version: 66.04
glider: 108
mission: 11
dive: 442
start: 12 10 108 2 50 35
data:
$ID,108
$MISSION,11
$DIVE,442
$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,355
$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,-120639.31
$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,38
$R_STBD_OVSHOOT,30
$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
$GPS1,024256,6638.674,-5650.359,86,1.2,86,-37.0
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-62.5
$GPS2,025014,6638.607,-5650.407,10,1.5,28,-37.0
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6649.365,-5652.798
$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,32.0,20000,-13.0,-7.021
$D_GRID,591
$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,-146.0,0.0,0.0,0,80,0.00,0.00,-62.62,0.000,2,0.000,0.000,330,2247,2988
$GC,85,-0.99,-146.0,3.5,-2.8,11,110,8.68,2.30,-7.30,0.000,4,0.239,0.060,2460,823,3249
$GC,212,-0.80,-146.0,20.7,-13.2,33,219,0.20,2.28,0.00,0.000,6,0.131,0.051,2509,2247,3252
$GC,558,-0.80,-146.0,53.5,-6.6,94,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2247,3252
$GC,902,-0.86,-146.0,77.8,-7.7,155,909,0.00,2.15,0.00,0.000,4,0.000,0.066,2501,3602,3251
$GC,1112,-0.94,-146.0,89.9,-3.9,192,1119,0.10,2.12,0.00,0.000,6,0.084,0.041,2453,2218,3250
$GC,1445,-0.82,-146.0,111.5,-8.1,232,1447,0.17,0.00,0.00,0.000,6,0.131,0.000,2505,2218,3249
$GC,1755,-0.89,-146.0,129.8,-5.4,247,1759,0.00,2.17,0.00,0.000,4,0.000,0.051,2505,815,3249
$GC,1873,-0.89,-146.0,136.1,-5.0,252,1877,0.00,2.28,0.00,0.000,6,0.000,0.052,2497,2246,3249
$GC,2201,-0.96,-146.0,148.9,-3.7,268,2205,0.10,2.12,0.00,0.000,4,0.080,0.064,2436,3594,3249
$GC,2315,-0.82,-146.0,155.3,-6.7,273,2320,0.22,2.10,0.00,0.000,6,0.134,0.040,2503,2212,3249
$GC,2648,-0.91,-146.0,172.7,-5.4,289,2652,0.10,2.15,0.00,0.000,4,0.086,0.050,2454,823,3249
$GC,2772,-0.78,-146.0,181.3,-6.9,294,2777,0.22,2.22,0.00,0.000,6,0.125,0.051,2511,2236,3249
$GC,3094,-0.92,-146.0,196.8,-4.7,310,3096,0.12,0.00,0.00,0.000,6,0.075,0.000,2454,2236,3249
$GC,3405,-0.83,-146.0,215.3,-6.1,325,3410,0.17,2.22,0.00,0.000,4,0.137,0.048,2506,820,3249
$GC,3484,-0.92,-146.0,219.8,-5.4,328,3488,0.00,2.25,0.00,0.000,6,0.000,0.051,2499,2241,3249
$GC,3807,-1.02,-146.0,235.0,-4.9,344,3809,0.15,0.00,0.00,0.000,6,0.066,0.000,2430,2241,3250
$GC,4117,-0.86,-146.0,256.3,-6.9,359,4121,0.20,2.22,0.00,0.000,4,0.133,0.049,2497,825,3250
$GC,4190,-0.91,-146.0,260.4,-5.2,362,4194,0.00,2.22,0.00,0.000,6,0.000,0.050,2490,2234,3250
