version: 66.04
glider: 108
mission: 11
dive: 406
start: 12 1 108 23 51 17
data:
$ID,108
$MISSION,11
$DIVE,406
$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,-119935.02
$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,32
$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
$GPS1,234002,6537.686,-5753.125,56,1.1,56,-35.9
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-57.4
$GPS2,235057,6537.684,-5753.019,12,1.1,12,-35.9
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6547.832,-5744.009
$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,55.9,20000,-13.0,-7.021
$D_GRID,537
$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,18,-0.99,-146.0,0.0,0.0,0,121,0.00,0.00,-100.00,0.000,2,0.000,0.000,338,2250,2963
$GC,124,-0.99,-146.0,3.0,-1.6,18,150,8.95,2.28,-9.25,0.000,4,0.253,0.087,2453,3603,3247
$GC,404,-0.78,-146.0,37.9,-11.7,67,411,0.20,2.17,0.00,0.000,6,0.143,0.048,2509,2211,3251
$GC,749,-0.78,-146.0,67.9,-9.9,128,754,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2211,3251
$GC,1093,-0.84,-146.0,90.3,-4.2,189,1099,0.00,2.22,0.00,0.000,4,0.000,0.060,2510,819,3251
$GC,1277,-0.84,-146.0,100.2,-5.5,221,1281,0.00,2.38,0.00,0.000,6,0.000,0.061,2502,2242,3251
$GC,1609,-0.84,-146.0,120.4,-6.3,237,1613,0.00,2.22,0.00,0.000,4,0.000,0.075,2491,3596,3251
$GC,1682,-0.84,-146.0,125.4,-6.3,240,1686,0.00,2.15,0.00,0.000,6,0.000,0.048,2491,2223,3251
$GC,2009,-0.84,-146.0,145.3,-5.8,256,2013,0.00,2.22,0.00,0.000,4,0.000,0.061,2491,821,3251
$GC,2150,-0.84,-146.0,154.5,-6.9,262,2154,0.00,2.35,0.00,0.000,6,0.000,0.063,2482,2244,3250
$GC,2477,-0.84,-146.0,176.4,-7.0,278,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2244,3250
$GC,2787,-0.84,-146.0,196.5,-6.2,293,2788,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2244,3250
$GC,3097,-0.84,-146.0,214.2,-5.6,308,3098,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2244,3250
$GC,3405,-0.84,-146.0,231.2,-5.5,323,3406,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2244,3250
$GC,3715,-0.84,-146.0,248.8,-5.9,338,3719,0.00,2.30,0.00,0.000,4,0.000,0.060,2482,818,3250
$GC,3806,-0.84,-146.0,254.3,-6.3,342,3811,0.10,2.33,0.00,0.000,6,0.141,0.061,2497,2236,3250
$GC,4133,-0.93,-146.0,270.2,-4.6,358,4137,0.00,2.30,0.00,0.000,4,0.000,0.058,2497,813,3251
$GC,4202,-0.93,-146.0,273.7,-5.1,361,4206,0.00,2.35,0.00,0.000,6,0.000,0.058,2490,2244,3251
$GC,4535,-0.98,-146.0,289.9,-4.7,377,4537,0.10,0.00,0.00,0.000,6,0.084,0.000,2442,2244,3251
$GC,4845,-0.87,-146.0,309.2,-6.4,392,4847,0.17,0.00,0.00,0.000,6,0.146,0.000,2492,2244,3251
$GC,5155,-0.94,-146.0,324.2,-4.7,407,5158,0.00,2.30,0.00,0.000,4,0.000,0.058,2492,813,3252
$GC,5216,-0.94,-146.0,327.4,-5.4,409,5223,0.00,2.33,0.00,0.000,6,0.000,0.058,2484,2237,3252
$GC,5533,-0.94,-146.0,342.7,-4.7,425,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2237,3252
$GC,5842,-0.94,-146.0,356.9,-4.5,440,5846,0.00,2.28,0.00,0.000,4,0.000,0.057,2484,820,3252
$GC,5926,-0.94,-146.0,360.9,-4.9,443,5932,0.00,2.28,0.00,0.000,6,0.000,0.059,2474,2236,3252
