version: 66.04
glider: 108
mission: 11
dive: 4
start: 9 5 108 18 12 14
data:
$ID,108
$MISSION,11
$DIVE,4
$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,330
$T_MISSION,396
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$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,500
$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,-111292.79
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,2670
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$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,1946
$C_ROLL_CLIMB,1946
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,588
$VBD_MAX,3951
$C_VBD,2959
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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
$GPS1,180809,6646.139,-5957.703,8,1.9,8,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-66.7
$GPS2,181157,6646.092,-5957.799,14,1.2,14,-38.1
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,295.2,33968,-18.1,-10.000
$D_GRID,680
$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,-1.24,-146.0,0.0,0.0,0,107,0.00,0.00,-90.18,0.000,2,0.000,0.000,338,1970,2765
$GC,109,-1.24,-146.0,3.3,-5.3,16,147,8.27,2.28,-18.73,0.000,4,0.255,0.082,2386,3353,3558
$GC,397,-1.16,-146.0,56.3,-16.7,67,404,0.12,2.20,0.00,0.000,6,0.157,0.050,2423,1939,3561
$GC,738,-1.21,-146.0,101.3,-12.4,127,742,0.00,2.30,0.00,0.000,4,0.000,0.069,2414,3367,3563
$GC,997,-1.26,-146.0,135.7,-13.4,150,1001,0.00,2.20,0.00,0.000,6,0.000,0.051,2414,1947,3563
$GC,1326,-1.26,-146.0,175.2,-12.0,181,1330,0.00,2.28,0.00,0.000,4,0.000,0.072,2403,3364,3562
$GC,1583,-1.32,-146.0,208.5,-13.4,204,1587,0.00,2.20,0.00,0.000,6,0.000,0.053,2403,1938,3561
$GC,1914,-1.32,-146.0,252.2,-13.0,235,1918,0.00,2.30,0.00,0.000,4,0.000,0.074,2394,3366,3560
$GC,2167,-1.32,-146.0,287.0,-13.3,258,2172,0.00,2.20,0.00,0.000,6,0.000,0.055,2394,1944,3560
$GC,2499,-1.32,-146.0,329.8,-12.9,289,2503,0.00,2.28,0.00,0.000,4,0.000,0.074,2383,3359,3559
$GC,2743,-1.32,-146.0,363.6,-14.3,311,2748,0.00,2.20,0.00,0.000,6,0.000,0.054,2383,1934,3558
$GC,3076,-1.32,-146.0,408.8,-13.4,342,3079,0.00,2.28,0.00,0.000,4,0.000,0.073,2373,3354,3557
$GC,3284,-1.32,-146.0,438.6,-14.0,361,3288,0.00,2.17,0.00,0.000,6,0.000,0.055,2373,1946,3557
$GC,3618,-1.32,-146.0,483.4,-13.1,392,3621,0.00,2.25,0.00,0.000,4,0.000,0.074,2363,3353,3557
$GC,3836,-1.32,-146.0,514.0,-13.6,412,3840,0.00,2.17,0.00,0.000,6,0.000,0.055,2363,1941,3557
$GC,4167,-1.26,-146.0,560.0,-13.6,443,4172,0.12,2.28,0.00,0.000,4,0.166,0.073,2387,3363,3557
$GC,4368,-1.32,-146.0,586.3,-12.6,461,4372,0.00,2.20,0.00,0.000,6,0.000,0.053,2387,1930,3557
$GC,4699,-1.32,-146.0,628.2,-12.7,479,4703,0.00,2.28,0.00,0.000,4,0.000,0.072,2377,3359,3557
$GC,4903,-1.32,-146.0,654.3,-12.6,485,4906,0.00,2.17,0.00,0.000,6,0.000,0.054,2377,1942,3557
$STATE,5120,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5120,begin apogee
$GC,5124,-0.29,0.0,683.6,13.6,492,5247,0.73,0.00,120.38,1.295,6,0.142,0.000,2605,1941,2959
$STATE,5248,end apogee,CONTROL_FINISHED_OK
$STATE,5248,begin climb
$GC,5250,1.24,146.0,688.1,0.0,496,5383,1.00,2.45,123.88,1.226,4,0.087,0.067,2950,535,2362
$GC,5465,0.89,146.0,671.6,13.7,502,5471,0.28,2.42,0.00,0.000,6,0.160,0.057,2860,1950,2358
$GC,5789,0.93,177.4,641.4,8.6,513,5821,0.00,2.42,26.02,1.187,4,0.000,0.067,2869,539,2235
$GC,5915,0.95,192.6,629.8,9.3,516,5936,0.00,2.38,14.02,1.121,6,0.000,0.058,2869,1945,2173
$GC,6261,0.96,204.1,597.3,9.5,528,6276,0.00,2.38,10.57,1.092,4,0.000,0.068,2878,542,2126
$GC,6353,0.96,204.1,588.1,10.2,536,6362,0.00,2.35,0.00,0.000,6,0.000,0.058,2878,1946,2125
$GC,6681,0.90,204.4,556.5,10.0,567,6685,0.00,2.33,0.00,0.000,4,0.000,0.068,2888,539,2124
$GC,6773,0.84,204.4,546.6,11.0,575,6783,0.10,2.33,0.00,0.000,6,0.145,0.059,2856,1948,2124
