version: 66.04
glider: 108
mission: 11
dive: 472
start: 12 17 108 8 59 57
data:
$ID,108
$MISSION,11
$DIVE,472
$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,-121986.52
$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,32
$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
$GPS1,084507,6652.634,-5653.701,35,1.3,40,-37.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-64.0
$GPS2,085937,6652.622,-5653.676,131,1.3,142,-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,49.3,19652,-13.0,-7.021
$D_GRID,638
$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,-146.0,0.0,0.0,0,101,0.00,0.00,-80.20,0.000,6,0.000,0.000,338,2245,3247
$GC,106,-0.99,-146.0,2.9,-0.7,15,120,8.80,2.35,0.00,0.000,4,0.242,0.054,2470,814,3252
$GC,317,-0.80,-146.0,24.2,-8.8,52,325,0.17,2.33,0.00,0.000,6,0.132,0.056,2512,2235,3254
$GC,664,-0.80,-146.0,45.0,-6.0,113,670,0.00,2.22,0.00,0.000,4,0.000,0.067,2504,3605,3254
$GC,783,-0.80,-146.0,53.9,-8.0,134,790,0.00,2.17,0.00,0.000,6,0.000,0.044,2503,2210,3253
$GC,1129,-0.80,-146.0,81.7,-6.7,195,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2210,3253
$GC,1473,-0.80,-146.0,96.0,-5.7,256,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2210,3253
$GC,1813,-0.80,-146.0,117.2,-6.9,281,1816,0.00,2.17,0.00,0.000,4,0.000,0.056,2503,820,3252
$GC,1869,-0.80,-146.0,121.9,-7.7,283,1872,0.00,2.30,0.00,0.000,6,0.000,0.057,2493,2237,3252
$GC,2190,-0.80,-146.0,141.3,-5.4,299,2194,0.00,2.20,0.00,0.000,4,0.000,0.067,2483,3606,3252
$GC,2288,-0.80,-146.0,147.4,-6.8,303,2293,0.10,2.15,0.00,0.000,6,0.142,0.044,2509,2210,3252
$GC,2615,-0.91,-146.0,167.0,-6.0,319,2620,0.10,2.17,0.00,0.000,4,0.087,0.053,2461,816,3251
$GC,2677,-0.78,-146.0,171.8,-7.6,321,2684,0.20,2.30,0.00,0.000,6,0.128,0.054,2509,2242,3251
$GC,2994,-0.89,-146.0,186.1,-4.3,337,2996,0.10,0.00,0.00,0.000,6,0.084,0.000,2463,2242,3252
$GC,3302,-0.83,-146.0,206.3,-7.2,352,3307,0.15,2.20,0.00,0.000,4,0.139,0.065,2497,3601,3253
$GC,3377,-0.94,-146.0,210.8,-6.1,355,3380,0.00,2.12,0.00,0.000,6,0.000,0.041,2497,2217,3253
$GC,3704,-1.00,-146.0,228.1,-5.2,371,3709,0.12,2.17,0.00,0.000,4,0.080,0.051,2439,826,3254
$GC,3819,-0.80,-146.0,236.0,-7.7,376,3824,0.28,2.30,0.00,0.000,6,0.130,0.053,2510,2246,3254
$GC,4147,-0.92,-146.0,252.3,-4.9,392,4151,0.12,2.30,0.00,0.000,4,0.077,0.051,2455,815,3255
$GC,4237,-0.77,-146.0,258.5,-6.9,396,4241,0.25,2.30,0.00,0.000,6,0.130,0.052,2517,2238,3255
$GC,4561,-0.92,-146.0,274.5,-4.8,412,4562,0.12,0.00,0.00,0.000,6,0.078,0.000,2462,2238,3256
