version: 66.04
glider: 108
mission: 11
dive: 438
start: 12 9 108 4 18 15
data:
$ID,108
$MISSION,11
$DIVE,438
$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,-120544.7
$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,40
$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
$GPS1,041138,6626.514,-5652.580,51,1.1,51,-36.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-61.6
$GPS2,041757,6626.459,-5652.633,31,1.5,31,-36.8
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6637.258,-5652.633
$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,36.8,20000,-13.0,-7.021
$D_GRID,603
$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,-146.0,0.0,0.0,0,88,0.00,0.00,-68.93,0.000,2,0.000,0.000,337,2249,2973
$GC,91,-0.99,-146.0,3.0,-2.1,12,111,8.55,0.00,-7.97,0.000,6,0.235,0.000,2459,2249,3248
$GC,449,-0.79,-146.0,36.2,-9.7,75,456,0.17,2.17,0.00,0.000,4,0.139,0.064,2504,3602,3252
$GC,513,-0.79,-146.0,42.9,-9.5,86,520,0.00,2.10,0.00,0.000,6,0.000,0.041,2504,2220,3252
$GC,859,-0.79,-146.0,66.3,-7.4,147,865,0.00,2.15,0.00,0.000,4,0.000,0.051,2504,826,3251
$GC,957,-0.79,-146.0,73.0,-7.1,164,963,0.00,2.25,0.00,0.000,6,0.000,0.053,2494,2244,3251
$GC,1301,-0.79,-146.0,92.2,-6.5,225,1307,0.00,2.12,0.00,0.000,4,0.000,0.064,2484,3594,3250
$GC,1371,-0.79,-146.0,97.5,-7.7,237,1378,0.10,2.08,0.00,0.000,6,0.138,0.040,2510,2223,3250
$GC,1701,-0.90,-146.0,116.9,-5.5,257,1705,0.10,2.15,0.00,0.000,4,0.081,0.051,2460,827,3249
$GC,1887,-0.77,-146.0,129.7,-6.7,265,1891,0.22,2.25,0.00,0.000,6,0.124,0.053,2517,2243,3249
$GC,2208,-0.91,-146.0,143.4,-4.3,281,2213,0.12,2.15,0.00,0.000,4,0.074,0.062,2449,3604,3249
$GC,2266,-0.80,-146.0,146.9,-6.6,283,2270,0.20,2.10,0.00,0.000,6,0.133,0.041,2507,2220,3249
$GC,2587,-0.91,-146.0,161.2,-4.3,299,2592,0.10,2.15,0.00,0.000,4,0.084,0.050,2456,831,3249
$GC,2742,-0.78,-146.0,170.4,-5.9,305,2749,0.22,2.22,0.00,0.000,6,0.125,0.051,2513,2245,3249
$GC,3061,-0.93,-146.0,183.3,-3.8,321,3062,0.12,0.00,0.00,0.000,6,0.077,0.000,2457,2245,3249
$GC,3369,-0.85,-146.0,199.5,-5.5,336,3373,0.15,2.12,0.00,0.000,4,0.135,0.061,2491,3596,3250
$GC,3425,-0.94,-146.0,202.4,-5.4,338,3429,0.00,2.08,0.00,0.000,6,0.000,0.038,2491,2227,3250
$GC,3747,-1.00,-146.0,215.7,-3.9,354,3752,0.10,2.15,0.00,0.000,4,0.082,0.049,2440,833,3251
$GC,3872,-0.82,-146.0,222.6,-5.7,359,3877,0.25,2.22,0.00,0.000,6,0.127,0.050,2505,2244,3251
$GC,4189,-0.94,-146.0,234.5,-3.6,374,4193,0.12,2.15,0.00,0.000,4,0.074,0.061,2438,3605,3251
$GC,4258,-0.80,-146.0,238.4,-5.7,377,4262,0.25,2.10,0.00,0.000,6,0.132,0.039,2512,2216,3251
$GC,4591,-0.96,-146.0,250.9,-3.7,393,4595,0.15,2.12,0.00,0.000,4,0.070,0.048,2444,829,3252
$GC,4776,-0.79,-146.0,261.9,-6.9,401,4781,0.25,2.22,0.00,0.000,6,0.127,0.050,2508,2246,3252
