version: 66.04
glider: 108
mission: 11
dive: 418
start: 12 4 108 13 14 35
data:
$ID,108
$MISSION,11
$DIVE,418
$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,20
$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,-120148.95
$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,29
$R_STBD_OVSHOOT,24
$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
$GPS1,130807,6550.669,-5723.329,38,1.3,38,-36.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-66.2
$GPS2,131415,6550.692,-5723.200,12,1.6,12,-36.1
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6600.840,-5714.114
$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,56.1,20000,-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,17,-0.99,-146.0,0.0,0.0,0,93,0.00,0.00,-72.72,0.000,2,0.000,0.000,334,2228,3020
$GC,96,-0.99,-146.0,3.1,-1.6,13,122,8.75,2.33,-7.35,0.000,4,0.244,0.084,2453,3589,3248
$GC,331,-0.79,-146.0,30.7,-10.9,54,338,0.20,2.17,0.00,0.000,6,0.138,0.047,2509,2210,3251
$GC,676,-0.79,-146.0,57.8,-7.2,115,682,0.00,2.20,0.00,0.000,4,0.000,0.058,2510,818,3252
$GC,762,-0.79,-146.0,63.1,-5.7,130,769,0.00,2.30,0.00,0.000,6,0.000,0.059,2502,2239,3251
$GC,1107,-0.79,-146.0,83.2,-5.7,191,1113,0.00,2.20,0.00,0.000,4,0.000,0.072,2492,3595,3251
$GC,1249,-0.79,-146.0,92.8,-7.1,216,1255,0.00,2.12,0.00,0.000,6,0.000,0.046,2492,2223,3250
$GC,1578,-0.79,-146.0,112.7,-6.2,247,1582,0.00,2.20,0.00,0.000,4,0.000,0.059,2492,827,3250
$GC,1779,-0.79,-146.0,125.9,-6.5,255,1786,0.10,2.28,0.00,0.000,6,0.136,0.060,2509,2234,3250
$GC,2096,-0.88,-146.0,143.8,-5.7,271,2099,0.00,2.25,0.00,0.000,4,0.000,0.058,2509,827,3250
$GC,2147,-0.93,-146.0,147.0,-6.7,273,2151,0.10,2.30,0.00,0.000,6,0.081,0.060,2456,2235,3250
$GC,2469,-0.84,-146.0,170.4,-6.9,289,2471,0.15,0.00,0.00,0.000,6,0.140,0.000,2498,2235,3249
$GC,2777,-0.91,-146.0,183.2,-3.5,304,2779,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2235,3249
$GC,3087,-0.99,-146.0,195.0,-4.2,319,3089,0.12,0.00,0.00,0.000,6,0.084,0.000,2446,2235,3250
$GC,3396,-0.89,-146.0,215.2,-7.0,334,3400,0.15,2.22,0.00,0.000,4,0.143,0.071,2480,3599,3249
$GC,3457,-0.89,-146.0,219.1,-6.3,336,3463,0.00,2.12,0.00,0.000,6,0.000,0.046,2479,2222,3249
$GC,3774,-0.89,-146.0,236.2,-5.1,352,3778,0.00,2.20,0.00,0.000,4,0.000,0.058,2480,818,3249
$GC,3830,-0.89,-146.0,239.4,-5.7,354,3834,0.00,2.28,0.00,0.000,6,0.000,0.058,2469,2233,3250
$GC,4152,-0.89,-146.0,257.4,-5.6,370,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2233,3250
$GC,4461,-0.89,-146.0,276.2,-6.6,385,4463,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2233,3250