$GC,6242,-0.94,-146.0,375.9,-4.7,459,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2236,3252
$GC,6551,-0.94,-146.0,390.9,-5.0,474,6552,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2236,3252
$GC,6858,-0.94,-146.0,406.9,-5.2,486,6862,0.00,2.28,0.00,0.000,4,0.000,0.058,2474,817,3252
$GC,6960,-0.94,-146.0,412.8,-6.0,488,6964,0.00,2.33,0.00,0.000,6,0.000,0.058,2464,2235,3252
$GC,7279,-0.94,-146.0,430.9,-5.8,496,7280,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2235,3252
$GC,7604,-0.94,-146.0,449.9,-5.8,504,7607,0.00,2.22,0.00,0.000,4,0.000,0.071,2454,3606,3252
$GC,7688,-0.94,-146.0,455.7,-6.6,505,7694,0.00,2.15,0.00,0.000,6,0.000,0.045,2454,2218,3252
$GC,8021,-0.89,-146.0,476.2,-6.1,514,8025,0.12,2.20,0.00,0.000,4,0.148,0.057,2488,821,3253
$GC,8121,-0.89,-146.0,481.8,-5.4,516,8125,0.00,2.30,0.00,0.000,6,0.000,0.058,2480,2242,3253
$GC,8441,-0.89,-146.0,498.7,-5.3,524,8442,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2242,3253
$GC,8765,-0.89,-146.0,515.0,-5.0,532,8766,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2242,3253
$GC,9090,-0.89,-146.0,530.9,-5.0,540,9091,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2242,3253
$STATE,9209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9209,begin apogee
$GC,9216,-0.31,0.0,538.0,5.8,543,9345,0.43,0.00,126.43,1.167,6,0.114,0.000,2617,1739,2650
$STATE,9346,end apogee,CONTROL_FINISHED_OK
$STATE,9346,begin climb
$GC,9350,0.99,146.0,540.2,0.0,546,9484,0.88,0.00,130.90,1.092,6,0.089,0.000,2900,1739,2054
$GC,9777,0.74,146.0,496.1,11.4,557,9782,0.22,2.42,0.00,0.000,4,0.127,0.064,2830,3152,2047
$GC,9805,0.62,146.0,493.2,9.3,557,9810,0.10,2.33,0.00,0.000,6,0.138,0.048,2812,1734,2045
$GC,10138,0.74,160.0,471.1,6.6,565,10152,0.10,0.00,11.80,1.005,6,0.078,0.000,2860,1734,1997
$GC,10462,0.64,160.0,440.4,9.7,573,10466,0.15,2.35,0.00,0.000,4,0.119,0.064,2816,3161,1995
$GC,10483,0.64,160.0,438.2,9.5,573,10487,0.00,2.25,0.00,0.000,6,0.000,0.048,2823,1736,1994
$GC,10826,0.69,160.0,412.0,7.5,582,10830,0.00,2.30,0.00,0.000,4,0.000,0.064,2823,3151,1994
$GC,10849,0.69,160.0,410.1,7.9,582,10853,0.00,2.22,0.00,0.000,6,0.000,0.048,2832,1731,1994
$GC,11180,0.69,160.0,383.5,8.0,595,11184,0.00,2.30,0.00,0.000,4,0.000,0.064,2833,3153,1994
$GC,11197,0.69,160.0,382.1,8.1,595,11203,0.00,2.22,0.00,0.000,6,0.000,0.048,2842,1727,1993
$GC,11512,0.69,160.0,355.1,8.5,611,11513,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1728,1993
$GC,11822,0.69,160.0,329.1,8.7,626,11825,0.00,2.33,0.00,0.000,4,0.000,0.064,2842,3158,1993
$GC,11849,0.62,160.0,326.6,9.6,627,11854,0.15,2.22,0.00,0.000,6,0.128,0.048,2810,1733,1993
$GC,12176,0.76,160.0,303.0,7.1,643,12178,0.12,0.00,0.00,0.000,6,0.071,0.000,2870,1733,1993
$GC,12485,0.65,160.0,271.9,10.3,658,12487,0.17,0.00,0.00,0.000,6,0.120,0.000,2817,1733,1993
$GC,12795,0.77,160.0,248.0,7.4,673,12797,0.12,0.00,0.00,0.000,6,0.073,0.000,2875,1733,1993
$GC,13105,0.65,160.0,217.1,9.9,688,13107,0.20,0.00,0.00,0.000,6,0.119,0.000,2814,1733,1993
