version: 66.04
glider: 108
mission: 11
dive: 494
start: 12 22 108 8 0 21
data:
$ID,108
$MISSION,11
$DIVE,494
$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,-124158.77
$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,32
$R_STBD_OVSHOOT,26
$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
$GPS1,043056,6637.902,-5744.330,0,4098.2,0,-37.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-30.8
$GPS2,043056,6637.902,-5744.330,0,4098.2,0,-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,310.6,131105,-13.0,-7.021
$D_GRID,581
$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,16,-0.99,-146.0,0.0,0.0,0,74,0.00,0.00,-56.17,0.000,2,0.000,0.000,333,2227,2627
$GC,79,-0.99,-146.0,3.2,-1.3,10,121,8.98,2.35,-23.40,0.000,4,0.245,0.086,2456,3604,3249
$GC,246,-0.82,-146.0,17.5,-10.1,39,253,0.17,2.17,0.00,0.000,6,0.149,0.049,2503,2220,3252
$GC,593,-0.82,-146.0,44.3,-7.5,100,599,0.00,2.25,0.00,0.000,4,0.000,0.061,2504,816,3252
$GC,663,-0.77,-146.0,49.9,-8.4,112,669,0.00,2.33,0.00,0.000,6,0.000,0.061,2495,2243,3252
$GC,1007,-0.77,-146.0,77.5,-7.7,173,1014,0.00,2.22,0.00,0.000,4,0.000,0.074,2486,3601,3252
$GC,1110,-0.77,-146.0,85.9,-8.2,191,1117,0.10,2.17,0.00,0.000,6,0.153,0.049,2509,2216,3252
$GC,1446,-0.83,-146.0,107.9,-6.2,234,1450,0.00,2.30,0.00,0.000,4,0.000,0.074,2502,3604,3251
$GC,1515,-0.90,-146.0,112.7,-7.1,237,1519,0.00,2.17,0.00,0.000,6,0.000,0.050,2502,2217,3251
$GC,1848,-0.90,-146.0,137.7,-7.9,253,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2217,3251
$GC,2157,-0.90,-146.0,159.8,-6.4,268,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2217,3251
$GC,2468,-0.95,-146.0,176.2,-4.9,283,2469,0.10,0.00,0.00,0.000,6,0.092,0.000,2458,2217,3251
$GC,2777,-0.86,-146.0,197.2,-7.5,298,2779,0.15,0.00,0.00,0.000,6,0.143,0.000,2500,2216,3250
$GC,3086,-0.94,-146.0,216.4,-6.4,313,3090,0.10,2.22,0.00,0.000,4,0.094,0.061,2457,817,3249
$GC,3136,-0.80,-146.0,220.5,-8.4,315,3141,0.20,2.33,0.00,0.000,6,0.133,0.062,2505,2240,3249
$GC,3459,-0.93,-146.0,238.8,-6.0,331,3463,0.10,2.20,0.00,0.000,4,0.091,0.073,2453,3594,3249
$GC,3527,-0.86,-146.0,243.9,-7.6,334,3532,0.15,2.15,0.00,0.000,6,0.148,0.048,2493,2211,3249
$GC,3861,-0.95,-146.0,263.4,-5.4,350,3865,0.00,2.20,0.00,0.000,4,0.000,0.059,2493,815,3250
$GC,3975,-0.95,-146.0,269.2,-5.4,355,3979,0.00,2.30,0.00,0.000,6,0.000,0.058,2485,2239,3250
$GC,4308,-0.95,-146.0,286.4,-5.1,371,4312,0.00,2.17,0.00,0.000,4,0.000,0.070,2475,3594,3251
$GC,4366,-0.95,-146.0,289.5,-5.8,373,4370,0.00,2.12,0.00,0.000,6,0.000,0.044,2474,2218,3251
