version: 66.04
glider: 108
mission: 11
dive: 417
start: 12 4 108 8 5 2
data:
$ID,108
$MISSION,11
$DIVE,417
$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,-120134.67
$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,25
$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
$GPS1,075838,6550.040,-5726.509,27,1.1,27,-36.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-67.2
$GPS2,080444,6550.057,-5726.555,12,1.7,29,-36.1
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6600.205,-5717.473
$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,604
$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,-146.0,0.0,0.0,0,87,0.00,0.00,-68.43,0.000,2,0.000,0.000,334,2232,3028
$GC,91,-0.99,-146.0,3.2,-2.4,12,111,8.60,2.40,-6.65,0.000,4,0.236,0.068,2469,807,3248
$GC,366,-0.81,-146.0,33.5,-11.2,60,373,0.15,2.38,0.00,0.000,6,0.130,0.057,2503,2243,3252
$GC,710,-0.81,-146.0,61.8,-7.3,121,716,0.00,2.33,0.00,0.000,4,0.000,0.058,2507,806,3252
$GC,926,-0.81,-146.0,76.7,-6.5,159,933,0.00,2.35,0.00,0.000,6,0.000,0.058,2499,2235,3252
$GC,1271,-0.81,-146.0,97.8,-6.6,220,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2235,3251
$GC,1595,-0.81,-146.0,119.4,-6.9,240,1599,0.00,2.22,0.00,0.000,4,0.000,0.072,2488,3602,3251
$GC,1712,-0.81,-146.0,128.8,-8.1,245,1716,0.00,2.15,0.00,0.000,6,0.000,0.047,2488,2217,3251
$GC,2039,-0.81,-146.0,151.8,-6.3,261,2043,0.00,2.20,0.00,0.000,4,0.000,0.058,2488,819,3250
$GC,2180,-0.81,-146.0,160.2,-5.0,267,2184,0.10,2.30,0.00,0.000,6,0.135,0.059,2505,2237,3250
$GC,2502,-0.90,-146.0,171.5,-3.1,283,2506,0.00,2.25,0.00,0.000,4,0.000,0.057,2505,826,3250
$GC,2574,-0.96,-146.0,174.2,-4.0,286,2578,0.10,2.28,0.00,0.000,6,0.082,0.059,2453,2240,3250
$GC,2905,-0.87,-146.0,193.5,-6.3,302,2909,0.15,2.20,0.00,0.000,4,0.141,0.070,2486,3606,3249
$GC,2951,-0.93,-146.0,196.8,-6.4,304,2955,0.00,2.15,0.00,0.000,6,0.000,0.046,2486,2216,3249
$GC,3284,-0.93,-146.0,218.8,-6.8,320,3288,0.00,2.17,0.00,0.000,4,0.000,0.057,2486,818,3250
$GC,3397,-0.93,-146.0,227.1,-7.3,325,3400,0.00,2.30,0.00,0.000,6,0.000,0.058,2476,2233,3250
$GC,3730,-0.93,-146.0,249.1,-5.7,341,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2233,3250
$GC,4039,-0.93,-146.0,263.5,-4.4,356,4042,0.00,2.28,0.00,0.000,4,0.000,0.054,2476,819,3250
$GC,4095,-0.93,-146.0,266.2,-4.9,358,4099,0.00,2.28,0.00,0.000,6,0.000,0.057,2466,2239,3250
$GC,4417,-0.93,-146.0,283.6,-5.9,374,4421,0.00,2.20,0.00,0.000,4,0.000,0.069,2456,3597,3250
$GC,4564,-0.88,-146.0,293.3,-6.9,380,4569,0.12,2.15,0.00,0.000,6,0.141,0.044,2490,2212,3250
