version: 66.04
glider: 108
mission: 11
dive: 492
start: 12 21 108 22 2 32
data:
$ID,108
$MISSION,11
$DIVE,492
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,-1
$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,-123419.77
$T_RSLEEP,60
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$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,28
$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
$GPS1,202930,6641.693,-5741.464,0,3122.3,0,-37.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-32.0
$GPS2,202930,6641.693,-5741.464,0,3122.3,0,-37.3
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,15000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,307.5,132985,-13.0,-7.021
$D_GRID,590
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,15,-0.99,-146.0,0.0,0.0,0,67,0.00,0.00,-49.62,0.000,2,0.000,0.000,330,2228,2689
$GC,71,-0.99,-146.0,3.1,-1.9,9,107,8.98,0.00,-24.27,0.000,6,0.249,0.000,2460,2228,3247
$GC,446,-0.84,-146.0,35.5,-9.3,75,452,0.15,0.00,0.00,0.000,6,0.152,0.000,2502,2228,3253
$GC,790,-0.84,-146.0,61.5,-7.3,136,796,0.00,2.22,0.00,0.000,4,0.000,0.076,2495,3594,3253
$GC,854,-0.84,-146.0,66.2,-7.5,147,860,0.00,2.17,0.00,0.000,6,0.000,0.051,2495,2212,3253
$GC,1200,-0.84,-146.0,90.1,-6.5,208,1206,0.00,2.22,0.00,0.000,4,0.000,0.064,2495,817,3253
$GC,1367,-0.77,-146.0,101.4,-6.8,235,1372,0.12,2.33,0.00,0.000,6,0.137,0.063,2518,2237,3252
$GC,1692,-0.87,-146.0,119.7,-5.7,251,1696,0.10,2.33,0.00,0.000,4,0.085,0.062,2473,813,3252
$GC,1748,-0.76,-146.0,123.9,-7.3,253,1754,0.20,2.33,0.00,0.000,6,0.137,0.063,2518,2233,3252
$GC,2065,-0.86,-146.0,139.5,-4.8,269,2070,0.10,2.22,0.00,0.000,4,0.089,0.075,2465,3595,3252
$GC,2138,-0.80,-146.0,144.7,-7.5,272,2142,0.15,2.17,0.00,0.000,6,0.148,0.051,2504,2212,3252
$GC,2455,-0.87,-146.0,166.4,-7.6,287,2459,0.00,2.22,0.00,0.000,4,0.000,0.064,2504,819,3252
$GC,2595,-0.87,-146.0,177.2,-7.7,293,2599,0.00,2.33,0.00,0.000,6,0.000,0.064,2497,2237,3252
$GC,2923,-0.87,-146.0,199.8,-6.5,309,2927,0.00,2.22,0.00,0.000,4,0.000,0.076,2486,3600,3251
$GC,3069,-0.87,-146.0,209.5,-6.1,315,3073,0.00,2.17,0.00,0.000,6,0.000,0.051,2486,2218,3251
$GC,3393,-0.87,-146.0,226.7,-4.9,331,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2218,3251
$GC,3701,-0.87,-146.0,242.3,-5.2,346,3705,0.00,2.30,0.00,0.000,4,0.000,0.074,2476,3601,3251
$GC,3770,-0.87,-146.0,246.4,-6.2,349,3774,0.00,2.17,0.00,0.000,6,0.000,0.051,2475,2216,3251
$GC,4104,-0.87,-146.0,267.7,-6.5,365,4105,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2217,3251
$GC,4412,-0.87,-146.0,286.6,-5.7,380,4416,0.00,2.22,0.00,0.000,4,0.000,0.062,2476,817,3251
$GC,4480,-0.87,-146.0,290.6,-6.0,383,4485,0.10,2.33,0.00,0.000,6,0.141,0.061,2491,2241,3251
$GC,4809,-0.93,-146.0,304.8,-4.0,399,4813,0.00,2.22,0.00,0.000,4,0.000,0.074,2484,3595,3252
$GC,4923,-1.01,-146.0,310.7,-5.2,404,4927,0.10,2.15,0.00,0.000,6,0.091,0.048,2439,2218,3251
$GC,5257,-0.88,-146.0,330.1,-5.7,420,5261,0.17,2.22,0.00,0.000,4,0.141,0.059,2489,824,3252
$GC,5335,-0.88,-146.0,334.0,-4.3,423,5341,0.00,2.30,0.00,0.000,6,0.000,0.060,2481,2237,3252
$GC,5651,-0.88,-146.0,349.8,-5.2,439,5656,0.00,2.20,0.00,0.000,4,0.000,0.071,2470,3598,3253
$GC,5743,-0.88,-146.0,355.1,-6.1,443,5747,0.00,2.15,0.00,0.000,6,0.000,0.048,2470,2219,3253
