version: 66.04
glider: 108
mission: 11
dive: 421
start: 12 5 108 5 41 0
data:
$ID,108
$MISSION,11
$DIVE,421
$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,-120200.45
$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,33
$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
$GPS1,053157,6555.146,-5715.458,43,1.2,43,-36.2
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-65.6
$GPS2,054039,6555.161,-5715.424,11,1.4,11,-36.2
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6605.796,-5710.796
$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,639
$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,-146.0,0.0,0.0,0,92,0.00,0.00,-73.47,0.000,2,0.000,0.000,329,2244,2970
$GC,96,-0.99,-146.0,3.1,-2.0,13,121,8.62,2.35,-9.00,0.000,4,0.236,0.071,2463,820,3249
$GC,375,-0.79,-146.0,34.1,-9.8,62,382,0.20,2.30,0.00,0.000,6,0.133,0.058,2512,2242,3252
$GC,721,-0.85,-146.0,59.1,-6.2,123,728,0.00,2.33,0.00,0.000,4,0.000,0.058,2512,811,3252
$GC,911,-0.85,-146.0,71.7,-6.5,156,917,0.00,2.35,0.00,0.000,6,0.000,0.058,2505,2233,3252
$GC,1257,-0.85,-146.0,91.7,-5.5,217,1263,0.00,2.22,0.00,0.000,4,0.000,0.071,2494,3599,3251
$GC,1304,-0.85,-146.0,94.4,-6.3,225,1310,0.00,2.15,0.00,0.000,6,0.000,0.045,2494,2216,3251
$GC,1644,-0.85,-146.0,117.0,-7.2,253,1648,0.00,2.20,0.00,0.000,4,0.000,0.058,2494,813,3251
$GC,1824,-0.85,-146.0,130.6,-7.2,261,1828,0.00,2.33,0.00,0.000,6,0.000,0.060,2484,2240,3251
$GC,2157,-0.85,-146.0,151.3,-5.5,277,2161,0.00,2.20,0.00,0.000,4,0.000,0.073,2474,3602,3250
$GC,2218,-0.85,-146.0,155.0,-5.9,279,2225,0.10,2.12,0.00,0.000,6,0.146,0.046,2499,2225,3250
$GC,2535,-0.93,-146.0,171.1,-5.1,295,2539,0.00,2.20,0.00,0.000,4,0.000,0.059,2499,821,3250
$GC,2592,-0.93,-146.0,174.3,-5.5,297,2595,0.00,2.28,0.00,0.000,6,0.000,0.059,2491,2235,3250
$GC,2913,-0.93,-146.0,191.5,-5.3,313,2915,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2234,3250
$GC,3224,-0.98,-146.0,207.6,-5.3,328,3225,0.10,0.00,0.00,0.000,6,0.086,0.000,2443,2234,3250
$GC,3534,-0.85,-146.0,228.0,-6.5,343,3538,0.17,2.28,0.00,0.000,4,0.139,0.057,2498,815,3250
$GC,3612,-0.85,-146.0,232.4,-5.1,346,3616,0.00,2.30,0.00,0.000,6,0.000,0.059,2491,2233,3250
$GC,3935,-0.91,-146.0,248.1,-4.9,362,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2233,3250
$GC,4243,-0.96,-146.0,263.4,-5.1,377,4247,0.00,2.28,0.00,0.000,4,0.000,0.056,2491,815,3250
$GC,4334,-0.96,-146.0,268.6,-5.8,381,4338,0.00,2.30,0.00,0.000,6,0.000,0.058,2481,2236,3251
$GC,4668,-0.96,-146.0,285.8,-5.1,397,4669,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2236,3251
$GC,4977,-0.96,-146.0,301.7,-5.0,412,4978,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2236,3251