$GC,4772,-0.89,-146.0,295.9,-6.4,400,4775,0.00,2.25,0.00,0.000,4,0.000,0.055,2469,813,3250
$GC,4879,-0.82,-146.0,303.3,-6.5,404,4886,0.15,2.30,0.00,0.000,6,0.129,0.056,2503,2243,3251
$GC,5196,-0.94,-146.0,318.6,-4.4,420,5198,0.12,0.00,0.00,0.000,6,0.077,0.000,2449,2243,3251
$GC,5504,-0.85,-146.0,336.2,-5.6,435,5506,0.17,0.00,0.00,0.000,6,0.140,0.000,2498,2243,3251
$GC,5814,-0.95,-146.0,349.5,-4.4,450,5816,0.10,0.00,0.00,0.000,6,0.090,0.000,2454,2243,3252
$GC,6125,-0.89,-146.0,366.8,-5.6,465,6130,0.12,2.28,0.00,0.000,4,0.145,0.055,2488,821,3252
$GC,6204,-0.89,-146.0,370.9,-4.7,468,6210,0.00,2.28,0.00,0.000,6,0.000,0.057,2480,2235,3252
$GC,6520,-0.89,-146.0,385.3,-4.6,484,6523,0.00,2.20,0.00,0.000,4,0.000,0.068,2470,3594,3252
$GC,6566,-0.89,-146.0,387.4,-4.8,486,6570,0.00,2.10,0.00,0.000,6,0.000,0.043,2470,2224,3252
$GC,6918,-0.89,-146.0,404.5,-5.0,501,6922,0.00,2.17,0.00,0.000,4,0.000,0.057,2470,822,3253
$GC,7026,-0.85,-146.0,410.3,-5.0,503,7030,0.15,2.28,0.00,0.000,6,0.129,0.056,2503,2231,3252
$GC,7339,-0.99,-146.0,422.8,-4.1,511,7341,0.15,0.00,0.00,0.000,6,0.072,0.000,2439,2231,3253
$GC,7664,-0.88,-146.0,442.7,-6.4,519,7666,0.17,0.00,0.00,0.000,6,0.142,0.000,2489,2230,3253
$GC,7989,-0.96,-146.0,459.5,-5.1,527,7993,0.00,2.25,0.00,0.000,4,0.000,0.055,2489,816,3253
$GC,8051,-0.96,-146.0,463.0,-5.3,528,8055,0.00,2.30,0.00,0.000,6,0.000,0.055,2481,2230,3253
$GC,8365,-1.01,-146.0,479.5,-5.3,536,8366,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2230,3253
$GC,8690,-1.06,-146.0,496.0,-5.0,544,8692,0.12,0.00,0.00,0.000,6,0.074,0.000,2424,2230,3253
$GC,9015,-0.91,-146.0,516.5,-6.3,552,9019,0.20,2.25,0.00,0.000,4,0.137,0.054,2495,818,3254
$GC,9077,-0.97,-146.0,519.8,-4.8,553,9081,0.00,2.30,0.00,0.000,6,0.000,0.056,2487,2243,3253
$GC,9426,-1.05,-146.0,535.0,-4.3,562,9428,0.12,0.00,0.00,0.000,6,0.076,0.000,2430,2242,3253
$GC,9751,-0.92,-146.0,553.2,-5.7,570,9753,0.17,0.00,0.00,0.000,6,0.137,0.000,2481,2243,3253
$GC,10077,-0.99,-146.0,567.2,-4.2,578,10078,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2242,3253
$GC,10401,-1.06,-146.0,580.8,-4.1,586,10406,0.12,2.25,0.00,0.000,4,0.081,0.054,2428,830,3253
$GC,10463,-0.89,-146.0,584.2,-5.5,587,10468,0.22,2.28,0.00,0.000,6,0.131,0.054,2486,2242,3253
$GC,10809,-0.97,-146.0,596.9,-3.9,596,10813,0.00,2.20,0.00,0.000,4,0.000,0.071,2478,3594,3253
$GC,10866,-1.06,-146.0,599.8,-5.3,597,10870,0.10,2.10,0.00,0.000,6,0.084,0.042,2432,2218,3253
$STATE,11100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11100,begin apogee
