version: 66.04
glider: 108
mission: 11
dive: 410
start: 12 2 108 19 11 55
data:
$ID,108
$MISSION,11
$DIVE,410
$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,-120014.3
$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,31
$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
$GPS1,185902,6543.960,-5743.507,37,1.2,37,-36.0
$_CALLS,1
$_XMS_NAKs,35
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-67.3
$GPS2,191135,6544.009,-5743.625,10,2.1,29,-36.0
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6554.157,-5734.578
$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,561
$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,-146.0,0.0,0.0,0,75,0.00,0.00,-56.78,0.000,2,0.000,0.000,336,2238,2928
$GC,79,-0.99,-146.0,3.1,-2.1,10,105,8.85,2.35,-11.07,0.000,4,0.247,0.087,2451,3599,3248
$GC,359,-0.80,-146.0,33.6,-10.2,59,366,0.20,2.20,0.00,0.000,6,0.140,0.049,2507,2209,3252
$GC,704,-0.80,-146.0,62.5,-8.2,120,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2209,3252
$GC,1048,-0.80,-146.0,83.9,-6.0,181,1054,0.00,2.33,0.00,0.000,4,0.000,0.074,2499,3607,3253
$GC,1118,-0.85,-146.0,88.5,-6.9,193,1124,0.00,2.17,0.00,0.000,6,0.000,0.049,2499,2218,3253
$GC,1461,-0.85,-146.0,108.7,-5.8,235,1464,0.00,2.20,0.00,0.000,4,0.000,0.061,2499,818,3252
$GC,1522,-0.85,-146.0,112.3,-5.7,237,1528,0.00,2.33,0.00,0.000,6,0.000,0.062,2489,2246,3252
$GC,1838,-0.85,-146.0,131.0,-5.6,253,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2246,3252
$GC,2147,-0.85,-146.0,147.2,-5.4,268,2148,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2246,3251
$GC,2456,-0.85,-146.0,164.4,-5.4,283,2460,0.00,2.30,0.00,0.000,4,0.000,0.061,2489,826,3251
$GC,2495,-0.85,-146.0,166.7,-5.8,284,2502,0.00,2.33,0.00,0.000,6,0.000,0.062,2479,2237,3251
$GC,2813,-0.85,-146.0,185.0,-6.0,300,2817,0.00,2.22,0.00,0.000,4,0.000,0.074,2468,3605,3251
$GC,2915,-0.85,-146.0,191.6,-6.3,304,2919,0.10,2.15,0.00,0.000,6,0.148,0.048,2494,2225,3251
$GC,3237,-0.91,-146.0,209.0,-5.4,320,3240,0.00,2.20,0.00,0.000,4,0.000,0.061,2494,826,3251
$GC,3343,-0.91,-146.0,215.4,-6.1,324,3350,0.00,2.30,0.00,0.000,6,0.000,0.061,2486,2234,3251
$GC,3660,-0.91,-146.0,232.9,-5.4,340,3664,0.00,2.28,0.00,0.000,4,0.000,0.058,2486,812,3251
$GC,3722,-0.91,-146.0,236.5,-5.8,342,3729,0.00,2.33,0.00,0.000,6,0.000,0.059,2476,2241,3251
$GC,4038,-0.91,-146.0,252.7,-5.0,358,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2241,3251
$GC,4351,-0.91,-146.0,268.4,-5.1,373,4352,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2241,3252
$GC,4656,-0.91,-146.0,285.1,-5.4,388,4658,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2241,3252
$GC,4966,-0.91,-146.0,302.3,-5.7,403,4969,0.00,2.28,0.00,0.000,4,0.000,0.058,2476,819,3253
$GC,5035,-0.91,-146.0,306.4,-5.7,406,5039,0.00,2.30,0.00,0.000,6,0.000,0.059,2466,2233,3253
$GC,5362,-0.91,-146.0,325.7,-5.6,422,5366,0.00,2.22,0.00,0.000,4,0.000,0.071,2456,3604,3253
$GC,5418,-0.86,-146.0,329.3,-6.6,424,5423,0.15,2.15,0.00,0.000,6,0.140,0.044,2497,2210,3253
$GC,5741,-0.97,-146.0,345.4,-4.9,440,5745,0.12,2.17,0.00,0.000,4,0.080,0.057,2443,827,3253
$GC,5826,-0.82,-146.0,351.0,-6.6,444,5831,0.25,2.30,0.00,0.000,6,0.131,0.059,2507,2240,3253
