version: 66.04
glider: 108
mission: 11
dive: 497
start: 12 22 108 23 11 13
data:
$ID,108
$MISSION,11
$DIVE,497
$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,-125271.52
$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,35
$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
$GPS1,203128,6637.057,-5756.655,0,4127.2,0,-37.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-41.1
$GPS2,203128,6637.057,-5756.655,0,4127.2,0,-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,311.6,122199,-13.0,-7.021
$D_GRID,613
$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,-146.0,0.0,0.0,0,73,0.00,0.00,-55.12,0.000,2,0.000,0.000,329,2235,2790
$GC,78,-0.99,-146.0,3.2,-1.5,10,109,8.95,2.28,-15.95,0.000,4,0.245,0.087,2453,3590,3248
$GC,214,-0.81,-146.0,15.9,-9.9,33,221,0.20,2.15,0.00,0.000,6,0.141,0.048,2509,2213,3252
$GC,560,-0.81,-146.0,42.6,-6.7,94,566,0.00,2.20,0.00,0.000,4,0.000,0.060,2511,818,3252
$GC,646,-0.81,-146.0,49.0,-7.3,109,653,0.00,2.30,0.00,0.000,6,0.000,0.061,2502,2231,3252
$GC,992,-0.81,-146.0,73.6,-6.8,170,998,0.00,2.22,0.00,0.000,4,0.000,0.074,2492,3601,3251
$GC,1039,-0.81,-146.0,77.2,-8.1,178,1045,0.00,2.15,0.00,0.000,6,0.000,0.048,2492,2222,3251
$GC,1383,-0.81,-146.0,101.4,-6.8,236,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2222,3251
$GC,1695,-0.81,-146.0,122.1,-6.7,251,1698,0.00,2.30,0.00,0.000,4,0.000,0.075,2482,3607,3250
$GC,1936,-0.81,-146.0,139.8,-6.9,261,1943,0.10,2.17,0.00,0.000,6,0.146,0.051,2507,2219,3250
$GC,2254,-0.88,-146.0,157.6,-5.5,277,2257,0.00,2.22,0.00,0.000,4,0.000,0.061,2509,815,3249
$GC,2368,-0.95,-146.0,164.8,-6.4,282,2373,0.10,2.33,0.00,0.000,6,0.080,0.062,2456,2235,3248
$GC,2695,-0.86,-146.0,190.3,-8.0,298,2697,0.15,0.00,0.00,0.000,6,0.140,0.000,2498,2235,3247
$GC,3004,-0.95,-146.0,210.8,-6.4,313,3006,0.10,0.00,0.00,0.000,6,0.090,0.000,2452,2235,3247
$GC,3314,-0.87,-146.0,232.4,-6.2,328,3318,0.15,2.22,0.00,0.000,4,0.143,0.073,2486,3598,3247
$GC,3482,-0.95,-146.0,241.6,-5.4,335,3488,0.00,2.15,0.00,0.000,6,0.000,0.047,2486,2213,3248
$GC,3798,-1.00,-146.0,258.7,-5.4,351,3803,0.10,2.20,0.00,0.000,4,0.084,0.056,2437,813,3248
$GC,3983,-0.82,-146.0,272.5,-7.8,359,3988,0.25,2.30,0.00,0.000,6,0.129,0.056,2501,2241,3249
$GC,4303,-0.93,-146.0,288.7,-5.1,374,4307,0.10,2.20,0.00,0.000,4,0.084,0.067,2444,3605,3250
$GC,4521,-0.84,-146.0,304.8,-7.5,383,4528,0.20,2.15,0.00,0.000,6,0.134,0.044,2501,2206,3251
