version: 66.04
glider: 108
mission: 11
dive: 424
start: 12 5 108 22 31 20
data:
$ID,108
$MISSION,11
$DIVE,424
$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,-120266.31
$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,30
$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
$GPS1,222455,6601.763,-5708.577,25,1.3,42,-36.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-66.9
$GPS2,223102,6601.781,-5708.598,13,1.3,30,-36.3
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6612.416,-5703.950
$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,46.3,20000,-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,13,begin dive
$GC,16,-0.99,-146.0,0.0,0.0,0,96,0.00,0.00,-77.93,0.000,2,0.000,0.000,334,2233,3053
$GC,100,-0.99,-146.0,3.1,-2.0,14,120,8.80,2.30,-5.85,0.000,4,0.245,0.083,2450,3598,3249
$GC,374,-0.81,-146.0,32.5,-10.3,62,381,0.20,2.15,0.00,0.000,6,0.137,0.045,2507,2218,3252
$GC,720,-0.81,-146.0,59.7,-7.8,123,726,0.00,2.30,0.00,0.000,4,0.000,0.070,2499,3606,3252
$GC,794,-0.81,-146.0,65.9,-8.6,136,800,0.00,2.15,0.00,0.000,6,0.000,0.046,2499,2218,3252
$GC,1139,-0.81,-146.0,87.6,-5.6,197,1145,0.00,2.17,0.00,0.000,4,0.000,0.058,2499,826,3251
$GC,1214,-0.81,-146.0,92.2,-6.1,210,1220,0.00,2.30,0.00,0.000,6,0.000,0.059,2489,2239,3251
$GC,1545,-0.81,-146.0,111.1,-5.9,244,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2238,3251
$GC,1852,-0.81,-146.0,130.1,-5.9,259,1855,0.00,2.20,0.00,0.000,4,0.000,0.072,2479,3602,3251
$GC,1966,-0.81,-146.0,136.9,-6.0,264,1970,0.10,2.12,0.00,0.000,6,0.146,0.047,2504,2222,3251
$GC,2298,-0.89,-146.0,153.7,-5.0,280,2302,0.00,2.20,0.00,0.000,4,0.000,0.059,2504,815,3250
$GC,2417,-0.94,-146.0,160.3,-5.9,285,2421,0.00,2.30,0.00,0.000,6,0.000,0.058,2496,2246,3250
$GC,2739,-0.99,-146.0,176.7,-5.1,301,2744,0.12,2.17,0.00,0.000,4,0.077,0.071,2429,3599,3250
$GC,2904,-0.84,-146.0,188.7,-7.5,308,2909,0.25,2.12,0.00,0.000,6,0.137,0.047,2504,2220,3249
$GC,3221,-0.94,-146.0,202.8,-3.9,323,3226,0.12,2.20,0.00,0.000,4,0.083,0.056,2449,814,3250
$GC,3333,-0.79,-146.0,209.7,-6.1,328,3338,0.25,2.30,0.00,0.000,6,0.130,0.059,2512,2239,3249
$GC,3656,-0.93,-146.0,223.3,-4.1,344,3658,0.12,0.00,0.00,0.000,6,0.081,0.000,2460,2238,3249
$GC,3964,-0.88,-146.0,241.2,-6.0,359,3969,0.12,2.28,0.00,0.000,4,0.144,0.056,2497,813,3249
$GC,4050,-0.93,-146.0,245.8,-4.9,363,4054,0.00,2.30,0.00,0.000,6,0.000,0.058,2489,2240,3250
$GC,4383,-0.98,-146.0,263.3,-5.3,379,4385,0.08,0.00,0.00,0.000,6,0.095,0.000,2447,2239,3249
$GC,4693,-0.89,-146.0,282.3,-6.1,394,4695,0.15,0.00,0.00,0.000,6,0.141,0.000,2489,2240,3250
$GC,5001,-0.95,-146.0,297.0,-4.7,409,5005,0.00,2.25,0.00,0.000,4,0.000,0.056,2489,823,3250
