version: 66.04
glider: 108
mission: 11
dive: 425
start: 12 6 108 4 20 35
data:
$ID,108
$MISSION,11
$DIVE,425
$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,-120296.69
$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,32
$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
$GPS1,041026,6602.082,-5706.981,38,1.3,38,-36.3
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-66.5
$GPS2,042014,6602.081,-5706.880,17,1.7,28,-36.3
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6612.716,-5702.231
$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,638
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.99,-146.0,0.0,0.0,0,76,0.00,0.00,-57.65,0.000,2,0.000,0.000,330,2241,2970
$GC,80,-0.99,-146.0,3.0,-2.3,10,105,8.65,2.35,-9.25,0.000,4,0.237,0.069,2459,808,3249
$GC,113,0.69,-146.0,6.9,-9.0,15,120,1.25,2.35,0.00,0.000,6,0.142,0.055,2828,2230,3250
$GC,459,-0.27,-146.0,26.0,-3.9,76,466,0.60,2.30,0.00,0.000,4,0.075,0.056,2608,811,3253
$GC,653,-0.66,-146.0,38.9,-6.4,110,660,0.20,2.30,0.00,0.000,6,0.064,0.058,2515,2240,3252
$GC,999,-0.73,-146.0,63.1,-5.6,171,1005,0.00,2.22,0.00,0.000,4,0.000,0.085,2504,3594,3252
$GC,1052,-0.79,-146.0,66.2,-6.0,180,1058,0.00,2.12,0.00,0.000,6,0.000,0.045,2505,2217,3252
$GC,1398,-0.85,-146.0,86.3,-5.7,241,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2217,3252
$GC,1749,-0.90,-146.0,107.1,-5.8,287,1752,0.00,2.20,0.00,0.000,4,0.000,0.058,2504,815,3251
$GC,1849,-0.90,-146.0,113.9,-7.1,291,1853,0.00,2.30,0.00,0.000,6,0.000,0.058,2494,2243,3251
$GC,2172,-0.90,-146.0,135.2,-6.6,307,2173,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2243,3251
$GC,2481,-0.95,-146.0,153.0,-5.3,322,2482,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2243,3251
$GC,2790,-1.00,-146.0,168.6,-5.2,337,2795,0.12,2.28,0.00,0.000,4,0.081,0.058,2437,819,3250
$GC,2891,-0.81,-146.0,175.8,-7.7,341,2896,0.28,2.33,0.00,0.000,6,0.130,0.059,2508,2245,3250
$GC,3213,-0.92,-146.0,191.7,-4.7,357,3215,0.12,0.00,0.00,0.000,6,0.082,0.000,2455,2244,3250
$GC,3524,-0.84,-146.0,212.0,-6.5,372,3528,0.15,2.28,0.00,0.000,4,0.143,0.057,2498,825,3250
$GC,3619,-0.84,-146.0,217.5,-5.5,376,3623,0.00,2.28,0.00,0.000,6,0.000,0.058,2491,2238,3250
$GC,3947,-0.90,-146.0,233.4,-4.8,392,3948,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2238,3250
$GC,4257,-0.96,-146.0,248.4,-4.9,407,4258,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2238,3251
$GC,4566,-1.03,-146.0,263.1,-4.6,422,4570,0.12,2.25,0.00,0.000,4,0.081,0.056,2434,822,3251
$GC,4644,-0.83,-146.0,268.3,-7.0,425,4649,0.28,2.30,0.00,0.000,6,0.130,0.058,2504,2240,3251
$GC,4961,-0.95,-146.0,282.3,-4.4,440,4965,0.12,2.22,0.00,0.000,4,0.082,0.069,2441,3604,3251
