version: 66.04
glider: 108
mission: 11
dive: 422
start: 12 5 108 11 18 58
data:
$ID,108
$MISSION,11
$DIVE,422
$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,-120218.32
$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,29
$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
$GPS1,111238,6556.794,-5712.743,66,1.8,66,-36.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-66.4
$GPS2,111838,6556.801,-5712.695,10,1.2,15,-36.2
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6607.436,-5708.062
$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,637
$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,15,-0.99,-146.0,0.0,0.0,0,92,0.00,0.00,-74.03,0.000,2,0.000,0.000,337,2251,3191
$GC,95,-0.99,-146.0,3.2,-2.1,13,115,8.70,2.35,-1.60,0.000,4,0.242,0.071,2469,824,3251
$GC,318,-0.81,-146.0,27.7,-8.6,52,325,0.15,2.35,0.00,0.000,6,0.130,0.058,2503,2241,3253
$GC,663,-0.81,-146.0,55.6,-8.6,113,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2240,3253
$GC,1007,-0.81,-146.0,79.4,-6.6,174,1013,0.00,2.22,0.00,0.000,4,0.000,0.072,2495,3598,3252
$GC,1071,-0.81,-146.0,83.8,-6.8,185,1077,0.00,2.15,0.00,0.000,6,0.000,0.046,2495,2213,3252
$GC,1420,-0.81,-146.0,104.4,-5.1,236,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2213,3252
$GC,1728,-0.81,-146.0,119.1,-5.0,251,1730,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2213,3252
$GC,2038,-0.81,-146.0,134.9,-5.0,266,2041,0.00,2.17,0.00,0.000,4,0.000,0.059,2495,824,3251
$GC,2134,-0.81,-146.0,140.1,-5.3,270,2138,0.00,2.30,0.00,0.000,6,0.000,0.060,2486,2235,3251
$GC,2461,-0.81,-146.0,157.7,-5.6,286,2465,0.00,2.22,0.00,0.000,4,0.000,0.071,2475,3601,3250
$GC,2544,-0.81,-146.0,163.1,-7.1,289,2551,0.12,2.12,0.00,0.000,6,0.138,0.047,2509,2213,3251
$GC,2863,-0.93,-146.0,179.4,-5.1,305,2868,0.12,2.17,0.00,0.000,4,0.082,0.058,2455,825,3251
$GC,2948,-0.79,-146.0,185.3,-7.1,309,2952,0.22,2.28,0.00,0.000,6,0.130,0.060,2509,2242,3251
$GC,3283,-0.91,-146.0,200.1,-4.3,325,3285,0.12,0.00,0.00,0.000,6,0.081,0.000,2456,2242,3251
$GC,3590,-0.82,-146.0,219.3,-6.4,340,3592,0.17,0.00,0.00,0.000,6,0.140,0.000,2506,2242,3251
$GC,3900,-0.94,-146.0,235.4,-5.3,355,3902,0.12,0.00,0.00,0.000,6,0.082,0.000,2451,2242,3251
$GC,4210,-0.85,-146.0,257.2,-7.2,370,4211,0.17,0.00,0.00,0.000,6,0.141,0.000,2501,2242,3251
$GC,4521,-0.95,-146.0,275.1,-5.7,385,4525,0.12,2.28,0.00,0.000,4,0.084,0.056,2447,821,3252
$GC,4644,-0.80,-146.0,284.8,-8.3,390,4651,0.25,2.33,0.00,0.000,6,0.132,0.058,2510,2238,3252
$GC,4961,-0.94,-146.0,301.9,-5.1,406,4963,0.12,0.00,0.00,0.000,6,0.080,0.000,2457,2238,3252
$GC,5272,-0.89,-146.0,320.8,-6.0,421,5277,0.12,2.28,0.00,0.000,4,0.144,0.055,2490,818,3252
