version: 66.04
glider: 108
mission: 11
dive: 396
start: 11 30 108 3 49 21
data:
$ID,108
$MISSION,11
$DIVE,396
$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,-3
$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,-119628.05
$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,24
$R_STBD_OVSHOOT,25
$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
$GPS1,032931,6541.732,-5826.231,33,1.0,39,-36.2
$_CALLS,2
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-64.5
$GPS2,034809,6541.618,-5826.462,11,1.0,11,-36.2
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6545.312,-5801.750
$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,472
$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,15,-0.99,-146.0,0.0,0.0,0,80,0.00,0.00,-62.75,0.000,2,0.000,0.000,332,2249,2732
$GC,84,-0.99,-146.0,3.1,-1.5,11,121,8.77,2.38,-20.55,0.000,4,0.244,0.077,2464,808,3248
$GC,308,-0.80,-146.0,26.2,-10.8,50,315,0.17,2.35,0.00,0.000,6,0.137,0.065,2505,2229,3252
$GC,653,-0.80,-146.0,54.7,-8.0,111,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2229,3252
$GC,997,-0.80,-146.0,81.5,-7.5,172,1004,0.00,2.22,0.00,0.000,4,0.000,0.079,2497,3595,3252
$GC,1067,-0.80,-146.0,87.0,-8.1,184,1073,0.00,2.17,0.00,0.000,6,0.000,0.051,2496,2209,3252
$GC,1415,-0.80,-146.0,111.8,-6.9,224,1419,0.00,2.22,0.00,0.000,4,0.000,0.064,2497,817,3252
$GC,1551,-0.80,-146.0,121.7,-7.9,230,1555,0.00,2.35,0.00,0.000,6,0.000,0.066,2487,2239,3252
$GC,1879,-0.80,-146.0,145.7,-7.3,246,1883,0.00,2.33,0.00,0.000,4,0.000,0.065,2487,813,3252
$GC,1929,-0.74,-146.0,149.7,-7.3,248,1934,0.15,2.35,0.00,0.000,6,0.137,0.066,2518,2241,3252
$GC,2251,-0.85,-146.0,167.2,-5.5,264,2256,0.10,2.33,0.00,0.000,4,0.091,0.065,2476,816,3252
$GC,2296,-0.76,-146.0,170.6,-7.9,266,2301,0.17,2.35,0.00,0.000,6,0.139,0.067,2515,2243,3252
$GC,2619,-0.86,-146.0,190.3,-6.3,282,2624,0.10,2.33,0.00,0.000,4,0.091,0.065,2474,817,3251
$GC,2682,-0.76,-146.0,195.3,-8.5,285,2688,0.17,2.33,0.00,0.000,6,0.139,0.067,2517,2233,3251
$GC,3016,-0.87,-146.0,213.4,-4.9,301,3021,0.12,2.30,0.00,0.000,4,0.086,0.064,2466,818,3250
$GC,3050,-0.74,-146.0,215.5,-6.7,302,3057,0.22,2.33,0.00,0.000,6,0.139,0.067,2520,2235,3250
$GC,3366,-0.89,-146.0,228.9,-4.3,318,3371,0.12,2.22,0.00,0.000,4,0.084,0.078,2458,3599,3250
$GC,3389,-0.89,-146.0,230.1,-5.1,319,3393,0.12,2.17,0.00,0.000,6,0.154,0.052,2490,2213,3250
$GC,3711,-0.89,-146.0,247.6,-5.6,335,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2212,3250
$GC,4020,-0.94,-146.0,264.7,-5.6,350,4021,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2212,3250
$GC,4329,-0.99,-146.0,282.4,-5.8,365,4333,0.10,2.22,0.00,0.000,4,0.096,0.064,2448,813,3250
$GC,4362,-0.81,-146.0,284.8,-7.4,366,4367,0.22,2.33,0.00,0.000,6,0.139,0.065,2502,2235,3250
$GC,4679,-0.92,-146.0,301.6,-5.2,381,4680,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2235,3251
$GC,4988,-1.02,-146.0,317.4,-4.8,396,4990,0.15,0.00,0.00,0.000,6,0.081,0.000,2441,2235,3250
