version: 66.04
glider: 108
mission: 11
dive: 403
start: 12 1 108 9 41 23
data:
$ID,108
$MISSION,11
$DIVE,403
$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,-119858.52
$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,21
$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
$GPS1,092638,6537.856,-5804.019,38,1.2,38,-36.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-61.0
$GPS2,094103,6618.003,-6700.169,64,2.0,64,-37.8
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6621.697,-6634.860
$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,107.8,20000,-13.0,-7.021
$D_GRID,900
$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,-67.20,0.000,2,0.000,0.000,339,2238,2763
$GC,90,-0.99,-146.0,3.0,-2.1,12,126,8.62,2.38,-18.42,0.000,4,0.240,0.074,2461,814,3249
$GC,313,-0.81,-146.0,22.4,-8.5,51,320,0.20,2.38,0.00,0.000,6,0.132,0.062,2511,2242,3252
$GC,658,-0.81,-146.0,44.5,-5.9,112,664,0.00,2.22,0.00,0.000,4,0.000,0.077,2503,3597,3252
$GC,671,-0.81,-146.0,45.3,-5.4,114,678,0.00,2.17,0.00,0.000,6,0.000,0.050,2503,2211,3252
$GC,1016,-0.81,-146.0,70.5,-6.9,175,1023,0.00,2.33,0.00,0.000,4,0.000,0.074,2492,3603,3252
$GC,1237,-0.81,-146.0,86.1,-7.7,214,1243,0.00,2.17,0.00,0.000,6,0.000,0.050,2493,2217,3252
$GC,1576,-0.81,-146.0,107.7,-5.9,258,1580,0.00,2.30,0.00,0.000,4,0.000,0.074,2483,3607,3252
$GC,1649,-0.81,-146.0,111.9,-5.8,261,1654,0.10,2.17,0.00,0.000,6,0.147,0.050,2508,2216,3252
$GC,1977,-0.85,-146.0,130.6,-6.7,277,1981,0.00,2.17,0.00,0.000,4,0.000,0.061,2508,822,3252
$GC,2015,-0.85,-146.0,133.7,-8.2,278,2021,0.00,2.33,0.00,0.000,6,0.000,0.064,2499,2244,3252
$GC,2332,-0.90,-146.0,159.8,-7.8,294,2336,0.00,2.20,0.00,0.000,4,0.000,0.078,2490,3600,3252
$GC,2371,-0.90,-146.0,163.0,-7.5,295,2377,0.00,2.15,0.00,0.000,6,0.000,0.050,2490,2218,3252
$GC,2687,-0.90,-146.0,183.4,-6.0,311,2691,0.00,2.20,0.00,0.000,4,0.000,0.062,2490,816,3251
$GC,2778,-0.90,-146.0,189.3,-6.3,315,2782,0.00,2.33,0.00,0.000,6,0.000,0.064,2480,2244,3252
$GC,3110,-0.90,-146.0,210.2,-6.4,331,3114,0.00,2.30,0.00,0.000,4,0.000,0.063,2480,820,3250
$GC,3167,-0.84,-146.0,214.0,-7.2,333,3172,0.12,2.30,0.00,0.000,6,0.134,0.064,2504,2236,3250
$GC,3484,-0.93,-146.0,230.2,-5.0,348,3488,0.10,2.20,0.00,0.000,4,0.087,0.075,2450,3595,3250
$GC,3519,-0.84,-146.0,232.3,-6.3,349,3523,0.17,2.12,0.00,0.000,6,0.143,0.048,2499,2226,3250
$GC,3841,-0.93,-146.0,245.9,-3.8,365,3845,0.00,2.22,0.00,0.000,4,0.000,0.063,2500,816,3250
