version: 66.04
glider: 108
mission: 11
dive: 117
start: 9 29 108 16 6 2
data:
$ID,108
$MISSION,11
$DIVE,117
$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,-113191.91
$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,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
$GPS1,160026,6640.935,-6016.830,39,1.2,39,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-69.6
$GPS2,160509,6640.914,-6016.911,10,1.2,10,-38.0
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.221,0.076
$KALMAN_X,35015.1,-166.2,-91.6,-110337.6,1328.1
$KALMAN_Y,-42320.8,143.5,2273.1,19687.9,-4966.1
$MHEAD_RNG_PITCHd_Wd,327.0,19217,-13.0,-7.021
$D_GRID,532
$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,-146.0,0.0,0.0,0,46,0.00,0.00,-27.90,0.000,2,0.000,0.000,331,2236,2137
$GC,48,-1.00,-146.0,3.0,-1.9,5,118,8.50,2.33,-52.55,0.000,4,0.254,0.093,2430,3595,3344
$GC,236,-0.74,-146.0,28.0,-16.1,38,243,0.22,2.25,0.00,0.000,6,0.150,0.057,2495,2213,3348
$GC,581,-0.66,-146.0,62.2,-8.9,99,586,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2212,3350
$GC,924,-0.58,-146.0,92.9,-9.7,160,930,0.12,0.00,0.00,0.000,6,0.151,0.000,2530,2212,3351
$GC,1264,-0.66,-146.0,118.6,-7.1,188,1268,0.00,2.28,0.00,0.000,4,0.000,0.070,2531,816,3350
$GC,1324,-0.72,-146.0,123.3,-7.8,190,1332,0.10,2.33,0.00,0.000,6,0.091,0.067,2480,2237,3350
$GC,1640,-0.63,-146.0,150.4,-8.5,206,1644,0.15,2.22,0.00,0.000,4,0.156,0.095,2512,3607,3350
$GC,1768,-0.71,-146.0,159.9,-7.0,211,1775,0.00,2.22,0.00,0.000,6,0.000,0.054,2512,2216,3350
$GC,2083,-0.71,-146.0,181.2,-6.8,227,2087,0.00,2.25,0.00,0.000,4,0.000,0.072,2512,819,3349
$GC,2183,-0.71,-146.0,188.5,-7.5,231,2187,0.00,2.33,0.00,0.000,6,0.000,0.068,2502,2226,3349
$GC,2504,-0.71,-146.0,211.5,-7.3,247,2508,0.00,2.22,0.00,0.000,4,0.000,0.083,2491,3606,3349
$GC,2571,-0.71,-146.0,216.7,-7.7,250,2575,0.00,2.20,0.00,0.000,6,0.000,0.058,2491,2221,3349
$GC,2903,-0.71,-146.0,240.8,-7.2,266,2906,0.00,2.28,0.00,0.000,4,0.000,0.072,2491,819,3348
$GC,3039,-0.66,-146.0,250.9,-7.6,272,3044,0.12,2.33,0.00,0.000,6,0.150,0.070,2515,2242,3348
$GC,3365,-0.77,-146.0,271.0,-6.1,288,3370,0.10,2.20,0.00,0.000,4,0.096,0.082,2466,3604,3348
$GC,3505,-0.71,-146.0,282.6,-8.3,294,3509,0.15,2.20,0.00,0.000,6,0.157,0.058,2506,2224,3348
$GC,3827,-0.79,-146.0,303.7,-6.3,310,3831,0.00,2.28,0.00,0.000,4,0.000,0.074,2506,811,3347
$GC,3899,-0.84,-146.0,308.9,-6.6,313,3904,0.10,2.33,0.00,0.000,6,0.091,0.068,2456,2241,3347
$GC,4219,-0.74,-146.0,335.0,-8.5,329,4223,0.15,2.17,0.00,0.000,4,0.153,0.082,2488,3595,3347
$GC,4287,-0.79,-146.0,340.1,-7.5,332,4290,0.00,2.17,0.00,0.000,6,0.000,0.058,2488,2219,3347
$GC,4619,-0.79,-146.0,363.0,-6.7,348,4622,0.00,2.25,0.00,0.000,4,0.000,0.072,2488,814,3347
$GC,4741,-0.79,-146.0,371.9,-7.2,353,4745,0.00,2.33,0.00,0.000,6,0.000,0.069,2478,2230,3347
$GC,5062,-0.79,-146.0,394.4,-7.1,369,5066,0.00,2.20,0.00,0.000,4,0.000,0.081,2467,3606,3347