$GC,4687,-0.95,-146.0,306.6,-5.4,389,4691,0.00,2.17,0.00,0.000,4,0.000,0.057,2474,826,3253
$GC,4842,-0.90,-146.0,315.8,-5.8,395,4849,0.00,2.28,0.00,0.000,6,0.000,0.057,2465,2240,3252
$GC,5161,-0.90,-146.0,334.6,-5.6,411,5165,0.00,2.17,0.00,0.000,4,0.000,0.069,2454,3595,3253
$GC,5275,-0.85,-146.0,342.0,-6.7,416,5280,0.15,2.10,0.00,0.000,6,0.143,0.043,2495,2225,3254
$GC,5609,-0.95,-146.0,357.8,-4.6,432,5613,0.00,2.17,0.00,0.000,4,0.000,0.056,2495,830,3255
$GC,5688,-1.00,-146.0,361.8,-4.9,435,5693,0.10,2.25,0.00,0.000,6,0.079,0.054,2442,2237,3254
$GC,6011,-0.91,-146.0,380.9,-5.6,451,6015,0.15,2.22,0.00,0.000,4,0.147,0.065,2474,3606,3255
$GC,6112,-0.96,-146.0,385.9,-4.8,455,6116,0.00,2.12,0.00,0.000,6,0.000,0.043,2474,2226,3255
$GC,6435,-0.96,-146.0,399.7,-4.2,471,6439,0.00,2.20,0.00,0.000,4,0.000,0.055,2474,824,3256
$GC,6521,-0.96,-146.0,403.9,-4.9,473,6527,0.00,2.30,0.00,0.000,6,0.000,0.054,2464,2242,3256
$GC,6852,-0.96,-146.0,419.7,-4.9,482,6854,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2242,3257
$GC,7177,-0.96,-146.0,437.0,-5.3,490,7179,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2242,3257
$GC,7503,-0.96,-146.0,454.7,-5.5,498,7507,0.00,2.20,0.00,0.000,4,0.000,0.067,2454,3597,3257
$GC,7581,-0.96,-146.0,459.5,-6.1,499,7585,0.00,2.12,0.00,0.000,6,0.000,0.043,2454,2219,3257
$GC,7919,-0.91,-146.0,479.0,-5.7,508,7921,0.12,0.00,0.00,0.000,6,0.146,0.000,2488,2218,3258
$GC,8245,-0.99,-146.0,495.0,-4.9,516,8249,0.10,2.17,0.00,0.000,4,0.090,0.053,2444,828,3259
$GC,8357,-0.87,-146.0,501.7,-5.6,518,8362,0.20,2.28,0.00,0.000,6,0.133,0.054,2491,2241,3259
$GC,8701,-0.96,-146.0,516.3,-4.2,527,8705,0.00,2.22,0.00,0.000,4,0.000,0.067,2484,3605,3259
$GC,8758,-1.06,-146.0,519.2,-5.1,528,8763,0.12,2.15,0.00,0.000,6,0.078,0.042,2429,2214,3259
$GC,9078,-0.92,-146.0,539.7,-6.4,536,9083,0.17,2.20,0.00,0.000,4,0.140,0.054,2483,817,3259
$GC,9228,-0.92,-146.0,547.5,-5.3,539,9232,0.00,2.30,0.00,0.000,6,0.000,0.054,2475,2240,3259
$GC,9547,-0.92,-146.0,564.8,-5.2,547,9551,0.00,2.20,0.00,0.000,4,0.000,0.067,2465,3604,3259
$GC,9604,-0.92,-146.0,568.4,-6.5,548,9608,0.00,2.12,0.00,0.000,6,0.000,0.042,2465,2219,3259
$STATE,9838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9838,begin apogee
$GC,9847,-0.31,0.0,581.2,5.2,554,9980,0.45,0.00,130.27,1.172,6,0.092,0.000,2619,1737,2650
$STATE,9981,end apogee,CONTROL_FINISHED_OK
$STATE,9981,begin climb
$GC,9984,0.99,146.0,580.2,0.0,557,10126,0.82,2.65,132.50,1.098,4,0.071,0.059,2903,3154,2053
