version: 66.04
glider: 108
mission: 11
dive: 471
start: 12 17 108 3 32 52
data:
$ID,108
$MISSION,11
$DIVE,471
$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,-121839.34
$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,31
$R_STBD_OVSHOOT,32
$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
$GPS1,032616,6651.435,-5653.605,36,2.8,55,-37.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-65.8
$GPS2,033233,6651.409,-5653.628,9,1.9,9,-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,48.0,21849,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.99,-146.0,0.0,0.0,0,99,0.00,0.00,-79.43,0.000,2,0.000,0.000,328,2246,3220
$GC,103,-0.99,-146.0,3.0,-1.1,14,117,8.70,2.38,-0.80,0.000,4,0.236,0.067,2471,804,3248
$GC,221,-0.78,-146.0,17.1,-10.9,34,228,0.17,2.30,0.00,0.000,6,0.136,0.054,2511,2237,3251
$GC,567,-0.78,-146.0,39.9,-5.0,95,573,0.00,2.17,0.00,0.000,4,0.000,0.067,2503,3594,3251
$GC,687,-0.78,-146.0,47.5,-6.1,116,693,0.00,2.12,0.00,0.000,6,0.000,0.044,2503,2214,3251
$GC,1032,-0.78,-146.0,67.3,-6.3,177,1038,0.00,2.17,0.00,0.000,4,0.000,0.056,2503,818,3251
$GC,1119,-0.71,-146.0,73.4,-7.1,192,1126,0.12,2.28,0.00,0.000,6,0.130,0.055,2528,2240,3250
$GC,1466,-0.84,-146.0,95.1,-5.6,253,1472,0.12,0.00,0.00,0.000,6,0.077,0.000,2472,2240,3250
$GC,1804,-0.78,-146.0,124.6,-10.3,278,1809,0.15,2.17,0.00,0.000,4,0.137,0.068,2506,3598,3249
$GC,1878,-0.89,-146.0,131.5,-8.9,281,1881,0.00,2.12,0.00,0.000,6,0.000,0.044,2506,2215,3249
$GC,2206,-0.98,-146.0,149.7,-4.2,297,2210,0.12,2.17,0.00,0.000,4,0.077,0.054,2447,815,3249
$GC,2345,-0.79,-146.0,158.0,-6.0,303,2350,0.25,2.28,0.00,0.000,6,0.130,0.055,2510,2241,3249
$GC,2674,-0.90,-146.0,172.4,-4.2,319,2676,0.10,0.00,0.00,0.000,6,0.084,0.000,2463,2241,3249
$GC,2981,-0.83,-146.0,193.0,-7.4,334,2985,0.15,2.17,0.00,0.000,4,0.138,0.065,2497,3604,3249
$GC,3065,-0.94,-146.0,199.3,-7.5,337,3073,0.10,2.12,0.00,0.000,6,0.082,0.042,2446,2212,3250
$GC,3382,-0.81,-146.0,227.5,-8.8,353,3387,0.20,2.15,0.00,0.000,4,0.135,0.052,2511,828,3250
$GC,3537,-0.88,-146.0,238.3,-6.2,360,3541,0.00,2.25,0.00,0.000,6,0.000,0.053,2503,2241,3251
$GC,3871,-0.97,-146.0,253.9,-3.4,376,3876,0.12,2.17,0.00,0.000,4,0.076,0.064,2432,3604,3252
$GC,4006,-0.81,-146.0,260.5,-5.0,382,4011,0.25,2.10,0.00,0.000,6,0.136,0.042,2507,2224,3252
$GC,4336,-0.94,-146.0,270.2,-3.2,398,4338,0.12,0.00,0.00,0.000,6,0.079,0.000,2451,2224,3252
$GC,4642,-0.84,-146.0,287.5,-6.1,413,4644,0.17,0.00,0.00,0.000,6,0.138,0.000,2501,2224,3252
$GC,4952,-0.94,-146.0,302.7,-4.9,428,4954,0.10,0.00,0.00,0.000,6,0.089,0.000,2456,2223,3253
