version: 66.04
glider: 108
mission: 11
dive: 411
start: 12 3 108 1 3 16
data:
$ID,108
$MISSION,11
$DIVE,411
$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,-120027.52
$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,30
$R_STBD_OVSHOOT,26
$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
$GPS1,234808,6544.056,-5740.521,34,0.8,34,-36.0
$_CALLS,3
$_XMS_NAKs,21
$_XMS_TOUTs,2
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-70.4
$GPS2,010257,6543.575,-5739.365,11,1.6,11,-36.0
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6553.723,-5730.321
$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,574
$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,-146.0,0.0,0.0,0,93,0.00,0.00,-73.80,0.000,2,0.000,0.000,332,2238,3082
$GC,96,-0.99,-146.0,3.1,-1.8,13,117,8.75,2.35,-5.00,0.000,4,0.244,0.087,2450,3594,3249
$GC,125,1.20,-146.0,8.3,-12.2,17,132,1.58,2.20,0.00,0.000,6,0.129,0.049,2942,2213,3252
$GC,471,-0.15,-146.0,30.8,-7.9,78,478,0.82,2.25,0.00,0.000,4,0.074,0.061,2646,810,3254
$GC,531,-0.50,-146.0,33.6,-5.2,88,538,0.25,2.35,0.00,0.000,6,0.073,0.061,2554,2234,3253
$GC,877,-0.80,-146.0,53.6,-5.8,149,884,0.17,2.22,0.00,0.000,4,0.065,0.074,2467,3595,3253
$GC,942,-0.65,-146.0,59.0,-8.6,160,949,0.25,2.15,0.00,0.000,6,0.144,0.049,2538,2223,3253
$GC,1289,-0.81,-146.0,77.7,-5.2,221,1296,0.12,2.25,0.00,0.000,4,0.082,0.061,2486,816,3254
$GC,1534,-0.75,-146.0,95.0,-6.5,264,1541,0.15,2.35,0.00,0.000,6,0.135,0.062,2518,2231,3254
$GC,1862,-0.87,-146.0,111.5,-5.2,292,1864,0.10,0.00,0.00,0.000,6,0.087,0.000,2474,2231,3254
$GC,2171,-0.87,-146.0,132.8,-6.9,307,2175,0.00,2.28,0.00,0.000,4,0.000,0.061,2474,821,3253
$GC,2222,-0.77,-146.0,136.7,-7.7,309,2227,0.17,2.35,0.00,0.000,6,0.136,0.062,2513,2243,3253
$GC,2546,-0.90,-146.0,152.9,-4.5,325,2548,0.12,0.00,0.00,0.000,6,0.081,0.000,2461,2243,3253
$GC,2853,-0.83,-146.0,172.0,-6.5,340,2857,0.15,2.30,0.00,0.000,4,0.147,0.061,2503,826,3253
$GC,2954,-0.88,-146.0,178.2,-6.5,344,2958,0.00,2.33,0.00,0.000,6,0.000,0.062,2495,2241,3253
$GC,3276,-0.95,-146.0,196.5,-5.8,360,3277,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2241,3253
$GC,3586,-1.02,-146.0,213.9,-5.4,375,3590,0.15,2.30,0.00,0.000,4,0.074,0.059,2431,823,3253
$GC,3665,-0.82,-146.0,219.8,-7.4,378,3670,0.28,2.30,0.00,0.000,6,0.134,0.061,2502,2241,3253
$GC,3981,-0.93,-146.0,234.9,-4.4,393,3983,0.10,0.00,0.00,0.000,6,0.086,0.000,2459,2241,3254
$GC,4291,-0.89,-146.0,251.4,-5.1,408,4295,0.12,2.20,0.00,0.000,4,0.143,0.071,2485,3602,3255
