version: 66.04
glider: 108
mission: 11
dive: 434
start: 12 8 108 6 14 22
data:
$ID,108
$MISSION,11
$DIVE,434
$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,-120444.11
$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,34
$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
$GPS1,060807,6616.227,-5657.515,35,1.0,40,-36.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-70.1
$GPS2,061403,6616.206,-5657.478,11,1.5,11,-36.6
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6627.005,-5657.478
$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,627
$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,-146.0,0.0,0.0,0,80,0.00,0.00,-61.92,0.000,2,0.000,0.000,333,2250,2892
$GC,84,-0.99,-146.0,3.0,-1.8,11,115,8.62,2.22,-12.85,0.000,4,0.237,0.078,2456,3587,3249
$GC,370,-0.81,-146.0,30.1,-9.4,61,377,0.17,2.12,0.00,0.000,6,0.139,0.044,2505,2213,3251
$GC,715,-0.81,-146.0,56.0,-6.6,122,721,0.00,2.17,0.00,0.000,4,0.000,0.054,2505,814,3251
$GC,796,-0.81,-146.0,61.7,-7.0,136,802,0.00,2.28,0.00,0.000,6,0.000,0.055,2497,2238,3251
$GC,1141,-0.81,-146.0,82.1,-6.1,197,1147,0.00,2.25,0.00,0.000,4,0.000,0.054,2497,817,3249
$GC,1210,-0.81,-146.0,86.8,-7.0,209,1216,0.00,2.28,0.00,0.000,6,0.000,0.055,2487,2245,3249
$GC,1554,-0.81,-146.0,109.8,-6.6,251,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2245,3248
$GC,1863,-0.81,-146.0,127.2,-5.3,266,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2245,3247
$GC,2172,-0.81,-146.0,143.1,-4.8,281,2176,0.00,2.28,0.00,0.000,4,0.000,0.054,2487,816,3247
$GC,2324,-0.81,-146.0,150.7,-4.7,287,2331,0.10,2.28,0.00,0.000,6,0.133,0.053,2504,2234,3247
$GC,2641,-0.92,-146.0,164.2,-4.3,303,2643,0.10,0.00,0.00,0.000,6,0.083,0.000,2457,2234,3248
$GC,2950,-0.85,-146.0,180.3,-5.1,318,2954,0.15,2.25,0.00,0.000,4,0.134,0.051,2500,819,3248
$GC,3051,-0.90,-146.0,185.0,-4.5,322,3055,0.00,2.25,0.00,0.000,6,0.000,0.051,2492,2238,3248
$GC,3374,-0.97,-146.0,198.5,-4.8,338,3378,0.10,2.17,0.00,0.000,4,0.079,0.062,2430,3596,3249
$GC,3464,-0.81,-146.0,204.6,-6.6,342,3469,0.25,2.10,0.00,0.000,6,0.132,0.040,2505,2210,3249
$GC,3798,-0.93,-146.0,220.7,-5.0,358,3802,0.12,2.15,0.00,0.000,4,0.077,0.049,2446,827,3251
$GC,3938,-0.78,-146.0,230.4,-7.4,364,3943,0.25,2.28,0.00,0.000,6,0.128,0.051,2510,2245,3251
$GC,4262,-0.93,-146.0,245.2,-4.3,380,4264,0.12,0.00,0.00,0.000,6,0.077,0.000,2454,2245,3251
$GC,4569,-0.85,-146.0,263.6,-6.2,395,4571,0.15,0.00,0.00,0.000,6,0.139,0.000,2496,2245,3252
$GC,4880,-0.95,-146.0,278.4,-4.6,410,4882,0.10,0.00,0.00,0.000,6,0.086,0.000,2449,2245,3252
