version: 66.04
glider: 108
mission: 11
dive: 232
start: 10 26 108 4 32 56
data:
$ID,108
$MISSION,11
$DIVE,232
$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,-115113.38
$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,24
$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
$GPS1,042638,6640.532,-6020.594,50,1.0,50,-38.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-67.3
$GPS2,043203,6640.506,-6020.426,12,1.1,12,-38.0
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_ADD1_EB
$TGT_LATLONG,6647.000,-5956.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.163,0.167
$KALMAN_X,75111.0,159.1,-86.3,-194212.0,1929.5
$KALMAN_Y,-132603.6,-624.2,-24.6,107983.0,-4156.9
$MHEAD_RNG_PITCHd_Wd,82.3,21509,-13.0,-7.021
$D_GRID,530
$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,-146.0,0.0,0.0,0,72,0.00,0.00,-53.58,0.000,2,0.000,0.000,339,2233,2520
$GC,75,-1.00,-146.0,3.0,-1.3,9,123,8.70,2.38,-33.78,0.000,4,0.255,0.094,2428,3606,3343
$GC,281,-0.63,-146.0,32.5,-17.6,45,288,0.30,2.28,0.00,0.000,6,0.163,0.054,2517,2212,3347
$GC,625,-0.63,-146.0,64.0,-8.0,106,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2212,3348
$GC,968,-0.63,-146.0,91.1,-7.6,167,975,0.00,2.28,0.00,0.000,4,0.000,0.067,2517,812,3348
$GC,1025,-0.63,-146.0,95.6,-8.0,177,1032,0.00,2.35,0.00,0.000,6,0.000,0.067,2509,2238,3348
$GC,1356,-0.63,-146.0,120.4,-7.4,201,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2238,3348
$GC,1667,-0.63,-146.0,142.5,-7.2,216,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2238,3348
$GC,1975,-0.63,-146.0,167.9,-8.4,231,1978,0.00,2.25,0.00,0.000,4,0.000,0.083,2498,3609,3348
$GC,2013,-0.63,-146.0,171.5,-8.9,232,2020,0.10,2.25,0.00,0.000,6,0.156,0.054,2524,2207,3348
$GC,2331,-0.72,-146.0,194.0,-6.7,248,2335,0.10,2.25,0.00,0.000,4,0.096,0.065,2482,821,3347
$GC,2459,-0.62,-146.0,204.1,-8.3,253,2466,0.17,2.33,0.00,0.000,6,0.145,0.070,2522,2234,3347
$GC,2775,-0.73,-146.0,221.2,-5.7,269,2779,0.10,2.25,0.00,0.000,4,0.095,0.090,2472,3602,3347
$GC,2830,-0.64,-146.0,225.5,-8.6,271,2835,0.17,2.20,0.00,0.000,6,0.155,0.054,2519,2218,3347
$GC,3152,-0.76,-146.0,245.2,-5.8,287,3156,0.12,2.28,0.00,0.000,4,0.091,0.066,2469,813,3347
$GC,3207,-0.64,-146.0,249.5,-8.0,289,3212,0.20,2.38,0.00,0.000,6,0.146,0.069,2516,2237,3347
$GC,3523,-0.75,-146.0,267.6,-5.5,304,3524,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2236,3347
$GC,3832,-0.85,-146.0,284.6,-5.7,319,3837,0.15,2.35,0.00,0.000,4,0.085,0.066,2458,813,3347
$GC,3906,-0.70,-146.0,290.4,-8.6,322,3910,0.20,2.38,0.00,0.000,6,0.147,0.070,2504,2239,3347
$GC,4221,-0.77,-146.0,309.4,-6.0,337,4225,0.00,2.38,0.00,0.000,4,0.000,0.067,2504,818,3347
$GC,4271,-0.77,-146.0,312.6,-6.6,339,4276,0.00,2.38,0.00,0.000,6,0.000,0.069,2496,2241,3347
$GC,4592,-0.77,-146.0,331.6,-5.8,355,4596,0.00,2.35,0.00,0.000,4,0.000,0.067,2496,817,3347
$GC,4637,-0.77,-146.0,334.3,-6.1,357,4641,0.00,2.35,0.00,0.000,6,0.000,0.070,2486,2235,3347
