version: 66.04
glider: 108
mission: 11
dive: 426
start: 12 6 108 10 3 20
data:
$ID,108
$MISSION,11
$DIVE,426
$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,10
$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,-120328.2
$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
$GPS1,095607,6604.132,-5705.346,39,0.9,50,-36.3
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-66.9
$GPS2,100302,6604.160,-5705.323,18,2.0,29,-36.3
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6614.795,-5700.667
$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,46.3,20000,-13.0,-7.021
$D_GRID,637
$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,-146.0,0.0,0.0,0,92,0.00,0.00,-71.43,0.000,6,0.000,0.000,332,2259,3248
$GC,96,-0.99,-146.0,3.3,-2.3,13,110,8.68,2.22,0.00,0.000,4,0.239,0.066,2454,3607,3252
$GC,363,-0.82,-146.0,36.0,-9.5,60,370,0.17,2.15,0.00,0.000,6,0.141,0.045,2505,2218,3254
$GC,709,-0.82,-146.0,62.8,-8.2,121,714,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2217,3255
$GC,1053,-0.82,-146.0,85.6,-5.6,182,1059,0.00,2.17,0.00,0.000,4,0.000,0.057,2505,822,3254
$GC,1105,-0.82,-146.0,88.9,-6.1,191,1112,0.00,2.28,0.00,0.000,6,0.000,0.058,2497,2236,3254
$GC,1455,-0.82,-146.0,108.0,-5.5,234,1459,0.00,2.17,0.00,0.000,4,0.000,0.071,2487,3598,3253
$GC,1594,-0.82,-146.0,117.6,-7.2,240,1598,0.00,2.12,0.00,0.000,6,0.000,0.045,2487,2219,3253
$GC,1924,-0.82,-146.0,138.8,-6.2,256,1925,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2219,3253
$GC,2231,-0.82,-146.0,157.2,-5.8,271,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2218,3253
$GC,2540,-0.82,-146.0,174.8,-5.8,286,2544,0.00,2.17,0.00,0.000,4,0.000,0.057,2487,818,3253
$GC,2610,-0.82,-146.0,179.1,-6.8,289,2615,0.10,2.28,0.00,0.000,6,0.136,0.058,2504,2240,3253
$GC,2945,-0.92,-146.0,197.0,-5.5,305,2950,0.10,2.17,0.00,0.000,4,0.087,0.069,2450,3602,3253
$GC,3037,-0.83,-146.0,203.8,-7.5,309,3042,0.17,2.10,0.00,0.000,6,0.138,0.044,2499,2219,3253
$GC,3370,-0.92,-146.0,221.5,-4.7,325,3373,0.00,2.17,0.00,0.000,4,0.000,0.056,2500,817,3253
$GC,3431,-0.92,-146.0,224.9,-5.4,327,3438,0.00,2.28,0.00,0.000,6,0.000,0.056,2492,2241,3253
$GC,3749,-0.98,-146.0,240.8,-4.9,343,3750,0.10,0.00,0.00,0.000,6,0.084,0.000,2443,2241,3253
$GC,4059,-0.86,-146.0,260.2,-6.1,358,4061,0.17,0.00,0.00,0.000,6,0.137,0.000,2493,2241,3253
$GC,4367,-0.93,-146.0,273.5,-4.1,373,4370,0.00,2.25,0.00,0.000,4,0.000,0.055,2494,824,3253
$GC,4441,-0.93,-146.0,277.1,-5.4,376,4445,0.00,2.25,0.00,0.000,6,0.000,0.056,2486,2232,3253
$GC,4768,-0.98,-146.0,292.3,-4.9,392,4770,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2232,3253
$GC,5078,-1.03,-146.0,307.8,-5.0,407,5083,0.12,2.25,0.00,0.000,4,0.077,0.053,2429,816,3254
$GC,5151,-0.83,-146.0,312.5,-7.2,410,5156,0.28,2.28,0.00,0.000,6,0.130,0.055,2502,2241,3254
$GC,5468,-0.96,-146.0,325.7,-3.9,425,5470,0.12,0.00,0.00,0.000,6,0.081,0.000,2449,2241,3254
$GC,5777,-0.88,-146.0,341.6,-4.9,440,5778,0.15,0.00,0.00,0.000,6,0.141,0.000,2490,2241,3254
$GC,6087,-0.96,-146.0,354.0,-4.2,455,6091,0.00,2.28,0.00,0.000,4,0.000,0.054,2491,817,3255
$GC,6161,-0.96,-146.0,357.6,-4.9,458,6165,0.00,2.28,0.00,0.000,6,0.000,0.054,2483,2245,3255
$GC,6489,-1.02,-146.0,374.3,-5.4,474,6491,0.10,0.00,0.00,0.000,6,0.081,0.000,2434,2244,3255
$GC,6798,-0.89,-146.0,394.3,-6.4,489,6800,0.20,0.00,0.00,0.000,6,0.135,0.000,2492,2244,3255
