version: 66.04
glider: 108
mission: 11
dive: 407
start: 12 2 108 4 36 42
data:
$ID,108
$MISSION,11
$DIVE,407
$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,-119951.25
$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,28
$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
$GPS1,041706,6538.697,-5751.327,55,1.3,60,-36.0
$_CALLS,1
$_XMS_NAKs,52
$_XMS_TOUTs,3
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-65.5
$GPS2,043622,6538.677,-5751.437,13,2.0,14,-36.0
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6548.825,-5742.421
$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,540
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.99,-146.0,0.0,0.0,0,83,0.00,0.00,-62.17,0.000,2,0.000,0.000,337,2254,2934
$GC,86,-0.99,-146.0,3.1,-2.0,11,112,8.77,2.30,-10.88,0.000,4,0.244,0.087,2454,3599,3248
$GC,316,-0.82,-146.0,30.6,-11.0,51,323,0.17,2.17,0.00,0.000,6,0.140,0.050,2503,2218,3252
$GC,661,-0.82,-146.0,55.7,-6.4,112,667,0.00,2.20,0.00,0.000,4,0.000,0.061,2503,824,3252
$GC,742,-0.82,-146.0,61.0,-6.9,126,748,0.00,2.30,0.00,0.000,6,0.000,0.063,2496,2235,3252
$GC,1087,-0.82,-146.0,83.4,-6.8,187,1093,0.00,2.28,0.00,0.000,4,0.000,0.060,2495,818,3253
$GC,1156,-0.82,-146.0,88.1,-6.6,199,1162,0.00,2.30,0.00,0.000,6,0.000,0.062,2486,2234,3253
$GC,1489,-0.82,-146.0,110.0,-6.9,239,1493,0.00,2.20,0.00,0.000,4,0.000,0.074,2475,3596,3252
$GC,1595,-0.82,-146.0,117.8,-7.2,243,1602,0.10,2.15,0.00,0.000,6,0.148,0.048,2501,2212,3253
$GC,1912,-0.88,-146.0,137.0,-6.2,259,1916,0.00,2.17,0.00,0.000,4,0.000,0.061,2501,822,3252
$GC,2030,-0.88,-146.0,145.1,-7.3,264,2034,0.00,2.30,0.00,0.000,6,0.000,0.063,2493,2238,3252
$GC,2357,-0.88,-146.0,167.3,-6.6,280,2358,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2238,3252
$GC,2667,-0.88,-146.0,184.8,-5.4,295,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2238,3251
$GC,2976,-0.93,-146.0,202.3,-5.6,310,2980,0.00,2.28,0.00,0.000,4,0.000,0.060,2493,816,3252
$GC,3054,-0.93,-146.0,207.0,-6.0,313,3058,0.00,2.30,0.00,0.000,6,0.000,0.061,2483,2239,3252
$GC,3377,-0.93,-146.0,225.5,-5.8,329,3378,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2238,3252
$GC,3685,-0.93,-146.0,242.7,-5.3,344,3686,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2238,3252
$GC,3995,-0.93,-146.0,259.8,-5.3,359,3998,0.00,2.28,0.00,0.000,4,0.000,0.058,2483,813,3252
$GC,4068,-0.93,-146.0,264.0,-5.6,362,4072,0.00,2.30,0.00,0.000,6,0.000,0.061,2473,2242,3252
$GC,4396,-0.93,-146.0,281.7,-5.4,378,4400,0.00,2.17,0.00,0.000,4,0.000,0.073,2462,3602,3252
$GC,4469,-0.93,-146.0,286.1,-5.7,381,4473,0.00,2.12,0.00,0.000,6,0.000,0.047,2462,2225,3252
$GC,4797,-0.88,-146.0,304.4,-5.5,397,4799,0.10,0.00,0.00,0.000,6,0.147,0.000,2489,2225,3253
$GC,5106,-0.94,-146.0,319.0,-4.6,412,5109,0.00,2.20,0.00,0.000,4,0.000,0.059,2489,818,3253
$GC,5167,-0.94,-146.0,322.4,-5.4,414,5174,0.00,2.30,0.00,0.000,6,0.000,0.059,2481,2244,3253
$GC,5484,-0.94,-146.0,338.6,-5.1,430,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2244,3253
$GC,5794,-0.94,-146.0,354.5,-5.1,445,5798,0.00,2.28,0.00,0.000,4,0.000,0.058,2481,816,3254
$GC,5896,-0.94,-146.0,360.3,-5.7,449,5900,0.00,2.30,0.00,0.000,6,0.000,0.059,2471,2244,3254
