version: 66.04
glider: 108
mission: 11
dive: 390
start: 11 29 108 4 43 36
data:
$ID,108
$MISSION,11
$DIVE,390
$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,-119599.05
$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,27
$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
$GPS1,202640,6549.236,-5929.427,0,2119.0,0,-36.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-0.6
$GPS2,202640,6549.236,-5929.427,0,2119.0,0,-36.5
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6552.930,-5904.592
$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,106.5,20000,-13.0,-7.021
$D_GRID,573
$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,13,begin dive
$GC,16,-0.99,-146.0,0.0,0.0,0,68,0.00,0.00,-45.53,0.000,6,0.000,0.000,2693,330,3247
$GC,71,-0.99,-146.0,2.1,-1.0,9,78,0.62,0.80,0.00,0.000,4,0.065,0.059,2451,822,3247
$GC,175,-0.75,-146.0,12.4,-9.5,27,182,0.28,2.28,0.00,0.000,6,0.137,0.068,2520,2233,3249
$GC,519,-0.75,-146.0,39.3,-9.8,88,526,0.00,2.25,0.00,0.000,4,0.000,0.082,2512,3609,3250
$GC,533,-0.80,-146.0,40.4,-9.3,90,540,0.00,2.20,0.00,0.000,6,0.000,0.054,2512,2213,3250
$GC,877,-0.80,-146.0,69.1,-7.8,151,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2213,3250
$GC,1221,-0.85,-146.0,96.5,-8.4,212,1227,0.00,2.35,0.00,0.000,4,0.000,0.080,2502,3599,3250
$GC,1279,-0.90,-146.0,101.7,-8.9,220,1283,0.00,2.17,0.00,0.000,6,0.000,0.054,2502,2225,3250
$GC,1601,-0.90,-146.0,126.5,-6.9,236,1605,0.00,2.28,0.00,0.000,4,0.000,0.067,2502,811,3250
$GC,1640,-0.90,-146.0,129.1,-6.8,237,1646,0.00,2.38,0.00,0.000,6,0.000,0.068,2492,2241,3249
$GC,1956,-0.90,-146.0,149.8,-6.6,253,1960,0.00,2.33,0.00,0.000,4,0.000,0.067,2492,818,3249
$GC,2007,-0.90,-146.0,153.3,-6.5,255,2010,0.00,2.35,0.00,0.000,6,0.000,0.069,2482,2233,3249
$GC,2335,-0.90,-146.0,173.0,-5.7,271,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2233,3249
$GC,2643,-0.90,-146.0,190.2,-5.7,286,2647,0.00,2.33,0.00,0.000,4,0.000,0.067,2482,814,3249
$GC,2694,-0.84,-146.0,193.5,-6.3,288,2699,0.10,2.38,0.00,0.000,6,0.146,0.069,2497,2241,3249
$GC,3015,-0.90,-146.0,211.4,-5.6,304,3019,0.00,2.33,0.00,0.000,4,0.000,0.067,2500,820,3248
$GC,3032,-0.90,-146.0,212.5,-5.8,304,3039,0.00,2.35,0.00,0.000,6,0.000,0.069,2492,2238,3248
$GC,3348,-0.90,-146.0,231.3,-6.1,320,3352,0.00,2.25,0.00,0.000,4,0.000,0.083,2482,3605,3248
$GC,3376,-0.90,-146.0,233.2,-7.1,321,3380,0.00,2.20,0.00,0.000,6,0.000,0.054,2482,2215,3248
$GC,3704,-0.90,-146.0,253.2,-5.8,337,3707,0.00,2.25,0.00,0.000,4,0.000,0.067,2482,810,3248
$GC,3743,-0.85,-146.0,255.8,-6.5,338,3750,0.10,2.38,0.00,0.000,6,0.144,0.068,2497,2245,3247
$GC,4060,-0.93,-146.0,272.2,-5.3,354,4064,0.00,2.33,0.00,0.000,4,0.000,0.065,2498,816,3247
$GC,4077,-0.99,-146.0,273.1,-5.2,354,4084,0.10,2.35,0.00,0.000,6,0.086,0.067,2448,2239,3248
$GC,4393,-0.89,-146.0,295.3,-7.3,370,4398,0.15,2.33,0.00,0.000,4,0.149,0.065,2489,818,3248
$GC,4421,-0.89,-146.0,297.3,-6.6,371,4425,0.00,2.35,0.00,0.000,6,0.000,0.067,2481,2243,3248