$GC,5288,-0.96,-146.0,317.6,-5.1,427,5289,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2236,3251
$GC,5595,-0.96,-146.0,332.5,-4.6,442,5599,0.00,2.28,0.00,0.000,4,0.000,0.054,2481,827,3252
$GC,5668,-0.96,-146.0,336.1,-5.0,445,5672,0.00,2.33,0.00,0.000,6,0.000,0.057,2471,2246,3252
$GC,5996,-0.96,-146.0,351.5,-4.7,461,5997,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2246,3252
$GC,6304,-0.96,-146.0,366.0,-4.5,476,6305,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2246,3253
$GC,6613,-0.96,-146.0,380.0,-4.4,491,6617,0.00,2.30,0.00,0.000,4,0.000,0.055,2471,815,3253
$GC,6699,-0.92,-146.0,384.2,-4.8,494,6705,0.00,2.33,0.00,0.000,6,0.000,0.055,2461,2237,3253
$GC,7015,-0.92,-146.0,399.6,-5.0,510,7019,0.00,2.22,0.00,0.000,4,0.000,0.067,2450,3606,3254
$GC,7077,-0.87,-146.0,403.1,-5.6,512,7081,0.15,2.12,0.00,0.000,6,0.137,0.042,2492,2222,3254
$GC,7391,-0.96,-146.0,416.3,-4.3,520,7394,0.00,2.20,0.00,0.000,4,0.000,0.054,2492,825,3254
$GC,7475,-1.01,-146.0,420.3,-4.5,521,7482,0.10,2.30,0.00,0.000,6,0.079,0.054,2438,2237,3254
$GC,7808,-0.90,-146.0,437.8,-5.2,530,7810,0.17,0.00,0.00,0.000,6,0.141,0.000,2488,2237,3254
$GC,8132,-0.99,-146.0,451.2,-4.2,538,8134,0.10,0.00,0.00,0.000,6,0.089,0.000,2443,2237,3255
$GC,8457,-0.90,-146.0,469.1,-5.6,546,8462,0.15,2.25,0.00,0.000,4,0.140,0.053,2486,830,3255
$GC,8525,-0.90,-146.0,472.6,-5.0,547,8529,0.00,2.28,0.00,0.000,6,0.000,0.054,2479,2233,3255
$GC,8874,-0.94,-146.0,490.4,-5.2,556,8876,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2233,3255
$GC,9200,-0.94,-146.0,506.9,-5.1,564,9204,0.00,2.22,0.00,0.000,4,0.000,0.053,2479,829,3255
$GC,9280,-0.94,-146.0,511.3,-5.5,565,9284,0.00,2.28,0.00,0.000,6,0.000,0.054,2469,2241,3255
$GC,9611,-0.94,-146.0,528.2,-5.1,573,9613,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2241,3255
$GC,9936,-0.94,-146.0,544.4,-5.0,581,9937,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2241,3255
$GC,10261,-0.94,-146.0,559.9,-4.7,589,10265,0.00,2.25,0.00,0.000,4,0.000,0.054,2469,824,3255
$GC,10353,-0.94,-146.0,564.5,-5.3,591,10357,0.00,2.30,0.00,0.000,6,0.000,0.055,2459,2241,3255
$GC,10683,-0.94,-146.0,580.9,-4.9,599,10687,0.00,2.22,0.00,0.000,4,0.000,0.067,2449,3603,3255
$GC,10763,-0.94,-146.0,585.0,-5.7,600,10768,0.10,2.12,0.00,0.000,6,0.145,0.041,2474,2221,3255
$GC,11100,-0.99,-146.0,599.8,-4.4,609,11104,0.00,2.17,0.00,0.000,4,0.000,0.054,2474,831,3255
$GC,11212,-0.99,-146.0,605.3,-4.7,611,11216,0.00,2.25,0.00,0.000,6,0.000,0.054,2467,2244,3255
$GC,11561,-0.99,-146.0,621.7,-4.7,620,11562,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2244,3255
$GC,11885,-0.99,-146.0,636.8,-4.5,628,11889,0.00,2.25,0.00,0.000,4,0.000,0.054,2467,828,3255
$STATE,11928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11928,begin apogee