$GC,5261,-0.86,-146.0,322.0,-6.0,443,5263,0.15,0.00,0.00,0.000,6,0.140,0.000,2498,2223,3253
$GC,5572,-0.94,-146.0,335.5,-4.0,458,5577,0.10,2.17,0.00,0.000,4,0.089,0.053,2452,823,3253
$GC,5721,-0.81,-146.0,344.0,-6.0,464,5725,0.22,2.25,0.00,0.000,6,0.128,0.053,2509,2243,3253
$GC,6043,-0.94,-146.0,356.4,-4.0,480,6048,0.12,2.17,0.00,0.000,4,0.081,0.064,2443,3592,3254
$GC,6176,-0.83,-146.0,364.5,-6.3,485,6183,0.20,2.10,0.00,0.000,6,0.140,0.041,2499,2222,3254
$GC,6494,-0.93,-146.0,379.5,-4.7,501,6498,0.00,2.17,0.00,0.000,4,0.000,0.052,2500,830,3254
$GC,6567,-0.98,-146.0,383.4,-5.5,504,6571,0.10,2.22,0.00,0.000,6,0.080,0.052,2444,2232,3254
$GC,6894,-0.88,-146.0,402.7,-5.7,519,6898,0.17,2.20,0.00,0.000,4,0.142,0.064,2485,3597,3254
$GC,6945,-0.96,-146.0,405.3,-5.3,520,6949,0.00,2.10,0.00,0.000,6,0.000,0.041,2485,2225,3254
$GC,7270,-0.96,-146.0,419.5,-4.5,528,7274,0.00,2.20,0.00,0.000,4,0.000,0.054,2485,820,3254
$GC,7332,-0.96,-146.0,422.5,-4.5,529,7336,0.00,2.30,0.00,0.000,6,0.000,0.054,2475,2245,3254
$GC,7646,-0.96,-146.0,438.0,-5.0,537,7650,0.00,2.17,0.00,0.000,4,0.000,0.066,2465,3596,3254
$GC,7738,-0.96,-146.0,443.4,-6.4,539,7741,0.00,2.10,0.00,0.000,6,0.000,0.041,2464,2225,3254
$GC,8068,-0.96,-146.0,460.7,-5.1,547,8072,0.00,2.20,0.00,0.000,4,0.000,0.055,2464,816,3253
$GC,8164,-0.87,-146.0,466.0,-5.3,549,8169,0.15,2.28,0.00,0.000,6,0.130,0.054,2496,2231,3253
$GC,8483,-0.97,-146.0,480.0,-4.5,557,8485,0.12,0.00,0.00,0.000,6,0.079,0.000,2443,2231,3253
$GC,8809,-0.86,-146.0,500.3,-6.3,565,8811,0.17,0.00,0.00,0.000,6,0.143,0.000,2492,2230,3253
$GC,9133,-0.94,-146.0,516.0,-4.8,573,9137,0.00,2.25,0.00,0.000,4,0.000,0.054,2493,829,3253
$GC,9189,-0.94,-146.0,519.0,-6.1,574,9193,0.00,2.28,0.00,0.000,6,0.000,0.054,2486,2235,3252
$GC,9510,-0.99,-146.0,535.1,-5.1,582,9514,0.00,2.20,0.00,0.000,4,0.000,0.067,2475,3603,3252
$GC,9556,-0.99,-146.0,537.7,-5.8,583,9560,0.00,2.12,0.00,0.000,6,0.000,0.043,2474,2218,3252
$GC,9886,-0.99,-146.0,555.6,-5.5,591,9890,0.00,2.20,0.00,0.000,4,0.000,0.055,2475,817,3252
$GC,9993,-0.99,-146.0,562.0,-6.8,593,9998,0.00,2.30,0.00,0.000,6,0.000,0.055,2465,2243,3252
$GC,10307,-0.99,-146.0,579.6,-5.5,601,10311,0.00,2.17,0.00,0.000,4,0.000,0.068,2455,3596,3252
$GC,10359,-0.99,-146.0,582.7,-6.4,602,10362,0.00,2.12,0.00,0.000,6,0.000,0.043,2455,2216,3251
$GC,10685,-0.94,-146.0,601.3,-5.7,610,10689,0.00,2.15,0.00,0.000,4,0.000,0.055,2455,826,3252
$GC,10770,-0.83,-146.0,606.5,-6.3,611,10777,0.20,2.28,0.00,0.000,6,0.130,0.056,2503,2245,3251
$STATE,10976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10976,begin apogee