$GC,4887,-0.95,-146.0,310.0,-4.8,396,4891,0.00,2.17,0.00,0.000,4,0.000,0.055,2490,821,3251
$GC,4965,-0.95,-146.0,314.3,-5.3,399,4969,0.00,2.28,0.00,0.000,6,0.000,0.056,2483,2245,3251
$GC,5288,-0.95,-146.0,330.5,-5.2,415,5289,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2245,3251
$GC,5596,-0.95,-146.0,346.9,-5.2,430,5597,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2245,3252
$GC,5905,-0.95,-146.0,362.8,-4.8,445,5910,0.00,2.30,0.00,0.000,4,0.000,0.055,2482,817,3252
$GC,5967,-0.95,-146.0,365.9,-5.5,447,5974,0.00,2.28,0.00,0.000,6,0.000,0.055,2472,2236,3252
$GC,6284,-0.95,-146.0,381.0,-4.7,463,6289,0.00,2.22,0.00,0.000,4,0.000,0.067,2462,3599,3253
$GC,6337,-0.95,-146.0,383.6,-4.8,465,6340,0.00,2.15,0.00,0.000,6,0.000,0.042,2462,2212,3252
$GC,6665,-0.95,-146.0,400.0,-5.4,481,6669,0.00,2.17,0.00,0.000,4,0.000,0.054,2461,826,3253
$GC,6811,-0.87,-146.0,408.8,-5.6,485,6816,0.15,2.30,0.00,0.000,6,0.127,0.055,2494,2233,3253
$GC,7124,-0.97,-146.0,423.8,-4.8,493,7126,0.10,0.00,0.00,0.000,6,0.083,0.000,2449,2233,3254
$GC,7450,-0.90,-146.0,443.3,-5.9,501,7452,0.15,0.00,0.00,0.000,6,0.141,0.000,2491,2233,3254
$GC,7774,-0.99,-146.0,457.9,-4.2,509,7779,0.10,2.28,0.00,0.000,4,0.087,0.054,2446,818,3254
$GC,7871,-0.86,-146.0,463.2,-5.9,511,7876,0.20,2.33,0.00,0.000,6,0.130,0.054,2493,2230,3254
$GC,8191,-0.97,-146.0,474.9,-3.5,519,8192,0.10,0.00,0.00,0.000,6,0.084,0.000,2448,2230,3254
$GC,8515,-0.90,-146.0,490.3,-4.9,527,8517,0.15,0.00,0.00,0.000,6,0.141,0.000,2490,2230,3254
$GC,8841,-0.99,-146.0,503.1,-4.1,535,8843,0.10,0.00,0.00,0.000,6,0.087,0.000,2445,2230,3254
$GC,9165,-0.90,-146.0,519.6,-5.0,543,9170,0.15,2.28,0.00,0.000,4,0.141,0.052,2487,813,3254
$GC,9244,-0.90,-146.0,523.5,-4.7,544,9248,0.00,2.33,0.00,0.000,6,0.000,0.054,2479,2234,3254
$GC,9582,-0.95,-146.0,539.3,-4.6,553,9583,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2233,3254
$GC,9906,-1.01,-146.0,553.3,-4.5,561,9907,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2233,3254
$GC,10232,-1.07,-146.0,567.3,-4.3,569,10236,0.12,2.28,0.00,0.000,4,0.075,0.051,2422,817,3254
$GC,10323,-0.87,-146.0,572.8,-6.0,571,10328,0.28,2.33,0.00,0.000,6,0.130,0.054,2495,2237,3254
$GC,10654,-0.99,-146.0,586.0,-3.8,579,10656,0.12,0.00,0.00,0.000,6,0.078,0.000,2441,2237,3254
$GC,10980,-0.91,-146.0,603.3,-5.4,587,10984,0.15,2.28,0.00,0.000,4,0.141,0.053,2484,821,3254
$STATE,10987,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10987,begin apogee
$GC,10996,-0.31,0.0,604.0,5.4,587,11126,0.40,0.00,127.10,1.183,6,0.116,0.000,2613,1748,2650
$STATE,11127,end apogee,CONTROL_FINISHED_OK