$GC,11937,-0.31,0.0,639.1,5.2,629,12068,0.50,0.00,128.18,1.205,6,0.118,0.000,2620,1744,2650
$STATE,12069,end apogee,CONTROL_FINISHED_OK
$STATE,12070,begin climb
$GC,12073,0.99,146.0,640.1,0.0,632,12211,0.88,0.00,132.50,1.133,6,0.094,0.000,2899,1744,2053
$GC,12537,0.73,146.0,587.1,12.3,644,12542,0.20,2.33,0.00,0.000,4,0.130,0.060,2837,3156,2047
$GC,12564,0.56,146.0,584.0,10.3,644,12569,0.17,2.25,0.00,0.000,6,0.127,0.045,2795,1744,2045
$GC,12897,0.74,181.5,564.0,5.9,652,12930,0.15,0.00,30.67,1.114,6,0.065,0.000,2864,1744,1909
$GC,13222,0.61,181.5,531.8,10.1,660,13224,0.17,0.00,0.00,0.000,6,0.120,0.000,2812,1744,1904
$GC,13548,0.70,181.8,508.5,7.0,668,13551,0.00,2.28,0.00,0.000,4,0.000,0.061,2812,3159,1903
$GC,13571,0.75,181.8,506.7,7.6,668,13576,0.08,2.22,0.00,0.000,6,0.092,0.045,2861,1724,1902
$GC,13920,0.64,181.8,471.5,10.1,677,13922,0.17,0.00,0.00,0.000,6,0.122,0.000,2809,1724,1902
$GC,14245,0.77,186.1,448.6,6.9,685,14255,0.12,2.33,3.95,0.696,4,0.072,0.060,2867,3147,1891
$GC,14273,0.67,186.1,446.0,9.9,685,14278,0.20,2.20,0.00,0.000,6,0.128,0.044,2819,1724,1891
$GC,14610,0.73,186.1,420.4,7.4,694,14611,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1724,1891
$GC,14935,0.80,186.1,397.2,7.3,702,14939,0.12,2.28,0.00,0.000,4,0.071,0.059,2878,3154,1891
$GC,14951,0.80,186.1,395.7,7.9,702,14958,0.15,2.20,0.00,0.000,6,0.137,0.045,2846,1727,1891
$GC,15267,0.75,186.1,366.0,9.2,718,15268,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1727,1890
$GC,15577,0.70,186.1,338.0,9.0,733,15581,0.00,2.20,0.00,0.000,4,0.000,0.060,2855,334,1890
$GC,15593,0.70,186.1,336.4,8.8,733,15600,0.10,2.22,0.00,0.000,6,0.123,0.047,2826,1750,1890
$GC,15908,0.70,186.1,312.4,7.4,749,15912,0.00,2.20,0.00,0.000,4,0.000,0.061,2826,3154,1890
$GC,15960,0.70,186.1,308.2,8.3,751,15964,0.00,2.20,0.00,0.000,6,0.000,0.044,2834,1735,1890
$GC,16288,0.70,186.1,281.8,7.9,767,16292,0.00,2.30,0.00,0.000,4,0.000,0.060,2834,3144,1890
$GC,16311,0.70,186.1,279.9,8.0,768,16314,0.00,2.20,0.00,0.000,6,0.000,0.045,2844,1737,1890
$GC,16643,0.70,186.1,252.9,7.9,784,16644,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1737,1890
$GC,16953,0.70,186.1,228.2,8.0,799,16957,0.00,2.33,0.00,0.000,4,0.000,0.061,2844,3156,1890
$GC,16976,0.70,186.1,226.3,8.1,800,16980,0.00,2.20,0.00,0.000,6,0.000,0.044,2854,1739,1890
$GC,17308,0.70,186.1,196.2,8.9,816,17310,0.10,0.00,0.00,0.000,6,0.133,0.000,2826,1739,1890
$GC,17619,0.86,218.8,175.7,6.0,831,17654,0.15,2.35,29.00,0.918,4,0.067,0.061,2894,3142,1757
$GC,17666,0.68,218.8,171.3,10.6,833,17671,0.28,2.22,0.00,0.000,6,0.127,0.045,2822,1730,1756
$GC,17988,0.90,242.7,150.5,6.3,849,18012,0.17,0.00,21.30,0.881,6,0.061,0.000,2902,1730,1660
