version: 66.04
glider: 108
mission: 11
dive: 484
start: 12 20 108 1 9 28
data:
$ID,108
$MISSION,11
$DIVE,484
$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,-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,-122239.23
$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
$GPS1,010331,6647.080,-5711.013,34,2.0,40,-37.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-65.6
$GPS2,010909,6647.032,-5710.986,13,1.0,13,-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,303.9,155590,-13.0,-7.021
$D_GRID,679
$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,-146.0,0.0,0.0,0,104,0.00,0.00,-85.03,0.000,2,0.000,0.000,335,2243,2972
$GC,108,-0.99,-146.0,3.1,-1.3,15,133,8.88,2.28,-10.27,0.000,4,0.245,0.085,2451,3596,3247
$GC,377,-0.78,-146.0,29.0,-11.3,62,384,0.22,2.15,0.00,0.000,6,0.146,0.048,2514,2220,3250
$GC,723,-0.78,-146.0,53.3,-6.7,123,729,0.00,2.20,0.00,0.000,4,0.000,0.058,2514,823,3250
$GC,832,-0.78,-146.0,60.7,-6.9,142,838,0.00,2.30,0.00,0.000,6,0.000,0.060,2506,2241,3250
$GC,1177,-0.78,-146.0,82.8,-6.4,203,1184,0.00,2.20,0.00,0.000,4,0.000,0.074,2496,3596,3250
$GC,1314,-0.78,-146.0,93.8,-8.2,227,1320,0.00,2.15,0.00,0.000,6,0.000,0.048,2496,2214,3250
$GC,1643,-0.78,-146.0,119.4,-7.7,253,1647,0.00,2.20,0.00,0.000,4,0.000,0.060,2496,817,3251
$GC,1836,-0.78,-146.0,134.5,-7.7,261,1841,0.10,2.30,0.00,0.000,6,0.140,0.060,2512,2233,3251
$GC,2158,-0.85,-146.0,154.9,-5.9,277,2162,0.00,2.28,0.00,0.000,4,0.000,0.060,2513,821,3251
$GC,2254,-0.85,-146.0,160.8,-5.6,281,2258,0.00,2.30,0.00,0.000,6,0.000,0.061,2505,2232,3251
$GC,2582,-0.85,-146.0,178.7,-5.5,297,2585,0.00,2.22,0.00,0.000,4,0.000,0.074,2494,3604,3250
$GC,2683,-0.92,-146.0,184.9,-6.6,301,2687,0.00,2.15,0.00,0.000,6,0.000,0.049,2494,2228,3250
$GC,3006,-0.92,-146.0,203.5,-5.7,317,3010,0.00,2.22,0.00,0.000,4,0.000,0.062,2494,822,3250
$GC,3107,-0.92,-146.0,210.3,-6.9,321,3111,0.00,2.30,0.00,0.000,6,0.000,0.062,2485,2232,3250
$GC,3429,-0.92,-146.0,232.4,-7.3,337,3430,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2231,3249
$GC,3739,-0.92,-146.0,253.9,-6.4,352,3743,0.00,2.22,0.00,0.000,4,0.000,0.075,2474,3598,3249
$GC,3840,-0.92,-146.0,261.2,-7.4,356,3844,0.00,2.15,0.00,0.000,6,0.000,0.049,2474,2220,3249
$GC,4162,-0.92,-146.0,281.9,-6.1,372,4166,0.00,2.22,0.00,0.000,4,0.000,0.061,2474,814,3249
$GC,4270,-0.86,-146.0,288.6,-6.2,376,4277,0.12,2.33,0.00,0.000,6,0.134,0.061,2498,2243,3249
$GC,4587,-0.94,-146.0,301.6,-3.8,392,4589,0.10,0.00,0.00,0.000,6,0.090,0.000,2455,2243,3248
$GC,4897,-0.86,-146.0,317.2,-5.4,407,4899,0.15,0.00,0.00,0.000,6,0.145,0.000,2496,2243,3248
$GC,5206,-0.96,-146.0,330.2,-4.0,422,5210,0.10,2.30,0.00,0.000,4,0.091,0.058,2452,818,3248