$GC,5103,-0.95,-146.0,302.8,-5.8,413,5107,0.00,2.30,0.00,0.000,6,0.000,0.057,2481,2239,3250
$GC,5420,-0.95,-146.0,320.1,-5.3,428,5421,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2239,3250
$GC,5728,-0.95,-146.0,335.8,-4.9,443,5729,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2239,3251
$GC,6039,-0.95,-146.0,350.4,-4.8,458,6043,0.00,2.28,0.00,0.000,4,0.000,0.054,2481,815,3252
$GC,6108,-0.95,-146.0,354.0,-5.7,461,6112,0.00,2.35,0.00,0.000,6,0.000,0.055,2471,2240,3252
$GC,6441,-0.95,-146.0,370.9,-5.1,477,6445,0.00,2.22,0.00,0.000,4,0.000,0.067,2461,3601,3252
$GC,6498,-0.95,-146.0,374.1,-6.1,479,6502,0.00,2.12,0.00,0.000,6,0.000,0.042,2461,2216,3252
$GC,6819,-0.95,-146.0,391.9,-5.5,495,6823,0.00,2.17,0.00,0.000,4,0.000,0.053,2461,819,3252
$GC,6960,-0.88,-146.0,400.5,-6.3,501,6965,0.15,2.33,0.00,0.000,6,0.126,0.054,2494,2242,3252
$GC,7286,-0.98,-146.0,416.2,-4.8,509,7287,0.10,0.00,0.00,0.000,6,0.084,0.000,2449,2242,3253
$GC,7610,-0.91,-146.0,435.5,-5.9,517,7612,0.12,0.00,0.00,0.000,6,0.142,0.000,2483,2242,3253
$GC,7935,-0.97,-146.0,451.5,-4.7,525,7937,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2242,3254
$GC,8260,-1.04,-146.0,466.5,-4.4,533,8264,0.12,2.28,0.00,0.000,4,0.080,0.052,2429,816,3254
$GC,8332,-0.84,-146.0,470.9,-5.9,534,8337,0.22,2.35,0.00,0.000,6,0.123,0.054,2494,2245,3254
$GC,8676,-0.95,-146.0,484.0,-3.6,543,8677,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2245,3254
$GC,9001,-1.06,-146.0,495.0,-3.2,551,9005,0.15,2.28,0.00,0.000,4,0.073,0.052,2429,821,3255
$GC,9073,-0.87,-146.0,498.7,-5.4,552,9078,0.25,2.33,0.00,0.000,6,0.129,0.054,2494,2237,3255
$GC,9412,-0.98,-146.0,511.0,-3.7,561,9414,0.10,0.00,0.00,0.000,6,0.084,0.000,2447,2237,3255
$GC,9736,-0.91,-146.0,527.3,-5.1,569,9738,0.15,0.00,0.00,0.000,6,0.142,0.000,2489,2236,3255
$GC,10061,-1.00,-146.0,541.0,-4.2,577,10065,0.10,2.25,0.00,0.000,4,0.088,0.053,2443,823,3255
$GC,10146,-0.87,-146.0,546.1,-6.5,578,10153,0.20,2.28,0.00,0.000,6,0.129,0.054,2491,2246,3255
$GC,10478,-0.97,-146.0,561.7,-4.7,587,10479,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2246,3255
$GC,10803,-1.09,-146.0,577.1,-4.6,595,10808,0.17,2.22,0.00,0.000,4,0.069,0.065,2408,3598,3255
$GC,10843,-0.88,-146.0,579.7,-6.5,595,10849,0.28,2.15,0.00,0.000,6,0.139,0.041,2488,2216,3255
$GC,11175,-0.98,-146.0,595.1,-4.6,604,11179,0.00,2.22,0.00,0.000,4,0.000,0.053,2488,827,3255
$GC,11255,-1.04,-146.0,599.1,-4.9,605,11259,0.10,2.33,0.00,0.000,6,0.078,0.054,2434,2236,3255
$GC,11592,-0.93,-146.0,619.4,-6.0,614,11596,0.17,2.25,0.00,0.000,4,0.144,0.065,2476,3604,3255
$GC,11648,-1.01,-146.0,622.4,-5.6,615,11652,0.00,2.15,0.00,0.000,6,0.000,0.041,2475,2213,3255