$GC,7126,-0.98,-146.0,410.3,-4.9,500,7127,0.10,0.00,0.00,0.000,6,0.087,0.000,2447,2244,3256
$GC,7450,-0.90,-146.0,429.9,-6.0,508,7455,0.15,2.28,0.00,0.000,4,0.142,0.054,2490,823,3256
$GC,7529,-0.90,-146.0,434.1,-5.3,509,7533,0.00,2.30,0.00,0.000,6,0.000,0.054,2482,2246,3256
$GC,7862,-0.96,-146.0,450.0,-4.8,517,7863,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2246,3256
$GC,8186,-1.02,-146.0,465.1,-4.7,525,8188,0.10,0.00,0.00,0.000,6,0.083,0.000,2433,2246,3257
$GC,8511,-0.89,-146.0,484.9,-6.2,533,8513,0.20,0.00,0.00,0.000,6,0.135,0.000,2492,2246,3257
$GC,8837,-1.00,-146.0,500.8,-4.8,541,8841,0.12,2.28,0.00,0.000,4,0.078,0.052,2436,826,3257
$GC,8937,-0.83,-146.0,507.5,-7.4,543,8942,0.25,2.30,0.00,0.000,6,0.127,0.054,2501,2242,3257
$GC,9252,-0.97,-146.0,521.3,-4.2,551,9254,0.12,0.00,0.00,0.000,6,0.078,0.000,2446,2242,3257
$GC,9576,-0.90,-146.0,539.7,-5.8,559,9578,0.15,0.00,0.00,0.000,6,0.142,0.000,2488,2242,3257
$GC,9902,-0.99,-146.0,554.7,-4.6,567,9903,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2242,3258
$GC,10226,-1.08,-146.0,569.0,-4.3,575,10228,0.15,0.00,0.00,0.000,6,0.075,0.000,2425,2242,3258
$GC,10551,-0.94,-146.0,589.8,-6.6,583,10553,0.17,0.00,0.00,0.000,6,0.142,0.000,2476,2242,3258
$GC,10876,-0.99,-146.0,607.0,-5.3,591,10880,0.00,2.25,0.00,0.000,4,0.000,0.053,2476,820,3258
$GC,10973,-0.99,-146.0,612.3,-5.1,593,10977,0.00,2.30,0.00,0.000,6,0.000,0.054,2468,2241,3258
$GC,11298,-0.99,-146.0,629.3,-5.1,601,11302,0.00,2.20,0.00,0.000,4,0.000,0.066,2457,3605,3257
$GC,11345,-0.99,-146.0,631.7,-5.6,602,11349,0.00,2.12,0.00,0.000,6,0.000,0.041,2458,2218,3258
$STATE,11468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11469,begin apogee
$GC,11476,-0.31,0.0,638.2,5.2,605,11607,0.50,0.00,128.60,1.204,6,0.117,0.000,2617,1736,2650
$STATE,11608,end apogee,CONTROL_FINISHED_OK
$STATE,11608,begin climb
$GC,11611,0.99,146.0,638.6,0.0,608,11750,0.85,2.60,131.32,1.129,4,0.093,0.058,2893,3154,2053
$GC,11765,0.68,146.0,624.2,11.9,611,11770,0.30,2.45,0.00,0.000,6,0.130,0.042,2824,1736,2051
$GC,12096,0.68,146.0,597.7,7.8,619,12097,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1736,2046
$GC,12421,0.68,146.0,571.6,8.1,627,12425,0.00,2.28,0.00,0.000,4,0.000,0.058,2832,327,2045
$GC,12432,0.68,146.0,570.6,8.1,627,12436,0.00,2.25,0.00,0.000,6,0.000,0.047,2831,1743,2045
$GC,12750,0.68,146.0,545.3,7.7,635,12754,0.00,2.22,0.00,0.000,4,0.000,0.060,2832,3150,2045
$GC,12807,0.54,146.0,540.1,9.8,636,12811,0.17,2.22,0.00,0.000,6,0.127,0.043,2791,1723,2044
$GC,13121,0.74,172.7,520.7,6.2,644,13146,0.17,0.00,22.58,1.100,6,0.061,0.000,2871,1723,1945
$GC,13445,0.58,172.7,484.5,11.4,652,13447,0.22,0.00,0.00,0.000,6,0.120,0.000,2804,1723,1942
$GC,13770,0.71,172.7,460.8,7.1,660,13774,0.12,2.33,0.00,0.000,4,0.071,0.058,2863,3156,1940
$GC,13810,0.49,172.7,456.8,11.4,661,13815,0.30,2.22,0.00,0.000,6,0.129,0.044,2783,1728,1940
$GC,14135,0.97,172.7,432.9,8.1,669,14139,0.30,2.30,0.00,0.000,4,0.075,0.058,2897,3153,1940
$GC,14191,0.74,172.7,427.1,11.1,670,14196,0.25,2.20,0.00,0.000,6,0.138,0.044,2834,1737,1939
$GC,14519,0.74,172.7,397.6,8.8,679,14520,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1737,1939
$GC,14829,0.74,172.7,370.8,8.4,694,14831,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1737,1939
$GC,15138,0.74,172.7,345.4,8.2,709,15139,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1736,1939
