version: 66.04
glider: 108
mission: 11
dive: 470
start: 12 16 108 22 1 16
data:
$ID,108
$MISSION,11
$DIVE,470
$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,-1
$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,-121827.41
$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,28
$R_STBD_OVSHOOT,29
$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
$GPS1,214937,6651.321,-5658.753,38,1.3,38,-37.3
$_CALLS,2
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-56.8
$GPS2,220057,6651.214,-5658.616,13,1.7,13,-37.3
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$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,56.7,23135,-13.0,-7.021
$D_GRID,653
$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,17,-0.99,-146.0,0.0,0.0,0,129,0.00,0.00,-106.80,0.000,6,0.000,0.000,329,2242,3247
$GC,133,-0.99,-146.0,3.1,-1.1,20,146,8.80,2.35,0.00,0.000,4,0.242,0.057,2473,813,3252
$GC,325,-0.65,-146.0,23.2,-11.9,53,332,0.25,2.30,0.00,0.000,6,0.140,0.058,2536,2232,3254
$GC,671,-0.65,-146.0,43.8,-5.5,114,677,0.00,2.20,0.00,0.000,4,0.000,0.071,2528,3598,3254
$GC,785,-0.65,-146.0,52.8,-8.3,134,791,0.00,2.15,0.00,0.000,6,0.000,0.045,2528,2205,3254
$GC,1130,-0.65,-146.0,75.8,-6.1,195,1136,0.00,2.17,0.00,0.000,4,0.000,0.058,2528,827,3254
$GC,1256,-0.65,-146.0,83.8,-6.4,217,1262,0.00,2.28,0.00,0.000,6,0.000,0.059,2518,2238,3254
$GC,1592,-0.70,-146.0,108.4,-7.7,263,1596,0.00,2.17,0.00,0.000,4,0.000,0.072,2508,3591,3253
$GC,1626,-0.70,-146.0,111.4,-8.5,264,1630,0.00,2.12,0.00,0.000,6,0.000,0.044,2507,2222,3253
$GC,1949,-0.74,-146.0,133.9,-6.0,280,1950,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2221,3252
$GC,2257,-0.74,-146.0,145.8,-2.5,295,2261,0.00,2.20,0.00,0.000,4,0.000,0.056,2508,817,3252
$GC,2388,-0.74,-146.0,148.8,-2.3,300,2394,0.00,2.28,0.00,0.000,6,0.000,0.058,2498,2233,3253
$GC,2705,-0.74,-146.0,160.1,-5.3,316,2709,0.00,2.20,0.00,0.000,4,0.000,0.071,2487,3601,3254
$GC,2744,-0.74,-146.0,162.7,-6.9,317,2751,0.12,2.12,0.00,0.000,6,0.140,0.044,2521,2213,3254
$GC,3062,-0.86,-146.0,180.3,-5.8,333,3064,0.12,0.00,0.00,0.000,6,0.082,0.000,2465,2213,3255
$GC,3370,-0.76,-146.0,205.3,-8.5,348,3374,0.17,2.17,0.00,0.000,4,0.140,0.056,2515,826,3255
$GC,3431,-0.82,-146.0,210.1,-7.8,350,3437,0.00,2.28,0.00,0.000,6,0.000,0.058,2508,2238,3255
$GC,3749,-0.89,-146.0,233.5,-7.0,366,3750,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2237,3255
$GC,4057,-0.97,-146.0,252.5,-5.7,381,4062,0.12,2.25,0.00,0.000,4,0.077,0.055,2450,828,3255
$GC,4124,-0.78,-146.0,257.5,-7.2,384,4129,0.25,2.28,0.00,0.000,6,0.132,0.058,2513,2239,3255
