version: 66.04
glider: 108
mission: 11
dive: 416
start: 12 4 108 2 50 4
data:
$ID,108
$MISSION,11
$DIVE,416
$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,-120103.27
$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,29
$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
$GPS1,024407,6548.887,-5729.020,37,1.0,37,-36.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-67.3
$GPS2,024944,6548.860,-5728.950,9,1.0,14,-36.1
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6559.008,-5719.875
$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,598
$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,-146.0,0.0,0.0,0,92,0.00,0.00,-74.43,0.000,2,0.000,0.000,332,2238,3160
$GC,96,-0.99,-146.0,3.3,-2.1,13,115,8.85,2.35,-2.55,0.000,4,0.247,0.071,2472,819,3250
$GC,370,-0.82,-146.0,32.6,-10.5,61,377,0.15,2.30,0.00,0.000,6,0.134,0.058,2506,2233,3253
$GC,715,-0.82,-146.0,57.3,-6.9,122,722,0.00,2.28,0.00,0.000,4,0.000,0.057,2510,815,3253
$GC,796,-0.82,-146.0,62.6,-5.8,136,802,0.00,2.30,0.00,0.000,6,0.000,0.058,2502,2234,3253
$GC,1141,-0.82,-146.0,82.0,-5.4,197,1147,0.00,2.20,0.00,0.000,4,0.000,0.071,2491,3596,3252
$GC,1283,-0.82,-146.0,90.9,-6.4,222,1290,0.00,2.15,0.00,0.000,6,0.000,0.047,2491,2211,3252
$GC,1617,-0.82,-146.0,113.0,-7.1,257,1621,0.00,2.17,0.00,0.000,4,0.000,0.059,2492,816,3252
$GC,1762,-0.82,-146.0,123.9,-7.2,263,1766,0.00,2.30,0.00,0.000,6,0.000,0.060,2482,2234,3252
$GC,2084,-0.82,-146.0,144.9,-6.2,279,2086,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2233,3251
$GC,2393,-0.82,-146.0,163.4,-6.1,294,2394,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2233,3251
$GC,2704,-0.82,-146.0,180.4,-5.4,309,2705,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2233,3251
$GC,3012,-0.82,-146.0,196.8,-5.1,324,3016,0.00,2.28,0.00,0.000,4,0.000,0.058,2482,820,3250
$GC,3108,-0.82,-146.0,201.9,-5.5,328,3112,0.12,2.30,0.00,0.000,6,0.130,0.059,2506,2235,3250
$GC,3435,-0.94,-146.0,215.5,-4.5,344,3440,0.12,2.20,0.00,0.000,4,0.082,0.070,2443,3598,3251
$GC,3497,-0.83,-146.0,219.5,-7.3,346,3504,0.20,2.12,0.00,0.000,6,0.137,0.045,2500,2222,3251
$GC,3813,-0.93,-146.0,234.1,-4.6,362,3818,0.10,2.20,0.00,0.000,4,0.092,0.057,2455,821,3251
$GC,3921,-0.80,-146.0,240.7,-5.7,366,3928,0.22,2.28,0.00,0.000,6,0.130,0.058,2511,2240,3251
$GC,4238,-0.94,-146.0,254.9,-4.4,382,4242,0.15,2.28,0.00,0.000,4,0.077,0.056,2448,815,3252
$GC,4307,-0.80,-146.0,259.3,-6.7,385,4311,0.25,2.30,0.00,0.000,6,0.130,0.058,2512,2237,3251
$GC,4635,-0.95,-146.0,273.3,-4.2,401,4637,0.15,0.00,0.00,0.000,6,0.076,0.000,2449,2237,3252
