version: 66.04
glider: 108
mission: 11
dive: 473
start: 12 17 108 14 18 35
data:
$ID,108
$MISSION,11
$DIVE,473
$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,-122021.36
$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,37
$R_STBD_OVSHOOT,38
$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
$GPS1,140530,6652.550,-5650.611,36,1.5,41,-37.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-68.7
$GPS2,141817,6652.631,-5650.614,12,2.5,31,-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,42.9,19296,-13.0,-7.021
$D_GRID,609
$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,16,-0.99,-146.0,0.0,0.0,0,96,0.00,0.00,-77.53,0.000,6,0.000,0.000,336,2258,3247
$GC,100,-0.99,-146.0,2.9,-0.9,14,114,8.80,2.35,0.00,0.000,4,0.241,0.052,2473,822,3251
$GC,281,-0.60,-146.0,20.6,-10.9,45,288,0.30,2.28,0.00,0.000,6,0.143,0.054,2550,2227,3254
$GC,627,-0.60,-146.0,42.4,-5.9,106,633,0.00,2.20,0.00,0.000,4,0.000,0.066,2542,3597,3254
$GC,697,-0.65,-146.0,46.8,-6.4,118,704,0.00,2.12,0.00,0.000,6,0.000,0.042,2542,2217,3254
$GC,1043,-0.71,-146.0,69.7,-7.1,179,1049,0.00,2.17,0.00,0.000,4,0.000,0.054,2542,816,3254
$GC,1152,-0.71,-146.0,77.8,-7.4,198,1158,0.00,2.28,0.00,0.000,6,0.000,0.054,2532,2234,3254
$GC,1498,-0.79,-146.0,98.4,-5.7,259,1504,0.10,0.00,0.00,0.000,6,0.084,0.000,2484,2234,3254
$GC,1834,-0.73,-146.0,121.3,-6.8,278,1839,0.15,2.20,0.00,0.000,4,0.138,0.067,2518,3605,3252
$GC,1936,-0.82,-146.0,127.6,-6.1,282,1940,0.00,2.12,0.00,0.000,6,0.000,0.044,2518,2217,3252
$GC,2259,-0.91,-146.0,147.3,-6.1,298,2264,0.12,2.17,0.00,0.000,4,0.081,0.054,2461,819,3252
$GC,2444,-0.75,-146.0,161.4,-7.5,306,2449,0.22,2.28,0.00,0.000,6,0.130,0.054,2516,2239,3252
$GC,2768,-0.85,-146.0,174.2,-3.3,322,2769,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2239,3251
$GC,3075,-0.96,-146.0,184.6,-3.4,337,3080,0.15,2.17,0.00,0.000,4,0.074,0.065,2441,3605,3252
$GC,3127,-0.80,-146.0,187.7,-6.7,339,3132,0.22,2.12,0.00,0.000,6,0.142,0.042,2506,2213,3252
$GC,3455,-0.86,-146.0,203.3,-5.4,355,3459,0.00,2.15,0.00,0.000,4,0.000,0.052,2506,816,3253
$GC,3602,-0.86,-146.0,211.8,-5.0,361,3606,0.00,2.25,0.00,0.000,6,0.000,0.051,2499,2235,3253
$GC,3924,-0.86,-146.0,225.9,-4.4,377,3928,0.00,2.15,0.00,0.000,4,0.000,0.064,2488,3604,3254
$GC,4076,-0.86,-146.0,233.3,-4.7,383,4082,0.00,2.10,0.00,0.000,6,0.000,0.040,2488,2220,3254
