version: 66.04
glider: 108
mission: 11
dive: 234
start: 10 26 108 12 53 2
data:
$ID,108
$MISSION,11
$DIVE,234
$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,-115142.66
$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,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
$GPS1,124601,6642.803,-6012.020,36,1.4,36,-38.0
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-66.7
$GPS2,125209,6642.856,-6012.075,11,0.9,11,-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,0.150,0.179
$KALMAN_X,76920.7,-665.4,-269.6,-188938.5,1925.2
$KALMAN_Y,-135907.0,448.2,1810.1,112735.9,-3910.1
$MHEAD_RNG_PITCHd_Wd,78.1,14022,-13.0,-7.021
$D_GRID,563
$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,-51.33,0.000,2,0.000,0.000,342,2244,2509
$GC,72,-1.00,-146.0,3.1,-1.5,9,126,8.73,2.38,-34.75,0.000,4,0.255,0.095,2433,3597,3343
$GC,334,-0.69,-146.0,40.8,-13.2,55,341,0.28,2.28,0.00,0.000,6,0.154,0.054,2511,2220,3347
$GC,677,-0.69,-146.0,68.6,-7.6,116,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2220,3348
$GC,1019,-0.69,-146.0,95.8,-7.9,177,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2220,3348
$GC,1344,-0.69,-146.0,121.0,-7.7,200,1347,0.00,2.33,0.00,0.000,4,0.000,0.067,2512,816,3348
$GC,1388,-0.69,-146.0,124.4,-7.8,202,1393,0.00,2.38,0.00,0.000,6,0.000,0.081,2505,2243,3348
$GC,1715,-0.69,-146.0,150.1,-7.7,218,1719,0.00,2.25,0.00,0.000,4,0.000,0.084,2494,3601,3348
$GC,1747,-0.69,-146.0,152.7,-8.2,219,1752,0.00,2.22,0.00,0.000,6,0.000,0.054,2494,2224,3347
$GC,2068,-0.69,-146.0,177.5,-8.5,235,2070,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2224,3347
$GC,2378,-0.69,-146.0,202.5,-7.9,250,2382,0.00,2.28,0.00,0.000,4,0.000,0.068,2494,819,3347
$GC,2434,-0.64,-146.0,206.9,-7.7,252,2438,0.12,2.35,0.00,0.000,6,0.142,0.070,2518,2240,3347
$GC,2755,-0.73,-146.0,227.9,-6.8,268,2756,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2240,3347
$GC,3064,-0.83,-146.0,249.8,-6.6,283,3066,0.15,0.00,0.00,0.000,6,0.082,0.000,2459,2240,3347
$GC,3373,-0.72,-146.0,276.0,-8.5,298,3375,0.17,0.00,0.00,0.000,6,0.153,0.000,2507,2240,3347
$GC,3683,-0.79,-146.0,296.1,-7.0,313,3686,0.00,2.22,0.00,0.000,4,0.000,0.085,2499,3599,3347
$GC,3732,-0.88,-146.0,299.9,-7.3,315,3737,0.12,2.17,0.00,0.000,6,0.090,0.055,2448,2215,3347
$GC,4061,-0.74,-146.0,330.6,-9.2,331,4065,0.17,2.25,0.00,0.000,4,0.147,0.067,2501,810,3347
$GC,4194,-0.74,-146.0,340.8,-7.5,337,4198,0.00,2.35,0.00,0.000,6,0.000,0.071,2492,2233,3347
$GC,4521,-0.74,-146.0,362.7,-6.6,353,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2234,3347
$GC,4831,-0.79,-146.0,381.9,-5.8,368,4835,0.00,2.30,0.00,0.000,4,0.000,0.067,2492,813,3347
$GC,4925,-0.79,-146.0,387.9,-6.6,372,4929,0.00,2.35,0.00,0.000,6,0.000,0.069,2483,2245,3347
$GC,5252,-0.79,-146.0,408.6,-6.6,385,5253,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2245,3347
$GC,5575,-0.79,-146.0,429.4,-6.2,393,5576,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2245,3347