$GC,10984,-0.31,0.0,615.4,4.1,617,11116,0.35,0.00,128.65,1.206,6,0.116,0.000,2617,1747,2650
$STATE,11117,end apogee,CONTROL_FINISHED_OK
$STATE,11117,begin climb
$GC,11120,0.99,146.0,616.4,0.0,620,11257,0.85,0.00,133.35,1.131,6,0.088,0.000,2896,1747,2054
$GC,11568,0.78,146.0,572.0,10.6,631,11570,0.17,0.00,0.00,0.000,6,0.133,0.000,2847,1747,2045
$GC,11892,0.78,146.0,547.2,7.5,639,11896,0.00,2.35,0.00,0.000,4,0.000,0.063,2847,3160,2044
$GC,11917,0.69,146.0,545.3,8.0,639,11922,0.12,2.28,0.00,0.000,6,0.137,0.048,2821,1726,2043
$GC,12266,0.79,165.8,522.9,6.4,648,12286,0.12,0.00,16.52,1.098,6,0.075,0.000,2878,1726,1972
$GC,12595,0.64,165.8,491.9,9.6,656,12600,0.20,2.35,0.00,0.000,4,0.125,0.061,2818,3155,1969
$GC,12618,0.58,165.8,489.8,8.8,656,12622,0.00,2.25,0.00,0.000,6,0.000,0.048,2824,1725,1969
$GC,12961,0.68,177.9,467.5,6.6,665,12980,0.00,2.40,11.52,1.042,4,0.000,0.061,2824,3150,1923
$GC,12997,0.68,177.9,464.9,7.0,665,13004,0.00,2.22,0.00,0.000,6,0.000,0.046,2833,1736,1922
$GC,13329,0.68,177.9,441.2,7.1,674,13333,0.00,2.30,0.00,0.000,4,0.000,0.063,2834,3148,1921
$GC,13363,0.68,177.9,438.5,7.8,674,13367,0.00,2.22,0.00,0.000,6,0.000,0.047,2844,1726,1920
$GC,13699,0.68,177.9,412.1,7.8,683,13703,0.00,2.33,0.00,0.000,4,0.000,0.062,2844,3163,1920
$GC,13728,0.61,177.9,409.5,8.7,683,13733,0.15,2.22,0.00,0.000,6,0.133,0.048,2812,1729,1920
$GC,14053,0.79,197.9,389.2,6.4,695,14074,0.15,0.00,18.12,1.054,6,0.067,0.000,2880,1729,1843
$GC,14382,0.65,197.9,353.9,11.0,711,14384,0.22,0.00,0.00,0.000,6,0.123,0.000,2813,1729,1839
$GC,14692,0.82,197.9,331.3,7.2,726,14696,0.15,2.33,0.00,0.000,4,0.068,0.061,2882,3152,1838
$GC,14709,0.82,197.9,329.8,7.5,727,14713,0.15,2.22,0.00,0.000,6,0.140,0.048,2851,1728,1837
$GC,15043,0.82,197.9,301.5,7.7,743,15045,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1728,1837
$GC,15350,0.82,197.9,280.0,7.1,758,15354,0.00,2.33,0.00,0.000,4,0.000,0.062,2850,3159,1837
$GC,15369,0.82,197.9,278.7,7.0,758,15375,0.00,2.22,0.00,0.000,6,0.000,0.048,2858,1735,1837
$GC,15685,0.77,197.9,251.7,9.5,774,15686,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1735,1836
$GC,15996,0.77,197.9,218.7,10.2,789,15997,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1735,1836
$GC,16303,0.77,197.9,194.0,7.2,804,16304,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1735,1836
$GC,16612,0.77,197.9,167.3,10.1,819,16614,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1735,1836
$GC,16922,0.77,197.9,132.7,11.1,834,16923,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1735,1836
$GC,17231,0.77,201.2,107.6,6.9,849,17232,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1735,1836
