version: 66.04
glider: 108
mission: 11
dive: 409
start: 12 2 108 14 24 39
data:
$ID,108
$MISSION,11
$DIVE,409
$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,20
$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,-119982.04
$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,29
$R_STBD_OVSHOOT,27
$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
$GPS1,140408,6541.190,-5746.362,37,0.9,37,-36.0
$_CALLS,3
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-62.4
$GPS2,142420,6541.225,-5746.283,13,0.9,13,-36.0
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6551.373,-5737.252
$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,56.0,20000,-13.0,-7.021
$D_GRID,552
$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,-146.0,0.0,0.0,0,104,0.00,0.00,-84.82,0.000,2,0.000,0.000,333,2254,3065
$GC,108,-0.99,-146.0,3.3,-2.2,15,128,8.90,2.30,-5.30,0.000,4,0.250,0.087,2451,3596,3249
$GC,382,-0.78,-146.0,35.4,-12.1,63,389,0.20,2.17,0.00,0.000,6,0.143,0.049,2509,2210,3253
$GC,727,-0.78,-146.0,62.7,-6.8,124,734,0.00,2.30,0.00,0.000,4,0.000,0.074,2500,3597,3253
$GC,763,-0.78,-146.0,65.4,-7.2,130,769,0.00,2.15,0.00,0.000,6,0.000,0.049,2500,2216,3253
$GC,1107,-0.78,-146.0,88.1,-5.7,191,1114,0.00,2.20,0.00,0.000,4,0.000,0.061,2500,820,3253
$GC,1250,-0.78,-146.0,96.3,-5.6,216,1256,0.00,2.30,0.00,0.000,6,0.000,0.063,2491,2228,3253
$GC,1582,-0.78,-146.0,115.3,-5.9,240,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2228,3252
$GC,1892,-0.78,-146.0,134.6,-6.4,255,1896,0.00,2.28,0.00,0.000,4,0.000,0.061,2490,816,3252
$GC,1965,-0.78,-146.0,139.7,-6.7,258,1970,0.12,2.30,0.00,0.000,6,0.136,0.061,2514,2234,3252
$GC,2287,-0.90,-146.0,156.2,-4.9,274,2289,0.12,0.00,0.00,0.000,6,0.081,0.000,2462,2234,3252
$GC,2596,-0.83,-146.0,176.6,-6.6,289,2600,0.15,2.28,0.00,0.000,4,0.143,0.059,2508,822,3252
$GC,2663,-0.89,-146.0,180.7,-5.6,292,2667,0.00,2.30,0.00,0.000,6,0.000,0.061,2500,2244,3252
$GC,2991,-0.96,-146.0,197.5,-5.2,308,2993,0.10,0.00,0.00,0.000,6,0.083,0.000,2452,2244,3252
$GC,3300,-0.86,-146.0,219.1,-7.0,323,3304,0.15,2.28,0.00,0.000,4,0.143,0.060,2497,821,3252
$GC,3384,-0.86,-146.0,224.3,-5.9,326,3390,0.00,2.30,0.00,0.000,6,0.000,0.061,2489,2237,3252
$GC,3700,-0.86,-146.0,242.1,-5.5,342,3701,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2237,3253
$GC,4009,-0.86,-146.0,259.1,-5.6,357,4010,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2237,3253
$GC,4319,-0.91,-146.0,276.0,-5.6,372,4323,0.00,2.28,0.00,0.000,4,0.000,0.058,2489,815,3253
$GC,4375,-0.91,-146.0,279.5,-6.7,374,4379,0.00,2.30,0.00,0.000,6,0.000,0.060,2480,2237,3254
$GC,4696,-0.91,-146.0,297.1,-5.3,390,4698,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2237,3254
$GC,5006,-0.91,-146.0,313.6,-5.5,405,5010,0.00,2.28,0.00,0.000,4,0.000,0.058,2480,815,3254
$GC,5080,-0.91,-146.0,318.0,-6.1,408,5083,0.00,2.30,0.00,0.000,6,0.000,0.059,2470,2240,3255
$GC,5407,-0.91,-146.0,337.1,-5.7,424,5408,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2240,3255
