version: 66.04
glider: 108
mission: 11
dive: 129
start: 10 1 108 15 23 50
data:
$ID,108
$MISSION,11
$DIVE,129
$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,-113374.73
$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,23
$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
$GPS1,151807,6643.902,-6038.199,38,1.3,38,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-69.1
$GPS2,152257,6643.909,-6038.225,10,1.6,10,-38.1
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_ADD1_EB
$TGT_LATLONG,6647.000,-5956.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.190,0.136
$KALMAN_X,40522.2,-285.7,-350.6,-130964.8,580.5
$KALMAN_Y,-56608.8,198.1,1632.9,40121.3,-1314.7
$MHEAD_RNG_PITCHd_Wd,92.6,31355,-13.0,-7.021
$D_GRID,498
$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,-146.0,0.0,0.0,0,69,0.00,0.00,-50.80,0.000,2,0.000,0.000,339,2242,2412
$GC,72,-1.00,-146.0,3.2,-1.7,9,125,8.55,2.45,-37.30,0.000,4,0.257,0.081,2450,813,3343
$GC,239,-0.65,-146.0,24.2,-16.9,38,246,0.28,2.40,0.00,0.000,6,0.149,0.067,2521,2232,3345
$GC,583,-0.65,-146.0,54.3,-8.6,99,589,0.00,2.40,0.00,0.000,4,0.000,0.067,2521,816,3347
$GC,617,-0.65,-146.0,57.4,-9.4,105,623,0.00,2.35,0.00,0.000,6,0.000,0.065,2513,2236,3348
$GC,960,-0.65,-146.0,87.9,-8.9,166,967,0.00,2.38,0.00,0.000,4,0.000,0.067,2513,808,3348
$GC,1018,-0.65,-146.0,92.9,-8.6,176,1025,0.00,2.38,0.00,0.000,6,0.000,0.066,2503,2241,3348
$GC,1342,-0.65,-146.0,115.0,-6.5,204,1346,0.00,2.25,0.00,0.000,4,0.000,0.081,2492,3603,3348
$GC,1364,-0.65,-146.0,116.6,-7.3,205,1369,0.10,2.28,0.00,0.000,6,0.154,0.055,2519,2211,3348
$GC,1690,-0.70,-146.0,138.2,-7.3,221,1694,0.00,2.30,0.00,0.000,4,0.000,0.070,2519,820,3348
$GC,1744,-0.70,-146.0,142.6,-7.6,223,1749,0.00,2.35,0.00,0.000,6,0.000,0.067,2510,2238,3348
$GC,2066,-0.70,-146.0,168.1,-7.8,239,2070,0.00,2.22,0.00,0.000,4,0.000,0.081,2500,3607,3348
$GC,2098,-0.70,-146.0,171.0,-8.9,240,2102,0.00,2.30,0.00,0.000,6,0.000,0.057,2500,2221,3348
$GC,2422,-0.70,-146.0,198.1,-8.5,256,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2221,3348
$GC,2729,-0.70,-146.0,221.8,-7.2,271,2733,0.00,2.35,0.00,0.000,4,0.000,0.072,2500,816,3347
$GC,2768,-0.70,-146.0,224.6,-6.8,273,2772,0.00,2.35,0.00,0.000,6,0.000,0.068,2490,2244,3348
$GC,3094,-0.70,-146.0,247.1,-6.7,289,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2244,3347
$GC,3405,-0.70,-146.0,266.5,-6.0,304,3406,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2244,3347
$GC,3712,-0.70,-146.0,284.4,-5.6,319,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2244,3347
$GC,4022,-0.70,-146.0,302.0,-5.8,334,4026,0.00,2.40,0.00,0.000,4,0.000,0.072,2490,822,3346
$GC,4072,-0.70,-146.0,305.4,-6.7,336,4077,0.10,2.33,0.00,0.000,6,0.151,0.070,2506,2235,3346