$GC,4393,-0.86,-146.0,247.1,-4.5,399,4397,0.00,2.15,0.00,0.000,4,0.000,0.051,2488,822,3255
$GC,4472,-0.86,-146.0,250.9,-5.0,402,4476,0.00,2.25,0.00,0.000,6,0.000,0.051,2479,2240,3255
$GC,4794,-0.86,-146.0,265.3,-4.5,418,4795,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2240,3255
$GC,5104,-0.86,-146.0,279.0,-4.5,433,5107,0.00,2.15,0.00,0.000,4,0.000,0.065,2469,3598,3255
$GC,5166,-0.86,-146.0,282.2,-5.7,435,5172,0.10,2.08,0.00,0.000,6,0.143,0.039,2494,2226,3255
$GC,5483,-0.92,-146.0,294.2,-3.8,451,5487,0.00,2.15,0.00,0.000,4,0.000,0.052,2494,829,3256
$GC,5562,-0.92,-146.0,297.9,-4.3,454,5566,0.00,2.22,0.00,0.000,6,0.000,0.050,2487,2241,3256
$GC,5884,-0.92,-146.0,312.0,-4.7,470,5888,0.00,2.15,0.00,0.000,4,0.000,0.064,2476,3598,3256
$GC,5946,-0.92,-146.0,315.4,-5.8,472,5953,0.00,2.08,0.00,0.000,6,0.000,0.040,2476,2227,3256
$GC,6263,-0.92,-146.0,331.2,-5.1,488,6267,0.00,2.15,0.00,0.000,4,0.000,0.051,2476,821,3257
$GC,6377,-0.85,-146.0,337.6,-5.5,493,6381,0.12,2.25,0.00,0.000,6,0.130,0.051,2501,2240,3257
$GC,6708,-0.93,-146.0,352.5,-4.5,509,6712,0.10,2.17,0.00,0.000,4,0.084,0.062,2444,3600,3257
$GC,6782,-0.82,-146.0,357.6,-6.8,512,6786,0.20,2.10,0.00,0.000,6,0.139,0.039,2501,2216,3257
$GC,7110,-0.91,-146.0,376.2,-5.4,528,7113,0.00,2.12,0.00,0.000,4,0.000,0.051,2501,833,3258
$GC,7217,-0.97,-146.0,382.5,-5.9,532,7224,0.10,2.22,0.00,0.000,6,0.077,0.050,2446,2232,3257
$GC,7557,-0.87,-146.0,405.5,-6.9,547,7561,0.17,2.17,0.00,0.000,4,0.140,0.062,2488,3597,3257
$GC,7694,-0.96,-146.0,413.7,-5.8,550,7698,0.00,2.10,0.00,0.000,6,0.000,0.039,2488,2217,3257
$GC,8019,-1.02,-146.0,429.1,-4.5,558,8024,0.12,2.15,0.00,0.000,4,0.077,0.049,2432,818,3257
$GC,8256,-0.82,-146.0,444.1,-6.5,563,8261,0.28,2.28,0.00,0.000,6,0.129,0.051,2504,2231,3257
$GC,8570,-0.95,-146.0,457.3,-4.1,571,8572,0.12,0.00,0.00,0.000,6,0.079,0.000,2449,2231,3257
$GC,8895,-0.86,-146.0,476.8,-6.3,579,8899,0.17,2.22,0.00,0.000,4,0.141,0.049,2501,829,3257
$GC,8975,-0.92,-146.0,481.1,-5.1,580,8981,0.00,2.25,0.00,0.000,6,0.000,0.049,2493,2243,3257
$GC,9307,-1.00,-146.0,498.5,-5.3,589,9309,0.12,0.00,0.00,0.000,6,0.074,0.000,2434,2243,3257
$GC,9632,-0.86,-146.0,520.3,-6.6,597,9634,0.20,0.00,0.00,0.000,6,0.140,0.000,2492,2243,3257
$GC,9957,-0.94,-146.0,535.9,-4.6,605,9961,0.00,2.22,0.00,0.000,4,0.000,0.051,2492,831,3257
$GC,10019,-0.94,-146.0,539.0,-5.3,606,10023,0.00,2.22,0.00,0.000,6,0.000,0.051,2485,2239,3257
