version: 66.04
glider: 108
mission: 11
dive: 428
start: 12 6 108 21 20 16
data:
$ID,108
$MISSION,11
$DIVE,428
$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,0
$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,-120356.45
$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,27
$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
$GPS1,211302,6608.317,-5701.656,38,1.1,38,-36.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-66.8
$GPS2,211957,6608.333,-5701.605,10,1.6,10,-36.4
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6619.132,-5701.605
$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,36.4,20000,-13.0,-7.021
$D_GRID,628
$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,-146.0,0.0,0.0,0,86,0.00,0.00,-67.20,0.000,2,0.000,0.000,334,2236,3227
$GC,90,-0.99,-146.0,3.1,-1.3,12,104,8.75,2.28,-0.68,0.000,4,0.242,0.080,2450,3601,3248
$GC,112,1.49,-146.0,4.6,-4.0,15,119,1.92,2.17,0.00,0.000,6,0.174,0.044,3002,2210,3251
$GC,458,-0.15,-146.0,33.7,-9.8,76,465,1.30,2.28,0.00,0.000,4,0.194,0.064,2640,3597,3253
$GC,546,-0.82,-146.0,39.0,-7.2,91,553,0.43,2.12,0.00,0.000,6,0.072,0.043,2485,2221,3252
$GC,892,-0.77,-146.0,66.3,-6.2,152,898,0.12,2.20,0.00,0.000,4,0.143,0.056,2520,823,3252
$GC,1032,-0.83,-146.0,74.6,-6.1,176,1038,0.00,2.28,0.00,0.000,6,0.000,0.058,2512,2232,3252
$GC,1378,-0.90,-146.0,95.5,-5.9,237,1384,0.10,2.20,0.00,0.000,4,0.084,0.068,2453,3596,3252
$GC,1529,-0.77,-146.0,107.6,-8.4,251,1534,0.20,2.12,0.00,0.000,6,0.140,0.044,2510,2232,3252
$GC,1846,-0.85,-146.0,124.7,-4.8,266,1850,0.00,2.20,0.00,0.000,4,0.000,0.058,2511,828,3252
$GC,1961,-0.91,-146.0,130.6,-5.5,271,1965,0.00,2.28,0.00,0.000,6,0.000,0.058,2503,2245,3251
$GC,2295,-0.97,-146.0,145.7,-4.2,287,2297,0.12,0.00,0.00,0.000,6,0.077,0.000,2447,2245,3251
$GC,2604,-0.86,-146.0,167.2,-7.6,302,2606,0.17,0.00,0.00,0.000,6,0.143,0.000,2496,2245,3251
$GC,2914,-0.94,-146.0,184.7,-5.5,317,2915,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2245,3251
$GC,3223,-1.02,-146.0,199.7,-4.6,332,3224,0.12,0.00,0.00,0.000,6,0.083,0.000,2443,2245,3250
$GC,3532,-0.91,-146.0,219.2,-6.4,347,3534,0.15,0.00,0.00,0.000,6,0.143,0.000,2484,2245,3250
$GC,3843,-0.96,-146.0,235.8,-5.4,362,3844,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2245,3251
$GC,4150,-1.01,-146.0,252.4,-5.1,377,4152,0.10,0.00,0.00,0.000,6,0.091,0.000,2441,2245,3251
$GC,4462,-0.89,-146.0,271.3,-5.9,392,4467,0.17,2.28,0.00,0.000,4,0.142,0.055,2495,826,3251
