version: 66.04
glider: 108
mission: 11
dive: 412
start: 12 3 108 6 14 58
data:
$ID,108
$MISSION,11
$DIVE,412
$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,-120043.45
$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,33
$R_STBD_OVSHOOT,28
$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
$GPS1,055937,6544.829,-5737.814,36,1.4,36,-36.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-67.5
$GPS2,061438,6544.739,-5738.022,8,0.9,13,-36.0
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6554.887,-5728.972
$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,576
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.99,-146.0,0.0,0.0,0,88,0.00,0.00,-67.65,0.000,2,0.000,0.000,328,2237,3106
$GC,91,-0.99,-146.0,3.0,-1.9,12,111,8.85,2.38,-4.18,0.000,4,0.245,0.070,2470,810,3249
$GC,365,-0.82,-146.0,32.9,-9.5,60,372,0.15,2.33,0.00,0.000,6,0.133,0.059,2503,2240,3253
$GC,711,-0.82,-146.0,60.1,-7.3,121,717,0.00,2.30,0.00,0.000,4,0.000,0.058,2504,818,3252
$GC,830,-0.82,-146.0,68.9,-7.3,142,837,0.00,2.35,0.00,0.000,6,0.000,0.059,2496,2233,3252
$GC,1175,-0.82,-146.0,91.1,-5.8,203,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2233,3252
$GC,1507,-0.82,-146.0,108.0,-4.8,240,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2233,3252
$GC,1813,-0.82,-146.0,124.4,-5.7,255,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2233,3252
$GC,2123,-0.82,-146.0,144.5,-6.9,270,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2233,3252
$GC,2434,-0.87,-146.0,165.4,-6.4,285,2437,0.00,2.25,0.00,0.000,4,0.000,0.073,2485,3595,3251
$GC,2473,-0.87,-146.0,168.1,-6.6,286,2479,0.00,2.15,0.00,0.000,6,0.000,0.046,2485,2215,3251
$GC,2789,-0.87,-146.0,186.3,-5.4,302,2793,0.00,2.20,0.00,0.000,4,0.000,0.058,2486,817,3251
$GC,2902,-0.87,-146.0,193.2,-6.3,307,2906,0.00,2.28,0.00,0.000,6,0.000,0.059,2475,2231,3250
$GC,3235,-0.87,-146.0,212.9,-5.8,323,3237,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2231,3250
$GC,3545,-0.87,-146.0,230.9,-5.6,338,3549,0.00,2.25,0.00,0.000,4,0.000,0.057,2475,823,3250
$GC,3624,-0.87,-146.0,235.8,-5.8,341,3628,0.10,2.28,0.00,0.000,6,0.136,0.058,2492,2239,3251
$GC,3946,-0.95,-146.0,251.5,-4.9,357,3947,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2239,3251
$GC,4255,-1.03,-146.0,267.2,-5.3,372,4260,0.12,2.28,0.00,0.000,4,0.077,0.055,2438,810,3251
$GC,4348,-0.86,-146.0,273.7,-7.5,376,4353,0.22,2.33,0.00,0.000,6,0.130,0.058,2495,2239,3251
$GC,4676,-0.95,-146.0,290.4,-4.7,392,4677,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2239,3252
$GC,4985,-1.04,-146.0,304.6,-4.4,407,4989,0.15,2.25,0.00,0.000,4,0.076,0.054,2432,821,3253
$GC,5041,-0.84,-146.0,308.2,-6.9,409,5046,0.25,2.30,0.00,0.000,6,0.130,0.056,2496,2241,3253
$GC,5360,-0.94,-146.0,322.0,-4.4,424,5361,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2241,3253
$GC,5667,-1.04,-146.0,335.4,-4.3,439,5668,0.15,0.00,0.00,0.000,6,0.073,0.000,2435,2241,3254
$GC,5976,-0.91,-146.0,354.0,-5.9,454,5978,0.17,0.00,0.00,0.000,6,0.143,0.000,2484,2241,3254
$GC,6285,-0.97,-146.0,368.1,-4.4,469,6289,0.00,2.30,0.00,0.000,4,0.000,0.054,2484,815,3255
$GC,6341,-0.97,-146.0,370.9,-5.0,471,6345,0.00,2.35,0.00,0.000,6,0.000,0.055,2476,2233,3255
$GC,6663,-0.97,-146.0,387.3,-5.3,487,6664,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2233,3255