$GC,10155,0.63,146.0,563.4,13.3,561,10161,0.38,2.42,0.00,0.000,6,0.133,0.044,2812,1746,2049
$GC,10475,0.75,161.5,541.2,6.5,569,10495,0.12,2.38,13.48,1.016,4,0.071,0.059,2881,334,1991
$GC,10502,0.68,161.5,539.1,7.6,569,10507,0.20,2.33,0.00,0.000,6,0.122,0.046,2823,1754,1991
$GC,10840,0.78,181.7,517.3,6.4,578,10865,0.10,2.30,18.88,1.065,4,0.079,0.061,2870,3150,1909
$GC,10895,0.57,181.7,512.2,11.1,579,10900,0.28,2.25,0.00,0.000,6,0.128,0.044,2800,1728,1906
$GC,11209,0.81,225.2,494.3,5.6,587,11251,0.17,0.00,38.88,1.101,6,0.061,0.000,2879,1728,1731
$GC,11573,0.70,225.2,455.6,11.3,596,11575,0.17,0.00,0.00,0.000,6,0.121,0.000,2827,1728,1723
$GC,11898,0.79,225.2,428.8,8.1,604,11903,0.10,2.30,0.00,0.000,4,0.079,0.061,2876,3158,1721
$GC,11933,0.61,225.2,425.0,11.6,604,11938,0.25,2.22,0.00,0.000,6,0.127,0.046,2811,1728,1720
$GC,12265,0.78,225.2,400.4,7.1,612,12267,0.12,0.00,0.00,0.000,6,0.070,0.000,2874,1728,1719
$GC,12574,0.69,225.2,366.1,11.1,626,12576,0.17,0.00,0.00,0.000,6,0.121,0.000,2821,1728,1719
$GC,12885,0.83,236.7,343.8,6.7,641,12900,0.15,2.30,9.55,0.923,4,0.066,0.060,2888,3153,1684
$GC,12923,0.63,236.7,339.9,11.4,642,12930,0.28,2.20,0.00,0.000,6,0.130,0.046,2816,1738,1683
$GC,13242,0.84,273.4,319.6,5.8,658,13279,0.15,0.00,34.03,0.997,6,0.064,0.000,2887,1737,1535
$GC,13589,0.75,273.4,282.8,10.8,675,13593,0.17,2.25,0.00,0.000,4,0.120,0.058,2842,327,1528
$GC,13617,0.84,273.4,280.3,7.6,676,13622,0.00,2.28,0.00,0.000,6,0.000,0.047,2842,1755,1528
$GC,13945,0.93,273.4,256.2,7.7,692,13949,0.12,2.20,0.00,0.000,4,0.071,0.059,2902,3152,1527
$GC,13984,0.71,273.4,251.6,12.0,693,13991,0.28,2.20,0.00,0.000,6,0.127,0.044,2829,1732,1526
$GC,14302,0.91,289.6,229.8,6.5,709,14320,0.17,0.00,14.57,0.898,6,0.062,0.000,2910,1731,1469
$GC,14631,0.75,289.6,189.6,12.5,725,14636,0.20,2.22,0.00,0.000,4,0.127,0.057,2853,330,1465
$GC,14653,0.75,289.6,186.9,11.1,726,14657,0.00,2.22,0.00,0.000,6,0.000,0.045,2853,1744,1464
$GC,14983,0.87,291.3,161.9,7.0,742,14986,0.00,2.22,0.00,0.000,4,0.000,0.059,2853,3161,1464
$GC,15039,0.92,291.3,157.3,8.0,744,15043,0.00,2.20,0.00,0.000,6,0.000,0.043,2861,1732,1463
$GC,15362,1.10,318.8,136.5,6.1,760,15402,0.17,2.35,28.92,0.834,4,0.062,0.058,2944,3150,1350
$GC,15414,0.90,318.8,130.7,12.3,762,15419,0.28,2.22,0.00,0.000,6,0.130,0.044,2873,1727,1348
$GC,15732,1.07,318.8,105.6,7.9,777,15733,0.15,0.00,0.00,0.000,6,0.066,0.000,2946,1726,1344
$GC,16062,0.96,318.8,65.9,12.3,828,16068,0.20,2.22,0.00,0.000,4,0.123,0.059,2889,330,1343
