version: 66.04
glider: 108
mission: 11
dive: 221
start: 10 24 108 11 5 43
data:
$ID,108
$MISSION,11
$DIVE,221
$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,-114956.56
$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,23
$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
$GPS1,105455,6639.467,-6038.028,24,0.8,41,-38.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-64.1
$GPS2,110450,6639.474,-6038.223,9,1.1,14,-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,-0.033,0.231
$KALMAN_X,59419.3,300.3,5.4,-191685.5,-418.9
$KALMAN_Y,-108178.1,-1056.9,1428.0,80635.6,-1999.6
$MHEAD_RNG_PITCHd_Wd,30.0,5841,-13.0,-7.021
$D_GRID,481
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.00,-145.9,0.0,0.0,0,80,0.00,0.00,-63.15,0.000,2,0.000,0.000,338,2246,2663
$GC,83,-1.00,-146.0,3.1,-1.4,11,125,8.75,0.00,-28.50,0.000,6,0.255,0.000,2439,2247,3343
$GC,462,-0.73,-146.0,57.8,-13.6,78,469,0.20,2.30,0.00,0.000,4,0.158,0.081,2492,3603,3347
$GC,623,-0.62,-146.0,74.0,-9.9,106,630,0.12,2.25,0.00,0.000,6,0.150,0.054,2525,2208,3347
$GC,981,-0.62,-146.0,101.7,-7.4,167,985,0.00,2.28,0.00,0.000,4,0.000,0.067,2525,814,3348
$GC,1071,-0.62,-146.0,108.7,-8.5,171,1075,0.00,2.40,0.00,0.000,6,0.000,0.068,2518,2242,3348
$GC,1399,-0.62,-146.0,133.8,-7.7,187,1400,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2242,3348
$GC,1707,-0.62,-146.0,158.3,-7.9,202,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2242,3348
$GC,2016,-0.62,-146.0,183.7,-8.1,217,2020,0.00,2.28,0.00,0.000,4,0.000,0.085,2507,3601,3348
$GC,2106,-0.62,-146.0,191.4,-8.5,221,2110,0.00,2.22,0.00,0.000,6,0.000,0.054,2507,2223,3348
$GC,2437,-0.62,-146.0,218.6,-8.1,237,2441,0.00,2.28,0.00,0.000,4,0.000,0.070,2507,819,3348
$GC,2537,-0.62,-146.0,226.8,-8.3,241,2542,0.10,2.38,0.00,0.000,6,0.147,0.071,2523,2237,3347
$GC,2859,-0.71,-146.0,246.9,-6.4,257,2860,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2237,3347
$GC,3168,-0.81,-146.0,266.0,-6.1,272,3170,0.15,0.00,0.00,0.000,6,0.084,0.000,2465,2237,3347
$GC,3477,-0.69,-146.0,291.9,-8.4,287,3482,0.15,2.28,0.00,0.000,4,0.155,0.083,2497,3603,3347
$GC,3561,-0.69,-146.0,298.2,-7.0,291,3565,0.00,2.22,0.00,0.000,6,0.000,0.055,2497,2220,3347
$GC,3893,-0.69,-146.0,320.7,-6.6,307,3894,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2220,3347
$GC,4203,-0.69,-146.0,341.6,-6.4,322,4207,0.00,2.33,0.00,0.000,4,0.000,0.068,2497,811,3347
$GC,4274,-0.69,-146.0,346.9,-7.7,325,4278,0.00,2.35,0.00,0.000,6,0.000,0.073,2487,2238,3347
$GC,4595,-0.69,-146.0,371.2,-7.7,341,4596,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2238,3347
$GC,4905,-0.69,-146.0,393.1,-6.6,356,4906,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2238,3347
$GC,5232,-0.69,-146.0,413.1,-6.1,367,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2237,3347
$GC,5556,-0.69,-146.0,433.2,-6.3,375,5560,0.00,2.25,0.00,0.000,4,0.000,0.084,2477,3606,3347
$GC,5647,-0.69,-146.0,439.6,-7.6,377,5651,0.12,2.25,0.00,0.000,6,0.151,0.055,2509,2218,3347
$GC,5976,-0.82,-146.0,457.3,-5.4,385,5981,0.12,2.30,0.00,0.000,4,0.087,0.065,2459,812,3346
$GC,6088,-0.70,-146.0,465.3,-7.1,387,6093,0.20,2.38,0.00,0.000,6,0.141,0.068,2506,2247,3346
$STATE,6421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6422,begin apogee
$GC,6428,-0.31,0.0,482.5,4.9,396,6553,0.28,0.00,122.10,1.217,6,0.128,0.000,2593,1742,2745
$STATE,6553,end apogee,CONTROL_FINISHED_OK
$STATE,6553,begin climb
$GC,6556,1.00,146.0,484.7,0.0,399,6686,0.90,0.00,127.18,1.130,6,0.107,0.000,2873,1742,2149
$GC,6990,0.83,146.0,446.7,9.6,410,6995,0.15,2.47,0.00,0.000,4,0.127,0.070,2841,333,2142
