version: 66.04
glider: 108
mission: 11
dive: 433
start: 12 8 108 0 36 33
data:
$ID,108
$MISSION,11
$DIVE,433
$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,-120430.05
$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,35
$R_STBD_OVSHOOT,36
$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
$GPS1,003027,6615.836,-5658.709,34,5.5,53,-36.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-66.4
$GPS2,003614,6615.829,-5658.657,11,1.5,11,-36.6
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6626.628,-5658.657
$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,36.6,20000,-13.0,-7.021
$D_GRID,632
$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,-146.0,0.0,0.0,0,77,0.00,0.00,-57.75,0.000,2,0.000,0.000,329,2256,3056
$GC,80,-0.99,-146.0,3.2,-2.0,10,100,8.73,2.28,-5.65,0.000,4,0.239,0.082,2455,3588,3249
$GC,355,-0.83,-146.0,32.2,-11.5,58,362,0.17,2.15,0.00,0.000,6,0.138,0.044,2505,2218,3253
$GC,700,-0.83,-146.0,56.5,-6.4,119,707,0.00,2.28,0.00,0.000,4,0.000,0.067,2497,3594,3252
$GC,899,-0.83,-146.0,69.0,-5.7,154,905,0.00,2.15,0.00,0.000,6,0.000,0.044,2497,2219,3252
$GC,1244,-0.83,-146.0,85.9,-6.0,215,1250,0.00,2.20,0.00,0.000,4,0.000,0.054,2497,825,3251
$GC,1393,-0.83,-146.0,95.7,-6.6,241,1399,0.00,2.25,0.00,0.000,6,0.000,0.057,2487,2231,3250
$GC,1731,-0.83,-146.0,118.6,-6.8,266,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2230,3250
$GC,2040,-0.83,-146.0,136.5,-5.5,281,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2231,3250
$GC,2350,-0.83,-146.0,153.0,-5.5,296,2353,0.00,2.28,0.00,0.000,4,0.000,0.053,2487,818,3250
$GC,2445,-0.83,-146.0,158.5,-5.4,300,2450,0.10,2.33,0.00,0.000,6,0.134,0.054,2504,2242,3250
$GC,2773,-0.93,-146.0,174.7,-5.2,316,2778,0.10,2.20,0.00,0.000,4,0.085,0.065,2449,3593,3251
$GC,2825,-0.82,-146.0,178.4,-7.8,318,2830,0.20,2.12,0.00,0.000,6,0.137,0.041,2506,2220,3251
$GC,3153,-0.93,-146.0,196.0,-5.2,334,3155,0.10,0.00,0.00,0.000,6,0.088,0.000,2458,2220,3252
$GC,3462,-0.85,-146.0,216.2,-6.4,349,3466,0.15,2.20,0.00,0.000,4,0.137,0.052,2501,819,3251
$GC,3557,-0.90,-146.0,221.5,-5.4,353,3561,0.00,2.28,0.00,0.000,6,0.000,0.054,2492,2231,3251
$GC,3885,-0.97,-146.0,238.6,-5.1,369,3887,0.10,0.00,0.00,0.000,6,0.081,0.000,2442,2231,3251
$GC,4195,-0.85,-146.0,259.0,-6.6,384,4196,0.20,0.00,0.00,0.000,6,0.137,0.000,2500,2231,3251
$GC,4504,-0.96,-146.0,273.1,-4.3,399,4509,0.12,2.25,0.00,0.000,4,0.081,0.051,2444,817,3252
$GC,4628,-0.80,-146.0,280.8,-6.2,404,4633,0.25,2.28,0.00,0.000,6,0.130,0.053,2507,2246,3252
$GC,4950,-0.95,-146.0,293.3,-3.6,420,4952,0.12,0.00,0.00,0.000,6,0.077,0.000,2451,2245,3253
$GC,5260,-0.87,-146.0,309.3,-5.3,435,5262,0.15,0.00,0.00,0.000,6,0.141,0.000,2493,2245,3253