$GC,3875,-0.98,-146.0,247.3,-4.3,366,3879,0.10,2.33,0.00,0.000,6,0.084,0.063,2448,2245,3250
$GC,4192,-0.88,-146.0,265.4,-6.1,381,4196,0.15,2.20,0.00,0.000,4,0.146,0.075,2481,3602,3250
$GC,4248,-0.93,-146.0,268.7,-5.7,383,4252,0.00,2.15,0.00,0.000,6,0.000,0.049,2481,2218,3250
$GC,4569,-0.93,-146.0,286.4,-5.5,399,4573,0.00,2.20,0.00,0.000,4,0.000,0.061,2481,819,3250
$GC,4609,-0.93,-146.0,288.9,-6.3,400,4616,0.00,2.30,0.00,0.000,6,0.000,0.062,2471,2234,3250
$GC,4927,-0.93,-146.0,308.2,-6.1,416,4931,0.00,2.28,0.00,0.000,4,0.000,0.059,2471,816,3250
$GC,4961,-0.85,-146.0,310.6,-6.9,417,4966,0.12,2.33,0.00,0.000,6,0.137,0.061,2495,2237,3250
$GC,5283,-0.94,-146.0,326.3,-4.7,433,5287,0.00,2.28,0.00,0.000,4,0.000,0.060,2495,816,3251
$GC,5306,-0.99,-146.0,327.6,-5.3,434,5311,0.10,2.33,0.00,0.000,6,0.082,0.061,2442,2246,3251
$GC,5634,-0.88,-146.0,347.9,-6.4,450,5638,0.17,2.30,0.00,0.000,4,0.146,0.058,2495,817,3251
$GC,5697,-0.88,-146.0,351.2,-5.2,453,5701,0.00,2.30,0.00,0.000,6,0.000,0.061,2487,2234,3251
$GC,6030,-0.94,-146.0,368.4,-5.3,469,6034,0.00,2.28,0.00,0.000,4,0.000,0.058,2487,814,3252
$GC,6070,-0.94,-146.0,370.5,-6.2,470,6076,0.00,2.33,0.00,0.000,6,0.000,0.060,2477,2243,3252
$GC,6388,-0.94,-146.0,386.9,-5.1,486,6389,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2242,3252
$GC,6695,-0.94,-146.0,402.4,-5.0,500,6698,0.00,2.28,0.00,0.000,4,0.000,0.059,2478,824,3253
$GC,6741,-0.94,-146.0,404.8,-5.5,501,6745,0.00,2.28,0.00,0.000,6,0.000,0.060,2468,2234,3253
$GC,7072,-0.94,-146.0,422.9,-5.6,509,7073,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2234,3253
$GC,7397,-0.94,-146.0,440.6,-5.5,517,7400,0.00,2.25,0.00,0.000,4,0.000,0.058,2467,825,3253
$GC,7431,-0.88,-146.0,442.7,-6.6,517,7435,0.12,2.30,0.00,0.000,6,0.134,0.060,2492,2244,3254
$GC,7769,-0.97,-146.0,458.0,-4.6,526,7772,0.00,2.28,0.00,0.000,4,0.000,0.059,2492,824,3253
$GC,7780,-1.04,-146.0,458.6,-4.4,526,7785,0.12,2.28,0.00,0.000,6,0.074,0.059,2431,2233,3253
$GC,8099,-0.91,-146.0,478.7,-6.5,534,8104,0.17,2.28,0.00,0.000,4,0.146,0.058,2483,814,3253
$GC,8135,-0.91,-146.0,480.8,-5.9,534,8141,0.00,2.30,0.00,0.000,6,0.000,0.058,2475,2235,3253
$GC,8466,-0.91,-146.0,498.1,-5.0,543,8470,0.00,2.28,0.00,0.000,4,0.000,0.058,2475,813,3254
$GC,8545,-0.91,-146.0,502.0,-4.9,544,8549,0.00,2.30,0.00,0.000,6,0.000,0.059,2465,2239,3253
$GC,8882,-0.91,-146.0,520.6,-5.5,553,8884,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2239,3254