$GC,5297,-0.84,-146.0,335.4,-5.7,426,5302,0.20,2.30,0.00,0.000,6,0.131,0.059,2499,2239,3248
$GC,5625,-0.95,-146.0,350.9,-4.7,442,5630,0.10,2.20,0.00,0.000,4,0.092,0.071,2446,3600,3249
$GC,5687,-0.87,-146.0,355.0,-6.8,444,5694,0.17,2.12,0.00,0.000,6,0.146,0.045,2494,2223,3249
$GC,6004,-0.96,-146.0,372.4,-5.5,460,6009,0.10,2.22,0.00,0.000,4,0.093,0.057,2449,815,3250
$GC,6100,-0.83,-146.0,379.1,-7.4,464,6105,0.22,2.33,0.00,0.000,6,0.130,0.058,2504,2235,3250
$GC,6423,-0.96,-146.0,396.1,-5.2,480,6425,0.12,0.00,0.00,0.000,6,0.084,0.000,2451,2235,3251
$GC,6728,-0.88,-146.0,417.1,-6.9,489,6730,0.15,0.00,0.00,0.000,6,0.146,0.000,2492,2235,3251
$GC,7053,-0.95,-146.0,434.3,-5.2,497,7056,0.00,2.25,0.00,0.000,4,0.000,0.057,2492,826,3251
$GC,7121,-0.95,-146.0,438.0,-5.4,498,7125,0.00,2.30,0.00,0.000,6,0.000,0.058,2484,2244,3251
$GC,7470,-0.95,-146.0,455.8,-5.0,507,7474,0.00,2.17,0.00,0.000,4,0.000,0.071,2474,3597,3252
$GC,7522,-0.95,-146.0,458.7,-5.3,508,7526,0.00,2.12,0.00,0.000,6,0.000,0.044,2474,2217,3252
$GC,7848,-0.95,-146.0,476.1,-5.3,516,7852,0.00,2.17,0.00,0.000,4,0.000,0.057,2474,826,3252
$GC,7939,-0.95,-146.0,481.5,-5.9,518,7943,0.00,2.28,0.00,0.000,6,0.000,0.058,2464,2233,3252
$GC,8269,-0.95,-146.0,500.3,-5.7,526,8270,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2233,3252
$GC,8595,-0.95,-146.0,518.3,-5.5,534,8599,0.00,2.25,0.00,0.000,4,0.000,0.056,2464,825,3252
$GC,8674,-0.88,-146.0,522.9,-5.8,535,8679,0.12,2.28,0.00,0.000,6,0.136,0.058,2488,2237,3252
$GC,9012,-0.95,-146.0,539.2,-4.8,544,9016,0.00,2.20,0.00,0.000,4,0.000,0.071,2479,3606,3252
$GC,9065,-1.02,-146.0,542.0,-6.0,545,9069,0.00,2.12,0.00,0.000,6,0.000,0.044,2480,2228,3252
$GC,9391,-1.02,-146.0,559.4,-5.3,553,9394,0.00,2.20,0.00,0.000,4,0.000,0.057,2480,822,3252
$GC,9498,-1.02,-146.0,565.7,-5.7,555,9502,0.00,2.30,0.00,0.000,6,0.000,0.058,2470,2244,3252
$GC,9812,-1.02,-146.0,583.3,-5.6,563,9816,0.00,2.20,0.00,0.000,4,0.000,0.071,2459,3606,3252
$GC,9896,-1.02,-146.0,588.7,-7.4,564,9902,0.00,2.15,0.00,0.000,6,0.000,0.045,2459,2218,3252
$GC,10228,-1.02,-146.0,608.6,-6.0,573,10231,0.00,2.20,0.00,0.000,4,0.000,0.058,2459,816,3252
$GC,10358,-0.93,-146.0,616.9,-6.5,575,10365,0.12,2.30,0.00,0.000,6,0.135,0.058,2482,2235,3252
$GC,10691,-1.01,-146.0,634.2,-5.2,584,10692,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2235,3252
$GC,11016,-1.07,-146.0,650.5,-5.0,592,11018,0.15,0.00,0.00,0.000,6,0.077,0.000,2423,2235,3252
$GC,11340,-0.92,-146.0,672.7,-6.9,600,11345,0.20,2.30,0.00,0.000,4,0.146,0.070,2476,3603,3252
$GC,11414,-1.00,-146.0,677.0,-6.1,601,11418,0.00,2.15,0.00,0.000,6,0.000,0.044,2476,2228,3252