$GC,5187,-0.86,-146.0,295.9,-5.4,425,5189,0.17,0.00,0.00,0.000,6,0.137,0.000,2499,2245,3252
$GC,5497,-0.97,-146.0,308.9,-4.1,440,5499,0.12,0.00,0.00,0.000,6,0.078,0.000,2443,2245,3253
$GC,5807,-0.87,-146.0,326.2,-5.6,455,5809,0.17,0.00,0.00,0.000,6,0.138,0.000,2493,2245,3253
$GC,6115,-0.96,-146.0,339.4,-4.2,470,6116,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2245,3253
$GC,6425,-1.04,-146.0,353.6,-4.7,485,6430,0.15,2.28,0.00,0.000,4,0.072,0.050,2429,830,3253
$GC,6561,-0.84,-146.0,362.7,-7.1,491,6566,0.28,2.22,0.00,0.000,6,0.127,0.051,2502,2241,3253
$GC,6891,-0.96,-146.0,378.0,-4.7,507,6896,0.12,2.17,0.00,0.000,4,0.076,0.062,2436,3597,3253
$GC,6937,-0.85,-146.0,380.9,-7.0,509,6942,0.20,2.12,0.00,0.000,6,0.137,0.039,2494,2201,3253
$GC,7272,-0.95,-146.0,395.7,-4.3,525,7276,0.00,2.12,0.00,0.000,4,0.000,0.051,2494,832,3253
$GC,7352,-1.00,-146.0,399.7,-5.0,528,7356,0.10,2.22,0.00,0.000,6,0.077,0.051,2438,2236,3253
$GC,7689,-0.88,-146.0,419.6,-5.9,537,7694,0.17,2.17,0.00,0.000,4,0.140,0.061,2480,3604,3253
$GC,7768,-0.96,-146.0,424.0,-5.0,538,7772,0.00,2.10,0.00,0.000,6,0.000,0.039,2480,2222,3253
$GC,8106,-1.01,-146.0,439.9,-4.5,547,8110,0.00,2.17,0.00,0.000,4,0.000,0.051,2480,833,3253
$GC,8184,-1.01,-146.0,443.9,-4.9,548,8188,0.00,2.25,0.00,0.000,6,0.000,0.051,2470,2237,3253
$GC,8522,-1.01,-146.0,459.7,-4.7,557,8525,0.00,2.17,0.00,0.000,4,0.000,0.063,2459,3600,3253
$GC,8589,-1.01,-146.0,463.2,-4.7,558,8593,0.00,2.10,0.00,0.000,6,0.000,0.039,2459,2219,3253
$GC,8937,-1.01,-146.0,479.5,-4.6,567,8938,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2218,3253
$GC,9263,-1.01,-146.0,494.5,-4.8,575,9266,0.00,2.17,0.00,0.000,4,0.000,0.051,2459,818,3253
$GC,9417,-0.93,-146.0,502.9,-6.3,578,9422,0.12,2.25,0.00,0.000,6,0.127,0.051,2484,2233,3253
$GC,9731,-1.01,-146.0,517.4,-4.7,586,9736,0.10,2.17,0.00,0.000,4,0.082,0.063,2427,3600,3253
$GC,9799,-0.88,-146.0,521.7,-6.5,587,9803,0.22,2.10,0.00,0.000,6,0.137,0.039,2494,2224,3253
$GC,10147,-0.99,-146.0,537.8,-4.6,596,10152,0.12,2.17,0.00,0.000,4,0.079,0.050,2437,828,3253
$GC,10288,-0.84,-146.0,546.6,-6.8,599,10293,0.25,2.25,0.00,0.000,6,0.126,0.051,2502,2241,3253
$GC,10613,-0.99,-146.0,561.6,-4.4,607,10615,0.15,0.00,0.00,0.000,6,0.072,0.000,2436,2241,3253
$GC,10939,-0.89,-146.0,581.1,-6.0,615,10941,0.17,0.00,0.00,0.000,6,0.140,0.000,2486,2241,3253
$GC,11263,-0.99,-146.0,595.9,-4.4,623,11264,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2241,3253
$GC,11588,-1.08,-146.0,609.1,-4.0,631,11593,0.15,2.25,0.00,0.000,4,0.074,0.051,2424,826,3252
$GC,11680,-0.89,-146.0,614.0,-5.9,633,11684,0.25,2.25,0.00,0.000,6,0.130,0.051,2488,2235,3252
