version: 66.04
glider: 108
mission: 11
dive: 415
start: 12 3 108 21 40 34
data:
$ID,108
$MISSION,11
$DIVE,415
$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,-120087.06
$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,32
$R_STBD_OVSHOOT,32
$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
$GPS1,213432,6549.229,-5730.975,37,1.2,37,-36.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-66.7
$GPS2,214014,6549.247,-5731.007,12,1.1,12,-36.1
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6559.395,-5721.930
$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,56.1,20000,-13.0,-7.021
$D_GRID,590
$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,15,-0.99,-146.0,0.0,0.0,0,97,0.00,0.00,-78.65,0.000,2,0.000,0.000,332,2246,3174
$GC,100,-0.99,-146.0,3.4,-2.0,14,119,8.82,2.38,-2.00,0.000,4,0.245,0.071,2469,820,3250
$GC,374,-0.81,-146.0,34.1,-9.4,62,381,0.17,2.35,0.00,0.000,6,0.133,0.059,2511,2239,3253
$GC,720,-0.88,-146.0,60.0,-7.8,123,726,0.10,2.22,0.00,0.000,4,0.085,0.071,2456,3602,3252
$GC,789,-0.75,-146.0,66.5,-9.0,135,796,0.22,2.15,0.00,0.000,6,0.141,0.046,2520,2217,3252
$GC,1135,-0.86,-146.0,87.2,-6.5,196,1142,0.10,2.20,0.00,0.000,4,0.091,0.058,2476,815,3252
$GC,1234,-0.76,-146.0,95.2,-8.3,213,1241,0.17,2.33,0.00,0.000,6,0.131,0.060,2516,2243,3252
$GC,1560,-0.86,-146.0,114.9,-5.7,238,1565,0.10,2.20,0.00,0.000,4,0.087,0.071,2462,3598,3252
$GC,1787,-0.79,-146.0,130.8,-6.5,248,1791,0.17,2.12,0.00,0.000,6,0.137,0.048,2511,2225,3251
$GC,2119,-0.89,-146.0,144.1,-3.9,264,2124,0.10,2.20,0.00,0.000,4,0.091,0.059,2466,827,3250
$GC,2238,-0.78,-146.0,151.0,-6.2,269,2243,0.20,2.30,0.00,0.000,6,0.130,0.061,2514,2237,3251
$GC,2555,-0.91,-146.0,165.0,-4.7,284,2557,0.12,0.00,0.00,0.000,6,0.080,0.000,2461,2236,3250
$GC,2864,-0.85,-146.0,185.4,-6.5,299,2866,0.12,0.00,0.00,0.000,6,0.143,0.000,2495,2236,3250
$GC,3174,-0.92,-146.0,202.9,-5.6,314,3176,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2236,3250
$GC,3482,-0.99,-146.0,219.8,-5.3,329,3484,0.12,0.00,0.00,0.000,6,0.084,0.000,2442,2236,3250
$GC,3792,-0.86,-146.0,239.9,-6.6,344,3796,0.17,2.28,0.00,0.000,4,0.143,0.057,2497,814,3250
$GC,3843,-0.86,-146.0,242.7,-5.4,346,3848,0.00,2.30,0.00,0.000,6,0.000,0.058,2489,2245,3250
$GC,4166,-0.92,-146.0,257.9,-4.9,362,4167,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2245,3251
$GC,4475,-0.97,-146.0,273.8,-5.3,377,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2245,3251
$GC,4784,-1.03,-146.0,291.0,-5.5,392,4786,0.12,0.00,0.00,0.000,6,0.077,0.000,2434,2245,3251