$GC,6218,-0.94,-146.0,377.8,-5.4,465,6219,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2244,3254
$GC,6527,-0.94,-146.0,394.3,-5.2,480,6531,0.00,2.28,0.00,0.000,4,0.000,0.058,2471,819,3255
$GC,6601,-0.89,-146.0,398.5,-5.8,483,6605,0.10,2.28,0.00,0.000,6,0.139,0.059,2488,2233,3255
$GC,6923,-0.97,-146.0,413.6,-4.7,492,6925,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2233,3255
$GC,7248,-1.04,-146.0,427.9,-4.4,500,7250,0.12,0.00,0.00,0.000,6,0.081,0.000,2435,2233,3255
$GC,7574,-0.91,-146.0,447.3,-6.0,508,7578,0.17,2.25,0.00,0.000,4,0.142,0.056,2484,824,3255
$GC,7652,-0.91,-146.0,451.3,-5.0,509,7656,0.00,2.28,0.00,0.000,6,0.000,0.059,2477,2242,3254
$GC,7989,-0.91,-146.0,468.2,-5.2,518,7990,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2242,3255
$GC,8314,-0.91,-146.0,485.6,-5.5,526,8318,0.00,2.28,0.00,0.000,4,0.000,0.057,2477,816,3255
$GC,8382,-0.91,-146.0,489.5,-5.7,527,8386,0.00,2.28,0.00,0.000,6,0.000,0.058,2467,2240,3255
$GC,8730,-0.91,-146.0,508.3,-5.6,536,8734,0.00,2.17,0.00,0.000,4,0.000,0.071,2457,3599,3255
$GC,8777,-0.91,-146.0,511.0,-6.2,537,8781,0.10,2.12,0.00,0.000,6,0.144,0.045,2482,2213,3255
$GC,9107,-0.96,-146.0,527.3,-4.9,545,9111,0.00,2.17,0.00,0.000,4,0.000,0.058,2482,820,3255
$GC,9202,-0.96,-146.0,532.4,-5.9,547,9206,0.00,2.28,0.00,0.000,6,0.000,0.058,2474,2239,3255
$STATE,9361,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9361,begin apogee
$GC,9369,-0.31,0.0,540.6,5.1,551,9499,0.45,0.00,127.07,1.167,6,0.117,0.000,2619,1741,2650
$STATE,9500,end apogee,CONTROL_FINISHED_OK
$STATE,9500,begin climb
$GC,9503,0.99,146.0,541.6,0.0,554,9637,0.85,0.00,130.20,1.091,6,0.095,0.000,2894,1741,2054
$GC,9952,0.77,146.0,496.9,10.9,565,9954,0.17,0.00,0.00,0.000,6,0.129,0.000,2845,1741,2046
$GC,10276,0.77,146.0,470.5,8.1,573,10278,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1740,2045
$GC,10601,0.77,146.0,443.8,8.2,581,10605,0.00,2.30,0.00,0.000,4,0.000,0.064,2845,3153,2045
$GC,10635,0.64,146.0,440.7,9.3,581,10640,0.12,2.25,0.00,0.000,6,0.133,0.049,2818,1732,2044
$GC,10972,0.71,146.0,416.2,7.3,590,10974,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1732,2044
$GC,11278,0.78,146.0,393.8,7.3,599,11282,0.12,2.35,0.00,0.000,4,0.074,0.064,2875,3160,2044
$GC,11295,0.73,146.0,392.4,7.9,600,11300,0.17,2.25,0.00,0.000,6,0.135,0.048,2835,1724,2043
$GC,11628,0.73,146.0,366.4,7.3,616,11629,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1724,2043
$GC,11937,0.74,156.0,344.6,6.7,631,11951,0.00,2.38,7.75,0.914,4,0.000,0.064,2835,3155,2014
$GC,11975,0.69,159.0,341.8,6.9,632,11985,0.00,2.22,4.57,0.745,6,0.000,0.048,2843,1733,2001
$GC,12314,0.69,161.3,317.8,6.9,649,12318,0.00,2.30,0.00,0.000,4,0.000,0.064,2843,3159,2000
$GC,12330,0.69,161.3,316.4,7.1,649,12337,0.10,2.22,0.00,0.000,6,0.139,0.048,2826,1735,2000
$GC,12647,0.81,203.5,298.2,5.7,665,12689,0.12,0.00,38.92,1.022,6,0.073,0.000,2883,1735,1820
$GC,12996,0.68,203.5,265.7,9.6,682,13000,0.20,2.33,0.00,0.000,4,0.120,0.064,2818,3156,1813
$GC,13023,0.68,203.5,263.2,8.6,683,13027,0.00,2.22,0.00,0.000,6,0.000,0.048,2826,1736,1812
