version: 66.04
glider: 108
mission: 11
dive: 397
start: 11 30 108 7 48 6
data:
$ID,108
$MISSION,11
$DIVE,397
$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,28
$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
$GPS1,034809,6541.618,-5826.462,11,1.0,11,-36.2
$_CALLS,2
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-69.3
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.99,-146.0,0.0,0.0,0,58,0.00,0.00,-39.42,0.000,2,0.000,0.000,330,2241,2625
$GC,62,-0.99,-146.0,3.1,-1.8,7,104,8.95,2.35,-25.15,0.000,4,0.256,0.077,2463,806,3249
$GC,287,-0.79,-146.0,24.2,-10.9,46,294,0.20,2.33,0.00,0.000,6,0.139,0.064,2512,2234,3252
$GC,632,-0.79,-146.0,51.7,-8.0,107,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2234,3253
$GC,976,-0.86,-146.0,76.4,-6.7,168,982,0.00,2.22,0.00,0.000,4,0.000,0.078,2504,3603,3253
$GC,1085,-0.91,-146.0,84.0,-7.2,187,1091,0.00,2.17,0.00,0.000,6,0.000,0.051,2504,2214,3252
$GC,1426,-0.91,-146.0,106.7,-6.4,234,1429,0.00,2.22,0.00,0.000,4,0.000,0.064,2504,813,3253
$GC,1459,-0.91,-146.0,109.0,-6.8,235,1463,0.00,2.33,0.00,0.000,6,0.000,0.064,2494,2235,3253
$GC,1780,-0.91,-146.0,131.4,-6.9,251,1781,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2235,3253
$GC,2090,-0.91,-146.0,153.3,-7.1,266,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2235,3253
$GC,2398,-0.91,-146.0,175.7,-7.3,281,2402,0.00,2.33,0.00,0.000,4,0.000,0.065,2494,820,3251
$GC,2416,-0.91,-146.0,177.0,-7.0,282,2420,0.00,2.33,0.00,0.000,6,0.000,0.066,2485,2237,3251
$GC,2743,-0.91,-146.0,199.9,-6.1,298,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2237,3251
$GC,3054,-0.91,-146.0,217.8,-5.8,313,3058,0.00,2.33,0.00,0.000,4,0.000,0.064,2485,811,3251
$GC,3139,-0.86,-146.0,223.3,-6.3,317,3143,0.00,2.35,0.00,0.000,6,0.000,0.066,2474,2242,3251
$GC,3472,-0.86,-146.0,245.8,-7.0,333,3473,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2242,3251
$GC,3782,-0.86,-146.0,268.2,-7.4,348,3786,0.00,2.22,0.00,0.000,4,0.000,0.080,2464,3598,3250
$GC,3809,-0.86,-146.0,270.4,-7.5,349,3814,0.12,2.15,0.00,0.000,6,0.147,0.051,2497,2224,3250
$GC,4137,-0.95,-146.0,289.9,-5.6,365,4139,0.10,0.00,0.00,0.000,6,0.094,0.000,2454,2223,3250
$GC,4446,-0.89,-146.0,310.8,-6.7,380,4450,0.12,2.25,0.00,0.000,4,0.150,0.063,2489,811,3250
$GC,4514,-0.89,-146.0,315.1,-6.0,383,4518,0.00,2.33,0.00,0.000,6,0.000,0.064,2481,2240,3250
$GC,4846,-0.89,-146.0,333.0,-5.6,399,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2240,3250
$GC,5156,-0.89,-146.0,350.2,-5.6,414,5157,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2239,3251
$GC,5467,-0.89,-146.0,366.7,-5.1,429,5471,0.00,2.30,0.00,0.000,4,0.000,0.061,2481,811,3252
$GC,5494,-0.89,-146.0,368.4,-5.7,430,5499,0.00,2.33,0.00,0.000,6,0.000,0.061,2471,2239,3252
$GC,5822,-0.89,-146.0,386.0,-5.5,446,5826,0.00,2.30,0.00,0.000,4,0.000,0.061,2471,810,3252