$GC,4342,-0.97,-146.0,253.7,-4.3,410,4346,0.00,2.15,0.00,0.000,6,0.000,0.047,2485,2215,3255
$GC,4670,-1.02,-146.0,266.7,-3.7,426,4674,0.10,2.20,0.00,0.000,4,0.088,0.057,2440,816,3255
$GC,4761,-0.86,-146.0,272.1,-5.9,430,4766,0.22,2.30,0.00,0.000,6,0.131,0.059,2496,2234,3255
$GC,5094,-0.96,-146.0,285.8,-4.3,446,5096,0.10,0.00,0.00,0.000,6,0.085,0.000,2452,2234,3256
$GC,5404,-0.89,-146.0,303.9,-6.1,461,5409,0.12,2.30,0.00,0.000,4,0.145,0.056,2487,812,3257
$GC,5494,-0.89,-146.0,309.0,-5.6,465,5498,0.00,2.35,0.00,0.000,6,0.000,0.058,2479,2240,3257
$GC,5822,-0.89,-146.0,326.4,-5.2,481,5823,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2240,3257
$GC,6132,-0.89,-146.0,342.9,-5.5,496,6135,0.00,2.28,0.00,0.000,4,0.000,0.056,2479,823,3258
$GC,6261,-0.89,-146.0,350.6,-5.5,501,6267,0.00,2.30,0.00,0.000,6,0.000,0.057,2469,2244,3258
$GC,6577,-0.89,-146.0,369.0,-5.8,517,6578,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2244,3258
$GC,6887,-0.89,-146.0,386.1,-5.5,532,6891,0.00,2.28,0.00,0.000,4,0.000,0.056,2469,821,3258
$GC,6960,-0.84,-146.0,390.4,-5.8,535,6965,0.15,2.28,0.00,0.000,6,0.130,0.057,2502,2241,3258
$GC,7286,-0.98,-146.0,406.6,-5.1,548,7288,0.12,0.00,0.00,0.000,6,0.078,0.000,2449,2241,3259
$GC,7612,-0.92,-146.0,427.9,-6.6,556,7614,0.12,0.00,0.00,0.000,6,0.147,0.000,2481,2241,3259
$GC,7936,-0.98,-146.0,444.6,-4.9,564,7940,0.00,2.28,0.00,0.000,4,0.000,0.055,2482,816,3259
$GC,8010,-0.98,-146.0,448.4,-5.3,565,8013,0.00,2.30,0.00,0.000,6,0.000,0.056,2474,2232,3259
$GC,8353,-0.98,-146.0,465.1,-4.6,574,8354,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2232,3259
$GC,8678,-0.98,-146.0,480.3,-4.7,582,8679,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2232,3260
$GC,9003,-0.98,-146.0,495.4,-4.5,590,9006,0.00,2.28,0.00,0.000,4,0.000,0.054,2474,810,3260
$GC,9088,-0.98,-146.0,499.7,-5.2,591,9094,0.00,2.35,0.00,0.000,6,0.000,0.055,2464,2241,3260
$GC,9420,-0.98,-146.0,515.9,-4.9,600,9421,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2241,3260
$GC,9745,-0.98,-146.0,532.6,-5.3,608,9748,0.00,2.22,0.00,0.000,4,0.000,0.069,2454,3596,3261
$GC,9779,-0.98,-146.0,534.4,-5.6,608,9783,0.00,2.12,0.00,0.000,6,0.000,0.043,2454,2214,3261
$GC,10116,-0.98,-146.0,552.6,-5.8,617,10117,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2214,3261
$GC,10441,-0.98,-146.0,569.5,-5.2,625,10445,0.00,2.20,0.00,0.000,4,0.000,0.055,2454,816,3261
$GC,10510,-0.90,-146.0,573.0,-4.9,626,10515,0.15,2.28,0.00,0.000,6,0.130,0.055,2486,2240,3261
$STATE,10570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10571,begin apogee
