$GC,8156,-0.91,-146.0,581.4,-6.2,481,8159,0.00,2.33,0.00,0.000,4,0.000,0.064,2468,810,3350
$GC,8166,-0.91,-146.0,582.0,-6.0,481,8170,0.00,2.33,0.00,0.000,6,0.000,0.064,2458,2241,3350
$GC,8485,-0.91,-146.0,602.9,-6.8,489,8486,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2240,3350
$GC,8810,-0.91,-146.0,624.4,-6.6,497,8814,0.00,2.33,0.00,0.000,4,0.000,0.063,2458,814,3350
$GC,8821,-0.86,-146.0,625.2,-6.4,497,8825,0.10,2.33,0.00,0.000,6,0.145,0.063,2474,2242,3350
$STATE,9090,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9090,begin apogee
$GC,9097,-0.31,0.0,641.5,6.0,504,9225,0.38,0.00,125.68,1.276,6,0.128,0.000,2593,1729,2745
$STATE,9226,end apogee,CONTROL_FINISHED_OK
$STATE,9226,begin climb
$GC,9228,1.00,146.0,644.1,0.0,507,9367,0.90,2.67,129.57,1.199,4,0.103,0.068,2874,3149,2148
$GC,9402,0.69,146.0,630.2,11.4,511,9408,0.30,2.47,0.00,0.000,6,0.140,0.051,2805,1739,2144
$GC,9739,0.76,165.4,607.3,6.4,520,9763,0.00,2.50,17.05,1.137,4,0.000,0.067,2813,321,2070
$GC,9787,0.86,165.4,603.9,7.2,521,9792,0.12,2.42,0.00,0.000,6,0.076,0.056,2866,1740,2070
$GC,10105,0.71,165.4,573.3,9.9,529,10110,0.20,2.35,0.00,0.000,4,0.134,0.069,2805,3162,2067
$GC,10182,0.71,165.4,566.8,8.0,530,10189,0.00,2.33,0.00,0.000,6,0.000,0.051,2813,1731,2066
$GC,10515,0.78,186.2,545.2,6.4,539,10539,0.00,2.38,18.48,1.158,4,0.000,0.067,2821,333,1985
$GC,10562,0.89,193.6,542.0,6.8,540,10577,0.10,2.35,8.07,1.012,6,0.083,0.055,2867,1752,1955
$GC,10884,0.74,193.6,510.9,9.8,548,10889,0.17,2.30,0.00,0.000,4,0.134,0.069,2817,3162,1951
$GC,10957,0.67,193.6,504.6,8.0,549,10961,0.00,2.30,0.00,0.000,6,0.000,0.053,2825,1730,1950
$GC,11293,0.67,193.6,479.7,7.4,558,11298,0.10,2.33,0.00,0.000,4,0.140,0.067,2805,325,1950
$GC,11326,0.87,216.7,477.5,6.3,558,11352,0.15,2.33,20.83,1.138,6,0.071,0.056,2871,1750,1861
$GC,11697,0.73,216.7,440.3,10.3,568,11702,0.20,2.28,0.00,0.000,4,0.130,0.071,2807,3153,1856
$GC,11757,0.73,216.7,434.9,7.2,569,11761,0.00,2.28,0.00,0.000,6,0.000,0.053,2814,1739,1855
$GC,12071,0.83,216.7,412.5,7.3,577,12076,0.08,2.33,0.00,0.000,4,0.100,0.067,2862,325,1855
$GC,12110,0.83,216.7,408.9,9.6,578,12114,0.10,2.33,0.00,0.000,6,0.130,0.057,2835,1749,1855
$GC,12438,0.83,216.7,383.6,7.6,591,12441,0.00,2.28,0.00,0.000,4,0.000,0.072,2835,3159,1854
$GC,12516,0.73,216.7,376.4,9.4,594,12520,0.12,2.28,0.00,0.000,6,0.139,0.054,2809,1733,1853
$GC,12837,0.94,257.6,356.8,5.7,610,12880,0.17,2.40,35.17,1.098,4,0.067,0.067,2893,334,1694
$GC,12914,0.86,257.6,349.2,10.6,613,12919,0.20,2.35,0.00,0.000,6,0.127,0.056,2835,1741,1692
$GC,13229,0.94,260.5,325.7,6.9,628,13234,0.10,2.38,0.00,0.000,4,0.081,0.070,2879,3161,1686
$GC,13314,0.73,260.5,316.8,10.7,632,13319,0.25,2.33,0.00,0.000,6,0.135,0.053,2816,1734,1685
$GC,13646,0.97,302.4,297.9,5.7,648,13692,0.17,2.45,38.97,1.055,4,0.070,0.067,2900,334,1512
$GC,13738,0.91,302.4,288.8,11.3,652,13742,0.17,2.38,0.00,0.000,6,0.129,0.058,2850,1751,1509