$GC,4570,-0.93,-146.0,276.9,-4.6,397,4573,0.00,2.28,0.00,0.000,6,0.000,0.057,2487,2242,3251
$GC,4903,-0.99,-146.0,293.6,-5.3,413,4908,0.10,2.17,0.00,0.000,4,0.084,0.067,2428,3595,3251
$GC,4972,-0.85,-146.0,298.3,-7.2,416,4977,0.22,2.12,0.00,0.000,6,0.137,0.043,2498,2212,3251
$GC,5300,-0.96,-146.0,316.3,-5.7,432,5304,0.10,2.17,0.00,0.000,4,0.089,0.054,2452,823,3252
$GC,5417,-0.85,-146.0,324.7,-7.2,437,5422,0.20,2.28,0.00,0.000,6,0.129,0.055,2500,2235,3252
$GC,5740,-0.96,-146.0,341.1,-4.9,453,5741,0.12,0.00,0.00,0.000,6,0.079,0.000,2446,2235,3252
$GC,6048,-0.88,-146.0,359.6,-6.0,468,6050,0.17,0.00,0.00,0.000,6,0.142,0.000,2495,2235,3252
$GC,6358,-0.99,-146.0,372.5,-4.1,483,6362,0.12,2.25,0.00,0.000,4,0.081,0.053,2443,820,3253
$GC,6443,-0.84,-146.0,377.5,-6.6,487,6448,0.22,2.28,0.00,0.000,6,0.127,0.055,2499,2241,3253
$GC,6776,-0.96,-146.0,391.4,-4.1,503,6778,0.12,0.00,0.00,0.000,6,0.080,0.000,2446,2241,3253
$GC,7104,-0.88,-146.0,409.5,-5.5,515,7106,0.17,0.00,0.00,0.000,6,0.141,0.000,2495,2241,3253
$GC,7429,-0.99,-146.0,423.2,-4.2,523,7433,0.12,2.28,0.00,0.000,4,0.082,0.052,2442,823,3254
$GC,7524,-0.84,-146.0,428.8,-5.9,525,7529,0.22,2.30,0.00,0.000,6,0.129,0.054,2497,2245,3254
$GC,7838,-0.96,-146.0,442.3,-4.4,533,7840,0.10,0.00,0.00,0.000,6,0.084,0.000,2453,2245,3254
$GC,8163,-0.91,-146.0,459.9,-5.4,541,8164,0.12,0.00,0.00,0.000,6,0.143,0.000,2486,2245,3254
$GC,8488,-1.00,-146.0,474.3,-4.2,549,8493,0.10,2.30,0.00,0.000,4,0.089,0.052,2443,817,3254
$GC,8614,-0.86,-146.0,481.7,-6.3,551,8622,0.22,2.33,0.00,0.000,6,0.129,0.054,2498,2245,3254
$GC,8946,-0.99,-146.0,494.8,-3.6,560,8948,0.12,0.00,0.00,0.000,6,0.080,0.000,2445,2245,3254
$GC,9272,-0.92,-146.0,510.7,-5.0,568,9276,0.15,2.20,0.00,0.000,4,0.143,0.065,2478,3602,3254
$GC,9344,-1.00,-146.0,514.1,-4.9,569,9348,0.00,2.12,0.00,0.000,6,0.000,0.042,2478,2216,3254
$GC,9683,-1.05,-146.0,528.0,-4.2,578,9688,0.10,2.17,0.00,0.000,4,0.087,0.053,2433,821,3255
$GC,9795,-0.88,-146.0,534.4,-6.1,580,9800,0.22,2.28,0.00,0.000,6,0.130,0.054,2489,2236,3255
$GC,10144,-0.98,-146.0,549.1,-4.1,589,10146,0.10,0.00,0.00,0.000,6,0.087,0.000,2445,2236,3254
$GC,10471,-0.91,-146.0,566.1,-5.2,597,10472,0.15,0.00,0.00,0.000,6,0.142,0.000,2486,2236,3254
$GC,10794,-1.01,-146.0,579.8,-4.2,605,10798,0.10,2.25,0.00,0.000,4,0.088,0.052,2443,815,3255
$GC,10920,-0.88,-146.0,586.8,-5.8,607,10927,0.20,2.28,0.00,0.000,6,0.130,0.054,2490,2239,3255
$GC,11252,-0.99,-146.0,600.1,-3.9,616,11254,0.10,0.00,0.00,0.000,6,0.085,0.000,2447,2239,3255