$GC,4838,-0.95,-146.0,321.9,-5.2,399,4843,0.12,2.17,0.00,0.000,4,0.079,0.054,2443,818,3252
$GC,4946,-0.80,-146.0,329.3,-6.8,403,4953,0.25,2.30,0.00,0.000,6,0.128,0.054,2507,2242,3252
$GC,5265,-0.95,-146.0,343.1,-3.8,419,5267,0.12,0.00,0.00,0.000,6,0.076,0.000,2450,2242,3253
$GC,5572,-0.87,-146.0,362.4,-6.7,434,5578,0.15,2.28,0.00,0.000,4,0.140,0.052,2498,809,3254
$GC,5658,-0.93,-146.0,367.1,-5.3,437,5664,0.00,2.28,0.00,0.000,6,0.000,0.053,2490,2237,3254
$GC,5976,-1.00,-146.0,381.4,-4.3,453,5981,0.10,2.17,0.00,0.000,4,0.077,0.065,2428,3597,3255
$GC,6207,-0.85,-146.0,395.8,-6.4,463,6211,0.22,2.12,0.00,0.000,6,0.135,0.041,2496,2213,3255
$GC,6531,-0.96,-146.0,407.7,-3.7,474,6536,0.10,2.17,0.00,0.000,4,0.085,0.052,2447,816,3256
$GC,6611,-0.82,-146.0,412.0,-5.4,475,6616,0.22,2.30,0.00,0.000,6,0.127,0.052,2503,2235,3256
$GC,6943,-0.95,-146.0,424.6,-3.7,483,6945,0.12,0.00,0.00,0.000,6,0.076,0.000,2447,2235,3257
$GC,7268,-0.87,-146.0,440.9,-5.1,491,7270,0.17,0.00,0.00,0.000,6,0.139,0.000,2496,2235,3257
$GC,7594,-0.98,-146.0,454.6,-4.3,499,7595,0.12,0.00,0.00,0.000,6,0.077,0.000,2439,2235,3257
$GC,7918,-0.88,-146.0,472.6,-5.5,507,7922,0.17,2.30,0.00,0.000,4,0.142,0.051,2497,822,3258
$GC,8002,-0.95,-146.0,476.6,-4.7,508,8009,0.00,2.28,0.00,0.000,6,0.000,0.052,2490,2244,3258
$GC,8336,-1.03,-146.0,491.1,-4.3,517,8340,0.12,2.22,0.00,0.000,4,0.071,0.064,2421,3603,3258
$GC,8474,-0.86,-146.0,499.8,-6.8,520,8479,0.22,2.12,0.00,0.000,6,0.139,0.041,2494,2224,3258
$GC,8805,-0.98,-146.0,513.7,-3.8,528,8810,0.10,2.20,0.00,0.000,4,0.087,0.052,2446,824,3258
$GC,8896,-0.85,-146.0,518.6,-5.3,530,8902,0.20,2.30,0.00,0.000,6,0.129,0.054,2494,2236,3258
$GC,9222,-0.96,-146.0,530.1,-3.4,538,9227,0.10,2.22,0.00,0.000,4,0.083,0.064,2438,3604,3258
$GC,9301,-0.87,-146.0,534.6,-6.2,539,9306,0.20,2.12,0.00,0.000,6,0.140,0.041,2494,2221,3258
$GC,9639,-0.99,-146.0,549.0,-4.3,548,9643,0.12,2.20,0.00,0.000,4,0.080,0.051,2439,826,3258
$GC,9752,-0.84,-146.0,555.3,-5.9,550,9757,0.25,2.33,0.00,0.000,6,0.130,0.054,2502,2237,3258
$GC,10095,-0.98,-146.0,568.5,-4.2,559,10099,0.12,2.25,0.00,0.000,4,0.077,0.065,2437,3594,3258
$GC,10158,-0.88,-146.0,571.8,-6.1,560,10162,0.20,2.12,0.00,0.000,6,0.139,0.041,2493,2218,3258
$GC,10471,-0.99,-146.0,585.2,-4.4,568,10476,0.12,2.20,0.00,0.000,4,0.081,0.052,2439,833,3258
$GC,10557,-0.83,-146.0,590.8,-6.5,569,10563,0.25,2.30,0.00,0.000,6,0.130,0.054,2502,2237,3258
$GC,10889,-1.07,-146.0,602.3,-2.4,578,10893,0.17,2.22,0.00,0.000,4,0.064,0.066,2421,3592,3258
