version: 66.04
glider: 108
mission: 11
dive: 413
start: 12 3 108 11 26 41
data:
$ID,108
$MISSION,11
$DIVE,413
$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,-120056.66
$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,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
$GPS1,111538,6545.282,-5735.538,34,1.1,34,-36.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-71.2
$GPS2,112621,6545.292,-5735.421,11,1.4,11,-36.0
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6555.439,-5726.367
$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,583
$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,15,-0.99,-146.0,0.0,0.0,0,80,0.00,0.00,-62.62,0.000,2,0.000,0.000,329,2239,3076
$GC,85,-0.99,-146.0,3.0,-1.7,11,105,8.80,2.38,-5.18,0.000,4,0.243,0.071,2473,817,3249
$GC,269,-0.81,-146.0,23.6,-9.9,43,276,0.15,2.33,0.00,0.000,6,0.133,0.059,2507,2237,3253
$GC,614,-0.81,-146.0,51.2,-7.9,104,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2237,3253
$GC,958,-0.85,-146.0,75.6,-6.5,165,964,0.00,2.28,0.00,0.000,4,0.000,0.058,2507,815,3253
$GC,1061,-0.85,-146.0,82.3,-6.6,183,1068,0.00,2.30,0.00,0.000,6,0.000,0.060,2500,2244,3253
$GC,1410,-0.85,-146.0,104.9,-5.9,234,1414,0.00,2.20,0.00,0.000,4,0.000,0.073,2489,3596,3252
$GC,1555,-0.90,-146.0,114.9,-7.3,240,1559,0.00,2.15,0.00,0.000,6,0.000,0.048,2489,2220,3252
$GC,1879,-0.90,-146.0,134.2,-5.8,256,1883,0.00,2.20,0.00,0.000,4,0.000,0.059,2489,820,3252
$GC,2092,-0.90,-146.0,148.0,-6.7,265,2096,0.00,2.33,0.00,0.000,6,0.000,0.061,2479,2242,3251
$GC,2414,-0.90,-146.0,168.3,-6.5,281,2416,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2242,3252
$GC,2723,-0.90,-146.0,188.3,-6.5,296,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2241,3251
$GC,3033,-0.90,-146.0,207.1,-5.8,311,3034,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2242,3251
$GC,3342,-0.90,-146.0,223.4,-5.1,326,3343,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2242,3251
$GC,3651,-0.90,-146.0,238.6,-4.7,341,3652,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2242,3251
$GC,3961,-0.90,-146.0,252.8,-4.6,356,3962,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2242,3252
$GC,4270,-0.90,-146.0,268.9,-5.5,371,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2242,3252
$GC,4579,-0.90,-146.0,285.2,-5.6,386,4583,0.00,2.28,0.00,0.000,4,0.000,0.056,2479,813,3252
$GC,4652,-0.90,-146.0,289.4,-6.1,389,4656,0.00,2.30,0.00,0.000,6,0.000,0.057,2469,2240,3252
$GC,4979,-0.90,-146.0,307.5,-5.6,405,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2240,3252
$GC,5290,-0.90,-146.0,325.0,-5.6,420,5293,0.00,2.28,0.00,0.000,4,0.000,0.055,2469,815,3253
$GC,5352,-0.84,-146.0,328.8,-5.5,422,5359,0.15,2.30,0.00,0.000,6,0.129,0.056,2502,2230,3253
$GC,5669,-0.97,-146.0,343.1,-4.3,438,5673,0.12,2.20,0.00,0.000,4,0.077,0.066,2438,3595,3254
$GC,5709,-0.86,-146.0,345.5,-6.1,439,5716,0.20,2.12,0.00,0.000,6,0.135,0.043,2496,2210,3254
$GC,6026,-0.97,-146.0,358.9,-4.0,455,6030,0.10,2.17,0.00,0.000,4,0.087,0.054,2449,816,3254
$GC,6099,-0.84,-146.0,363.0,-5.9,458,6104,0.20,2.30,0.00,0.000,6,0.128,0.055,2497,2238,3254
$GC,6421,-0.95,-146.0,375.5,-3.7,474,6423,0.10,0.00,0.00,0.000,6,0.083,0.000,2453,2238,3255
$GC,6730,-0.88,-146.0,390.2,-4.7,489,6732,0.15,0.00,0.00,0.000,6,0.138,0.000,2495,2238,3256
$GC,7060,-0.99,-146.0,402.3,-3.8,504,7062,0.12,0.00,0.00,0.000,6,0.081,0.000,2440,2238,3256