$GC,11577,-0.94,-146.0,615.3,-4.8,624,11579,0.12,0.00,0.00,0.000,6,0.146,0.000,2480,2240,3255
$STATE,11898,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11898,begin apogee
$GC,11906,-0.31,0.0,628.6,4.1,632,12038,0.43,0.00,128.23,1.195,6,0.114,0.000,2619,1737,2650
$STATE,12038,end apogee,CONTROL_FINISHED_OK
$STATE,12038,begin climb
$GC,12041,0.99,146.0,629.1,0.0,635,12181,0.88,0.00,132.38,1.122,6,0.091,0.000,2899,1737,2054
$GC,12508,0.71,146.0,575.2,12.3,647,12513,0.25,2.33,0.00,0.000,4,0.129,0.058,2822,3149,2047
$GC,12525,0.50,146.0,573.0,12.1,647,12530,0.17,2.25,0.00,0.000,6,0.127,0.043,2780,1735,2046
$GC,12868,0.75,186.5,553.2,5.7,656,12907,0.20,0.00,34.95,1.108,6,0.059,0.000,2870,1735,1889
$GC,13233,0.60,186.5,513.2,11.4,665,13238,0.20,2.30,0.00,0.000,4,0.120,0.059,2804,3151,1883
$GC,13254,0.60,186.5,510.8,10.4,665,13259,0.00,2.22,0.00,0.000,6,0.000,0.042,2811,1732,1882
$GC,13598,0.70,186.5,486.0,7.1,674,13601,0.00,2.30,0.00,0.000,4,0.000,0.058,2811,3154,1882
$GC,13631,0.70,186.5,483.1,8.8,674,13635,0.00,2.20,0.00,0.000,6,0.000,0.043,2820,1735,1881
$GC,13969,0.75,186.5,457.0,7.9,683,13973,0.08,2.30,0.00,0.000,4,0.091,0.058,2864,3154,1881
$GC,14008,0.54,186.5,452.8,11.5,683,14015,0.28,2.20,0.00,0.000,6,0.127,0.044,2791,1740,1880
$GC,14341,0.79,223.0,432.6,5.8,692,14379,0.20,0.00,31.20,1.065,6,0.058,0.000,2882,1740,1741
$GC,14684,0.63,223.0,393.5,11.8,701,14686,0.22,0.00,0.00,0.000,6,0.120,0.000,2813,1740,1735
$GC,14994,0.78,233.3,372.1,6.7,716,15005,0.12,0.00,9.50,0.926,6,0.070,0.000,2872,1740,1699
$GC,15303,0.66,233.3,339.0,11.1,731,15305,0.17,0.00,0.00,0.000,6,0.120,0.000,2819,1740,1697
$GC,15612,0.81,242.8,317.0,6.7,746,15627,0.12,2.28,9.68,0.904,4,0.071,0.060,2878,3151,1660
$GC,15657,0.61,242.8,312.5,11.7,748,15662,0.28,2.20,0.00,0.000,6,0.126,0.044,2806,1735,1659
$GC,15985,0.87,270.4,291.4,6.1,764,16013,0.20,0.00,25.85,0.973,6,0.059,0.000,2897,1735,1547
$GC,16314,0.70,270.4,250.4,13.3,780,16316,0.22,0.00,0.00,0.000,6,0.122,0.000,2828,1735,1541
$GC,16623,0.84,270.4,225.8,7.4,795,16625,0.12,0.00,0.00,0.000,6,0.071,0.000,2888,1735,1540
$GC,16934,0.72,270.4,190.3,11.3,810,16938,0.20,2.25,0.00,0.000,4,0.118,0.058,2830,330,1540
$GC,16962,0.82,270.4,187.7,7.2,811,16967,0.10,2.22,0.00,0.000,6,0.079,0.046,2883,1757,1540
$GC,17289,0.75,270.4,153.9,10.7,827,17291,0.15,0.00,0.00,0.000,6,0.123,0.000,2838,1756,1539
$GC,17598,0.96,285.5,132.5,6.5,842,17620,0.17,2.22,13.48,0.848,4,0.064,0.061,2918,3141,1486
