version: 66.04
glider: 108
mission: 11
dive: 338
start: 11 21 108 8 37 18
data:
$ID,108
$MISSION,11
$DIVE,338
$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,-2
$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,1
$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,-118637.09
$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,21
$R_STBD_OVSHOOT,21
$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
$GPS1,202536,6636.716,-6005.753,0,4096.0,0,-37.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.07
$_SM_ANGLEo,-4.4
$GPS2,202536,6636.716,-6005.753,0,4096.0,0,-37.9
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,8000.000
$KALMAN_CONTROL,-0.231,0.036
$KALMAN_X,214078.2,2387.4,606.8,-259339.4,12953.0
$KALMAN_Y,-239315.3,-10837.7,-308.0,223519.9,-11941.4
$MHEAD_RNG_PITCHd_Wd,316.7,28987,-13.0,-7.021
$D_GRID,552
$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,13,begin dive
$GC,16,-0.99,-146.0,0.0,0.0,0,23,0.00,0.00,-5.45,0.000,2,0.000,0.000,2694,327,2465
$GC,27,-0.99,-146.0,4.4,-0.0,1,68,0.62,0.88,-36.22,0.000,4,0.056,0.098,2443,834,3248
$GC,75,-0.48,-146.0,5.5,-4.4,9,82,0.47,2.28,0.00,0.000,6,0.135,0.069,2574,2235,3251
$GC,419,-0.55,-146.0,19.9,-11.3,70,425,0.00,2.28,0.00,0.000,4,0.000,0.086,2568,3605,3254
$GC,620,-0.77,-146.0,35.8,-6.5,105,627,0.17,2.22,0.00,0.000,6,0.075,0.058,2499,2210,3254
$GC,965,-0.72,-146.0,73.3,-9.0,166,972,0.10,2.35,0.00,0.000,4,0.154,0.081,2516,3608,3254
$GC,1074,-0.72,-146.0,81.1,-6.6,185,1081,0.00,2.20,0.00,0.000,6,0.000,0.058,2516,2228,3254
$GC,1434,-0.72,-146.0,101.4,-6.2,246,1437,0.00,2.28,0.00,0.000,4,0.000,0.071,2516,816,3254
$GC,1507,-0.72,-146.0,106.4,-7.0,249,1511,0.00,2.35,0.00,0.000,6,0.000,0.071,2506,2234,3254
$GC,1834,-0.72,-146.0,130.8,-7.3,265,1838,0.00,2.25,0.00,0.000,4,0.000,0.084,2495,3595,3254
$GC,2041,-0.72,-146.0,145.9,-7.6,274,2046,0.12,2.17,0.00,0.000,6,0.158,0.057,2529,2228,3254
$GC,2369,-0.82,-146.0,167.7,-7.0,290,2374,0.12,2.28,0.00,0.000,4,0.088,0.070,2478,818,3254
$GC,2464,-0.69,-146.0,177.1,-9.9,294,2469,0.22,2.35,0.00,0.000,6,0.144,0.071,2531,2235,3254
$GC,2780,-0.81,-146.0,198.4,-6.4,309,2782,0.12,0.00,0.00,0.000,6,0.084,0.000,2480,2235,3254
$GC,3088,-0.73,-146.0,223.5,-8.1,324,3093,0.15,2.28,0.00,0.000,4,0.158,0.083,2511,3608,3253
$GC,3201,-0.85,-146.0,231.4,-6.6,329,3205,0.00,2.20,0.00,0.000,6,0.000,0.058,2510,2226,3254
$GC,3528,-0.93,-146.0,251.9,-6.3,345,3533,0.12,2.28,0.00,0.000,4,0.092,0.071,2460,818,3254
$GC,3606,-0.75,-146.0,258.4,-8.8,348,3613,0.25,2.35,0.00,0.000,6,0.146,0.072,2520,2234,3254
