version: 66.04
glider: 108
mission: 11
dive: 419
start: 12 4 108 18 31 41
data:
$ID,108
$MISSION,11
$DIVE,419
$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,10
$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,-120165.25
$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,31
$R_STBD_OVSHOOT,25
$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
$GPS1,182507,6553.222,-5720.836,33,1.1,33,-36.2
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-65.8
$GPS2,183121,6553.241,-5720.903,14,1.1,14,-36.2
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6603.876,-5716.281
$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,46.2,20000,-13.0,-7.021
$D_GRID,621
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.99,-146.0,0.0,0.0,0,81,0.00,0.00,-61.08,0.000,2,0.000,0.000,331,2237,3078
$GC,84,-0.99,-146.0,3.1,-1.7,11,104,8.82,2.30,-4.95,0.000,4,0.243,0.082,2455,3598,3249
$GC,221,-0.81,-146.0,19.5,-11.2,34,228,0.17,2.17,0.00,0.000,6,0.139,0.044,2508,2206,3253
$GC,566,-0.81,-146.0,47.9,-7.3,95,573,0.00,2.20,0.00,0.000,4,0.000,0.058,2508,816,3253
$GC,697,-0.81,-146.0,58.2,-7.7,118,703,0.00,2.33,0.00,0.000,6,0.000,0.058,2500,2240,3253
$GC,1042,-0.81,-146.0,78.6,-5.8,179,1048,0.00,2.20,0.00,0.000,4,0.000,0.071,2490,3596,3252
$GC,1095,-0.81,-146.0,81.9,-6.5,188,1101,0.00,2.12,0.00,0.000,6,0.000,0.046,2490,2224,3252
$GC,1451,-0.81,-146.0,104.0,-6.4,243,1455,0.00,2.20,0.00,0.000,4,0.000,0.060,2490,822,3251
$GC,1543,-0.76,-146.0,110.2,-6.9,247,1547,0.15,2.28,0.00,0.000,6,0.130,0.060,2522,2233,3252
$GC,1872,-0.89,-146.0,127.1,-4.9,263,1876,0.12,2.20,0.00,0.000,4,0.078,0.071,2458,3594,3251
$GC,1985,-0.82,-146.0,135.6,-8.5,268,1989,0.15,2.12,0.00,0.000,6,0.139,0.046,2500,2215,3251
$GC,2319,-0.89,-146.0,156.0,-5.9,284,2322,0.00,2.17,0.00,0.000,4,0.000,0.058,2500,821,3250
$GC,2416,-0.89,-146.0,161.9,-6.1,288,2420,0.00,2.30,0.00,0.000,6,0.000,0.059,2492,2237,3250
$GC,2744,-0.89,-146.0,178.3,-4.6,304,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2237,3250
$GC,3052,-0.89,-146.0,192.8,-4.9,319,3053,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2237,3250
$GC,3362,-0.89,-146.0,209.2,-5.6,334,3365,0.00,2.25,0.00,0.000,4,0.000,0.058,2492,824,3250
$GC,3463,-0.89,-146.0,215.6,-6.4,338,3467,0.00,2.28,0.00,0.000,6,0.000,0.059,2483,2235,3250
$GC,3785,-0.89,-146.0,234.6,-5.7,354,3789,0.00,2.20,0.00,0.000,4,0.000,0.071,2472,3605,3250
$GC,3835,-0.89,-146.0,237.9,-6.6,356,3839,0.00,2.12,0.00,0.000,6,0.000,0.045,2472,2224,3251
$GC,4165,-0.89,-146.0,256.7,-5.6,372,4169,0.00,2.20,0.00,0.000,4,0.000,0.058,2472,813,3251