$GC,5339,-0.89,-146.0,324.7,-5.8,424,5343,0.00,2.28,0.00,0.000,6,0.000,0.057,2483,2235,3252
$GC,5662,-0.89,-146.0,342.0,-5.5,440,5663,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2235,3252
$GC,5970,-0.89,-146.0,358.9,-5.2,455,5974,0.00,2.25,0.00,0.000,4,0.000,0.054,2483,826,3252
$GC,6054,-0.89,-146.0,363.8,-5.6,458,6060,0.00,2.33,0.00,0.000,6,0.000,0.056,2473,2245,3252
$GC,6371,-0.89,-146.0,381.0,-5.3,474,6372,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2245,3252
$GC,6679,-0.89,-146.0,396.2,-4.6,489,6680,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2244,3252
$GC,6985,-0.89,-146.0,409.9,-4.4,499,6990,0.00,2.28,0.00,0.000,4,0.000,0.056,2473,813,3253
$GC,7065,-0.89,-146.0,413.9,-5.4,500,7069,0.10,2.35,0.00,0.000,6,0.135,0.055,2489,2243,3253
$GC,7397,-0.97,-146.0,427.4,-4.1,508,7401,0.00,2.22,0.00,0.000,4,0.000,0.067,2481,3602,3253
$GC,7459,-1.06,-146.0,430.4,-5.2,509,7464,0.12,2.12,0.00,0.000,6,0.076,0.043,2426,2216,3253
$GC,7773,-0.90,-146.0,449.3,-6.1,517,7777,0.20,2.17,0.00,0.000,4,0.134,0.054,2494,826,3253
$GC,7874,-0.96,-146.0,454.3,-5.2,519,7878,0.00,2.30,0.00,0.000,6,0.000,0.055,2487,2244,3254
$GC,8194,-1.03,-146.0,469.0,-4.6,527,8196,0.12,0.00,0.00,0.000,6,0.075,0.000,2429,2244,3254
$GC,8519,-0.89,-146.0,488.4,-6.0,535,8521,0.20,0.00,0.00,0.000,6,0.138,0.000,2487,2244,3254
$GC,8844,-0.98,-146.0,502.9,-4.4,543,8847,0.00,2.25,0.00,0.000,4,0.000,0.054,2488,826,3255
$GC,8935,-0.98,-146.0,507.4,-5.2,545,8939,0.00,2.30,0.00,0.000,6,0.000,0.055,2480,2237,3255
$GC,9266,-1.03,-146.0,523.0,-4.7,553,9268,0.10,0.00,0.00,0.000,6,0.081,0.000,2431,2237,3255
$GC,9591,-0.90,-146.0,542.3,-5.9,561,9593,0.20,0.00,0.00,0.000,6,0.135,0.000,2489,2237,3255
$GC,9917,-0.99,-146.0,556.2,-4.3,569,9921,0.10,2.25,0.00,0.000,4,0.087,0.053,2443,822,3255
$GC,10029,-0.86,-146.0,562.8,-6.1,571,10034,0.20,2.28,0.00,0.000,6,0.130,0.054,2491,2235,3255
$GC,10372,-0.97,-146.0,577.3,-4.1,580,10377,0.10,2.20,0.00,0.000,4,0.086,0.066,2436,3599,3255
$GC,10435,-0.88,-146.0,580.9,-6.2,581,10439,0.20,2.10,0.00,0.000,6,0.139,0.041,2492,2214,3255
$GC,10748,-0.99,-146.0,594.4,-4.5,589,10753,0.12,2.15,0.00,0.000,4,0.081,0.053,2438,831,3256
$GC,10856,-0.84,-146.0,601.0,-6.1,591,10860,0.25,2.25,0.00,0.000,6,0.129,0.054,2501,2234,3255
$GC,11169,-0.99,-146.0,613.2,-3.9,599,11171,0.12,0.00,0.00,0.000,6,0.081,0.000,2448,2233,3256
$GC,11495,-0.94,-146.0,629.4,-5.0,607,11496,0.12,0.00,0.00,0.000,6,0.148,0.000,2481,2233,3255
$STATE,11693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11693,begin apogee
$GC,11701,-0.31,0.0,638.5,4.5,612,11832,0.43,0.00,128.35,1.205,6,0.114,0.000,2620,1747,2650
$STATE,11833,end apogee,CONTROL_FINISHED_OK
$STATE,11833,begin climb