$GC,4447,-0.90,-146.0,272.7,-4.1,400,4451,0.12,2.20,0.00,0.000,4,0.081,0.071,2449,3598,3255
$GC,4486,-0.76,-146.0,275.1,-6.4,401,4493,0.22,2.12,0.00,0.000,6,0.140,0.044,2513,2215,3255
$GC,4803,-0.88,-146.0,286.6,-3.3,417,4805,0.10,0.00,0.00,0.000,6,0.091,0.000,2467,2215,3255
$GC,5112,-0.83,-146.0,303.0,-5.7,432,5116,0.12,2.17,0.00,0.000,4,0.143,0.056,2507,827,3255
$GC,5231,-0.89,-146.0,309.3,-5.8,437,5234,0.00,2.28,0.00,0.000,6,0.000,0.058,2499,2235,3255
$GC,5558,-0.96,-146.0,328.5,-6.5,453,5560,0.12,0.00,0.00,0.000,6,0.076,0.000,2441,2235,3254
$GC,5867,-0.83,-146.0,355.4,-8.5,468,5869,0.20,0.00,0.00,0.000,6,0.140,0.000,2498,2235,3254
$GC,6179,-0.92,-146.0,372.7,-4.9,483,6183,0.00,2.25,0.00,0.000,4,0.000,0.055,2498,818,3255
$GC,6230,-0.92,-146.0,375.4,-4.8,485,6234,0.00,2.30,0.00,0.000,6,0.000,0.057,2491,2245,3255
$GC,6560,-0.97,-146.0,388.4,-3.6,501,6562,0.08,0.00,0.00,0.000,6,0.094,0.000,2448,2244,3255
$GC,6886,-0.87,-146.0,405.2,-5.4,515,6891,0.15,2.28,0.00,0.000,4,0.142,0.055,2494,823,3255
$GC,6942,-0.87,-146.0,408.1,-5.0,516,6946,0.00,2.28,0.00,0.000,6,0.000,0.057,2486,2239,3255
$GC,7257,-0.87,-146.0,424.6,-5.5,524,7258,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2239,3255
$GC,7581,-0.87,-146.0,445.5,-6.5,532,7582,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2239,3255
$GC,7906,-0.87,-146.0,466.1,-6.2,540,7910,0.00,2.25,0.00,0.000,4,0.000,0.055,2486,826,3255
$GC,7962,-0.87,-146.0,469.8,-6.2,541,7967,0.00,2.28,0.00,0.000,6,0.000,0.058,2477,2233,3255
$GC,8282,-0.87,-146.0,487.4,-5.4,549,8283,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2233,3255
$GC,8609,-0.87,-146.0,502.0,-4.3,557,8610,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2233,3255
$GC,8931,-0.87,-146.0,514.5,-3.8,565,8935,0.00,2.28,0.00,0.000,4,0.000,0.054,2476,825,3255
$GC,9023,-0.87,-146.0,518.4,-4.1,567,9027,0.10,2.28,0.00,0.000,6,0.137,0.057,2493,2239,3255
$GC,9353,-0.96,-146.0,531.2,-4.0,575,9354,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2239,3256
$GC,9679,-1.05,-146.0,545.5,-4.5,583,9681,0.15,0.00,0.00,0.000,6,0.073,0.000,2431,2239,3256
$GC,10003,-0.91,-146.0,567.6,-7.1,591,10005,0.20,0.00,0.00,0.000,6,0.144,0.000,2488,2239,3256
$GC,10328,-0.97,-146.0,584.7,-5.0,599,10332,0.00,2.28,0.00,0.000,4,0.000,0.056,2488,825,3256
$GC,10385,-0.97,-146.0,587.8,-5.5,600,10389,0.00,2.33,0.00,0.000,6,0.000,0.058,2480,2240,3256
$GC,10705,-0.97,-146.0,603.7,-4.9,608,10706,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2240,3256
$GC,11030,-0.97,-146.0,618.9,-4.6,616,11031,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2240,3256
