version: 66.04
glider: 108
mission: 11
dive: 400
start: 11 30 108 20 30 52
data:
$ID,108
$MISSION,11
$DIVE,400
$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,70
$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,-119714.36
$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,25
$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
$GPS1,201701,6540.992,-5812.585,50,1.2,50,-36.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-56.6
$GPS2,203032,6540.940,-5812.796,8,1.8,13,-36.1
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6544.634,-5748.094
$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,106.1,20000,-13.0,-7.021
$D_GRID,511
$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,-146.0,0.0,0.0,0,86,0.00,0.00,-67.03,0.000,2,0.000,0.000,337,2255,2869
$GC,90,-0.99,-146.0,3.0,-1.3,12,120,8.68,2.40,-13.85,0.000,4,0.242,0.081,2469,801,3249
$GC,256,-0.77,-146.0,18.0,-8.3,41,263,0.17,2.38,0.00,0.000,6,0.127,0.064,2512,2237,3253
$GC,601,-0.77,-146.0,45.3,-7.9,102,607,0.00,2.25,0.00,0.000,4,0.000,0.077,2504,3607,3253
$GC,625,-0.77,-146.0,47.2,-8.0,106,632,0.00,2.20,0.00,0.000,6,0.000,0.051,2504,2206,3253
$GC,969,-0.77,-146.0,74.7,-8.3,167,975,0.00,2.33,0.00,0.000,4,0.000,0.076,2493,3602,3253
$GC,1100,-0.77,-146.0,84.6,-7.3,190,1106,0.00,2.17,0.00,0.000,6,0.000,0.051,2493,2211,3253
$GC,1441,-0.77,-146.0,106.1,-5.9,237,1445,0.00,2.28,0.00,0.000,4,0.000,0.075,2484,3597,3253
$GC,1481,-0.77,-146.0,108.8,-6.9,238,1487,0.12,2.15,0.00,0.000,6,0.142,0.050,2517,2218,3253
$GC,1797,-0.85,-146.0,127.4,-6.3,254,1802,0.10,2.22,0.00,0.000,4,0.094,0.062,2475,813,3253
$GC,1808,-0.85,-146.0,128.3,-6.1,254,1815,0.12,2.33,0.00,0.000,6,0.138,0.064,2499,2237,3253
$GC,2125,-0.85,-146.0,149.0,-6.8,270,2129,0.00,2.30,0.00,0.000,4,0.000,0.063,2500,815,3253
$GC,2171,-0.85,-146.0,152.3,-6.7,272,2175,0.00,2.33,0.00,0.000,6,0.000,0.064,2492,2234,3252
$GC,2498,-0.85,-146.0,174.6,-6.7,288,2499,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2234,3253
$GC,2807,-0.85,-146.0,195.3,-6.9,303,2811,0.00,2.28,0.00,0.000,4,0.000,0.063,2492,827,3252
$GC,2859,-0.85,-146.0,199.2,-7.3,305,2863,0.00,2.33,0.00,0.000,6,0.000,0.065,2483,2245,3252
$GC,3186,-0.85,-146.0,221.3,-6.2,321,3190,0.00,2.30,0.00,0.000,4,0.000,0.064,2483,822,3251
$GC,3327,-0.85,-146.0,230.2,-5.8,327,3332,0.10,2.33,0.00,0.000,6,0.140,0.066,2499,2243,3251
$GC,3649,-0.94,-146.0,246.5,-5.2,343,3653,0.10,2.22,0.00,0.000,4,0.087,0.078,2447,3607,3251