$GC,5900,-0.79,-146.0,447.8,-5.5,401,5901,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2245,3347
$GC,6225,-0.79,-146.0,466.4,-5.8,409,6226,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2245,3347
$GC,6550,-0.79,-146.0,486.2,-6.1,417,6553,0.00,2.33,0.00,0.000,4,0.000,0.064,2482,810,3348
$GC,6595,-0.79,-146.0,489.1,-6.8,418,6599,0.00,2.33,0.00,0.000,6,0.000,0.067,2473,2234,3348
$GC,6925,-0.79,-146.0,509.6,-6.1,426,6929,0.00,2.22,0.00,0.000,4,0.000,0.081,2462,3605,3348
$GC,6985,-0.79,-146.0,513.8,-6.7,427,6990,0.10,2.17,0.00,0.000,6,0.154,0.052,2487,2213,3348
$GC,7299,-0.85,-146.0,531.5,-5.6,435,7302,0.00,2.22,0.00,0.000,4,0.000,0.064,2487,812,3349
$GC,7376,-0.85,-146.0,536.1,-6.3,436,7381,0.00,2.35,0.00,0.000,6,0.000,0.066,2479,2246,3348
$GC,7713,-0.85,-146.0,554.7,-5.4,445,7717,0.00,2.30,0.00,0.000,4,0.000,0.063,2479,812,3349
$GC,7786,-0.85,-146.0,558.6,-5.7,446,7790,0.00,2.33,0.00,0.000,6,0.000,0.066,2468,2233,3349
$STATE,7882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7882,begin apogee
$GC,7888,-0.31,0.0,564.1,5.5,449,8015,0.40,0.00,123.95,1.236,6,0.132,0.000,2592,1733,2745
$STATE,8016,end apogee,CONTROL_FINISHED_OK
$STATE,8016,begin climb
$GC,8018,1.00,146.0,565.8,0.0,452,8150,0.88,0.00,128.30,1.157,6,0.105,0.000,2870,1733,2149
$GC,8465,0.82,146.0,525.2,9.8,463,8470,0.15,2.42,0.00,0.000,4,0.127,0.068,2838,334,2142
$GC,8497,0.82,146.0,522.5,7.7,463,8503,0.00,2.42,0.00,0.000,6,0.000,0.058,2838,1754,2142
$GC,8828,0.76,146.0,496.0,8.1,472,8832,0.00,2.33,0.00,0.000,4,0.000,0.072,2838,3158,2141
$GC,8850,0.66,146.0,493.9,9.0,472,8855,0.20,2.33,0.00,0.000,6,0.137,0.054,2793,1740,2140
$GC,9193,0.81,165.6,471.8,6.4,481,9217,0.15,2.42,16.60,1.113,4,0.073,0.071,2856,3164,2068
$GC,9227,0.65,165.6,468.7,9.1,481,9234,0.25,2.35,0.00,0.000,6,0.137,0.053,2796,1728,2066
$GC,9559,0.81,185.2,446.9,6.4,490,9579,0.12,0.00,17.33,1.104,6,0.075,0.000,2852,1728,1990
$GC,9884,0.76,185.2,417.1,9.4,498,9889,0.12,2.42,0.00,0.000,4,0.127,0.070,2817,3165,1986
$GC,9910,0.76,185.2,414.8,8.5,498,9914,0.00,2.35,0.00,0.000,6,0.000,0.052,2825,1732,1986
$GC,10229,0.76,185.2,390.0,7.7,509,10230,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1732,1986
$GC,10538,0.81,185.2,366.9,7.4,524,10542,0.00,2.38,0.00,0.000,4,0.000,0.072,2825,3156,1986
$GC,10571,0.77,185.2,364.2,8.4,525,10575,0.00,2.30,0.00,0.000,6,0.000,0.053,2834,1740,1985
$GC,10892,0.77,185.2,339.8,7.8,541,10893,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1740,1985
$GC,11201,0.77,185.2,315.7,7.8,556,11205,0.00,2.33,0.00,0.000,4,0.000,0.068,2844,324,1985
$GC,11233,0.82,185.2,313.0,8.5,557,11237,0.00,2.30,0.00,0.000,6,0.000,0.058,2844,1748,1986
$GC,11554,0.82,185.2,287.0,7.8,573,11555,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1747,1985
$GC,11863,0.82,185.2,262.8,7.7,588,11867,0.00,2.25,0.00,0.000,4,0.000,0.074,2844,3152,1985