$STATE,11021,end dive,NO_VERTICAL_VELOCITY
$STATE,11024,begin apogee
$GC,11035,-0.31,0.0,602.2,0.0,581,11168,0.60,0.00,130.30,1.183,6,0.100,0.000,2621,1741,2650
$STATE,11169,end apogee,CONTROL_FINISHED_OK
$STATE,11169,begin climb
$GC,11172,0.99,146.0,601.9,0.0,584,11314,0.85,2.55,132.62,1.110,4,0.091,0.056,2910,333,2053
$GC,11329,0.76,146.0,587.3,11.6,587,11334,0.25,2.53,0.00,0.000,6,0.131,0.044,2844,1747,2051
$GC,11661,0.76,146.0,560.2,8.0,595,11665,0.00,2.33,0.00,0.000,4,0.000,0.061,2844,3157,2045
$GC,11707,0.62,146.0,556.4,8.4,596,11711,0.15,2.28,0.00,0.000,6,0.130,0.045,2810,1733,2044
$GC,12038,0.78,176.4,536.6,6.0,604,12066,0.15,0.00,26.02,1.096,6,0.067,0.000,2878,1732,1931
$GC,12362,0.63,176.4,503.8,10.4,612,12364,0.22,0.00,0.00,0.000,6,0.120,0.000,2810,1732,1926
$GC,12687,0.81,199.2,482.7,6.3,620,12710,0.15,0.00,20.50,1.075,6,0.067,0.000,2879,1732,1838
$GC,13012,0.69,199.2,448.3,10.9,628,13014,0.17,0.00,0.00,0.000,6,0.120,0.000,2826,1732,1833
$GC,13337,0.76,199.2,423.6,7.3,636,13338,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1732,1831
$GC,13662,0.83,201.6,401.0,6.9,644,13667,0.12,2.38,0.00,0.000,4,0.074,0.060,2883,3150,1829
$GC,13691,0.67,201.6,398.1,10.6,644,13695,0.25,2.28,0.00,0.000,6,0.130,0.044,2819,1726,1829
$GC,14012,0.78,204.8,376.2,6.9,660,14020,0.12,0.00,5.22,0.808,6,0.070,0.000,2881,1726,1814
$GC,14321,0.64,204.8,342.8,10.8,675,14323,0.22,0.00,0.00,0.000,6,0.120,0.000,2812,1726,1813
$GC,14632,0.81,216.4,321.9,6.7,690,14650,0.15,0.00,11.77,0.943,6,0.064,0.000,2883,1726,1767
$GC,14960,0.68,216.4,284.9,11.4,706,14962,0.20,0.00,0.00,0.000,6,0.118,0.000,2821,1726,1765
$GC,15270,0.81,216.4,261.0,7.8,721,15275,0.12,2.38,0.00,0.000,4,0.069,0.058,2881,3164,1765
$GC,15315,0.59,216.4,255.7,12.7,723,15320,0.30,2.25,0.00,0.000,6,0.123,0.044,2801,1735,1764
$GC,15637,0.84,229.0,232.6,6.6,739,15656,0.20,0.00,12.43,0.887,6,0.058,0.000,2895,1735,1716
$GC,15966,0.69,229.0,193.1,11.8,755,15971,0.20,2.30,0.00,0.000,4,0.123,0.055,2838,327,1714
$GC,15984,0.63,229.0,191.3,11.0,756,15988,0.00,2.30,0.00,0.000,6,0.000,0.046,2838,1751,1714
$GC,16318,0.75,229.0,166.1,7.3,772,16322,0.00,2.30,0.00,0.000,4,0.000,0.058,2838,3162,1714
$GC,16351,0.75,229.0,163.3,8.4,773,16355,0.00,2.25,0.00,0.000,6,0.000,0.041,2847,1736,1714
$GC,16675,0.85,231.3,139.6,6.9,789,16676,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1736,1714