$GC,4518,-0.96,-146.0,276.1,-4.6,378,4519,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2235,3251
$GC,4829,-1.02,-146.0,290.6,-4.8,393,4830,0.12,0.00,0.00,0.000,6,0.072,0.000,2429,2234,3251
$GC,5136,-0.86,-146.0,309.3,-5.9,408,5138,0.22,0.00,0.00,0.000,6,0.131,0.000,2496,2234,3251
$GC,5446,-0.96,-146.0,320.8,-3.6,423,5450,0.10,2.22,0.00,0.000,4,0.084,0.048,2447,821,3252
$GC,5576,-0.82,-146.0,327.8,-5.8,428,5583,0.22,2.25,0.00,0.000,6,0.124,0.050,2504,2243,3252
$GC,5893,-0.95,-146.0,339.8,-3.6,444,5895,0.12,0.00,0.00,0.000,6,0.076,0.000,2448,2243,3252
$GC,6202,-0.86,-146.0,356.3,-5.6,459,6204,0.17,0.00,0.00,0.000,6,0.135,0.000,2498,2243,3253
$GC,6513,-0.97,-146.0,369.2,-4.1,474,6515,0.12,0.00,0.00,0.000,6,0.077,0.000,2440,2243,3253
$GC,6823,-0.86,-146.0,386.2,-5.4,489,6825,0.20,0.00,0.00,0.000,6,0.136,0.000,2499,2243,3253
$GC,7130,-0.99,-146.0,397.8,-3.5,504,7135,0.12,2.15,0.00,0.000,4,0.077,0.061,2431,3603,3253
$GC,7250,-0.86,-146.0,404.4,-5.9,508,7255,0.22,2.10,0.00,0.000,6,0.131,0.038,2498,2213,3253
$GC,7588,-0.98,-146.0,417.2,-3.7,517,7592,0.12,2.12,0.00,0.000,4,0.077,0.048,2439,831,3253
$GC,7673,-0.83,-146.0,421.7,-5.9,518,7680,0.25,2.20,0.00,0.000,6,0.124,0.048,2505,2238,3253
$GC,8005,-0.98,-146.0,433.9,-3.7,527,8009,0.15,2.15,0.00,0.000,4,0.071,0.060,2428,3595,3254
$GC,8073,-0.84,-146.0,437.7,-6.2,528,8078,0.22,2.05,0.00,0.000,6,0.133,0.038,2496,2219,3254
$GC,8421,-0.97,-146.0,452.3,-4.1,537,8426,0.10,2.15,0.00,0.000,4,0.085,0.048,2448,822,3253
$GC,8561,-0.84,-146.0,459.8,-6.0,540,8565,0.22,2.25,0.00,0.000,6,0.126,0.048,2504,2245,3254
$GC,8885,-0.98,-146.0,472.3,-3.6,548,8887,0.15,0.00,0.00,0.000,6,0.071,0.000,2437,2245,3254
$GC,9211,-0.88,-146.0,488.9,-5.2,556,9213,0.17,0.00,0.00,0.000,6,0.138,0.000,2487,2245,3254
$GC,9536,-0.97,-146.0,501.7,-3.9,564,9537,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2245,3254
$GC,9860,-1.06,-146.0,513.9,-3.7,572,9862,0.15,0.00,0.00,0.000,6,0.071,0.000,2423,2245,3253
$GC,10185,-0.90,-146.0,530.9,-5.3,580,10187,0.20,0.00,0.00,0.000,6,0.136,0.000,2482,2245,3253
$GC,10511,-0.97,-146.0,543.7,-3.8,588,10515,0.00,2.25,0.00,0.000,4,0.000,0.049,2482,829,3254
$GC,10584,-0.97,-146.0,546.9,-4.3,589,10588,0.00,2.25,0.00,0.000,6,0.000,0.048,2474,2236,3253
$GC,10926,-0.97,-146.0,561.8,-4.3,598,10928,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2235,3253
$GC,11252,-0.97,-146.0,576.0,-4.5,606,11256,0.00,2.22,0.00,0.000,4,0.000,0.048,2474,828,3253
$GC,11319,-0.97,-146.0,579.1,-4.6,607,11323,0.00,2.22,0.00,0.000,6,0.000,0.048,2464,2233,3253
