version: 66.04
glider: 108
mission: 11
dive: 408
start: 12 2 108 9 24 50
data:
$ID,108
$MISSION,11
$DIVE,408
$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,-119966.3
$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,24
$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
$GPS1,090838,6539.449,-5748.476,38,1.0,38,-36.0
$_CALLS,1
$_XMS_NAKs,32
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-66.1
$GPS2,092429,6539.550,-5748.309,11,1.8,12,-36.0
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6549.698,-5739.288
$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,545
$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,16,-0.99,-146.0,0.0,0.0,0,75,0.00,0.00,-56.78,0.000,2,0.000,0.000,335,2246,2861
$GC,78,-0.99,-146.0,3.3,-2.2,10,104,8.90,2.35,-11.48,0.000,4,0.249,0.087,2455,3605,3248
$GC,359,-0.80,-146.0,36.6,-14.5,59,366,0.20,2.17,0.00,0.000,6,0.138,0.048,2512,2220,3253
$GC,704,-0.86,-146.0,64.2,-7.3,120,711,0.00,2.22,0.00,0.000,4,0.000,0.061,2512,813,3253
$GC,774,-0.86,-146.0,68.8,-6.4,132,780,0.00,2.33,0.00,0.000,6,0.000,0.061,2504,2240,3253
$GC,1119,-0.86,-146.0,88.4,-5.8,193,1125,0.00,2.20,0.00,0.000,4,0.000,0.074,2494,3598,3253
$GC,1188,-0.86,-146.0,93.0,-7.0,205,1194,0.00,2.15,0.00,0.000,6,0.000,0.048,2494,2218,3252
$GC,1532,-0.86,-146.0,114.6,-6.4,236,1536,0.00,2.20,0.00,0.000,4,0.000,0.061,2494,817,3252
$GC,1646,-0.86,-146.0,122.7,-7.4,241,1650,0.00,2.30,0.00,0.000,6,0.000,0.061,2484,2234,3252
$GC,1980,-0.86,-146.0,146.2,-7.1,257,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2234,3252
$GC,2289,-0.86,-146.0,167.1,-6.5,272,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2234,3252
$GC,2597,-0.86,-146.0,186.5,-6.1,287,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2234,3251
$GC,2907,-0.86,-146.0,203.1,-5.0,302,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2234,3251
$GC,3216,-0.86,-146.0,218.7,-5.2,317,3220,0.00,2.28,0.00,0.000,4,0.000,0.059,2484,817,3252
$GC,3262,-0.86,-146.0,221.3,-5.8,319,3266,0.00,2.30,0.00,0.000,6,0.000,0.061,2474,2244,3252
$GC,3595,-0.86,-146.0,240.1,-5.8,335,3597,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2244,3251
$GC,3905,-0.86,-146.0,257.8,-5.8,350,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2244,3252
$GC,4215,-0.86,-146.0,276.3,-6.2,365,4219,0.00,2.28,0.00,0.000,4,0.000,0.059,2474,826,3252
$GC,4352,-0.81,-146.0,285.4,-6.6,371,4357,0.15,2.28,0.00,0.000,6,0.133,0.060,2506,2240,3252
$GC,4679,-0.94,-146.0,301.8,-5.0,387,4681,0.12,0.00,0.00,0.000,6,0.079,0.000,2452,2240,3253
$GC,4989,-0.86,-146.0,321.9,-6.3,402,4993,0.15,2.28,0.00,0.000,4,0.143,0.057,2497,813,3253
$GC,5058,-0.91,-146.0,325.8,-5.2,405,5062,0.00,2.30,0.00,0.000,6,0.000,0.059,2489,2241,3253
$GC,5391,-0.97,-146.0,342.9,-4.9,421,5392,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2241,3254
$GC,5701,-1.03,-146.0,357.2,-4.5,436,5703,0.12,0.00,0.00,0.000,6,0.077,0.000,2432,2241,3254
$GC,6010,-0.88,-146.0,376.5,-6.4,451,6012,0.20,0.00,0.00,0.000,6,0.139,0.000,2490,2242,3255
$GC,6320,-0.96,-146.0,391.1,-4.8,466,6323,0.00,2.28,0.00,0.000,4,0.000,0.058,2490,817,3255
$GC,6376,-0.96,-146.0,394.0,-5.5,468,6380,0.00,2.30,0.00,0.000,6,0.000,0.059,2482,2246,3255