$GC,13414,0.84,184.3,197.0,6.2,703,13438,0.17,0.00,21.62,0.943,6,0.064,0.000,2891,1733,1899
$GC,13742,0.69,184.3,166.0,9.4,719,13744,0.22,0.00,0.00,0.000,6,0.120,0.000,2822,1733,1895
$GC,14052,0.93,258.4,150.7,4.6,734,14121,0.20,2.42,62.75,0.921,4,0.061,0.064,2912,3152,1596
$GC,14128,0.76,258.4,143.3,10.5,737,14135,0.28,2.33,0.00,0.000,6,0.129,0.048,2842,1730,1593
$GC,14444,0.93,267.9,120.8,6.7,753,14455,0.15,0.00,7.85,0.781,6,0.067,0.000,2911,1730,1557
$GC,14763,0.84,267.9,86.0,10.9,783,14769,0.17,0.00,0.00,0.000,6,0.124,0.000,2858,1729,1555
$GC,15108,0.98,267.9,59.9,7.9,844,15115,0.12,2.28,0.00,0.000,4,0.074,0.063,2920,333,1553
$GC,15150,0.98,267.9,55.9,9.2,851,15157,0.12,2.30,0.00,0.000,6,0.133,0.053,2885,1754,1553
$GC,15495,1.06,267.9,24.8,9.7,912,15502,0.10,2.25,0.00,0.000,4,0.082,0.067,2933,3156,1552
$GC,15531,0.97,267.9,19.9,13.1,918,15539,0.20,2.25,0.00,0.000,6,0.133,0.051,2885,1733,1551
$FREEZE,6.74,0.402,-1.818
$FREEZE,6.64,0.402,-1.818
$FREEZE,6.35,0.402,-1.818
$FREEZE,6.21,0.402,-1.818
$FREEZE,6.24,0.400,-1.818
$FREEZE,6.24,0.400,-1.818
$FREEZE,6.01,0.400,-1.818
$FREEZE,5.70,0.402,-1.817
$FREEZE,5.20,0.402,-1.817
$FREEZE,4.57,0.402,-1.816
$FREEZE,3.94,0.402,-1.816
$FREEZE,3.37,0.402,-1.816
$FREEZE,2.80,0.402,-1.815
$STATE,15725,end climb,SURFACE_DEPTH_REACHED
$STATE,15725,begin surface coast
$FREEZE,2.33,0.401,-1.815
$FREEZE,2.05,0.398,-1.815
$FREEZE,1.72,0.399,-1.814
$FREEZE,1.31,0.407,-1.814
$FREEZE,1.35,0.392,-1.805
$FREEZE,1.31,0.386,-1.787
$FINISH,1.3,1.026167
$STATE,15760,end surface coast,CONTROL_FINISHED_OK
$STATE,15760,begin surface
$SM_CCo,15840,0.00,0.000,0,0,1548,270.32
$SM_GC,2.09,6.90,0.00,0.00,0.057,0.000,0.000,339,2240,1548,-10.67,0.28,270.32
$RAFOS_CLK,645
$RAFOS,0,1228190643,4.083333,4.067500,59,58,55,54,52,48,146,187,196,160,171,110
$RAFOS,4,1228178652,0.750000,0.736667,63,61,58,55,49,49,153,212,177,194,113,140
$RAFOS,3,1228178054,0.583333,0.570556,71,65,64,62,58,56,201,218,165,178,147,129
$RAFOS,2,1228177442,0.416667,0.400556,69,64,62,52,52,51,215,191,175,158,130,76
$RAFOS,1,1228176856,0.250000,0.237778,63,58,55,53,51,46,204,127,179,193,222,151
$RAFOS,0,1228176246,0.083333,0.068333,56,55,53,53,51,51,213,177,139,224,163,125
$RAFOS_FIX,-31200.181641,336923.250000,301108,080856,2,74,15226.59
$IRIDIUM_FIX,6512.01,-5756.91,250298,191955
$TT8_MAMPS,0.026845
$HUMID,1799
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,16.00
$XPDR_PINGS,65
$24V_AH,22.2,67.494
$10V_AH,10.5,30.616
$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,20.950,88.325,361.350,0.000,0.000,23.860,32.695,415.713,16.250,0.000,0.000,13.708,1716.879,11781.943,522.206,1671.064,797.983,0.000,1394.978,0.000,1653.620,2160.000,0.534,0.000
$DEVICE_MAMPS,253.110,86.671,1167.374,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,666.887,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31573,958
$CAP_FILE_SIZE,123380,0
$CFSIZE,260165632,224911360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.4
$GPS,021208,041706,6538.697,-5751.327,55,1.3,60,-36.0