version: 66.04
glider: 108
mission: 11
dive: 439
start: 12 9 108 9 54 35
data:
$ID,108
$MISSION,11
$DIVE,439
$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,355
$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,-120558.52
$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,36
$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
$GPS1,094629,6629.174,-5652.904,64,2.9,83,-36.8
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-58.6
$GPS2,095415,6629.190,-5652.993,11,1.1,11,-36.8
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6639.948,-5655.370
$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,31.8,20000,-13.0,-7.021
$D_GRID,615
$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,-62.20,0.000,2,0.000,0.000,331,2264,2955
$GC,84,-0.99,-146.0,3.2,-2.7,11,109,8.55,2.20,-9.20,0.000,4,0.234,0.077,2451,3598,3248
$GC,178,-0.82,-146.0,13.1,-9.6,27,185,0.17,2.15,0.00,0.000,6,0.137,0.039,2502,2203,3250
$GC,524,-0.82,-146.0,48.4,-5.3,88,530,0.00,2.15,0.00,0.000,4,0.000,0.054,2503,832,3250
$GC,628,-0.82,-146.0,55.1,-8.1,106,635,0.00,2.28,0.00,0.000,6,0.000,0.051,2495,2243,3250
$GC,973,-0.82,-146.0,77.2,-5.8,167,980,0.00,2.17,0.00,0.000,4,0.000,0.065,2485,3605,3250
$GC,1175,-0.82,-146.0,89.2,-6.3,202,1181,0.00,2.12,0.00,0.000,6,0.000,0.041,2485,2221,3249
$GC,1518,-0.82,-146.0,108.4,-5.7,244,1522,0.00,2.17,0.00,0.000,4,0.000,0.052,2484,817,3248
$GC,1637,-0.77,-146.0,116.3,-6.4,249,1641,0.15,2.28,0.00,0.000,6,0.126,0.053,2517,2245,3247
$GC,1958,-0.92,-146.0,132.7,-5.0,265,1963,0.15,2.15,0.00,0.000,4,0.071,0.064,2441,3601,3248
$GC,2045,-0.79,-146.0,139.1,-7.9,268,2052,0.22,2.10,0.00,0.000,6,0.134,0.041,2509,2219,3248
$GC,2361,-0.92,-146.0,154.6,-4.6,284,2366,0.12,2.15,0.00,0.000,4,0.077,0.050,2452,826,3248
$GC,2511,-0.77,-146.0,164.2,-6.7,290,2515,0.25,2.22,0.00,0.000,6,0.126,0.052,2516,2232,3247
$GC,2829,-0.92,-146.0,176.7,-3.7,305,2833,0.15,2.15,0.00,0.000,4,0.069,0.061,2440,3598,3248
$GC,2880,-0.80,-146.0,179.6,-6.3,307,2884,0.22,2.10,0.00,0.000,6,0.135,0.039,2506,2217,3248
$GC,3207,-0.91,-146.0,192.4,-3.9,323,3211,0.10,2.15,0.00,0.000,4,0.085,0.049,2455,822,3248
$GC,3350,-0.78,-146.0,200.7,-6.2,329,3355,0.22,2.22,0.00,0.000,6,0.127,0.051,2512,2240,3249
$GC,3678,-0.92,-146.0,214.1,-4.3,345,3682,0.12,2.12,0.00,0.000,4,0.074,0.061,2445,3595,3249
$GC,3717,-0.81,-146.0,216.5,-6.5,346,3724,0.22,2.08,0.00,0.000,6,0.133,0.038,2510,2213,3249
$GC,4034,-0.94,-146.0,230.2,-4.4,362,4038,0.12,2.12,0.00,0.000,4,0.077,0.048,2451,823,3249
$GC,4090,-0.79,-146.0,233.7,-6.0,364,4095,0.22,2.22,0.00,0.000,6,0.127,0.049,2507,2243,3249
$GC,4407,-0.92,-146.0,247.3,-4.0,379,4411,0.10,2.15,0.00,0.000,4,0.083,0.061,2449,3601,3250