$GC,4868,-0.87,-146.0,292.4,-5.8,427,4870,0.12,0.00,0.00,0.000,6,0.143,0.000,2495,2238,3256
$GC,5178,-0.96,-146.0,305.8,-4.4,442,5182,0.10,2.25,0.00,0.000,4,0.091,0.051,2449,816,3256
$GC,5284,-0.81,-146.0,312.4,-5.9,446,5291,0.22,2.30,0.00,0.000,6,0.129,0.051,2504,2247,3256
$GC,5602,-0.93,-146.0,327.0,-4.8,462,5604,0.10,0.00,0.00,0.000,6,0.087,0.000,2459,2247,3256
$GC,5912,-0.87,-146.0,346.4,-6.4,477,5917,0.12,2.28,0.00,0.000,4,0.143,0.051,2497,821,3256
$GC,5979,-0.87,-146.0,350.6,-5.8,480,5983,0.00,2.28,0.00,0.000,6,0.000,0.052,2489,2238,3257
$GC,6307,-0.92,-146.0,367.9,-5.0,496,6311,0.00,2.17,0.00,0.000,4,0.000,0.064,2479,3599,3256
$GC,6346,-0.92,-146.0,370.1,-5.7,497,6352,0.00,2.10,0.00,0.000,6,0.000,0.039,2479,2220,3257
$GC,6664,-0.92,-146.0,386.1,-4.9,513,6668,0.00,2.15,0.00,0.000,4,0.000,0.051,2479,830,3257
$GC,6771,-0.92,-146.0,392.1,-5.7,517,6778,0.00,2.22,0.00,0.000,6,0.000,0.050,2469,2240,3257
$GC,7106,-0.92,-146.0,410.1,-5.6,530,7107,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2241,3257
$GC,7431,-0.92,-146.0,429.7,-6.3,538,7435,0.00,2.22,0.00,0.000,4,0.000,0.052,2469,832,3257
$GC,7488,-0.85,-146.0,433.7,-7.0,539,7493,0.12,2.22,0.00,0.000,6,0.130,0.051,2494,2240,3257
$GC,7808,-0.95,-146.0,451.8,-5.6,547,7809,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2240,3257
$GC,8134,-1.06,-146.0,469.0,-5.2,555,8138,0.15,2.25,0.00,0.000,4,0.073,0.051,2430,834,3257
$GC,8201,-0.87,-146.0,473.7,-6.8,556,8206,0.25,2.28,0.00,0.000,6,0.132,0.051,2494,2241,3257
$GC,8550,-0.96,-146.0,489.6,-4.1,565,8554,0.10,2.20,0.00,0.000,4,0.084,0.063,2439,3602,3257
$GC,8596,-0.85,-146.0,492.1,-5.9,566,8601,0.20,2.10,0.00,0.000,6,0.141,0.040,2495,2225,3257
$GC,8927,-0.96,-146.0,505.0,-3.7,574,8931,0.10,2.17,0.00,0.000,4,0.091,0.052,2449,833,3257
$GC,9076,-0.83,-146.0,512.8,-6.2,577,9081,0.22,2.25,0.00,0.000,6,0.130,0.051,2505,2235,3257
$GC,9390,-0.96,-146.0,524.1,-3.5,585,9394,0.12,2.17,0.00,0.000,4,0.081,0.063,2440,3596,3257
$GC,9436,-0.86,-146.0,526.5,-5.8,586,9440,0.20,2.10,0.00,0.000,6,0.142,0.040,2497,2217,3257
$GC,9767,-0.97,-146.0,539.8,-4.0,594,9772,0.12,2.15,0.00,0.000,4,0.081,0.051,2441,826,3257
$GC,9859,-0.82,-146.0,545.2,-6.6,596,9864,0.25,2.25,0.00,0.000,6,0.130,0.053,2505,2233,3256
$GC,10185,-0.96,-146.0,558.5,-4.0,604,10187,0.12,0.00,0.00,0.000,6,0.077,0.000,2452,2233,3256
$GC,10509,-0.90,-146.0,577.1,-5.8,612,10511,0.12,0.00,0.00,0.000,6,0.146,0.000,2485,2233,3256
$GC,10834,-0.97,-146.0,593.0,-4.9,620,10838,0.00,2.22,0.00,0.000,4,0.000,0.053,2485,829,3256