$GC,5007,-0.85,-146.0,285.1,-6.4,442,5011,0.20,2.12,0.00,0.000,6,0.138,0.044,2498,2212,3251
$GC,5340,-0.96,-146.0,300.8,-4.4,458,5344,0.10,2.17,0.00,0.000,4,0.089,0.054,2452,822,3251
$GC,5447,-0.83,-146.0,307.3,-6.5,462,5453,0.20,2.30,0.00,0.000,6,0.130,0.056,2499,2232,3252
$GC,5764,-0.94,-146.0,320.7,-4.1,478,5766,0.10,0.00,0.00,0.000,6,0.088,0.000,2455,2233,3252
$GC,6072,-0.89,-146.0,337.0,-5.5,493,6074,0.12,0.00,0.00,0.000,6,0.143,0.000,2488,2232,3252
$GC,6384,-0.97,-146.0,350.1,-4.1,508,6385,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2232,3253
$GC,6691,-1.05,-146.0,362.8,-4.1,523,6695,0.12,2.25,0.00,0.000,4,0.083,0.053,2435,821,3253
$GC,6786,-0.88,-146.0,368.7,-6.5,527,6791,0.22,2.33,0.00,0.000,6,0.129,0.055,2491,2246,3253
$GC,7108,-0.97,-146.0,382.9,-4.6,543,7110,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2246,3254
$GC,7418,-1.06,-146.0,396.9,-4.7,558,7423,0.15,2.28,0.00,0.000,4,0.074,0.053,2429,820,3254
$GC,7508,-0.88,-146.0,403.0,-7.0,562,7514,0.25,2.33,0.00,0.000,6,0.130,0.055,2493,2245,3254
$GC,7828,-0.98,-146.0,418.1,-4.6,570,7830,0.10,0.00,0.00,0.000,6,0.087,0.000,2448,2244,3254
$GC,8153,-0.91,-146.0,436.6,-5.7,578,8155,0.12,0.00,0.00,0.000,6,0.145,0.000,2482,2244,3254
$GC,8478,-0.97,-146.0,452.2,-4.7,586,8479,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2244,3255
$GC,8803,-1.04,-146.0,467.9,-4.8,594,8804,0.12,0.00,0.00,0.000,6,0.081,0.000,2429,2244,3255
$GC,9128,-0.91,-146.0,487.9,-6.1,602,9132,0.20,2.28,0.00,0.000,4,0.140,0.053,2487,819,3255
$GC,9234,-0.91,-146.0,493.4,-5.5,604,9238,0.00,2.30,0.00,0.000,6,0.000,0.054,2480,2232,3255
$GC,9548,-0.96,-146.0,508.3,-4.8,612,9550,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2232,3255
$GC,9873,-1.01,-146.0,524.1,-4.9,620,9877,0.00,2.25,0.00,0.000,4,0.000,0.053,2480,815,3256
$GC,9953,-1.01,-146.0,528.4,-5.3,621,9957,0.00,2.33,0.00,0.000,6,0.000,0.053,2469,2245,3256
$GC,10290,-1.01,-146.0,545.9,-5.2,630,10291,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2245,3256
$GC,10615,-1.01,-146.0,562.6,-5.1,638,10619,0.00,2.28,0.00,0.000,4,0.000,0.054,2469,818,3256
$GC,10706,-1.01,-146.0,567.4,-5.4,640,10710,0.00,2.30,0.00,0.000,6,0.000,0.054,2459,2233,3256
$GC,11036,-1.01,-146.0,584.4,-5.1,648,11037,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2233,3256
$GC,11361,-1.01,-146.0,600.1,-4.7,656,11362,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2233,3256
$GC,11686,-1.01,-146.0,615.6,-4.8,664,11687,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2233,3256
$GC,12011,-1.01,-146.0,631.7,-4.9,672,12012,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2233,3256
$STATE,12170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12170,begin apogee
$GC,12177,-0.31,0.0,639.8,5.0,676,12309,0.50,0.00,128.43,1.208,6,0.117,0.000,2619,1732,2650