$GC,5717,-0.91,-146.0,354.0,-5.5,439,5720,0.00,2.28,0.00,0.000,4,0.000,0.057,2470,814,3255
$GC,5824,-0.85,-146.0,360.2,-5.8,443,5831,0.15,2.30,0.00,0.000,6,0.133,0.059,2502,2239,3255
$GC,6141,-0.97,-146.0,374.2,-4.0,459,6143,0.12,0.00,0.00,0.000,6,0.078,0.000,2448,2239,3255
$GC,6450,-0.89,-146.0,391.5,-5.6,474,6454,0.15,2.28,0.00,0.000,4,0.144,0.057,2494,818,3256
$GC,6519,-0.94,-146.0,395.0,-5.1,477,6523,0.00,2.30,0.00,0.000,6,0.000,0.058,2487,2236,3255
$GC,6843,-1.00,-146.0,409.2,-4.3,488,6845,0.10,0.00,0.00,0.000,6,0.083,0.000,2439,2236,3256
$GC,7170,-0.88,-146.0,428.6,-6.1,496,7172,0.17,0.00,0.00,0.000,6,0.140,0.000,2489,2236,3256
$GC,7494,-0.96,-146.0,444.9,-5.2,504,7498,0.00,2.25,0.00,0.000,4,0.000,0.058,2488,823,3256
$GC,7556,-0.96,-146.0,448.5,-6.2,505,7559,0.00,2.28,0.00,0.000,6,0.000,0.058,2481,2239,3256
$GC,7869,-0.96,-146.0,465.1,-5.4,513,7870,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2239,3256
$GC,8195,-0.96,-146.0,482.4,-5.2,521,8196,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2239,3256
$GC,8519,-1.00,-146.0,498.0,-4.7,529,8521,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2239,3256
$GC,8844,-1.05,-146.0,511.9,-4.3,537,8846,0.10,0.00,0.00,0.000,6,0.083,0.000,2434,2239,3256
$GC,9169,-0.92,-146.0,531.3,-6.2,545,9171,0.17,0.00,0.00,0.000,6,0.141,0.000,2483,2239,3256
$GC,9495,-1.00,-146.0,547.4,-5.0,553,9496,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2239,3256
$STATE,9612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9613,begin apogee
$GC,9620,-0.31,0.0,554.1,5.5,556,9751,0.40,0.00,127.40,1.174,6,0.116,0.000,2615,1734,2650
$STATE,9751,end apogee,CONTROL_FINISHED_OK
$STATE,9752,begin climb
$GC,9754,0.99,146.0,554.3,0.0,559,9889,0.88,0.00,131.48,1.097,6,0.086,0.000,2899,1734,2054
$GC,10181,0.74,146.0,509.5,11.4,570,10183,0.22,0.00,0.00,0.000,6,0.127,0.000,2834,1734,2047
$GC,10505,0.74,146.0,485.6,7.1,578,10509,0.00,2.38,0.00,0.000,4,0.000,0.065,2834,3160,2046
$GC,10551,0.63,146.0,481.7,8.8,579,10556,0.12,2.28,0.00,0.000,6,0.133,0.049,2808,1733,2045
$GC,10877,0.78,180.5,461.7,5.9,587,10908,0.15,0.00,29.27,1.087,6,0.067,0.000,2876,1733,1914
$GC,11200,0.65,180.5,429.8,10.1,595,11202,0.20,0.00,0.00,0.000,6,0.122,0.000,2816,1733,1909
$GC,11525,0.78,189.7,407.6,6.7,603,11540,0.12,2.40,8.88,0.956,4,0.074,0.065,2872,3155,1876
$GC,11570,0.57,189.7,403.4,11.4,604,11576,0.28,2.28,0.00,0.000,6,0.128,0.049,2801,1734,1874
$GC,11902,0.81,225.2,382.7,5.9,619,11939,0.17,0.00,31.77,1.058,6,0.062,0.000,2880,1733,1730
$GC,12250,0.70,225.2,345.4,11.1,636,12254,0.17,2.30,0.00,0.000,4,0.120,0.062,2836,329,1724
$GC,12272,0.70,225.2,343.0,9.4,637,12276,0.00,2.30,0.00,0.000,6,0.000,0.051,2836,1747,1724
$GC,12600,0.76,225.2,316.7,8.0,653,12604,0.00,2.28,0.00,0.000,4,0.000,0.065,2836,3161,1722
$GC,12646,0.76,225.2,312.6,9.0,655,12650,0.00,2.25,0.00,0.000,6,0.000,0.048,2845,1729,1721
$GC,12978,0.76,225.2,284.4,8.5,671,12982,0.00,2.35,0.00,0.000,4,0.000,0.064,2845,3163,1721
$GC,13001,0.76,225.2,282.3,8.9,672,13005,0.00,2.25,0.00,0.000,6,0.000,0.048,2855,1731,1720