$GC,5104,-0.94,-146.0,275.0,-3.9,417,5105,0.12,0.00,0.00,0.000,6,0.076,0.000,2450,2246,3252
$GC,5414,-0.85,-146.0,291.2,-5.4,432,5415,0.17,0.00,0.00,0.000,6,0.135,0.000,2501,2246,3252
$GC,5722,-0.97,-146.0,303.5,-3.7,447,5726,0.12,2.15,0.00,0.000,4,0.077,0.061,2433,3598,3252
$GC,5785,-0.84,-146.0,306.9,-6.0,449,5791,0.22,2.10,0.00,0.000,6,0.133,0.038,2499,2216,3252
$GC,6101,-0.95,-146.0,319.2,-3.9,465,6105,0.10,2.15,0.00,0.000,4,0.085,0.047,2448,826,3253
$GC,6240,-0.81,-146.0,327.2,-6.4,471,6245,0.22,2.25,0.00,0.000,6,0.127,0.050,2504,2244,3253
$GC,6569,-0.95,-146.0,340.7,-3.7,487,6571,0.12,0.00,0.00,0.000,6,0.076,0.000,2448,2244,3253
$GC,6876,-0.87,-146.0,356.8,-5.2,502,6881,0.15,2.25,0.00,0.000,4,0.140,0.048,2490,821,3253
$GC,6950,-0.87,-146.0,360.1,-4.2,505,6954,0.00,2.25,0.00,0.000,6,0.000,0.048,2483,2242,3253
$GC,7277,-0.92,-146.0,374.0,-4.4,521,7281,0.00,2.15,0.00,0.000,4,0.000,0.061,2472,3601,3254
$GC,7356,-0.92,-146.0,377.9,-5.4,524,7360,0.00,2.10,0.00,0.000,6,0.000,0.038,2472,2216,3254
$GC,7678,-0.92,-146.0,393.4,-4.9,540,7679,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2215,3254
$GC,7985,-0.92,-146.0,408.5,-4.9,551,7986,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2215,3254
$GC,8310,-0.92,-146.0,424.5,-4.9,559,8311,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2215,3254
$GC,8635,-0.92,-146.0,439.5,-4.5,567,8638,0.00,2.15,0.00,0.000,4,0.000,0.048,2472,830,3254
$GC,8708,-0.92,-146.0,443.2,-5.1,568,8712,0.00,2.20,0.00,0.000,6,0.000,0.048,2463,2237,3254
$GC,9051,-0.92,-146.0,459.1,-4.6,577,9055,0.00,2.17,0.00,0.000,4,0.000,0.063,2452,3604,3254
$GC,9130,-0.92,-146.0,463.1,-4.7,578,9135,0.12,2.10,0.00,0.000,6,0.136,0.038,2486,2225,3254
$GC,9467,-1.00,-146.0,476.2,-3.8,587,9472,0.10,2.17,0.00,0.000,4,0.084,0.047,2438,828,3254
$GC,9586,-0.84,-146.0,482.7,-6.3,589,9591,0.25,2.22,0.00,0.000,6,0.127,0.048,2503,2246,3254
$GC,9924,-0.99,-146.0,495.7,-3.9,598,9926,0.15,0.00,0.00,0.000,6,0.071,0.000,2437,2246,3254
$GC,10249,-0.89,-146.0,513.4,-5.4,606,10251,0.17,0.00,0.00,0.000,6,0.138,0.000,2487,2246,3254
$GC,10574,-0.98,-146.0,527.1,-4.2,614,10576,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2246,3254
$GC,10899,-1.08,-146.0,540.8,-4.3,622,10901,0.15,0.00,0.00,0.000,6,0.071,0.000,2424,2246,3254
$GC,11224,-0.92,-146.0,559.1,-5.6,630,11228,0.20,2.25,0.00,0.000,4,0.137,0.048,2487,835,3254
$GC,11336,-0.92,-146.0,564.1,-4.8,632,11340,0.00,2.22,0.00,0.000,6,0.000,0.048,2480,2241,3254
$GC,11685,-0.97,-146.0,577.1,-3.6,641,11687,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2241,3253
$GC,12010,-1.03,-146.0,589.9,-4.2,649,12012,0.10,0.00,0.00,0.000,6,0.078,0.000,2430,2241,3254