$GC,4944,-0.86,-146.0,291.8,-6.1,416,4948,0.17,2.25,0.00,0.000,4,0.143,0.054,2500,827,3252
$GC,5000,-0.92,-146.0,294.7,-5.1,418,5004,0.00,2.28,0.00,0.000,6,0.000,0.058,2493,2242,3252
$GC,5322,-1.00,-146.0,310.6,-5.1,434,5324,0.10,0.00,0.00,0.000,6,0.084,0.000,2444,2242,3252
$GC,5631,-0.89,-146.0,331.0,-6.7,449,5635,0.15,2.28,0.00,0.000,4,0.137,0.055,2487,816,3253
$GC,5710,-0.89,-146.0,335.8,-6.0,452,5714,0.00,2.30,0.00,0.000,6,0.000,0.057,2479,2244,3253
$GC,6027,-0.89,-146.0,352.5,-5.2,467,6029,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2244,3253
$GC,6335,-0.89,-146.0,367.1,-4.6,482,6339,0.00,2.28,0.00,0.000,4,0.000,0.055,2479,817,3253
$GC,6397,-0.89,-146.0,370.3,-5.7,484,6403,0.00,2.28,0.00,0.000,6,0.000,0.055,2469,2242,3253
$GC,6713,-0.89,-146.0,385.9,-4.6,500,6715,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2242,3253
$GC,7022,-0.89,-146.0,399.4,-4.2,515,7023,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2242,3254
$GC,7327,-0.89,-146.0,412.3,-4.3,523,7331,0.00,2.25,0.00,0.000,4,0.000,0.055,2469,828,3254
$GC,7389,-0.89,-146.0,415.1,-4.8,524,7394,0.12,2.28,0.00,0.000,6,0.132,0.055,2494,2245,3254
$GC,7702,-0.99,-146.0,426.9,-3.9,532,7707,0.12,2.17,0.00,0.000,4,0.076,0.071,2429,3589,3254
$GC,7749,-0.86,-146.0,429.3,-5.9,533,7754,0.22,2.08,0.00,0.000,6,0.136,0.044,2496,2225,3254
$GC,8079,-0.98,-146.0,443.5,-4.3,541,8084,0.12,2.17,0.00,0.000,4,0.080,0.054,2441,825,3255
$GC,8180,-0.83,-146.0,449.7,-6.2,543,8185,0.22,2.25,0.00,0.000,6,0.127,0.055,2498,2236,3255
$GC,8495,-0.96,-146.0,463.5,-4.4,551,8496,0.10,0.00,0.00,0.000,6,0.084,0.000,2454,2236,3255
$GC,8819,-0.91,-146.0,480.8,-5.3,559,8823,0.12,2.25,0.00,0.000,4,0.141,0.054,2488,816,3255
$GC,8893,-0.96,-146.0,484.2,-4.8,560,8897,0.00,2.30,0.00,0.000,6,0.000,0.054,2480,2239,3255
$GC,9236,-1.00,-146.0,499.8,-4.6,569,9240,0.00,2.17,0.00,0.000,4,0.000,0.067,2470,3598,3255
$GC,9292,-1.00,-146.0,502.7,-5.6,570,9296,0.00,2.10,0.00,0.000,6,0.000,0.041,2470,2222,3255
$GC,9611,-1.00,-146.0,519.0,-5.2,578,9615,0.00,2.17,0.00,0.000,4,0.000,0.054,2469,826,3255
$GC,9702,-1.00,-146.0,524.0,-5.5,580,9706,0.00,2.30,0.00,0.000,6,0.000,0.055,2460,2245,3256
$GC,10033,-1.00,-146.0,541.1,-5.2,588,10037,0.00,2.25,0.00,0.000,4,0.000,0.054,2459,827,3256
$GC,10090,-0.93,-146.0,544.2,-5.2,589,10095,0.12,2.28,0.00,0.000,6,0.130,0.054,2484,2238,3255
$GC,10409,-1.02,-146.0,558.4,-4.2,597,10414,0.10,2.20,0.00,0.000,4,0.082,0.066,2428,3605,3256
$GC,10552,-0.89,-146.0,566.7,-5.8,600,10557,0.20,2.12,0.00,0.000,6,0.136,0.042,2487,2218,3256