$STATE,11623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11623,begin apogee
$GC,11630,-0.31,0.0,592.3,4.3,615,11767,0.47,0.00,128.73,1.130,6,0.118,0.000,2616,1740,2650
$STATE,11768,end apogee,CONTROL_FINISHED_OK
$STATE,11768,begin climb
$GC,11772,0.99,146.0,592.8,0.0,618,11905,0.82,0.00,128.62,1.075,6,0.081,0.000,2895,1740,2054
$GC,12221,0.76,146.0,543.0,11.7,629,12226,0.20,2.30,0.00,0.000,4,0.126,0.054,2845,333,2048
$GC,12244,0.65,146.0,540.7,10.0,629,12248,0.10,2.28,0.00,0.000,6,0.118,0.042,2817,1742,2048
$GC,12586,0.65,146.0,515.7,7.2,638,12590,0.00,2.22,0.00,0.000,4,0.000,0.055,2817,3151,2046
$GC,12648,0.58,146.0,510.5,8.2,639,12652,0.00,2.22,0.00,0.000,6,0.000,0.041,2823,1725,2045
$GC,12962,0.58,146.0,486.9,7.5,647,12965,0.00,2.30,0.00,0.000,4,0.000,0.054,2824,3159,2045
$GC,12995,0.51,146.0,484.0,8.0,647,13000,0.17,2.20,0.00,0.000,6,0.123,0.041,2782,1738,2045
$GC,13333,0.80,212.0,466.7,4.9,656,13391,0.22,0.00,55.60,1.065,6,0.054,0.000,2884,1738,1785
$GC,13698,0.64,212.0,426.5,11.5,665,13700,0.22,0.00,0.00,0.000,6,0.116,0.000,2815,1738,1776
$GC,14022,0.74,212.0,401.3,7.5,673,14024,0.10,0.00,0.00,0.000,6,0.075,0.000,2865,1738,1774
$GC,14331,0.65,212.0,370.3,10.1,687,14333,0.15,0.00,0.00,0.000,6,0.117,0.000,2818,1738,1773
$GC,14642,0.74,212.0,347.4,7.3,702,14647,0.08,2.33,0.00,0.000,4,0.087,0.054,2864,3160,1773
$GC,14664,0.74,212.0,345.2,8.9,703,14669,0.12,2.22,0.00,0.000,6,0.128,0.041,2838,1735,1772
$GC,14991,0.74,212.0,317.8,8.3,719,14994,0.00,2.25,0.00,0.000,4,0.000,0.054,2846,331,1772
$GC,15009,0.74,212.0,316.3,8.4,719,15016,0.00,2.20,0.00,0.000,6,0.000,0.042,2846,1746,1772
$GC,15325,0.74,212.0,287.7,8.9,735,15329,0.00,2.20,0.00,0.000,4,0.000,0.055,2846,3154,1772
$GC,15358,0.66,212.0,284.4,9.4,736,15363,0.12,2.20,0.00,0.000,6,0.127,0.041,2819,1732,1771
$GC,15681,0.81,238.6,263.0,6.2,752,15706,0.12,0.00,22.25,0.922,6,0.068,0.000,2882,1732,1677
$GC,16009,0.71,238.6,229.1,10.3,768,16014,0.17,2.25,0.00,0.000,4,0.115,0.053,2837,334,1672
$GC,16045,0.85,251.3,226.5,6.6,769,16062,0.10,2.20,11.75,0.844,6,0.076,0.042,2891,1744,1625
$GC,16387,0.74,251.3,192.3,10.0,786,16391,0.17,2.20,0.00,0.000,4,0.123,0.054,2838,3147,1621
$GC,16398,0.65,251.3,190.9,10.2,786,16402,0.10,2.20,0.00,0.000,6,0.129,0.040,2816,1730,1621
$GC,16720,0.90,293.9,172.3,5.7,802,16761,0.20,0.00,38.00,0.876,6,0.056,0.000,2911,1730,1451
$GC,17069,0.79,293.9,128.6,13.3,819,17073,0.20,2.22,0.00,0.000,4,0.117,0.053,2853,334,1443
$GC,17092,0.79,293.9,125.9,11.7,820,17096,0.00,2.22,0.00,0.000,6,0.000,0.042,2853,1739,1443