$GC,11355,-0.97,-146.0,634.6,-4.9,624,11356,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2240,3256
$GC,11681,-1.03,-146.0,650.3,-4.9,632,11685,0.10,2.28,0.00,0.000,4,0.084,0.055,2432,820,3255
$STATE,11831,end dive,NO_VERTICAL_VELOCITY
$STATE,11831,begin apogee
$GC,11840,-0.31,0.0,651.0,0.0,635,11974,0.55,0.00,130.45,1.226,6,0.099,0.000,2616,1748,2650
$STATE,11975,end apogee,CONTROL_FINISHED_OK
$STATE,11975,begin climb
$GC,11978,0.99,146.0,650.8,0.0,638,12121,0.85,2.55,133.60,1.151,4,0.094,0.062,2892,3141,2053
$GC,12299,0.66,146.0,616.5,11.9,645,12304,0.30,2.33,0.00,0.000,6,0.133,0.048,2818,1746,2045
$GC,12648,0.75,165.0,592.8,6.4,654,12667,0.10,0.00,16.33,1.098,6,0.080,0.000,2867,1745,1977
$GC,12972,0.63,165.0,562.6,9.5,662,12974,0.17,0.00,0.00,0.000,6,0.123,0.000,2816,1745,1972
$GC,13298,0.73,165.0,538.8,7.2,670,13303,0.10,2.30,0.00,0.000,4,0.081,0.063,2864,3158,1972
$GC,13320,0.67,165.0,536.5,9.2,670,13325,0.17,2.25,0.00,0.000,6,0.134,0.048,2823,1721,1971
$GC,13663,0.74,165.1,511.3,7.0,679,13664,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1721,1971
$GC,13989,0.85,194.5,491.0,6.1,687,14021,0.15,2.35,26.20,1.129,4,0.067,0.063,2891,3148,1857
$GC,14044,0.59,194.5,485.6,11.3,688,14049,0.32,2.25,0.00,0.000,6,0.133,0.048,2806,1729,1853
$GC,14393,0.84,237.5,465.6,5.6,697,14434,0.17,0.00,38.47,1.114,6,0.062,0.000,2885,1729,1681
$GC,14757,0.70,237.5,424.4,11.9,706,14759,0.20,0.00,0.00,0.000,6,0.126,0.000,2825,1730,1673
$GC,15062,0.82,237.5,398.1,8.7,714,15064,0.12,0.00,0.00,0.000,6,0.073,0.000,2883,1730,1670
$GC,15372,0.68,237.5,359.8,12.4,729,15377,0.20,2.30,0.00,0.000,4,0.123,0.061,2817,3149,1669
$GC,15405,0.68,237.5,356.1,9.5,730,15411,0.00,2.22,0.00,0.000,6,0.000,0.048,2824,1723,1668
$GC,15721,0.82,237.5,331.0,7.9,746,15726,0.12,2.30,0.00,0.000,4,0.074,0.061,2886,3153,1668
$GC,15738,0.82,237.5,329.3,8.4,746,15745,0.15,2.20,0.00,0.000,6,0.137,0.047,2854,1735,1668
$GC,16054,0.82,237.5,297.8,9.9,762,16058,0.00,2.25,0.00,0.000,4,0.000,0.063,2862,329,1668
$GC,16077,0.82,237.5,295.5,10.5,763,16081,0.00,2.25,0.00,0.000,6,0.000,0.049,2862,1749,1668
$GC,16410,0.82,237.5,260.4,10.5,779,16414,0.00,2.22,0.00,0.000,4,0.000,0.062,2862,3158,1667
$GC,16461,0.68,237.5,254.6,12.1,781,16465,0.17,2.22,0.00,0.000,6,0.129,0.048,2821,1732,1667
$GC,16788,0.91,261.9,232.6,6.2,797,16811,0.17,0.00,20.35,0.944,6,0.064,0.000,2901,1732,1582
$GC,17118,0.77,261.9,197.9,10.1,813,17119,0.20,0.00,0.00,0.000,6,0.125,0.000,2842,1732,1579
$GC,17426,0.95,301.0,179.7,5.8,828,17466,0.15,0.00,35.70,0.923,6,0.070,0.000,2908,1732,1421