$GC,5298,-0.91,-146.0,337.7,-6.5,411,5302,0.15,2.22,0.00,0.000,4,0.150,0.075,2474,3604,3251
$GC,5309,-0.82,-146.0,338.3,-6.2,411,5313,0.12,2.15,0.00,0.000,6,0.142,0.049,2507,2222,3251
$GC,5630,-0.96,-146.0,350.7,-3.7,427,5634,0.12,2.22,0.00,0.000,4,0.085,0.061,2453,817,3252
$GC,5670,-0.81,-146.0,352.9,-5.6,428,5677,0.22,2.33,0.00,0.000,6,0.134,0.063,2508,2245,3252
$GC,5988,-0.96,-146.0,364.3,-3.6,444,5993,0.15,2.30,0.00,0.000,4,0.079,0.061,2447,824,3252
$GC,6062,-0.82,-146.0,368.8,-6.3,447,6067,0.22,2.30,0.00,0.000,6,0.134,0.062,2502,2242,3253
$GC,6378,-0.93,-146.0,381.9,-4.2,462,6383,0.10,2.30,0.00,0.000,4,0.091,0.061,2459,817,3253
$GC,6406,-0.86,-146.0,383.5,-5.9,463,6411,0.17,2.33,0.00,0.000,6,0.135,0.061,2497,2243,3253
$GC,6728,-0.95,-146.0,398.5,-4.6,479,6733,0.10,2.30,0.00,0.000,4,0.091,0.060,2455,819,3254
$GC,6761,-0.83,-146.0,400.8,-7.1,480,6768,0.20,2.33,0.00,0.000,6,0.135,0.061,2501,2245,3254
$GC,7093,-0.94,-146.0,417.0,-5.0,489,7098,0.10,2.30,0.00,0.000,4,0.090,0.061,2458,820,3254
$GC,7111,-0.94,-146.0,418.1,-5.1,489,7116,0.12,2.30,0.00,0.000,6,0.138,0.061,2482,2234,3254
$GC,7425,-0.99,-146.0,435.8,-5.4,497,7426,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2233,3254
$GC,7751,-1.04,-146.0,452.8,-5.2,505,7753,0.12,0.00,0.00,0.000,6,0.081,0.000,2431,2233,3254
$STATE,8072,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8072,begin apogee
$GC,8080,-0.31,0.0,474.6,6.8,513,8208,0.57,0.00,125.68,1.138,6,0.130,0.000,2612,1745,2650
$STATE,8209,end apogee,CONTROL_FINISHED_OK
$STATE,8209,begin climb
$GC,8212,0.99,146.0,476.5,0.0,516,8346,0.88,0.00,130.12,1.064,6,0.094,0.000,2896,1745,2054
$GC,8660,0.78,146.0,431.6,10.7,527,8662,0.17,0.00,0.00,0.000,6,0.130,0.000,2848,1745,2046
$GC,8984,0.78,146.0,405.3,7.9,535,8988,0.00,2.35,0.00,0.000,4,0.000,0.067,2848,3158,2045
$GC,9030,0.63,146.0,401.5,8.8,536,9035,0.15,2.28,0.00,0.000,6,0.133,0.052,2814,1733,2044
$GC,9362,0.78,178.0,381.5,6.0,551,9392,0.12,0.00,26.88,1.055,6,0.075,0.000,2871,1732,1924
$GC,9688,0.68,178.0,350.7,10.1,567,9692,0.15,2.30,0.00,0.000,4,0.124,0.067,2836,323,1920
$GC,9715,0.74,178.0,348.0,9.1,568,9719,0.00,2.33,0.00,0.000,6,0.000,0.055,2836,1748,1920
$GC,10042,0.74,178.0,322.7,7.6,584,10046,0.00,2.28,0.00,0.000,4,0.000,0.069,2836,3164,1919
$GC,10112,0.67,178.0,316.9,8.6,587,10116,0.00,2.28,0.00,0.000,6,0.000,0.052,2846,1724,1918
$GC,10446,0.67,178.0,290.8,7.8,603,10448,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1724,1918
$GC,10754,0.67,178.0,268.2,7.0,618,10758,0.00,2.35,0.00,0.000,4,0.000,0.066,2846,3163,1918
$GC,10815,0.56,178.0,263.3,8.1,620,10822,0.20,2.25,0.00,0.000,6,0.127,0.051,2796,1738,1917
$GC,11131,1.04,198.5,245.4,6.4,636,11155,0.30,2.40,17.88,0.973,4,0.073,0.067,2914,3162,1840
$GC,11291,0.74,198.5,226.6,14.1,643,11296,0.30,2.28,0.00,0.000,6,0.136,0.051,2836,1729,1836