$GC,16110,1.11,318.8,61.5,8.6,836,16117,0.12,2.25,0.00,0.000,6,0.071,0.048,2951,1750,1342
$GC,16456,1.00,318.8,20.7,11.9,897,16463,0.20,2.22,0.00,0.000,4,0.128,0.064,2886,3146,1341
$GC,16470,0.91,318.8,19.0,11.6,899,16478,0.00,2.20,0.00,0.000,6,0.000,0.048,2891,1735,1341
$FREEZE,6.69,-1.850,-1.828
$FREEZE,6.22,-1.850,-1.828
$FREEZE,5.92,-1.850,-1.827
$FREEZE,5.52,-1.850,-1.827
$FREEZE,4.88,-1.850,-1.827
$FREEZE,4.57,-1.850,-1.826
$FREEZE,4.13,-1.850,-1.826
$FREEZE,3.70,-1.850,-1.826
$FREEZE,3.12,-1.850,-1.825
$FREEZE,2.72,-1.850,-1.825
$STATE,16675,end climb,SURFACE_DEPTH_REACHED
$STATE,16675,begin surface coast
$FREEZE,2.22,-1.851,-1.825
$FREEZE,2.27,-1.851,-1.825
$FREEZE,2.24,-1.851,-1.825
$FREEZE,2.16,-1.849,-1.825
$FREEZE,2.13,-1.844,-1.824
$FREEZE,2.13,-1.844,-1.824
$FREEZE,2.11,-1.850,-1.825
$FINISH,2.1,1.026772
$STATE,16716,end surface coast,CONTROL_FINISHED_OK
$STATE,16716,begin surface
$SM_CCo,16917,0.00,0.000,0,0,1339,321.59
$SM_GC,2.59,7.30,0.00,0.00,0.081,0.000,0.000,318,2238,1339,-10.69,0.23,321.59
$RAFOS_CLK,754
$RAFOS,2,1229948644,12.416667,12.401111,83,64,59,58,56,56,670,221,158,140,210,178
$RAFOS,1,1229948055,12.250000,12.237500,68,62,61,59,57,55,689,178,222,146,209,127
$RAFOS,0,1229947447,12.083333,12.068611,71,61,59,57,53,49,220,121,172,209,198,97
$RAFOS,4,1229935449,8.750000,8.735833,59,58,55,55,52,52,199,210,123,802,172,157
$RAFOS,3,1229934851,8.583333,8.569722,83,64,59,57,56,54,735,215,203,120,146,182
$RAFOS,2,1229934242,8.416667,8.400556,123,68,58,57,52,49,685,189,224,209,199,146
$RAFOS,1,1229933645,8.250000,8.234722,66,60,60,56,56,51,755,196,162,209,141,123
$RAFOS,0,1229933041,8.083333,8.066944,59,56,55,54,54,49,210,176,124,193,167,231
$RAFOS_FIX,6637.212891,-5747.240234,221208,080818,3,91,0.18
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.028379
$HUMID,1795
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,15.30
$XPDR_PINGS,177
$24V_AH,21.9,80.716
$10V_AH,10.4,37.088
$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,24.475,135.800,421.075,0.000,0.000,99.168,85.178,0.000,44.250,0.000,0.000,185.219,1823.526,12587.253,559.066,2032.037,842.908,0.000,1570.277,0.000,1833.096,3240.000,0.531,0.000
$DEVICE_MAMPS,244.673,85.904,1171.976,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,657.921,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31582,942
$CAP_FILE_SIZE,143521,0
$CFSIZE,260165632,219111424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1455.4
$GPS,221208,082618,6637.213,-5747.240,0,3090.7,0,-37.3