version: 66.04
glider: 108
mission: 11
dive: 495
start: 12 22 108 13 1 56
data:
$ID,108
$MISSION,11
$DIVE,495
$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,-124529.71
$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,33
$R_STBD_OVSHOOT,23
$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
$GPS1,082618,6637.213,-5747.240,0,3090.7,0,-37.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-32.7
$GPS2,082618,6637.213,-5747.240,0,3090.7,0,-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,311.2,129058,-13.0,-7.021
$D_GRID,586
$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,12,begin dive
$GC,15,-0.99,-146.0,0.0,0.0,0,57,0.00,0.00,-39.10,0.000,2,0.000,0.000,318,2240,2246
$GC,61,-0.99,-146.0,3.0,-0.9,7,127,7.95,2.33,-52.28,0.000,4,0.198,0.085,2452,3600,3247
$GC,336,-0.81,-146.0,23.1,-10.7,55,343,0.20,2.17,0.00,0.000,6,0.146,0.048,2510,2216,3250
$GC,682,-0.81,-146.0,47.2,-5.9,116,689,0.00,2.22,0.00,0.000,4,0.000,0.061,2510,811,3251
$GC,775,-0.81,-146.0,53.6,-7.5,132,781,0.00,2.33,0.00,0.000,6,0.000,0.061,2502,2236,3251
$GC,1119,-0.81,-146.0,81.1,-7.6,193,1126,0.00,2.30,0.00,0.000,4,0.000,0.061,2503,812,3250
$GC,1206,-0.81,-146.0,87.7,-7.9,208,1213,0.00,2.33,0.00,0.000,6,0.000,0.061,2492,2233,3250
$GC,1552,-0.81,-146.0,112.8,-6.4,245,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2233,3250
$GC,1862,-0.81,-146.0,136.1,-7.7,260,1863,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2233,3250
$GC,2172,-0.81,-146.0,163.0,-8.6,275,2176,0.00,2.30,0.00,0.000,4,0.000,0.061,2492,815,3249
$GC,2222,-0.81,-146.0,167.4,-8.4,277,2226,0.00,2.33,0.00,0.000,6,0.000,0.063,2483,2237,3249
$GC,2550,-0.81,-146.0,193.2,-7.3,293,2554,0.00,2.22,0.00,0.000,4,0.000,0.075,2472,3602,3248
$GC,2776,-0.81,-146.0,209.1,-5.8,303,2781,0.12,2.17,0.00,0.000,6,0.141,0.050,2506,2211,3248
$GC,3111,-0.93,-146.0,224.1,-4.1,319,3116,0.10,2.20,0.00,0.000,4,0.090,0.060,2461,824,3247
$GC,3296,-0.83,-146.0,235.3,-6.7,327,3301,0.17,2.30,0.00,0.000,6,0.132,0.061,2501,2241,3247
$GC,3624,-0.93,-146.0,253.4,-6.2,343,3626,0.10,0.00,0.00,0.000,6,0.089,0.000,2458,2240,3248
$GC,3932,-0.87,-146.0,277.1,-7.8,358,3934,0.12,0.00,0.00,0.000,6,0.145,0.000,2491,2241,3249
$GC,4242,-0.95,-146.0,295.9,-5.7,373,4244,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2241,3250
$GC,4551,-1.02,-146.0,312.7,-5.2,388,4555,0.12,2.20,0.00,0.000,4,0.084,0.070,2428,3599,3251
$GC,4691,-0.88,-146.0,323.3,-7.3,394,4696,0.22,2.15,0.00,0.000,6,0.140,0.045,2495,2207,3251
$GC,5021,-0.97,-146.0,341.4,-5.6,410,5023,0.10,0.00,0.00,0.000,6,0.091,0.000,2449,2207,3252
$GC,5328,-0.89,-146.0,361.4,-6.4,425,5330,0.15,0.00,0.00,0.000,6,0.141,0.000,2491,2207,3253
$GC,5640,-0.97,-146.0,377.0,-5.0,440,5643,0.00,2.17,0.00,0.000,4,0.000,0.056,2491,825,3254
$GC,5702,-0.97,-146.0,380.5,-5.9,442,5708,0.00,2.30,0.00,0.000,6,0.000,0.056,2483,2237,3254
$GC,6018,-1.02,-146.0,397.6,-5.5,458,6023,0.10,2.22,0.00,0.000,4,0.082,0.067,2424,3602,3254
$GC,6168,-0.86,-146.0,408.6,-8.0,462,6173,0.22,2.12,0.00,0.000,6,0.141,0.043,2494,2224,3255
$GC,6487,-0.96,-146.0,424.4,-4.8,470,6491,0.10,2.20,0.00,0.000,4,0.091,0.054,2449,827,3255
$GC,6590,-0.84,-146.0,431.1,-7.0,472,6595,0.20,2.30,0.00,0.000,6,0.132,0.056,2496,2240,3255