$GC,11836,0.99,146.0,639.2,0.0,615,11979,0.88,2.65,131.80,1.132,4,0.090,0.058,2901,3152,2053
$GC,11994,0.64,146.0,623.5,12.6,619,11999,0.35,2.42,0.00,0.000,6,0.135,0.043,2817,1743,2050
$GC,12307,0.64,146.0,598.7,7.4,627,12309,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1743,2047
$GC,12632,0.64,146.0,573.9,7.7,635,12636,0.00,2.33,0.00,0.000,4,0.000,0.061,2817,3150,2046
$GC,12649,0.64,146.0,572.5,7.7,635,12653,0.00,2.22,0.00,0.000,6,0.000,0.044,2826,1726,2045
$GC,12962,0.64,146.0,548.0,7.8,643,12966,0.00,2.33,0.00,0.000,4,0.000,0.059,2826,3155,2045
$GC,13002,0.53,146.0,544.6,9.2,643,13009,0.15,2.20,0.00,0.000,6,0.133,0.044,2793,1737,2045
$GC,13334,0.72,166.3,523.5,6.4,652,13354,0.15,0.00,16.95,1.085,6,0.065,0.000,2864,1737,1972
$GC,13658,0.58,166.3,490.3,10.3,660,13660,0.20,0.00,0.00,0.000,6,0.120,0.000,2804,1737,1970
$GC,13984,0.71,179.5,468.8,6.6,668,14004,0.12,2.35,12.85,1.032,4,0.071,0.060,2864,3152,1918
$GC,14011,0.64,179.5,466.6,8.3,668,14016,0.20,2.22,0.00,0.000,6,0.129,0.045,2815,1727,1917
$GC,14348,0.73,192.8,443.2,6.6,677,14363,0.10,0.00,12.85,1.022,6,0.079,0.000,2866,1727,1864
$GC,14673,0.60,192.8,411.1,10.1,685,14678,0.20,2.35,0.00,0.000,4,0.122,0.060,2801,3154,1861
$GC,14695,0.60,192.8,409.0,9.4,685,14699,0.00,2.22,0.00,0.000,6,0.000,0.044,2809,1726,1860
$GC,15020,0.77,225.5,389.2,6.0,697,15052,0.12,0.00,29.20,1.051,6,0.071,0.000,2869,1726,1730
$GC,15349,0.66,225.5,355.7,10.7,713,15354,0.17,2.35,0.00,0.000,4,0.121,0.059,2816,3161,1724
$GC,15383,0.66,225.5,352.4,8.1,714,15389,0.00,2.22,0.00,0.000,6,0.000,0.044,2823,1732,1723
$GC,15699,0.75,225.9,329.4,7.0,730,15700,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1732,1722
$GC,16009,0.86,225.9,307.7,7.2,745,16013,0.15,2.35,0.00,0.000,4,0.068,0.059,2891,3161,1721
$GC,16042,0.62,225.9,303.9,11.7,746,16049,0.30,2.22,0.00,0.000,6,0.130,0.045,2812,1737,1721
$GC,16359,0.81,229.4,281.5,6.9,762,16361,0.15,0.00,0.00,0.000,6,0.065,0.000,2883,1737,1721
$GC,16668,0.67,229.4,246.5,11.2,777,16670,0.20,0.00,0.00,0.000,6,0.119,0.000,2821,1737,1721
$GC,16977,0.83,244.5,225.9,6.5,792,16997,0.15,0.00,16.52,0.928,6,0.067,0.000,2889,1737,1653
$GC,17307,0.70,244.5,189.4,11.2,808,17312,0.20,2.25,0.00,0.000,4,0.120,0.058,2832,335,1649
$GC,17330,0.70,244.5,187.0,9.8,809,17334,0.00,2.22,0.00,0.000,6,0.000,0.048,2832,1745,1649
$GC,17657,0.83,244.5,163.1,7.3,825,17662,0.10,2.25,0.00,0.000,4,0.082,0.061,2886,3162,1648
$GC,17697,0.65,244.5,158.8,12.6,826,17704,0.28,2.22,0.00,0.000,6,0.125,0.046,2814,1731,1647
$GC,18015,1.22,244.5,136.3,8.6,842,18017,0.40,0.00,0.00,0.000,6,0.082,0.000,2956,1731,1647
$GC,18325,0.92,244.5,95.7,14.8,860,18331,0.22,2.38,0.00,0.000,4,0.130,0.061,2883,3156,1647