$GC,17556,0.95,292.4,88.4,4.1,888,17642,0.10,0.00,80.85,0.849,6,0.079,0.000,2908,1735,1456
$GC,17981,0.95,292.4,48.7,11.2,963,17988,0.10,2.33,0.00,0.000,4,0.134,0.059,2880,3154,1445
$GC,18006,0.95,292.4,46.0,11.2,967,18012,0.00,2.22,0.00,0.000,6,0.000,0.044,2886,1734,1444
$GC,18350,1.03,292.4,17.5,7.8,1028,18356,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1733,1442
$FREEZE,6.64,1.166,-1.835
$FREEZE,6.04,1.165,-1.834
$FREEZE,5.57,1.171,-1.834
$FREEZE,5.12,1.173,-1.834
$FREEZE,4.54,1.172,-1.833
$FREEZE,3.96,1.168,-1.833
$FREEZE,3.53,1.162,-1.833
$FREEZE,2.81,1.161,-1.832
$STATE,18530,end climb,SURFACE_DEPTH_REACHED
$STATE,18530,begin surface coast
$FREEZE,2.17,1.162,-1.831
$FREEZE,1.59,1.142,-1.831
$FREEZE,1.55,1.147,-1.831
$FREEZE,1.44,0.933,-1.845
$FREEZE,1.47,0.240,-1.885
$FREEZE,1.41,0.600,-1.838
$FINISH,1.4,1.026865
$STATE,18565,end surface coast,CONTROL_FINISHED_OK
$STATE,18565,begin surface
$SM_CCo,18645,0.00,0.000,0,0,1437,297.55
$SM_GC,2.30,6.90,0.00,0.00,0.054,0.000,0.000,338,2240,1437,-10.67,0.28,297.55
$RAFOS_CLK,734
$RAFOS,3,1229502844,8.583333,8.567778,67,66,59,58,57,57,209,141,184,154,200,174
$RAFOS,2,1229502245,8.416667,8.401389,60,60,57,55,51,50,196,220,136,207,179,162
$RAFOS,1,1229501649,8.250000,8.235833,66,56,55,53,52,51,206,142,184,193,217,124
$RAFOS,0,1229501051,8.083333,8.069722,61,59,59,57,53,51,228,201,153,144,175,126
$RAFOS,4,1229489060,4.750000,4.738889,66,58,53,53,51,50,150,177,205,219,133,189
$RAFOS,3,1229488453,4.583333,4.570278,58,57,55,54,54,52,191,145,173,164,204,221
$RAFOS,2,1229487841,4.416667,4.400278,88,62,61,54,52,51,661,191,205,159,175,674
$RAFOS,1,1229487255,4.250000,4.237500,67,64,59,58,52,51,807,202,211,150,223,136
$RAFOS,0,1229486642,4.083333,4.067222,62,61,58,55,51,48,199,210,146,163,222,119
$RAFOS_FIX,6644.574707,-5703.349609,171208,000020,2,87,1.36
$IRIDIUM_FIX,6620.33,-5651.93,120398,222222
$TT8_MAMPS,0.026845
$HUMID,1803
$INTERNAL_PRESSURE,9.92226
$TCM_TEMP,16.40
$XPDR_PINGS,123
$24V_AH,22.0,77.212
$10V_AH,10.5,35.372
$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,22.450,126.050,389.025,0.000,0.000,30.477,33.770,171.694,30.750,0.000,0.000,11.311,1983.802,13829.234,524.964,2064.854,612.014,0.000,1610.751,0.000,2039.737,3240.000,0.533,0.000
$DEVICE_MAMPS,236.236,68.263,1206.491,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,740.964,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34676,1066
$CAP_FILE_SIZE,146193,0
$CFSIZE,260165632,220626944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.6
$GPS,171208,084507,6652.634,-5653.701,35,1.3,40,-37.3