$GC,11891,0.76,185.2,260.5,7.9,589,11895,0.12,2.28,0.00,0.000,6,0.139,0.054,2819,1725,1985
$GC,12219,0.92,209.7,239.9,6.2,605,12246,0.12,2.40,21.60,1.034,4,0.077,0.072,2874,3157,1889
$GC,12281,0.72,209.7,234.3,9.8,608,12286,0.25,2.33,0.00,0.000,6,0.133,0.054,2812,1736,1886
$GC,12609,1.15,225.1,213.6,6.5,624,12631,0.28,2.42,13.52,0.983,4,0.075,0.074,2920,3148,1826
$GC,12834,0.82,225.1,187.1,12.5,634,12839,0.32,2.33,0.00,0.000,6,0.141,0.056,2834,1730,1822
$GC,13168,1.14,225.1,163.3,7.5,650,13173,0.20,2.42,0.00,0.000,4,0.075,0.072,2920,3160,1820
$GC,13218,0.86,225.1,158.1,10.7,652,13223,0.30,2.38,0.00,0.000,6,0.144,0.055,2843,1728,1820
$GC,13539,1.08,287.6,138.8,5.0,668,13603,0.17,2.45,53.80,0.989,4,0.074,0.070,2927,333,1571
$GC,13619,0.99,287.6,132.3,8.9,671,13626,0.20,2.38,0.00,0.000,6,0.132,0.060,2870,1748,1568
$GC,13936,1.13,308.8,112.4,6.3,687,13961,0.12,2.40,18.20,0.937,4,0.078,0.074,2923,3159,1485
$GC,13995,0.92,308.8,106.4,11.7,689,14002,0.28,2.35,0.00,0.000,6,0.137,0.057,2854,1734,1482
$GC,14329,1.58,308.8,79.5,10.1,735,14336,0.45,2.38,0.00,0.000,4,0.123,0.071,2999,319,1476
$GC,14371,1.84,308.8,75.4,9.9,742,14377,0.20,2.38,0.00,0.000,6,0.077,0.061,3074,1752,1477
$GC,14715,1.28,308.8,8.7,18.1,803,14722,0.45,2.42,0.00,0.000,4,0.161,0.069,2948,326,1475
$GC,14745,0.96,308.8,4.5,15.2,808,14752,0.28,2.35,0.00,0.000,6,0.126,0.063,2865,1750,1475
$STATE,14762,end climb,SURFACE_DEPTH_REACHED
$STATE,14762,begin surface coast
$FINISH,1.7,1.018241
$STATE,14797,end surface coast,CONTROL_FINISHED_OK
$STATE,14797,begin surface
$SM_CCo,14874,0.00,0.000,0,0,1471,312.27
$SM_GC,2.52,6.90,0.00,0.00,0.059,0.000,0.000,337,2232,1471,-10.57,0.06,312.27
$RAFOS_CLK,639
$RAFOS,4,1225039452,16.750000,16.736666,66,61,60,59,59,58,779,155,164,222,189,134
$RAFOS,3,1225038850,16.583334,16.569445,67,66,65,64,59,47,711,174,208,224,154,112
$RAFOS,2,1225038245,16.416666,16.401388,67,59,55,53,51,51,215,201,915,143,182,243
$RAFOS,1,1225037652,16.250000,16.236666,67,65,62,59,58,56,659,220,167,194,206,149
$RAFOS,0,1225037051,16.083334,16.069723,139,58,53,53,51,48,498,227,126,208,140,165
$RAFOS_FIX,6747.824707,-5801.712891,261008,121256,2,79,12.35
$IRIDIUM_FIX,6609.62,-6011.94,200198,080836
$TT8_MAMPS,0.026845
$HUMID,1789
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,15.00
$XPDR_PINGS,63
$24V_AH,22.6,42.316
$10V_AH,10.6,19.339
$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,22.775,118.175,393.300,0.000,0.000,25.872,32.063,196.401,15.750,0.000,0.000,12.838,1508.435,11180.484,525.964,1570.022,457.143,33.359,1384.928,0.000,1546.916,1800.000,0.531,0.000
$DEVICE_MAMPS,255.411,95.108,1236.404,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,572.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28430,817
$CAP_FILE_SIZE,117554,0
$CFSIZE,260165632,236134400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.3
$GPS,261008,170207,6642.899,-6008.326,26,1.1,26,-38.0