version: 66.04
glider: 108
mission: 11
dive: 6
start: 9 6 108 1 20 26
data:
$ID,108
$MISSION,11
$DIVE,6
$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,450
$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,-111319.29
$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,2050
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,24
$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,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
$GPS1,010825,6644.577,-6003.785,37,1.3,37,-38.0
$_CALLS,1
$_XMS_NAKs,37
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-65.1
$GPS2,012008,6644.483,-6003.544,9,1.9,9,-38.0
$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,299.0,29267,-18.1,-10.000
$D_GRID,618
$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,14,-1.24,-146.0,0.0,0.0,0,91,0.00,0.00,-74.40,0.000,2,0.000,0.000,337,1938,2610
$GC,93,-1.24,-146.0,3.1,-3.0,13,135,8.57,2.62,-26.67,0.000,4,0.258,0.090,2384,3463,3558
$GC,372,-1.13,-146.0,54.0,-17.3,64,381,0.10,2.30,0.00,0.000,6,0.153,0.054,2424,2044,3563
$GC,694,-1.13,-146.0,99.5,-13.6,125,702,0.00,2.38,0.00,0.000,4,0.000,0.076,2415,3461,3564
$GC,884,-1.13,-146.0,126.6,-13.7,143,894,0.00,2.28,0.00,0.000,6,0.000,0.054,2416,2041,3564
$GC,1211,-1.13,-146.0,167.8,-12.4,174,1215,0.00,2.35,0.00,0.000,4,0.000,0.091,2404,3470,3564
$GC,1345,-1.13,-146.0,185.2,-13.0,186,1354,0.00,2.28,0.00,0.000,6,0.000,0.055,2404,2045,3564
$GC,1672,-1.13,-146.0,223.5,-11.6,217,1676,0.00,2.33,0.00,0.000,4,0.000,0.091,2395,3466,3563
$GC,1814,-1.13,-146.0,241.4,-12.5,230,1819,0.12,2.22,0.00,0.000,6,0.161,0.055,2428,2048,3563
$GC,2145,-1.23,-146.0,277.2,-10.9,261,2150,0.10,2.33,0.00,0.000,4,0.103,0.077,2380,3468,3562
$GC,2255,-1.23,-146.0,292.1,-13.6,271,2259,0.00,2.25,0.00,0.000,6,0.000,0.056,2381,2034,3562
$GC,2587,-1.17,-146.0,336.1,-14.0,302,2591,0.12,2.35,0.00,0.000,4,0.169,0.078,2403,3470,3561
$GC,2671,-1.23,-146.0,346.3,-11.6,309,2675,0.00,2.25,0.00,0.000,6,0.000,0.057,2403,2034,3561
$GC,3003,-1.23,-146.0,384.5,-11.2,340,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2034,3561
$GC,3322,-1.29,-146.0,421.5,-11.6,370,3326,0.00,2.33,0.00,0.000,4,0.000,0.079,2394,3474,3560
$GC,3485,-1.29,-146.0,441.4,-12.3,385,3489,0.00,2.22,0.00,0.000,6,0.000,0.056,2394,2046,3560
$GC,3816,-1.29,-146.0,480.3,-11.7,416,3820,0.00,2.30,0.00,0.000,4,0.000,0.077,2384,3465,3560
$GC,3914,-1.29,-146.0,492.3,-11.5,425,3918,0.00,2.22,0.00,0.000,6,0.000,0.055,2383,2033,3560
$GC,4246,-1.29,-146.0,532.0,-12.3,456,4250,0.00,2.33,0.00,0.000,4,0.000,0.077,2373,3467,3560
$GC,4398,-1.29,-146.0,552.0,-13.2,470,4402,0.00,2.22,0.00,0.000,6,0.000,0.055,2373,2034,3560
$GC,4730,-1.29,-146.0,595.6,-12.9,501,4733,0.00,2.33,0.00,0.000,4,0.000,0.077,2363,3474,3560
$GC,4855,-1.24,-146.0,613.7,-14.3,506,4865,0.10,2.25,0.00,0.000,6,0.161,0.054,2394,2041,3560
$STATE,4892,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4892,begin apogee
$GC,4896,-0.29,0.0,618.1,12.8,508,5021,0.68,0.00,121.70,1.249,6,0.142,0.000,2608,1886,2959
$STATE,5022,end apogee,CONTROL_FINISHED_OK
$STATE,5022,begin climb
$GC,5023,1.24,146.0,622.8,0.0,512,5157,1.05,2.53,124.35,1.184,4,0.094,0.070,2956,502,2363
$GC,5172,0.86,146.0,615.3,11.1,517,5177,0.32,2.47,0.00,0.000,6,0.158,0.059,2852,1897,2362
$GC,5494,0.91,187.9,587.0,8.1,536,5535,0.00,2.50,35.25,1.159,4,0.000,0.071,2861,504,2192
$GC,5580,0.93,202.5,579.9,9.3,543,5599,0.00,2.40,13.55,1.071,6,0.000,0.061,2860,1904,2134
$GC,5919,0.93,202.6,547.1,10.0,574,5923,0.00,2.40,0.00,0.000,4,0.000,0.071,2870,493,2129
$GC,5943,0.93,206.2,544.8,9.8,576,5956,0.00,2.38,4.25,0.776,6,0.000,0.060,2871,1912,2118