$GC,4261,-0.82,-146.0,262.6,-6.2,376,4265,0.15,2.30,0.00,0.000,6,0.131,0.058,2504,2241,3251
$GC,4583,-0.93,-146.0,276.9,-4.2,392,4585,0.10,0.00,0.00,0.000,6,0.086,0.000,2460,2241,3251
$GC,4891,-0.87,-146.0,291.7,-4.8,407,4896,0.12,2.28,0.00,0.000,4,0.144,0.056,2494,816,3251
$GC,4958,-0.87,-146.0,294.6,-4.7,410,4962,0.00,2.28,0.00,0.000,6,0.000,0.058,2487,2233,3251
$GC,5287,-0.92,-146.0,308.5,-4.5,426,5288,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2233,3251
$GC,5595,-0.98,-146.0,323.7,-5.0,441,5596,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2233,3251
$GC,5905,-1.03,-146.0,339.1,-5.0,456,5906,0.12,0.00,0.00,0.000,6,0.078,0.000,2429,2233,3251
$GC,6215,-0.88,-146.0,359.4,-6.9,471,6216,0.20,0.00,0.00,0.000,6,0.137,0.000,2488,2233,3251
$GC,6524,-0.95,-146.0,374.9,-4.8,486,6525,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2233,3252
$GC,6833,-1.02,-146.0,389.1,-4.5,501,6838,0.12,2.25,0.00,0.000,4,0.082,0.054,2434,816,3252
$GC,6953,-0.83,-146.0,396.7,-6.7,506,6958,0.28,2.28,0.00,0.000,6,0.130,0.056,2505,2235,3252
$GC,7271,-0.98,-146.0,410.6,-4.3,516,7273,0.15,0.00,0.00,0.000,6,0.074,0.000,2442,2235,3252
$GC,7596,-0.88,-146.0,430.8,-6.3,524,7598,0.17,0.00,0.00,0.000,6,0.143,0.000,2491,2235,3253
$GC,7921,-0.97,-146.0,445.8,-4.5,532,7923,0.10,0.00,0.00,0.000,6,0.088,0.000,2447,2235,3253
$GC,8246,-0.89,-146.0,463.4,-5.4,540,8251,0.15,2.25,0.00,0.000,4,0.145,0.054,2488,818,3253
$GC,8324,-0.89,-146.0,467.0,-4.3,541,8331,0.00,2.28,0.00,0.000,6,0.000,0.056,2481,2241,3253
$GC,8657,-0.94,-146.0,480.0,-3.9,550,8658,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2241,3253
$GC,8981,-0.99,-146.0,493.7,-4.2,558,8983,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2241,3254
$GC,9306,-1.04,-146.0,507.9,-4.5,566,9311,0.10,2.25,0.00,0.000,4,0.081,0.054,2433,824,3254
$GC,9402,-0.86,-146.0,513.6,-6.5,568,9407,0.25,2.28,0.00,0.000,6,0.130,0.056,2496,2246,3254
$GC,9716,-0.99,-146.0,524.9,-3.4,576,9718,0.12,0.00,0.00,0.000,6,0.078,0.000,2442,2246,3254
$GC,10041,-0.90,-146.0,539.9,-4.8,584,10046,0.15,2.28,0.00,0.000,4,0.145,0.054,2484,825,3254
$GC,10120,-0.90,-146.0,543.3,-4.6,585,10126,0.00,2.28,0.00,0.000,6,0.000,0.056,2476,2235,3254
$GC,10451,-0.90,-146.0,555.8,-3.7,594,10455,0.00,2.20,0.00,0.000,4,0.000,0.067,2466,3603,3254
$GC,10502,-0.90,-146.0,557.9,-4.0,595,10506,0.00,2.12,0.00,0.000,6,0.000,0.042,2466,2216,3254
$GC,10827,-0.90,-146.0,570.3,-3.8,603,10831,0.00,2.15,0.00,0.000,4,0.000,0.054,2466,827,3254
$GC,10962,-0.90,-146.0,576.2,-4.5,606,10967,0.12,2.28,0.00,0.000,6,0.130,0.056,2491,2241,3254