$GC,10578,-0.31,0.0,575.4,3.7,628,10709,0.40,0.00,127.82,1.172,6,0.114,0.000,2617,1744,2650
$STATE,10710,end apogee,CONTROL_FINISHED_OK
$STATE,10710,begin climb
$GC,10713,0.99,146.0,575.3,0.0,631,10851,0.85,2.58,129.98,1.098,4,0.092,0.060,2905,338,2054
$GC,10865,0.76,146.0,560.3,11.5,634,10870,0.25,2.47,0.00,0.000,6,0.131,0.048,2840,1742,2052
$GC,11202,0.76,146.0,530.1,9.2,643,11206,0.00,2.30,0.00,0.000,4,0.000,0.061,2840,3151,2047
$GC,11259,0.59,146.0,524.6,9.7,644,11263,0.15,2.28,0.00,0.000,6,0.131,0.046,2806,1730,2046
$GC,11578,0.71,161.7,503.6,6.5,652,11598,0.12,2.42,13.25,1.033,4,0.072,0.061,2864,3154,1990
$GC,11615,0.53,161.7,500.1,10.0,652,11622,0.28,2.25,0.00,0.000,6,0.132,0.046,2795,1737,1989
$GC,11948,0.76,202.6,480.5,5.7,661,11987,0.17,0.00,36.10,1.098,6,0.061,0.000,2873,1736,1824
$GC,12312,0.63,202.6,442.7,10.7,670,12314,0.20,0.00,0.00,0.000,6,0.121,0.000,2813,1736,1817
$GC,12637,0.76,216.8,420.8,6.6,678,12657,0.12,2.42,12.15,0.999,4,0.072,0.062,2871,3150,1766
$GC,12682,0.57,216.8,416.5,11.0,679,12687,0.28,2.25,0.00,0.000,6,0.129,0.046,2799,1736,1765
$GC,13007,0.82,237.4,395.6,6.4,688,13032,0.20,2.30,19.65,1.029,4,0.061,0.060,2898,334,1681
$GC,13046,0.75,237.4,392.0,9.1,690,13051,0.20,2.33,0.00,0.000,6,0.129,0.049,2839,1749,1681
$GC,13372,0.75,237.4,363.0,8.5,706,13376,0.00,2.30,0.00,0.000,4,0.000,0.063,2839,3162,1677
$GC,13429,0.68,237.4,357.7,10.4,708,13435,0.00,2.25,0.00,0.000,6,0.000,0.046,2847,1735,1676
$GC,13745,0.68,237.4,330.2,8.6,724,13746,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1735,1675
$GC,14054,0.68,237.4,304.6,8.4,739,14058,0.00,2.33,0.00,0.000,4,0.000,0.062,2847,3161,1675
$GC,14082,0.63,237.4,301.9,9.8,740,14086,0.15,2.25,0.00,0.000,6,0.127,0.045,2812,1731,1674
$GC,14410,0.82,249.5,280.8,6.6,756,14427,0.15,0.00,10.95,0.913,6,0.064,0.000,2882,1731,1632
$GC,14737,0.71,249.5,243.7,11.7,772,14739,0.17,0.00,0.00,0.000,6,0.121,0.000,2829,1731,1630
$GC,15047,0.83,249.5,218.3,7.9,787,15049,0.12,0.00,0.00,0.000,6,0.073,0.000,2885,1731,1629
$GC,15357,0.72,249.5,183.5,10.8,802,15362,0.17,2.30,0.00,0.000,4,0.120,0.058,2840,324,1629
$GC,15381,0.72,249.5,181.1,9.4,803,15384,0.00,2.33,0.00,0.000,6,0.000,0.049,2840,1744,1629
$GC,15714,0.83,250.1,157.7,7.0,819,15718,0.00,2.28,0.00,0.000,4,0.000,0.062,2840,3159,1629
$GC,15770,0.83,250.1,153.0,8.3,821,15774,0.00,2.25,0.00,0.000,6,0.000,0.046,2849,1727,1628
$GC,16093,0.93,250.1,129.0,7.5,837,16095,0.12,0.00,0.00,0.000,6,0.076,0.000,2907,1727,1629
$GC,16405,0.83,250.1,94.6,10.5,858,16412,0.17,2.33,0.00,0.000,4,0.122,0.061,2854,3152,1629
