version: 66.04
glider: 108
mission: 11
dive: 120
start: 9 30 108 4 36 1
data:
$ID,108
$MISSION,11
$DIVE,120
$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,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,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,-113240.22
$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,21
$R_STBD_OVSHOOT,20
$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
$GPS1,042708,6638.976,-6028.938,38,1.0,38,-38.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-69.6
$GPS2,043508,6638.944,-6028.903,9,1.1,15,-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,-0.160,0.170
$KALMAN_X,35768.2,17.0,1.0,-120090.3,517.2
$KALMAN_Y,-48247.3,-485.2,2025.1,22861.4,-5805.6
$MHEAD_RNG_PITCHd_Wd,354.7,11776,-13.0,-7.021
$D_GRID,505
$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,15,-1.00,-146.0,0.0,0.0,0,59,0.00,0.00,-41.60,0.000,2,0.000,0.000,336,2240,2382
$GC,61,-1.00,-146.0,3.1,-1.9,7,116,8.60,2.45,-39.00,0.000,4,0.258,0.081,2446,805,3341
$GC,290,-0.69,-146.0,31.6,-12.6,47,297,0.25,2.38,0.00,0.000,6,0.142,0.067,2509,2236,3345
$GC,634,-0.69,-146.0,63.4,-8.7,108,640,0.00,2.25,0.00,0.000,4,0.000,0.081,2501,3605,3347
$GC,809,-0.69,-146.0,79.0,-8.5,139,815,0.00,2.28,0.00,0.000,6,0.000,0.057,2501,2209,3348
$GC,1156,-0.69,-146.0,106.4,-7.6,190,1160,0.00,2.28,0.00,0.000,4,0.000,0.070,2501,812,3348
$GC,1225,-0.64,-146.0,111.9,-8.1,193,1230,0.12,2.33,0.00,0.000,6,0.143,0.067,2525,2233,3348
$GC,1552,-0.72,-146.0,132.3,-6.0,209,1556,0.10,2.22,0.00,0.000,4,0.096,0.081,2476,3604,3348
$GC,1646,-0.63,-146.0,140.5,-8.6,213,1650,0.17,2.22,0.00,0.000,6,0.150,0.058,2524,2215,3348
$GC,1972,-0.72,-146.0,164.5,-7.6,229,1976,0.10,2.28,0.00,0.000,4,0.097,0.071,2483,811,3347
$GC,2061,-0.65,-146.0,172.9,-9.6,233,2066,0.15,2.33,0.00,0.000,6,0.144,0.069,2517,2244,3347
$GC,2393,-0.72,-146.0,196.2,-6.6,249,2397,0.00,2.20,0.00,0.000,4,0.000,0.084,2508,3600,3347
$GC,2462,-0.79,-146.0,201.0,-7.2,252,2466,0.10,2.20,0.00,0.000,6,0.097,0.059,2465,2215,3347
$GC,2793,-0.67,-146.0,228.2,-8.5,268,2798,0.17,2.30,0.00,0.000,4,0.145,0.072,2517,808,3347
$GC,2892,-0.73,-146.0,235.2,-7.1,272,2897,0.00,2.35,0.00,0.000,6,0.000,0.069,2508,2228,3346
$GC,3214,-0.79,-146.0,258.3,-7.2,288,3218,0.08,2.22,0.00,0.000,4,0.104,0.082,2461,3602,3346
$GC,3286,-0.67,-146.0,264.7,-9.4,291,3290,0.17,2.22,0.00,0.000,6,0.157,0.059,2510,2221,3346
$GC,3612,-0.74,-146.0,287.0,-6.4,307,3616,0.00,2.28,0.00,0.000,4,0.000,0.074,2510,811,3346
$GC,3706,-0.74,-146.0,293.4,-6.4,311,3710,0.00,2.33,0.00,0.000,6,0.000,0.069,2502,2239,3346
$GC,4033,-0.79,-146.0,315.2,-6.8,327,4037,0.00,2.20,0.00,0.000,4,0.000,0.084,2491,3599,3346
$GC,4100,-0.79,-146.0,320.3,-7.9,330,4104,0.00,2.20,0.00,0.000,6,0.000,0.058,2491,2222,3346
$GC,4432,-0.79,-146.0,343.0,-6.9,346,4433,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2222,3346
$GC,4740,-0.79,-146.0,364.9,-7.1,361,4742,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2222,3346
$GC,5051,-0.79,-146.0,386.8,-7.2,376,5053,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2221,3346
$GC,5378,-0.79,-146.0,409.3,-6.7,389,5382,0.00,2.30,0.00,0.000,4,0.000,0.081,2481,3603,3345
$GC,5471,-0.79,-146.0,416.3,-7.5,391,5476,0.00,2.22,0.00,0.000,6,0.000,0.058,2481,2226,3345
$GC,5796,-0.79,-146.0,439.2,-6.9,399,5800,0.00,2.25,0.00,0.000,4,0.000,0.072,2481,823,3345
$GC,5891,-0.74,-146.0,445.9,-6.6,401,5896,0.10,2.30,0.00,0.000,6,0.151,0.069,2497,2245,3345
$GC,6216,-0.82,-146.0,464.8,-5.8,409,6217,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2245,3345
$GC,6540,-0.90,-146.0,483.8,-5.8,417,6542,0.15,0.00,0.00,0.000,6,0.084,0.000,2438,2245,3346
$STATE,6822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6822,begin apogee
$GC,6828,-0.31,0.0,505.5,7.7,424,6952,0.47,0.00,121.00,1.198,6,0.140,0.000,2586,1733,2745
$STATE,6952,end apogee,CONTROL_FINISHED_OK
$STATE,6952,begin climb
$GC,6954,1.00,146.0,508.0,0.0,427,7087,0.88,2.65,123.50,1.122,4,0.107,0.074,2879,332,2149