$GC,11288,-1.02,-146.0,588.0,-3.7,614,11290,0.12,0.00,0.00,0.000,6,0.078,0.000,2437,2240,3254
$GC,11612,-0.92,-146.0,604.5,-5.2,622,11614,0.17,0.00,0.00,0.000,6,0.141,0.000,2486,2240,3254
$GC,11937,-1.01,-146.0,618.0,-4.2,630,11942,0.10,2.25,0.00,0.000,4,0.089,0.054,2442,824,3255
$STATE,11989,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11989,begin apogee
$GC,11999,-0.31,0.0,621.1,5.1,631,12130,0.55,0.00,128.00,1.192,6,0.124,0.000,2613,1746,2650
$STATE,12131,end apogee,CONTROL_FINISHED_OK
$STATE,12131,begin climb
$GC,12134,0.99,146.0,621.8,0.0,634,12270,0.90,0.00,132.27,1.119,6,0.094,0.000,2901,1746,2054
$GC,12592,0.72,146.0,567.4,12.9,646,12594,0.22,0.00,0.00,0.000,6,0.128,0.000,2835,1746,2047
$GC,12916,0.72,146.0,538.6,8.7,654,12920,0.00,2.28,0.00,0.000,4,0.000,0.061,2835,3154,2046
$GC,12955,0.58,146.0,534.8,9.1,654,12962,0.15,2.22,0.00,0.000,6,0.129,0.045,2800,1739,2045
$GC,13287,0.69,146.2,511.5,7.0,663,13289,0.12,0.00,0.00,0.000,6,0.073,0.000,2859,1739,2045
$GC,13612,0.56,146.2,478.7,10.2,671,13614,0.20,0.00,0.00,0.000,6,0.123,0.000,2799,1739,2044
$GC,13937,0.72,166.8,457.3,6.4,679,13962,0.12,2.38,17.42,1.052,4,0.074,0.060,2858,3152,1969
$GC,13980,0.56,166.8,453.4,10.1,680,13985,0.25,2.22,0.00,0.000,6,0.125,0.044,2794,1739,1967
$GC,14305,0.79,204.6,433.5,5.8,688,14344,0.17,0.00,33.62,1.069,6,0.061,0.000,2874,1739,1814
$GC,14650,0.65,204.6,396.9,11.0,697,14651,0.20,0.00,0.00,0.000,6,0.118,0.000,2814,1739,1808
$GC,14960,0.78,209.5,375.2,6.9,712,14966,0.12,0.00,4.30,0.711,6,0.072,0.000,2871,1739,1795
$GC,15268,0.67,209.5,343.2,10.5,727,15273,0.17,2.33,0.00,0.000,4,0.119,0.061,2818,3151,1794
$GC,15290,0.67,209.5,341.0,9.7,728,15294,0.00,2.20,0.00,0.000,6,0.000,0.045,2824,1737,1793
$GC,15617,0.75,209.5,315.4,8.0,744,15619,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1737,1793
$GC,15926,0.84,209.5,292.0,7.5,759,15928,0.12,0.00,0.00,0.000,6,0.074,0.000,2883,1737,1793
$GC,16236,0.71,209.5,260.3,10.1,774,16241,0.17,2.35,0.00,0.000,4,0.121,0.060,2829,3162,1794
$GC,16258,0.65,209.5,258.1,8.9,775,16262,0.00,2.22,0.00,0.000,6,0.000,0.045,2836,1739,1792
$GC,16585,0.71,209.5,233.3,8.0,791,16586,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1739,1792
$GC,16895,0.78,209.5,207.7,8.1,806,16896,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1739,1792
$GC,17204,0.87,218.1,185.1,6.7,821,17215,0.12,0.00,8.88,0.848,6,0.074,0.000,2894,1739,1760
$GC,17513,0.74,218.1,153.2,10.7,836,17515,0.20,0.00,0.00,0.000,6,0.121,0.000,2832,1739,1759
$GC,17823,0.91,229.4,132.2,6.7,851,17841,0.15,0.00,11.40,0.855,6,0.068,0.000,2899,1739,1714