$GC,6077,-0.88,-146.0,374.1,-5.8,459,6080,0.00,2.22,0.00,0.000,4,0.000,0.059,2470,812,3254
$GC,6173,-0.83,-146.0,379.9,-6.1,463,6178,0.15,2.33,0.00,0.000,6,0.133,0.058,2502,2239,3254
$GC,6495,-0.95,-146.0,395.1,-4.7,479,6500,0.12,2.22,0.00,0.000,4,0.082,0.069,2438,3608,3255
$GC,6597,-0.84,-146.0,402.1,-7.1,483,6602,0.22,2.17,0.00,0.000,6,0.144,0.047,2501,2210,3254
$GC,6946,-0.97,-146.0,420.1,-5.2,492,6950,0.12,2.20,0.00,0.000,4,0.086,0.058,2447,821,3255
$GC,7053,-0.84,-146.0,427.4,-6.8,494,7058,0.22,2.30,0.00,0.000,6,0.133,0.058,2502,2236,3255
$GC,7402,-0.96,-146.0,443.4,-4.5,503,7404,0.12,0.00,0.00,0.000,6,0.082,0.000,2449,2236,3255
$GC,7727,-0.89,-146.0,462.9,-6.1,511,7731,0.15,2.22,0.00,0.000,4,0.146,0.069,2482,3602,3256
$GC,7789,-0.98,-146.0,466.5,-5.7,512,7793,0.00,2.15,0.00,0.000,6,0.000,0.046,2482,2218,3256
$GC,8104,-1.04,-146.0,483.2,-5.2,520,8108,0.10,2.20,0.00,0.000,4,0.089,0.057,2436,824,3256
$GC,8171,-0.87,-146.0,487.7,-7.4,521,8176,0.22,2.30,0.00,0.000,6,0.133,0.058,2491,2238,3256
$GC,8518,-0.96,-146.0,503.5,-4.4,530,8521,0.00,2.20,0.00,0.000,4,0.000,0.070,2483,3601,3256
$GC,8591,-1.06,-146.0,507.4,-4.8,531,8596,0.12,2.12,0.00,0.000,6,0.081,0.044,2429,2226,3256
$GC,8935,-0.92,-146.0,527.9,-6.0,540,8940,0.17,2.22,0.00,0.000,4,0.141,0.057,2483,822,3256
$GC,9071,-0.92,-146.0,534.8,-5.1,543,9075,0.00,2.28,0.00,0.000,6,0.000,0.057,2475,2233,3257
$GC,9401,-0.92,-146.0,549.8,-4.5,551,9402,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2232,3257
$GC,9730,-0.92,-146.0,564.7,-4.7,559,9731,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2232,3257
$GC,10051,-1.12,-146.0,578.4,-3.9,567,10056,0.12,2.20,0.00,0.000,4,0.074,0.069,2415,3594,3258
$STATE,10191,end dive,NO_VERTICAL_VELOCITY
$STATE,10192,begin apogee
$GC,10202,-0.31,0.0,578.4,0.0,570,10335,0.57,0.00,130.27,1.177,6,0.101,0.000,2611,1733,2650
$STATE,10336,end apogee,CONTROL_FINISHED_OK
$STATE,10336,begin climb
$GC,10339,0.99,146.0,578.0,0.0,573,10482,0.88,2.58,134.50,1.101,4,0.094,0.060,2905,341,2053
$GC,10559,0.78,146.0,555.3,11.6,578,10564,0.22,2.42,0.00,0.000,6,0.136,0.048,2845,1737,2049
$GC,10878,0.78,146.0,528.2,8.2,586,10880,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1737,2046
$GC,11203,0.78,146.0,501.6,8.0,594,11207,0.00,2.28,0.00,0.000,4,0.000,0.063,2845,3158,2045
$GC,11255,0.62,146.0,497.0,9.0,595,11259,0.15,2.25,0.00,0.000,6,0.133,0.048,2811,1728,2044
$GC,11580,0.78,179.4,477.1,5.9,603,11611,0.12,0.00,28.90,1.085,6,0.074,0.000,2869,1728,1918
$GC,11905,0.68,179.4,447.5,9.2,611,11907,0.15,0.00,0.00,0.000,6,0.123,0.000,2826,1728,1913
$GC,12230,0.75,186.0,425.1,6.8,619,12241,0.00,2.38,6.47,0.884,4,0.000,0.061,2826,3155,1891
$GC,12252,0.75,186.0,423.3,7.5,619,12256,0.00,2.22,0.00,0.000,6,0.000,0.046,2834,1731,1890
$GC,12596,0.79,186.0,398.2,7.4,628,12600,0.00,2.30,0.00,0.000,4,0.000,0.061,2833,3158,1889
$GC,12621,0.79,186.0,396.2,8.0,629,12625,0.00,2.22,0.00,0.000,6,0.000,0.047,2844,1731,1889
$GC,12956,0.79,186.0,367.6,8.7,645,12960,0.00,2.30,0.00,0.000,4,0.000,0.061,2844,3161,1889
$GC,12972,0.79,186.0,365.7,8.9,645,12979,0.00,2.22,0.00,0.000,6,0.000,0.046,2854,1732,1888
$GC,13289,0.79,186.0,335.9,9.1,661,13290,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1732,1888
$GC,13598,0.79,186.0,308.4,9.0,676,13601,0.00,2.30,0.00,0.000,4,0.000,0.061,2854,3160,1888