$STATE,11127,begin climb
$GC,11130,0.99,146.0,604.4,0.0,590,11268,0.90,0.00,131.65,1.111,6,0.093,0.000,2901,1748,2053
$GC,11594,0.72,146.0,553.2,11.6,602,11598,0.22,2.30,0.00,0.000,4,0.126,0.060,2832,3156,2047
$GC,11616,0.53,146.0,550.8,10.1,602,11621,0.17,2.30,0.00,0.000,6,0.125,0.044,2790,1735,2046
$GC,11954,0.78,205.8,533.1,5.1,611,12007,0.20,0.00,51.10,1.106,6,0.060,0.000,2879,1735,1811
$GC,12319,0.62,205.8,494.7,10.9,620,12321,0.22,0.00,0.00,0.000,6,0.118,0.000,2811,1735,1802
$GC,12644,0.77,220.2,473.0,6.6,628,12664,0.12,2.45,12.32,1.006,4,0.072,0.060,2869,3158,1752
$GC,12698,0.57,220.2,467.4,11.6,629,12703,0.25,2.28,0.00,0.000,6,0.123,0.044,2805,1733,1750
$GC,13012,0.80,249.6,447.3,6.1,637,13042,0.17,0.00,27.12,1.060,6,0.061,0.000,2884,1733,1632
$GC,13336,0.66,249.6,409.8,11.9,645,13338,0.22,0.00,0.00,0.000,6,0.117,0.000,2815,1734,1626
$GC,13644,0.84,256.8,388.6,6.8,656,13658,0.15,2.42,6.53,0.859,4,0.067,0.061,2882,3162,1603
$GC,13665,0.84,256.8,386.7,8.1,657,13669,0.12,2.25,0.00,0.000,6,0.136,0.044,2857,1735,1602
$GC,13998,0.84,256.8,353.8,10.1,673,14002,0.00,2.25,0.00,0.000,4,0.000,0.060,2865,333,1601
$GC,14014,0.84,256.8,352.0,10.1,673,14021,0.00,2.25,0.00,0.000,6,0.000,0.047,2865,1755,1601
$GC,14330,0.84,256.8,318.3,10.8,689,14334,0.00,2.22,0.00,0.000,4,0.000,0.061,2865,3161,1601
$GC,14364,0.73,256.8,314.5,10.7,690,14369,0.15,2.28,0.00,0.000,6,0.125,0.045,2830,1729,1600
$GC,14682,0.83,256.8,289.6,7.4,705,14684,0.12,0.00,0.00,0.000,6,0.071,0.000,2889,1728,1600
$GC,14989,0.70,256.8,255.0,11.2,720,14991,0.20,0.00,0.00,0.000,6,0.120,0.000,2827,1729,1599
$GC,15299,0.84,256.8,232.6,7.4,735,15303,0.12,2.35,0.00,0.000,4,0.071,0.059,2886,3154,1599
$GC,15317,0.84,256.8,231.0,7.9,736,15322,0.15,2.22,0.00,0.000,6,0.133,0.045,2853,1734,1599
$GC,15649,0.84,256.8,199.4,9.0,752,15650,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1734,1598
$GC,15961,0.84,256.8,171.2,9.2,767,15965,0.00,2.25,0.00,0.000,4,0.000,0.059,2860,330,1599
$GC,15989,0.92,256.8,168.4,9.9,768,15993,0.00,2.22,0.00,0.000,6,0.000,0.048,2860,1741,1598
$GC,16316,0.92,256.8,139.6,8.4,784,16319,0.00,2.25,0.00,0.000,4,0.000,0.061,2860,3159,1599
$GC,16362,0.87,256.8,135.2,9.5,786,16366,0.00,2.25,0.00,0.000,6,0.000,0.046,2870,1734,1598
$GC,16696,0.87,256.8,106.1,8.5,802,16700,0.00,2.25,0.00,0.000,4,0.000,0.060,2879,327,1598
$GC,16720,0.87,256.8,103.9,8.2,803,16724,0.00,2.25,0.00,0.000,6,0.000,0.048,2879,1750,1598
$GC,17060,0.87,256.8,74.0,8.9,855,17066,0.00,2.20,0.00,0.000,4,0.000,0.063,2879,3147,1598
$GC,17100,0.87,256.8,70.0,9.6,862,17107,0.00,2.22,0.00,0.000,6,0.000,0.046,2888,1726,1598