$STATE,12291,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12291,begin apogee
$GC,12299,-0.31,0.0,604.6,5.1,656,12428,0.57,0.00,126.40,1.157,6,0.119,0.000,2614,1738,2650
$STATE,12429,end apogee,CONTROL_FINISHED_OK
$STATE,12429,begin climb
$GC,12432,0.99,146.0,604.8,0.0,659,12565,0.88,0.00,129.43,1.087,6,0.087,0.000,2900,1738,2054
$GC,12860,0.71,146.0,553.6,13.1,670,12862,0.22,0.00,0.00,0.000,6,0.127,0.000,2834,1738,2048
$GC,13184,0.71,146.0,523.2,9.4,678,13188,0.00,2.28,0.00,0.000,4,0.000,0.056,2834,3147,2046
$GC,13223,0.58,146.0,519.1,10.9,678,13230,0.15,2.22,0.00,0.000,6,0.129,0.041,2799,1723,2045
$GC,13556,0.69,146.0,494.9,7.2,687,13561,0.12,2.30,0.00,0.000,4,0.070,0.054,2862,3152,2045
$GC,13573,0.69,146.0,493.3,7.4,687,13578,0.15,2.20,0.00,0.000,6,0.134,0.040,2829,1728,2045
$GC,13922,0.69,146.0,463.6,8.4,696,13926,0.00,2.30,0.00,0.000,4,0.000,0.054,2829,3156,2045
$GC,13939,0.65,146.0,462.0,8.5,696,13942,0.00,2.22,0.00,0.000,6,0.000,0.041,2837,1725,2045
$GC,14253,0.59,146.0,434.0,9.1,704,14257,0.12,2.30,0.00,0.000,4,0.127,0.054,2801,3162,2045
$GC,14292,0.59,146.0,430.5,8.0,705,14296,0.00,2.20,0.00,0.000,6,0.000,0.041,2808,1736,2044
$GC,14623,0.67,146.0,405.8,7.4,713,14627,0.00,2.25,0.00,0.000,4,0.000,0.054,2808,3154,2045
$GC,14657,0.67,146.0,403.0,8.5,713,14660,0.00,2.20,0.00,0.000,6,0.000,0.041,2817,1727,2044
$GC,14977,0.67,146.0,379.0,7.2,728,14981,0.00,2.30,0.00,0.000,4,0.000,0.054,2817,3155,2044
$GC,15005,0.67,146.0,376.7,8.4,729,15009,0.00,2.22,0.00,0.000,6,0.000,0.041,2827,1725,2044
$GC,15334,0.67,146.0,350.3,8.4,745,15338,0.00,2.30,0.00,0.000,4,0.000,0.054,2827,3157,2044
$GC,15380,0.57,146.0,345.8,10.0,747,15385,0.12,2.22,0.00,0.000,6,0.130,0.041,2802,1725,2044
$GC,15707,0.74,182.3,325.1,5.9,763,15743,0.15,2.35,30.02,0.979,4,0.065,0.054,2874,3161,1906
$GC,15761,0.54,182.3,320.1,9.5,765,15766,0.30,2.25,0.00,0.000,6,0.126,0.040,2795,1735,1903
$GC,16077,0.80,230.8,301.5,5.5,780,16126,0.20,2.38,41.35,0.959,4,0.055,0.054,2887,3151,1709
$GC,16133,0.61,230.8,296.0,10.8,782,16139,0.30,2.25,0.00,0.000,6,0.125,0.040,2809,1733,1706
$GC,16449,0.80,239.7,274.2,6.7,798,16459,0.15,0.00,8.02,0.807,6,0.061,0.000,2882,1733,1672
$GC,16758,0.66,239.7,238.8,11.6,813,16760,0.20,0.00,0.00,0.000,6,0.117,0.000,2821,1732,1670
$GC,17067,0.83,254.5,215.9,6.5,828,17090,0.12,2.33,13.65,0.855,4,0.068,0.054,2883,3149,1612
$GC,17101,0.70,254.5,212.6,11.1,829,17106,0.22,2.20,0.00,0.000,6,0.121,0.040,2825,1738,1610
$GC,17418,0.85,254.5,189.6,7.6,844,17420,0.15,0.00,0.00,0.000,6,0.061,0.000,2897,1738,1608
$GC,17727,0.68,254.5,150.1,12.9,859,17732,0.20,2.25,0.00,0.000,4,0.122,0.054,2839,324,1608
$GC,17749,0.68,254.5,147.5,10.9,860,17753,0.00,2.20,0.00,0.000,6,0.000,0.042,2839,1741,1608