$GC,18372,0.78,244.5,90.0,11.5,868,18379,0.15,2.22,0.00,0.000,6,0.127,0.047,2846,1737,1647
$GC,18718,0.98,261.0,66.7,6.5,929,18737,0.17,0.00,15.12,0.845,6,0.064,0.000,2928,1737,1585
$GC,19075,0.88,261.0,28.5,10.4,992,19082,0.20,2.28,0.00,0.000,4,0.126,0.060,2872,327,1582
$GC,19106,0.88,261.0,25.7,9.3,997,19112,0.00,2.33,0.00,0.000,6,0.000,0.051,2871,1752,1581
$FREEZE,6.74,0.095,-1.822
$FREEZE,6.40,0.095,-1.821
$FREEZE,5.90,0.095,-1.821
$FREEZE,5.47,0.094,-1.821
$FREEZE,5.10,0.094,-1.820
$FREEZE,4.55,0.095,-1.820
$FREEZE,4.14,0.096,-1.820
$FREEZE,3.81,0.090,-1.819
$FREEZE,3.45,0.089,-1.819
$FREEZE,3.00,0.091,-1.819
$STATE,19421,end climb,SURFACE_DEPTH_REACHED
$STATE,19421,begin surface coast
$FREEZE,2.57,0.091,-1.818
$FREEZE,2.37,0.090,-1.818
$FREEZE,1.92,0.089,-1.818
$FREEZE,1.58,0.089,-1.818
$FREEZE,1.22,0.089,-1.817
$FREEZE,1.33,0.089,-0.169
$FREEZE,1.25,-0.046,-0.883
$FREEZE,1.33,0.074,-0.981
$FINISH,1.3,1.014484
$STATE,19467,end surface coast,CONTROL_FINISHED_OK
$STATE,19467,begin surface
$SM_CCo,19546,0.00,0.000,0,0,1578,262.96
$SM_GC,2.11,6.75,0.00,0.00,0.045,0.000,0.000,328,2246,1578,-10.70,0.45,262.96
$RAFOS_CLK,773
$RAFOS,3,1228494841,16.583334,16.566944,66,59,55,54,51,50,888,208,237,194,167,153
$RAFOS,2,1228494242,16.416666,16.400555,65,58,52,52,51,49,957,214,159,178,187,943
$RAFOS,1,1228493659,16.250000,16.238611,72,59,58,58,56,56,201,126,213,908,230,137
$RAFOS,0,1228493055,16.083334,16.070833,72,67,65,62,59,59,213,1029,222,181,198,125
$RAFOS,4,1228481060,12.750000,12.738889,60,57,57,55,51,51,164,152,232,214,175,191
$RAFOS,3,1228480452,12.583333,12.570000,60,59,57,56,55,54,173,198,131,146,221,211
$RAFOS,2,1228479854,12.416667,12.403889,62,56,56,51,48,48,206,156,142,178,119,233
$RAFOS,1,1228479256,12.250000,12.237778,66,63,58,50,49,48,200,220,167,179,145,210
$RAFOS,0,1228478651,12.083333,12.069722,58,58,57,56,55,52,161,181,207,119,225,144
$RAFOS_FIX,6726.303711,-5917.710938,051208,161636,2,72,10.77
$IRIDIUM_FIX,6527.51,-5711.14,010398,050547
$TT8_MAMPS,0.026845
$HUMID,1798
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,15.80
$XPDR_PINGS,74
$24V_AH,22.1,70.013
$10V_AH,10.5,31.773
$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,25.325,119.425,363.650,0.000,0.000,22.168,32.242,165.068,18.500,0.000,0.000,17.254,1995.747,14887.570,518.834,1960.348,566.363,0.000,1549.355,0.000,1936.857,3240.000,0.534,0.000
$DEVICE_MAMPS,241.605,72.098,1204.957,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,738.889,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34741,1061
$CAP_FILE_SIZE,148161,0
$CFSIZE,260165632,223973376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.3
$GPS,051208,164638,6559.131,-5710.804,38,1.1,38,-36.2