$GC,7103,0.78,146.0,497.1,9.2,430,7108,0.20,2.55,0.00,0.000,6,0.130,0.058,2827,1744,2146
$GC,7445,0.78,146.0,471.4,7.3,439,7448,0.00,2.40,0.00,0.000,4,0.000,0.072,2827,3163,2141
$GC,7483,0.61,146.0,468.1,8.6,439,7490,0.17,2.40,0.00,0.000,6,0.137,0.059,2788,1735,2141
$GC,7814,0.80,195.1,449.7,5.4,448,7858,0.15,0.00,41.20,1.118,6,0.075,0.000,2849,1735,1949
$GC,8179,0.71,195.1,418.3,8.8,457,8184,0.15,2.38,0.00,0.000,4,0.125,0.073,2815,330,1942
$GC,8194,0.71,195.1,417.1,8.7,457,8199,0.00,2.38,0.00,0.000,6,0.000,0.059,2815,1753,1942
$GC,8523,0.78,196.7,394.7,7.0,467,8527,0.00,2.30,0.00,0.000,4,0.000,0.074,2815,3158,1941
$GC,8555,0.78,196.7,392.1,9.0,468,8560,0.00,2.35,0.00,0.000,6,0.000,0.059,2824,1742,1941
$GC,8876,0.78,196.7,367.2,7.9,484,8880,0.00,2.35,0.00,0.000,4,0.000,0.073,2824,3166,1940
$GC,8886,0.78,196.7,366.3,7.9,484,8891,0.00,2.33,0.00,0.000,6,0.000,0.058,2833,1742,1940
$GC,9207,0.78,196.7,339.2,7.9,500,9208,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1742,1940
$GC,9518,0.78,196.7,315.1,7.6,515,9522,0.00,2.33,0.00,0.000,4,0.000,0.074,2833,3156,1940
$GC,9539,0.78,196.7,313.1,8.5,516,9543,0.00,2.28,0.00,0.000,6,0.000,0.059,2843,1736,1940
$GC,9871,0.78,196.7,286.4,8.2,532,9872,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1736,1940
$GC,10180,0.78,196.7,261.7,7.8,547,10181,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1736,1940
$GC,10491,0.78,196.7,237.2,7.8,562,10492,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1736,1940
$GC,10799,0.78,196.7,213.4,7.7,577,10800,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1736,1940
$GC,11108,0.82,227.6,193.0,6.0,592,11137,0.00,0.00,26.60,1.019,6,0.000,0.000,2843,1736,1817
$GC,11438,0.93,260.2,173.8,6.0,608,11469,0.00,0.00,28.55,0.992,6,0.000,0.000,2843,1736,1684
$GC,11767,1.06,271.4,152.8,6.7,624,11780,0.15,0.00,9.90,0.916,6,0.079,0.000,2904,1735,1638
$GC,12077,0.92,271.4,122.2,10.1,639,12079,0.17,0.00,0.00,0.000,6,0.133,0.000,2853,1736,1633
$GC,12386,1.06,282.1,100.8,6.7,654,12401,0.12,2.45,10.05,0.910,4,0.082,0.077,2913,321,1594
$GC,12407,1.06,282.1,99.1,7.7,655,12414,0.10,2.40,0.00,0.000,6,0.146,0.061,2887,1754,1593
$GC,12751,1.06,282.1,70.7,7.7,716,12756,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1753,1589
$GC,13094,1.12,282.1,42.8,7.8,777,13099,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1753,1588
$GC,13437,1.59,354.0,22.1,4.7,838,13508,0.32,2.45,61.58,0.920,4,0.074,0.077,3013,3153,1300
$GC,13586,1.21,354.0,5.0,14.8,864,13593,0.38,2.45,0.00,0.000,6,0.148,0.064,2918,1730,1292
$STATE,13603,end climb,SURFACE_DEPTH_REACHED
$STATE,13603,begin surface coast
$FINISH,1.9,1.025049
$STATE,13627,end surface coast,CONTROL_FINISHED_OK
$STATE,13627,begin surface
$SM_CCo,13702,0.00,0.000,0,0,1287,357.65
$SM_GC,2.54,7.15,0.00,0.00,0.054,0.000,0.000,336,2245,1287,-10.58,0.42,357.65
$RAFOS_CLK,595
$RAFOS,1,1222762441,8.250000,8.233611,107,60,55,54,54,54,794,211,188,156,223,133
$RAFOS,0,1222761846,8.083333,8.068334,95,62,60,55,54,51,603,171,138,197,119,183
$RAFOS,4,1222749842,4.750000,4.733889,131,61,60,59,57,49,903,153,171,197,220,183
$RAFOS,2,1222748642,4.416667,4.400556,63,56,52,51,49,49,167,210,135,188,147,122
$RAFOS_FIX,6640.056641,-6025.070801,300908,040456,2,122,0.00
$IRIDIUM_FIX,6609.62,-6024.05,251297,040426
$TT8_MAMPS,0.026845
$HUMID,1811
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,15.20
$XPDR_PINGS,29
$24V_AH,22.9,24.581
$10V_AH,10.6,11.451
$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,20.700,94.725,422.375,0.000,0.000,50.838,68.815,185.184,7.250,0.000,0.000,16.939,1564.014,10065.892,520.683,1597.073,448.054,33.362,1370.204,0.000,1570.486,1080.000,0.531,0.000
$DEVICE_MAMPS,257.712,83.603,1198.054,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,609.631,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28406,871
$CAP_FILE_SIZE,110383,0
$CFSIZE,260165632,244674560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.6
$GPS,300908,082556,6636.917,-6031.189,39,1.0,39,-37.9