$GC,5162,-0.79,-146.0,402.0,-6.8,373,5166,0.00,2.20,0.00,0.000,6,0.000,0.057,2467,2226,3347
$GC,5481,-0.75,-146.0,422.8,-6.4,381,5483,0.10,0.00,0.00,0.000,6,0.166,0.000,2492,2226,3347
$GC,5806,-0.80,-146.0,441.0,-5.6,389,5810,0.00,2.25,0.00,0.000,4,0.000,0.071,2494,811,3348
$GC,5884,-0.80,-146.0,445.8,-6.4,390,5888,0.00,2.33,0.00,0.000,6,0.000,0.067,2486,2257,3348
$GC,6220,-0.80,-146.0,464.9,-5.8,399,6222,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2256,3348
$GC,6546,-0.80,-146.0,483.2,-5.6,407,6547,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2257,3349
$GC,6870,-0.80,-146.0,501.6,-5.7,415,6871,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2257,3349
$GC,7196,-0.85,-146.0,521.3,-6.1,423,7197,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2257,3349
$STATE,7396,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7396,begin apogee
$GC,7402,-0.31,0.0,533.2,5.9,428,7526,0.32,0.00,121.72,1.207,6,0.130,0.000,2588,1741,2745
$STATE,7527,end apogee,CONTROL_FINISHED_OK
$STATE,7527,begin climb
$GC,7529,1.00,146.0,536.1,0.0,431,7661,0.90,2.62,124.32,1.134,4,0.104,0.071,2874,3154,2148
$GC,7666,0.75,146.0,526.4,10.0,434,7671,0.25,2.53,0.00,0.000,6,0.135,0.056,2820,1740,2146
$GC,7996,0.75,146.0,501.5,7.3,442,7997,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1740,2141
$GC,8321,0.75,146.0,477.5,7.5,450,8322,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1740,2140
$GC,8646,0.75,146.0,452.9,7.7,458,8647,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1740,2140
$GC,8971,0.75,146.0,428.4,7.6,466,8975,0.00,2.38,0.00,0.000,4,0.000,0.074,2828,326,2140
$GC,8981,0.75,146.0,427.5,7.6,466,8985,0.00,2.35,0.00,0.000,6,0.000,0.057,2829,1739,2140
$GC,9299,0.75,146.0,402.9,7.8,474,9303,0.00,2.30,0.00,0.000,4,0.000,0.071,2829,3159,2140
$GC,9309,0.70,146.0,402.1,7.9,474,9314,0.12,2.33,0.00,0.000,6,0.142,0.058,2805,1725,2139
$GC,9632,0.77,155.2,380.1,6.7,489,9646,0.00,2.47,7.25,0.966,4,0.000,0.070,2805,3157,2112
$GC,9657,0.77,155.2,378.2,7.2,490,9661,0.00,2.33,0.00,0.000,6,0.000,0.056,2813,1735,2111
$GC,9985,0.78,165.5,355.6,6.7,506,10000,0.00,2.40,10.35,1.017,4,0.000,0.071,2813,3159,2070
$GC,10010,0.78,165.5,353.5,7.5,506,10015,0.00,2.38,0.00,0.000,6,0.000,0.056,2822,1731,2068
$GC,10332,0.79,170.1,331.0,6.9,522,10342,0.00,2.38,5.32,0.853,4,0.000,0.071,2822,3152,2051
$GC,10348,0.79,173.6,329.9,6.9,523,10357,0.00,2.30,4.62,0.781,6,0.000,0.056,2833,1735,2037
$GC,10678,0.80,182.4,307.4,6.7,539,10689,0.00,0.00,8.93,0.969,6,0.000,0.000,2832,1735,2001
$GC,10988,0.80,182.4,285.4,7.1,554,10989,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1735,1999
$GC,11296,0.80,182.4,263.3,7.3,569,11300,0.00,2.35,0.00,0.000,4,0.000,0.072,2833,3160,1999
$GC,11312,0.80,182.4,261.9,7.3,569,11319,0.00,2.33,0.00,0.000,6,0.000,0.058,2843,1719,1998
$GC,11628,0.80,182.4,239.0,7.5,585,11631,0.00,2.38,0.00,0.000,4,0.000,0.071,2843,3159,1998
$GC,11643,0.80,182.4,237.6,7.9,585,11650,0.08,2.35,0.00,0.000,6,0.133,0.058,2826,1733,1998