$GC,4970,-0.77,-146.0,355.7,-6.7,373,4974,0.00,2.25,0.00,0.000,4,0.000,0.084,2476,3603,3347
$GC,5087,-0.77,-146.0,364.8,-7.4,378,5091,0.00,2.20,0.00,0.000,6,0.000,0.053,2476,2216,3346
$GC,5414,-0.77,-146.0,387.5,-6.8,394,5418,0.00,2.28,0.00,0.000,4,0.000,0.066,2476,820,3347
$GC,5447,-0.71,-146.0,389.8,-7.0,395,5452,0.15,2.35,0.00,0.000,6,0.139,0.081,2505,2241,3347
$GC,5766,-0.83,-146.0,407.4,-5.4,408,5771,0.12,2.25,0.00,0.000,4,0.087,0.082,2446,3601,3347
$GC,5812,-0.72,-146.0,410.6,-7.5,409,5817,0.20,2.22,0.00,0.000,6,0.155,0.053,2501,2214,3347
$GC,6136,-0.83,-146.0,427.1,-4.8,417,6138,0.10,0.00,0.00,0.000,6,0.099,0.000,2459,2215,3347
$GC,6461,-0.76,-146.0,447.3,-6.3,425,6465,0.12,2.28,0.00,0.000,4,0.155,0.064,2497,816,3347
$GC,6500,-0.81,-146.0,449.7,-6.3,425,6506,0.00,2.35,0.00,0.000,6,0.000,0.067,2489,2240,3347
$GC,6831,-0.87,-146.0,469.2,-6.0,434,6835,0.00,2.38,0.00,0.000,4,0.000,0.064,2490,810,3348
$GC,6869,-0.87,-146.0,471.8,-6.8,434,6875,0.00,2.33,0.00,0.000,6,0.000,0.066,2480,2235,3348
$GC,7200,-0.87,-146.0,492.5,-6.2,443,7204,0.00,2.33,0.00,0.000,4,0.000,0.064,2480,817,3348
$GC,7278,-0.87,-146.0,497.8,-6.5,444,7283,0.00,2.35,0.00,0.000,6,0.000,0.067,2470,2235,3348
$GC,7615,-0.87,-146.0,520.8,-7.0,453,7616,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2234,3348
$STATE,7775,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7775,begin apogee
$GC,7781,-0.31,0.0,530.0,5.6,457,7908,0.40,0.00,123.32,1.220,6,0.132,0.000,2593,1733,2745
$STATE,7908,end apogee,CONTROL_FINISHED_OK
$STATE,7908,begin climb
$GC,7911,1.00,146.0,532.9,0.0,460,8047,0.88,2.72,127.45,1.144,4,0.107,0.071,2870,3146,2147
$GC,8069,0.71,146.0,522.0,10.8,463,8076,0.28,2.55,0.00,0.000,6,0.137,0.051,2808,1735,2144
$GC,8401,0.80,173.7,500.6,6.1,472,8428,0.10,0.00,24.17,1.109,6,0.084,0.000,2851,1735,2036
$GC,8725,0.71,173.7,474.4,8.1,480,8727,0.15,0.00,0.00,0.000,6,0.127,0.000,2810,1735,2032
$GC,9050,0.82,190.9,453.5,6.5,488,9071,0.10,2.45,15.45,1.092,4,0.087,0.071,2853,3160,1965
$GC,9094,0.66,190.9,449.4,10.4,489,9099,0.22,2.40,0.00,0.000,6,0.133,0.053,2800,1730,1963
$GC,9412,0.83,196.0,427.4,6.9,497,9420,0.12,0.00,5.50,0.887,6,0.077,0.000,2855,1729,1945
$GC,9737,0.76,196.0,398.6,8.8,505,9739,0.12,0.00,0.00,0.000,6,0.126,0.000,2820,1729,1944
$GC,10047,0.91,237.1,379.0,5.7,520,10087,0.12,0.00,36.15,1.111,6,0.078,0.000,2872,1729,1777
$GC,10396,0.81,237.1,344.7,10.8,537,10398,0.15,0.00,0.00,0.000,6,0.130,0.000,2828,1729,1770
$GC,10706,0.94,237.1,320.4,7.1,552,10710,0.12,2.42,0.00,0.000,4,0.079,0.070,2881,3161,1768
$GC,10726,0.94,237.1,318.5,8.7,553,10731,0.12,2.35,0.00,0.000,6,0.145,0.053,2858,1733,1768
$GC,11054,0.94,237.1,290.3,8.3,569,11058,0.00,2.35,0.00,0.000,4,0.000,0.068,2866,322,1768
$GC,11099,0.94,237.1,286.4,8.8,571,11103,0.00,2.35,0.00,0.000,6,0.000,0.059,2866,1757,1768
$GC,11432,0.94,237.1,258.0,8.6,587,11433,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1757,1768