$GC,16984,1.06,276.7,122.5,5.6,804,17030,0.20,0.00,43.05,0.864,6,0.061,0.000,2945,1735,1522
$GC,17349,0.91,276.7,80.6,11.0,842,17356,0.20,2.30,0.00,0.000,4,0.122,0.055,2886,329,1515
$GC,17398,1.01,276.7,76.5,8.1,850,17404,0.00,2.25,0.00,0.000,6,0.000,0.045,2887,1752,1514
$GC,17744,1.13,282.4,50.6,6.8,911,17757,0.12,2.28,5.18,0.663,4,0.069,0.061,2949,3159,1498
$GC,17815,0.88,282.4,42.4,12.6,923,17822,0.30,2.25,0.00,0.000,6,0.130,0.048,2870,1734,1497
$GC,18161,1.08,282.4,13.8,9.8,984,18167,0.15,0.00,0.00,0.000,6,0.069,0.000,2943,1734,1495
$FREEZE,6.46,-1.831,-1.827
$FREEZE,5.85,-1.831,-1.826
$FREEZE,5.28,-1.832,-1.826
$FREEZE,4.74,-1.832,-1.826
$FREEZE,4.11,-1.833,-1.825
$FREEZE,3.56,-1.833,-1.825
$FREEZE,2.87,-1.833,-1.824
$STATE,18263,end climb,SURFACE_DEPTH_REACHED
$STATE,18264,begin surface coast
$FREEZE,2.16,-1.832,-1.824
$FREEZE,1.44,-1.834,-1.823
$FREEZE,1.47,-1.837,-1.824
$FREEZE,1.44,-1.837,-1.824
$FREEZE,1.43,-1.835,-1.823
$FINISH,1.4,1.026762
$STATE,18293,end surface coast,CONTROL_FINISHED_OK
$STATE,18293,begin surface
$SM_CCo,18373,0.00,0.000,0,0,1493,283.81
$SM_GC,2.85,7.18,0.00,0.00,0.063,0.000,0.000,330,2234,1493,-10.68,0.11,283.81
$RAFOS_CLK,799
$RAFOS,0,1230005044,4.083333,4.067778,69,60,60,59,53,52,219,203,162,874,141,191
$RAFOS,4,1229993049,0.750000,0.735833,69,64,59,57,55,54,214,795,112,165,148,195
$RAFOS,3,1229992443,0.583333,0.567500,155,68,64,56,56,54,749,211,138,229,117,188
$RAFOS,2,1229991846,0.416667,0.401667,104,67,60,59,56,49,672,213,193,152,183,135
$RAFOS,1,1229991247,0.250000,0.235278,139,67,58,52,51,51,721,191,209,226,159,171
$RAFOS,0,1229990659,0.083333,0.071944,63,58,57,56,55,53,148,199,134,221,190,125
$RAFOS_FIX,6636.891602,-5758.380859,231208,000056,4,117,0.09
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.029146
$HUMID,1783
$INTERNAL_PRESSURE,9.86366
$TCM_TEMP,15.30
$XPDR_PINGS,224
$24V_AH,21.9,81.103
$10V_AH,10.4,37.324
$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,27.100,127.675,387.100,0.000,0.000,99.022,85.071,0.000,56.000,0.000,0.000,185.589,1948.193,13679.707,525.621,2279.335,859.616,0.000,1624.083,0.000,2072.034,2520.000,0.532,0.000
$DEVICE_MAMPS,245.440,86.671,1182.714,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,702.892,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31541,1007
$CAP_FILE_SIZE,154510,0
$CFSIZE,260165632,218906624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.9
$GPS,231208,003056,6636.892,-5758.381,0,4116.8,0,-37.3