version: 66.04
glider: 108
mission: 11
dive: 401
start: 12 1 108 1 3 10
data:
$ID,108
$MISSION,11
$DIVE,401
$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,-119750.19
$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,26
$R_STBD_OVSHOOT,21
$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
$GPS1,004801,6539.590,-5809.755,129,1.3,129,-36.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-62.6
$GPS2,010250,6539.355,-5809.766,17,1.3,31,-36.1
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6543.048,-5745.089
$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,106.1,20000,-13.0,-7.021
$D_GRID,513
$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,16,-0.99,-146.0,0.0,0.0,0,46,0.00,0.00,-28.12,0.000,2,0.000,0.000,335,2256,2391
$GC,50,-0.99,-146.0,3.0,-2.9,5,104,8.75,2.40,-37.75,0.000,4,0.242,0.084,2470,812,3248
$GC,112,-0.23,-146.0,8.4,-13.9,15,119,0.55,2.35,0.00,0.000,6,0.129,0.064,2630,2241,3251
$GC,457,-0.89,-146.0,55.0,-15.4,76,464,0.40,2.22,0.00,0.000,4,0.074,0.074,2479,3607,3254
$GC,479,-1.45,-146.0,58.1,-14.9,79,486,0.35,2.20,0.00,0.000,6,0.063,0.051,2344,2209,3253
$GC,819,-0.89,-146.0,108.6,-13.0,131,823,0.47,2.22,0.00,0.000,4,0.166,0.062,2492,812,3253
$GC,983,-0.85,-146.0,122.1,-7.4,138,987,0.00,2.33,0.00,0.000,6,0.000,0.064,2485,2241,3253
$GC,1310,-0.85,-146.0,145.7,-7.3,154,1314,0.00,2.20,0.00,0.000,4,0.000,0.077,2475,3596,3253
$GC,1343,-0.85,-146.0,148.5,-8.1,155,1348,0.10,2.15,0.00,0.000,6,0.147,0.050,2500,2218,3253
$GC,1665,-0.90,-146.0,170.5,-6.7,171,1668,0.00,2.22,0.00,0.000,4,0.000,0.063,2500,813,3253
$GC,1693,-0.90,-146.0,172.7,-7.5,172,1697,0.00,2.33,0.00,0.000,6,0.000,0.064,2492,2242,3253
$GC,2020,-0.90,-146.0,197.9,-7.3,188,2024,0.00,2.22,0.00,0.000,4,0.000,0.077,2482,3605,3252
$GC,2070,-0.90,-146.0,201.7,-7.5,190,2074,0.00,2.17,0.00,0.000,6,0.000,0.050,2482,2217,3252
$GC,2398,-0.90,-146.0,222.8,-6.0,206,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2217,3252
$GC,2707,-0.90,-146.0,240.8,-5.6,221,2710,0.00,2.22,0.00,0.000,4,0.000,0.063,2482,812,3251
$GC,2869,-0.90,-146.0,249.8,-5.3,228,2873,0.00,2.33,0.00,0.000,6,0.000,0.063,2472,2238,3251
$GC,3199,-0.90,-146.0,267.3,-5.6,244,3203,0.00,2.30,0.00,0.000,4,0.000,0.061,2472,813,3251
$GC,3323,-0.84,-146.0,275.2,-5.8,249,3328,0.12,2.35,0.00,0.000,6,0.134,0.062,2496,2244,3251
$GC,3640,-0.94,-146.0,291.3,-5.1,264,3644,0.00,2.30,0.00,0.000,4,0.000,0.061,2496,814,3252
$GC,3668,-0.99,-146.0,293.0,-6.0,265,3673,0.10,2.33,0.00,0.000,6,0.083,0.061,2446,2241,3252
$GC,3996,-0.89,-146.0,315.7,-7.0,281,3997,0.15,0.00,0.00,0.000,6,0.144,0.000,2487,2240,3252
$GC,4304,-0.95,-146.0,334.1,-5.9,296,4308,0.00,2.30,0.00,0.000,4,0.000,0.061,2487,825,3252
$GC,4332,-0.95,-146.0,335.9,-6.4,297,4336,0.00,2.33,0.00,0.000,6,0.000,0.061,2479,2239,3252
$GC,4659,-0.95,-146.0,355.6,-6.1,313,4661,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2239,3253
$GC,4968,-0.95,-146.0,373.9,-5.8,328,4969,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2239,3254
