version: 66.04
glider: 108
mission: 11
dive: 239
start: 10 27 108 12 12 18
data:
$ID,108
$MISSION,11
$DIVE,239
$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,-115211.01
$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,25
$R_STBD_OVSHOOT,24
$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
$GPS1,120508,6642.170,-5955.939,67,1.7,67,-38.0
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-64.9
$GPS2,121127,6642.201,-5955.970,8,1.9,8,-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,0.134,0.191
$KALMAN_X,76816.3,-147.4,-212.8,-177715.9,196.3
$KALMAN_Y,-145458.6,-444.2,845.4,122948.0,-2375.4
$MHEAD_RNG_PITCHd_Wd,73.1,37227,-13.0,-7.021
$D_GRID,691
$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,17,-1.00,-146.0,0.0,0.0,0,59,0.00,0.00,-40.50,0.000,2,0.000,0.000,340,2246,2398
$GC,62,-1.00,-146.0,3.0,-1.8,7,113,8.77,2.47,-35.65,0.000,4,0.257,0.080,2448,815,3345
$GC,365,-0.70,-146.0,41.4,-11.1,60,372,0.22,2.38,0.00,0.000,6,0.143,0.067,2504,2236,3348
$GC,711,-0.70,-146.0,72.5,-9.0,121,717,0.00,2.38,0.00,0.000,4,0.000,0.064,2504,816,3350
$GC,785,-0.65,-146.0,79.4,-9.2,134,792,0.00,2.38,0.00,0.000,6,0.000,0.067,2496,2238,3350
$GC,1136,-0.65,-146.0,108.6,-8.0,183,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2238,3350
$GC,1446,-0.65,-146.0,132.9,-8.0,198,1450,0.00,2.22,0.00,0.000,4,0.000,0.083,2486,3596,3349
$GC,1501,-0.59,-146.0,137.8,-8.8,200,1506,0.17,2.20,0.00,0.000,6,0.146,0.054,2534,2222,3349
$GC,1823,-0.72,-146.0,156.2,-5.6,216,1827,0.12,2.25,0.00,0.000,4,0.085,0.066,2483,824,3349
$GC,1929,-0.63,-146.0,164.4,-8.2,220,1935,0.17,2.33,0.00,0.000,6,0.143,0.070,2522,2233,3349
$GC,2246,-0.74,-146.0,184.8,-6.9,236,2248,0.10,0.00,0.00,0.000,6,0.093,0.000,2481,2233,3348
$GC,2553,-0.74,-146.0,210.5,-8.3,251,2554,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2233,3348
$GC,2862,-0.74,-146.0,234.3,-7.3,266,2863,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2233,3348
$GC,3173,-0.74,-146.0,256.0,-7.1,281,3174,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2233,3348
$GC,3481,-0.74,-146.0,279.2,-7.8,296,3485,0.00,2.35,0.00,0.000,4,0.000,0.067,2481,814,3347
$GC,3542,-0.68,-146.0,284.3,-8.4,298,3549,0.15,2.35,0.00,0.000,6,0.144,0.069,2512,2244,3348
$GC,3858,-0.79,-146.0,304.0,-6.1,314,3863,0.10,2.35,0.00,0.000,4,0.092,0.066,2470,824,3347
$GC,3913,-0.69,-146.0,308.5,-8.5,316,3920,0.17,2.35,0.00,0.000,6,0.145,0.070,2508,2243,3347
$GC,4229,-0.80,-146.0,327.3,-6.0,332,4234,0.10,2.35,0.00,0.000,4,0.094,0.066,2467,816,3347
$GC,4268,-0.69,-146.0,330.4,-7.8,334,4273,0.20,2.35,0.00,0.000,6,0.142,0.069,2513,2243,3347