$GC,3924,-0.85,-146.0,276.2,-5.5,364,3929,0.10,2.33,0.00,0.000,4,0.094,0.068,2479,820,3253
$GC,3979,-0.77,-146.0,280.5,-8.4,366,3986,0.17,2.35,0.00,0.000,6,0.143,0.072,2517,2234,3253
$GC,4296,-0.88,-146.0,298.8,-5.7,382,4300,0.12,2.25,0.00,0.000,4,0.088,0.082,2456,3598,3254
$GC,4357,-0.77,-146.0,303.8,-8.4,384,4364,0.22,2.17,0.00,0.000,6,0.155,0.056,2518,2228,3254
$GC,4673,-0.88,-146.0,322.3,-5.9,400,4678,0.12,2.28,0.00,0.000,4,0.094,0.070,2466,818,3253
$GC,4768,-0.77,-146.0,330.3,-8.6,404,4773,0.20,2.35,0.00,0.000,6,0.140,0.072,2513,2232,3253
$GC,5085,-0.88,-146.0,348.4,-5.5,419,5086,0.10,0.00,0.00,0.000,6,0.096,0.000,2473,2232,3253
$GC,5395,-0.88,-146.0,368.1,-6.7,434,5399,0.00,2.30,0.00,0.000,4,0.000,0.070,2472,820,3253
$GC,5492,-0.79,-146.0,375.8,-8.0,438,5497,0.17,2.35,0.00,0.000,6,0.141,0.077,2509,2230,3253
$GC,5814,-0.88,-146.0,394.4,-5.4,454,5818,0.00,2.25,0.00,0.000,4,0.000,0.084,2500,3597,3254
$GC,5864,-1.00,-146.0,397.5,-6.1,456,5869,0.15,2.17,0.00,0.000,6,0.083,0.054,2441,2223,3254
$GC,6187,-0.85,-146.0,424.2,-8.5,465,6192,0.20,2.33,0.00,0.000,4,0.146,0.081,2494,3601,3253
$GC,6243,-0.95,-146.0,428.4,-7.5,466,6247,0.00,2.20,0.00,0.000,6,0.000,0.055,2494,2214,3253
$GC,6557,-1.02,-146.0,448.4,-6.4,474,6561,0.12,2.25,0.00,0.000,4,0.089,0.067,2441,818,3253
$GC,6697,-0.85,-146.0,460.2,-8.5,477,6702,0.22,2.38,0.00,0.000,6,0.143,0.076,2494,2236,3252
$GC,7016,-0.94,-146.0,478.7,-5.5,485,7020,0.00,2.25,0.00,0.000,4,0.000,0.082,2486,3599,3253
$GC,7100,-1.01,-146.0,483.6,-5.8,486,7107,0.10,2.17,0.00,0.000,6,0.097,0.054,2444,2224,3253
$GC,7433,-1.25,-146.0,499.8,-2.9,495,7437,0.12,2.28,0.00,0.000,4,0.082,0.067,2390,809,3253
$STATE,7565,end dive,NO_VERTICAL_VELOCITY
$STATE,7565,begin apogee
$GC,7575,-0.31,0.0,499.8,0.0,498,7704,0.70,0.00,126.15,1.199,6,0.100,0.000,2621,1747,2650
$STATE,7704,end apogee,CONTROL_FINISHED_OK
$STATE,7705,begin climb
$GC,7708,0.99,146.0,499.6,0.0,501,7846,0.85,2.58,131.15,1.117,4,0.094,0.073,2895,3149,2053
$GC,7921,0.66,146.0,479.5,11.7,506,7927,0.30,2.47,0.00,0.000,6,0.135,0.055,2825,1734,2048
$GC,8241,0.74,161.0,457.8,6.5,514,8260,0.00,2.50,12.98,1.030,4,0.000,0.073,2825,3150,1993
$GC,8288,0.74,161.0,454.1,7.8,515,8292,0.00,2.38,0.00,0.000,6,0.000,0.055,2832,1726,1992
$GC,8613,0.79,161.0,430.6,7.3,523,8617,0.00,2.40,0.00,0.000,4,0.000,0.072,2832,3157,1991
$GC,8624,0.79,161.0,429.8,7.2,523,8628,0.00,2.30,0.00,0.000,6,0.000,0.054,2842,1737,1991
$GC,8943,0.80,168.9,406.9,6.8,531,8957,0.00,2.40,8.00,0.973,4,0.000,0.073,2842,3154,1961