$GC,4742,-0.89,-146.0,315.9,-5.8,387,4743,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2243,3248
$GC,5051,-0.89,-146.0,333.7,-5.6,402,5052,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2243,3248
$GC,5360,-0.89,-146.0,350.6,-5.3,417,5364,0.00,2.35,0.00,0.000,4,0.000,0.065,2481,810,3248
$GC,5389,-0.89,-146.0,352.3,-6.3,418,5393,0.00,2.35,0.00,0.000,6,0.000,0.065,2471,2240,3248
$GC,5716,-0.89,-146.0,372.1,-6.2,434,5720,0.00,2.33,0.00,0.000,4,0.000,0.064,2471,816,3249
$GC,5762,-0.84,-146.0,375.0,-6.3,436,5767,0.15,2.35,0.00,0.000,6,0.133,0.066,2503,2232,3248
$GC,6090,-0.97,-146.0,392.1,-5.1,452,6092,0.12,0.00,0.00,0.000,6,0.083,0.000,2453,2232,3249
$GC,6416,-0.90,-146.0,413.2,-6.5,463,6421,0.12,2.30,0.00,0.000,4,0.153,0.062,2484,819,3249
$GC,6444,-0.90,-146.0,414.9,-5.8,463,6447,0.00,2.35,0.00,0.000,6,0.000,0.065,2476,2243,3249
$GC,6781,-0.90,-146.0,434.0,-5.7,472,6785,0.00,2.22,0.00,0.000,4,0.000,0.079,2466,3607,3249
$GC,6820,-0.90,-146.0,436.5,-6.3,472,6827,0.00,2.17,0.00,0.000,6,0.000,0.051,2466,2217,3249
$GC,7152,-0.90,-146.0,455.7,-5.8,481,7156,0.00,2.22,0.00,0.000,4,0.000,0.064,2466,816,3250
$GC,7215,-0.84,-146.0,459.9,-6.9,482,7219,0.15,2.35,0.00,0.000,6,0.133,0.064,2497,2246,3250
$GC,7563,-0.96,-146.0,476.9,-5.1,491,7568,0.12,2.33,0.00,0.000,4,0.084,0.061,2447,812,3250
$STATE,7731,end dive,NO_VERTICAL_VELOCITY
$STATE,7731,begin apogee
$GC,7739,-0.31,0.0,478.3,0.0,494,7867,0.50,0.00,124.93,1.158,6,0.095,0.000,2617,1754,2650
$STATE,7867,end apogee,CONTROL_FINISHED_OK
$STATE,7867,begin climb
$GC,7870,0.99,146.0,477.9,0.0,498,8008,0.88,2.60,129.85,1.080,4,0.098,0.069,2898,3154,2053
$GC,8107,0.64,146.0,454.0,12.9,503,8112,0.32,2.42,0.00,0.000,6,0.136,0.052,2820,1748,2048
$GC,8450,0.73,167.7,431.3,6.3,512,8474,0.00,2.45,18.55,1.035,4,0.000,0.067,2828,330,1966
$GC,8504,0.87,178.3,427.9,6.7,513,8520,0.15,2.38,11.20,0.969,6,0.071,0.056,2892,1743,1923
$GC,8839,0.68,178.3,393.5,10.5,523,8843,0.20,2.30,0.00,0.000,4,0.131,0.069,2829,3153,1920
$GC,8907,0.63,178.3,387.9,7.7,526,8911,0.00,2.28,0.00,0.000,6,0.000,0.052,2837,1729,1918
$GC,9234,0.64,188.1,365.9,6.7,542,9245,0.00,0.00,9.35,0.963,6,0.000,0.000,2837,1729,1883
$GC,9543,0.64,188.1,344.3,7.1,557,9546,0.00,2.35,0.00,0.000,4,0.000,0.069,2837,3155,1883
$GC,9578,0.59,188.1,341.7,8.0,558,9583,0.15,2.25,0.00,0.000,6,0.128,0.052,2803,1732,1882
$GC,9900,1.01,192.3,320.7,6.9,574,9911,0.28,2.38,5.40,0.825,4,0.071,0.068,2915,3163,1865
$GC,10064,0.67,192.3,300.6,13.9,581,10069,0.35,2.28,0.00,0.000,6,0.137,0.053,2820,1738,1864
$GC,10380,0.83,202.2,279.0,6.7,596,10396,0.15,2.30,9.70,0.948,4,0.067,0.067,2899,330,1825
$GC,10435,0.71,202.2,273.6,11.2,598,10440,0.22,2.30,0.00,0.000,6,0.130,0.057,2833,1746,1825
$GC,10752,0.85,207.2,250.3,6.9,613,10763,0.12,2.28,5.97,0.837,4,0.075,0.070,2889,3154,1805
$GC,10820,0.61,207.2,243.3,10.9,616,10825,0.30,2.25,0.00,0.000,6,0.131,0.053,2810,1728,1804