$GC,11108,-0.31,0.0,614.7,6.5,603,11239,0.57,0.00,127.55,1.193,6,0.123,0.000,2614,1736,2650
$STATE,11239,end apogee,CONTROL_FINISHED_OK
$STATE,11239,begin climb
$GC,11242,0.99,146.0,615.8,0.0,606,11385,0.88,2.58,131.10,1.121,4,0.087,0.058,2909,335,2054
$GC,11405,0.73,146.0,600.2,12.3,610,11410,0.28,2.47,0.00,0.000,6,0.132,0.047,2836,1753,2052
$GC,11754,0.73,146.0,571.4,8.0,619,11758,0.00,2.28,0.00,0.000,4,0.000,0.061,2836,3163,2047
$GC,11815,0.57,146.0,565.5,9.7,620,11820,0.15,2.25,0.00,0.000,6,0.129,0.045,2802,1735,2046
$GC,12129,0.68,152.9,544.6,6.8,628,12141,0.10,2.33,6.12,0.884,4,0.080,0.060,2852,3156,2026
$GC,12153,0.63,152.9,542.3,9.0,628,12157,0.17,2.22,0.00,0.000,6,0.130,0.045,2812,1735,2025
$GC,12490,0.69,152.9,518.1,7.1,637,12494,0.00,2.33,0.00,0.000,4,0.000,0.061,2812,3158,2025
$GC,12514,0.69,152.9,516.2,7.7,637,12518,0.00,2.22,0.00,0.000,6,0.000,0.045,2819,1727,2025
$GC,12862,0.69,152.9,490.2,7.4,646,12866,0.00,2.33,0.00,0.000,4,0.000,0.060,2819,3158,2025
$GC,12896,0.64,152.9,487.6,8.2,646,12900,0.00,2.22,0.00,0.000,6,0.000,0.045,2829,1726,2024
$GC,13233,0.64,152.9,461.8,7.6,655,13235,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1726,2024
$GC,13558,0.64,152.9,437.5,7.4,663,13562,0.00,2.30,0.00,0.000,4,0.000,0.061,2829,3154,2025
$GC,13597,0.54,152.9,434.0,9.3,663,13604,0.15,2.20,0.00,0.000,6,0.129,0.045,2795,1731,2024
$GC,13930,0.75,188.8,414.4,5.9,672,13968,0.15,0.00,32.03,1.067,6,0.065,0.000,2867,1730,1879
$GC,14276,0.63,188.8,378.4,10.7,685,14278,0.20,0.00,0.00,0.000,6,0.120,0.000,2807,1731,1874
$GC,14586,0.79,197.9,357.2,6.7,700,14601,0.15,2.35,8.05,0.899,4,0.066,0.061,2876,3154,1843
$GC,14619,0.62,197.9,354.0,10.4,701,14623,0.25,2.22,0.00,0.000,6,0.128,0.046,2812,1726,1842
$GC,14935,0.81,226.1,333.6,6.1,716,14963,0.15,0.00,25.75,1.003,6,0.064,0.000,2882,1726,1728
$GC,15265,0.67,226.1,298.1,10.9,732,15267,0.20,0.00,0.00,0.000,6,0.120,0.000,2821,1726,1723
$GC,15573,0.80,226.1,274.9,7.7,747,15578,0.12,2.33,0.00,0.000,4,0.069,0.060,2880,3155,1721
$GC,15601,0.69,226.1,271.9,11.8,748,15606,0.22,2.22,0.00,0.000,6,0.126,0.045,2824,1726,1721
$GC,15919,0.83,226.1,247.3,7.1,763,15921,0.12,0.00,0.00,0.000,6,0.068,0.000,2885,1726,1720
$GC,16226,0.70,226.1,214.1,10.8,778,16231,0.17,2.22,0.00,0.000,4,0.121,0.058,2839,335,1720
$GC,16249,0.70,226.1,211.9,9.0,779,16252,0.00,2.22,0.00,0.000,6,0.000,0.048,2839,1747,1720
$GC,16577,0.79,226.1,188.2,7.1,795,16581,0.00,2.28,0.00,0.000,4,0.000,0.062,2839,3158,1720
$GC,16628,0.79,226.1,183.8,8.3,797,16631,0.00,2.22,0.00,0.000,6,0.000,0.046,2849,1726,1719