$GC,14058,1.00,302.4,262.9,7.5,668,14063,0.10,2.30,0.00,0.000,4,0.084,0.071,2895,3151,1502
$GC,14124,0.79,302.4,255.4,11.6,671,14129,0.28,2.33,0.00,0.000,6,0.133,0.053,2824,1730,1501
$GC,14445,1.45,302.4,229.9,10.3,687,14450,0.43,2.33,0.00,0.000,4,0.091,0.067,2974,327,1499
$GC,14489,1.37,302.4,224.9,10.5,689,14493,0.00,2.33,0.00,0.000,6,0.000,0.059,2974,1748,1499
$GC,14817,1.02,302.4,171.6,16.0,705,14819,0.32,0.00,0.00,0.000,6,0.143,0.000,2878,1748,1499
$GC,15125,1.02,302.4,144.8,8.1,720,15126,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1748,1499
$GC,15435,1.08,302.4,120.8,7.9,735,15439,0.00,2.38,0.00,0.000,4,0.000,0.070,2885,329,1498
$GC,15468,1.17,302.4,118.0,8.1,736,15472,0.10,2.33,0.00,0.000,6,0.086,0.059,2934,1755,1498
$GC,15796,1.05,302.4,81.3,11.7,772,15803,0.17,2.28,0.00,0.000,4,0.137,0.077,2882,3150,1497
$GC,15837,1.05,302.4,77.0,10.2,779,15844,0.00,2.28,0.00,0.000,6,0.000,0.056,2889,1728,1496
$GC,16182,1.12,302.4,50.0,7.9,840,16188,0.00,2.30,0.00,0.000,4,0.000,0.071,2899,319,1496
$GC,16228,1.24,302.4,46.1,8.4,848,16235,0.10,2.33,0.00,0.000,6,0.085,0.060,2945,1751,1496
$GC,16573,1.18,302.4,9.4,8.9,909,16580,0.12,2.30,0.00,0.000,4,0.143,0.076,2910,3160,1495
$GC,16603,1.10,302.4,6.4,9.1,914,16610,0.10,2.30,0.00,0.000,6,0.159,0.058,2891,1731,1495
$STATE,16642,end climb,SURFACE_DEPTH_REACHED
$STATE,16642,begin surface coast
$FINISH,2.1,1.025443
$STATE,16677,end surface coast,CONTROL_FINISHED_OK
$STATE,16677,begin surface
$SM_CCo,16755,0.00,0.000,0,0,1490,307.36
$SM_GC,2.44,7.03,0.00,0.00,0.067,0.000,0.000,341,2241,1490,-10.57,0.31,307.36
$RAFOS_CLK,715
$RAFOS,4,1225097049,8.750000,8.735833,59,59,55,52,51,51,164,195,146,115,221,771
$RAFOS,3,1225096448,8.583333,8.568889,63,55,53,51,49,47,190,157,211,136,699,228
$RAFOS,2,1225095850,8.416667,8.402778,67,60,55,52,51,51,203,191,147,116,173,129
$RAFOS,1,1225095245,8.250000,8.234722,60,56,53,53,51,51,223,177,194,666,140,232
$RAFOS,0,1225094650,8.083333,8.069445,70,59,57,56,54,53,195,525,152,140,165,183
$RAFOS_FIX,149857.625000,1110628.375000,261008,202012,2,75,57400.97
$IRIDIUM_FIX,6614.97,-6006.54,210198,020204
$TT8_MAMPS,0.026845
$HUMID,1798
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,15.00
$XPDR_PINGS,37
$24V_AH,22.5,42.889
$10V_AH,10.6,19.592
$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,23.200,174.650,393.825,0.000,0.000,23.685,36.142,197.558,9.250,0.000,0.000,15.192,1756.119,12544.270,537.488,1786.986,501.695,33.369,1538.723,0.000,1759.862,1800.000,0.532,0.000
$DEVICE_MAMPS,248.508,86.671,1276.288,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,649.123,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31584,927
$CAP_FILE_SIZE,144864,0
$CFSIZE,260165632,235855872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.4
$GPS,271008,120508,6642.170,-5955.939,67,1.7,67,-38.0