$GC,7011,0.76,146.0,444.8,8.3,410,7015,0.00,2.45,0.00,0.000,6,0.000,0.059,2842,1755,2141
$GC,7353,0.71,146.0,419.3,7.2,419,7358,0.12,2.35,0.00,0.000,4,0.137,0.073,2807,3162,2140
$GC,7386,0.73,167.5,417.0,6.3,419,7411,0.00,2.35,18.00,1.085,6,0.000,0.056,2814,1733,2062
$GC,7719,0.90,225.3,399.4,5.2,428,7776,0.12,2.58,49.85,1.110,4,0.082,0.073,2867,3150,1825
$GC,7810,0.70,225.3,392.1,9.4,432,7815,0.25,2.38,0.00,0.000,6,0.130,0.054,2807,1732,1821
$GC,8131,0.96,276.1,375.1,5.4,448,8182,0.20,2.58,43.90,1.088,4,0.067,0.072,2893,3157,1618
$GC,8204,0.76,276.1,367.8,11.9,451,8209,0.30,2.38,0.00,0.000,6,0.132,0.054,2818,1735,1614
$GC,8521,1.21,276.1,345.6,7.7,466,8523,0.32,0.00,0.00,0.000,6,0.099,0.000,2924,1735,1606
$GC,8829,1.30,276.1,315.3,10.4,481,8833,0.00,2.35,0.00,0.000,4,0.000,0.072,2932,327,1605
$GC,8862,1.21,276.1,311.6,11.6,482,8867,0.00,2.35,0.00,0.000,6,0.000,0.061,2932,1748,1606
$GC,9178,0.99,276.1,270.7,12.7,497,9182,0.20,2.30,0.00,0.000,4,0.141,0.074,2869,3156,1605
$GC,9222,0.90,276.1,265.9,10.2,499,9227,0.10,2.28,0.00,0.000,6,0.143,0.057,2850,1731,1603
$GC,9554,1.06,276.1,239.6,8.0,515,9556,0.12,0.00,0.00,0.000,6,0.082,0.000,2904,1731,1603
$GC,9865,0.96,276.1,207.0,10.3,530,9867,0.15,0.00,0.00,0.000,6,0.131,0.000,2860,1731,1603
$GC,10173,1.11,295.2,186.0,6.4,545,10198,0.12,0.00,17.42,0.925,6,0.083,0.000,2912,1731,1541
$GC,10502,0.99,295.2,153.9,9.7,561,10507,0.15,2.38,0.00,0.000,4,0.135,0.073,2877,329,1538
$GC,10518,0.99,295.2,152.4,9.5,562,10522,0.00,1.25,0.00,0.000,6,0.000,0.059,2877,1072,1538
$GC,10851,1.11,316.6,130.6,6.3,578,10878,0.08,3.50,19.92,0.989,4,0.100,0.072,2916,3152,1454
$GC,11012,0.90,316.6,112.0,12.8,585,11017,0.28,2.33,0.00,0.000,6,0.133,0.058,2845,1742,1448
$GC,11340,1.59,316.6,83.8,10.3,621,11347,0.47,2.38,0.00,0.000,4,0.104,0.072,3007,324,1445
$GC,11392,1.59,316.6,78.0,10.7,630,11398,0.00,2.35,0.00,0.000,6,0.000,0.064,3007,1741,1445
$GC,11736,1.32,316.6,27.1,12.9,691,11743,0.20,2.40,0.00,0.000,4,0.150,0.072,2955,323,1445
$GC,11833,1.32,316.6,18.3,8.4,708,11840,0.00,2.35,0.00,0.000,6,0.000,0.064,2955,1743,1445
$STATE,11989,end climb,SURFACE_DEPTH_REACHED
$STATE,11990,begin surface coast
$FINISH,1.9,1.025465
$STATE,12018,end surface coast,CONTROL_FINISHED_OK
$STATE,12018,begin surface
$SM_CCo,12095,0.00,0.000,0,0,1441,319.87
$SM_GC,2.60,7.15,0.00,0.00,0.060,0.000,0.000,333,2242,1441,-10.58,0.34,319.87
$RAFOS_CLK,531
$RAFOS,4,1224852276,12.750000,12.743333,63,60,60,54,52,49,211,130,114,142,171,157
$RAFOS,3,1224851653,12.583333,12.570278,80,58,56,56,51,51,756,159,207,195,177,113
$RAFOS,2,1224851060,12.416667,12.405556,74,72,65,54,52,49,927,207,150,117,135,182
$RAFOS,1,1224850460,12.250000,12.238889,63,61,59,57,57,56,198,211,175,161,188,141
$RAFOS,0,1224849845,12.083333,12.068055,131,65,64,53,52,51,607,203,215,119,185,134
$RAFOS_FIX,6640.313965,-6030.912598,241008,121206,3,95,1.19
$IRIDIUM_FIX,6609.62,-6043.56,180198,111137
$TT8_MAMPS,0.026845
$HUMID,1819
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,15.00
$XPDR_PINGS,25
$24V_AH,22.7,40.513
$10V_AH,10.6,18.617
$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,21.600,86.075,398.375,0.000,0.000,53.220,90.587,247.682,6.250,0.000,0.000,15.690,1354.499,8857.885,511.974,1380.637,599.200,33.368,1254.578,0.000,1368.520,1800.000,0.530,0.000
$DEVICE_MAMPS,255.411,85.137,1217.229,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,519.413,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25249,741
$CAP_FILE_SIZE,98766,0
$CFSIZE,260165632,236888064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1445.9
$GPS,241008,142837,6640.167,-6038.286,23,1.2,23,-38.0