version: 66.04
glider: 108
mission: 11
dive: 431
start: 12 7 108 13 27 5
data:
$ID,108
$MISSION,11
$DIVE,431
$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,0
$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,-120400.71
$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,31
$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
$GPS1,132037,6611.595,-5700.320,99,1.4,99,-36.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-64.2
$GPS2,132645,6611.623,-5700.261,14,1.5,14,-36.5
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6622.422,-5700.261
$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,36.5,20000,-13.0,-7.021
$D_GRID,626
$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,-146.0,0.0,0.0,0,80,0.00,0.00,-62.03,0.000,2,0.000,0.000,333,2250,2918
$GC,84,-0.99,-146.0,3.2,-2.5,11,109,8.62,2.28,-10.85,0.000,4,0.237,0.079,2454,3592,3247
$GC,363,-0.83,-146.0,30.9,-10.9,60,370,0.17,2.15,0.00,0.000,6,0.152,0.044,2501,2215,3251
$GC,709,-0.83,-146.0,57.0,-7.1,121,715,0.00,2.28,0.00,0.000,4,0.000,0.067,2493,3603,3251
$GC,800,-0.83,-146.0,63.8,-7.4,137,807,0.00,2.12,0.00,0.000,6,0.000,0.044,2493,2219,3251
$GC,1145,-0.83,-146.0,86.2,-5.7,198,1152,0.00,2.17,0.00,0.000,4,0.000,0.055,2493,825,3250
$GC,1372,-0.83,-146.0,101.0,-5.9,237,1376,0.00,2.25,0.00,0.000,6,0.000,0.057,2484,2230,3250
$GC,1706,-0.83,-146.0,119.4,-5.7,253,1710,0.00,2.17,0.00,0.000,4,0.000,0.068,2473,3592,3249
$GC,1802,-0.83,-146.0,125.4,-6.1,257,1806,0.10,2.10,0.00,0.000,6,0.143,0.043,2499,2221,3249
$GC,2129,-0.88,-146.0,141.9,-5.4,273,2133,0.00,2.17,0.00,0.000,4,0.000,0.054,2500,817,3250
$GC,2230,-0.88,-146.0,148.3,-6.4,277,2234,0.00,2.28,0.00,0.000,6,0.000,0.055,2492,2234,3250
$GC,2552,-0.88,-146.0,166.1,-4.8,293,2556,0.00,2.17,0.00,0.000,4,0.000,0.068,2481,3593,3250
$GC,2676,-0.88,-146.0,173.2,-5.9,298,2680,0.00,2.10,0.00,0.000,6,0.000,0.043,2482,2221,3250
$GC,2997,-0.88,-146.0,190.8,-5.6,314,3001,0.00,2.17,0.00,0.000,4,0.000,0.054,2481,817,3250
$GC,3115,-0.88,-146.0,198.0,-6.0,319,3119,0.00,2.28,0.00,0.000,6,0.000,0.055,2471,2234,3250
$GC,3442,-0.88,-146.0,218.3,-6.8,335,3446,0.00,2.20,0.00,0.000,4,0.000,0.067,2461,3602,3249
$GC,3529,-0.84,-146.0,224.7,-7.7,338,3536,0.15,2.12,0.00,0.000,6,0.137,0.043,2503,2217,3250
$GC,3845,-0.93,-146.0,242.5,-5.4,354,3850,0.10,2.17,0.00,0.000,4,0.088,0.053,2457,818,3250
$GC,4031,-0.82,-146.0,254.7,-6.8,362,4036,0.20,2.28,0.00,0.000,6,0.129,0.055,2505,2245,3250
$GC,4358,-0.94,-146.0,268.8,-3.8,378,4360,0.12,0.00,0.00,0.000,6,0.077,0.000,2451,2245,3249
$GC,4668,-0.86,-146.0,285.3,-5.4,393,4673,0.15,2.28,0.00,0.000,4,0.142,0.053,2497,818,3249