$GC,6156,-0.95,-146.0,365.9,-4.4,460,6157,0.12,0.00,0.00,0.000,6,0.079,0.000,2453,2240,3254
$GC,6462,-0.88,-146.0,384.2,-6.1,475,6467,0.15,2.28,0.00,0.000,4,0.139,0.056,2497,819,3254
$GC,6519,-0.94,-146.0,387.4,-5.4,477,6525,0.00,2.30,0.00,0.000,6,0.000,0.058,2489,2237,3254
$GC,6855,-1.01,-146.0,405.2,-5.4,492,6856,0.10,0.00,0.00,0.000,6,0.084,0.000,2441,2237,3254
$GC,7180,-0.90,-146.0,425.8,-6.3,500,7181,0.15,0.00,0.00,0.000,6,0.140,0.000,2483,2237,3255
$GC,7505,-0.96,-146.0,442.0,-4.9,508,7506,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2237,3255
$GC,7829,-1.02,-146.0,458.2,-5.0,516,7834,0.10,2.28,0.00,0.000,4,0.086,0.057,2438,820,3255
$GC,7920,-0.85,-146.0,464.2,-6.8,518,7925,0.22,2.30,0.00,0.000,6,0.131,0.058,2494,2233,3255
$GC,8246,-0.96,-146.0,480.4,-4.9,526,8247,0.10,0.00,0.00,0.000,6,0.087,0.000,2450,2233,3255
$GC,8570,-0.89,-146.0,500.4,-6.3,534,8575,0.15,2.28,0.00,0.000,4,0.142,0.055,2494,826,3255
$GC,8632,-0.95,-146.0,503.9,-5.7,535,8636,0.00,2.30,0.00,0.000,6,0.000,0.058,2487,2233,3255
$GC,8975,-1.03,-146.0,520.4,-4.7,544,8980,0.12,2.28,0.00,0.000,4,0.076,0.056,2431,819,3255
$GC,9042,-0.85,-146.0,524.7,-6.9,545,9047,0.28,2.33,0.00,0.000,6,0.133,0.058,2502,2243,3255
$GC,9386,-0.98,-146.0,540.5,-4.6,554,9390,0.12,2.30,0.00,0.000,4,0.080,0.056,2448,819,3255
$GC,9447,-0.85,-146.0,543.8,-6.0,555,9452,0.20,2.30,0.00,0.000,6,0.131,0.058,2495,2234,3255
$GC,9791,-0.97,-146.0,558.6,-4.3,564,9793,0.12,0.00,0.00,0.000,6,0.079,0.000,2442,2234,3254
$STATE,9868,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9868,begin apogee
$GC,9875,-0.31,0.0,563.0,4.9,566,10005,0.55,0.00,127.25,1.180,6,0.124,0.000,2616,1740,2650
$STATE,10006,end apogee,CONTROL_FINISHED_OK
$STATE,10006,begin climb
$GC,10009,0.99,146.0,563.8,0.0,569,10144,0.90,0.00,131.77,1.102,6,0.091,0.000,2904,1740,2054
$GC,10436,0.72,146.0,515.9,12.3,580,10441,0.22,2.38,0.00,0.000,4,0.131,0.061,2845,326,2047
$GC,10469,0.72,146.0,512.5,9.0,580,10475,0.00,2.38,0.00,0.000,6,0.000,0.052,2844,1750,2047
$GC,10801,0.67,146.0,484.1,8.7,589,10805,0.00,2.30,0.00,0.000,4,0.000,0.064,2844,3159,2045
$GC,10834,0.53,146.0,480.9,9.3,589,10839,0.22,2.28,0.00,0.000,6,0.127,0.048,2788,1727,2045
$GC,11167,0.77,185.5,461.5,5.7,597,11209,0.20,2.42,33.35,1.091,4,0.060,0.063,2882,3150,1892
$GC,11216,0.59,185.5,456.7,10.7,598,11221,0.30,2.28,0.00,0.000,6,0.127,0.048,2805,1736,1891
$GC,11536,0.78,207.1,436.0,6.3,606,11558,0.15,0.00,19.17,1.048,6,0.065,0.000,2872,1735,1805
$GC,11860,0.68,207.1,401.7,10.9,614,11862,0.17,0.00,0.00,0.000,6,0.122,0.000,2820,1736,1800
$GC,12169,0.80,209.2,378.7,7.0,628,12174,0.12,2.35,0.00,0.000,4,0.071,0.063,2878,3162,1798
$GC,12197,0.67,209.2,376.0,10.6,629,12202,0.22,2.25,0.00,0.000,6,0.127,0.048,2821,1734,1798
$GC,12514,0.78,225.6,353.6,6.5,644,12534,0.10,0.00,16.35,1.009,6,0.077,0.000,2872,1734,1730
$GC,12843,0.69,225.6,320.7,10.1,660,12845,0.17,0.00,0.00,0.000,6,0.120,0.000,2819,1734,1727
$GC,13152,0.86,251.9,300.8,6.2,675,13183,0.17,2.40,23.77,1.000,4,0.065,0.064,2896,3147,1623
$GC,13195,0.67,251.9,296.4,11.1,677,13200,0.28,2.25,0.00,0.000,6,0.128,0.047,2825,1736,1621
$GC,13525,0.84,263.6,273.0,6.6,693,13542,0.12,0.00,11.15,0.918,6,0.070,0.000,2884,1736,1575