$GC,10877,-0.98,-146.0,579.3,-3.7,608,10881,0.00,2.17,0.00,0.000,4,0.000,0.054,2487,827,3256
$GC,10933,-0.98,-146.0,581.6,-4.4,609,10937,0.00,2.30,0.00,0.000,6,0.000,0.054,2479,2246,3256
$GC,11253,-1.04,-146.0,595.2,-4.3,617,11255,0.10,0.00,0.00,0.000,6,0.082,0.000,2431,2246,3256
$STATE,11330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11330,begin apogee
$GC,11337,-0.31,0.0,599.5,4.8,619,11469,0.57,0.00,128.55,1.179,6,0.123,0.000,2612,1748,2650
$STATE,11470,end apogee,CONTROL_FINISHED_OK
$STATE,11470,begin climb
$GC,11473,0.99,146.0,599.5,0.0,622,11609,0.88,0.00,131.50,1.106,6,0.100,0.000,2892,1748,2054
$GC,11922,0.74,146.0,548.7,12.1,633,11924,0.20,0.00,0.00,0.000,6,0.127,0.000,2835,1748,2047
$GC,12247,0.74,146.0,521.1,8.2,641,12251,0.00,2.30,0.00,0.000,4,0.000,0.061,2835,3151,2046
$GC,12287,0.62,146.0,517.5,9.1,641,12294,0.12,2.22,0.00,0.000,6,0.133,0.045,2808,1737,2045
$GC,12619,0.72,157.6,495.0,6.6,650,12632,0.10,0.00,9.90,0.986,6,0.080,0.000,2857,1737,2007
$GC,12944,0.60,157.6,463.9,9.7,658,12946,0.17,0.00,0.00,0.000,6,0.122,0.000,2806,1737,2006
$GC,13270,0.72,171.3,441.8,6.6,666,13290,0.12,2.38,13.15,1.014,4,0.073,0.061,2864,3154,1951
$GC,13307,0.54,171.3,438.3,9.3,666,13314,0.28,2.25,0.00,0.000,6,0.128,0.045,2792,1734,1950
$GC,13639,0.78,211.4,418.5,5.7,675,13679,0.17,0.00,35.33,1.062,6,0.060,0.000,2873,1734,1788
$GC,13987,0.65,211.4,380.7,11.4,687,13988,0.20,0.00,0.00,0.000,6,0.120,0.000,2813,1734,1781
$GC,14296,0.80,229.0,359.3,6.5,702,14318,0.15,2.35,15.62,0.982,4,0.067,0.060,2879,3164,1715
$GC,14343,0.60,229.0,354.5,11.5,704,14348,0.28,2.28,0.00,0.000,6,0.128,0.044,2807,1726,1714
$GC,14670,0.85,262.7,333.7,5.9,720,14703,0.17,0.00,30.40,1.000,6,0.062,0.000,2887,1726,1579
$GC,14999,0.70,262.7,295.7,11.6,736,15003,0.20,2.22,0.00,0.000,4,0.121,0.057,2830,334,1573
$GC,15016,0.64,262.7,293.9,11.7,736,15022,0.00,2.22,0.00,0.000,6,0.000,0.046,2830,1743,1572
$GC,15332,0.76,262.7,270.8,7.4,752,15336,0.00,2.20,0.00,0.000,4,0.000,0.060,2830,3150,1571
$GC,15393,0.76,262.7,265.3,9.4,754,15399,0.00,2.22,0.00,0.000,6,0.000,0.044,2840,1724,1570
$GC,15710,0.84,262.7,238.9,8.6,770,15712,0.08,0.00,0.00,0.000,6,0.096,0.000,2883,1724,1569
$GC,16020,0.75,262.7,202.6,11.8,785,16024,0.15,2.22,0.00,0.000,4,0.122,0.058,2845,326,1569
$GC,16048,0.83,262.7,199.6,10.0,786,16052,0.00,2.25,0.00,0.000,6,0.000,0.048,2846,1754,1569
$GC,16375,0.90,262.7,171.3,8.8,802,16379,0.10,2.20,0.00,0.000,4,0.079,0.060,2895,3156,1569