$GC,4753,-0.86,-146.0,289.2,-4.2,397,4757,0.00,2.28,0.00,0.000,6,0.000,0.054,2489,2237,3249
$GC,5086,-0.93,-146.0,303.8,-4.5,413,5090,0.00,2.17,0.00,0.000,4,0.000,0.067,2479,3598,3250
$GC,5137,-0.98,-146.0,306.4,-5.0,415,5141,0.00,2.10,0.00,0.000,6,0.000,0.042,2479,2224,3250
$GC,5465,-0.98,-146.0,322.3,-4.9,431,5468,0.00,2.17,0.00,0.000,4,0.000,0.054,2479,819,3250
$GC,5556,-0.98,-146.0,327.3,-5.4,435,5559,0.00,2.28,0.00,0.000,6,0.000,0.054,2469,2243,3250
$GC,5889,-0.98,-146.0,344.2,-5.1,451,5890,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2242,3251
$GC,6198,-0.98,-146.0,359.3,-4.5,466,6199,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2243,3251
$GC,6508,-0.98,-146.0,373.9,-4.6,481,6509,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2242,3251
$GC,6816,-0.98,-146.0,389.2,-5.3,496,6820,0.00,2.25,0.00,0.000,4,0.000,0.053,2469,828,3252
$GC,6918,-0.93,-146.0,395.0,-6.5,500,6922,0.00,2.25,0.00,0.000,6,0.000,0.053,2459,2235,3252
$GC,7257,-0.93,-146.0,413.6,-5.5,511,7258,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2235,3252
$GC,7581,-0.93,-146.0,430.1,-4.9,519,7582,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2235,3252
$GC,7906,-0.93,-146.0,445.6,-4.8,527,7910,0.00,2.25,0.00,0.000,4,0.000,0.052,2459,820,3253
$GC,8025,-0.84,-146.0,451.4,-5.0,529,8029,0.17,2.28,0.00,0.000,6,0.126,0.053,2499,2244,3253
$GC,8363,-0.97,-146.0,463.6,-3.7,538,8365,0.12,0.00,0.00,0.000,6,0.077,0.000,2445,2243,3253
$GC,8687,-0.89,-146.0,480.3,-5.2,546,8689,0.15,0.00,0.00,0.000,6,0.140,0.000,2487,2243,3253
$GC,9012,-0.98,-146.0,495.0,-4.6,554,9014,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2243,3253
$GC,9337,-1.06,-146.0,509.8,-4.4,562,9341,0.15,2.28,0.00,0.000,4,0.074,0.051,2424,825,3253
$GC,9415,-0.85,-146.0,514.7,-6.4,563,9424,0.28,2.28,0.00,0.000,6,0.129,0.053,2496,2239,3253
$GC,9748,-0.97,-146.0,527.8,-3.9,572,9750,0.10,0.00,0.00,0.000,6,0.082,0.000,2450,2239,3253
$GC,10072,-0.91,-146.0,543.3,-4.7,580,10077,0.12,2.25,0.00,0.000,4,0.140,0.051,2484,826,3253
$GC,10151,-0.91,-146.0,546.8,-4.5,581,10155,0.00,2.28,0.00,0.000,6,0.000,0.052,2476,2245,3253
$GC,10483,-0.91,-146.0,561.3,-4.4,589,10487,0.00,2.17,0.00,0.000,4,0.000,0.064,2465,3605,3253
$GC,10550,-0.91,-146.0,564.6,-4.8,590,10554,0.00,2.12,0.00,0.000,6,0.000,0.040,2465,2217,3253
$GC,10899,-0.91,-146.0,580.7,-4.6,599,10903,0.00,2.17,0.00,0.000,4,0.000,0.051,2465,816,3253
$GC,11001,-0.91,-146.0,585.9,-5.3,601,11006,0.12,2.28,0.00,0.000,6,0.129,0.051,2490,2243,3253
$GC,11314,-1.01,-146.0,598.5,-4.0,609,11316,0.12,0.00,0.00,0.000,6,0.074,0.000,2435,2243,3253