$GC,17410,0.89,293.9,98.1,8.2,836,17416,0.00,2.25,0.00,0.000,4,0.000,0.056,2853,3161,1441
$GC,17451,0.89,293.9,94.5,8.7,843,17457,0.00,2.20,0.00,0.000,6,0.000,0.042,2861,1734,1440
$GC,17797,0.99,293.9,66.9,8.9,904,17803,0.12,2.20,0.00,0.000,4,0.071,0.054,2935,337,1440
$GC,17833,0.99,293.9,62.9,10.8,910,17840,0.15,2.22,0.00,0.000,6,0.123,0.044,2891,1752,1440
$GC,18178,0.99,293.9,27.0,11.0,971,18185,0.00,2.20,0.00,0.000,4,0.000,0.057,2890,3151,1440
$GC,18191,0.99,293.9,25.7,10.7,973,18198,0.00,2.17,0.00,0.000,6,0.000,0.041,2898,1733,1440
$FREEZE,6.48,1.897,-1.843
$FREEZE,5.88,1.897,-1.842
$FREEZE,5.32,1.894,-1.842
$FREEZE,4.80,1.898,-1.842
$FREEZE,4.19,1.880,-1.841
$FREEZE,3.79,1.881,-1.841
$FREEZE,3.32,1.878,-1.840
$FREEZE,3.14,1.886,-1.840
$FREEZE,2.50,1.890,-1.840
$STATE,18394,end climb,SURFACE_DEPTH_REACHED
$STATE,18394,begin surface coast
$FREEZE,1.75,1.888,-1.839
$FREEZE,1.30,1.675,-1.360
$FREEZE,1.19,1.875,-1.839
$FREEZE,1.33,1.885,-1.839
$FREEZE,1.21,0.719,-1.054
$FREEZE,1.29,1.830,-1.838
$FREEZE,1.09,1.762,-1.778
$FINISH,1.1,1.025959
$STATE,18435,end surface coast,CONTROL_FINISHED_OK
$STATE,18435,begin surface
$SM_CCo,18514,0.00,0.000,0,0,1436,297.79
$SM_GC,1.95,6.75,0.00,0.00,0.042,0.000,0.000,324,2241,1436,-10.69,0.31,297.79
$RAFOS_CLK,681
$RAFOS,4,1228884252,4.750000,4.736667,66,60,59,59,51,46,204,179,152,217,117,190
$RAFOS,3,1228883654,4.583333,4.570556,63,55,53,52,52,51,193,161,206,142,178,227
$RAFOS,2,1228883056,4.416667,4.404444,72,60,60,59,53,52,138,202,217,193,174,118
$RAFOS,1,1228882444,4.250000,4.234445,62,61,56,55,55,43,202,172,121,150,223,100
$RAFOS,0,1228881846,4.083333,4.068333,61,60,60,57,50,49,204,167,221,145,63,187
$RAFOS_FIX,6623.784668,-5659.131836,081208,161628,4,88,0.49
$IRIDIUM_FIX,6604.29,-5653.12,050398,212104
$TT8_MAMPS,0.027612
$HUMID,1780
$INTERNAL_PRESSURE,9.96132
$TCM_TEMP,17.00
$XPDR_PINGS,208
$24V_AH,22.4,72.715
$10V_AH,10.6,33.186
$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,24.750,116.450,384.950,0.000,0.000,26.631,36.332,220.028,52.000,0.000,0.000,29.983,1903.639,13980.265,515.957,1914.325,634.877,0.000,1520.304,0.000,1877.541,1800.000,0.532,0.000
$DEVICE_MAMPS,239.304,65.962,1129.791,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,703.057,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34687,1016
$CAP_FILE_SIZE,143944,0
$CFSIZE,260165632,222642176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1471.3
$GPS,101208,080038,6640.074,-5649.992,41,1.0,41,-37.0