$GC,6273,0.93,206.2,510.1,10.2,607,6277,0.00,2.38,0.00,0.000,4,0.000,0.072,2881,504,2117
$GC,6287,0.93,206.2,508.3,10.9,608,6297,0.00,2.35,0.00,0.000,6,0.000,0.060,2881,1904,2117
$GC,6615,0.88,206.2,474.3,10.1,639,6619,0.00,2.35,0.00,0.000,4,0.000,0.072,2891,499,2117
$GC,6639,0.83,206.2,471.8,10.4,641,6644,0.17,2.33,0.00,0.000,6,0.150,0.061,2843,1913,2116
$GC,6965,0.96,254.6,445.2,7.8,671,7019,0.12,2.50,40.90,1.132,4,0.091,0.071,2899,491,1921
$GC,7075,0.96,254.6,433.1,13.0,680,7079,0.00,2.38,0.00,0.000,6,0.000,0.061,2899,1899,1919
$GC,7406,0.88,254.6,393.2,12.4,711,7411,0.15,2.35,0.00,0.000,4,0.154,0.070,2867,504,1914
$GC,7426,0.88,254.6,390.5,11.3,712,7435,0.00,2.35,0.00,0.000,6,0.000,0.060,2867,1904,1914
$GC,7753,0.88,254.6,357.4,10.3,743,7756,0.00,2.35,0.00,0.000,4,0.000,0.072,2876,494,1913
$GC,7802,0.94,254.6,351.8,10.7,747,7809,0.00,2.35,0.00,0.000,6,0.000,0.060,2876,1907,1914
$GC,8128,0.94,254.6,317.0,10.7,778,8132,0.00,2.35,0.00,0.000,4,0.000,0.071,2886,495,1913
$GC,8239,0.94,254.6,305.0,10.8,788,8243,0.00,2.30,0.00,0.000,6,0.000,0.061,2886,1910,1913
$GC,8569,0.94,254.6,270.8,10.2,819,8573,0.00,2.33,0.00,0.000,4,0.000,0.072,2896,501,1913
$GC,8601,0.94,254.6,267.4,10.1,822,8606,0.10,2.28,0.00,0.000,6,0.158,0.061,2871,1905,1913
$GC,8932,1.05,284.4,238.7,8.6,853,8966,0.10,2.40,24.15,1.019,4,0.097,0.071,2919,507,1799
$GC,8992,1.05,284.4,232.1,12.0,858,9000,0.00,2.35,0.00,0.000,6,0.000,0.061,2919,1904,1798
$GC,9318,1.05,284.4,196.4,10.6,889,9319,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1904,1793
$GC,9636,1.05,284.4,161.5,11.4,919,9640,0.00,2.33,0.00,0.000,4,0.000,0.074,2929,504,1793
$GC,9685,1.05,284.4,155.6,11.5,923,9692,0.10,2.33,0.00,0.000,6,0.149,0.062,2897,1903,1793
$GC,10012,1.10,284.4,121.1,10.5,954,10016,0.00,2.33,0.00,0.000,4,0.000,0.074,2904,497,1792
$GC,10075,1.17,284.4,114.5,11.5,959,10079,0.00,2.30,0.00,0.000,6,0.000,0.063,2904,1909,1792
$GC,10399,1.27,316.6,83.6,8.5,1006,10432,0.15,2.45,26.65,0.952,4,0.088,0.074,2972,499,1668
$GC,10440,1.15,316.6,79.3,10.9,1011,10447,0.15,2.35,0.00,0.000,6,0.147,0.062,2925,1895,1667
$GC,10779,1.24,334.1,46.8,9.2,1072,10799,0.00,2.42,15.00,0.905,4,0.000,0.074,2933,502,1596
$GC,10855,1.26,352.9,40.1,9.1,1085,10879,0.00,2.35,17.08,0.889,6,0.000,0.064,2933,1914,1520
$GC,11219,1.52,418.4,10.9,7.0,1149,11280,0.20,2.45,54.05,0.888,4,0.081,0.078,3010,3316,1252
$STATE,11295,end climb,SURFACE_DEPTH_REACHED
$STATE,11296,begin surface coast
$FINISH,1.4,1.024122
$STATE,11308,end surface coast,CONTROL_FINISHED_OK
$STATE,11308,begin surface
$SM_CCo,11324,25.20,0.840,0,0,1124,450.13
$SM_GC,2.43,0.00,0.00,25.20,0.000,0.000,0.840,343,2048,1124,-10.70,-0.06,450.13
$RAFOS_CLK,436
$RAFOS,1,1220674447,4.250000,4.235278,63,59,59,59,54,45,117,159,202,221,140,239
$RAFOS,0,1220673845,4.083333,4.068056,59,55,53,51,50,48,213,174,115,133,186,222
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6003.82,301197,212138
$TT8_MAMPS,0.029146
$HUMID,1881
$INTERNAL_PRESSURE,9.87343
$TCM_TEMP,15.30
$XPDR_PINGS,92
$24V_AH,23.4,6.335
$10V_AH,10.6,2.051
$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,20.050,122.100,476.925,25.200,0.000,30.311,33.505,543.433,23.000,0.000,0.000,11.026,1939.380,5033.405,578.178,3775.559,725.381,0.000,1693.380,0.000,1988.593,1080.000,0.531,0.000
$DEVICE_MAMPS,257.712,91.273,1248.676,839.865,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,817.640,3225.845,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40948,1162
$CAP_FILE_SIZE,127822,0
$CFSIZE,260165632,252739584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$SOUNDSPEED,1453.6
$GPS,060908,043132,6644.080,-6006.933,75,1.1,75,-38.0