$GC,15447,0.74,172.7,319.4,8.4,724,15448,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1737,1939
$GC,15756,0.74,172.7,294.3,7.9,739,15757,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1736,1939
$GC,16066,0.74,172.7,269.4,8.0,754,16067,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1736,1939
$GC,16374,0.74,172.7,245.5,7.8,769,16375,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1736,1939
$GC,16685,0.74,172.7,222.2,7.2,784,16686,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1736,1940
$GC,16993,0.74,172.7,199.9,7.3,799,16994,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1736,1940
$GC,17303,0.79,172.7,177.0,7.3,814,17304,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1736,1940
$GC,17612,0.88,184.1,155.8,6.7,829,17625,0.12,0.00,10.73,0.838,6,0.071,0.000,2895,1736,1899
$GC,17922,0.72,184.1,125.5,9.6,844,17926,0.20,2.28,0.00,0.000,4,0.123,0.058,2838,332,1897
$GC,17956,0.86,191.6,122.7,6.8,845,17971,0.10,2.28,7.90,0.782,6,0.078,0.048,2890,1747,1869
$GC,18289,0.78,191.6,91.3,9.5,872,18296,0.15,2.25,0.00,0.000,4,0.124,0.060,2846,3152,1867
$GC,18314,0.73,191.6,89.1,9.0,876,18321,0.00,2.22,0.00,0.000,6,0.000,0.045,2853,1731,1866
$GC,18660,0.92,236.5,65.2,5.6,937,18707,0.10,2.35,39.03,0.860,4,0.084,0.060,2905,3152,1684
$GC,18742,0.79,236.5,57.5,10.2,951,18749,0.22,2.25,0.00,0.000,6,0.123,0.046,2849,1736,1681
$GC,19088,1.07,293.4,36.3,5.2,1012,19141,0.20,0.00,48.75,0.833,6,0.062,0.000,2942,1735,1453
$FREEZE,6.36,0.531,-1.824
$FREEZE,5.63,0.523,-1.823
$FREEZE,5.23,0.521,-1.823
$FREEZE,4.56,0.518,-1.823
$FREEZE,3.93,0.509,-1.822
$FREEZE,3.21,0.504,-1.822
$FREEZE,2.61,0.516,-1.821
$STATE,19393,end climb,SURFACE_DEPTH_REACHED
$STATE,19394,begin surface coast
$FREEZE,2.04,0.518,-1.821
$FREEZE,1.41,0.510,-1.820
$FREEZE,1.40,0.159,-0.907
$FREEZE,1.45,0.174,-1.498
$FREEZE,1.39,-0.035,-0.898
$FINISH,1.4,1.013258
$STATE,19423,end surface coast,CONTROL_FINISHED_OK
$STATE,19423,begin surface
$SM_CCo,19503,0.00,0.000,0,0,1439,297.06
$SM_GC,2.21,7.07,0.00,0.00,0.053,0.000,0.000,336,2245,1439,-10.67,0.42,297.06
$RAFOS_CLK,765
$RAFOS,4,1228567453,12.750000,12.736944,61,59,55,54,54,52,221,209,177,151,132,108
$RAFOS,3,1228566844,12.583333,12.567778,67,61,58,56,55,51,210,181,224,140,125,166
$RAFOS,2,1228566266,12.416667,12.407222,61,59,53,50,50,49,148,230,220,186,206,125
$RAFOS,1,1228565657,12.250000,12.238055,66,60,58,58,53,49,204,120,191,216,168,148
$RAFOS,0,1228565043,12.083333,12.067500,65,57,57,56,51,49,199,159,125,211,103,190
$RAFOS_FIX,6726.303711,-5917.710938,051208,161636,2,72,10.77
$IRIDIUM_FIX,6532.72,-5706.99,020398,040422
$TT8_MAMPS,0.026845
$HUMID,1784
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,16.20
$XPDR_PINGS,128
$24V_AH,22.1,70.558
$10V_AH,10.5,32.056
$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,23.375,96.125,388.900,0.000,0.000,23.348,31.823,199.281,32.000,0.000,0.000,30.881,1928.373,14961.504,485.900,1945.962,586.812,0.000,1503.372,0.000,1905.116,1800.000,0.532,0.000
$DEVICE_MAMPS,239.304,70.564,1204.190,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,745.036,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34677,1071
$CAP_FILE_SIZE,139829,0
$CFSIZE,260165632,223715328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.7
$GPS,061208,152938,6605.555,-5703.034,28,1.2,28,-36.4