$GC,13334,0.76,225.2,252.3,9.0,688,13335,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1731,1720
$GC,13643,0.76,225.2,224.5,8.8,703,13646,0.00,2.33,0.00,0.000,4,0.000,0.064,2855,3151,1720
$GC,13661,0.76,225.2,222.9,8.7,703,13667,0.00,2.22,0.00,0.000,6,0.000,0.048,2864,1735,1720
$GC,13977,0.76,225.2,192.6,9.7,719,13978,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1735,1720
$GC,14287,0.76,225.2,163.7,9.0,734,14288,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1735,1720
$GC,14595,0.76,225.2,135.8,8.9,749,14596,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1735,1720
$GC,14905,0.76,225.2,109.9,8.2,764,14906,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1735,1720
$GC,15230,0.76,225.2,83.4,8.1,806,15235,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1735,1720
$GC,15574,0.86,225.2,55.6,7.1,867,15580,0.00,2.33,0.00,0.000,4,0.000,0.066,2864,3149,1720
$GC,15615,0.90,225.2,52.3,7.8,874,15622,0.00,2.22,0.00,0.000,6,0.000,0.050,2872,1734,1720
$GC,15960,1.03,235.8,31.6,6.7,935,15973,0.12,0.00,8.88,0.796,6,0.077,0.000,2931,1734,1688
$FREEZE,6.86,0.044,-1.816
$FREEZE,6.37,0.047,-1.816
$FREEZE,5.90,0.047,-1.816
$FREEZE,5.46,0.046,-1.815
$FREEZE,5.03,0.049,-1.815
$FREEZE,4.42,0.051,-1.814
$FREEZE,3.92,0.053,-1.814
$FREEZE,3.25,0.053,-1.814
$FREEZE,2.74,0.053,-1.813
$STATE,16265,end climb,SURFACE_DEPTH_REACHED
$STATE,16265,begin surface coast
$FREEZE,2.17,0.051,-1.813
$FREEZE,1.76,0.050,-1.813
$FREEZE,1.36,0.055,-1.812
$FREEZE,1.46,-0.087,-0.134
$FREEZE,1.37,0.022,-0.988
$FREEZE,1.27,0.045,-1.743
$FINISH,1.3,1.025555
$STATE,16299,end surface coast,CONTROL_FINISHED_OK
$STATE,16300,begin surface
$SM_CCo,16380,0.00,0.000,0,0,1684,236.96
$SM_GC,2.05,6.97,0.00,0.00,0.051,0.000,0.000,337,2234,1684,-10.67,0.11,236.96
$RAFOS_CLK,684
$RAFOS,4,1228236273,16.750000,16.742500,56,56,55,51,51,49,150,188,213,197,164,118
$RAFOS,3,1228235664,16.583334,16.573334,64,63,61,59,58,58,745,199,190,142,208,157
$RAFOS,2,1228235044,16.416666,16.401112,60,59,58,56,50,50,178,207,197,123,166,154
$RAFOS,1,1228234454,16.250000,16.237223,67,62,61,59,54,53,197,128,213,167,227,145
$RAFOS,0,1228233851,16.083334,16.069723,60,57,57,54,54,51,194,145,119,180,218,160
$RAFOS_FIX,83901.984375,-926378.750000,021208,121232,2,73,42846.28
$IRIDIUM_FIX,6512.01,-5742.53,260298,141457
$TT8_MAMPS,0.026845
$HUMID,1805
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,15.60
$XPDR_PINGS,29
$24V_AH,22.2,67.976
$10V_AH,10.5,30.831
$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,20.550,83.750,337.675,0.000,0.000,80.729,98.786,567.092,7.250,0.000,0.000,15.107,1754.551,12420.422,494.234,1671.909,1243.903,0.000,1355.233,0.000,1658.821,1800.000,0.532,0.000
$DEVICE_MAMPS,250.042,86.671,1173.510,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,693.541,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31574,995
$CAP_FILE_SIZE,127914,0
$CFSIZE,260165632,224690176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.2
$GPS,021208,185902,6543.960,-5743.507,37,1.2,37,-36.0