$GC,5096,-0.88,-146.0,312.9,-6.9,407,5098,0.20,0.00,0.00,0.000,6,0.137,0.000,2492,2246,3251
$GC,5403,-0.97,-146.0,326.7,-4.0,422,5404,0.10,0.00,0.00,0.000,6,0.088,0.000,2448,2246,3252
$GC,5714,-0.88,-146.0,342.3,-5.2,437,5718,0.15,2.28,0.00,0.000,4,0.142,0.056,2494,823,3252
$GC,5770,-0.94,-146.0,345.0,-4.1,439,5777,0.00,2.30,0.00,0.000,6,0.000,0.057,2487,2242,3252
$GC,6088,-1.00,-146.0,357.8,-4.0,455,6090,0.10,0.00,0.00,0.000,6,0.081,0.000,2438,2241,3252
$GC,6397,-0.89,-146.0,374.5,-5.3,470,6401,0.17,2.28,0.00,0.000,4,0.136,0.054,2494,826,3253
$GC,6486,-0.94,-146.0,378.6,-4.4,474,6490,0.00,2.33,0.00,0.000,6,0.000,0.056,2487,2244,3253
$GC,6811,-1.01,-146.0,391.5,-4.1,490,6812,0.10,0.00,0.00,0.000,6,0.080,0.000,2438,2244,3253
$GC,7136,-0.90,-146.0,409.2,-5.6,502,7141,0.17,2.30,0.00,0.000,4,0.135,0.054,2489,818,3253
$GC,7203,-0.90,-146.0,412.7,-5.3,503,7207,0.00,2.33,0.00,0.000,6,0.000,0.055,2481,2237,3253
$GC,7540,-0.90,-146.0,428.6,-4.8,512,7541,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2237,3253
$GC,7865,-0.95,-146.0,443.4,-4.6,520,7869,0.00,2.25,0.00,0.000,4,0.000,0.053,2481,824,3254
$GC,7927,-0.95,-146.0,446.5,-5.2,521,7930,0.00,2.28,0.00,0.000,6,0.000,0.055,2471,2235,3254
$GC,8241,-0.95,-146.0,461.8,-4.9,529,8242,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2235,3254
$GC,8565,-0.95,-146.0,477.5,-4.9,537,8569,0.00,2.22,0.00,0.000,4,0.000,0.053,2471,824,3254
$GC,8644,-0.95,-146.0,481.5,-5.5,538,8648,0.00,2.28,0.00,0.000,6,0.000,0.054,2461,2234,3254
$GC,8976,-0.95,-146.0,497.5,-4.8,546,8980,0.00,2.20,0.00,0.000,4,0.000,0.067,2451,3603,3255
$GC,9027,-0.90,-146.0,500.2,-5.7,547,9031,0.12,2.12,0.00,0.000,6,0.139,0.041,2485,2213,3255
$GC,9351,-0.98,-146.0,513.9,-4.1,555,9355,0.00,2.17,0.00,0.000,4,0.000,0.054,2485,816,3255
$GC,9443,-0.98,-146.0,517.9,-4.4,557,9447,0.00,2.30,0.00,0.000,6,0.000,0.054,2477,2243,3255
$GC,9767,-0.98,-146.0,532.6,-4.5,565,9771,0.00,2.17,0.00,0.000,4,0.000,0.067,2466,3602,3255
$GC,9829,-0.98,-146.0,535.7,-5.1,566,9833,0.00,2.12,0.00,0.000,6,0.000,0.042,2467,2215,3255
$GC,10143,-0.98,-146.0,550.2,-4.6,574,10146,0.00,2.17,0.00,0.000,4,0.000,0.054,2466,822,3255
$GC,10216,-0.93,-146.0,553.9,-4.8,575,10220,0.00,2.28,0.00,0.000,6,0.000,0.054,2457,2235,3255
$GC,10559,-0.93,-146.0,570.5,-4.8,584,10563,0.00,2.25,0.00,0.000,4,0.000,0.053,2456,815,3255
$GC,10622,-0.85,-146.0,573.6,-4.5,585,10627,0.17,2.30,0.00,0.000,6,0.128,0.054,2497,2244,3255
$GC,10971,-0.97,-146.0,588.2,-4.2,594,10973,0.12,0.00,0.00,0.000,6,0.075,0.000,2443,2243,3255
