version: 66.04
glider: 108
mission: 11
dive: 395
start: 11 29 108 23 41 25
data:
$ID,108
$MISSION,11
$DIVE,395
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,50
$D_FINISH,7
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,470
$T_MISSION,550
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$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,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,70
$ESCAPE_HEADING,80
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,225
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-119614.86
$T_RSLEEP,60
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,2680
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$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,25
$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,2650
$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,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$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
$GPS1,085509,6541.520,-5844.323,13,1.3,13,-36.2
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,3.41
$_SM_ANGLEo,-6.9
$GPS2,085509,6541.520,-5844.323,13,1.3,13,-36.2
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6545.213,-5819.612
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.155,0.175
$KALMAN_X,170654.5,-869.2,266.8,-260885.9,-589.8
$KALMAN_Y,-355053.3,2216.7,1768.4,233643.6,-9091.2
$MHEAD_RNG_PITCHd_Wd,106.2,20000,-13.0,-7.021
$D_GRID,474
$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,17,-0.99,-146.0,0.0,0.0,0,68,0.00,0.00,-47.20,0.000,6,0.000,0.000,2693,332,3247
$GC,71,-0.99,-146.0,1.6,-0.0,9,78,0.62,0.80,0.00,0.000,4,0.061,0.056,2448,828,3248
$GC,163,-0.73,-146.0,8.1,-9.5,25,170,0.30,2.30,0.00,0.000,6,0.139,0.068,2524,2241,3249
$GC,509,-0.79,-146.0,33.1,-7.0,86,515,0.00,2.33,0.00,0.000,4,0.000,0.066,2526,815,3250
$GC,539,-0.79,-146.0,35.4,-7.5,91,545,0.00,2.35,0.00,0.000,6,0.000,0.067,2518,2239,3250
$GC,883,-0.84,-146.0,63.4,-7.1,152,889,0.00,2.33,0.00,0.000,4,0.000,0.066,2518,813,3250
$GC,908,-0.84,-146.0,65.1,-6.9,156,914,0.00,2.35,0.00,0.000,6,0.000,0.067,2508,2238,3250
$GC,1252,-0.84,-146.0,89.1,-7.3,217,1258,0.00,2.35,0.00,0.000,4,0.000,0.066,2509,805,3250
$GC,1288,-0.84,-146.0,91.9,-7.8,223,1294,0.00,2.38,0.00,0.000,6,0.000,0.067,2499,2237,3250
$GC,1616,-0.84,-146.0,114.8,-7.2,254,1620,0.00,2.35,0.00,0.000,4,0.000,0.067,2499,810,3249
$GC,1660,-0.84,-146.0,118.5,-8.5,256,1664,0.00,2.35,0.00,0.000,6,0.000,0.067,2489,2240,3249
$GC,1982,-0.84,-146.0,142.7,-6.8,272,1985,0.00,2.25,0.00,0.000,4,0.000,0.081,2479,3606,3249
$GC,2043,-0.84,-146.0,147.2,-7.3,274,2049,0.00,2.20,0.00,0.000,6,0.000,0.054,2479,2223,3248
$GC,2359,-0.84,-146.0,167.6,-6.2,290,2360,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2223,3249
$GC,2668,-0.84,-146.0,187.1,-6.6,305,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2222,3248
$GC,2977,-0.84,-146.0,209.8,-7.5,320,2981,0.00,2.28,0.00,0.000,4,0.000,0.068,2479,810,3248
$GC,3000,-0.79,-146.0,211.4,-7.1,321,3005,0.15,2.35,0.00,0.000,6,0.138,0.067,2510,2241,3247
$GC,3329,-0.91,-146.0,231.2,-6.0,337,3334,0.12,2.35,0.00,0.000,4,0.087,0.066,2459,810,3247
$GC,3396,-0.79,-146.0,236.6,-8.4,340,3401,0.22,2.35,0.00,0.000,6,0.135,0.067,2513,2239,3247
