version: 66.04
glider: 108
mission: 11
dive: 443
start: 12 10 108 8 15 56
data:
$ID,108
$MISSION,11
$DIVE,443
$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,-120674.12
$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,31
$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
$GPS1,080038,6640.074,-5649.992,41,1.0,41,-37.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-63.0
$GPS2,081535,6640.028,-5650.021,12,2.6,31,-37.0
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6650.786,-5652.414
$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,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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.99,-146.0,0.0,0.0,0,81,0.00,0.00,-61.72,0.000,2,0.000,0.000,322,2252,2896
$GC,85,-0.99,-146.0,3.2,-2.7,11,110,8.62,2.20,-9.57,0.000,4,0.233,0.077,2456,3595,3248
$GC,151,-0.86,-146.0,13.4,-14.1,22,158,0.15,2.12,0.00,0.000,6,0.141,0.041,2498,2214,3251
$GC,496,-0.86,-146.0,45.4,-10.8,83,503,0.00,2.15,0.00,0.000,4,0.000,0.052,2498,827,3251
$GC,611,-0.86,-146.0,54.6,-7.6,103,617,0.00,2.25,0.00,0.000,6,0.000,0.053,2490,2235,3251
$GC,956,-0.86,-146.0,77.5,-5.8,164,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2235,3250
$GC,1300,-0.86,-146.0,96.3,-5.2,225,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2235,3249
$GC,1622,-0.86,-146.0,114.1,-5.9,250,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2235,3249
$GC,1931,-0.86,-146.0,131.9,-5.8,265,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2235,3249
$GC,2241,-0.86,-146.0,150.2,-6.0,280,2245,0.00,2.22,0.00,0.000,4,0.000,0.051,2491,829,3249
$GC,2315,-0.86,-146.0,155.1,-6.1,283,2319,0.00,2.25,0.00,0.000,6,0.000,0.051,2481,2237,3249
$GC,2642,-0.86,-146.0,174.1,-5.5,299,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2236,3249
$GC,2952,-0.86,-146.0,190.1,-4.8,314,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2237,3250
$GC,3260,-0.86,-146.0,204.4,-4.5,329,3264,0.00,2.22,0.00,0.000,4,0.000,0.049,2481,826,3251
$GC,3351,-0.86,-146.0,208.6,-4.1,333,3356,0.10,2.25,0.00,0.000,6,0.131,0.050,2498,2247,3250
$GC,3685,-0.95,-146.0,221.6,-4.1,349,3687,0.10,0.00,0.00,0.000,6,0.081,0.000,2450,2246,3251
$GC,3994,-0.87,-146.0,241.4,-7.1,364,3998,0.15,2.25,0.00,0.000,4,0.135,0.048,2494,821,3252
$GC,4072,-0.87,-146.0,246.5,-6.0,367,4076,0.00,2.25,0.00,0.000,6,0.000,0.050,2487,2240,3252
$GC,4394,-0.91,-146.0,265.8,-5.9,383,4398,0.00,2.15,0.00,0.000,4,0.000,0.061,2477,3598,3252
$GC,4490,-0.91,-146.0,272.3,-6.6,387,4494,0.00,2.10,0.00,0.000,6,0.000,0.038,2477,2218,3252
$GC,4818,-0.91,-146.0,293.2,-6.3,403,4822,0.00,2.15,0.00,0.000,4,0.000,0.049,2477,822,3253
$GC,4936,-0.91,-146.0,300.9,-6.8,408,4940,0.00,2.25,0.00,0.000,6,0.000,0.049,2467,2242,3253
$GC,5263,-0.91,-146.0,320.3,-5.6,424,5267,0.00,2.15,0.00,0.000,4,0.000,0.061,2456,3600,3253
$GC,5348,-0.91,-146.0,325.6,-6.3,427,5355,0.10,2.10,0.00,0.000,6,0.140,0.038,2482,2214,3253
$GC,5665,-0.97,-146.0,341.6,-5.1,443,5669,0.00,2.12,0.00,0.000,4,0.000,0.048,2483,823,3253
$GC,5761,-0.97,-146.0,346.8,-4.8,447,5765,0.00,2.25,0.00,0.000,6,0.000,0.048,2475,2245,3254
$GC,6088,-0.97,-146.0,364.9,-5.3,463,6089,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2245,3254
$GC,6397,-0.97,-146.0,381.9,-5.7,478,6401,0.00,2.22,0.00,0.000,4,0.000,0.048,2475,825,3254
$GC,6505,-0.97,-146.0,388.4,-5.6,482,6511,0.00,2.22,0.00,0.000,6,0.000,0.049,2465,2240,3254