$GC,11619,0.89,215.5,204.4,6.5,659,11638,0.12,0.00,15.38,0.934,6,0.071,0.000,2895,1729,1771
$GC,11947,0.80,215.5,173.2,9.6,675,11952,0.15,2.28,0.00,0.000,4,0.126,0.064,2858,331,1769
$GC,11998,0.93,215.5,168.9,7.1,677,12003,0.08,2.28,0.00,0.000,6,0.097,0.053,2900,1747,1769
$GC,12327,0.87,215.5,138.7,9.0,693,12331,0.12,2.25,0.00,0.000,4,0.133,0.067,2864,3153,1768
$GC,12417,0.87,215.5,131.0,7.9,697,12421,0.00,2.25,0.00,0.000,6,0.000,0.052,2871,1733,1768
$GC,12750,0.93,215.5,106.4,7.5,713,12754,0.00,2.28,0.00,0.000,4,0.000,0.067,2881,331,1767
$GC,12789,1.01,215.5,103.1,8.4,714,12795,0.00,2.28,0.00,0.000,6,0.000,0.055,2881,1745,1768
$GC,13129,1.01,215.5,76.6,7.8,769,13135,0.00,2.25,0.00,0.000,4,0.000,0.071,2881,3148,1767
$GC,13193,0.92,215.5,71.4,8.4,780,13200,0.00,2.25,0.00,0.000,6,0.000,0.054,2890,1727,1766
$GC,13538,0.92,216.3,46.4,7.0,841,13544,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1727,1766
$GC,13882,0.92,216.3,21.9,8.3,902,13887,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1727,1765
$FREEZE,6.83,-0.363,-1.811
$FREEZE,6.34,-0.367,-1.811
$FREEZE,6.02,-0.365,-1.811
$FREEZE,5.75,-0.367,-1.810
$FREEZE,5.35,-0.366,-1.810
$FREEZE,4.88,-0.367,-1.810
$FREEZE,4.52,-0.367,-1.810
$FREEZE,4.22,-0.367,-1.809
$FREEZE,3.78,-0.365,-1.809
$FREEZE,3.16,-0.364,-1.808
$FREEZE,2.69,-0.364,-1.808
$STATE,14150,end climb,SURFACE_DEPTH_REACHED
$STATE,14150,begin surface coast
$FREEZE,2.30,-0.365,-1.808
$FREEZE,1.89,-0.369,-1.808
$FREEZE,1.77,-0.404,-1.766
$FREEZE,1.66,-0.374,-0.197
$FINISH,1.7,1.002727
$STATE,14177,end surface coast,FINISH_DEPTH_REACHED
$STATE,14177,begin surface
$SM_CCo,14196,6.70,0.790,0,0,1732,225.19
$SM_GC,3.18,0.00,0.00,6.70,0.000,0.000,0.790,330,2240,1732,-10.81,0.28,225.19
$RAFOS_CLK,611
$RAFOS,4,1228020241,4.750000,4.733611,58,53,53,52,52,49,178,160,197,117,218,128
$RAFOS,3,1228019647,4.583333,4.568611,73,59,57,57,53,51,209,157,199,116,142,226
$RAFOS,2,1228019043,4.416667,4.400833,60,60,56,54,51,50,123,210,190,165,223,140
$RAFOS,1,1228018441,4.250000,4.233611,57,55,55,55,53,52,174,121,191,218,204,145
$RAFOS,0,1228017844,4.083333,4.067778,62,56,56,55,51,51,219,177,159,200,117,141
$RAFOS_FIX,6549.236328,-5929.427246,271108,202040,2,119,0.73
$IRIDIUM_FIX,6512.01,-5831.75,240298,030345
$TT8_MAMPS,0.027612
$HUMID,1804
$INTERNAL_PRESSURE,9.87343
$TCM_TEMP,15.20
$XPDR_PINGS,64
$24V_AH,22.1,66.050
$10V_AH,10.5,29.949
$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,22.875,111.450,315.925,6.700,0.000,57.435,178.969,551.948,16.000,0.000,0.000,12.571,1751.851,10188.774,476.097,1695.544,1261.125,0.000,1363.059,0.000,1675.459,1800.000,0.531,0.000
$DEVICE_MAMPS,243.906,79.001,1138.228,790.010,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,667.888,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31546,954
$CAP_FILE_SIZE,134346,0
$CFSIZE,260165632,225484800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.9
$GPS,301108,034809,6541.618,-5826.462,11,1.0,11,-36.2