$GC,3683,-0.84,-146.0,248.8,-7.4,344,3690,0.20,2.17,0.00,0.000,6,0.142,0.051,2503,2217,3251
$GC,3999,-0.94,-146.0,265.4,-5.2,360,4001,0.12,0.00,0.00,0.000,6,0.087,0.000,2450,2217,3251
$GC,4308,-0.85,-146.0,286.7,-7.1,375,4313,0.17,2.33,0.00,0.000,4,0.142,0.080,2492,3609,3251
$GC,4376,-0.95,-146.0,290.4,-5.4,378,4380,0.00,2.17,0.00,0.000,6,0.000,0.050,2492,2213,3251
$GC,4704,-1.02,-146.0,308.5,-5.5,394,4708,0.12,2.20,0.00,0.000,4,0.084,0.060,2438,816,3252
$GC,4834,-0.85,-146.0,318.7,-8.4,400,4839,0.22,2.30,0.00,0.000,6,0.132,0.062,2495,2236,3252
$GC,5167,-0.92,-146.0,338.5,-5.8,416,5168,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2236,3253
$GC,5478,-1.01,-146.0,355.5,-5.3,431,5483,0.12,2.28,0.00,0.000,4,0.084,0.059,2443,822,3253
$GC,5523,-0.85,-146.0,358.7,-7.0,433,5528,0.22,2.30,0.00,0.000,6,0.132,0.062,2500,2232,3253
$GC,5847,-0.96,-146.0,373.6,-4.3,449,5852,0.12,2.28,0.00,0.000,4,0.083,0.059,2448,816,3254
$GC,5864,-0.96,-146.0,374.6,-4.7,450,5869,0.12,2.30,0.00,0.000,6,0.137,0.061,2471,2233,3254
$GC,6191,-0.96,-146.0,392.0,-5.4,466,6195,0.00,2.28,0.00,0.000,4,0.000,0.060,2471,813,3254
$GC,6214,-0.96,-146.0,393.2,-5.5,467,6219,0.00,2.33,0.00,0.000,6,0.000,0.060,2463,2246,3254
$GC,6539,-0.96,-146.0,411.8,-5.8,478,6543,0.00,2.30,0.00,0.000,4,0.000,0.059,2463,812,3254
$GC,6564,-0.89,-146.0,413.3,-6.2,478,6568,0.12,2.33,0.00,0.000,6,0.133,0.061,2487,2244,3254
$GC,6907,-0.96,-146.0,431.2,-5.2,487,6911,0.00,2.30,0.00,0.000,4,0.000,0.061,2487,816,3254
$GC,6941,-0.96,-146.0,433.1,-5.6,487,6944,0.00,2.30,0.00,0.000,6,0.000,0.061,2480,2232,3254
$GC,7278,-0.96,-146.0,450.7,-5.2,496,7279,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2232,3254
$GC,7603,-0.96,-146.0,467.2,-5.1,504,7607,0.00,2.28,0.00,0.000,4,0.000,0.060,2480,810,3255
$GC,7682,-0.96,-146.0,471.4,-5.5,505,7686,0.00,2.33,0.00,0.000,6,0.000,0.060,2470,2245,3254
$GC,8013,-0.96,-146.0,488.9,-5.2,513,8017,0.00,2.30,0.00,0.000,4,0.000,0.060,2470,816,3255
$GC,8087,-0.91,-146.0,493.1,-5.6,514,8091,0.10,2.30,0.00,0.000,6,0.138,0.061,2486,2241,3254
$GC,8430,-0.98,-146.0,508.7,-4.6,523,8434,0.00,2.28,0.00,0.000,4,0.000,0.061,2486,816,3255
$STATE,8473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8473,begin apogee
$GC,8481,-0.31,0.0,511.0,5.4,524,8610,0.43,0.00,126.38,1.162,6,0.117,0.000,2618,1753,2650
$STATE,8611,end apogee,CONTROL_FINISHED_OK
$STATE,8611,begin climb
$GC,8614,0.99,146.0,512.2,0.0,527,8752,0.85,2.55,130.57,1.085,4,0.091,0.066,2896,3151,2053