$GC,16957,0.83,226.1,159.8,7.4,813,16958,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1726,1719
$GC,17264,0.90,226.1,134.8,8.1,828,17269,0.10,2.33,0.00,0.000,4,0.081,0.061,2898,3151,1719
$GC,17292,0.76,226.1,131.9,10.2,829,17297,0.22,2.20,0.00,0.000,6,0.128,0.046,2841,1733,1719
$GC,17609,0.88,226.1,108.5,7.1,844,17613,0.12,2.30,0.00,0.000,4,0.072,0.061,2902,3157,1719
$GC,17642,0.68,226.1,104.9,10.8,845,17647,0.30,2.22,0.00,0.000,6,0.127,0.047,2820,1727,1718
$GC,17979,1.35,226.1,82.5,7.9,893,17986,0.45,2.22,0.00,0.000,4,0.094,0.059,2979,334,1718
$GC,18010,1.73,226.1,80.0,7.9,898,18017,0.25,2.25,0.00,0.000,6,0.067,0.049,3076,1743,1718
$GC,18355,1.12,226.1,12.4,19.4,959,18361,0.50,0.00,0.00,0.000,6,0.156,0.000,2925,1743,1718
$FREEZE,6.77,0.214,-1.820
$FREEZE,6.35,0.215,-1.820
$FREEZE,5.76,0.216,-1.819
$FREEZE,5.20,0.216,-1.819
$FREEZE,4.48,0.223,-1.818
$FREEZE,3.89,0.220,-1.818
$FREEZE,3.30,0.222,-1.817
$FREEZE,2.72,0.220,-1.817
$STATE,18433,end climb,SURFACE_DEPTH_REACHED
$STATE,18433,begin surface coast
$FREEZE,2.17,0.221,-1.817
$FREEZE,1.59,0.218,-1.816
$FREEZE,1.40,0.137,-1.611
$FREEZE,1.42,0.169,-1.813
$FREEZE,1.27,0.143,-1.820
$FINISH,1.3,1.026638
$STATE,18465,end surface coast,CONTROL_FINISHED_OK
$STATE,18465,begin surface
$SM_CCo,18544,0.00,0.000,0,0,1717,228.86
$SM_GC,2.31,7.03,0.00,0.00,0.057,0.000,0.000,331,2236,1717,-10.70,0.17,228.86
$RAFOS_CLK,739
$RAFOS,4,1228409050,16.750000,16.736111,65,58,56,54,52,50,218,191,174,201,141,152
$RAFOS,3,1228408478,16.583334,16.577223,107,58,58,58,53,48,672,191,219,170,153,139
$RAFOS,2,1228407842,16.416666,16.400555,99,67,64,59,53,52,978,156,210,135,194,168
$RAFOS,1,1228407277,16.250000,16.243610,66,66,59,56,53,52,178,229,829,211,162,151
$RAFOS,0,1228406669,16.083334,16.074722,68,68,51,50,48,47,192,209,126,117,142,152
$RAFOS_FIX,6554.833984,-5724.625000,041208,161656,2,103,0.66
$IRIDIUM_FIX,6522.33,-5724.08,280298,080840
$TT8_MAMPS,0.026845
$HUMID,1807
$INTERNAL_PRESSURE,9.92226
$TCM_TEMP,16.20
$XPDR_PINGS,67
$24V_AH,22.1,69.445
$10V_AH,10.5,31.490
$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,24.825,127.750,330.600,0.000,0.000,25.159,35.221,169.344,16.750,0.000,0.000,13.637,1832.007,14202.087,490.594,1819.915,569.277,0.000,1462.480,0.000,1796.914,1800.000,0.532,0.000
$DEVICE_MAMPS,243.906,83.603,1193.452,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,681.073,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31571,978
$CAP_FILE_SIZE,141361,0
$CFSIZE,260165632,224243712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.1
$GPS,041208,182507,6553.222,-5720.836,33,1.1,33,-36.2