$GC,12004,-0.99,-146.0,626.4,-3.6,641,12006,0.10,0.00,0.00,0.000,6,0.083,0.000,2442,2235,3252
$STATE,12042,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12042,begin apogee
$GC,12051,-0.31,0.0,628.1,3.8,642,12181,0.55,0.00,127.07,1.185,6,0.122,0.000,2616,1746,2650
$STATE,12182,end apogee,CONTROL_FINISHED_OK
$STATE,12182,begin climb
$GC,12185,0.99,146.0,628.7,0.0,645,12327,0.88,2.60,130.52,1.114,4,0.088,0.055,2900,3154,2053
$GC,12341,0.67,146.0,612.5,12.9,649,12346,0.32,2.42,0.00,0.000,6,0.127,0.040,2821,1740,2050
$GC,12655,0.67,146.0,586.5,7.8,657,12656,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1740,2047
$GC,12979,0.67,146.0,561.0,8.1,665,12983,0.00,2.28,0.00,0.000,4,0.000,0.057,2821,3152,2046
$GC,13007,0.62,146.0,558.5,8.9,665,13011,0.00,2.22,0.00,0.000,6,0.000,0.041,2830,1721,2045
$GC,13350,0.62,146.0,530.3,8.1,674,13354,0.00,2.30,0.00,0.000,4,0.000,0.058,2830,3160,2045
$GC,13383,0.51,146.0,527.2,8.7,674,13388,0.17,2.22,0.00,0.000,6,0.123,0.042,2788,1723,2045
$GC,13715,0.73,181.5,507.3,5.9,682,13748,0.17,0.00,30.15,1.095,6,0.061,0.000,2870,1723,1910
$GC,14040,0.58,181.5,473.3,10.7,690,14045,0.20,2.33,0.00,0.000,4,0.116,0.056,2805,3158,1905
$GC,14062,0.52,181.5,471.1,9.0,690,14066,0.00,2.22,0.00,0.000,6,0.000,0.041,2812,1737,1904
$GC,14405,0.63,190.9,447.9,6.7,699,14419,0.00,2.33,8.82,0.943,4,0.000,0.057,2812,3141,1871
$GC,14438,0.70,194.6,445.5,6.9,699,14449,0.00,2.22,4.80,0.759,6,0.000,0.042,2819,1734,1856
$GC,14775,0.75,194.6,422.0,7.1,708,14779,0.08,2.30,0.00,0.000,4,0.090,0.055,2863,3151,1854
$GC,14808,0.58,194.6,418.7,11.1,708,14815,0.22,2.22,0.00,0.000,6,0.123,0.043,2805,1731,1853
$GC,15140,0.76,223.8,397.9,6.1,717,15172,0.15,2.33,26.40,1.032,4,0.063,0.055,2877,3152,1737
$GC,15190,0.57,223.8,392.8,11.3,719,15195,0.30,2.25,0.00,0.000,6,0.123,0.041,2797,1735,1734
$GC,15507,0.84,257.7,373.3,5.9,734,15540,0.20,0.00,30.25,1.012,6,0.058,0.000,2888,1734,1599
$GC,15835,0.69,257.7,334.6,12.0,750,15840,0.20,2.28,0.00,0.000,4,0.117,0.055,2830,332,1592
$GC,15853,0.63,257.7,332.7,11.3,751,15857,0.00,2.22,0.00,0.000,6,0.000,0.044,2830,1750,1592
$GC,16186,0.73,257.7,308.7,7.3,767,16190,0.00,2.20,0.00,0.000,4,0.000,0.057,2830,3153,1590
$GC,16236,0.73,257.7,304.4,9.2,769,16240,0.00,2.22,0.00,0.000,6,0.000,0.041,2841,1725,1589
$GC,16563,0.79,257.7,278.2,8.1,785,16564,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1725,1589
$GC,16873,0.85,257.7,251.9,8.8,800,16877,0.10,2.30,0.00,0.000,4,0.081,0.055,2890,3152,1588
$GC,16900,0.71,257.7,248.7,10.2,801,16905,0.22,2.20,0.00,0.000,6,0.123,0.042,2832,1737,1588