$GC,9003,0.73,168.9,402.6,7.7,532,9006,0.00,2.30,0.00,0.000,6,0.000,0.056,2853,1727,1961
$GC,9320,0.73,168.9,379.3,7.9,546,9323,0.00,2.35,0.00,0.000,4,0.000,0.072,2852,3151,1961
$GC,9347,0.66,168.9,376.8,8.7,547,9352,0.15,2.28,0.00,0.000,6,0.133,0.055,2819,1729,1960
$GC,9668,0.79,168.9,353.7,7.4,563,9670,0.12,0.00,0.00,0.000,6,0.077,0.000,2874,1729,1961
$GC,9978,0.75,168.9,326.4,8.4,578,9983,0.12,2.30,0.00,0.000,4,0.127,0.071,2847,321,1961
$GC,9988,0.75,168.9,325.5,8.1,578,9994,0.00,2.33,0.00,0.000,6,0.000,0.060,2847,1749,1961
$GC,10305,0.84,196.6,306.2,6.1,594,10335,0.00,2.33,25.42,1.071,4,0.000,0.076,2847,3154,1848
$GC,10370,0.84,196.6,301.8,7.5,597,10374,0.00,2.30,0.00,0.000,6,0.000,0.057,2856,1733,1844
$GC,10703,0.92,204.2,280.2,6.8,613,10717,0.08,2.42,7.15,0.918,4,0.100,0.075,2894,3154,1817
$GC,10729,0.81,204.2,278.0,8.5,614,10734,0.17,2.30,0.00,0.000,6,0.139,0.058,2855,1728,1817
$GC,11052,0.91,206.6,255.0,6.9,630,11054,0.10,0.00,0.00,0.000,6,0.087,0.000,2900,1727,1815
$GC,11360,0.82,206.6,230.1,7.5,645,11364,0.17,2.30,0.00,0.000,4,0.133,0.072,2856,326,1814
$GC,11388,0.93,233.2,228.2,6.2,646,11420,0.10,2.33,26.50,1.035,6,0.088,0.063,2903,1743,1699
$GC,11731,0.89,233.2,199.0,8.7,662,11736,0.12,2.30,0.00,0.000,4,0.137,0.077,2867,3150,1694
$GC,11764,0.89,233.2,196.0,8.3,663,11770,0.00,2.30,0.00,0.000,6,0.000,0.059,2874,1729,1693
$GC,12080,1.01,272.3,176.7,5.8,679,12123,0.10,2.42,35.15,1.009,4,0.090,0.076,2919,3153,1539
$GC,12141,0.86,272.3,171.5,9.6,681,12148,0.22,2.33,0.00,0.000,6,0.133,0.059,2865,1736,1537
$GC,12457,1.03,272.3,150.1,7.2,697,12461,0.15,2.35,0.00,0.000,4,0.072,0.074,2938,319,1531
$GC,12474,1.12,272.3,148.7,7.9,698,12478,0.00,2.35,0.00,0.000,6,0.000,0.062,2938,1752,1531
$GC,12807,0.99,272.3,109.2,11.6,714,12809,0.17,0.00,0.00,0.000,6,0.138,0.000,2888,1751,1529
$GC,13132,1.12,292.1,85.4,6.4,756,13156,0.12,0.00,17.17,0.945,6,0.078,0.000,2941,1751,1458
$GC,13496,1.05,292.1,51.8,7.4,820,13502,0.12,0.00,0.00,0.000,6,0.140,0.000,2906,1751,1454
$GC,13840,1.16,316.8,24.4,6.2,881,13870,0.10,2.35,22.15,0.923,4,0.084,0.082,2952,3162,1358
$GC,13928,0.94,316.8,14.8,16.2,896,13935,0.28,2.35,0.00,0.000,6,0.134,0.064,2881,1728,1355
$FREEZE,6.86,-1.754,-1.775
$FREEZE,6.28,-1.756,-1.775
$FREEZE,5.67,-1.772,-1.775
$FREEZE,5.62,-1.774,-1.775
$FREEZE,5.08,-1.773,-1.774
$FREEZE,5.15,-1.791,-1.774
$FREEZE,5.16,-1.784,-1.774
$FREEZE,4.61,-1.779,-1.774
$FREEZE,4.49,-1.775,-1.773
$FREEZE,4.43,-1.778,-1.773
$FREEZE,3.85,-1.774,-1.773
$FREEZE,3.55,-1.780,-1.773
$FREEZE,3.68,-1.790,-1.773