$GC,18316,0.77,242.7,112.7,11.6,865,18318,0.20,0.00,0.00,0.000,6,0.121,0.000,2841,1730,1655
$GC,18637,0.96,261.0,90.0,6.4,898,18656,0.15,0.00,16.25,0.843,6,0.067,0.000,2910,1730,1586
$GC,18995,0.96,261.0,52.3,9.9,961,19001,0.10,0.00,0.00,0.000,6,0.137,0.000,2882,1730,1582
$GC,19339,1.06,261.0,25.3,7.0,1022,19346,0.10,2.28,0.00,0.000,4,0.081,0.061,2939,331,1581
$GC,19376,1.01,261.0,22.1,8.1,1028,19383,0.15,2.25,0.00,0.000,6,0.129,0.051,2896,1746,1581
$FREEZE,6.99,0.107,-1.822
$FREEZE,6.42,0.106,-1.821
$FREEZE,5.97,0.106,-1.821
$FREEZE,5.43,0.106,-1.820
$FREEZE,5.17,0.106,-1.820
$FREEZE,4.94,0.105,-1.820
$FREEZE,4.77,0.102,-1.820
$FREEZE,4.42,0.102,-1.820
$FREEZE,4.03,0.101,-1.819
$FREEZE,3.79,0.099,-1.819
$FREEZE,3.58,0.090,-1.819
$FREEZE,3.45,0.091,-1.819
$FREEZE,3.31,0.090,-1.819
$FREEZE,2.95,0.094,-1.818
$STATE,19623,end climb,SURFACE_DEPTH_REACHED
$STATE,19623,begin surface coast
$FREEZE,2.59,0.099,-1.818
$FREEZE,2.32,0.098,-1.818
$FREEZE,2.11,0.091,-1.818
$FREEZE,1.94,0.090,-1.818
$FREEZE,1.46,0.090,-1.817
$FREEZE,1.25,0.007,-0.977
$FREEZE,1.29,0.044,-0.867
$FREEZE,1.31,0.064,-1.233
$FREEZE,1.19,0.087,-0.959
$FREEZE,1.27,0.045,-1.057
$FREEZE,1.21,0.089,-0.531
$FREEZE,1.22,0.076,-0.986
$FREEZE,1.32,0.073,-1.434
$FREEZE,1.37,0.105,-1.816
$FINISH,1.4,1.026581
$STATE,19704,end surface coast,CONTROL_FINISHED_OK
$STATE,19704,begin surface
$SM_CCo,19783,0.00,0.000,0,0,1575,263.70
$SM_GC,2.20,6.93,0.00,0.00,0.055,0.000,0.000,337,2241,1575,-10.67,0.31,263.70
$RAFOS_CLK,788
$RAFOS,4,1228466675,8.750000,8.743055,58,57,55,54,53,53,214,202,166,187,142,153
$RAFOS,3,1228466044,8.583333,8.567778,62,61,59,55,51,50,219,187,228,201,124,147
$RAFOS,2,1228465471,8.416667,8.408611,61,57,55,53,52,50,193,210,132,219,144,168
$RAFOS,1,1228464856,8.250000,8.237778,57,52,51,51,49,48,220,188,165,232,93,144
$RAFOS,0,1228464246,8.083333,8.068334,59,56,55,54,51,44,156,124,200,171,188,209
$RAFOS_FIX,6554.833984,-5724.625000,041208,161656,2,103,0.66
$IRIDIUM_FIX,6527.51,-5718.42,010398,000053
$TT8_MAMPS,0.026845
$HUMID,1792
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,16.00
$XPDR_PINGS,191
$24V_AH,22.1,69.883
$10V_AH,10.5,31.703
$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,21.325,126.125,361.850,0.000,0.000,22.755,30.356,332.140,47.750,0.000,0.000,14.904,2004.890,15050.823,528.221,1989.459,727.348,0.000,1564.940,0.000,1967.003,1800.000,0.533,0.000
$DEVICE_MAMPS,236.236,72.865,1204.957,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,756.462,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34696,1086
$CAP_FILE_SIZE,146996,0
$CFSIZE,260165632,224038912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.6
$GPS,051208,111238,6556.794,-5712.743,66,1.8,66,-36.2