$GC,13852,0.74,263.6,239.0,10.4,709,13854,0.17,0.00,0.00,0.000,6,0.120,0.000,2831,1736,1572
$GC,14162,0.88,272.7,217.6,6.7,724,14174,0.15,0.00,9.18,0.869,6,0.067,0.000,2898,1736,1538
$GC,14470,0.76,272.7,181.7,11.7,739,14475,0.20,2.28,0.00,0.000,4,0.121,0.061,2840,333,1536
$GC,14492,0.76,272.7,179.3,10.5,740,14496,0.00,2.25,0.00,0.000,6,0.000,0.051,2840,1749,1536
$GC,14820,0.89,272.7,154.7,7.7,756,14824,0.12,2.25,0.00,0.000,4,0.072,0.062,2900,3163,1535
$GC,14864,0.67,272.7,149.3,12.7,758,14869,0.30,2.25,0.00,0.000,6,0.127,0.048,2819,1734,1534
$GC,15186,1.30,272.7,122.5,10.3,774,15188,0.45,0.00,0.00,0.000,6,0.092,0.000,2973,1734,1533
$GC,15506,1.01,272.7,77.6,15.7,807,15512,0.22,2.35,0.00,0.000,4,0.130,0.064,2901,3158,1533
$GC,15544,0.83,272.7,72.8,13.5,813,15551,0.17,2.25,0.00,0.000,6,0.125,0.048,2856,1731,1533
$GC,15890,1.05,276.3,48.5,6.9,874,15898,0.17,0.00,4.28,0.627,6,0.066,0.000,2939,1731,1523
$GC,16236,0.94,276.3,11.7,10.0,935,16243,0.20,2.28,0.00,0.000,4,0.126,0.062,2883,323,1523
$GC,16273,0.99,276.3,8.6,8.8,941,16280,0.00,2.28,0.00,0.000,6,0.000,0.051,2883,1751,1523
$FREEZE,6.64,0.075,-1.817
$FREEZE,6.34,0.087,-1.816
$FREEZE,5.94,0.082,-1.816
$FREEZE,5.46,0.080,-1.816
$FREEZE,5.26,0.074,-1.815
$FREEZE,4.89,0.074,-1.815
$FREEZE,4.54,0.066,-1.815
$FREEZE,4.24,0.051,-1.815
$FREEZE,3.91,0.057,-1.814
$FREEZE,3.50,0.059,-1.814
$FREEZE,3.18,0.056,-1.814
$FREEZE,2.87,0.062,-1.814
$STATE,16357,end climb,SURFACE_DEPTH_REACHED
$STATE,16357,begin surface coast
$FREEZE,2.50,0.067,-1.813
$FREEZE,2.13,0.064,-1.813
$FREEZE,1.71,0.064,-1.813
$FREEZE,1.24,0.060,-1.812
$FREEZE,1.35,-0.088,-0.712
$FREEZE,1.26,-0.021,-0.934
$FREEZE,1.35,0.042,-1.013
$FREEZE,1.33,-0.019,-0.854
$FREEZE,1.28,-0.414,-0.928
$FINISH,1.3,1.013705
$STATE,16411,end surface coast,CONTROL_FINISHED_OK
$STATE,16411,begin surface
$SM_CCo,16490,0.00,0.000,0,0,1519,277.43
$SM_GC,2.16,6.90,0.00,0.00,0.055,0.000,0.000,332,2230,1519,-10.70,-0.03,277.43
$RAFOS_CLK,672
$RAFOS,4,1228250645,20.750000,20.734722,64,62,55,55,51,51,205,155,178,224,187,165
$RAFOS,3,1228250057,20.583334,20.571388,63,59,58,57,51,51,792,148,210,200,114,123
$RAFOS,2,1228249459,20.416666,20.405277,58,58,54,51,51,47,145,197,229,219,949,164
$RAFOS,1,1228248841,20.250000,20.233612,60,59,57,55,52,51,175,1052,147,218,187,157
$RAFOS,0,1228248244,20.083334,20.067778,63,63,62,54,54,53,170,186,198,139,127,211
$RAFOS_FIX,83901.984375,-926378.750000,021208,121232,2,73,42846.28
$IRIDIUM_FIX,6512.01,-5746.95,260298,141427
$TT8_MAMPS,0.026078
$HUMID,1801
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,16.00
$XPDR_PINGS,144
$24V_AH,22.2,68.132
$10V_AH,10.5,30.898
$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,24.625,111.000,376.275,0.000,0.000,27.925,37.940,527.272,36.000,0.000,0.000,31.645,1763.650,12303.506,527.947,1736.002,908.860,0.000,1432.368,0.000,1699.253,1800.000,0.532,0.000
$DEVICE_MAMPS,246.974,86.671,1179.646,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,672.351,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31539,965
$CAP_FILE_SIZE,140720,0
$CFSIZE,260165632,224669696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.8
$GPS,021208,234808,6544.056,-5740.521,34,0.8,34,-36.0