$GC,6991,-0.97,-146.0,404.4,-5.1,501,6992,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2233,3256
$GC,7316,-0.97,-146.0,420.7,-4.9,509,7320,0.00,2.28,0.00,0.000,4,0.000,0.054,2476,822,3256
$GC,7390,-0.97,-146.0,424.3,-4.7,510,7394,0.00,2.33,0.00,0.000,6,0.000,0.055,2466,2234,3256
$GC,7727,-0.97,-146.0,440.1,-4.7,519,7728,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2234,3256
$GC,8052,-0.97,-146.0,454.9,-4.6,527,8053,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2234,3256
$GC,8379,-0.97,-146.0,470.0,-4.6,535,8382,0.00,2.25,0.00,0.000,4,0.000,0.053,2466,816,3256
$GC,8470,-0.91,-146.0,474.6,-5.3,537,8475,0.10,2.33,0.00,0.000,6,0.133,0.054,2483,2234,3256
$GC,8795,-0.98,-146.0,487.9,-4.1,545,8796,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2234,3256
$GC,9121,-1.05,-146.0,502.3,-4.6,553,9123,0.12,0.00,0.00,0.000,6,0.076,0.000,2430,2234,3257
$GC,9445,-0.92,-146.0,522.3,-6.3,561,9447,0.17,0.00,0.00,0.000,6,0.140,0.000,2480,2233,3257
$GC,9770,-0.98,-146.0,537.8,-4.6,569,9771,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2233,3257
$GC,10096,-1.04,-146.0,553.0,-4.8,577,10100,0.10,2.28,0.00,0.000,4,0.089,0.054,2437,811,3257
$GC,10193,-0.88,-146.0,559.2,-7.0,579,10198,0.22,2.35,0.00,0.000,6,0.127,0.055,2493,2245,3257
$GC,10513,-0.99,-146.0,573.0,-4.2,587,10514,0.12,0.00,0.00,0.000,6,0.081,0.000,2441,2245,3257
$STATE,10589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10589,begin apogee
$GC,10597,-0.31,0.0,577.5,4.8,589,10728,0.55,0.00,128.70,1.172,6,0.122,0.000,2616,1737,2650
$STATE,10729,end apogee,CONTROL_FINISHED_OK
$STATE,10729,begin climb
$GC,10732,0.99,146.0,578.3,0.0,592,10874,0.88,2.67,131.18,1.098,4,0.090,0.060,2898,3148,2053
$GC,10887,0.69,146.0,563.6,11.4,596,10892,0.30,2.47,0.00,0.000,6,0.134,0.044,2829,1733,2050
$GC,11200,0.69,146.0,539.2,7.5,604,11201,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1733,2046
$GC,11525,0.69,146.0,515.5,7.2,612,11526,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1732,2046
$GC,11850,0.69,146.0,492.2,7.1,620,11854,0.00,2.38,0.00,0.000,4,0.000,0.062,2829,3158,2045
$GC,11872,0.69,146.0,490.3,7.6,620,11876,0.00,2.28,0.00,0.000,6,0.000,0.046,2837,1725,2044
$GC,12221,0.69,146.0,463.6,7.7,629,12224,0.00,2.35,0.00,0.000,4,0.000,0.061,2837,3150,2044
$GC,12249,0.60,146.0,461.1,8.2,629,12253,0.15,2.22,0.00,0.000,6,0.133,0.045,2804,1731,2044
$GC,12592,0.75,177.1,440.2,6.0,638,12621,0.12,0.00,26.12,1.078,6,0.073,0.000,2864,1731,1927
$GC,12916,0.64,177.1,409.3,9.7,646,12921,0.17,2.35,0.00,0.000,4,0.120,0.061,2811,3153,1923
$GC,12938,0.64,177.1,407.2,8.5,646,12941,0.00,2.25,0.00,0.000,6,0.000,0.045,2818,1733,1922
$GC,13264,0.72,183.4,384.8,6.8,659,13275,0.00,2.30,6.20,0.858,4,0.000,0.060,2818,3151,1902
$GC,13292,0.72,190.5,382.6,6.8,660,13305,0.00,2.25,8.05,0.910,6,0.000,0.044,2827,1726,1873
$GC,13613,0.72,190.5,358.9,7.3,676,13617,0.00,2.33,0.00,0.000,4,0.000,0.060,2828,3155,1871
$GC,13641,0.72,190.5,356.6,7.8,677,13645,0.00,2.22,0.00,0.000,6,0.000,0.045,2837,1728,1870
$GC,13967,0.72,190.5,331.7,7.7,693,13971,0.00,2.30,0.00,0.000,4,0.000,0.061,2837,3151,1870
$GC,13991,0.72,190.5,329.7,8.0,694,13994,0.00,2.22,0.00,0.000,6,0.000,0.045,2847,1729,1869
$GC,14324,0.72,190.5,301.5,8.9,710,14325,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1729,1869
$GC,14632,0.72,190.5,272.3,9.5,725,14634,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1729,1869