$GC,4392,-0.78,-146.0,325.2,-6.2,352,4393,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2235,3346
$GC,4702,-0.87,-146.0,344.0,-6.0,367,4704,0.15,0.00,0.00,0.000,6,0.085,0.000,2448,2235,3346
$GC,5010,-0.73,-146.0,369.8,-8.2,382,5012,0.20,0.00,0.00,0.000,6,0.156,0.000,2504,2235,3346
$GC,5320,-0.82,-146.0,387.5,-5.4,397,5325,0.10,2.40,0.00,0.000,4,0.100,0.070,2464,811,3346
$GC,5364,-0.70,-146.0,390.6,-7.3,399,5368,0.17,2.33,0.00,0.000,6,0.147,0.068,2503,2233,3346
$GC,5688,-0.81,-146.0,406.2,-4.5,412,5692,0.00,2.22,0.00,0.000,4,0.000,0.082,2495,3603,3346
$GC,5727,-0.90,-146.0,408.3,-5.5,412,5734,0.12,2.22,0.00,0.000,6,0.093,0.056,2444,2226,3346
$GC,6057,-0.77,-146.0,431.6,-7.3,421,6059,0.17,0.00,0.00,0.000,6,0.146,0.000,2494,2226,3346
$GC,6383,-0.84,-146.0,449.7,-5.6,429,6384,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2226,3346
$GC,6708,-0.92,-146.0,468.0,-5.7,437,6710,0.15,0.00,0.00,0.000,6,0.085,0.000,2436,2226,3346
$GC,7032,-0.77,-146.0,493.0,-7.8,445,7037,0.20,2.28,0.00,0.000,4,0.156,0.079,2485,3596,3346
$GC,7065,-0.83,-146.0,495.1,-6.3,445,7069,0.00,2.22,0.00,0.000,6,0.000,0.055,2485,2229,3346
$STATE,7115,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7115,begin apogee
$GC,7121,-0.31,0.0,498.4,6.5,447,7244,0.35,0.00,120.97,1.202,6,0.132,0.000,2593,1735,2745
$STATE,7245,end apogee,CONTROL_FINISHED_OK
$STATE,7245,begin climb
$GC,7247,1.00,146.0,501.6,0.0,450,7375,0.85,0.00,123.88,1.124,6,0.106,0.000,2869,1735,2149
$GC,7695,0.77,146.0,461.2,10.2,461,7697,0.17,0.00,0.00,0.000,6,0.131,0.000,2821,1735,2142
$GC,8019,0.77,149.0,437.8,6.9,469,8023,0.00,2.45,0.00,0.000,4,0.000,0.073,2821,3153,2140
$GC,8058,0.65,149.0,435.0,7.8,470,8063,0.12,2.40,0.00,0.000,6,0.141,0.059,2796,1733,2140
$GC,8381,0.80,183.1,415.3,5.9,478,8417,0.12,2.50,30.40,1.110,4,0.082,0.073,2847,3157,1997
$GC,8434,0.65,183.1,410.8,8.8,478,8439,0.22,2.42,0.00,0.000,6,0.135,0.058,2795,1737,1995
$GC,8763,0.84,221.9,390.5,5.8,490,8806,0.15,2.55,33.25,1.092,4,0.074,0.073,2867,328,1839
$GC,8823,0.77,221.9,385.5,9.0,492,8830,0.17,2.45,0.00,0.000,6,0.123,0.058,2817,1740,1838
$GC,9138,0.91,250.6,364.9,6.1,508,9169,0.15,2.45,24.80,1.066,4,0.077,0.072,2876,3156,1722
$GC,9203,0.67,250.6,358.7,11.9,511,9208,0.30,2.42,0.00,0.000,6,0.133,0.057,2800,1727,1718
$GC,9529,1.33,250.6,338.2,7.3,527,9534,0.43,2.45,0.00,0.000,4,0.104,0.069,2939,3163,1714
$GC,9568,1.12,250.6,334.5,10.1,529,9573,0.20,2.40,0.00,0.000,6,0.158,0.058,2894,1728,1714
$GC,9894,0.91,250.6,297.1,12.1,545,9899,0.15,2.35,0.00,0.000,4,0.141,0.072,2858,330,1714
$GC,9937,0.91,250.6,292.4,9.3,547,9942,0.00,2.40,0.00,0.000,6,0.000,0.060,2858,1745,1714
$GC,10264,0.91,250.6,261.7,9.2,563,10268,0.00,2.38,0.00,0.000,4,0.000,0.074,2858,3159,1713
$GC,10297,0.80,250.6,258.2,10.9,564,10302,0.15,2.38,0.00,0.000,6,0.133,0.059,2825,1733,1712