$STATE,12310,end apogee,CONTROL_FINISHED_OK
$STATE,12310,begin climb
$GC,12313,0.99,146.0,639.7,0.0,679,12452,0.85,2.60,131.25,1.134,4,0.097,0.058,2894,3152,2053
$GC,12466,0.69,146.0,624.4,12.4,682,12471,0.30,2.45,0.00,0.000,6,0.129,0.042,2824,1734,2051
$GC,12797,0.69,146.0,597.3,7.8,690,12798,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1734,2047
$GC,13122,0.69,146.0,571.7,7.9,698,13126,0.00,2.33,0.00,0.000,4,0.000,0.061,2824,3161,2046
$GC,13156,0.61,146.0,568.7,8.7,698,13160,0.00,2.22,0.00,0.000,6,0.000,0.044,2832,1732,2045
$GC,13495,0.61,146.0,540.6,8.4,707,13498,0.00,2.30,0.00,0.000,4,0.000,0.060,2832,3158,2045
$GC,13512,0.57,146.0,538.9,8.6,707,13517,0.15,2.20,0.00,0.000,6,0.129,0.044,2799,1736,2044
$GC,13860,0.72,168.6,516.3,6.3,716,13882,0.12,0.00,19.02,1.092,6,0.071,0.000,2861,1737,1962
$GC,14185,0.60,168.6,484.6,9.9,724,14187,0.17,0.00,0.00,0.000,6,0.120,0.000,2809,1736,1959
$GC,14511,0.71,180.0,462.5,6.7,732,14527,0.10,2.30,11.18,1.011,4,0.076,0.060,2858,3158,1915
$GC,14539,0.61,180.0,460.0,9.1,732,14544,0.20,2.22,0.00,0.000,6,0.127,0.045,2810,1731,1914
$GC,14872,0.72,186.2,436.9,6.8,740,14881,0.10,0.00,6.53,0.887,6,0.077,0.000,2861,1731,1891
$GC,15196,0.60,186.2,405.6,9.8,748,15198,0.17,0.00,0.00,0.000,6,0.120,0.000,2809,1731,1890
$GC,15504,0.75,200.4,385.3,6.6,761,15526,0.12,2.35,13.80,0.997,4,0.071,0.061,2868,3158,1832
$GC,15544,0.58,200.4,381.5,10.3,762,15551,0.25,2.22,0.00,0.000,6,0.124,0.045,2804,1735,1830
$GC,15861,0.76,216.0,360.5,6.5,778,15880,0.15,0.00,14.27,0.981,6,0.064,0.000,2874,1735,1769
$GC,16191,0.64,216.0,323.3,11.6,794,16193,0.20,0.00,0.00,0.000,6,0.116,0.000,2813,1735,1766
$GC,16499,0.78,216.0,300.4,7.3,809,16503,0.12,2.28,0.00,0.000,4,0.071,0.059,2873,3154,1766
$GC,16515,0.78,216.0,299.0,7.6,809,16522,0.12,2.20,0.00,0.000,6,0.137,0.044,2848,1732,1765
$GC,16831,0.78,216.0,269.7,9.2,825,16832,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1731,1765
$GC,17140,0.78,216.0,241.7,9.3,840,17141,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1731,1765
$GC,17449,0.78,216.0,214.4,8.7,855,17453,0.00,2.30,0.00,0.000,4,0.000,0.059,2848,3159,1765
$GC,17467,0.78,216.0,212.7,9.0,855,17474,0.00,2.22,0.00,0.000,6,0.000,0.044,2856,1725,1765
$GC,17783,0.78,216.0,183.3,9.4,871,17784,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1725,1765
$GC,18094,0.78,216.0,156.0,8.7,886,18098,0.00,2.30,0.00,0.000,4,0.000,0.060,2856,3162,1765
$GC,18110,0.78,216.0,154.4,8.9,886,18117,0.00,2.22,0.00,0.000,6,0.000,0.044,2865,1725,1765
$GC,18427,0.78,216.0,124.8,9.7,902,18431,0.00,2.30,0.00,0.000,4,0.000,0.060,2865,3161,1764
$GC,18450,0.78,216.0,122.5,10.8,903,18454,0.10,2.20,0.00,0.000,6,0.135,0.044,2847,1738,1764