$STATE,11009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11009,begin apogee
$GC,11017,-0.31,0.0,590.0,4.2,595,11147,0.55,0.00,127.15,1.175,6,0.120,0.000,2618,1746,2650
$STATE,11148,end apogee,CONTROL_FINISHED_OK
$STATE,11148,begin climb
$GC,11151,0.99,146.0,591.5,0.0,598,11289,0.82,2.58,130.10,1.103,4,0.086,0.059,2893,3151,2053
$GC,11309,0.68,146.0,575.9,13.3,601,11314,0.30,2.45,0.00,0.000,6,0.131,0.043,2823,1732,2050
$GC,11640,0.68,146.0,548.6,8.0,609,11641,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1732,2046
$GC,11965,0.68,146.0,524.2,7.2,617,11966,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1732,2045
$GC,12290,0.68,146.0,499.9,7.6,625,12291,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1732,2045
$GC,12615,0.68,146.0,476.6,7.3,633,12619,0.00,2.33,0.00,0.000,4,0.000,0.061,2823,3154,2045
$GC,12638,0.68,147.4,474.8,7.0,633,12642,0.00,2.22,0.00,0.000,6,0.000,0.044,2832,1732,2044
$GC,12987,0.68,147.4,448.1,7.7,642,12991,0.00,2.30,0.00,0.000,4,0.000,0.060,2832,3151,2045
$GC,13021,0.58,147.4,445.2,8.9,642,13025,0.15,2.22,0.00,0.000,6,0.130,0.045,2799,1735,2043
$GC,13358,0.78,194.8,425.9,5.5,651,13402,0.17,0.00,41.10,1.079,6,0.062,0.000,2878,1735,1855
$GC,13703,0.62,194.8,389.9,10.8,661,13705,0.22,0.00,0.00,0.000,6,0.119,0.000,2810,1735,1848
$GC,14015,0.75,196.8,368.1,7.0,676,14016,0.12,0.00,0.00,0.000,6,0.070,0.000,2869,1735,1846
$GC,14321,0.62,196.8,335.0,10.9,691,14323,0.20,0.00,0.00,0.000,6,0.121,0.000,2808,1735,1846
$GC,14631,0.81,219.5,314.0,6.3,706,14657,0.17,2.33,20.80,0.983,4,0.062,0.061,2887,3160,1754
$GC,14675,0.61,219.5,309.4,11.8,708,14680,0.30,2.28,0.00,0.000,6,0.128,0.045,2807,1735,1752
$GC,14999,0.85,251.3,288.6,6.0,724,15030,0.20,0.00,28.48,0.973,6,0.059,0.000,2896,1735,1625
$GC,15326,0.69,251.3,251.2,11.6,740,15331,0.20,2.30,0.00,0.000,4,0.123,0.058,2839,323,1619
$GC,15344,0.61,251.3,249.4,10.7,741,15349,0.10,2.25,0.00,0.000,6,0.116,0.048,2810,1747,1619
$GC,15677,1.27,251.3,225.6,9.1,757,15679,0.45,0.00,0.00,0.000,6,0.083,0.000,2968,1747,1616
$GC,15986,0.89,251.3,180.9,17.1,772,15988,0.32,0.00,0.00,0.000,6,0.132,0.000,2870,1747,1616
$GC,16294,0.89,251.3,152.4,8.9,787,16298,0.00,2.25,0.00,0.000,4,0.000,0.061,2870,3153,1616
$GC,16311,0.89,251.3,150.8,9.1,787,16317,0.00,2.25,0.00,0.000,6,0.000,0.045,2877,1729,1615
$GC,16627,0.89,251.3,120.1,9.9,803,16631,0.00,2.28,0.00,0.000,4,0.000,0.059,2888,323,1615
$GC,16683,0.89,251.3,114.3,10.3,805,16687,0.00,2.30,0.00,0.000,6,0.000,0.048,2888,1750,1615