$GC,11640,-0.90,-146.0,615.0,-5.0,617,11642,0.17,0.00,0.00,0.000,6,0.141,0.000,2485,2243,3253
$STATE,11961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11961,begin apogee
$GC,11968,-0.31,0.0,626.8,3.5,625,12105,0.40,0.00,129.30,1.171,6,0.111,0.000,2617,1741,2650
$STATE,12106,end apogee,CONTROL_FINISHED_OK
$STATE,12106,begin climb
$GC,12109,0.99,146.0,626.8,0.0,628,12246,0.88,0.00,131.05,1.113,6,0.089,0.000,2900,1741,2054
$GC,12570,0.72,146.0,571.7,12.8,640,12575,0.22,2.33,0.00,0.000,4,0.126,0.057,2838,324,2047
$GC,12586,0.53,146.0,569.6,12.4,640,12591,0.17,2.30,0.00,0.000,6,0.114,0.045,2787,1752,2047
$GC,12930,0.76,186.2,549.6,5.7,649,12972,0.20,2.28,34.25,1.098,4,0.059,0.059,2880,3155,1890
$GC,13001,0.49,186.2,541.8,12.0,650,13006,0.35,2.28,0.00,0.000,6,0.128,0.044,2787,1733,1887
$GC,13339,0.75,214.5,520.6,6.1,659,13366,0.17,0.00,24.67,1.075,6,0.060,0.000,2870,1732,1775
$GC,13663,0.61,214.5,484.8,11.7,667,13665,0.20,0.00,0.00,0.000,6,0.120,0.000,2809,1732,1770
$GC,13988,0.75,214.5,459.8,7.5,675,13993,0.12,2.30,0.00,0.000,4,0.070,0.057,2868,3146,1768
$GC,14017,0.64,214.5,456.8,11.2,675,14022,0.22,2.22,0.00,0.000,6,0.124,0.043,2811,1723,1768
$GC,14348,0.78,214.5,430.4,7.7,683,14350,0.12,0.00,0.00,0.000,6,0.068,0.000,2873,1723,1767
$GC,14653,0.63,214.5,394.1,12.2,691,14655,0.20,0.00,0.00,0.000,6,0.117,0.000,2812,1723,1767
$GC,14963,0.78,214.5,370.7,7.4,706,14968,0.12,2.33,0.00,0.000,4,0.069,0.057,2871,3148,1766
$GC,14991,0.68,214.5,367.8,11.0,707,14995,0.20,2.20,0.00,0.000,6,0.126,0.043,2821,1731,1766
$GC,15312,0.77,214.5,342.6,7.4,723,15314,0.10,0.00,0.00,0.000,6,0.077,0.000,2874,1731,1766
$GC,15623,0.63,214.5,308.4,11.2,738,15628,0.20,2.30,0.00,0.000,4,0.119,0.057,2808,3150,1765
$GC,15641,0.57,214.5,306.4,11.1,739,15645,0.00,2.20,0.00,0.000,6,0.000,0.042,2814,1737,1765
$GC,15975,0.72,228.6,283.5,6.6,755,15993,0.08,0.00,12.30,0.915,6,0.094,0.000,2862,1736,1718
$GC,16303,0.66,228.6,251.7,9.8,771,16308,0.15,2.33,0.00,0.000,4,0.116,0.057,2816,3154,1716
$GC,16320,0.66,228.6,250.1,10.0,772,16324,0.00,2.25,0.00,0.000,6,0.000,0.042,2822,1725,1715
$GC,16654,0.81,241.0,227.3,6.6,788,16676,0.12,2.40,12.18,0.882,4,0.071,0.058,2882,3161,1667
$GC,16693,0.65,241.0,223.3,10.9,789,16700,0.25,2.25,0.00,0.000,6,0.123,0.043,2817,1732,1666
$GC,17010,0.89,273.1,203.0,6.0,805,17042,0.17,0.00,29.48,0.917,6,0.061,0.000,2897,1732,1536
$GC,17338,0.76,273.1,163.9,12.6,821,17343,0.20,2.25,0.00,0.000,4,0.119,0.055,2839,334,1530
$GC,17355,0.76,273.1,161.9,11.9,822,17359,0.00,2.22,0.00,0.000,6,0.000,0.044,2839,1746,1530