$GC,6904,-0.94,-146.0,444.6,-4.1,480,6908,0.00,2.20,0.00,0.000,4,0.000,0.069,2488,3596,3256
$GC,6978,-1.06,-146.0,448.0,-4.9,481,6983,0.12,2.12,0.00,0.000,6,0.077,0.042,2432,2216,3256
$GC,7321,-0.92,-146.0,467.7,-5.8,490,7326,0.17,2.17,0.00,0.000,4,0.140,0.053,2485,826,3256
$GC,7457,-0.92,-146.0,474.2,-4.6,493,7461,0.00,2.28,0.00,0.000,6,0.000,0.056,2477,2244,3256
$GC,7787,-0.92,-146.0,489.5,-4.6,501,7791,0.00,2.20,0.00,0.000,4,0.000,0.068,2466,3603,3256
$GC,7838,-0.92,-146.0,491.8,-4.7,502,7842,0.00,2.12,0.00,0.000,6,0.000,0.043,2466,2229,3256
$GC,8164,-0.92,-146.0,508.5,-5.2,510,8168,0.00,2.22,0.00,0.000,4,0.000,0.055,2466,817,3256
$GC,8243,-0.86,-146.0,513.2,-6.0,511,8248,0.15,2.33,0.00,0.000,6,0.131,0.055,2498,2245,3256
$GC,8575,-0.99,-146.0,528.2,-4.3,519,8577,0.12,0.00,0.00,0.000,6,0.081,0.000,2445,2245,3257
$GC,8901,-0.91,-146.0,546.6,-5.6,527,8903,0.15,0.00,0.00,0.000,6,0.144,0.000,2486,2245,3256
$GC,9225,-0.99,-146.0,561.9,-4.8,535,9229,0.00,2.20,0.00,0.000,4,0.000,0.069,2478,3598,3256
$GC,9299,-1.08,-146.0,565.9,-6.9,536,9304,0.12,2.12,0.00,0.000,6,0.077,0.044,2424,2224,3256
$STATE,9638,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9638,begin apogee
$GC,9647,-0.31,0.0,586.9,5.7,545,9786,0.57,0.00,131.38,1.174,6,0.094,0.000,2620,1732,2650
$STATE,9787,end apogee,CONTROL_FINISHED_OK
$STATE,9787,begin climb
$GC,9790,0.99,146.0,586.5,0.0,548,9928,0.85,0.00,132.80,1.110,6,0.094,0.000,2896,1732,2053
$GC,10243,0.77,146.0,538.4,11.2,559,10248,0.17,2.38,0.00,0.000,4,0.130,0.061,2846,3154,2046
$GC,10300,0.64,146.0,532.6,9.4,560,10304,0.15,2.28,0.00,0.000,6,0.130,0.047,2813,1727,2045
$GC,10613,0.75,151.1,510.8,6.9,568,10623,0.12,2.33,4.10,0.718,4,0.072,0.061,2871,3154,2034
$GC,10636,0.69,151.1,508.8,8.8,568,10640,0.20,2.22,0.00,0.000,6,0.133,0.046,2823,1732,2033
$GC,10978,0.74,151.1,483.3,7.3,577,10982,0.00,2.33,0.00,0.000,4,0.000,0.061,2823,3165,2033
$GC,10995,0.74,151.1,481.8,7.5,577,10999,0.00,2.25,0.00,0.000,6,0.000,0.046,2831,1728,2033
$GC,11310,0.74,151.1,456.5,8.1,585,11314,0.00,2.33,0.00,0.000,4,0.000,0.061,2831,3165,2033
$GC,11327,0.74,151.1,454.9,8.5,585,11331,0.00,2.22,0.00,0.000,6,0.000,0.045,2841,1735,2033
$GC,11640,0.74,151.1,427.3,8.7,593,11641,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1735,2032
$GC,11966,0.74,151.1,399.9,8.3,601,11970,0.00,2.30,0.00,0.000,4,0.000,0.062,2842,3159,2032
$GC,11990,0.68,151.1,397.7,9.2,602,11994,0.10,2.20,0.00,0.000,6,0.140,0.047,2825,1733,2031
$GC,12322,0.75,151.1,373.8,7.1,618,12326,0.00,2.30,0.00,0.000,4,0.000,0.061,2825,3159,2032
$GC,12335,0.81,156.0,372.8,6.9,618,12347,0.08,2.22,5.45,0.825,6,0.094,0.046,2873,1728,2014
$GC,12659,0.69,156.0,342.2,9.3,634,12661,0.15,0.00,0.00,0.000,6,0.125,0.000,2828,1728,2014
$GC,12965,0.70,163.0,321.1,6.8,649,12975,0.00,0.00,7.78,0.894,6,0.000,0.000,2828,1728,1985
$GC,13293,0.75,165.3,297.7,6.9,665,13297,0.00,2.30,0.00,0.000,4,0.000,0.061,2828,3155,1984
$GC,13339,0.70,165.3,294.1,8.7,667,13343,0.00,2.20,0.00,0.000,6,0.000,0.045,2836,1735,1983
$GC,13672,0.70,165.5,269.8,7.0,683,13676,0.00,2.30,0.00,0.000,4,0.000,0.061,2837,3165,1984
$GC,13706,0.65,165.5,267.0,7.8,684,13711,0.12,2.22,0.00,0.000,6,0.130,0.045,2811,1732,1983