$GC,5838,-0.89,-146.0,387.1,-5.7,446,5845,0.10,2.33,0.00,0.000,6,0.140,0.061,2487,2237,3252
$GC,6175,-0.95,-146.0,404.7,-5.4,461,6179,0.00,2.28,0.00,0.000,4,0.000,0.060,2487,819,3253
$GC,6202,-0.95,-146.0,406.3,-5.5,461,6206,0.00,2.30,0.00,0.000,6,0.000,0.061,2480,2236,3253
$GC,6545,-0.95,-146.0,425.1,-5.5,470,6546,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2236,3254
$GC,6871,-0.95,-146.0,443.1,-5.6,478,6875,0.00,2.30,0.00,0.000,4,0.000,0.060,2480,818,3254
$GC,6910,-0.95,-146.0,445.4,-6.3,478,6916,0.00,2.30,0.00,0.000,6,0.000,0.061,2469,2234,3254
$GC,7242,-0.95,-146.0,464.2,-5.7,487,7246,0.00,2.30,0.00,0.000,4,0.000,0.059,2470,811,3254
$GC,7282,-0.90,-146.0,466.5,-5.6,487,7289,0.10,2.33,0.00,0.000,6,0.141,0.061,2486,2233,3254
$STATE,7407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7407,begin apogee
$GC,7415,-0.31,0.0,473.4,5.4,491,7543,0.40,0.00,125.88,1.137,6,0.118,0.000,2616,1728,2650
$STATE,7544,end apogee,CONTROL_FINISHED_OK
$STATE,7544,begin climb
$GC,7547,0.99,146.0,475.9,0.0,494,7685,0.85,2.67,129.55,1.065,4,0.090,0.064,2894,3148,2053
$GC,7710,0.68,146.0,461.2,13.0,497,7717,0.30,2.47,0.00,0.000,6,0.133,0.049,2825,1733,2049
$GC,8042,0.73,146.0,436.7,7.1,506,8046,0.00,2.35,0.00,0.000,4,0.000,0.066,2834,329,2046
$GC,8065,0.79,146.0,435.0,7.4,506,8069,0.00,2.35,0.00,0.000,6,0.000,0.054,2833,1741,2046
$GC,8414,0.79,146.0,409.7,7.2,515,8418,0.00,2.30,0.00,0.000,4,0.000,0.068,2833,3158,2044
$GC,8481,0.67,146.0,404.2,8.2,516,8485,0.00,2.28,0.00,0.000,6,0.000,0.051,2844,1727,2044
$GC,8813,0.67,146.0,380.2,7.1,531,8817,0.00,2.28,0.00,0.000,4,0.000,0.065,2855,327,2044
$GC,8841,0.67,146.0,378.1,7.5,532,8846,0.12,2.30,0.00,0.000,6,0.123,0.054,2820,1749,2045
$GC,9164,0.79,169.3,358.0,6.3,548,9190,0.12,2.30,19.23,1.042,4,0.075,0.068,2874,3144,1959
$GC,9246,0.53,169.3,349.7,11.7,551,9253,0.30,2.28,0.00,0.000,6,0.132,0.051,2796,1727,1957
$GC,9563,0.76,196.8,330.1,6.1,567,9590,0.17,0.00,24.75,1.033,6,0.064,0.000,2874,1727,1847
$GC,9892,0.65,196.8,296.6,10.2,583,9894,0.20,0.00,0.00,0.000,6,0.120,0.000,2814,1727,1842
$GC,10202,0.83,220.0,276.1,6.3,598,10228,0.15,2.40,20.15,0.996,4,0.070,0.066,2881,3150,1753
$GC,10246,0.67,220.0,271.9,11.0,600,10251,0.25,2.28,0.00,0.000,6,0.128,0.051,2817,1731,1752
$GC,10574,0.89,246.5,250.0,6.2,616,10605,0.17,2.35,24.08,0.977,4,0.064,0.064,2906,333,1645
$GC,10628,0.78,246.5,244.9,10.6,618,10633,0.20,2.30,0.00,0.000,6,0.129,0.053,2847,1741,1644
$GC,10947,0.87,246.5,220.6,7.4,633,10950,0.00,2.25,0.00,0.000,4,0.000,0.067,2847,3158,1639
$GC,11002,0.87,246.5,215.7,8.4,635,11006,0.00,2.25,0.00,0.000,6,0.000,0.050,2855,1736,1638
$GC,11325,0.94,246.5,192.2,7.5,651,11330,0.10,2.28,0.00,0.000,4,0.084,0.064,2912,334,1638