$GC,17446,0.91,256.8,40.5,8.3,923,17452,0.00,2.22,0.00,0.000,4,0.000,0.061,2898,331,1598
$GC,17476,0.99,256.8,38.0,8.3,928,17482,0.00,2.22,0.00,0.000,6,0.000,0.049,2898,1741,1598
$GC,17821,1.05,301.8,14.1,5.6,989,17868,0.00,2.30,40.38,0.850,4,0.000,0.064,2898,3149,1420
$FREEZE,6.88,0.239,-1.819
$FREEZE,6.37,0.240,-1.819
$GC,17909,1.05,301.8,6.4,9.8,1004,17916,0.00,2.28,0.00,0.000,6,0.000,0.048,2907,1739,1415
$FREEZE,4.97,0.236,-1.818
$FREEZE,4.35,0.235,-1.817
$FREEZE,3.77,0.231,-1.817
$FREEZE,3.21,0.229,-1.816
$FREEZE,2.60,0.231,-1.816
$STATE,17943,end climb,SURFACE_DEPTH_REACHED
$STATE,17943,begin surface coast
$FREEZE,2.08,0.230,-1.815
$FREEZE,1.66,0.232,-1.815
$FREEZE,1.45,0.019,-1.788
$FREEZE,1.32,0.057,-0.903
$FREEZE,1.38,0.071,-0.628
$FINISH,1.4,1.009220
$STATE,17972,end surface coast,CONTROL_FINISHED_OK
$STATE,17975,begin surface
$SM_CCo,18053,0.00,0.000,0,0,1409,304.42
$SM_GC,2.24,7.03,0.00,0.00,0.054,0.000,0.000,334,2227,1409,-10.70,-0.08,304.42
$RAFOS_CLK,708
$RAFOS,4,1228394642,12.750000,12.733889,73,59,55,54,52,52,210,170,137,1143,146,223
$RAFOS,3,1228394050,12.583333,12.569445,75,67,64,59,57,57,830,210,190,199,222,152
$RAFOS,2,1228393445,12.416667,12.401389,64,60,58,58,54,53,157,210,187,131,198,234
$RAFOS,1,1228392847,12.250000,12.235278,89,61,59,57,56,55,1002,206,196,186,162,173
$RAFOS,0,1228392241,12.083333,12.066944,63,62,59,51,51,50,154,200,171,181,228,215
$RAFOS,4,1228380255,8.750000,8.737500,66,56,55,52,51,51,201,128,159,214,184,225
$RAFOS,3,1228379649,8.583333,8.569167,75,65,58,58,57,56,836,224,149,172,206,185
$RAFOS,2,1228379046,8.416667,8.401667,66,64,57,56,55,55,980,213,156,199,175,142
$RAFOS,1,1228378441,8.250000,8.233611,66,61,60,54,53,50,214,202,180,136,151,192
$RAFOS_FIX,7536.011230,2393218.500000,041208,121221,3,79,41288.93
$IRIDIUM_FIX,6517.16,-5823.55,280298,020258
$TT8_MAMPS,0.026845
$HUMID,1784
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,15.80
$XPDR_PINGS,120
$24V_AH,22.2,69.324
$10V_AH,10.5,31.425
$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,22.050,131.350,396.200,0.000,0.000,27.645,40.643,139.349,30.000,0.000,0.000,30.782,1929.655,13508.013,543.604,1929.131,546.589,0.000,1551.605,0.000,1886.820,3240.000,0.532,0.000
$DEVICE_MAMPS,236.236,72.098,1183.481,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,706.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34721,1015
$CAP_FILE_SIZE,139269,0
$CFSIZE,260165632,224305152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.3
$GPS,041208,130807,6550.669,-5723.329,38,1.3,38,-36.1