$GC,6820,-0.97,-146.0,404.8,-4.9,496,6821,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2240,3254
$GC,7145,-0.97,-146.0,420.3,-4.8,504,7148,0.00,2.20,0.00,0.000,4,0.000,0.048,2465,830,3255
$GC,7258,-0.91,-146.0,426.5,-5.3,506,7263,0.12,2.20,0.00,0.000,6,0.130,0.048,2490,2240,3255
$GC,7607,-1.00,-146.0,441.5,-4.3,515,7608,0.12,0.00,0.00,0.000,6,0.072,0.000,2433,2240,3255
$GC,7932,-0.87,-146.0,460.5,-6.0,523,7934,0.20,0.00,0.00,0.000,6,0.133,0.000,2491,2240,3255
$GC,8256,-0.98,-146.0,473.9,-4.0,531,8258,0.10,0.00,0.00,0.000,6,0.084,0.000,2444,2240,3255
$GC,8581,-0.90,-146.0,490.9,-5.3,539,8586,0.15,2.22,0.00,0.000,4,0.134,0.048,2487,837,3255
$GC,8700,-0.90,-146.0,496.4,-4.5,541,8704,0.00,2.22,0.00,0.000,6,0.000,0.048,2479,2240,3255
$GC,9043,-0.96,-146.0,512.2,-4.7,550,9047,0.00,2.15,0.00,0.000,4,0.000,0.061,2469,3597,3255
$GC,9116,-0.96,-146.0,516.2,-5.3,551,9120,0.00,2.08,0.00,0.000,6,0.000,0.037,2469,2220,3255
$GC,9459,-0.96,-146.0,534.6,-5.4,560,9463,0.00,2.15,0.00,0.000,4,0.000,0.048,2469,821,3255
$GC,9684,-0.96,-146.0,547.9,-6.0,565,9688,0.00,2.25,0.00,0.000,6,0.000,0.048,2459,2244,3255
$GC,10015,-0.96,-146.0,566.1,-5.4,573,10017,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2244,3255
$GC,10340,-0.96,-146.0,582.7,-5.0,581,10343,0.00,2.12,0.00,0.000,4,0.000,0.061,2449,3594,3255
$GC,10413,-0.96,-146.0,586.9,-6.0,582,10418,0.10,2.05,0.00,0.000,6,0.142,0.038,2474,2222,3255
$STATE,10671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10671,begin apogee
$GC,10679,-0.31,0.0,598.8,4.4,589,10809,0.43,0.00,126.82,1.145,6,0.110,0.000,2615,1741,2650
$STATE,10809,end apogee,CONTROL_FINISHED_OK
$STATE,10809,begin climb
$GC,10812,0.99,146.0,599.1,0.0,592,10950,0.85,2.58,128.18,1.082,4,0.093,0.053,2895,3149,2053
$GC,11004,0.67,146.0,579.7,12.7,596,11009,0.30,2.33,0.00,0.000,6,0.127,0.039,2822,1748,2049
$GC,11346,0.67,146.0,552.0,7.9,605,11348,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1748,2047
$GC,11671,0.67,146.0,526.0,8.0,613,11675,0.00,2.25,0.00,0.000,4,0.000,0.054,2831,324,2046
$GC,11682,0.67,146.0,525.0,7.8,613,11686,0.00,2.25,0.00,0.000,6,0.000,0.041,2831,1754,2046
$GC,12001,0.67,146.0,498.2,8.6,621,12005,0.00,2.22,0.00,0.000,4,0.000,0.057,2831,3161,2046
$GC,12035,0.56,146.0,494.9,9.6,621,12039,0.15,2.22,0.00,0.000,6,0.125,0.041,2798,1721,2045
$GC,12372,0.69,160.5,472.6,6.6,630,12391,0.12,2.35,12.00,0.984,4,0.068,0.054,2862,3144,1995
$GC,12409,0.51,160.5,469.1,9.8,630,12416,0.28,2.20,0.00,0.000,6,0.126,0.041,2790,1726,1994
$GC,12742,0.74,206.5,449.8,5.5,639,12789,0.17,2.40,40.35,1.052,4,0.058,0.054,2873,3157,1807
$GC,12796,0.64,206.5,444.8,9.0,640,12801,0.22,2.25,0.00,0.000,6,0.122,0.040,2817,1726,1805
$GC,13145,0.71,206.5,419.4,7.1,649,13146,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1727,1800
$GC,13450,0.80,206.5,397.6,7.1,657,13454,0.12,2.28,0.00,0.000,4,0.067,0.053,2879,3154,1799
$GC,13466,0.80,206.5,396.0,7.8,657,13472,0.15,2.17,0.00,0.000,6,0.130,0.040,2846,1735,1798
$GC,13782,0.80,206.5,365.4,10.1,673,13786,0.00,2.20,0.00,0.000,4,0.000,0.054,2855,328,1797
$GC,13815,0.80,206.5,362.0,10.0,674,13819,0.00,2.22,0.00,0.000,6,0.000,0.042,2855,1755,1798
$GC,14138,0.75,206.5,329.3,10.0,690,14141,0.00,2.20,0.00,0.000,4,0.000,0.056,2855,3162,1798
$GC,14161,0.66,206.5,326.7,10.2,691,14166,0.15,2.20,0.00,0.000,6,0.125,0.041,2819,1724,1797