$STATE,11964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11964,begin apogee
$GC,11972,-0.31,0.0,639.0,5.4,623,12103,0.45,0.00,128.07,1.203,6,0.113,0.000,2620,1736,2650
$STATE,12104,end apogee,CONTROL_FINISHED_OK
$STATE,12104,begin climb
$GC,12107,0.99,146.0,640.8,0.0,626,12246,0.85,2.62,131.50,1.131,4,0.093,0.058,2897,3154,2053
$GC,12266,0.66,146.0,626.5,12.5,629,12273,0.32,2.45,0.00,0.000,6,0.130,0.042,2820,1747,2050
$GC,12598,0.66,146.0,601.6,7.2,638,12599,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1746,2046
$GC,12922,0.66,146.0,578.2,7.2,646,12923,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1746,2046
$GC,13248,0.66,146.0,553.9,7.6,654,13249,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1746,2045
$GC,13572,0.66,146.0,529.1,7.5,662,13573,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1746,2045
$GC,13897,0.66,146.0,505.3,7.3,670,13898,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1746,2045
$GC,14222,0.66,146.0,482.1,7.2,678,14226,0.00,2.35,0.00,0.000,4,0.000,0.059,2820,3161,2045
$GC,14239,0.66,146.0,480.9,7.3,678,14243,0.00,2.28,0.00,0.000,6,0.000,0.044,2827,1721,2044
$GC,14552,0.66,146.0,456.8,7.7,686,14556,0.00,2.38,0.00,0.000,4,0.000,0.060,2827,3154,2044
$GC,14580,0.59,146.0,454.2,9.0,686,14585,0.12,2.25,0.00,0.000,6,0.133,0.044,2803,1724,2043
$GC,14923,0.74,170.8,432.8,6.2,695,14946,0.12,0.00,20.55,1.059,6,0.073,0.000,2864,1725,1953
$GC,15247,0.61,170.8,399.2,10.6,703,15252,0.20,2.35,0.00,0.000,4,0.120,0.058,2803,3153,1950
$GC,15265,0.53,170.8,397.5,10.1,704,15269,0.00,2.22,0.00,0.000,6,0.000,0.044,2809,1737,1949
$GC,15600,0.65,178.9,374.6,6.8,720,15615,0.00,2.35,8.25,0.913,4,0.000,0.059,2809,3151,1920
$GC,15627,0.73,178.9,372.4,7.2,721,15631,0.00,2.22,0.00,0.000,6,0.000,0.042,2818,1734,1919
$GC,15954,0.81,178.9,348.9,7.3,737,15959,0.12,2.33,0.00,0.000,4,0.072,0.058,2877,3164,1919
$GC,15978,0.72,178.9,346.9,8.6,738,15983,0.20,2.22,0.00,0.000,6,0.130,0.044,2828,1735,1919
$GC,16310,0.72,178.9,320.8,7.5,754,16311,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1735,1918
$GC,16621,0.72,178.9,298.6,7.3,769,16622,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1735,1919
$GC,16930,0.76,178.9,275.3,7.7,784,16931,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1735,1918
$GC,17238,0.82,178.9,251.0,7.7,799,17240,0.10,0.00,0.00,0.000,6,0.077,0.000,2879,1735,1919
$GC,17548,0.67,178.9,218.8,10.2,814,17550,0.20,0.00,0.00,0.000,6,0.121,0.000,2818,1735,1919
$GC,17858,0.84,206.7,198.8,6.1,829,17885,0.15,0.00,24.60,0.925,6,0.067,0.000,2886,1734,1807
$GC,18186,0.71,206.7,165.8,10.1,845,18188,0.20,0.00,0.00,0.000,6,0.120,0.000,2825,1735,1802
$GC,18496,0.90,231.2,146.0,6.2,860,18521,0.17,0.00,21.80,0.889,6,0.064,0.000,2903,1734,1707