$GC,9207,-1.23,-146.0,530.8,-1.0,561,9212,0.17,2.20,0.00,0.000,4,0.065,0.073,2385,3597,3254
$STATE,9327,end dive,NO_VERTICAL_VELOCITY
$STATE,9327,begin apogee
$GC,9340,-0.31,0.0,530.8,0.0,563,9469,0.65,0.00,126.47,1.163,6,0.097,0.000,2612,1730,2650
$STATE,9470,end apogee,CONTROL_FINISHED_OK
$STATE,9470,begin climb
$GC,9473,0.99,146.0,530.2,0.0,567,9611,0.88,2.55,130.00,1.089,4,0.094,0.063,2906,330,2053
$GC,9704,0.78,146.0,506.6,13.1,572,9709,0.22,2.47,0.00,0.000,6,0.134,0.052,2846,1749,2049
$GC,10053,0.78,146.0,475.9,8.7,581,10056,0.00,2.33,0.00,0.000,4,0.000,0.066,2846,3164,2046
$GC,10103,0.62,146.0,471.0,9.6,582,10108,0.15,2.30,0.00,0.000,6,0.132,0.050,2813,1725,2045
$GC,10423,0.71,146.0,448.2,7.1,590,10424,0.08,0.00,0.00,0.000,6,0.093,0.000,2856,1726,2045
$GC,10748,0.64,146.0,419.4,8.9,598,10750,0.15,0.00,0.00,0.000,6,0.123,0.000,2812,1725,2045
$GC,11074,0.77,166.1,398.2,6.4,606,11093,0.12,0.00,16.75,1.039,6,0.074,0.000,2869,1725,1972
$GC,11401,0.66,166.1,368.6,8.7,622,11406,0.17,2.33,0.00,0.000,4,0.122,0.064,2817,3153,1969
$GC,11428,0.66,166.1,366.5,7.1,623,11432,0.00,2.22,0.00,0.000,6,0.000,0.049,2824,1724,1968
$GC,11751,0.76,200.1,347.1,5.9,639,11783,0.08,0.00,30.05,1.045,6,0.091,0.000,2866,1724,1834
$GC,12079,0.69,200.1,318.6,8.9,655,12081,0.15,0.00,0.00,0.000,6,0.125,0.000,2821,1724,1827
$GC,12389,0.83,228.5,299.0,6.1,670,12420,0.12,2.38,24.62,1.002,4,0.074,0.065,2878,3161,1718
$GC,12465,0.64,228.5,291.2,11.2,673,12470,0.25,2.28,0.00,0.000,6,0.127,0.048,2815,1728,1715
$GC,12782,0.86,248.2,271.0,6.4,688,12805,0.17,2.33,17.80,0.961,4,0.064,0.063,2904,329,1638
$GC,12834,0.75,248.2,265.5,11.7,690,12839,0.22,2.30,0.00,0.000,6,0.127,0.051,2837,1751,1637
$GC,13156,0.85,248.2,240.2,7.8,706,13160,0.10,2.25,0.00,0.000,4,0.078,0.065,2885,3156,1633
$GC,13212,0.65,248.2,233.8,12.0,708,13219,0.25,2.22,0.00,0.000,6,0.129,0.049,2821,1737,1632
$GC,13528,0.89,272.9,211.9,6.2,724,13558,0.17,2.35,22.42,0.942,4,0.064,0.064,2914,324,1537
$GC,13576,0.80,272.9,207.3,10.5,726,13581,0.22,2.33,0.00,0.000,6,0.125,0.052,2847,1753,1536
$GC,13899,0.91,272.9,182.9,7.7,742,13904,0.12,2.25,0.00,0.000,4,0.071,0.066,2905,3151,1532
$GC,13989,0.73,272.9,172.0,13.1,746,13994,0.28,2.22,0.00,0.000,6,0.128,0.049,2832,1735,1531
$GC,14316,1.25,272.9,148.2,8.2,762,14320,0.32,2.28,0.00,0.000,4,0.081,0.062,2954,326,1530
$GC,14365,1.25,272.9,142.7,10.9,764,14369,0.00,2.33,0.00,0.000,6,0.000,0.052,2954,1752,1530