$GC,8783,0.68,146.0,496.5,13.6,531,8788,0.30,2.45,0.00,0.000,6,0.133,0.049,2826,1743,2049
$GC,9103,0.68,146.0,470.6,7.7,539,9106,0.00,2.38,0.00,0.000,4,0.000,0.064,2835,330,2046
$GC,9149,0.73,146.0,466.8,8.6,540,9153,0.00,2.35,0.00,0.000,6,0.000,0.054,2835,1749,2046
$GC,9474,0.73,146.0,440.3,8.4,548,9478,0.00,2.28,0.00,0.000,4,0.000,0.067,2835,3161,2045
$GC,9541,0.61,146.0,433.9,9.4,549,9546,0.12,2.28,0.00,0.000,6,0.134,0.050,2811,1729,2044
$GC,9885,0.72,146.2,409.4,7.0,558,9889,0.10,2.25,0.00,0.000,4,0.079,0.064,2870,327,2044
$GC,9912,0.72,146.2,406.9,9.0,558,9917,0.12,2.30,0.00,0.000,6,0.127,0.054,2835,1746,2045
$GC,10233,0.72,146.2,381.4,8.1,572,10237,0.00,2.28,0.00,0.000,4,0.000,0.068,2835,3159,2044
$GC,10302,0.60,146.2,375.2,9.1,575,10306,0.12,2.25,0.00,0.000,6,0.135,0.051,2808,1725,2043
$GC,10629,0.74,154.0,352.9,6.8,591,10637,0.12,0.00,6.07,0.874,6,0.072,0.000,2868,1725,2023
$GC,10938,0.63,154.0,323.7,9.4,606,10940,0.17,0.00,0.00,0.000,6,0.122,0.000,2816,1725,2022
$GC,11247,0.75,176.9,303.5,6.3,621,11271,0.10,0.00,21.25,1.022,6,0.081,0.000,2863,1725,1928
$GC,11577,0.67,176.9,273.2,9.4,637,11582,0.15,2.35,0.00,0.000,4,0.122,0.065,2818,3164,1925
$GC,11604,0.67,176.9,270.6,8.7,638,11608,0.00,2.25,0.00,0.000,6,0.000,0.050,2826,1734,1924
$GC,11926,0.76,187.5,248.5,6.7,654,11938,0.00,0.00,10.25,0.917,6,0.000,0.000,2826,1734,1885
$GC,12236,0.90,214.3,229.5,6.2,669,12266,0.15,2.33,23.85,0.966,4,0.071,0.064,2905,334,1776
$GC,12301,0.81,214.3,222.8,11.3,672,12306,0.20,2.30,0.00,0.000,6,0.127,0.053,2846,1749,1774
$GC,12629,0.90,214.3,195.9,7.6,688,12633,0.10,2.25,0.00,0.000,4,0.081,0.067,2893,3153,1771
$GC,12707,0.68,214.3,187.3,10.9,691,12712,0.28,2.22,0.00,0.000,6,0.127,0.050,2821,1739,1770
$GC,13029,1.15,224.1,167.0,6.7,707,13043,0.30,2.28,9.18,0.863,4,0.070,0.064,2950,331,1736
$GC,13112,0.90,224.1,158.7,12.3,710,13119,0.28,2.28,0.00,0.000,6,0.137,0.054,2870,1743,1736
$GC,13428,0.90,224.1,133.9,7.7,726,13431,0.00,2.25,0.00,0.000,4,0.000,0.067,2870,3159,1734
$GC,13479,0.83,224.1,129.4,9.1,728,13483,0.00,2.25,0.00,0.000,6,0.000,0.051,2876,1727,1734
$GC,13807,0.83,224.1,103.5,7.9,744,13808,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1727,1734
$GC,14138,0.89,224.5,79.0,7.0,795,14144,0.00,2.25,0.00,0.000,4,0.000,0.065,2886,334,1733
$GC,14168,0.96,224.5,76.8,7.2,800,14175,0.00,2.28,0.00,0.000,6,0.000,0.054,2886,1754,1734
$GC,14514,0.96,224.5,51.3,8.5,861,14521,0.00,2.28,0.00,0.000,4,0.000,0.071,2886,3157,1732