$GC,7100,0.87,227.9,517.1,8.9,606,7125,0.00,2.42,20.52,1.157,4,0.000,0.067,2862,538,2030
$GC,7174,0.92,227.9,509.5,10.2,612,7181,0.00,2.33,0.00,0.000,6,0.000,0.057,2862,1955,2028
$GC,7501,0.93,236.2,477.7,9.6,643,7515,0.00,2.35,8.07,1.016,4,0.000,0.068,2872,543,1996
$GC,7585,0.93,236.2,468.7,10.4,650,7593,0.00,2.33,0.00,0.000,6,0.000,0.059,2872,1945,1995
$GC,7914,0.94,246.1,436.7,9.5,681,7929,0.00,2.38,9.62,1.036,4,0.000,0.069,2882,541,1955
$GC,7992,0.94,246.1,428.4,10.8,688,7996,0.00,2.30,0.00,0.000,6,0.000,0.058,2882,1951,1955
$GC,8317,0.94,246.1,394.5,10.4,718,8321,0.00,2.33,0.00,0.000,4,0.000,0.069,2889,537,1953
$GC,8387,0.94,246.1,386.6,11.2,724,8397,0.00,2.33,0.00,0.000,6,0.000,0.058,2889,1954,1953
$GC,8713,0.94,246.1,351.1,11.0,755,8716,0.00,2.30,0.00,0.000,4,0.000,0.068,2899,545,1953
$GC,8736,0.94,246.1,348.6,11.9,757,8741,0.10,2.28,0.00,0.000,6,0.160,0.058,2875,1961,1953
$GC,9062,0.94,246.1,314.4,10.8,787,9065,0.00,2.33,0.00,0.000,4,0.000,0.070,2883,538,1953
$GC,9099,1.00,246.1,309.9,11.7,790,9106,0.00,2.28,0.00,0.000,6,0.000,0.057,2883,1944,1953
$GC,9424,1.00,246.1,273.6,11.3,821,9428,0.00,2.30,0.00,0.000,4,0.000,0.070,2891,535,1953
$GC,9527,1.00,246.1,261.7,11.6,830,9534,0.00,2.30,0.00,0.000,6,0.000,0.059,2892,1950,1953
$GC,9853,1.01,249.7,227.0,9.8,861,9865,0.00,2.30,4.25,0.742,4,0.000,0.071,2902,545,1941
$GC,9912,1.01,249.7,221.0,11.0,866,9916,0.00,2.25,0.00,0.000,6,0.000,0.060,2902,1954,1941
$GC,10243,1.01,249.7,185.4,10.9,897,10247,0.00,2.30,0.00,0.000,4,0.000,0.071,2912,542,1941
$GC,10332,1.01,249.7,175.4,11.5,905,10337,0.10,2.25,0.00,0.000,6,0.162,0.061,2888,1946,1941
$GC,10656,1.09,269.7,145.1,9.1,935,10679,0.00,2.38,17.62,0.982,4,0.000,0.071,2896,543,1859
$GC,10747,1.19,290.6,136.9,9.0,943,10771,0.12,2.30,18.30,0.956,6,0.090,0.061,2946,1957,1774
$GC,11087,1.12,290.6,96.1,11.9,977,11094,0.15,2.35,0.00,0.000,4,0.156,0.072,2915,542,1767
$GC,11190,1.20,303.7,85.6,9.4,995,11208,0.00,2.30,11.25,0.910,6,0.000,0.062,2915,1953,1720
$GC,11547,1.21,314.8,51.2,9.5,1058,11565,0.00,2.40,10.23,0.890,4,0.000,0.074,2922,546,1675
$GC,11649,1.30,319.7,41.0,9.8,1076,11663,0.12,2.33,5.57,0.771,6,0.091,0.063,2970,1959,1655
$GC,11997,1.33,346.3,8.3,8.8,1138,12023,0.00,0.00,22.38,0.910,6,0.000,0.000,2970,1959,1547
$STATE,12060,end climb,SURFACE_DEPTH_REACHED
$STATE,12060,begin surface coast
$FINISH,1.2,1.024618
$STATE,12087,end surface coast,CONTROL_FINISHED_OK
$STATE,12087,begin surface
$SM_CCo,12101,124.20,0.769,11,0,920,500.17
$SM_GC,2.13,0.00,0.00,124.20,0.000,0.000,0.769,341,1961,920,-10.71,0.42,500.17
$RAFOS_CLK,511
$RAFOS,4,1220647448,20.750000,20.735556,62,58,58,55,53,53,194,184,143,225,207,171
$RAFOS,3,1220646843,20.583334,20.567499,62,60,55,55,55,52,217,199,117,165,229,177
$RAFOS,2,1220646244,20.416666,20.401112,59,59,55,53,52,51,147,193,178,218,160,122
$RAFOS,1,1220645642,20.250000,20.233889,58,58,56,51,51,49,166,199,175,146,216,112
$RAFOS,0,1220645046,20.083334,20.068333,62,59,59,59,55,55,215,177,162,226,123,144
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-5959.11,301197,181820
$TT8_MAMPS,0.026845
$HUMID,1903
$INTERNAL_PRESSURE,9.86366
$TCM_TEMP,15.20
$XPDR_PINGS,24
$24V_AH,23.5,5.946
$10V_AH,10.6,1.834
$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,18.575,114.950,422.700,124.200,0.000,0.000,0.000,0.000,6.000,0.000,0.000,15.655,1944.755,6627.109,694.399,2984.024,105.945,0.000,1846.500,0.000,2169.723,1800.000,0.531,0.000
$DEVICE_MAMPS,255.411,82.069,1294.696,768.534,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,831.183,1824.961,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40983,1154
$CAP_FILE_SIZE,136096,0
$CFSIZE,260165632,252850176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,11,0
$SOUNDSPEED,1453.7
$GPS,050908,213808,6645.833,-6001.005,31,1.3,31,-38.1