$GC,3718,-0.93,-146.0,254.7,-5.3,356,3723,0.12,2.35,0.00,0.000,4,0.089,0.065,2462,808,3247
$GC,3740,-0.93,-146.0,256.2,-6.3,357,3745,0.10,2.38,0.00,0.000,6,0.143,0.065,2477,2233,3247
$GC,4064,-0.93,-146.0,276.9,-6.4,373,4068,0.00,2.33,0.00,0.000,4,0.000,0.064,2478,811,3247
$GC,4109,-0.93,-146.0,280.2,-7.0,375,4113,0.00,2.38,0.00,0.000,6,0.000,0.066,2469,2240,3247
$GC,4432,-0.93,-146.0,301.8,-6.6,391,4436,0.00,2.33,0.00,0.000,4,0.000,0.065,2470,814,3247
$GC,4494,-0.87,-146.0,306.4,-7.1,393,4501,0.12,2.35,0.00,0.000,6,0.137,0.065,2493,2237,3247
$GC,4810,-0.95,-146.0,324.6,-5.7,409,4814,0.00,2.30,0.00,0.000,4,0.000,0.064,2494,816,3247
$GC,4867,-0.95,-146.0,328.0,-5.9,411,4870,0.00,2.35,0.00,0.000,6,0.000,0.066,2486,2245,3247
$GC,5191,-1.00,-146.0,345.9,-5.4,427,5195,0.10,2.33,0.00,0.000,4,0.088,0.062,2440,813,3248
$GC,5236,-0.83,-146.0,349.2,-7.1,429,5241,0.25,2.35,0.00,0.000,6,0.135,0.064,2503,2241,3248
$GC,5566,-0.95,-146.0,364.6,-4.6,445,5570,0.12,2.33,0.00,0.000,4,0.087,0.062,2451,809,3248
$GC,5610,-0.82,-146.0,367.5,-6.9,447,5615,0.22,2.35,0.00,0.000,6,0.133,0.064,2505,2243,3248
$GC,5934,-0.95,-146.0,383.7,-5.2,463,5939,0.12,2.33,0.00,0.000,4,0.085,0.061,2453,809,3249
$GC,5990,-0.84,-146.0,387.7,-7.1,465,5997,0.20,2.35,0.00,0.000,6,0.133,0.063,2500,2246,3249
$GC,6305,-0.97,-146.0,405.0,-5.4,479,6309,0.12,2.20,0.00,0.000,4,0.085,0.075,2438,3603,3250
$GC,6317,-1.04,-146.0,405.6,-5.3,479,6321,0.00,2.15,0.00,0.000,6,0.000,0.048,2438,2220,3250
$GC,6636,-0.93,-146.0,427.1,-6.6,487,6640,0.15,2.25,0.00,0.000,4,0.146,0.060,2483,816,3250
$GC,6675,-0.93,-146.0,429.4,-5.2,487,6681,0.00,2.35,0.00,0.000,6,0.000,0.061,2475,2242,3250
$GC,7007,-0.93,-146.0,445.5,-4.7,496,7011,0.00,2.30,0.00,0.000,4,0.000,0.061,2475,825,3251
$GC,7035,-0.93,-146.0,447.1,-5.2,496,7039,0.00,2.33,0.00,0.000,6,0.000,0.062,2465,2240,3251
$GC,7377,-0.93,-146.0,467.1,-6.3,505,7379,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2240,3251
$STATE,7498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7498,begin apogee
$GC,7505,-0.31,0.0,474.4,6.1,508,7632,0.47,0.00,124.68,1.144,6,0.120,0.000,2616,1741,2650
$STATE,7633,end apogee,CONTROL_FINISHED_OK
$STATE,7633,begin climb
$GC,7637,0.99,146.0,476.1,0.0,511,7771,0.85,0.00,130.00,1.068,6,0.091,0.000,2893,1741,2054
$GC,8087,0.80,146.0,431.4,10.3,522,8092,0.17,2.45,0.00,0.000,4,0.126,0.067,2844,3153,2047
$GC,8128,0.68,146.0,427.5,9.0,523,8133,0.12,2.35,0.00,0.000,6,0.133,0.051,2819,1733,2046
$GC,8452,0.77,162.5,406.2,6.5,531,8469,0.12,0.00,13.93,1.007,6,0.074,0.000,2874,1733,1987
$GC,8762,0.65,162.5,376.0,10.2,544,8764,0.20,0.00,0.00,0.000,6,0.121,0.000,2814,1733,1986
$GC,9070,0.77,162.5,352.9,7.1,559,9072,0.12,0.00,0.00,0.000,6,0.075,0.000,2870,1733,1985
$GC,9380,0.67,162.5,323.2,9.6,574,9382,0.17,0.00,0.00,0.000,6,0.123,0.000,2818,1733,1984
$GC,9688,0.78,162.5,301.2,7.1,589,9693,0.12,2.40,0.00,0.000,4,0.077,0.067,2872,3164,1984
$GC,9733,0.55,162.5,296.5,11.1,591,9738,0.30,2.30,0.00,0.000,6,0.130,0.052,2793,1733,1983
$GC,10055,0.97,169.5,275.2,6.8,607,10070,0.28,2.40,7.00,0.873,4,0.068,0.067,2907,3153,1958
$GC,10245,0.65,169.5,253.8,12.4,615,10250,0.32,2.28,0.00,0.000,6,0.135,0.051,2820,1733,1958