$GC,10902,-0.97,-146.0,596.7,-6.0,621,10906,0.00,2.28,0.00,0.000,6,0.000,0.052,2477,2243,3256
$GC,11250,-0.97,-146.0,614.8,-5.2,630,11254,0.00,2.17,0.00,0.000,4,0.000,0.067,2466,3600,3256
$GC,11341,-0.97,-146.0,619.1,-5.4,632,11345,0.00,2.10,0.00,0.000,6,0.000,0.041,2466,2229,3256
$GC,11675,-0.97,-146.0,636.5,-5.9,640,11679,0.00,2.20,0.00,0.000,4,0.000,0.054,2466,821,3256
$STATE,11694,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11695,begin apogee
$GC,11703,-0.31,0.0,638.1,6.0,640,11836,0.45,0.00,129.80,1.212,6,0.123,0.000,2608,1749,2650
$STATE,11837,end apogee,CONTROL_FINISHED_OK
$STATE,11837,begin climb
$GC,11841,0.99,146.0,639.0,0.0,643,11978,0.88,0.00,133.48,1.138,6,0.094,0.000,2891,1749,2054
$GC,12292,0.79,146.0,594.8,10.1,654,12297,0.15,2.28,0.00,0.000,4,0.131,0.060,2850,3147,2045
$GC,12332,0.63,146.0,590.6,9.1,655,12337,0.17,2.22,0.00,0.000,6,0.131,0.045,2809,1748,2044
$GC,12658,0.80,183.1,571.2,5.8,663,12696,0.15,0.00,31.88,1.136,6,0.068,0.000,2876,1748,1903
$GC,13022,0.64,183.1,534.5,10.5,672,13024,0.20,0.00,0.00,0.000,6,0.124,0.000,2816,1748,1896
$GC,13347,0.76,183.1,511.2,7.1,680,13352,0.10,2.28,0.00,0.000,4,0.081,0.060,2864,3163,1895
$GC,13370,0.70,183.1,509.0,9.0,680,13375,0.17,2.25,0.00,0.000,6,0.133,0.045,2824,1724,1894
$GC,13713,0.77,183.1,481.9,8.0,689,13717,0.10,2.30,0.00,0.000,4,0.079,0.058,2874,3156,1894
$GC,13723,0.77,183.1,480.9,8.1,689,13728,0.15,2.22,0.00,0.000,6,0.139,0.044,2841,1726,1894
$GC,14036,0.77,183.1,452.8,8.9,697,14037,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1726,1893
$GC,14361,0.77,183.1,424.1,8.8,705,14365,0.00,2.30,0.00,0.000,4,0.000,0.059,2841,3156,1892
$GC,14377,0.77,183.1,422.5,9.0,705,14381,0.00,2.20,0.00,0.000,6,0.000,0.044,2849,1736,1892
$GC,14691,0.77,183.1,394.7,8.6,714,14695,0.00,2.33,0.00,0.000,4,0.000,0.059,2849,3163,1892
$GC,14719,0.69,183.1,392.0,9.0,715,14723,0.12,2.22,0.00,0.000,6,0.137,0.044,2824,1739,1892
$GC,15046,0.81,207.5,370.5,6.2,731,15071,0.12,2.35,20.40,1.033,4,0.073,0.060,2883,3159,1804
$GC,15084,0.64,207.5,367.2,9.2,732,15091,0.28,2.25,0.00,0.000,6,0.130,0.044,2813,1738,1802
$GC,15401,0.90,272.8,349.9,4.9,748,15462,0.20,0.00,58.67,1.033,6,0.061,0.000,2902,1738,1537
$GC,15771,0.70,272.8,306.4,13.1,766,15773,0.25,0.00,0.00,0.000,6,0.127,0.000,2827,1738,1525
$GC,16079,0.85,276.5,283.9,6.9,781,16081,0.12,0.00,0.00,0.000,6,0.071,0.000,2887,1738,1523
$GC,16390,0.73,276.5,247.8,11.6,796,16395,0.17,2.25,0.00,0.000,4,0.123,0.058,2842,335,1522
$GC,16414,0.73,276.5,245.2,10.2,797,16418,0.00,2.22,0.00,0.000,6,0.000,0.045,2843,1755,1522