$GC,5568,-0.95,-146.0,321.5,-4.0,450,5569,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2245,3253
$GC,5878,-1.04,-146.0,335.4,-4.6,465,5882,0.15,2.25,0.00,0.000,4,0.074,0.051,2428,825,3253
$GC,5979,-0.83,-146.0,342.6,-7.3,469,5984,0.28,2.25,0.00,0.000,6,0.130,0.053,2500,2245,3253
$GC,6296,-0.95,-146.0,358.2,-4.9,484,6298,0.12,0.00,0.00,0.000,6,0.076,0.000,2444,2245,3254
$GC,6604,-0.86,-146.0,377.9,-6.4,499,6606,0.17,0.00,0.00,0.000,6,0.140,0.000,2494,2245,3254
$GC,6915,-0.96,-146.0,392.4,-4.3,514,6917,0.10,0.00,0.00,0.000,6,0.087,0.000,2448,2245,3254
$GC,7223,-0.88,-146.0,408.9,-5.3,525,7225,0.15,0.00,0.00,0.000,6,0.143,0.000,2489,2245,3255
$GC,7545,-0.96,-146.0,421.3,-3.7,533,7547,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2245,3255
$GC,7870,-1.05,-146.0,432.9,-3.6,541,7875,0.15,2.25,0.00,0.000,4,0.074,0.051,2426,824,3255
$GC,7978,-0.84,-146.0,438.9,-6.0,543,7983,0.28,2.25,0.00,0.000,6,0.131,0.053,2498,2233,3255
$GC,8327,-0.96,-146.0,451.9,-3.7,552,8329,0.12,0.00,0.00,0.000,6,0.078,0.000,2443,2233,3255
$GC,8653,-0.88,-146.0,469.4,-5.4,560,8657,0.17,2.22,0.00,0.000,4,0.141,0.050,2497,825,3255
$GC,8754,-0.96,-146.0,474.0,-4.2,562,8757,0.00,2.25,0.00,0.000,6,0.000,0.052,2490,2240,3255
$GC,9073,-1.04,-146.0,488.3,-4.6,570,9078,0.12,2.15,0.00,0.000,4,0.074,0.064,2421,3595,3255
$GC,9136,-0.89,-146.0,492.1,-6.6,571,9141,0.22,2.08,0.00,0.000,6,0.138,0.039,2486,2214,3255
$GC,9450,-0.97,-146.0,506.5,-4.6,579,9454,0.00,2.15,0.00,0.000,4,0.000,0.051,2487,821,3255
$GC,9551,-0.97,-146.0,511.9,-5.5,581,9555,0.00,2.25,0.00,0.000,6,0.000,0.051,2479,2243,3255
$GC,9870,-0.97,-146.0,528.5,-5.2,589,9874,0.00,2.17,0.00,0.000,4,0.000,0.064,2468,3604,3255
$GC,9926,-0.97,-146.0,531.7,-5.8,590,9930,0.00,2.10,0.00,0.000,6,0.000,0.039,2468,2225,3255
$GC,10246,-0.97,-146.0,546.6,-4.4,598,10250,0.00,2.17,0.00,0.000,4,0.000,0.051,2469,830,3255
$GC,10358,-0.97,-146.0,552.3,-5.6,600,10362,0.00,2.28,0.00,0.000,6,0.000,0.051,2458,2241,3255
$GC,10706,-0.97,-146.0,569.9,-5.0,609,10707,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2241,3255
$GC,11032,-0.97,-146.0,585.5,-4.7,617,11033,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2240,3255
$GC,11356,-0.97,-146.0,600.6,-4.6,625,11357,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2241,3254
$GC,11681,-0.97,-146.0,615.9,-4.7,633,11682,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2240,3255
$GC,12006,-0.97,-146.0,631.8,-5.0,641,12007,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2241,3255
$STATE,12043,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12043,begin apogee
$GC,12051,-0.31,0.0,633.9,5.0,642,12182,0.50,0.00,128.10,1.188,6,0.117,0.000,2618,1747,2650