$GC,14028,0.84,191.7,247.7,6.2,700,14057,0.17,0.00,26.27,0.955,6,0.063,0.000,2893,1731,1868
$GC,14358,0.68,191.7,212.2,11.4,716,14362,0.20,2.25,0.00,0.000,4,0.122,0.058,2836,323,1863
$GC,14402,0.82,191.7,208.1,7.6,718,14407,0.08,2.28,0.00,0.000,6,0.092,0.047,2881,1753,1863
$GC,14726,0.73,191.7,176.7,9.7,734,14728,0.17,0.00,0.00,0.000,6,0.127,0.000,2828,1752,1863
$GC,15033,0.91,224.0,157.2,6.0,749,15069,0.17,2.33,27.75,0.888,4,0.063,0.061,2907,3159,1736
$GC,15081,0.70,224.0,152.7,10.7,751,15086,0.30,2.25,0.00,0.000,6,0.127,0.045,2827,1728,1733
$GC,15405,1.05,261.0,133.8,5.8,767,15444,0.25,2.33,32.60,0.874,4,0.076,0.057,2918,3146,1585
$GC,15485,0.84,261.0,126.7,10.3,770,15491,0.25,2.22,0.00,0.000,6,0.127,0.044,2854,1731,1582
$GC,15802,1.03,268.5,105.1,6.8,786,15816,0.17,2.30,7.25,0.733,4,0.063,0.058,2947,331,1555
$GC,15851,0.90,268.5,99.8,12.2,788,15856,0.25,2.28,0.00,0.000,6,0.127,0.047,2873,1746,1555
$GC,16196,1.06,291.9,75.2,6.3,848,16226,0.12,2.30,22.02,0.841,4,0.073,0.062,2934,3159,1460
$GC,16251,0.93,291.9,69.7,10.7,857,16258,0.22,2.25,0.00,0.000,6,0.129,0.047,2878,1736,1457
$GC,16597,1.09,291.9,43.5,7.5,918,16603,0.15,0.00,0.00,0.000,6,0.066,0.000,2950,1736,1453
$FREEZE,6.25,-1.747,-1.827
$FREEZE,5.56,-1.748,-1.827
$FREEZE,4.76,-1.750,-1.826
$FREEZE,4.20,-1.751,-1.826
$FREEZE,3.55,-1.755,-1.826
$GC,16944,0.94,291.9,3.5,11.9,979,16950,0.20,0.00,0.00,0.000,6,0.133,0.000,2886,1736,1451
$FREEZE,2.05,-1.753,-1.811
$STATE,16954,end climb,SURFACE_DEPTH_REACHED
$STATE,16954,begin surface coast
$FREEZE,2.04,-1.752,-1.812
$FREEZE,1.99,-1.748,-1.812
$FREEZE,2.06,-1.755,-1.813
$FREEZE,1.86,-1.747,-1.812
$FREEZE,1.69,-1.754,-1.812
$FINISH,1.7,1.026597
$STATE,16983,end surface coast,CONTROL_FINISHED_OK
$STATE,16983,begin surface
$SM_CCo,17063,0.00,0.000,0,0,1449,294.61
$SM_GC,2.29,6.97,0.00,0.00,0.060,0.000,0.000,331,2228,1449,-10.67,-0.06,294.61
$RAFOS_CLK,759
$RAFOS,4,1229964246,16.750000,16.735001,67,58,58,56,53,52,817,213,200,118,134,157
$RAFOS,3,1229963651,16.583334,16.569723,64,63,59,58,53,53,222,189,148,207,159,130
$RAFOS,2,1229963049,16.416666,16.402500,90,67,61,56,55,53,652,199,152,217,168,112
$RAFOS,1,1229962472,16.250000,16.242222,107,59,56,54,52,52,596,218,204,153,227,182
$RAFOS,0,1229961850,16.083334,16.069445,62,62,58,57,51,50,194,212,175,152,123,227
$RAFOS,3,1229949245,12.583333,12.568055,91,66,59,58,56,54,747,180,201,210,219,146
$RAFOS_FIX,6637.655273,-5750.299316,221208,161652,3,88,0.08
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.026845
$HUMID,1790
$INTERNAL_PRESSURE,9.86366
$TCM_TEMP,15.20
$XPDR_PINGS,91
$24V_AH,21.9,80.844
$10V_AH,10.5,37.165
$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,23.075,127.550,397.400,0.000,0.000,99.083,85.166,0.000,22.750,0.000,0.000,185.654,1858.221,12635.632,526.537,2131.386,841.009,0.000,1568.232,0.000,1927.975,1800.000,0.532,0.000
$DEVICE_MAMPS,197.886,85.137,1173.510,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,688.540,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31510,986
$CAP_FILE_SIZE,142649,0
$CFSIZE,260165632,219049984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1454.1
$GPS,221208,162952,6637.655,-5750.299,0,3088.0,0,-37.3