$GC,16747,0.86,280.9,221.8,6.9,813,16758,0.08,2.22,6.03,0.760,4,0.094,0.058,2891,3147,1504
$GC,16804,0.66,280.9,215.4,12.8,815,16811,0.28,2.20,0.00,0.000,6,0.127,0.044,2819,1737,1503
$GC,17120,1.27,280.9,189.5,10.4,831,17125,0.40,2.25,0.00,0.000,4,0.101,0.057,2958,327,1502
$GC,17148,1.73,280.9,186.4,11.3,832,17153,0.30,2.22,0.00,0.000,6,0.052,0.044,3085,1742,1501
$GC,17466,0.91,280.9,88.7,33.7,850,17473,0.70,2.30,0.00,0.000,4,0.161,0.055,2886,328,1501
$GC,17498,0.48,280.9,82.5,23.7,855,17504,0.32,2.22,0.00,0.000,6,0.106,0.044,2782,1751,1501
$GC,17843,1.16,280.9,45.5,11.9,916,17850,0.43,2.20,0.00,0.000,4,0.089,0.059,2928,3147,1500
$GC,17897,1.33,280.9,39.8,9.4,925,17904,0.12,2.20,0.00,0.000,6,0.080,0.044,2989,1727,1500
$FREEZE,6.95,1.042,-1.834
$FREEZE,6.12,1.032,-1.833
$FREEZE,5.13,1.055,-1.832
$FREEZE,4.12,1.031,-1.832
$FREEZE,3.22,1.017,-1.831
$FREEZE,2.35,1.029,-1.830
$STATE,18139,end climb,SURFACE_DEPTH_REACHED
$STATE,18139,begin surface coast
$FREEZE,1.60,1.020,-1.829
$FREEZE,1.61,1.014,-1.829
$FREEZE,1.48,0.382,-1.073
$FINISH,1.5,1.015844
$STATE,18157,end surface coast,CONTROL_FINISHED_OK
$STATE,18157,begin surface
$SM_CCo,18238,0.00,0.000,0,0,1499,282.34
$SM_GC,2.42,7.12,0.00,0.00,0.051,0.000,0.000,336,2252,1499,-10.67,0.62,282.34
$RAFOS_CLK,731
$RAFOS,4,1229517862,12.750000,12.739445,83,69,56,53,53,51,764,215,132,156,169,187
$RAFOS,3,1229517253,12.583333,12.570278,62,61,57,57,54,48,193,150,171,219,120,204
$RAFOS,2,1229516641,12.416667,12.400278,99,72,57,53,52,51,674,218,198,141,115,184
$RAFOS,1,1229516065,12.250000,12.240278,67,64,55,52,51,50,217,197,183,140,117,161
$RAFOS,0,1229515482,12.083333,12.078333,66,65,59,56,55,52,203,192,156,226,117,172
$RAFOS_FIX,6653.126953,-5656.390625,171208,121216,2,91,0.17
$IRIDIUM_FIX,6625.71,-5650.52,130398,090954
$TT8_MAMPS,0.026845
$HUMID,1785
$INTERNAL_PRESSURE,9.94179
$TCM_TEMP,16.80
$XPDR_PINGS,88
$24V_AH,22.0,77.360
$10V_AH,10.5,35.445
$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,26.850,142.700,380.250,0.000,0.000,83.571,203.332,178.518,22.000,0.000,0.000,146.555,1861.415,13807.325,543.823,2063.964,830.317,0.000,1570.161,0.000,1900.350,1800.000,0.532,0.000
$DEVICE_MAMPS,242.372,67.496,1211.860,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,675.066,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31493,971
$CAP_FILE_SIZE,148407,0
$CFSIZE,260165632,220545024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.7
$GPS,171208,140530,6652.550,-5650.611,36,1.5,41,-37.3