$STATE,12183,end apogee,CONTROL_FINISHED_OK
$STATE,12183,begin climb
$GC,12186,0.99,146.0,634.2,0.0,645,12321,0.88,0.00,131.40,1.123,6,0.085,0.000,2904,1747,2054
$GC,12613,0.70,146.0,583.2,12.9,656,12615,0.25,0.00,0.00,0.000,6,0.127,0.000,2831,1747,2048
$GC,12938,0.70,146.0,556.2,7.9,664,12942,0.00,2.33,0.00,0.000,4,0.000,0.058,2830,3152,2046
$GC,12967,0.62,146.0,553.5,9.0,664,12971,0.10,2.25,0.00,0.000,6,0.139,0.042,2812,1733,2046
$GC,13309,0.67,146.0,528.9,7.2,673,13313,0.00,2.35,0.00,0.000,4,0.000,0.057,2812,3162,2045
$GC,13343,0.67,146.0,526.0,8.7,673,13349,0.00,2.25,0.00,0.000,6,0.000,0.041,2819,1735,2045
$GC,13678,0.67,146.0,500.6,7.7,682,13681,0.00,2.33,0.00,0.000,4,0.000,0.058,2819,3158,2045
$GC,13719,0.60,146.0,496.7,9.3,682,13725,0.00,2.25,0.00,0.000,6,0.000,0.043,2829,1726,2045
$GC,14052,0.60,146.0,467.3,8.8,691,14056,0.00,2.33,0.00,0.000,4,0.000,0.057,2829,3163,2045
$GC,14080,0.51,146.0,464.4,10.0,691,14085,0.17,2.22,0.00,0.000,6,0.127,0.042,2789,1723,2045
$GC,14423,0.70,154.5,440.9,6.7,700,14432,0.15,0.00,6.80,0.917,6,0.064,0.000,2862,1724,2020
$GC,14748,0.56,154.5,406.4,10.6,708,14750,0.20,0.00,0.00,0.000,6,0.117,0.000,2802,1723,2020
$GC,15055,0.70,166.9,385.2,6.6,720,15077,0.12,2.40,12.35,0.974,4,0.070,0.056,2862,3158,1968
$GC,15095,0.52,166.9,381.5,10.7,721,15102,0.28,2.25,0.00,0.000,6,0.127,0.041,2791,1736,1967
$GC,15413,0.77,215.2,363.1,5.5,737,15461,0.17,2.38,42.38,1.021,4,0.060,0.056,2872,3149,1771
$GC,15469,0.61,215.2,358.0,10.0,740,15474,0.25,2.28,0.00,0.000,6,0.123,0.041,2809,1738,1768
$GC,15797,0.81,248.0,337.3,6.0,756,15828,0.15,0.00,28.62,0.980,6,0.063,0.000,2880,1737,1639
$GC,16125,0.68,248.0,301.3,11.3,772,16126,0.20,0.00,0.00,0.000,6,0.117,0.000,2818,1737,1632
$GC,16435,0.86,270.4,280.1,6.3,787,16460,0.15,2.35,19.92,0.933,4,0.064,0.058,2887,3147,1547
$GC,16483,0.67,270.4,275.0,13.5,789,16488,0.25,2.28,0.00,0.000,6,0.126,0.042,2823,1726,1545
$GC,16805,0.83,270.4,251.8,7.2,805,16807,0.12,0.00,0.00,0.000,6,0.067,0.000,2885,1726,1542
$GC,17115,0.71,270.4,215.2,12.3,820,17119,0.17,2.28,0.00,0.000,4,0.118,0.055,2840,329,1541
$GC,17132,0.71,270.4,213.3,11.5,821,17136,0.00,2.22,0.00,0.000,6,0.000,0.044,2840,1750,1541
$GC,17467,0.80,270.4,188.1,7.6,837,17471,0.00,2.17,0.00,0.000,4,0.000,0.058,2840,3149,1540
$GC,17517,0.80,270.4,183.6,8.5,839,17521,0.00,2.20,0.00,0.000,6,0.000,0.042,2849,1732,1539
$GC,17845,0.80,270.4,157.1,8.1,855,17846,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1732,1539
$GC,18154,0.85,270.4,131.7,8.3,870,18158,0.00,2.33,0.00,0.000,4,0.000,0.057,2850,3151,1538
$GC,18172,0.85,270.4,130.0,9.0,870,18178,0.00,2.22,0.00,0.000,6,0.000,0.042,2859,1731,1537