$GC,18076,0.78,255.2,122.1,7.0,876,18080,0.00,2.20,0.00,0.000,4,0.000,0.055,2839,3156,1607
$GC,18121,0.78,255.2,118.5,9.2,878,18125,0.00,2.20,0.00,0.000,6,0.000,0.041,2848,1734,1607
$GC,18447,0.87,255.2,92.3,7.7,903,18452,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1734,1607
$GC,18791,1.09,281.9,65.1,6.2,964,18822,0.20,2.38,24.75,0.807,4,0.058,0.055,2949,3153,1500
$GC,18858,0.82,281.9,57.3,14.0,975,18865,0.35,2.22,0.00,0.000,6,0.126,0.041,2853,1738,1497
$GC,19203,1.03,281.9,31.8,9.3,1036,19210,0.17,2.25,0.00,0.000,4,0.060,0.054,2946,325,1494
$GC,19228,1.14,281.9,29.5,8.4,1040,19235,0.00,2.28,0.00,0.000,6,0.000,0.045,2946,1751,1494
$FREEZE,6.47,1.837,-1.841
$FREEZE,5.14,1.838,-1.840
$FREEZE,4.28,1.839,-1.839
$FREEZE,3.54,1.836,-1.839
$FREEZE,2.69,1.833,-1.838
$STATE,19466,end climb,SURFACE_DEPTH_REACHED
$STATE,19466,begin surface coast
$FREEZE,2.05,1.834,-1.838
$FREEZE,1.15,1.824,-0.212
$FREEZE,1.21,1.664,-1.845
$FINISH,1.2,1.026903
$STATE,19483,end surface coast,CONTROL_FINISHED_OK
$STATE,19483,begin surface
$SM_CCo,19562,0.00,0.000,0,0,1490,284.30
$SM_GC,2.15,6.95,0.00,0.00,0.048,0.000,0.000,333,2248,1490,-10.67,0.51,284.30
$RAFOS_CLK,721
$RAFOS,4,1228812245,8.750000,8.734722,61,59,59,56,51,51,205,192,161,143,152,178
$RAFOS,3,1228811643,8.583333,8.567500,60,57,56,53,53,50,110,144,204,179,165,153
$RAFOS,2,1228811042,8.416667,8.400556,66,56,53,53,53,51,208,138,178,192,165,217
$RAFOS,1,1228810462,8.250000,8.239445,64,58,58,56,56,56,161,129,208,197,171,220
$RAFOS,0,1228809847,8.083333,8.068611,67,55,54,53,53,52,214,182,196,153,118,139
$RAFOS,4,1228797844,4.750000,4.734445,67,63,62,61,59,56,227,149,213,189,204,117
$RAFOS,3,1228797243,4.583333,4.567500,62,54,54,53,51,51,196,132,205,217,169,149
$RAFOS,2,1228796646,4.416667,4.401667,59,59,56,55,51,51,199,213,227,181,131,157
$RAFOS,0,1228795443,4.083333,4.067500,75,59,58,58,54,51,177,210,199,124,142,152
$RAFOS_FIX,6623.784668,-5659.131836,081208,161628,4,88,0.49
$IRIDIUM_FIX,6558.99,-5655.86,040398,232324
$TT8_MAMPS,0.026845
$HUMID,1792
$INTERNAL_PRESSURE,9.97109
$TCM_TEMP,17.00
$XPDR_PINGS,212
$24V_AH,22.5,72.161
$10V_AH,10.6,32.891
$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,25.725,142.750,373.625,0.000,0.000,25.571,47.581,146.728,53.000,0.000,0.000,33.256,2031.909,14678.356,536.384,2102.481,584.250,0.000,1628.341,0.000,2054.853,2880.000,0.532,0.000
$DEVICE_MAMPS,234.702,64.428,1157.403,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,751.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34667,1085
$CAP_FILE_SIZE,155302,0
$CFSIZE,260165632,222912512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1470.7
$GPS,091208,094629,6629.174,-5652.904,64,2.9,83,-36.8