$GC,7384,-0.88,-146.0,420.2,-5.7,512,7389,0.17,2.28,0.00,0.000,4,0.140,0.054,2494,827,3256
$GC,7457,-0.95,-146.0,423.7,-4.9,513,7461,0.00,2.28,0.00,0.000,6,0.000,0.055,2487,2231,3256
$GC,7796,-1.01,-146.0,439.2,-4.6,522,7798,0.10,0.00,0.00,0.000,6,0.080,0.000,2438,2231,3256
$GC,8120,-0.90,-146.0,458.3,-5.9,530,8122,0.17,0.00,0.00,0.000,6,0.137,0.000,2488,2231,3256
$GC,8445,-0.98,-146.0,474.1,-4.8,538,8446,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2231,3257
$GC,8771,-1.06,-146.0,489.8,-4.9,546,8776,0.15,2.25,0.00,0.000,4,0.075,0.053,2426,826,3257
$GC,8832,-0.86,-146.0,493.9,-7.8,547,8837,0.25,2.28,0.00,0.000,6,0.130,0.055,2491,2234,3257
$GC,9176,-0.95,-146.0,510.3,-4.7,556,9177,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2234,3257
$GC,9501,-1.05,-146.0,525.2,-4.5,564,9505,0.15,2.25,0.00,0.000,4,0.073,0.053,2429,823,3257
$GC,9633,-0.88,-146.0,533.6,-6.7,567,9638,0.25,2.25,0.00,0.000,6,0.130,0.055,2494,2243,3257
$GC,9964,-0.98,-146.0,548.2,-4.3,575,9966,0.12,0.00,0.00,0.000,6,0.080,0.000,2440,2243,3257
$GC,10288,-0.90,-146.0,566.4,-5.9,583,10290,0.17,0.00,0.00,0.000,6,0.143,0.000,2490,2243,3257
$GC,10613,-1.01,-146.0,580.9,-4.2,591,10615,0.12,0.00,0.00,0.000,6,0.081,0.000,2436,2243,3257
$STATE,10650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10650,begin apogee
$GC,10658,-0.31,0.0,583.2,4.5,592,10789,0.57,0.00,127.65,1.176,6,0.124,0.000,2618,1743,2650
$STATE,10789,end apogee,CONTROL_FINISHED_OK
$STATE,10790,begin climb
$GC,10793,0.99,146.0,584.1,0.0,595,10927,0.85,0.00,130.75,1.104,6,0.091,0.000,2897,1743,2054
$GC,11243,0.74,146.0,534.9,11.7,606,11245,0.20,0.00,0.00,0.000,6,0.127,0.000,2839,1743,2047
$GC,11565,0.74,146.0,507.5,8.3,614,11569,0.00,2.35,0.00,0.000,4,0.000,0.062,2839,3154,2045
$GC,11594,0.65,146.0,504.8,9.6,614,11598,0.12,2.28,0.00,0.000,6,0.135,0.047,2813,1725,2045
$GC,11931,0.72,149.2,481.3,6.9,623,11936,0.10,2.35,0.00,0.000,4,0.080,0.061,2862,3160,2045
$GC,11948,0.72,150.7,479.8,7.0,623,11958,0.15,2.25,3.80,0.677,6,0.137,0.045,2829,1729,2035
$GC,12295,0.72,150.7,451.8,8.1,632,12296,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1728,2035
$GC,12620,0.72,150.7,427.3,7.4,640,12624,0.00,2.33,0.00,0.000,4,0.000,0.061,2829,3156,2034
$GC,12648,0.66,150.7,425.0,7.7,640,12652,0.00,2.22,0.00,0.000,6,0.000,0.045,2838,1735,2034
$GC,12991,0.66,150.7,397.2,8.1,649,12995,0.00,2.30,0.00,0.000,4,0.000,0.061,2838,3154,2034
$GC,13019,0.56,150.7,394.4,9.2,650,13024,0.17,2.22,0.00,0.000,6,0.130,0.045,2798,1727,2034
$GC,13341,0.78,201.9,376.3,5.4,666,13389,0.17,0.00,44.80,1.056,6,0.061,0.000,2877,1727,1826
$GC,13690,0.64,201.9,339.0,11.1,683,13695,0.20,2.33,0.00,0.000,4,0.120,0.060,2813,3147,1819
$GC,13725,0.64,201.9,335.8,8.0,684,13731,0.00,2.22,0.00,0.000,6,0.000,0.045,2820,1728,1817
$GC,14041,0.72,201.9,312.9,7.1,700,14045,0.00,2.33,0.00,0.000,4,0.000,0.061,2820,3162,1816
$GC,14074,0.72,201.9,310.0,8.7,701,14078,0.00,2.22,0.00,0.000,6,0.000,0.044,2830,1731,1816
$GC,14396,0.72,201.9,285.2,7.5,717,14397,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1731,1816
$GC,14705,0.78,201.9,262.1,7.3,732,14708,0.00,2.30,0.00,0.000,4,0.000,0.060,2830,3151,1816
$GC,14729,0.78,201.9,260.2,8.1,733,14732,0.00,2.20,0.00,0.000,6,0.000,0.044,2840,1733,1815
$GC,15063,0.78,201.9,233.1,8.3,749,15064,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1733,1815