$GC,5277,-0.95,-146.0,391.8,-5.8,343,5281,0.00,2.33,0.00,0.000,4,0.000,0.058,2480,819,3254
$GC,5324,-0.95,-146.0,394.5,-6.0,345,5328,0.00,2.30,0.00,0.000,6,0.000,0.059,2470,2234,3254
$GC,5673,-0.95,-146.0,414.2,-5.5,356,5677,0.00,2.28,0.00,0.000,4,0.000,0.058,2470,814,3255
$GC,5696,-0.95,-146.0,415.7,-6.2,356,5700,0.00,2.35,0.00,0.000,6,0.000,0.059,2459,2244,3255
$GC,6044,-0.95,-146.0,435.7,-5.6,365,6048,0.00,2.30,0.00,0.000,4,0.000,0.058,2460,822,3255
$GC,6078,-0.86,-146.0,437.6,-6.1,365,6083,0.17,2.33,0.00,0.000,6,0.130,0.059,2499,2240,3256
$GC,6410,-0.98,-146.0,452.9,-4.5,373,6412,0.12,0.00,0.00,0.000,6,0.081,0.000,2448,2240,3255
$GC,6735,-0.90,-146.0,471.9,-5.9,381,6740,0.15,2.30,0.00,0.000,4,0.150,0.058,2488,819,3256
$GC,6764,-0.90,-146.0,473.6,-5.5,381,6768,0.00,2.33,0.00,0.000,6,0.000,0.059,2481,2242,3256
$GC,7107,-0.90,-146.0,490.1,-4.7,390,7111,0.00,2.30,0.00,0.000,4,0.000,0.059,2480,816,3256
$GC,7130,-0.90,-146.0,491.3,-5.4,390,7134,0.00,2.33,0.00,0.000,6,0.000,0.059,2470,2239,3256
$GC,7479,-0.90,-146.0,509.5,-5.3,399,7480,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2238,3256
$STATE,7556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7556,begin apogee
$GC,7563,-0.31,0.0,513.8,5.3,401,7693,0.45,0.00,126.45,1.160,6,0.121,0.000,2613,1733,2650
$STATE,7693,end apogee,CONTROL_FINISHED_OK
$STATE,7693,begin climb
$GC,7696,0.99,146.0,515.2,0.0,404,7831,0.88,0.00,130.50,1.081,6,0.093,0.000,2898,1733,2054
$GC,8147,0.77,146.0,469.5,11.1,415,8152,0.20,2.42,0.00,0.000,4,0.129,0.066,2836,3152,2047
$GC,8180,0.67,146.0,466.0,8.9,415,8187,0.00,2.33,0.00,0.000,6,0.000,0.049,2844,1726,2046
$GC,8512,0.67,146.0,439.8,7.9,424,8513,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1726,2046
$GC,8837,0.67,146.0,414.5,7.6,432,8841,0.00,2.35,0.00,0.000,4,0.000,0.065,2844,3163,2046
$GC,8887,0.51,146.0,410.1,9.1,433,8892,0.22,2.25,0.00,0.000,6,0.127,0.050,2788,1734,2045
$GC,9208,0.78,202.7,393.5,5.2,444,9261,0.20,0.00,47.88,1.076,6,0.061,0.000,2875,1734,1823
$GC,9579,0.66,202.7,356.2,10.5,462,9581,0.20,0.00,0.00,0.000,6,0.120,0.000,2815,1734,1815
$GC,9888,0.81,207.4,334.9,6.9,477,9898,0.15,2.35,3.83,0.662,4,0.069,0.066,2881,3154,1804
$GC,9916,0.70,207.4,332.1,10.6,478,9920,0.22,2.22,0.00,0.000,6,0.129,0.050,2825,1735,1804
$GC,10242,0.81,207.4,306.4,7.9,494,10247,0.12,2.25,0.00,0.000,4,0.071,0.064,2893,334,1803
$GC,10277,0.72,207.4,302.9,11.7,495,10282,0.20,2.25,0.00,0.000,6,0.126,0.052,2833,1742,1803
$GC,10594,0.78,207.4,275.5,8.2,510,10597,0.00,2.25,0.00,0.000,4,0.000,0.067,2833,3161,1803
$GC,10663,0.78,207.4,269.2,9.5,513,10667,0.00,2.22,0.00,0.000,6,0.000,0.050,2841,1736,1801
$GC,10995,0.78,207.4,241.8,7.6,529,10999,0.00,2.22,0.00,0.000,4,0.000,0.064,2851,330,1802
$GC,11047,0.87,207.4,237.8,7.8,531,11051,0.00,2.28,0.00,0.000,6,0.000,0.054,2851,1752,1802
$GC,11368,0.87,207.4,212.3,8.3,547,11372,0.00,2.22,0.00,0.000,4,0.000,0.067,2851,3161,1801