$GC,6715,-0.96,-146.0,410.7,-5.0,480,6716,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2246,3255
$GC,7040,-1.01,-146.0,427.4,-5.1,488,7041,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2246,3255
$GC,7365,-1.01,-146.0,444.0,-5.1,496,7369,0.00,2.28,0.00,0.000,4,0.000,0.058,2482,819,3255
$GC,7472,-1.01,-146.0,450.3,-5.8,498,7476,0.00,2.28,0.00,0.000,6,0.000,0.060,2473,2233,3255
$GC,7786,-1.01,-146.0,466.2,-5.1,506,7787,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2233,3255
$GC,8111,-1.01,-146.0,481.7,-4.7,514,8115,0.00,2.25,0.00,0.000,4,0.000,0.058,2472,816,3255
$GC,8206,-1.01,-146.0,486.9,-5.6,516,8210,0.00,2.30,0.00,0.000,6,0.000,0.059,2462,2245,3255
$GC,8531,-1.01,-146.0,503.6,-5.2,524,8535,0.00,2.28,0.00,0.000,4,0.000,0.058,2462,820,3255
$GC,8616,-0.95,-146.0,508.4,-5.8,525,8622,0.10,2.28,0.00,0.000,6,0.139,0.058,2479,2235,3255
$GC,8948,-0.99,-146.0,524.4,-4.7,534,8949,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2235,3255
$GC,9273,-1.04,-146.0,539.7,-4.7,542,9275,0.10,0.00,0.00,0.000,6,0.087,0.000,2436,2235,3255
$STATE,9391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9391,begin apogee
$GC,9399,-0.31,0.0,546.9,5.7,545,9529,0.57,0.00,127.10,1.171,6,0.124,0.000,2617,1738,2650
$STATE,9530,end apogee,CONTROL_FINISHED_OK
$STATE,9530,begin climb
$GC,9533,0.99,146.0,547.7,0.0,548,9668,0.88,0.00,130.73,1.095,6,0.087,0.000,2900,1738,2054
$GC,9966,0.75,146.0,499.9,11.7,559,9968,0.20,0.00,0.00,0.000,6,0.130,0.000,2843,1738,2047
$GC,10288,0.75,146.0,473.0,8.0,567,10289,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1738,2045
$GC,10613,0.75,146.0,446.9,8.0,575,10614,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1738,2045
$GC,10938,0.75,146.0,421.4,7.8,583,10941,0.00,2.33,0.00,0.000,4,0.000,0.066,2843,3160,2045
$GC,10966,0.67,146.0,419.0,8.4,583,10971,0.12,2.25,0.00,0.000,6,0.134,0.050,2816,1736,2044
$GC,11284,0.77,165.0,398.6,6.4,592,11306,0.12,2.33,15.68,1.037,4,0.075,0.065,2873,3156,1976
$GC,11313,0.67,165.0,396.0,9.5,593,11318,0.22,2.25,0.00,0.000,6,0.129,0.048,2817,1739,1976
$GC,11635,0.78,186.5,374.9,6.3,609,11657,0.12,0.00,19.85,1.042,6,0.073,0.000,2875,1739,1889
$GC,11965,0.67,186.5,343.2,9.8,625,11967,0.17,0.00,0.00,0.000,6,0.120,0.000,2823,1739,1885
$GC,12274,0.76,187.3,320.9,7.0,640,12279,0.10,2.33,0.00,0.000,4,0.081,0.066,2870,3163,1884
$GC,12297,0.70,187.3,318.6,9.0,641,12301,0.17,2.25,0.00,0.000,6,0.130,0.049,2829,1731,1884
$GC,12624,0.76,187.3,292.3,8.1,657,12625,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1731,1884
$GC,12933,0.82,187.3,267.7,7.8,672,12937,0.10,2.28,0.00,0.000,4,0.079,0.062,2888,326,1883
$GC,12950,0.82,187.3,266.3,8.0,673,12955,0.12,2.28,0.00,0.000,6,0.130,0.053,2853,1746,1883
$GC,13277,0.82,187.3,237.8,8.7,689,13281,0.00,2.25,0.00,0.000,4,0.000,0.066,2853,3149,1883
$GC,13311,0.72,187.3,234.4,9.3,690,13315,0.10,2.22,0.00,0.000,6,0.143,0.048,2833,1735,1883
$GC,13633,0.79,187.3,210.3,7.3,706,13637,0.00,2.30,0.00,0.000,4,0.000,0.064,2833,3152,1883
$GC,13651,0.79,187.3,208.7,7.7,706,13657,0.00,2.22,0.00,0.000,6,0.000,0.048,2841,1730,1882