$GC,14494,0.76,207.2,302.2,7.0,707,14496,0.10,0.00,0.00,0.000,6,0.075,0.000,2872,1724,1797
$GC,14804,0.66,207.2,269.3,10.9,722,14806,0.17,0.00,0.00,0.000,6,0.117,0.000,2819,1724,1797
$GC,15112,0.77,207.2,242.7,8.7,737,15114,0.10,0.00,0.00,0.000,6,0.076,0.000,2870,1724,1797
$GC,15422,0.70,207.2,206.5,11.4,752,15424,0.15,0.00,0.00,0.000,6,0.117,0.000,2824,1724,1797
$GC,15731,0.79,207.2,181.3,8.1,767,15735,0.10,2.30,0.00,0.000,4,0.075,0.055,2876,3153,1797
$GC,15748,0.79,207.2,179.6,8.2,768,15753,0.15,2.20,0.00,0.000,6,0.127,0.041,2842,1726,1797
$GC,16077,0.79,207.2,154.0,7.2,784,16080,0.00,2.20,0.00,0.000,4,0.000,0.054,2850,330,1797
$GC,16100,0.87,207.2,152.0,7.4,785,16104,0.00,2.22,0.00,0.000,6,0.000,0.043,2850,1753,1797
$GC,16434,0.87,207.2,126.0,7.5,801,16438,0.00,2.20,0.00,0.000,4,0.000,0.056,2850,3147,1797
$GC,16475,0.80,207.2,122.6,7.4,802,16481,0.00,2.17,0.00,0.000,6,0.000,0.041,2860,1736,1796
$GC,16791,0.80,207.2,98.8,8.3,818,16797,0.00,2.20,0.00,0.000,4,0.000,0.054,2871,334,1797
$GC,16809,0.80,207.2,97.2,8.3,821,16816,0.00,2.22,0.00,0.000,6,0.000,0.042,2871,1751,1797
$GC,17154,0.80,207.2,68.0,8.0,882,17161,0.00,2.22,0.00,0.000,4,0.000,0.056,2870,3156,1798
$GC,17207,0.74,207.2,62.6,10.6,891,17214,0.15,2.20,0.00,0.000,6,0.120,0.041,2833,1723,1798
$GC,17554,1.00,272.1,42.6,4.9,952,17612,0.20,0.00,55.12,0.807,6,0.058,0.000,2929,1723,1540
$FREEZE,6.77,1.891,-1.844
$FREEZE,5.90,1.898,-1.844
$FREEZE,5.18,1.892,-1.843
$FREEZE,4.42,1.895,-1.843
$FREEZE,3.79,1.878,-1.842
$FREEZE,3.12,1.885,-1.841
$FREEZE,2.52,1.886,-1.841
$STATE,17945,end climb,SURFACE_DEPTH_REACHED
$STATE,17946,begin surface coast
$FREEZE,1.62,1.889,-1.840
$FREEZE,1.35,1.588,-1.174
$FREEZE,1.31,1.517,-0.152
$FREEZE,1.30,1.026,-0.421
$FINISH,1.3,1.006143
$STATE,17968,end surface coast,CONTROL_FINISHED_OK
$STATE,17968,begin surface
$SM_CCo,18048,0.00,0.000,0,0,1527,275.47
$SM_GC,2.20,6.95,0.00,0.00,0.048,0.000,0.000,333,2244,1527,-10.68,0.40,275.47
$RAFOS_CLK,676
$RAFOS,4,1228913042,12.750000,12.733889,62,60,60,56,55,52,188,176,159,137,219,199
$RAFOS,3,1228912456,12.583333,12.571111,59,56,55,53,53,52,222,211,171,180,196,139
$RAFOS,2,1228911859,12.416667,12.405278,66,63,53,51,50,49,211,198,148,134,110,180
$RAFOS,1,1228911261,12.250000,12.239166,59,58,54,53,51,50,178,217,202,189,791,152
$RAFOS,0,1228910652,12.083333,12.070000,60,56,53,51,50,50,211,195,186,155,146,718
$RAFOS,4,1228898657,8.750000,8.738055,64,64,62,57,51,50,189,208,129,225,572,167
$RAFOS,3,1228898045,8.583333,8.568055,62,60,58,53,50,48,215,159,181,237,192,138
$RAFOS,2,1228897444,8.416667,8.401111,67,61,60,56,53,45,230,206,193,152,181,122
$RAFOS_FIX,6623.784668,-5659.131836,081208,161628,4,88,0.49
$IRIDIUM_FIX,6614.97,-5647.19,060398,080859
$TT8_MAMPS,0.026845
$HUMID,1784
$INTERNAL_PRESSURE,9.97109
$TCM_TEMP,16.90
$XPDR_PINGS,232
$24V_AH,22.4,72.864
$10V_AH,10.6,33.259
$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,21.050,125.525,362.475,0.000,0.000,78.095,94.963,425.244,58.000,0.000,0.000,34.188,1875.994,13630.120,478.535,2001.938,954.419,0.000,1529.798,0.000,1951.012,2880.000,0.532,0.000
$DEVICE_MAMPS,233.168,77.467,1145.131,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,708.777,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34661,1025
$CAP_FILE_SIZE,144755,0
$CFSIZE,260165632,222576640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.0
$GPS,101208,131807,6643.949,-5651.214,33,1.2,33,-37.1