$FREEZE,3.55,-1.788,-1.773
$FREEZE,3.46,-1.792,-1.762
$FREEZE,3.39,-1.792,-1.760
$FREEZE,3.08,-1.798,-1.759
$FREEZE,2.97,-1.804,-1.765
$STATE,14085,end climb,SURFACE_DEPTH_REACHED
$STATE,14085,begin surface coast
$FREEZE,2.76,-1.797,-1.765
$FREEZE,2.30,-1.804,-1.764
$FREEZE,2.35,-1.798,-1.764
$FREEZE,1.85,-1.796,-1.764
$FREEZE,1.85,-1.797,-1.758
$FREEZE,1.97,-1.813,-1.771
$FREEZE,1.72,-1.782,-1.770
$FREEZE,1.67,-1.959,-1.455
$FREEZE,1.61,-2.216,-0.829
$FREEZE,1.81,-1.805,-1.770
$FREEZE,1.90,-1.796,-1.770
$FREEZE,1.55,-2.381,-0.153
$FREEZE,1.63,-1.861,-1.772
$FREEZE,1.64,-1.878,-1.768
$FREEZE,1.61,-1.895,-1.774
$FREEZE,1.69,-1.832,-1.768
$FREEZE,1.51,-2.195,-0.899
$FREEZE,1.62,-2.000,-1.780
$FREEZE,1.65,-2.712,-1.724
$FREEZE,1.66,-1.826,-1.768
$FREEZE,1.74,-1.792,-1.766
$FREEZE,1.57,-1.803,-1.765
$FREEZE,1.57,-2.615,-0.215
$FREEZE,1.61,-1.815,-1.761
$FREEZE,1.58,-1.771,-1.761
$FREEZE,1.69,-1.769,-1.761
$FREEZE,1.82,-1.783,-1.766
$FREEZE,2.11,-1.780,-1.765
$FREEZE,2.46,-1.805,-1.768
$FREEZE,2.78,-1.802,-1.768
$FREEZE,3.24,-1.803,-1.769
$FREEZE,3.56,-1.803,-1.769
$FREEZE,3.36,-1.791,-1.769
$FINISH,3.4,1.025959
$STATE,14272,end surface coast,CONTROL_FINISHED_OK
$STATE,14272,begin surface
$SM_CCo,14276,161.32,0.865,0,0,588,505.81
$SM_GC,2.20,7.45,0.00,0.00,0.058,0.000,0.000,338,2256,581,-10.68,0.74,507.53
$RAFOS_CLK,674
$RAFOS,2,1227270245,12.416667,12.401389,62,55,55,52,51,51,158,119,196,178,187,140
$RAFOS,1,1227269644,12.250000,12.234445,59,59,54,51,48,48,196,211,138,223,159,121
$RAFOS,0,1227269050,12.083333,12.069445,64,62,62,58,53,49,170,195,213,134,225,115
$RAFOS,4,1227257043,8.750000,8.734167,66,60,59,58,58,50,195,153,118,136,214,223
$RAFOS,3,1227256446,8.583333,8.568334,66,58,58,56,53,48,211,116,223,167,186,100
$RAFOS_FIX,6232.697266,-5331.492188,211108,000026,3,81,38.68
$IRIDIUM_FIX,6620.33,-5917.14,100298,030337
$TT8_MAMPS,0.029146
$HUMID,1776
$INTERNAL_PRESSURE,9.75623
$TCM_TEMP,14.90
$XPDR_PINGS,52
$24V_AH,22.0,58.783
$10V_AH,10.4,26.918
$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,16.375,137.400,411.825,161.325,0.000,0.000,0.000,0.000,13.000,0.000,0.000,0.000,1817.627,10015.566,647.098,1903.579,223.382,33.361,1667.975,0.000,1884.652,1800.000,0.529,0.000
$DEVICE_MAMPS,158.002,98.176,1198.821,865.176,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,671.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31572,957
$CAP_FILE_SIZE,133800,0
$CFSIZE,260165632,228802560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.2
$GPS,211108,124109,6627.732,-6019.889,35,1.2,35,-37.7