$GC,17776,0.77,301.0,137.2,13.7,845,17778,0.22,0.00,0.00,0.000,6,0.125,0.000,2840,1732,1412
$GC,18085,0.97,301.0,112.0,7.8,860,18089,0.17,2.30,0.00,0.000,4,0.064,0.060,2920,3160,1410
$GC,18108,0.97,301.0,109.7,10.1,861,18112,0.15,2.22,0.00,0.000,6,0.143,0.048,2889,1731,1410
$GC,18445,0.97,301.0,73.1,8.8,910,18452,0.00,2.22,0.00,0.000,4,0.000,0.061,2897,334,1409
$GC,18487,1.02,301.0,69.4,9.0,917,18494,0.00,2.22,0.00,0.000,6,0.000,0.047,2897,1749,1409
$GC,18832,1.02,301.0,44.2,7.4,978,18838,0.00,2.22,0.00,0.000,4,0.000,0.061,2898,3160,1410
$GC,18868,1.02,301.0,41.3,7.8,984,18875,0.00,2.22,0.00,0.000,6,0.000,0.047,2908,1728,1409
$GC,19213,1.02,301.0,7.8,11.1,1045,19219,0.00,2.22,0.00,0.000,4,0.000,0.059,2917,326,1409
$FREEZE,6.41,1.262,-1.836
$FREEZE,5.80,1.265,-1.836
$FREEZE,5.04,1.270,-1.835
$GC,19239,1.02,301.0,5.0,11.2,1049,19245,0.00,2.25,0.00,0.000,6,0.000,0.049,2917,1744,1410
$FREEZE,3.55,1.263,-1.834
$FREEZE,3.19,1.258,-1.834
$FREEZE,2.61,1.259,-1.833
$STATE,19261,end climb,SURFACE_DEPTH_REACHED
$STATE,19261,begin surface coast
$FREEZE,1.95,1.262,-1.833
$FREEZE,1.61,0.481,-0.462
$FREEZE,1.48,1.225,-1.832
$FREEZE,1.47,0.334,-1.165
$FREEZE,1.42,-0.318,-0.329
$FINISH,1.4,1.004707
$STATE,19290,end surface coast,CONTROL_FINISHED_OK
$STATE,19291,begin surface
$SM_CCo,19370,0.00,0.000,0,0,1407,304.66
$SM_GC,2.35,6.90,0.00,0.00,0.047,0.000,0.000,329,2242,1407,-10.70,0.34,304.66
$RAFOS_CLK,787
$RAFOS,4,1229474672,0.750000,0.742222,83,59,57,56,55,53,710,211,199,190,156,117
$RAFOS,3,1229474063,0.583333,0.573056,64,56,56,56,55,54,213,166,176,142,190,152
$RAFOS,2,1229473478,0.416667,0.410556,91,66,60,59,59,59,467,213,131,222,231,167
$RAFOS,1,1229472842,0.250000,0.233889,56,55,53,52,52,51,219,208,122,144,177,197
$RAFOS,0,1229472250,0.083333,0.069444,67,62,60,56,56,56,220,181,147,194,203,121
$RAFOS_FIX,6644.574707,-5703.349609,171208,000020,2,87,1.36
$IRIDIUM_FIX,6625.71,-5705.69,120398,222249
$TT8_MAMPS,0.026078
$HUMID,1785
$INTERNAL_PRESSURE,9.92226
$TCM_TEMP,16.60
$XPDR_PINGS,278
$24V_AH,21.9,77.075
$10V_AH,10.5,35.300
$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,23.375,121.525,401.100,0.000,0.000,56.177,70.573,332.973,69.500,0.000,0.000,15.051,1949.567,14765.732,552.266,1965.295,832.677,0.000,1602.587,0.000,1934.861,1800.000,0.533,0.000
$DEVICE_MAMPS,242.372,72.098,1225.666,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,736.172,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34754,1058
$CAP_FILE_SIZE,147316,0
$CFSIZE,260165632,220692480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.5
$GPS,171208,032616,6651.435,-5653.605,36,2.8,55,-37.3