$GC,4480,-0.84,-146.0,251.0,-5.2,382,4484,0.17,2.08,0.00,0.000,6,0.133,0.038,2499,2223,3250
$GC,4807,-0.94,-146.0,262.6,-3.5,398,4811,0.10,2.15,0.00,0.000,4,0.086,0.048,2448,835,3250
$GC,4904,-0.80,-146.0,267.8,-5.9,402,4909,0.25,2.22,0.00,0.000,6,0.125,0.049,2512,2234,3250
$GC,5226,-0.95,-146.0,279.3,-3.6,418,5230,0.15,2.17,0.00,0.000,4,0.070,0.060,2435,3601,3251
$GC,5340,-0.82,-146.0,285.9,-6.1,423,5344,0.22,2.08,0.00,0.000,6,0.134,0.038,2502,2226,3251
$GC,5672,-0.94,-146.0,299.6,-4.2,439,5677,0.10,2.15,0.00,0.000,4,0.085,0.048,2452,832,3251
$GC,5903,-0.82,-146.0,312.9,-5.8,449,5907,0.22,2.22,0.00,0.000,6,0.125,0.048,2509,2239,3251
$GC,6225,-0.97,-146.0,325.7,-3.9,465,6229,0.15,2.15,0.00,0.000,4,0.068,0.060,2431,3601,3252
$GC,6298,-0.83,-146.0,330.0,-6.4,468,6303,0.22,2.05,0.00,0.000,6,0.134,0.038,2498,2226,3252
$GC,6625,-0.95,-146.0,345.0,-4.6,484,6629,0.10,2.15,0.00,0.000,4,0.086,0.048,2448,823,3252
$GC,6710,-0.81,-146.0,350.3,-6.8,487,6717,0.22,2.22,0.00,0.000,6,0.126,0.049,2504,2238,3252
$GC,7028,-0.94,-146.0,364.9,-4.7,503,7030,0.12,0.00,0.00,0.000,6,0.074,0.000,2446,2238,3252
$GC,7337,-0.85,-146.0,383.2,-5.9,518,7341,0.17,2.20,0.00,0.000,4,0.137,0.047,2500,836,3252
$GC,7450,-0.93,-146.0,388.9,-4.9,523,7454,0.00,2.20,0.00,0.000,6,0.000,0.048,2492,2244,3252
$GC,7784,-1.02,-146.0,403.8,-4.5,537,7785,0.12,0.00,0.00,0.000,6,0.071,0.000,2433,2243,3252
$GC,8106,-0.89,-146.0,424.1,-6.5,545,8111,0.20,2.22,0.00,0.000,4,0.134,0.048,2494,834,3252
$GC,8261,-0.95,-146.0,432.1,-4.8,548,8265,0.00,2.22,0.00,0.000,6,0.000,0.048,2487,2232,3252
$GC,8611,-1.03,-146.0,447.6,-4.0,557,8616,0.12,2.15,0.00,0.000,4,0.070,0.061,2418,3592,3252
$GC,8718,-0.85,-146.0,454.3,-6.2,559,8722,0.25,2.08,0.00,0.000,6,0.132,0.038,2494,2218,3252
$GC,9032,-0.96,-146.0,467.3,-4.1,567,9036,0.10,2.15,0.00,0.000,4,0.084,0.048,2445,826,3253
$GC,9129,-0.82,-146.0,472.7,-5.8,569,9134,0.22,2.25,0.00,0.000,6,0.127,0.049,2501,2242,3252
$GC,9449,-0.96,-146.0,485.0,-3.7,577,9451,0.12,0.00,0.00,0.000,6,0.074,0.000,2445,2242,3253
$GC,9773,-0.88,-146.0,501.8,-5.2,585,9775,0.15,0.00,0.00,0.000,6,0.138,0.000,2487,2242,3253
$GC,10098,-0.97,-146.0,515.9,-4.4,593,10102,0.00,2.25,0.00,0.000,4,0.000,0.048,2487,825,3253
$GC,10189,-0.97,-146.0,520.2,-4.7,595,10193,0.00,2.22,0.00,0.000,6,0.000,0.048,2480,2245,3252
$GC,10520,-1.02,-146.0,534.7,-4.3,603,10522,0.08,0.00,0.00,0.000,6,0.088,0.000,2436,2245,3252
$GC,10846,-0.91,-146.0,552.5,-5.6,611,10848,0.17,0.00,0.00,0.000,6,0.134,0.000,2486,2245,3253
$GC,11170,-1.01,-146.0,566.5,-4.3,619,11172,0.10,0.00,0.00,0.000,6,0.084,0.000,2440,2245,3253
$GC,11495,-0.92,-146.0,583.8,-5.3,627,11499,0.15,2.25,0.00,0.000,4,0.138,0.048,2483,836,3252