$STATE,11464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11464,begin apogee
$GC,11472,-0.31,0.0,680.0,5.8,603,11613,0.45,0.00,132.93,1.239,6,0.121,0.000,2618,1739,2650
$STATE,11614,end apogee,CONTROL_FINISHED_OK
$STATE,11614,begin climb
$GC,11617,0.99,146.0,682.0,0.0,606,11762,0.90,2.72,135.38,1.177,4,0.091,0.061,2904,3145,2054
$GC,11784,0.65,146.0,666.8,11.2,610,11792,0.35,2.47,0.00,0.000,6,0.137,0.045,2822,1737,2049
$GC,12117,0.72,152.6,644.4,6.8,619,12124,0.00,0.00,5.82,0.902,6,0.000,0.000,2821,1737,2027
$GC,12442,0.81,169.9,622.9,6.5,627,12466,0.12,2.45,16.60,1.133,4,0.075,0.064,2878,3156,1956
$GC,12485,0.59,169.9,619.0,10.2,628,12490,0.30,2.30,0.00,0.000,6,0.136,0.048,2802,1724,1955
$GC,12810,0.78,190.7,598.5,6.4,636,12833,0.15,0.00,19.80,1.151,6,0.066,0.000,2871,1724,1872
$GC,13135,0.67,190.7,565.6,10.3,644,13140,0.17,2.35,0.00,0.000,4,0.122,0.063,2819,3153,1867
$GC,13168,0.67,190.7,562.5,7.8,644,13172,0.00,2.25,0.00,0.000,6,0.000,0.048,2827,1724,1866
$GC,13506,0.76,191.3,538.6,7.0,653,13510,0.00,2.33,0.00,0.000,4,0.000,0.063,2826,3154,1866
$GC,13534,0.76,191.3,536.5,7.4,653,13538,0.00,2.22,0.00,0.000,6,0.000,0.048,2836,1731,1865
$GC,13877,0.76,191.3,511.4,7.0,662,13881,0.00,2.30,0.00,0.000,4,0.000,0.063,2837,3152,1865
$GC,13904,0.76,191.3,509.1,7.8,662,13908,0.00,2.22,0.00,0.000,6,0.000,0.048,2846,1729,1865
$GC,14247,0.76,191.3,483.0,7.6,671,14251,0.00,2.33,0.00,0.000,4,0.000,0.064,2847,3160,1865
$GC,14277,0.69,191.3,480.4,8.4,671,14281,0.12,2.22,0.00,0.000,6,0.137,0.048,2822,1737,1864
$GC,14620,0.82,197.3,457.4,6.8,680,14628,0.12,0.00,5.88,0.901,6,0.073,0.000,2879,1737,1845
$GC,14944,0.68,197.3,422.0,11.2,688,14949,0.20,2.33,0.00,0.000,4,0.123,0.064,2814,3161,1845
$GC,14989,0.68,197.3,417.8,8.8,689,14993,0.00,2.25,0.00,0.000,6,0.000,0.049,2820,1724,1844
$GC,15316,0.81,201.4,394.3,6.9,699,15323,0.12,0.00,5.07,0.828,6,0.076,0.000,2878,1724,1829
$GC,15625,0.68,201.4,363.5,10.2,714,15630,0.17,2.33,0.00,0.000,4,0.127,0.064,2826,3156,1829
$GC,15642,0.60,201.4,361.8,9.8,714,15649,0.10,2.22,0.00,0.000,6,0.139,0.048,2807,1732,1828
$GC,15959,0.84,238.4,342.9,5.8,730,15998,0.17,0.00,34.20,1.053,6,0.065,0.000,2885,1732,1678
$GC,16308,0.70,238.4,304.1,11.1,747,16313,0.20,2.33,0.00,0.000,4,0.123,0.063,2820,3157,1671
$GC,16337,0.70,238.4,301.3,8.3,748,16341,0.00,2.25,0.00,0.000,6,0.000,0.048,2827,1726,1670
$GC,16660,0.88,276.2,281.9,5.8,764,16703,0.15,2.38,33.67,0.997,4,0.071,0.062,2896,3145,1523
$GC,16732,0.64,276.2,274.2,12.3,767,16737,0.30,2.25,0.00,0.000,6,0.129,0.047,2818,1729,1520
$GC,17054,0.99,355.7,257.3,4.5,783,17134,0.25,0.00,71.97,0.943,6,0.058,0.000,2927,1730,1200