$GC,11147,1.17,226.6,223.1,6.4,632,11173,0.35,2.40,18.23,0.981,4,0.081,0.069,2938,3152,1726
$GC,11252,0.79,226.6,211.0,14.0,636,11259,0.35,2.28,0.00,0.000,6,0.140,0.054,2845,1728,1724
$GC,11571,0.93,227.7,188.5,7.0,652,11575,0.12,2.28,0.00,0.000,4,0.074,0.067,2911,327,1722
$GC,11605,0.85,227.7,185.0,10.4,653,11610,0.17,2.30,0.00,0.000,6,0.133,0.058,2862,1741,1722
$GC,11922,0.94,227.7,159.9,7.5,668,11926,0.10,2.28,0.00,0.000,4,0.084,0.071,2908,3155,1722
$GC,12006,0.72,227.7,150.5,12.3,672,12011,0.30,2.25,0.00,0.000,6,0.131,0.054,2828,1733,1721
$GC,12333,1.28,227.7,126.9,7.2,688,12338,0.38,2.35,0.00,0.000,4,0.084,0.071,2964,3159,1721
$GC,12374,1.01,227.7,122.8,10.9,690,12379,0.28,2.28,0.00,0.000,6,0.153,0.056,2897,1728,1720
$GC,12693,1.02,235.5,98.7,6.8,707,12706,0.00,2.33,8.45,0.867,4,0.000,0.070,2905,331,1690
$GC,12764,1.02,235.5,93.7,7.4,719,12770,0.00,2.30,0.00,0.000,6,0.000,0.059,2905,1746,1691
$GC,13108,1.02,235.5,65.6,8.2,780,13114,0.00,2.28,0.00,0.000,4,0.000,0.073,2905,3156,1689
$GC,13178,0.88,235.5,59.2,9.8,792,13184,0.17,2.28,0.00,0.000,6,0.133,0.058,2864,1728,1688
$GC,13523,1.04,256.7,36.9,6.3,853,13548,0.15,2.35,19.83,0.915,4,0.072,0.071,2944,330,1603
$GC,13589,0.92,256.7,31.2,9.0,864,13596,0.22,2.33,0.00,0.000,6,0.134,0.062,2878,1751,1602
$GC,13935,1.07,289.5,11.1,6.0,925,13971,0.12,2.38,30.42,0.901,4,0.074,0.075,2935,3153,1469
$FREEZE,6.65,-1.653,-1.811
$FREEZE,5.68,-1.654,-1.810
$FREEZE,4.85,-1.655,-1.809
$FREEZE,4.08,-1.654,-1.809
$FREEZE,3.24,-1.655,-1.808
$FREEZE,2.40,-1.656,-1.808
$STATE,14004,end climb,SURFACE_DEPTH_REACHED
$STATE,14007,begin surface coast
$FREEZE,1.56,-1.656,-0.756
$FINISH,1.6,1.011082
$STATE,14014,end surface coast,FINISH_DEPTH_REACHED
$STATE,14014,begin surface
$SM_CCo,14094,0.00,0.000,0,0,1462,291.66
$SM_GC,2.42,7.10,0.00,0.00,0.050,0.000,0.000,333,2217,1462,-10.70,-0.37,291.66
$RAFOS_CLK,632
$RAFOS,2,1227947044,8.416667,8.401111,65,60,56,56,55,52,228,185,198,150,208,134
$RAFOS,1,1227946451,8.250000,8.236389,67,62,56,55,53,52,204,218,124,153,135,168
$RAFOS,0,1227945857,8.083333,8.071389,68,60,56,51,49,47,213,160,178,228,132,148
$RAFOS,4,1227933842,4.750000,4.733889,63,56,55,49,49,48,213,154,140,200,168,120
$RAFOS_FIX,6549.236328,-5929.427246,271108,202040,2,119,0.73
$IRIDIUM_FIX,6548.42,-6024.58,170298,151550
$TT8_MAMPS,0.029146
$HUMID,1807
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,14.80
$XPDR_PINGS,111
$24V_AH,22.1,65.270
$10V_AH,10.5,29.619
$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,15.475,145.050,391.875,0.000,0.000,0.000,0.000,0.000,27.750,0.000,0.000,0.000,1725.178,9938.958,478.239,1782.715,228.987,0.000,1448.060,0.000,1758.234,1800.000,0.529,0.000
$DEVICE_MAMPS,153.400,82.836,1158.170,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,656.737,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31523,938
$CAP_FILE_SIZE,125907,0
$CFSIZE,260165632,225816576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.0
$GPS,291108,083956,6541.609,-5844.096,40,0.9,40,-36.2