$GC,13967,0.83,187.3,184.1,7.4,722,13968,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1729,1883
$GC,14276,0.89,192.1,162.8,6.9,737,14287,0.12,2.33,5.47,0.746,4,0.076,0.064,2899,3162,1866
$GC,14311,0.68,192.1,159.3,11.6,738,14318,0.28,2.22,0.00,0.000,6,0.131,0.048,2827,1738,1865
$GC,14627,0.83,198.0,137.8,6.8,754,14641,0.12,2.33,6.50,0.779,4,0.071,0.062,2898,324,1842
$GC,14665,0.74,198.0,134.4,9.1,755,14672,0.22,2.28,0.00,0.000,6,0.123,0.052,2829,1739,1842
$GC,14981,0.91,201.7,111.7,6.9,771,14991,0.15,2.25,4.85,0.691,4,0.066,0.064,2898,3154,1827
$GC,15036,0.68,201.7,105.7,11.8,773,15041,0.28,2.22,0.00,0.000,6,0.129,0.050,2826,1733,1826
$GC,15373,0.91,238.4,84.8,5.8,821,15415,0.17,2.33,32.60,0.886,4,0.064,0.063,2916,331,1678
$GC,15428,0.81,238.4,79.9,9.9,830,15435,0.22,2.30,0.00,0.000,6,0.127,0.051,2849,1753,1676
$GC,15775,1.05,276.9,57.6,5.8,891,15816,0.20,2.30,33.70,0.861,4,0.061,0.067,2940,3161,1520
$GC,15835,0.86,276.9,51.5,11.4,901,15842,0.30,2.28,0.00,0.000,6,0.130,0.049,2862,1734,1518
$GC,16182,1.15,349.5,30.4,4.7,962,16252,0.20,2.38,61.58,0.844,4,0.061,0.064,2963,330,1224
$GC,16270,1.02,349.5,21.7,11.5,977,16277,0.22,2.33,0.00,0.000,6,0.122,0.054,2897,1740,1222
$FREEZE,6.66,0.063,-1.816
$FREEZE,6.20,0.062,-1.816
$FREEZE,5.72,0.063,-1.815
$FREEZE,5.34,0.063,-1.815
$FREEZE,4.82,0.062,-1.815
$FREEZE,4.59,0.063,-1.815
$FREEZE,4.12,0.064,-1.814
$FREEZE,3.80,0.063,-1.814
$FREEZE,3.36,0.062,-1.814
$FREEZE,2.77,0.063,-1.813
$STATE,16513,end climb,SURFACE_DEPTH_REACHED
$STATE,16513,begin surface coast
$FREEZE,2.39,0.061,-1.813
$FREEZE,2.22,0.061,-1.813
$FREEZE,1.85,0.062,-1.813
$FREEZE,1.41,0.062,-1.812
$FREEZE,1.43,0.058,-1.812
$FREEZE,1.51,0.060,-1.812
$FREEZE,1.35,-0.013,-1.803
$FREEZE,1.32,0.039,-1.723
$FINISH,1.3,1.025271
$STATE,16561,end surface coast,CONTROL_FINISHED_OK
$STATE,16561,begin surface
$SM_CCo,16640,0.00,0.000,0,0,1209,353.48
$SM_GC,2.21,6.85,0.00,0.00,0.044,0.000,0.000,333,2252,1209,-10.70,0.62,353.48
$RAFOS_CLK,684
$RAFOS,4,1228221850,12.750000,12.736111,71,62,62,58,51,50,204,193,179,216,164,130
$RAFOS,3,1228221253,12.583333,12.570278,75,61,57,57,56,52,809,195,207,166,117,137
$RAFOS,2,1228220662,12.416667,12.406111,66,63,58,54,49,49,144,193,168,214,203,122
$RAFOS,1,1228220053,12.250000,12.236944,67,61,56,52,51,51,222,201,211,176,192,147
$RAFOS,0,1228219442,12.083333,12.067223,64,58,55,52,48,48,179,210,223,192,127,142
$RAFOS_FIX,83901.984375,-926378.750000,021208,121232,2,73,42846.28
$IRIDIUM_FIX,6512.01,-5749.73,260298,040407
$TT8_MAMPS,0.026845
$HUMID,1776
$INTERNAL_PRESSURE,9.86366
$TCM_TEMP,15.90
$XPDR_PINGS,61
$24V_AH,22.2,67.827
$10V_AH,10.5,30.761
$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,22.425,106.200,438.050,0.000,0.000,24.344,39.935,615.336,15.250,0.000,0.000,14.419,1848.446,12316.938,535.816,1784.565,1133.968,0.000,1493.389,0.000,1766.720,1800.000,0.532,0.000
$DEVICE_MAMPS,248.508,87.438,1171.209,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,714.758,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34636,1028
$CAP_FILE_SIZE,140519,0
$CFSIZE,260165632,224788480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.1
$GPS,021208,140408,6541.190,-5746.362,37,0.9,37,-36.0