$GC,11740,0.94,237.1,232.9,7.9,602,11741,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1757,1767
$GC,12049,0.94,237.1,208.4,8.1,617,12053,0.00,2.28,0.00,0.000,4,0.000,0.074,2866,3161,1767
$GC,12077,0.87,237.1,205.9,8.7,618,12081,0.12,2.30,0.00,0.000,6,0.140,0.054,2841,1732,1766
$GC,12404,1.03,254.8,183.9,6.5,634,12426,0.15,2.35,14.75,0.996,4,0.076,0.071,2916,330,1706
$GC,12443,0.91,254.8,180.2,9.0,635,12450,0.22,2.33,0.00,0.000,6,0.133,0.061,2850,1745,1706
$GC,12759,1.07,273.4,159.9,6.4,651,12782,0.15,2.38,17.35,0.986,4,0.075,0.074,2913,3153,1630
$GC,12816,0.82,273.4,154.1,11.8,653,12821,0.30,2.33,0.00,0.000,6,0.139,0.056,2836,1727,1627
$GC,13131,1.46,273.4,130.1,8.6,668,13136,0.40,2.30,0.00,0.000,4,0.094,0.069,2976,330,1623
$GC,13170,1.46,273.4,126.5,9.3,670,13174,0.00,2.33,0.00,0.000,6,0.000,0.061,2976,1744,1623
$GC,13496,1.18,273.4,82.2,14.3,701,13503,0.20,2.38,0.00,0.000,4,0.147,0.070,2924,322,1622
$GC,13515,0.96,273.4,79.8,13.5,704,13522,0.22,2.35,0.00,0.000,6,0.130,0.061,2857,1753,1622
$GC,13859,1.39,273.4,54.6,7.4,765,13866,0.28,2.30,0.00,0.000,4,0.081,0.075,2963,3155,1621
$GC,14014,1.07,273.4,36.0,12.7,792,14021,0.30,2.30,0.00,0.000,6,0.150,0.059,2887,1730,1620
$GC,14359,1.45,273.4,14.5,7.1,853,14366,0.25,2.30,0.00,0.000,4,0.087,0.072,2980,326,1619
$GC,14412,1.53,342.4,11.6,4.8,862,14477,0.00,2.33,59.20,0.931,6,0.000,0.064,2979,1742,1349
$STATE,14509,end climb,SURFACE_DEPTH_REACHED
$STATE,14509,begin surface coast
$FINISH,1.6,1.025454
$STATE,14546,end surface coast,CONTROL_FINISHED_OK
$STATE,14546,begin surface
$SM_CCo,14624,0.00,0.000,0,0,1337,345.38
$SM_GC,2.51,7.32,0.00,0.00,0.054,0.000,0.000,337,2238,1337,-10.58,0.23,345.38
$RAFOS_CLK,634
$RAFOS,2,1225009446,8.416667,8.401667,59,56,53,51,50,49,207,114,139,158,220,177
$RAFOS,1,1225008849,8.250000,8.235833,91,56,56,55,54,51,690,225,204,162,126,189
$RAFOS,0,1225008250,8.083333,8.069445,63,58,57,53,53,52,189,175,147,119,228,199
$RAFOS,4,1224996244,4.750000,4.734445,123,60,53,52,51,51,857,201,118,161,145,182
$RAFOS,3,1224995644,4.583333,4.567778,64,61,56,54,51,51,214,199,752,223,111,146
$RAFOS_FIX,6641.924805,-6020.454102,261008,000020,4,85,0.00
$IRIDIUM_FIX,6614.97,-6028.78,200198,000036
$TT8_MAMPS,0.028379
$HUMID,1790
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,15.10
$XPDR_PINGS,25
$24V_AH,22.6,42.026
$10V_AH,10.5,19.225
$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,23.850,122.950,423.350,0.000,0.000,25.347,30.923,162.589,6.250,0.000,0.000,14.165,1601.682,10759.018,567.789,1610.678,414.757,33.361,1439.916,0.000,1585.180,2160.000,0.530,0.000
$DEVICE_MAMPS,255.411,94.341,1220.297,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,619.035,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28437,885
$CAP_FILE_SIZE,121201,0
$CFSIZE,260165632,236253184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.3
$GPS,261008,083802,6640.263,-6016.053,38,1.1,38,-38.0