$GC,4597,-0.82,-146.0,348.4,-5.2,350,4601,0.12,2.35,0.00,0.000,4,0.085,0.066,2462,812,3347
$GC,4636,-0.70,-146.0,351.2,-7.1,352,4641,0.20,2.35,0.00,0.000,6,0.142,0.068,2508,2242,3347
$GC,4963,-0.83,-146.0,368.4,-5.5,368,4965,0.12,0.00,0.00,0.000,6,0.087,0.000,2458,2241,3347
$GC,5271,-0.75,-146.0,391.6,-7.5,383,5276,0.15,2.25,0.00,0.000,4,0.152,0.081,2491,3607,3347
$GC,5327,-0.85,-146.0,395.5,-6.6,385,5333,0.00,2.20,0.00,0.000,6,0.000,0.054,2491,2225,3347
$GC,5639,-0.91,-146.0,416.6,-7.0,395,5643,0.12,2.25,0.00,0.000,4,0.091,0.065,2439,824,3348
$GC,5717,-0.73,-146.0,423.5,-8.9,396,5722,0.25,2.33,0.00,0.000,6,0.141,0.068,2502,2237,3347
$GC,6049,-0.84,-146.0,444.3,-6.0,404,6053,0.12,2.22,0.00,0.000,4,0.087,0.081,2441,3602,3348
$GC,6087,-0.72,-146.0,447.3,-8.1,404,6094,0.20,2.17,0.00,0.000,6,0.152,0.051,2499,2218,3348
$GC,6418,-0.83,-146.0,466.6,-5.7,413,6422,0.00,2.22,0.00,0.000,4,0.000,0.064,2500,822,3348
$GC,6464,-0.89,-146.0,469.3,-6.3,414,6469,0.10,2.33,0.00,0.000,6,0.087,0.067,2449,2243,3348
$GC,6788,-0.80,-146.0,492.8,-7.5,422,6790,0.12,0.00,0.00,0.000,6,0.152,0.000,2482,2243,3349
$GC,7113,-0.80,-146.0,513.2,-6.0,430,7114,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2243,3349
$GC,7439,-0.85,-146.0,532.0,-5.8,438,7440,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2243,3350
$GC,7763,-0.90,-146.0,550.1,-5.4,446,7767,0.00,2.35,0.00,0.000,4,0.000,0.064,2482,813,3350
$GC,7846,-0.90,-146.0,554.8,-5.5,447,7852,0.00,2.33,0.00,0.000,6,0.000,0.065,2474,2235,3350
$GC,8178,-0.90,-146.0,573.6,-5.6,456,8179,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2235,3350
$GC,8502,-0.90,-146.0,592.0,-5.7,464,8506,0.00,2.33,0.00,0.000,4,0.000,0.063,2474,813,3350
$GC,8557,-0.90,-146.0,595.3,-5.8,465,8561,0.00,2.33,0.00,0.000,6,0.000,0.064,2465,2235,3350
$GC,8876,-0.90,-146.0,614.6,-6.1,473,8877,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2235,3351
$GC,9201,-0.90,-146.0,635.7,-6.5,481,9203,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2235,3351
$GC,9526,-0.90,-146.0,657.4,-6.7,489,9527,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2234,3352
$GC,9851,-0.90,-146.0,678.2,-6.3,497,9855,0.00,2.33,0.00,0.000,4,0.000,0.062,2465,816,3351
$GC,9930,-0.84,-146.0,683.3,-6.4,498,9934,0.00,2.33,0.00,0.000,6,0.000,0.064,2455,2234,3351
$STATE,10061,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10061,begin apogee
$GC,10067,-0.31,0.0,692.1,6.6,502,10197,0.43,0.00,126.53,1.308,6,0.132,0.000,2586,1741,2745
$STATE,10198,end apogee,CONTROL_FINISHED_OK
$STATE,10198,begin climb
$GC,10200,1.00,146.0,695.1,0.0,505,10334,0.90,0.00,130.30,1.229,6,0.107,0.000,2870,1740,2149