$GC,17218,0.81,257.7,223.3,8.0,816,17220,0.10,0.00,0.00,0.000,6,0.076,0.000,2884,1736,1587
$GC,17526,0.68,257.7,187.4,11.6,831,17531,0.20,2.22,0.00,0.000,4,0.116,0.054,2830,336,1587
$GC,17549,0.68,257.7,184.9,9.1,832,17553,0.00,2.22,0.00,0.000,6,0.000,0.044,2830,1751,1587
$GC,17884,0.81,257.7,161.1,7.1,848,17889,0.10,2.22,0.00,0.000,4,0.075,0.056,2884,3159,1587
$GC,17935,0.60,257.7,155.1,12.3,850,17940,0.30,2.22,0.00,0.000,6,0.119,0.043,2803,1728,1586
$GC,18258,1.31,257.7,128.1,11.0,866,18260,0.50,0.00,0.00,0.000,6,0.091,0.000,2975,1728,1585
$GC,18578,0.94,257.7,76.6,17.8,896,18586,0.28,2.30,0.00,0.000,4,0.131,0.056,2887,3145,1586
$GC,18593,0.60,257.7,73.9,17.0,898,18600,0.28,2.20,0.00,0.000,6,0.114,0.041,2809,1726,1585
$GC,18939,1.27,257.7,42.9,10.0,959,18945,0.40,2.30,0.00,0.000,4,0.083,0.054,2956,3152,1586
$GC,18964,1.75,257.7,40.2,10.3,963,18971,0.30,2.20,0.00,0.000,6,0.055,0.041,3085,1726,1586
$FREEZE,5.87,1.347,-1.833
$FREEZE,4.42,1.355,-1.832
$FREEZE,3.16,1.322,-1.831
$FREEZE,2.11,1.327,-1.830
$STATE,19139,end climb,SURFACE_DEPTH_REACHED
$STATE,19139,begin surface coast
$FREEZE,1.52,1.288,-0.313
$FREEZE,1.58,1.321,-0.285
$FINISH,1.6,1.004118
$STATE,19152,end surface coast,CONTROL_FINISHED_OK
$STATE,19152,begin surface
$SM_CCo,19232,0.00,0.000,0,0,1585,261.24
$SM_GC,2.46,7.47,0.00,0.00,0.058,0.000,0.000,332,2242,1585,-10.70,0.34,261.24
$RAFOS_CLK,729
$RAFOS,4,1228725877,8.750000,8.743611,63,60,58,55,54,53,162,216,199,119,175,151
$RAFOS,3,1228725258,8.583333,8.571667,65,59,58,56,56,53,155,188,215,133,175,205
$RAFOS,2,1228724680,8.416667,8.411111,67,62,61,59,57,53,624,212,197,233,126,179
$RAFOS,1,1228724046,8.250000,8.235000,67,59,56,49,47,46,920,192,215,123,165,179
$RAFOS,0,1228723458,8.083333,8.071667,61,60,58,55,55,46,189,213,158,121,176,144
$RAFOS_FIX,-30536.822266,-740539.000000,071208,040412,2,75,67634.90
$IRIDIUM_FIX,6548.42,-5703.05,040398,000022
$TT8_MAMPS,0.026845
$HUMID,1783
$INTERNAL_PRESSURE,9.97109
$TCM_TEMP,17.40
$XPDR_PINGS,142
$24V_AH,22.2,71.620
$10V_AH,10.6,32.609
$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,27.100,139.975,358.025,0.000,0.000,30.780,31.886,152.346,35.500,0.000,0.000,13.433,1903.683,14625.522,509.059,1965.627,573.764,0.000,1557.013,0.000,1936.171,1800.000,0.532,0.000
$DEVICE_MAMPS,237.003,78.234,1185.015,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,691.349,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34671,996
$CAP_FILE_SIZE,151384,0
$CFSIZE,260165632,223182848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1468.8
$GPS,081208,113608,6619.261,-5656.632,28,1.1,28,-36.6