$GC,11959,0.88,182.4,215.9,7.2,601,11963,0.08,2.35,0.00,0.000,4,0.098,0.072,2862,3152,1998
$GC,11969,0.88,182.4,215.1,7.2,601,11976,0.10,2.30,0.00,0.000,6,0.150,0.058,2845,1731,1999
$GC,12283,0.88,182.4,190.9,7.2,617,12288,0.00,2.38,0.00,0.000,4,0.000,0.074,2845,3161,1998
$GC,12293,0.88,183.0,190.2,7.0,617,12300,0.00,2.33,0.00,0.000,6,0.000,0.058,2853,1729,1998
$GC,12609,0.89,186.6,167.9,6.9,633,12616,0.00,0.00,4.78,0.786,6,0.000,0.000,2853,1729,1984
$GC,12918,0.93,220.5,149.1,5.9,648,12953,0.00,2.45,29.48,0.997,4,0.000,0.075,2853,3148,1845
$GC,12964,0.95,236.9,146.2,6.5,650,12984,0.00,2.35,15.02,0.926,6,0.000,0.060,2863,1736,1778
$GC,13312,0.97,252.1,122.7,6.5,667,13331,0.00,0.00,13.15,0.929,6,0.000,0.000,2862,1736,1717
$GC,13640,1.03,252.1,99.4,7.5,683,13646,0.00,2.38,0.00,0.000,4,0.000,0.077,2872,325,1711
$GC,13652,1.11,252.1,98.5,7.6,685,13659,0.10,2.35,0.00,0.000,6,0.091,0.060,2915,1755,1711
$GC,13996,1.01,252.1,64.6,9.5,746,14002,0.15,0.00,0.00,0.000,6,0.140,0.000,2873,1754,1710
$GC,14339,1.13,277.2,39.3,6.2,807,14369,0.12,2.53,21.40,0.938,4,0.086,0.077,2932,305,1615
$GC,14404,1.07,277.2,33.6,9.5,818,14410,0.17,2.40,0.00,0.000,6,0.135,0.062,2881,1743,1612
$GC,14749,1.49,305.8,14.4,6.1,879,14780,0.28,2.53,25.12,0.917,4,0.074,0.077,2999,324,1498
$GC,14859,1.28,305.8,3.7,11.2,898,14867,0.25,2.40,0.00,0.000,6,0.140,0.064,2928,1752,1493
$STATE,14870,end climb,SURFACE_DEPTH_REACHED
$STATE,14870,begin surface coast
$FINISH,1.8,1.014547
$STATE,14899,end surface coast,CONTROL_FINISHED_OK
$STATE,14899,begin surface
$SM_CCo,14975,0.00,0.000,0,0,1489,308.10
$SM_GC,2.70,7.18,0.00,0.00,0.061,0.000,0.000,339,2233,1489,-10.56,0.08,308.10
$RAFOS_CLK,639
$RAFOS,0,1222718643,20.083334,20.067499,67,58,58,57,56,53,208,146,220,180,197,241
$RAFOS,4,1222706658,16.750000,16.738333,89,65,63,52,50,50,786,191,209,228,147,158
$RAFOS,3,1222706044,16.583334,16.567778,104,61,59,58,58,56,764,125,134,186,159,219
$RAFOS,2,1222705456,16.416666,16.404444,67,61,51,50,50,50,184,204,124,107,167,217
$RAFOS,1,1222704845,16.250000,16.234722,67,67,57,55,51,51,218,732,193,158,134,109
$RAFOS_FIX,6640.201172,-6012.295410,290908,161636,2,96,1.66
$IRIDIUM_FIX,6609.62,-6016.65,241297,111122
$TT8_MAMPS,0.029146
$HUMID,1830
$INTERNAL_PRESSURE,9.86366
$TCM_TEMP,15.10
$XPDR_PINGS,28
$24V_AH,22.9,24.172
$10V_AH,10.6,11.280
$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,19.925,122.600,391.475,0.000,0.000,24.994,36.680,118.902,7.000,0.000,0.000,11.525,1633.678,11090.464,530.525,1671.060,340.328,33.362,1437.660,0.000,1658.504,2160.000,0.530,0.000
$DEVICE_MAMPS,253.877,95.108,1207.258,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,632.609,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28411,905
$CAP_FILE_SIZE,120801,0
$CFSIZE,260165632,244842496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.7
$GPS,290908,201702,6638.690,-6020.810,35,1.7,35,-37.9