$GC,10618,0.99,264.5,235.5,6.6,580,10632,0.15,0.00,11.82,0.986,6,0.074,0.000,2888,1733,1666
$GC,10927,0.91,264.5,206.7,9.1,595,10932,0.12,2.40,0.00,0.000,4,0.127,0.074,2860,322,1663
$GC,10966,1.01,264.5,203.6,7.3,597,10970,0.00,2.40,0.00,0.000,6,0.000,0.061,2859,1746,1663
$GC,11292,1.05,264.5,178.7,7.8,613,11297,0.10,2.35,0.00,0.000,4,0.087,0.074,2903,3157,1662
$GC,11325,0.83,264.5,175.3,11.2,614,11332,0.28,2.38,0.00,0.000,6,0.140,0.061,2831,1738,1661
$GC,11640,1.05,296.3,154.5,6.0,630,11676,0.17,2.50,28.02,1.002,4,0.072,0.074,2914,333,1537
$GC,11709,0.95,296.3,147.9,9.9,633,11714,0.20,2.42,0.00,0.000,6,0.129,0.061,2856,1750,1535
$GC,12030,1.12,317.6,127.1,6.3,649,12056,0.15,2.47,18.90,0.964,4,0.076,0.076,2916,3155,1450
$GC,12083,0.88,317.6,121.6,12.1,651,12089,0.28,2.45,0.00,0.000,6,0.139,0.061,2846,1728,1448
$GC,12400,1.52,317.6,97.8,8.8,669,12407,0.43,2.47,0.00,0.000,4,0.100,0.074,2990,3156,1442
$GC,12430,1.85,317.6,94.8,9.8,674,12437,0.20,2.42,0.00,0.000,6,0.081,0.061,3071,1732,1441
$GC,12775,1.32,317.6,21.7,18.3,735,12782,0.43,2.42,0.00,0.000,4,0.156,0.076,2952,333,1441
$GC,12911,1.32,317.6,8.6,9.4,759,12917,0.00,2.40,0.00,0.000,6,0.000,0.064,2952,1755,1440
$STATE,12977,end climb,SURFACE_DEPTH_REACHED
$STATE,12977,begin surface coast
$FINISH,1.7,1.025090
$STATE,13012,end surface coast,CONTROL_FINISHED_OK
$STATE,13012,begin surface
$SM_CCo,13088,0.00,0.000,0,0,1436,321.10
$SM_GC,2.59,7.07,0.00,0.00,0.055,0.000,0.000,334,2243,1436,-10.58,0.37,321.10
$RAFOS_CLK,567
$RAFOS,4,1222879453,16.750000,16.736944,98,59,55,54,54,51,826,184,221,132,202,113
$RAFOS,3,1222878855,16.583334,16.570833,83,65,54,53,53,52,758,219,192,181,152,119
$RAFOS,2,1222878258,16.416666,16.405001,90,68,63,58,52,52,927,185,130,174,212,154
$RAFOS,1,1222877660,16.250000,16.238890,163,66,57,56,51,51,686,167,214,223,181,144
$RAFOS,0,1222877047,16.083334,16.068611,96,59,59,57,56,52,582,210,199,223,187,237
$RAFOS_FIX,6643.997559,-6032.295898,011008,161627,5,106,1.14
$IRIDIUM_FIX,6614.97,-6038.24,261297,111134
$TT8_MAMPS,0.026845
$HUMID,1818
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,15.20
$XPDR_PINGS,38
$24V_AH,22.9,25.835
$10V_AH,10.6,11.942
$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,23.425,115.825,392.050,0.000,0.000,25.728,32.607,127.232,9.500,0.000,0.000,12.333,1432.080,9722.543,510.890,1389.795,342.072,33.362,1297.618,0.000,1379.763,1800.000,0.530,0.000
$DEVICE_MAMPS,256.945,82.069,1201.889,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,543.537,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25309,777
$CAP_FILE_SIZE,110660,0
$CFSIZE,260165632,244162560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.6
$GPS,011008,190338,6643.772,-6033.745,40,0.8,40,-38.1