$GC,13632,0.69,186.0,305.0,10.7,677,13636,0.12,2.22,0.00,0.000,6,0.137,0.048,2829,1734,1888
$GC,13954,0.82,198.3,282.6,6.6,693,13973,0.10,0.00,11.80,0.945,6,0.082,0.000,2878,1734,1841
$GC,14282,0.72,198.3,249.8,10.6,709,14284,0.17,0.00,0.00,0.000,6,0.123,0.000,2825,1734,1839
$GC,14592,0.83,198.3,225.5,7.5,724,14594,0.12,0.00,0.00,0.000,6,0.072,0.000,2883,1734,1837
$GC,14902,0.75,198.3,194.6,9.5,739,14904,0.15,0.00,0.00,0.000,6,0.122,0.000,2838,1734,1838
$GC,15211,0.90,203.2,173.0,6.9,754,15221,0.12,2.28,5.57,0.743,4,0.074,0.060,2908,327,1821
$GC,15234,0.90,203.2,170.9,8.2,755,15238,0.15,2.30,0.00,0.000,6,0.133,0.048,2866,1749,1821
$GC,15562,0.96,203.2,146.2,7.2,771,15564,0.10,0.00,0.00,0.000,6,0.082,0.000,2913,1748,1821
$GC,15871,0.85,203.2,116.4,9.7,786,15876,0.17,2.30,0.00,0.000,4,0.127,0.063,2860,3155,1821
$GC,15893,0.85,203.2,114.3,8.6,787,15897,0.00,2.25,0.00,0.000,6,0.000,0.048,2868,1728,1821
$GC,16220,0.93,203.2,91.0,7.2,819,16226,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1728,1821
$GC,16565,1.02,210.9,67.1,6.8,880,16578,0.12,0.00,8.32,0.808,6,0.077,0.000,2926,1728,1790
$GC,16918,0.92,210.9,33.2,9.5,942,16925,0.17,2.38,0.00,0.000,4,0.130,0.064,2874,3154,1788
$GC,16944,0.87,210.9,31.0,8.8,946,16950,0.00,2.25,0.00,0.000,6,0.000,0.051,2881,1733,1787
$FREEZE,6.84,-1.595,-1.828
$FREEZE,6.10,-1.605,-1.828
$FREEZE,5.45,-1.604,-1.828
$GC,17291,0.95,234.4,6.8,6.3,1007,17314,0.00,0.00,21.58,0.866,6,0.000,0.000,2881,1733,1694
$FREEZE,4.20,-1.592,-1.826
$FREEZE,3.72,-1.591,-1.826
$FREEZE,3.34,-1.592,-1.825
$FREEZE,2.88,-1.591,-1.825
$STATE,17336,end climb,SURFACE_DEPTH_REACHED
$STATE,17336,begin surface coast
$FREEZE,2.45,-1.595,-1.825
$FREEZE,2.03,-1.595,-1.825
$FREEZE,1.73,-1.591,-1.825
$FREEZE,1.55,-1.555,-1.814
$FREEZE,1.61,-1.574,-1.815
$FREEZE,1.59,-1.505,-1.811
$FREEZE,1.63,-1.554,-1.814
$FINISH,1.6,1.026620
$STATE,17379,end surface coast,CONTROL_FINISHED_OK
$STATE,17379,begin surface
$SM_CCo,17459,0.00,0.000,0,0,1688,235.98
$SM_GC,2.70,7.12,0.00,0.00,0.067,0.000,0.000,331,2236,1688,-10.70,0.17,235.98
$RAFOS_CLK,786
$RAFOS,4,1229906674,0.750000,0.742778,88,68,64,58,57,56,670,209,192,179,151,132
$RAFOS,3,1229906042,0.583333,0.567222,96,61,59,59,58,56,802,220,89,148,162,130
$RAFOS,2,1229905462,0.416667,0.406111,115,63,60,58,57,55,562,175,198,143,188,156
$RAFOS,1,1229904849,0.250000,0.235833,115,57,57,56,54,54,743,162,138,185,205,149
$RAFOS,0,1229904268,0.083333,0.074444,68,61,61,57,52,49,202,187,220,145,178,132
$RAFOS_FIX,6639.802246,-5743.650879,221208,000028,4,104,0.27
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.026845
$HUMID,1809
$INTERNAL_PRESSURE,9.87343
$TCM_TEMP,15.30
$XPDR_PINGS,140
$24V_AH,21.8,80.432
$10V_AH,10.4,36.935
$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,22.800,127.800,347.425,0.000,0.000,99.080,85.228,0.000,35.000,0.000,0.000,183.218,1926.121,12930.039,461.359,2213.433,710.622,0.000,1533.949,0.000,2011.939,1800.000,0.532,0.000
$DEVICE_MAMPS,249.275,75.933,1177.345,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,714.484,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34698,1021
$CAP_FILE_SIZE,142916,0
$CFSIZE,260165632,219238400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.3
$GPS,221208,003128,6639.802,-5743.651,0,4103.5,0,-37.3