$GC,17688,0.93,273.1,136.5,7.6,838,17692,0.15,2.22,0.00,0.000,4,0.066,0.058,2911,3154,1528
$GC,17716,0.81,273.1,133.2,12.0,839,17721,0.22,2.22,0.00,0.000,6,0.129,0.044,2854,1740,1528
$GC,18037,0.90,273.1,107.0,7.5,855,18042,0.10,2.25,0.00,0.000,4,0.077,0.058,2915,326,1527
$GC,18065,0.90,273.1,104.3,9.6,856,18069,0.15,2.25,0.00,0.000,6,0.127,0.048,2871,1752,1527
$GC,18404,0.90,273.1,74.7,8.9,910,18410,0.00,2.22,0.00,0.000,4,0.000,0.061,2871,3160,1526
$GC,18439,0.90,273.1,71.2,10.2,916,18445,0.00,2.22,0.00,0.000,6,0.000,0.045,2878,1735,1525
$GC,18784,0.98,273.1,41.5,9.0,977,18792,0.00,2.25,0.00,0.000,4,0.000,0.058,2888,332,1525
$GC,18821,1.08,273.1,38.3,8.7,983,18828,0.10,2.25,0.00,0.000,6,0.078,0.046,2940,1748,1525
$FREEZE,6.82,0.569,-1.825
$FREEZE,6.21,0.568,-1.825
$FREEZE,5.50,0.567,-1.824
$FREEZE,5.01,0.567,-1.824
$FREEZE,4.50,0.564,-1.823
$FREEZE,3.80,0.575,-1.823
$FREEZE,3.26,0.575,-1.822
$FREEZE,2.67,0.578,-1.822
$STATE,19136,end climb,SURFACE_DEPTH_REACHED
$STATE,19136,begin surface coast
$FREEZE,2.03,0.580,-1.821
$FREEZE,1.57,0.579,-1.821
$FREEZE,1.34,0.294,-1.113
$FREEZE,1.37,0.566,-1.103
$FREEZE,1.44,0.569,-1.791
$FINISH,1.4,1.026207
$STATE,19166,end surface coast,CONTROL_FINISHED_OK
$STATE,19166,begin surface
$SM_CCo,19245,0.00,0.000,0,0,1522,276.70
$SM_GC,2.16,6.95,0.00,0.00,0.048,0.000,0.000,333,2236,1522,-10.69,0.20,276.70
$RAFOS_CLK,742
$RAFOS,4,1228668264,16.750000,16.740000,60,59,58,54,53,51,178,199,141,166,211,1830
$RAFOS,3,1228667654,16.583334,16.570555,64,59,59,58,57,57,220,169,154,204,136,187
$RAFOS,2,1228667077,16.416666,16.410278,64,62,59,57,55,53,222,209,199,149,124,185
$RAFOS,1,1228666453,16.250000,16.236944,64,59,58,57,56,51,137,216,199,156,178,119
$RAFOS,0,1228665845,16.083334,16.068056,70,61,60,55,51,51,200,171,210,130,159,229
$RAFOS_FIX,-30536.822266,-740539.000000,071208,040412,2,75,67634.90
$IRIDIUM_FIX,6543.17,-5657.00,030398,080856
$TT8_MAMPS,0.026078
$HUMID,1788
$INTERNAL_PRESSURE,9.93202
$TCM_TEMP,16.60
$XPDR_PINGS,125
$24V_AH,22.2,71.232
$10V_AH,10.5,32.398
$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,23.700,135.450,373.225,0.000,0.000,24.770,33.056,170.934,31.250,0.000,0.000,15.498,1936.026,14580.406,529.830,1991.527,570.892,0.000,1578.743,0.000,1964.528,1800.000,0.533,0.000
$DEVICE_MAMPS,237.003,79.001,1171.209,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,726.067,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34644,1044
$CAP_FILE_SIZE,146958,0
$CFSIZE,260165632,223391744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1466.0
$GPS,071208,184907,6613.841,-5659.267,29,1.0,29,-36.5