$GC,16441,0.83,250.1,91.2,9.7,864,16448,0.00,2.25,0.00,0.000,6,0.000,0.047,2860,1730,1629
$GC,16787,0.95,250.1,66.9,7.1,925,16793,0.10,0.00,0.00,0.000,6,0.084,0.000,2909,1730,1629
$GC,17132,0.95,250.1,35.8,8.7,986,17138,0.10,2.38,0.00,0.000,4,0.133,0.063,2881,3160,1629
$GC,17168,0.95,250.1,32.9,8.1,992,17174,0.00,2.25,0.00,0.000,6,0.000,0.048,2887,1737,1628
$GC,17513,1.01,250.1,7.2,8.1,1053,17519,0.00,2.28,0.00,0.000,4,0.000,0.063,2897,335,1628
$FREEZE,6.19,0.243,-1.819
$GC,17527,1.08,250.1,6.2,7.8,1055,17534,0.00,2.25,0.00,0.000,6,0.000,0.051,2897,1750,1628
$FREEZE,5.14,0.246,-1.818
$FREEZE,4.82,0.237,-1.818
$FREEZE,4.42,0.236,-1.818
$FREEZE,4.02,0.226,-1.817
$FREEZE,3.78,0.225,-1.817
$FREEZE,3.35,0.243,-1.817
$FREEZE,2.87,0.240,-1.816
$STATE,17572,end climb,SURFACE_DEPTH_REACHED
$STATE,17572,begin surface coast
$FREEZE,2.44,0.234,-1.816
$FREEZE,1.90,0.229,-1.816
$FREEZE,1.45,0.225,-1.815
$FREEZE,1.29,-0.035,-0.888
$FREEZE,1.34,0.044,-0.990
$FREEZE,1.30,0.150,-1.012
$FREEZE,1.25,-0.012,-1.526
$FREEZE,1.38,0.225,-1.815
$FINISH,1.4,1.026564
$STATE,17619,end surface coast,CONTROL_FINISHED_OK
$STATE,17619,begin surface
$SM_CCo,17698,0.00,0.000,0,0,1627,251.19
$SM_GC,2.17,6.93,0.00,0.00,0.054,0.000,0.000,328,2235,1627,-10.70,0.14,251.19
$RAFOS_CLK,805
$RAFOS,4,1228279441,4.750000,4.733611,69,60,57,57,54,51,163,143,206,220,181,120
$RAFOS,3,1228278842,4.583333,4.567222,57,55,55,54,53,50,860,207,195,183,141,150
$RAFOS,2,1228278261,4.416667,4.405833,67,59,58,58,51,50,207,148,174,216,122,1443
$RAFOS,1,1228277648,4.250000,4.235556,65,59,54,54,51,51,194,1006,152,164,220,114
$RAFOS,0,1228277041,4.083333,4.066945,61,59,57,56,52,50,193,166,212,138,112,80
$RAFOS_FIX,83901.984375,-926378.750000,021208,121232,2,73,42846.28
$IRIDIUM_FIX,6517.16,-5739.74,270298,000043
$TT8_MAMPS,0.026845
$HUMID,1792
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,15.80
$XPDR_PINGS,119
$24V_AH,22.2,68.495
$10V_AH,10.5,31.016
$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,25.825,129.750,349.900,0.000,0.000,81.704,99.621,3901.377,29.750,0.000,0.000,12.593,1965.494,13198.850,495.991,1939.483,4581.918,0.000,1529.150,0.000,1914.308,1800.000,0.533,0.000
$DEVICE_MAMPS,243.906,86.671,1171.976,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,746.306,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34736,1071
$CAP_FILE_SIZE,216331,0
$CFSIZE,260165632,224624640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.1
$GPS,031208,055937,6544.829,-5737.814,36,1.4,36,-36.0