$GC,10649,0.83,146.0,656.3,9.2,516,10654,0.15,2.45,0.00,0.000,4,0.128,0.070,2829,3151,2142
$GC,10693,0.66,146.0,651.8,9.2,517,10697,0.15,2.38,0.00,0.000,6,0.139,0.051,2798,1730,2141
$GC,11017,0.74,151.1,629.5,6.9,525,11027,0.00,2.40,4.68,0.867,4,0.000,0.070,2798,3150,2128
$GC,11049,0.74,151.1,627.0,7.6,525,11053,0.00,2.33,0.00,0.000,6,0.000,0.051,2805,1727,2127
$GC,11387,0.80,152.0,603.6,7.0,534,11391,0.10,2.40,0.00,0.000,4,0.086,0.067,2851,3165,2127
$GC,11431,0.53,152.0,599.3,10.4,535,11436,0.32,2.33,0.00,0.000,6,0.137,0.052,2767,1733,2127
$GC,11749,0.94,152.0,577.7,7.1,543,11754,0.28,2.38,0.00,0.000,4,0.074,0.069,2873,3163,2126
$GC,11934,0.60,152.0,556.4,12.3,547,11939,0.32,2.33,0.00,0.000,6,0.140,0.053,2789,1728,2126
$GC,12252,0.76,171.7,535.3,6.4,555,12277,0.12,2.42,18.73,1.174,4,0.076,0.070,2846,3155,2043
$GC,12305,0.56,171.7,530.4,11.0,556,12310,0.28,2.30,0.00,0.000,6,0.137,0.052,2778,1737,2042
$GC,12618,0.99,171.7,508.1,7.5,564,12623,0.28,2.33,0.00,0.000,4,0.077,0.067,2881,324,2040
$GC,12707,0.80,171.7,499.8,10.2,566,12711,0.20,2.33,0.00,0.000,6,0.132,0.058,2822,1750,2041
$GC,13025,0.80,171.8,476.6,7.0,574,13029,0.00,2.28,0.00,0.000,4,0.000,0.071,2823,3165,2040
$GC,13086,0.69,171.8,471.6,8.6,575,13091,0.10,2.30,0.00,0.000,6,0.146,0.053,2805,1725,2039
$GC,13399,0.84,211.2,453.4,5.8,583,13440,0.12,0.00,34.60,1.152,6,0.077,0.000,2859,1725,1882
$GC,13764,0.75,211.2,420.1,9.1,592,13766,0.15,0.00,0.00,0.000,6,0.128,0.000,2816,1725,1875
$GC,14089,0.88,228.4,398.5,6.5,600,14112,0.12,2.42,14.45,1.065,4,0.078,0.070,2869,3155,1812
$GC,14135,0.69,228.4,394.2,10.6,602,14140,0.25,2.33,0.00,0.000,6,0.136,0.053,2806,1734,1811
$GC,14463,0.90,252.3,373.1,6.3,618,14488,0.15,0.00,21.80,1.076,6,0.071,0.000,2871,1734,1717
$GC,14790,0.81,252.3,339.9,10.3,634,14795,0.15,2.40,0.00,0.000,4,0.126,0.066,2836,327,1710
$GC,14818,0.87,252.3,337.5,8.2,635,14822,0.00,2.35,0.00,0.000,6,0.000,0.057,2836,1754,1710
$GC,15133,0.94,252.3,313.3,8.0,650,15138,0.10,2.28,0.00,0.000,4,0.086,0.071,2882,3153,1709
$GC,15168,0.75,252.3,309.6,11.2,651,15174,0.25,2.30,0.00,0.000,6,0.135,0.053,2819,1736,1708
$GC,15484,0.93,253.9,286.7,7.0,667,15486,0.15,0.00,0.00,0.000,6,0.072,0.000,2884,1736,1708
$GC,15792,0.84,253.9,254.6,10.1,682,15794,0.17,0.00,0.00,0.000,6,0.124,0.000,2831,1736,1708
$GC,16102,1.01,271.4,234.1,6.5,697,16122,0.15,0.00,16.95,1.006,6,0.074,0.000,2893,1736,1638
$GC,16431,0.92,271.4,201.9,9.8,713,16436,0.15,2.45,0.00,0.000,4,0.130,0.071,2850,3161,1633
$GC,16458,0.92,271.4,199.4,9.3,714,16462,0.00,2.38,0.00,0.000,6,0.000,0.053,2856,1734,1632
$GC,16780,1.02,271.4,174.4,7.5,730,16782,0.08,0.00,0.00,0.000,6,0.100,0.000,2896,1734,1632