$GC,17444,0.76,355.7,202.8,13.9,802,17449,0.25,2.28,0.00,0.000,4,0.133,0.058,2856,323,1189
$GC,17466,0.71,355.7,200.1,12.0,803,17471,0.10,2.33,0.00,0.000,6,0.111,0.048,2826,1754,1188
$GC,17794,1.38,355.7,172.8,10.8,819,17799,0.45,2.25,0.00,0.000,4,0.086,0.061,2987,3156,1185
$GC,17822,1.64,355.7,169.5,11.2,820,17827,0.15,2.22,0.00,0.000,6,0.074,0.046,3057,1731,1184
$GC,18146,1.13,355.7,96.8,23.1,836,18153,0.43,2.25,0.00,0.000,4,0.150,0.059,2937,324,1184
$GC,18256,1.13,355.7,81.9,11.6,855,18263,0.00,2.28,0.00,0.000,6,0.000,0.049,2937,1750,1184
$GC,18602,1.02,355.7,38.4,13.1,916,18609,0.15,2.33,0.00,0.000,4,0.130,0.060,2901,331,1184
$GC,18633,1.02,355.7,35.2,10.8,921,18639,0.00,2.25,0.00,0.000,6,0.000,0.049,2901,1751,1184
$FREEZE,6.98,0.484,-1.840
$FREEZE,6.55,0.486,-1.840
$GC,18979,1.08,355.7,6.5,8.9,982,18985,0.00,2.28,0.00,0.000,4,0.000,0.066,2901,3159,1183
$FREEZE,4.97,0.491,-1.839
$FREEZE,4.33,0.489,-1.838
$GC,18999,1.13,355.7,4.3,9.9,985,19006,0.00,2.25,0.00,0.000,6,0.000,0.050,2911,1738,1182
$FREEZE,2.86,0.482,-1.837
$STATE,19010,end climb,SURFACE_DEPTH_REACHED
$STATE,19010,begin surface coast
$FREEZE,2.36,0.483,-1.837
$FREEZE,1.74,0.479,-1.836
$FREEZE,1.60,0.032,-1.081
$FREEZE,1.61,-0.046,-1.858
$FREEZE,1.55,-0.077,-0.986
$FINISH,1.6,1.014567
$STATE,19040,end surface coast,CONTROL_FINISHED_OK
$STATE,19040,begin surface
$SM_CCo,19121,0.00,0.000,0,0,1180,360.59
$SM_GC,2.37,6.93,0.00,0.00,0.051,0.000,0.000,334,2236,1180,-10.68,0.17,360.59
$RAFOS_CLK,784
$RAFOS,4,1229748256,4.750000,4.737778,61,57,54,53,53,52,201,212,188,160,121,131
$RAFOS,3,1229747643,4.583333,4.567500,68,56,55,55,51,47,213,178,197,157,146,119
$RAFOS,2,1229747043,4.416667,4.400833,107,66,56,54,53,51,633,159,210,193,127,175
$RAFOS,1,1229746461,4.250000,4.239167,83,59,59,53,52,50,720,208,171,157,196,226
$RAFOS,0,1229745851,4.083333,4.069722,60,59,53,52,51,50,175,202,116,217,158,85
$RAFOS_FIX,6647.409180,-5719.220703,201208,040420,2,95,0.52
$IRIDIUM_FIX,6620.33,-5711.62,150398,191944
$TT8_MAMPS,0.026845
$HUMID,1830
$INTERNAL_PRESSURE,9.87343
$TCM_TEMP,15.80
$XPDR_PINGS,141
$24V_AH,21.7,79.300
$10V_AH,10.5,36.322
$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,24.175,164.350,461.325,0.000,0.000,25.469,32.247,129.650,35.250,0.000,0.000,15.252,1927.596,14277.981,640.694,2043.375,568.806,0.000,1743.108,0.000,2006.652,1800.000,0.532,0.000
$DEVICE_MAMPS,245.440,85.137,1239.472,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,691.661,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34682,992
$CAP_FILE_SIZE,153543,0
$CFSIZE,260165632,219783168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1456.7
$GPS,201208,062941,6646.147,-5716.295,33,1.8,37,-37.3