$GC,18825,0.75,231.2,111.2,10.7,876,18830,0.20,2.30,0.00,0.000,4,0.122,0.058,2845,331,1702
$GC,18860,0.88,231.2,108.2,7.2,877,18867,0.10,2.25,0.00,0.000,6,0.081,0.048,2897,1752,1702
$GC,19196,0.81,231.2,75.8,9.5,926,19203,0.15,2.22,0.00,0.000,4,0.126,0.061,2852,3152,1701
$GC,19227,0.81,231.2,73.2,8.8,931,19233,0.00,2.22,0.00,0.000,6,0.000,0.046,2857,1736,1700
$GC,19572,0.98,231.2,49.7,7.2,992,19578,0.12,0.00,0.00,0.000,6,0.074,0.000,2919,1736,1700
$GC,19917,0.84,231.2,16.8,9.8,1053,19924,0.20,2.28,0.00,0.000,4,0.120,0.059,2860,327,1700
$GC,19937,0.79,231.2,15.2,9.3,1056,19944,0.00,2.28,0.00,0.000,6,0.000,0.050,2861,1741,1700
$FREEZE,6.98,0.355,-1.823
$FREEZE,6.60,0.358,-1.823
$FREEZE,6.33,0.373,-1.822
$FREEZE,5.82,0.367,-1.822
$FREEZE,5.46,0.368,-1.822
$FREEZE,5.06,0.365,-1.822
$FREEZE,4.64,0.363,-1.821
$FREEZE,4.25,0.365,-1.821
$FREEZE,4.03,0.371,-1.821
$FREEZE,3.75,0.371,-1.820
$FREEZE,3.19,0.372,-1.820
$FREEZE,2.65,0.364,-1.820
$STATE,20135,end climb,SURFACE_DEPTH_REACHED
$STATE,20135,begin surface coast
$FREEZE,2.02,0.369,-1.819
$FREEZE,1.57,0.370,-1.819
$FREEZE,1.26,0.271,-0.668
$FREEZE,1.32,0.364,-1.818
$FREEZE,1.26,0.229,-0.937
$FREEZE,1.28,0.296,-1.148
$FREEZE,1.32,0.267,-1.406
$FREEZE,1.32,0.370,-0.909
$FINISH,1.3,1.013422
$STATE,20180,end surface coast,CONTROL_FINISHED_OK
$STATE,20180,begin surface
$SM_CCo,20259,0.00,0.000,0,0,1697,233.77
$SM_GC,2.05,6.68,0.00,0.00,0.042,0.000,0.000,330,2239,1697,-10.71,0.25,233.77
$RAFOS_CLK,797
$RAFOS,4,1228524251,0.750000,0.736389,65,59,56,55,55,51,167,148,209,192,219,178
$RAFOS,3,1228523642,0.583333,0.567222,67,59,57,54,52,52,878,202,164,223,121,211
$RAFOS,2,1228523055,0.416667,0.404167,59,57,55,53,49,48,169,151,187,211,131,108
$RAFOS,1,1228522450,0.250000,0.236111,58,57,57,56,52,50,210,195,177,956,163,233
$RAFOS,0,1228521861,0.083333,0.072500,64,60,55,51,51,51,200,217,235,124,142,170
$RAFOS_FIX,6726.303711,-5917.710938,051208,161636,2,72,10.77
$IRIDIUM_FIX,6532.72,-5706.99,010398,171722
$TT8_MAMPS,0.029146
$HUMID,1789
$INTERNAL_PRESSURE,9.92226
$TCM_TEMP,16.10
$XPDR_PINGS,82
$24V_AH,22.1,70.281
$10V_AH,10.5,31.913
$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,23.400,123.725,334.775,0.000,0.000,31.220,39.898,136.867,20.500,0.000,0.000,31.533,2026.419,15495.480,487.495,2042.340,567.443,0.000,1548.349,0.000,2003.872,2160.000,0.532,0.000
$DEVICE_MAMPS,245.440,82.836,1202.656,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,765.853,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37823,1099
$CAP_FILE_SIZE,149292,0
$CFSIZE,260165632,223834112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.5
$GPS,061208,041026,6602.082,-5706.981,38,1.3,38,-36.3