$GC,17655,0.69,285.5,126.0,12.6,844,17660,0.32,2.22,0.00,0.000,6,0.127,0.044,2829,1726,1483
$GC,17971,1.39,285.5,101.9,9.9,859,17976,0.43,2.25,0.00,0.000,4,0.087,0.057,2982,324,1481
$GC,18007,1.75,285.5,98.3,10.3,863,18014,0.25,2.25,0.00,0.000,6,0.064,0.048,3082,1747,1482
$GC,18353,1.10,285.5,14.0,25.2,924,18360,0.55,2.33,0.00,0.000,4,0.155,0.056,2925,329,1481
$GC,18378,0.64,285.5,8.8,22.4,928,18385,0.35,2.25,0.00,0.000,6,0.107,0.048,2812,1751,1482
$FREEZE,6.79,0.818,-1.828
$FREEZE,6.63,0.820,-1.828
$FREEZE,6.34,0.820,-1.828
$FREEZE,6.05,0.819,-1.827
$FREEZE,5.83,0.819,-1.827
$FREEZE,5.67,0.818,-1.827
$FREEZE,5.36,0.818,-1.827
$FREEZE,5.08,0.818,-1.827
$FREEZE,4.78,0.817,-1.826
$FREEZE,4.39,0.816,-1.826
$FREEZE,3.93,0.826,-1.825
$FREEZE,3.45,0.824,-1.825
$FREEZE,2.99,0.827,-1.825
$STATE,18471,end climb,SURFACE_DEPTH_REACHED
$STATE,18471,begin surface coast
$FREEZE,2.57,0.831,-1.825
$FREEZE,2.11,0.829,-1.824
$FREEZE,1.65,0.828,-1.824
$FREEZE,1.52,0.647,-0.939
$FREEZE,1.47,0.507,-1.063
$FREEZE,1.44,0.654,-0.112
$FREEZE,1.36,0.711,-0.660
$FREEZE,1.48,0.527,-1.742
$FINISH,1.5,1.025510
$STATE,18516,end surface coast,CONTROL_FINISHED_OK
$STATE,18516,begin surface
$SM_CCo,18595,0.00,0.000,0,0,1477,287.49
$SM_GC,2.36,6.75,0.00,0.00,0.060,0.000,0.000,337,2247,1477,-10.67,0.48,287.49
$RAFOS_CLK,731
$RAFOS,4,1228610677,0.750000,0.743611,63,56,54,54,53,42,219,140,166,127,188,62
$RAFOS,3,1228610070,0.583333,0.575000,65,57,56,54,53,52,728,153,122,209,223,189
$RAFOS,2,1228609461,0.416667,0.405833,61,59,57,55,51,51,214,790,185,204,131,154
$RAFOS,1,1228608881,0.250000,0.244722,91,59,59,57,56,54,763,221,204,133,182,161
$RAFOS,0,1228608272,0.083333,0.075556,61,59,57,55,55,52,203,170,158,145,220,185
$RAFOS_FIX,6726.303711,-5917.710938,051208,161636,2,72,10.77
$IRIDIUM_FIX,6543.17,-5844.83,020398,151552
$TT8_MAMPS,0.026845
$HUMID,1800
$INTERNAL_PRESSURE,9.92226
$TCM_TEMP,16.30
$XPDR_PINGS,69
$24V_AH,22.2,70.826
$10V_AH,10.5,32.192
$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,30.950,104.550,385.250,0.000,0.000,30.386,31.168,213.986,17.250,0.000,0.000,11.829,1797.340,14315.782,548.320,1739.796,600.244,0.000,1460.023,0.000,1723.675,1800.000,0.532,0.000
$DEVICE_MAMPS,242.372,79.768,1194.986,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,662.955,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31552,952
$CAP_FILE_SIZE,141330,0
$CFSIZE,260165632,223588352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.7
$GPS,071208,023138,6608.368,-5701.395,39,0.9,39,-36.4