$GC,11441,0.80,207.4,205.1,10.5,550,11445,0.00,2.22,0.00,0.000,6,0.000,0.050,2860,1735,1801
$GC,11768,0.80,207.4,176.1,8.4,566,11769,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1735,1802
$GC,12077,0.80,207.4,151.6,7.6,581,12081,0.00,2.22,0.00,0.000,4,0.000,0.064,2871,334,1802
$GC,12112,0.86,207.4,149.0,7.7,582,12116,0.00,2.25,0.00,0.000,6,0.000,0.052,2871,1746,1803
$GC,12434,0.88,222.5,126.7,6.5,598,12456,0.00,2.25,14.50,0.898,4,0.000,0.068,2871,3151,1742
$GC,12502,0.81,222.5,121.3,8.5,601,12507,0.12,2.22,0.00,0.000,6,0.130,0.051,2845,1737,1740
$GC,12836,0.99,231.5,99.5,6.7,617,12855,0.17,2.30,9.23,0.843,4,0.066,0.066,2933,335,1706
$GC,12912,0.87,231.5,91.7,11.0,630,12919,0.22,2.28,0.00,0.000,6,0.131,0.054,2867,1746,1705
$GC,13259,0.96,231.5,69.9,7.7,691,13266,0.10,2.28,0.00,0.000,4,0.083,0.068,2914,3163,1703
$GC,13307,0.81,231.5,65.0,10.6,699,13315,0.25,2.25,0.00,0.000,6,0.126,0.053,2849,1739,1703
$GC,13654,1.02,265.3,41.6,5.9,760,13689,0.17,0.00,30.40,0.901,6,0.067,0.000,2927,1739,1568
$FREEZE,6.26,0.463,-1.819
$FREEZE,5.56,0.463,-1.818
$FREEZE,5.18,0.463,-1.818
$FREEZE,4.76,0.462,-1.818
$FREEZE,4.41,0.461,-1.818
$FREEZE,4.26,0.460,-1.817
$FREEZE,3.62,0.461,-1.817
$FREEZE,2.79,0.462,-1.816
$STATE,14006,end climb,SURFACE_DEPTH_REACHED
$STATE,14006,begin surface coast
$FREEZE,1.89,0.459,-1.816
$FREEZE,1.39,0.442,-0.939
$FREEZE,1.49,0.281,-0.250
$FREEZE,1.51,0.357,-0.957
$FREEZE,1.41,0.443,-1.815
$FREEZE,1.60,0.440,-1.782
$FREEZE,1.49,0.006,-1.807
$FINISH,1.5,1.026466
$STATE,14045,end surface coast,CONTROL_FINISHED_OK
$STATE,14045,begin surface
$SM_CCo,14124,0.00,0.000,0,0,1556,268.36
$SM_GC,2.19,7.07,0.00,0.00,0.056,0.000,0.000,336,2236,1556,-10.69,0.17,268.36
$RAFOS_CLK,596
$RAFOS,4,1228106645,4.750000,4.734722,65,56,53,51,50,46,218,125,141,153,182,91
$RAFOS,3,1228106057,4.583333,4.571389,64,55,54,51,48,46,190,160,213,121,139,1644
$RAFOS,2,1228105444,4.416667,4.401111,69,58,54,52,51,50,217,157,118,194,147,206
$RAFOS,1,1228104846,4.250000,4.235000,62,54,54,53,52,52,196,157,211,121,134,174
$RAFOS,0,1228104258,4.083333,4.071667,65,60,56,54,50,50,205,183,156,129,218,571
$RAFOS_FIX,-31200.181641,336923.250000,301108,080856,2,74,15226.59
$IRIDIUM_FIX,6512.01,-5812.95,250298,010143
$TT8_MAMPS,0.026845
$HUMID,1820
$INTERNAL_PRESSURE,9.88319
$TCM_TEMP,15.60
$XPDR_PINGS,68
$24V_AH,22.1,66.737
$10V_AH,10.5,30.268
$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,22.425,120.125,362.775,0.000,0.000,76.084,277.881,0.000,17.000,0.000,0.000,35.196,1564.046,10492.073,468.429,1592.514,891.391,0.000,1322.905,0.000,1548.599,1800.000,0.530,0.000
$DEVICE_MAMPS,241.605,83.603,1160.471,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,578.082,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28379,829
$CAP_FILE_SIZE,117813,0
$CFSIZE,260165632,225234944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.7
$GPS,011208,050102,6539.241,-5807.147,80,4.7,99,-36.0