$GC,14567,0.90,224.5,46.9,8.5,870,14574,0.00,2.25,0.00,0.000,6,0.000,0.054,2896,1736,1731
$GC,14912,0.90,224.5,18.7,10.1,931,14918,0.00,2.28,0.00,0.000,4,0.000,0.067,2907,325,1731
$GC,14976,0.90,224.5,11.6,11.7,942,14983,0.12,2.30,0.00,0.000,6,0.133,0.061,2873,1738,1731
$FREEZE,6.86,0.087,-1.814
$FREEZE,6.54,0.089,-1.814
$FREEZE,6.06,0.091,-1.814
$FREEZE,5.62,0.092,-1.813
$FREEZE,5.21,0.093,-1.813
$FREEZE,5.19,0.093,-1.813
$FREEZE,5.22,0.094,-1.813
$FREEZE,5.31,0.094,-1.813
$FREEZE,5.08,0.094,-1.813
$FREEZE,4.86,0.093,-1.813
$FREEZE,4.44,0.089,-1.813
$FREEZE,4.05,0.094,-1.812
$FREEZE,3.70,0.094,-1.812
$FREEZE,3.24,0.094,-1.812
$FREEZE,2.74,0.096,-1.811
$STATE,15118,end climb,SURFACE_DEPTH_REACHED
$STATE,15118,begin surface coast
$FREEZE,2.35,0.095,-1.811
$FREEZE,1.95,0.091,-1.811
$FREEZE,1.53,0.089,-1.811
$FREEZE,1.73,0.086,-1.810
$FREEZE,1.78,0.087,-1.810
$FREEZE,1.73,0.089,-1.810
$FREEZE,1.53,0.037,-0.125
$FREEZE,1.56,0.087,-1.810
$FREEZE,1.47,0.049,-1.811
$FINISH,1.5,1.026512
$STATE,15173,end surface coast,CONTROL_FINISHED_OK
$STATE,15173,begin surface
$SM_CCo,15252,0.00,0.000,0,0,1728,226.17
$SM_GC,2.28,6.88,0.00,0.00,0.058,0.000,0.000,337,2242,1728,-10.68,0.34,226.17
$RAFOS_CLK,645
$RAFOS,3,1228091646,0.583333,0.568333,65,62,58,56,50,48,214,172,157,189,133,228
$RAFOS,2,1228091046,0.416667,0.401667,75,67,59,56,50,50,193,206,118,217,150,128
$RAFOS,1,1228090456,0.250000,0.237778,69,57,57,54,53,51,195,118,226,177,130,160
$RAFOS,0,1228089850,0.083333,0.069444,61,59,57,56,53,52,179,218,161,120,144,199
$RAFOS,4,1228077845,20.750000,20.734722,58,56,54,53,53,52,196,157,180,115,223,124
$RAFOS,3,1228077244,20.583334,20.567778,59,58,55,52,51,49,214,178,190,138,156,115
$RAFOS_FIX,-31200.181641,336923.250000,301108,080856,2,74,15226.59
$IRIDIUM_FIX,6517.16,-5810.20,240298,202039
$TT8_MAMPS,0.026845
$HUMID,1819
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,15.50
$XPDR_PINGS,86
$24V_AH,22.1,66.610
$10V_AH,10.5,30.205
$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,21.975,146.475,327.550,0.000,0.000,70.436,225.479,0.000,21.500,0.000,0.000,17.504,1804.956,11073.530,476.922,1827.753,875.234,0.000,1452.936,0.000,1800.580,2160.000,0.531,0.000
$DEVICE_MAMPS,241.605,81.302,1162.005,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,681.548,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31558,976
$CAP_FILE_SIZE,136571,0
$CFSIZE,260165632,225267712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.6
$GPS,011208,004801,6539.590,-5809.755,129,1.3,129,-36.1