$GC,13347,0.82,232.6,243.0,6.1,699,13377,0.12,2.35,25.05,0.969,4,0.073,0.064,2886,3161,1701
$GC,13395,0.66,232.6,238.3,10.1,701,13400,0.25,2.28,0.00,0.000,6,0.127,0.048,2823,1727,1698
$GC,13719,0.84,257.5,218.1,6.2,717,13744,0.15,0.00,22.05,0.940,6,0.065,0.000,2891,1727,1600
$GC,14045,0.75,257.5,182.3,11.0,733,14050,0.17,2.25,0.00,0.000,4,0.120,0.061,2847,330,1594
$GC,14062,0.75,257.5,180.5,10.8,733,14068,0.00,2.28,0.00,0.000,6,0.000,0.051,2847,1751,1594
$GC,14379,0.85,257.5,155.6,8.3,749,14382,0.00,2.22,0.00,0.000,4,0.000,0.065,2847,3148,1593
$GC,14430,0.85,257.5,150.8,9.3,751,14434,0.00,2.22,0.00,0.000,6,0.000,0.048,2856,1730,1592
$GC,14758,0.92,257.5,124.1,8.0,767,14760,0.08,0.00,0.00,0.000,6,0.097,0.000,2898,1730,1592
$GC,15076,0.86,257.5,89.8,10.2,794,15082,0.12,0.00,0.00,0.000,6,0.127,0.000,2861,1730,1592
$GC,15421,1.01,257.5,63.9,7.4,855,15428,0.12,2.35,0.00,0.000,4,0.077,0.064,2918,3159,1591
$GC,15446,1.01,257.5,61.7,7.5,859,15453,0.12,2.25,0.00,0.000,6,0.140,0.050,2893,1728,1591
$GC,15791,1.01,257.5,31.3,10.0,920,15797,0.00,2.25,0.00,0.000,4,0.000,0.064,2901,332,1591
$GC,15810,1.01,257.5,29.6,9.7,923,15816,0.00,2.25,0.00,0.000,6,0.000,0.051,2901,1749,1591
$FREEZE,6.56,0.231,-1.818
$FREEZE,5.72,0.231,-1.817
$FREEZE,5.15,0.231,-1.817
$FREEZE,4.59,0.230,-1.816
$FREEZE,4.18,0.230,-1.816
$FREEZE,3.73,0.231,-1.815
$FREEZE,3.26,0.231,-1.815
$FREEZE,2.74,0.231,-1.815
$STATE,16113,end climb,SURFACE_DEPTH_REACHED
$STATE,16113,begin surface coast
$FREEZE,2.25,0.232,-1.814
$FREEZE,1.77,0.231,-1.814
$FREEZE,1.32,0.231,-1.813
$FREEZE,1.45,0.226,-1.767
$FREEZE,1.39,0.170,-0.427
$FREEZE,1.44,0.213,-1.783
$FINISH,1.4,1.026113
$STATE,16150,end surface coast,CONTROL_FINISHED_OK
$STATE,16150,begin surface
$SM_CCo,16230,0.00,0.000,0,0,1586,260.75
$SM_GC,2.31,6.97,0.00,0.00,0.058,0.000,0.000,336,2242,1586,-10.69,0.31,260.75
$RAFOS_CLK,676
$RAFOS,4,1228207459,8.750000,8.738611,63,58,57,55,52,52,181,216,193,140,114,151
$RAFOS,3,1228206853,8.583333,8.570278,65,58,53,51,51,50,149,134,209,198,229,178
$RAFOS,2,1228206253,8.416667,8.403611,59,58,55,54,54,49,215,167,198,150,114,228
$RAFOS,1,1228205654,8.250000,8.237223,64,63,58,54,52,52,161,151,209,188,134,174
$RAFOS,0,1228205059,8.083333,8.071944,58,56,53,51,51,50,206,195,151,113,218,174
$RAFOS,4,1228193041,4.750000,4.733611,70,60,57,54,54,51,213,155,186,128,173,119
$RAFOS_FIX,-31200.181641,336923.250000,301108,080856,2,74,15226.59
$IRIDIUM_FIX,6506.88,-5748.09,250298,232338
$TT8_MAMPS,0.026845
$HUMID,1801
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,15.80
$XPDR_PINGS,87
$24V_AH,22.1,67.656
$10V_AH,10.5,30.689
$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,20.100,114.325,355.625,0.000,0.000,23.222,30.177,769.245,21.750,0.000,0.000,15.601,1789.975,11983.367,470.669,1794.884,1343.690,0.000,1428.186,0.000,1776.455,2160.000,0.532,0.000
$DEVICE_MAMPS,243.906,86.671,1167.374,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,684.833,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31507,983
$CAP_FILE_SIZE,140407,0
$CFSIZE,260165632,224837632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.6
$GPS,021208,090838,6539.449,-5748.476,38,1.0,38,-36.0