$GC,15370,0.78,201.9,207.3,8.2,764,15374,0.00,2.33,0.00,0.000,4,0.000,0.061,2840,3158,1815
$GC,15398,0.78,201.9,204.8,8.4,765,15402,0.00,2.22,0.00,0.000,6,0.000,0.045,2850,1736,1815
$GC,15726,0.78,201.9,177.6,8.2,781,15730,0.00,2.33,0.00,0.000,4,0.000,0.061,2850,3151,1815
$GC,15743,0.78,201.9,176.0,8.5,781,15749,0.00,2.22,0.00,0.000,6,0.000,0.044,2859,1730,1815
$GC,16058,0.78,201.9,148.7,8.6,797,16062,0.00,2.33,0.00,0.000,4,0.000,0.061,2859,3156,1815
$GC,16087,0.71,201.9,146.1,8.5,798,16091,0.15,2.22,0.00,0.000,6,0.127,0.045,2825,1733,1815
$GC,16414,0.96,257.5,127.0,5.2,814,16464,0.20,0.00,47.12,0.897,6,0.061,0.000,2912,1733,1600
$GC,16770,0.83,257.5,88.8,11.5,843,16776,0.20,2.30,0.00,0.000,4,0.125,0.060,2856,327,1591
$GC,16823,1.00,257.5,84.4,7.1,852,16830,0.15,2.30,0.00,0.000,6,0.067,0.050,2927,1741,1591
$GC,17169,0.91,257.5,45.1,9.9,913,17176,0.17,2.25,0.00,0.000,4,0.126,0.063,2874,3153,1590
$GC,17233,0.91,257.5,39.5,8.0,924,17239,0.00,2.22,0.00,0.000,6,0.000,0.048,2882,1739,1588
$GC,17578,0.99,257.5,14.7,7.6,985,17584,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1739,1587
$FREEZE,6.66,0.163,-1.818
$FREEZE,6.28,0.163,-1.818
$FREEZE,5.82,0.166,-1.817
$FREEZE,5.42,0.164,-1.817
$FREEZE,4.88,0.163,-1.817
$FREEZE,4.51,0.164,-1.816
$FREEZE,4.16,0.162,-1.816
$FREEZE,3.79,0.159,-1.816
$FREEZE,3.44,0.155,-1.816
$FREEZE,3.15,0.160,-1.815
$FREEZE,2.75,0.160,-1.815
$STATE,17740,end climb,SURFACE_DEPTH_REACHED
$STATE,17740,begin surface coast
$FREEZE,2.36,0.162,-1.815
$FREEZE,1.95,0.161,-1.814
$FREEZE,1.44,0.157,-1.814
$FREEZE,1.42,-0.082,-1.823
$FREEZE,1.37,-0.041,-1.014
$FREEZE,1.37,0.064,-1.817
$FREEZE,1.33,-0.003,-1.279
$FREEZE,1.30,-0.523,-0.879
$FREEZE,1.38,0.082,-1.731
$FINISH,1.4,1.025377
$STATE,17792,end surface coast,CONTROL_FINISHED_OK
$STATE,17792,begin surface
$SM_CCo,17872,0.00,0.000,0,0,1583,261.49
$SM_GC,2.33,6.88,0.00,0.00,0.054,0.000,0.000,334,2245,1583,-10.69,0.42,261.49
$RAFOS_CLK,709
$RAFOS,1,1228320844,16.250000,16.234444,68,59,58,57,57,55,216,1016,206,236,127,176
$RAFOS,0,1228320257,16.083334,16.071388,65,60,56,53,53,52,220,203,133,147,786,121
$RAFOS,4,1228308245,12.750000,12.734722,60,60,59,58,56,56,174,209,153,1157,118,192
$RAFOS,3,1228307661,12.583333,12.572500,65,65,59,56,53,53,768,779,208,218,135,168
$RAFOS,2,1228307043,12.416667,12.400833,57,56,54,52,52,51,126,163,186,174,214,202
$RAFOS,1,1228306445,12.250000,12.234722,63,62,58,58,58,58,121,196,167,220,1025,1043
$RAFOS,0,1228305847,12.083333,12.068611,58,56,53,53,50,47,118,222,203,160,144,84
$RAFOS_FIX,83901.984375,-926378.750000,021208,121232,2,73,42846.28
$IRIDIUM_FIX,6517.16,-5738.56,270298,060655
$TT8_MAMPS,0.026845
$HUMID,1791
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,15.90
$XPDR_PINGS,65
$24V_AH,22.2,68.772
$10V_AH,10.5,31.155
$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,22.075,105.900,354.125,0.000,0.000,24.937,39.269,348.637,16.250,0.000,0.000,12.571,1858.219,13523.769,485.456,1809.654,834.588,0.000,1435.621,0.000,1793.736,2520.000,0.532,0.000
$DEVICE_MAMPS,243.139,72.865,1175.811,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,712.913,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34686,1023
$CAP_FILE_SIZE,137676,0
$CFSIZE,260165632,224563200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.2
$GPS,031208,162602,6547.653,-5733.959,40,1.5,40,-36.1