$GC,10562,0.83,205.8,234.3,5.9,630,10597,0.15,0.00,32.38,0.988,6,0.068,0.000,2887,1733,1811
$GC,10893,0.73,205.8,204.9,8.8,646,10897,0.17,2.33,0.00,0.000,4,0.120,0.064,2843,326,1805
$GC,10921,0.83,205.8,202.7,7.0,647,10925,0.00,2.33,0.00,0.000,6,0.000,0.054,2844,1746,1805
$GC,11249,0.94,210.7,180.2,6.9,663,11259,0.15,2.30,4.53,0.701,4,0.070,0.069,2911,3159,1791
$GC,11304,0.66,210.7,174.0,12.3,665,11309,0.32,2.28,0.00,0.000,6,0.129,0.051,2822,1731,1791
$GC,11621,0.94,266.9,155.5,5.2,680,11675,0.20,0.00,50.88,0.943,6,0.064,0.000,2909,1730,1561
$GC,11970,0.85,266.9,122.6,9.9,697,11975,0.17,2.33,0.00,0.000,4,0.124,0.066,2865,324,1552
$GC,11998,0.95,266.9,120.1,7.8,698,12003,0.00,2.33,0.00,0.000,6,0.000,0.055,2865,1743,1553
$GC,12320,1.08,266.9,95.2,7.3,721,12327,0.15,2.33,0.00,0.000,4,0.073,0.069,2933,3162,1550
$GC,12368,0.87,266.9,90.2,11.4,729,12375,0.28,2.30,0.00,0.000,6,0.134,0.054,2862,1728,1549
$GC,12714,1.13,311.1,67.0,5.6,790,12762,0.20,2.38,37.95,0.907,4,0.065,0.067,2962,334,1380
$GC,12834,1.02,311.1,54.5,11.2,810,12840,0.22,2.33,0.00,0.000,6,0.130,0.057,2897,1749,1377
$GC,13179,1.08,311.1,28.0,7.8,871,13185,0.00,2.33,0.00,0.000,4,0.000,0.073,2897,3155,1371
$GC,13243,1.08,311.1,22.0,9.4,882,13249,0.00,2.30,0.00,0.000,6,0.000,0.056,2903,1729,1370
$FREEZE,6.68,-0.511,-1.812
$FREEZE,6.17,-0.511,-1.812
$FREEZE,5.60,-0.510,-1.811
$FREEZE,5.03,-0.509,-1.811
$FREEZE,4.54,-0.511,-1.811
$FREEZE,4.11,-0.511,-1.810
$FREEZE,3.67,-0.511,-1.810
$FREEZE,3.27,-0.512,-1.810
$FREEZE,2.70,-0.507,-1.809
$STATE,13473,end climb,SURFACE_DEPTH_REACHED
$STATE,13473,begin surface coast
$FREEZE,2.06,-0.508,-1.809
$FREEZE,1.68,-0.517,-1.809
$FREEZE,1.60,-0.556,-1.193
$FREEZE,1.74,-0.588,-1.074
$FREEZE,1.54,-0.557,-0.236
$FINISH,1.5,1.003297
$STATE,13502,end surface coast,FINISH_DEPTH_REACHED
$STATE,13502,begin surface
$SM_CCo,13599,0.00,0.000,0,0,1365,314.97
$SM_GC,2.52,7.05,0.00,0.00,0.060,0.000,0.000,333,2239,1365,-10.70,0.25,314.97
$RAFOS_CLK,609
$RAFOS,4,1228005855,0.750000,0.737500,67,62,61,59,57,54,213,159,123,177,222,194
$RAFOS,3,1228005244,0.583333,0.567778,62,61,60,58,55,51,119,152,176,217,204,226
$RAFOS,2,1228004647,0.416667,0.401944,56,55,54,53,53,52,204,138,216,147,179,158
$RAFOS,1,1228004042,0.250000,0.233889,60,59,57,56,55,49,155,206,185,1021,230,138
$RAFOS,0,1228003445,0.083333,0.068056,75,60,55,51,51,49,214,167,187,145,133,121
$RAFOS_FIX,6549.236328,-5929.427246,271108,202040,2,119,0.73
$IRIDIUM_FIX,6517.16,-5931.80,210298,090954
$TT8_MAMPS,0.026845
$HUMID,1807
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,15.30
$XPDR_PINGS,97
$24V_AH,22.1,65.905
$10V_AH,10.5,29.880
$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,15.425,125.650,401.325,0.000,0.000,0.000,0.000,0.000,24.250,0.000,0.000,0.000,1696.250,9590.635,511.555,1634.331,226.967,0.000,1393.413,0.000,1624.131,1800.000,0.528,0.000
$DEVICE_MAMPS,145.730,81.302,1144.364,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,649.405,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31544,928
$CAP_FILE_SIZE,118041,0
$CFSIZE,260165632,225542144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.1
$GPS,301108,032931,6541.732,-5826.231,33,1.0,39,-36.2