$GC,14942,0.72,190.5,242.3,9.8,740,14946,0.00,2.30,0.00,0.000,4,0.000,0.061,2847,3164,1869
$GC,14965,0.66,190.5,240.1,10.0,741,14969,0.12,2.22,0.00,0.000,6,0.133,0.045,2821,1741,1869
$GC,15298,0.76,190.5,214.6,7.4,757,15300,0.10,0.00,0.00,0.000,6,0.078,0.000,2873,1740,1869
$GC,15606,0.66,190.5,183.0,10.1,772,15608,0.17,0.00,0.00,0.000,6,0.120,0.000,2820,1740,1869
$GC,15917,0.84,219.0,163.3,6.1,787,15944,0.15,0.00,24.95,0.900,6,0.067,0.000,2889,1740,1757
$GC,16245,0.73,219.0,129.0,10.5,803,16250,0.17,2.30,0.00,0.000,4,0.117,0.058,2844,323,1753
$GC,16262,0.73,219.0,127.4,10.2,804,16266,0.00,2.28,0.00,0.000,6,0.000,0.048,2844,1755,1753
$GC,16596,0.87,232.3,105.5,6.6,820,16618,0.08,2.30,12.23,0.828,4,0.091,0.061,2891,3157,1702
$GC,16624,0.87,232.3,103.0,9.1,821,16629,0.15,2.25,0.00,0.000,6,0.132,0.045,2858,1732,1702
$GC,16964,0.96,232.3,76.7,7.5,875,16971,0.12,2.35,0.00,0.000,4,0.073,0.060,2917,3158,1700
$GC,16978,1.02,232.3,75.5,7.9,877,16985,0.12,2.22,0.00,0.000,6,0.143,0.046,2894,1736,1700
$GC,17324,1.02,232.3,44.8,7.3,938,17330,0.00,2.25,0.00,0.000,4,0.000,0.061,2903,332,1699
$GC,17371,1.08,232.3,41.1,7.7,946,17378,0.00,2.28,0.00,0.000,6,0.000,0.049,2902,1752,1699
$GC,17716,1.08,232.3,13.9,8.0,1007,17722,0.00,2.25,0.00,0.000,4,0.000,0.065,2902,3150,1699
$GC,17758,0.99,232.3,10.4,8.5,1014,17764,0.00,2.22,0.00,0.000,6,0.000,0.048,2912,1726,1699
$FREEZE,6.81,0.049,-1.816
$FREEZE,6.24,0.049,-1.816
$FREEZE,5.73,0.047,-1.816
$FREEZE,5.24,0.046,-1.815
$FREEZE,4.75,0.047,-1.815
$FREEZE,4.25,0.047,-1.815
$FREEZE,3.71,0.050,-1.814
$FREEZE,3.13,0.050,-1.814
$FREEZE,2.61,0.034,-1.813
$STATE,17842,end climb,SURFACE_DEPTH_REACHED
$STATE,17842,begin surface coast
$FREEZE,2.24,0.034,-1.813
$FREEZE,1.54,0.034,-1.812
$FREEZE,1.32,-0.139,-0.896
$FREEZE,1.25,-0.165,-0.939
$FREEZE,1.45,0.020,-1.812
$FREEZE,1.24,-0.032,-1.001
$FINISH,1.2,1.014787
$STATE,17878,end surface coast,CONTROL_FINISHED_OK
$STATE,17878,begin surface
$SM_CCo,17958,0.00,0.000,0,0,1696,234.02
$SM_GC,2.33,6.97,0.00,0.00,0.054,0.000,0.000,328,2237,1696,-10.70,0.23,234.02
$RAFOS_CLK,726
$RAFOS,4,1228293852,8.750000,8.736667,57,56,53,53,53,51,220,157,169,199,142,130
$RAFOS,3,1228293271,8.583333,8.575277,60,57,56,55,54,51,713,196,211,171,155,225
$RAFOS,2,1228292662,8.416667,8.406111,60,59,56,55,51,44,212,191,156,224,173,124
$RAFOS,1,1228292048,8.250000,8.235556,59,59,56,51,50,49,175,212,187,237,146,221
$RAFOS,0,1228291454,8.083333,8.070556,61,59,57,55,52,46,210,222,197,128,168,1176
$RAFOS_FIX,83901.984375,-926378.750000,021208,121232,2,73,42846.28
$IRIDIUM_FIX,6517.16,-5732.53,270298,060610
$TT8_MAMPS,0.026845
$HUMID,1785
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,15.90
$XPDR_PINGS,75
$24V_AH,22.2,68.636
$10V_AH,10.5,31.087
$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,21.375,111.800,337.425,0.000,0.000,51.811,76.353,460.861,18.750,0.000,0.000,15.299,1873.669,13664.527,487.833,1788.066,1032.915,0.000,1429.205,0.000,1777.927,1800.000,0.532,0.000
$DEVICE_MAMPS,244.673,72.865,1171.976,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,721.457,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34634,1035
$CAP_FILE_SIZE,140254,0
$CFSIZE,260165632,224624640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.4
$GPS,031208,111538,6545.282,-5735.538,34,1.1,34,-36.0