$GC,17088,0.97,271.4,146.1,9.1,745,17093,0.12,2.40,0.00,0.000,4,0.132,0.068,2869,320,1632
$GC,17109,0.97,271.4,144.2,8.5,746,17113,0.00,2.33,0.00,0.000,6,0.000,0.059,2869,1747,1632
$GC,17438,1.06,271.4,120.7,7.3,762,17441,0.00,2.33,0.00,0.000,4,0.000,0.074,2868,3158,1630
$GC,17487,1.06,271.4,116.2,8.7,764,17491,0.00,2.35,0.00,0.000,6,0.000,0.055,2877,1735,1630
$GC,17814,1.12,271.4,90.9,7.9,793,17820,0.08,0.00,0.00,0.000,6,0.104,0.000,2915,1735,1630
$GC,18158,1.05,271.4,57.6,9.4,854,18164,0.12,0.00,0.00,0.000,6,0.140,0.000,2879,1735,1630
$GC,18502,1.18,271.4,32.2,8.0,915,18508,0.12,0.00,0.00,0.000,6,0.083,0.000,2932,1734,1629
$GC,18845,1.18,271.4,4.9,9.2,976,18851,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,1735,1627
$STATE,18871,end climb,SURFACE_DEPTH_REACHED
$STATE,18871,begin surface coast
$FINISH,1.6,1.013293
$STATE,18917,end surface coast,CONTROL_FINISHED_OK
$STATE,18918,begin surface
$SM_CCo,18935,0.00,0.000,0,0,1623,275.23
$SM_GC,3.06,0.00,0.00,0.00,0.000,0.000,0.000,338,2233,1623,-10.67,0.08,275.23
$RAFOS_CLK,805
$RAFOS,4,1225125842,16.750000,16.733889,63,63,56,56,55,52,169,206,118,801,185,225
$RAFOS,3,1225125245,16.583334,16.568056,67,65,65,64,57,55,221,190,165,704,206,136
$RAFOS,2,1225124648,16.416666,16.402222,54,54,52,51,51,50,190,199,220,165,137,180
$RAFOS,1,1225124058,16.250000,16.238333,53,52,51,49,48,48,215,190,174,142,120,578
$RAFOS,0,1225123462,16.083334,16.072779,67,57,56,53,53,53,459,178,210,192,153,144
$RAFOS,4,1225111442,12.750000,12.733889,63,58,58,56,53,53,197,127,115,217,166,182
$RAFOS,3,1225110858,12.583333,12.571667,59,59,58,56,55,52,152,190,199,218,652,108
$RAFOS,2,1225110245,12.416667,12.401389,59,59,52,52,51,51,206,885,215,160,132,899
$RAFOS,1,1225109645,12.250000,12.234722,61,59,58,57,56,53,195,212,156,184,684,127
$RAFOS_FIX,149857.625000,1110628.375000,261008,202012,2,75,57400.97
$IRIDIUM_FIX,6614.97,-6004.54,210198,070727
$TT8_MAMPS,0.026845
$HUMID,1803
$INTERNAL_PRESSURE,9.86366
$TCM_TEMP,15.10
$XPDR_PINGS,16
$24V_AH,22.5,43.032
$10V_AH,10.6,19.660
$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,25.025,132.225,368.025,0.000,0.000,27.696,32.069,207.314,4.000,0.000,0.000,9.987,1851.174,14532.495,524.250,1895.140,510.780,33.374,1536.330,0.000,1875.743,3240.000,0.531,0.000
$DEVICE_MAMPS,256.945,82.836,1307.735,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,692.813,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31567,989
$CAP_FILE_SIZE,146465,0
$CFSIZE,260165632,235790336
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.2
$GPS,271008,172907,6642.698,-5950.382,25,1.1,25,-37.9