$GC,18488,0.85,270.4,100.4,8.8,886,18492,0.00,2.25,0.00,0.000,4,0.000,0.055,2870,324,1537
$GC,18511,0.90,270.4,98.4,8.7,887,18518,0.00,2.22,0.00,0.000,6,0.000,0.044,2870,1751,1537
$GC,18857,0.99,270.4,67.5,7.3,948,18863,0.10,2.20,0.00,0.000,4,0.078,0.057,2923,3153,1537
$GC,18899,0.86,270.4,62.9,10.9,955,18906,0.22,2.22,0.00,0.000,6,0.126,0.043,2866,1726,1537
$GC,19245,1.07,293.5,38.2,6.3,1016,19271,0.15,2.30,20.20,0.795,4,0.066,0.054,2951,327,1453
$GC,19301,0.97,293.5,32.6,11.0,1025,19308,0.22,2.25,0.00,0.000,6,0.124,0.046,2883,1751,1452
$GC,19646,1.10,297.5,7.7,6.9,1086,19659,0.12,2.25,4.40,0.579,4,0.071,0.059,2948,3151,1437
$FREEZE,5.98,0.541,-1.825
$FREEZE,5.38,0.544,-1.825
$FREEZE,4.75,0.536,-1.825
$FREEZE,4.03,0.553,-1.824
$FREEZE,3.08,0.557,-1.823
$GC,19690,0.99,297.5,3.1,10.5,1093,19697,0.22,2.22,0.00,0.000,6,0.117,0.045,2890,1733,1437
$FREEZE,1.40,0.543,-1.822
$STATE,19701,end climb,SURFACE_DEPTH_REACHED
$STATE,19702,begin surface coast
$FREEZE,1.46,0.351,-0.951
$FREEZE,1.46,-0.021,-1.844
$FREEZE,1.42,0.517,-1.810
$FREEZE,1.41,0.110,-1.822
$FINISH,1.4,1.026664
$STATE,19725,end surface coast,CONTROL_FINISHED_OK
$STATE,19725,begin surface
$SM_CCo,19805,0.00,0.000,0,0,1434,298.28
$SM_GC,2.36,6.85,0.00,0.00,0.050,0.000,0.000,333,2250,1434,-10.69,0.57,298.28
$RAFOS_CLK,755
$RAFOS,4,1228711459,4.750000,4.738611,63,61,59,52,52,50,216,206,228,171,151,239
$RAFOS,3,1228710850,4.583333,4.569445,67,58,58,57,55,53,841,188,148,202,171,126
$RAFOS,2,1228710265,4.416667,4.406944,63,62,58,56,55,53,185,203,719,145,228,162
$RAFOS,1,1228709655,4.250000,4.237500,72,60,54,53,52,51,208,185,166,153,122,225
$RAFOS,0,1228709081,4.083333,4.078055,67,65,59,59,54,52,203,176,215,225,146,118
$RAFOS,4,1228697043,0.750000,0.734167,62,56,55,54,51,51,126,200,153,108,186,138
$RAFOS,2,1228695844,0.416667,0.401111,67,57,56,54,49,47,224,212,123,177,149,195
$RAFOS_FIX,-30536.822266,-740539.000000,071208,040412,2,75,67634.90
$IRIDIUM_FIX,6543.17,-5701.47,030398,191906
$TT8_MAMPS,0.026845
$HUMID,1780
$INTERNAL_PRESSURE,9.93202
$TCM_TEMP,16.60
$XPDR_PINGS,124
$24V_AH,22.3,71.491
$10V_AH,10.5,32.541
$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,24.575,127.225,394.175,0.000,0.000,25.045,31.967,150.092,31.000,0.000,0.000,12.949,2035.640,15017.260,550.803,1974.585,566.148,0.000,1585.772,0.000,1956.668,2160.000,0.532,0.000
$DEVICE_MAMPS,239.304,82.069,1188.083,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,763.531,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37794,1099
$CAP_FILE_SIZE,149929,0
$CFSIZE,260165632,223244288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.4
$GPS,081208,060807,6616.227,-5657.515,35,1.0,40,-36.6