$GC,18150,0.79,229.4,98.1,10.4,867,18156,0.17,0.00,0.00,0.000,6,0.123,0.000,2846,1739,1712
$GC,18495,0.94,236.6,73.6,6.8,928,18508,0.12,0.00,7.53,0.774,6,0.073,0.000,2904,1739,1685
$GC,18846,0.88,236.6,43.0,8.8,990,18853,0.12,2.30,0.00,0.000,4,0.130,0.061,2875,327,1683
$GC,18877,0.88,236.6,40.5,8.5,995,18883,0.00,2.25,0.00,0.000,6,0.000,0.051,2875,1741,1683
$GC,19221,0.97,236.6,16.4,7.3,1056,19228,0.00,2.25,0.00,0.000,4,0.000,0.065,2875,3151,1682
$GC,19269,0.97,236.6,12.8,7.6,1064,19275,0.00,2.25,0.00,0.000,6,0.000,0.049,2883,1735,1682
$FREEZE,6.85,0.195,-1.820
$FREEZE,6.46,0.191,-1.820
$FREEZE,6.14,0.198,-1.820
$FREEZE,5.44,0.197,-1.819
$FREEZE,5.12,0.194,-1.819
$FREEZE,4.54,0.200,-1.818
$FREEZE,4.19,0.191,-1.818
$FREEZE,3.89,0.193,-1.818
$FREEZE,3.66,0.189,-1.817
$FREEZE,3.30,0.191,-1.817
$FREEZE,2.93,0.190,-1.817
$STATE,19421,end climb,SURFACE_DEPTH_REACHED
$STATE,19421,begin surface coast
$FREEZE,2.58,0.189,-1.817
$FREEZE,2.27,0.188,-1.816
$FREEZE,1.81,0.188,-1.816
$FREEZE,1.37,0.187,-1.816
$FREEZE,1.31,0.150,-0.907
$FREEZE,1.32,-0.003,-0.085
$FREEZE,1.49,-0.100,-0.220
$FREEZE,1.39,0.192,-1.815
$FREEZE,1.24,0.188,-1.047
$FINISH,1.2,1.015460
$STATE,19474,end surface coast,CONTROL_FINISHED_OK
$STATE,19474,begin surface
$SM_CCo,19553,0.00,0.000,0,0,1678,238.43
$SM_GC,2.08,6.82,0.00,0.00,0.049,0.000,0.000,335,2239,1678,-10.70,0.11,238.43
$RAFOS_CLK,774
$RAFOS,4,1228423459,20.750000,20.738611,74,55,52,50,49,46,202,184,124,172,134,155
$RAFOS,3,1228422849,20.583334,20.569166,60,57,57,57,55,54,208,172,157,221,193,139
$RAFOS,2,1228422247,20.416666,20.401945,63,63,58,56,54,52,192,207,183,777,155,119
$RAFOS,1,1228421649,20.250000,20.235834,69,54,53,53,50,50,227,171,213,202,115,125
$RAFOS,0,1228421051,20.083334,20.069723,66,65,58,56,55,55,128,174,184,198,160,148
$RAFOS_FIX,6554.833984,-5724.625000,041208,161656,2,103,0.66
$IRIDIUM_FIX,6522.33,-5735.75,280298,131301
$TT8_MAMPS,0.026845
$HUMID,1813
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,15.90
$XPDR_PINGS,143
$24V_AH,22.1,69.571
$10V_AH,10.5,31.559
$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,23.475,103.200,343.425,0.000,0.000,25.682,35.240,173.258,35.750,0.000,0.000,15.670,1988.119,14897.800,496.888,1969.393,569.990,0.000,1509.043,0.000,1949.318,1800.000,0.532,0.000
$DEVICE_MAMPS,243.139,82.069,1191.918,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,766.732,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37847,1100
$CAP_FILE_SIZE,144233,0
$CFSIZE,260165632,224165888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.6
$GPS,041208,235903,6554.089,-5717.734,40,1.3,40,-36.2