$GC,14688,1.03,272.9,98.3,13.8,780,14695,0.17,2.28,0.00,0.000,4,0.137,0.067,2903,3152,1530
$GC,14713,0.85,272.9,95.0,13.4,784,14720,0.17,2.22,0.00,0.000,6,0.127,0.050,2859,1732,1530
$GC,15059,1.02,272.9,70.6,7.1,845,15065,0.15,2.25,0.00,0.000,4,0.068,0.064,2937,334,1530
$GC,15146,0.93,272.9,61.6,10.5,860,15152,0.20,2.28,0.00,0.000,6,0.128,0.054,2878,1740,1529
$GC,15492,1.07,293.5,37.9,6.4,921,15517,0.12,2.33,18.30,0.865,4,0.074,0.067,2936,3159,1453
$GC,15581,0.87,293.5,28.4,10.9,936,15588,0.28,2.28,0.00,0.000,6,0.127,0.053,2865,1740,1450
$FREEZE,6.52,0.415,-1.820
$FREEZE,5.37,0.425,-1.818
$FREEZE,4.21,0.429,-1.817
$FREEZE,3.14,0.415,-1.817
$FREEZE,1.97,0.428,-1.816
$GC,15927,1.23,404.8,9.4,3.4,997,16001,0.22,0.00,70.90,0.852,2,0.075,0.000,2955,1740,1120
$STATE,16002,end climb,SURFACE_DEPTH_REACHED
$STATE,16002,begin surface coast
$FREEZE,1.59,0.424,-1.815
$FREEZE,1.62,0.420,-1.815
$FREEZE,1.38,0.398,-1.816
$FREEZE,1.50,0.366,-1.796
$FINISH,1.5,1.026286
$STATE,16027,end surface coast,CONTROL_FINISHED_OK
$STATE,16027,begin surface
$SM_CCo,16107,0.00,0.000,0,0,1112,377.27
$SM_GC,2.13,7.20,0.00,0.00,0.050,0.000,0.000,340,2239,1112,-10.67,0.28,377.27
$RAFOS_CLK,671
$RAFOS,4,1228135470,12.750000,12.741667,69,59,57,52,50,50,198,214,117,144,162,181
$RAFOS,3,1228134861,12.583333,12.572500,69,58,57,57,53,48,196,172,119,206,162,216
$RAFOS,2,1228134248,12.416667,12.402223,64,59,58,55,53,49,154,212,124,179,194,138
$RAFOS,1,1228133646,12.250000,12.235000,64,60,60,57,54,49,219,201,180,167,148,137
$RAFOS,0,1228133077,12.083333,12.076944,65,57,54,53,50,49,208,188,155,224,780,125
$RAFOS_FIX,-31200.181641,336923.250000,301108,080856,2,74,15226.59
$IRIDIUM_FIX,6512.01,-5815.70,250298,090910
$TT8_MAMPS,0.026845
$HUMID,1776
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,15.80
$XPDR_PINGS,62
$24V_AH,22.1,67.029
$10V_AH,10.5,30.407
$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,24.000,156.325,457.325,0.000,0.000,81.380,225.478,0.000,15.500,0.000,0.000,65.954,1851.065,11680.852,579.765,1967.526,889.429,0.000,1631.450,0.000,1888.643,1800.000,0.532,0.000
$DEVICE_MAMPS,240.071,78.234,1162.772,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,703.794,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34702,1011
$CAP_FILE_SIZE,144077,0
$CFSIZE,260165632,225075200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.6
$GPS,011208,141128,6538.158,-5801.215,30,2.3,49,-36.0