$GC,11614,-0.92,-146.0,589.5,-5.2,629,11618,0.00,2.20,0.00,0.000,6,0.000,0.048,2476,2233,3252
$GC,11957,-0.97,-146.0,603.9,-4.1,638,11959,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2233,3253
$STATE,12238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12238,begin apogee
$GC,12246,-0.31,0.0,615.6,4.1,645,12382,0.45,0.00,128.60,1.144,6,0.113,0.000,2621,1743,2650
$STATE,12383,end apogee,CONTROL_FINISHED_OK
$STATE,12383,begin climb
$GC,12386,0.99,146.0,616.0,0.0,648,12522,0.85,0.00,129.50,1.092,6,0.089,0.000,2897,1743,2053
$GC,12848,0.72,146.0,562.3,12.2,660,12849,0.22,0.00,0.00,0.000,6,0.124,0.000,2831,1743,2047
$GC,13172,0.72,146.0,536.5,7.6,668,13176,0.00,2.30,0.00,0.000,4,0.000,0.056,2831,3150,2046
$GC,13218,0.60,146.0,532.7,8.8,669,13223,0.12,2.22,0.00,0.000,6,0.129,0.041,2804,1726,2045
$GC,13548,0.70,170.2,512.0,6.2,677,13574,0.10,2.35,20.15,1.049,4,0.078,0.054,2856,3158,1956
$GC,13592,0.55,170.2,508.3,9.8,678,13597,0.25,2.22,0.00,0.000,6,0.123,0.040,2792,1738,1954
$GC,13911,0.77,210.7,489.2,5.7,686,13952,0.17,2.42,35.35,1.068,4,0.058,0.055,2875,3159,1791
$GC,13958,0.77,210.7,484.5,7.4,687,13963,0.15,2.28,0.00,0.000,6,0.131,0.040,2843,1727,1789
$GC,14277,0.77,210.7,453.7,9.8,695,14278,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1727,1784
$GC,14601,0.77,210.7,421.1,10.2,703,14602,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1727,1783
$GC,14907,0.77,210.7,389.4,10.6,712,14908,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1727,1782
$GC,15217,0.77,210.7,357.8,10.0,727,15218,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1727,1782
$GC,15525,0.77,210.7,327.4,9.7,742,15529,0.00,2.30,0.00,0.000,4,0.000,0.054,2843,3158,1782
$GC,15538,0.77,210.7,326.3,9.6,742,15542,0.00,2.20,0.00,0.000,6,0.000,0.039,2850,1735,1781
$GC,15859,0.77,210.7,295.1,9.3,758,15863,0.00,2.30,0.00,0.000,4,0.000,0.054,2850,3153,1781
$GC,15876,0.71,210.7,293.3,9.7,758,15883,0.10,2.20,0.00,0.000,6,0.137,0.040,2830,1732,1781
$GC,16192,0.78,210.7,267.1,8.4,774,16194,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1732,1781
$GC,16502,0.84,210.7,242.2,8.0,789,16506,0.12,2.30,0.00,0.000,4,0.071,0.054,2891,3148,1781
$GC,16519,0.84,210.7,240.6,8.6,790,16524,0.15,2.20,0.00,0.000,6,0.133,0.040,2858,1731,1781
$GC,16852,0.79,210.7,205.4,10.2,806,16853,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1731,1781
$GC,17161,0.79,210.7,175.0,9.9,821,17164,0.00,2.22,0.00,0.000,4,0.000,0.054,2866,324,1780
$GC,17178,0.79,210.7,173.2,9.9,821,17184,0.00,2.25,0.00,0.000,6,0.000,0.043,2866,1746,1781
$GC,17494,0.73,210.7,139.7,10.8,837,17498,0.12,2.22,0.00,0.000,4,0.130,0.055,2828,3154,1781