$GC,17013,0.89,251.3,80.9,9.5,844,17020,0.00,2.25,0.00,0.000,4,0.000,0.062,2888,3153,1615
$GC,17038,0.83,251.3,78.5,9.7,848,17045,0.15,2.22,0.00,0.000,6,0.126,0.046,2854,1730,1615
$GC,17384,1.08,280.8,56.8,6.1,909,17416,0.20,2.33,25.55,0.860,4,0.062,0.061,2961,331,1505
$GC,17429,1.01,280.8,52.3,9.8,916,17436,0.22,2.30,0.00,0.000,6,0.124,0.049,2894,1748,1504
$GC,17775,1.06,280.8,22.9,8.5,977,17781,0.00,2.25,0.00,0.000,4,0.000,0.064,2895,3153,1499
$GC,17799,1.06,280.8,20.7,8.5,981,17805,0.00,2.25,0.00,0.000,6,0.000,0.048,2901,1725,1499
$FREEZE,6.74,0.268,-1.819
$FREEZE,6.34,0.268,-1.819
$FREEZE,5.77,0.268,-1.819
$FREEZE,5.29,0.268,-1.818
$FREEZE,4.93,0.269,-1.818
$FREEZE,4.45,0.267,-1.818
$FREEZE,4.07,0.263,-1.817
$FREEZE,3.70,0.262,-1.817
$FREEZE,3.33,0.262,-1.817
$FREEZE,2.91,0.261,-1.816
$STATE,18002,end climb,SURFACE_DEPTH_REACHED
$STATE,18002,begin surface coast
$FREEZE,2.47,0.267,-1.816
$FREEZE,1.80,0.264,-1.816
$FREEZE,1.52,0.256,-1.816
$FREEZE,1.43,0.219,-0.526
$FREEZE,1.36,0.046,-0.584
$FREEZE,1.29,0.061,-1.435
$FREEZE,1.38,0.199,-0.945
$FREEZE,1.39,-0.429,-0.735
$FINISH,1.4,1.010814
$STATE,18048,end surface coast,CONTROL_FINISHED_OK
$STATE,18048,begin surface
$SM_CCo,18128,0.00,0.000,0,0,1495,283.32
$SM_GC,2.23,6.82,0.00,0.00,0.044,0.000,0.000,332,2238,1495,-10.69,0.23,283.32
$RAFOS_CLK,715
$RAFOS,4,1228351442,0.750000,0.733889,57,57,56,55,51,49,196,221,167,114,123,135
$RAFOS,3,1228350868,0.583333,0.574444,67,60,60,59,58,58,727,206,157,146,242,196
$RAFOS,2,1228350244,0.416667,0.401111,67,56,56,56,56,50,1001,179,217,150,1621,135
$RAFOS,1,1228349660,0.250000,0.238889,64,58,56,55,52,51,192,176,234,216,115,207
$RAFOS,0,1228349042,0.083333,0.067222,62,59,58,56,52,49,181,204,148,121,214,224
$RAFOS_FIX,5510.566895,-40814.296875,031208,202054,3,82,1555.77
$IRIDIUM_FIX,6517.16,-5734.14,270298,161602
$TT8_MAMPS,0.026845
$HUMID,1783
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,16.10
$XPDR_PINGS,130
$24V_AH,22.2,69.052
$10V_AH,10.5,31.288
$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,23.975,119.475,373.175,0.000,0.000,29.438,38.542,134.925,32.500,0.000,0.000,14.060,1887.296,13650.413,498.317,1892.412,537.408,0.000,1505.565,0.000,1867.715,1800.000,0.532,0.000
$DEVICE_MAMPS,245.440,71.331,1175.044,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,713.712,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34691,1025
$CAP_FILE_SIZE,140153,0
$CFSIZE,260165632,224436224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.2
$GPS,041208,024407,6548.887,-5729.020,37,1.0,37,-36.1