$GC,11370,0.84,246.5,187.7,11.2,653,11375,0.17,2.28,0.00,0.000,6,0.131,0.053,2862,1748,1638
$GC,11693,0.92,246.5,161.5,7.8,669,11697,0.00,2.25,0.00,0.000,4,0.000,0.067,2862,3156,1637
$GC,11765,0.92,246.5,154.7,9.1,672,11769,0.00,2.22,0.00,0.000,6,0.000,0.051,2869,1738,1637
$GC,12092,0.99,246.5,127.3,8.3,688,12094,0.10,0.00,0.00,0.000,6,0.084,0.000,2916,1738,1637
$GC,12405,0.88,246.5,94.7,10.1,709,12412,0.17,2.33,0.00,0.000,4,0.127,0.068,2863,3159,1637
$GC,12447,0.88,246.5,91.2,7.9,716,12454,0.00,2.25,0.00,0.000,6,0.000,0.054,2870,1732,1636
$GC,12792,1.03,275.4,69.1,6.1,777,12824,0.12,2.35,25.62,0.918,4,0.080,0.069,2937,333,1527
$GC,12893,0.95,275.4,60.0,10.0,794,12900,0.20,2.33,0.00,0.000,6,0.128,0.056,2878,1743,1525
$GC,13239,1.10,279.2,36.0,6.9,855,13252,0.15,2.33,3.65,0.598,4,0.070,0.072,2944,3152,1511
$GC,13298,0.85,279.2,29.3,12.5,865,13305,0.30,2.25,0.00,0.000,6,0.131,0.054,2865,1738,1511
$FREEZE,6.33,-0.295,-1.809
$FREEZE,5.44,-0.304,-1.809
$FREEZE,4.50,-0.308,-1.809
$FREEZE,3.63,-0.311,-1.808
$FREEZE,2.48,-0.314,-1.808
$GC,13644,1.12,337.2,7.4,5.2,926,13696,0.20,0.00,48.17,0.889,2,0.065,0.000,2953,1737,1293
$STATE,13696,end climb,SURFACE_DEPTH_REACHED
$STATE,13696,begin surface coast
$FREEZE,1.67,-0.414,-1.813
$FREEZE,1.62,-0.322,-1.806
$FREEZE,1.72,-0.309,-1.806
$FREEZE,1.68,-0.468,-1.496
$FREEZE,1.77,-0.431,-1.814
$FREEZE,1.70,-0.366,-1.810
$FINISH,1.7,1.026515
$STATE,13733,end surface coast,CONTROL_FINISHED_OK
$STATE,13733,begin surface
$SM_CCo,13812,0.00,0.000,0,0,1286,334.59
$SM_GC,2.56,7.15,0.00,0.00,0.048,0.000,0.000,329,2240,1286,-10.70,0.28,334.59
$RAFOS_CLK,610
$RAFOS,4,1228034651,8.750000,8.736389,72,59,55,53,53,53,209,189,218,119,151,175
$RAFOS,3,1228034046,8.583333,8.568334,68,58,57,57,56,54,159,195,175,118,217,807
$RAFOS,2,1228033455,8.416667,8.404166,56,55,53,53,51,48,122,166,178,191,135,231
$RAFOS,1,1228032857,8.250000,8.238055,75,66,59,57,56,51,962,204,171,215,126,115
$RAFOS,0,1228032241,8.083333,8.066944,66,56,54,54,53,50,165,182,194,214,153,1260
$RAFOS_FIX,-31200.181641,336923.250000,301108,080856,2,74,15226.59
$IRIDIUM_FIX,6512.01,-5831.75,240298,030345
$TT8_MAMPS,0.026845
$HUMID,1809
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,15.20
$XPDR_PINGS,44
$24V_AH,22.1,66.176
$10V_AH,10.5,30.003
$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,21.625,116.850,421.075,0.000,0.000,0.000,0.000,0.000,11.000,0.000,0.000,0.000,1698.646,9824.860,509.906,1640.100,232.357,0.000,1410.242,0.000,1631.660,1800.000,0.529,0.000
$DEVICE_MAMPS,256.178,79.768,1136.694,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,655.558,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31583,938
$CAP_FILE_SIZE,113830,0
$CFSIZE,260165632,225443840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.9
$GPS,301108,114038,6539.845,-5820.662,60,0.8,60,-36.1