$GC,16420,0.68,262.7,165.9,13.3,804,16425,0.28,2.20,0.00,0.000,6,0.127,0.046,2822,1737,1568
$GC,16748,0.90,269.4,142.7,6.8,820,16756,0.17,0.00,5.75,0.739,6,0.064,0.000,2904,1737,1551
$GC,17056,0.77,269.4,106.1,11.9,835,17058,0.20,0.00,0.00,0.000,6,0.122,0.000,2843,1737,1550
$GC,17386,1.00,284.3,83.3,6.5,883,17411,0.17,2.40,14.85,0.840,4,0.064,0.061,2922,3152,1490
$GC,17418,1.00,284.3,80.3,8.5,888,17425,0.15,2.25,0.00,0.000,6,0.139,0.046,2891,1726,1490
$GC,17764,1.07,284.3,49.7,7.5,949,17769,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1726,1487
$GC,18108,1.13,284.3,23.0,9.4,1010,18115,0.12,2.25,0.00,0.000,4,0.072,0.061,2958,332,1486
$GC,18133,1.13,284.3,20.2,10.1,1014,18140,0.12,2.28,0.00,0.000,6,0.137,0.050,2924,1738,1486
$FREEZE,6.35,0.298,-1.819
$FREEZE,5.72,0.296,-1.819
$FREEZE,5.13,0.294,-1.818
$FREEZE,4.35,0.293,-1.818
$FREEZE,3.71,0.300,-1.817
$FREEZE,2.99,0.299,-1.816
$STATE,18286,end climb,SURFACE_DEPTH_REACHED
$STATE,18286,begin surface coast
$FREEZE,2.57,0.298,-1.816
$FREEZE,2.03,0.293,-1.816
$FREEZE,1.67,0.293,-1.816
$FREEZE,1.43,0.268,-1.769
$FREEZE,1.40,0.268,-0.220
$FINISH,1.4,1.003098
$STATE,18315,end surface coast,CONTROL_FINISHED_OK
$STATE,18315,begin surface
$SM_CCo,18394,0.00,0.000,0,0,1481,286.51
$SM_GC,2.34,7.00,0.00,0.00,0.055,0.000,0.000,334,2231,1481,-10.69,0.00,286.51
$RAFOS_CLK,722
$RAFOS,4,1228365858,4.750000,4.738333,70,66,56,55,53,48,220,195,204,177,160,149
$RAFOS,3,1228365253,4.583333,4.570278,99,78,59,54,54,53,809,204,118,240,170,187
$RAFOS,2,1228364643,4.416667,4.400833,60,52,51,50,48,48,211,181,198,120,143,220
$RAFOS,1,1228364054,4.250000,4.237222,75,65,61,55,55,55,965,159,195,121,228,173
$RAFOS,0,1228363449,4.083333,4.069167,61,59,58,57,56,52,219,128,192,163,229,203
$RAFOS_FIX,257834.171875,-12671885.000000,041208,040421,3,81,61494.98
$IRIDIUM_FIX,6522.33,-5732.94,270298,212134
$TT8_MAMPS,0.026845
$HUMID,1791
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,16.00
$XPDR_PINGS,129
$24V_AH,22.2,69.186
$10V_AH,10.5,31.357
$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,24.500,131.725,385.050,0.000,0.000,25.777,30.383,140.554,32.250,0.000,0.000,15.576,2005.533,13679.811,530.767,2018.296,537.843,0.000,1596.990,0.000,1988.657,1800.000,0.533,0.000
$DEVICE_MAMPS,246.974,71.331,1178.879,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,728.338,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34727,1046
$CAP_FILE_SIZE,147214,0
$CFSIZE,260165632,224366592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.5
$GPS,041208,075838,6550.040,-5726.509,27,1.1,27,-36.1