$GC,18782,0.89,231.5,99.3,6.5,919,18802,0.10,2.35,14.30,0.851,4,0.082,0.061,2896,3161,1706
$GC,18816,0.90,235.3,96.4,6.9,924,18829,0.12,2.22,5.25,0.678,6,0.137,0.045,2871,1732,1690
$GC,19167,0.90,235.3,67.8,7.3,986,19173,0.00,2.22,0.00,0.000,4,0.000,0.060,2879,334,1687
$GC,19180,0.96,235.3,66.9,7.1,988,19187,0.00,2.25,0.00,0.000,6,0.000,0.048,2879,1755,1687
$GC,19526,1.03,239.5,42.7,6.9,1049,19533,0.10,0.00,4.82,0.657,6,0.081,0.000,2930,1755,1673
$GC,19872,0.91,239.5,7.2,10.4,1110,19878,0.20,0.00,0.00,0.000,6,0.127,0.000,2865,1755,1672
$FREEZE,5.69,0.579,-1.824
$FREEZE,5.21,0.581,-1.823
$FREEZE,4.66,0.580,-1.823
$FREEZE,4.27,0.581,-1.823
$FREEZE,3.77,0.576,-1.822
$FREEZE,3.37,0.576,-1.822
$FREEZE,2.83,0.575,-1.822
$STATE,19916,end climb,SURFACE_DEPTH_REACHED
$STATE,19917,begin surface coast
$FREEZE,2.44,0.570,-1.821
$FREEZE,2.13,0.567,-1.821
$FREEZE,1.77,0.564,-1.821
$FREEZE,1.35,0.569,-1.820
$FREEZE,1.42,0.551,-0.456
$FREEZE,1.30,0.523,-1.351
$FINISH,1.3,1.019906
$STATE,19953,end surface coast,CONTROL_FINISHED_OK
$STATE,19953,begin surface
$SM_CCo,20033,0.00,0.000,0,0,1668,240.64
$SM_GC,2.31,6.85,0.00,0.00,0.055,0.000,0.000,333,2245,1668,-10.69,0.42,240.64
$RAFOS_CLK,793
$RAFOS,4,1228553051,8.750000,8.736389,66,61,61,56,55,52,129,171,212,159,225,111
$RAFOS,3,1228552468,8.583333,8.574445,68,65,60,54,53,52,212,737,192,162,117,176
$RAFOS,2,1228551859,8.416667,8.405278,63,56,56,56,52,51,216,158,187,137,148,172
$RAFOS,1,1228551254,8.250000,8.237223,61,55,53,48,45,44,219,176,188,238,138,118
$RAFOS,0,1228550644,8.083333,8.067778,72,59,59,54,53,46,206,181,223,126,144,115
$RAFOS,4,1228538642,4.750000,4.733889,62,61,59,53,50,48,185,135,213,198,77,116
$RAFOS,3,1228538045,4.583333,4.568056,63,58,58,57,52,52,168,186,865,211,235,152
$RAFOS,2,1228537443,4.416667,4.400833,64,59,59,58,58,55,150,208,929,127,182,167
$RAFOS,0,1228536244,4.083333,4.067778,67,59,57,54,53,51,201,148,162,174,225,235
$RAFOS_FIX,6726.303711,-5917.710938,051208,161636,2,72,10.77
$IRIDIUM_FIX,6537.93,-5645.03,010398,222203
$TT8_MAMPS,0.026845
$HUMID,1793
$INTERNAL_PRESSURE,9.93202
$TCM_TEMP,16.20
$XPDR_PINGS,148
$24V_AH,22.1,70.422
$10V_AH,10.5,31.987
$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,25.050,115.375,348.850,0.000,0.000,26.199,32.187,374.266,37.000,0.000,0.000,29.739,2046.311,15293.646,477.266,2019.592,777.520,0.000,1531.620,0.000,1973.481,2880.000,0.532,0.000
$DEVICE_MAMPS,237.003,85.137,1208.025,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,782.965,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37780,1124
$CAP_FILE_SIZE,152297,0
$CFSIZE,260165632,223764480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.4
$GPS,061208,095607,6604.132,-5705.346,39,0.9,50,-36.3