$GC,17526,0.73,210.7,136.6,9.8,838,17530,0.00,2.17,0.00,0.000,6,0.000,0.041,2835,1737,1780
$GC,17849,0.81,210.7,111.5,7.5,854,17853,0.00,2.28,0.00,0.000,4,0.000,0.055,2835,3155,1780
$GC,17894,0.81,210.7,107.6,9.0,856,17898,0.00,2.17,0.00,0.000,6,0.000,0.041,2844,1738,1780
$GC,18231,1.00,268.3,83.3,5.2,902,18291,0.17,2.35,48.62,0.831,4,0.062,0.055,2929,3152,1555
$GC,18304,0.80,268.3,75.6,12.6,914,18311,0.30,2.22,0.00,0.000,6,0.117,0.041,2847,1732,1552
$GC,18650,0.97,268.3,53.7,8.0,975,18656,0.15,0.00,0.00,0.000,6,0.063,0.000,2925,1732,1547
$GC,18994,0.81,268.3,8.8,9.5,1036,19001,0.22,2.22,0.00,0.000,4,0.133,0.054,2862,324,1545
$FREEZE,6.13,2.147,-1.845
$FREEZE,5.68,2.144,-1.845
$FREEZE,5.78,2.149,-1.845
$FREEZE,5.90,2.150,-1.845
$FREEZE,6.10,2.147,-1.845
$FREEZE,6.39,2.144,-1.845
$FREEZE,6.35,2.149,-1.845
$FREEZE,5.66,2.148,-1.844
$FREEZE,5.23,2.139,-1.844
$FREEZE,4.86,2.143,-1.844
$FREEZE,4.05,2.143,-1.843
$FREEZE,3.25,2.147,-1.843
$FREEZE,3.18,2.148,-1.842
$FREEZE,3.02,2.145,-1.842
$FREEZE,1.96,2.152,-1.841
$GC,19060,1.09,413.9,4.9,2.3,1047,19105,0.17,2.25,38.42,0.787,2,0.061,0.044,2949,1767,1369
$STATE,19105,end climb,SURFACE_DEPTH_REACHED
$STATE,19105,begin surface coast
$FREEZE,1.22,2.144,-1.841
$FREEZE,1.05,2.152,-1.840
$FREEZE,1.38,1.978,-1.849
$FINISH,1.4,1.026940
$STATE,19122,end surface coast,CONTROL_FINISHED_OK
$STATE,19122,begin surface
$SM_CCo,19201,0.00,0.000,0,0,1362,315.95
$SM_GC,1.82,7.05,0.00,0.00,0.046,0.000,0.000,328,2213,1362,-10.68,-0.48,315.95
$RAFOS_CLK,709
$RAFOS,4,1228826643,12.750000,12.734167,59,56,56,54,51,50,204,192,171,146,215,115
$RAFOS,3,1228826041,12.583333,12.566944,60,60,55,54,53,52,194,208,222,115,139,171
$RAFOS,2,1228825462,12.416667,12.406111,60,56,56,56,53,53,223,165,190,132,199,142
$RAFOS,1,1228824878,12.250000,12.243889,61,58,58,57,56,53,212,193,222,178,123,161
$RAFOS,0,1228824253,12.083333,12.070278,75,59,58,57,57,53,211,156,168,198,140,120
$RAFOS_FIX,6623.784668,-5659.131836,081208,161628,4,88,0.49
$IRIDIUM_FIX,6558.99,-5700.37,050398,040436
$TT8_MAMPS,0.026078
$HUMID,1776
$INTERNAL_PRESSURE,9.96132
$TCM_TEMP,16.90
$XPDR_PINGS,185
$24V_AH,22.4,72.304
$10V_AH,10.6,32.964
$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,26.050,146.650,400.650,0.000,0.000,23.152,38.094,261.380,46.250,0.000,0.000,13.197,1997.963,14293.730,552.332,2130.821,683.753,0.000,1671.862,0.000,2098.926,1800.000,0.532,0.000
$DEVICE_MAMPS,233.935,76.700,1143.597,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,729.169,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34687,1055
$CAP_FILE_SIZE,159194,0
$CFSIZE,260165632,222842880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1471.0
$GPS,091208,151622,6632.707,-5651.870,39,2.9,58,-36.9