$GC,10333,-0.94,-146.0,553.9,-4.8,614,10337,0.00,2.17,0.00,0.000,4,0.000,0.064,2474,3598,3257
$GC,10385,-0.94,-146.0,556.6,-5.1,615,10389,0.00,2.10,0.00,0.000,6,0.000,0.039,2474,2215,3257
$GC,10710,-0.94,-146.0,573.1,-5.0,623,10714,0.00,2.12,0.00,0.000,4,0.000,0.051,2474,830,3257
$GC,10811,-0.94,-146.0,578.5,-5.5,625,10814,0.00,2.22,0.00,0.000,6,0.000,0.051,2464,2237,3257
$GC,11131,-0.94,-146.0,595.6,-5.4,633,11134,0.00,2.17,0.00,0.000,4,0.000,0.064,2454,3600,3257
$GC,11232,-0.89,-146.0,601.7,-6.4,635,11237,0.12,2.10,0.00,0.000,6,0.145,0.040,2487,2218,3257
$STATE,11387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11387,begin apogee
$GC,11396,-0.31,0.0,609.1,4.7,639,11528,0.40,0.00,129.35,1.186,6,0.117,0.000,2616,1747,2650
$STATE,11529,end apogee,CONTROL_FINISHED_OK
$STATE,11529,begin climb
$GC,11532,0.99,146.0,610.7,0.0,642,11672,0.90,2.60,132.32,1.114,4,0.095,0.056,2902,3154,2053
$GC,11695,0.67,146.0,596.1,11.6,646,11700,0.32,2.40,0.00,0.000,6,0.136,0.041,2826,1748,2050
$GC,12038,0.67,146.0,570.7,7.2,655,12042,0.00,2.30,0.00,0.000,4,0.000,0.057,2826,3155,2045
$GC,12060,0.67,146.0,568.8,7.8,655,12064,0.00,2.25,0.00,0.000,6,0.000,0.043,2833,1723,2045
$GC,12409,0.67,146.0,542.3,7.5,664,12412,0.00,2.30,0.00,0.000,4,0.000,0.058,2833,3148,2044
$GC,12443,0.58,146.0,539.4,8.9,664,12448,0.15,2.20,0.00,0.000,6,0.132,0.043,2802,1727,2043
$GC,12780,0.76,163.4,517.9,6.5,673,12800,0.15,2.30,14.35,1.067,4,0.066,0.058,2871,3156,1983
$GC,12818,0.58,163.4,514.3,10.0,673,12825,0.28,2.22,0.00,0.000,6,0.132,0.044,2800,1726,1981
$GC,13151,0.77,170.5,491.4,6.8,682,13166,0.15,2.35,7.40,0.948,4,0.064,0.058,2871,3153,1954
$GC,13177,0.68,170.5,488.9,9.4,682,13182,0.20,2.20,0.00,0.000,6,0.132,0.044,2822,1734,1953
$GC,13514,0.75,170.5,461.0,8.3,691,13518,0.00,2.28,0.00,0.000,4,0.000,0.059,2822,3154,1952
$GC,13532,0.81,170.5,459.3,8.5,691,13537,0.10,2.17,0.00,0.000,6,0.081,0.044,2879,1735,1952
$GC,13845,0.66,170.5,423.4,11.6,699,13847,0.20,0.00,0.00,0.000,6,0.124,0.000,2818,1735,1951
$GC,14170,0.76,170.5,398.2,7.3,707,14175,0.10,2.30,0.00,0.000,4,0.079,0.060,2867,3162,1951
$GC,14188,0.76,170.5,396.7,7.0,708,14193,0.12,2.20,0.00,0.000,6,0.141,0.044,2842,1740,1951
$GC,14521,0.76,170.5,370.8,7.4,724,14522,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1740,1950
$GC,14830,0.76,170.5,348.4,7.2,739,14833,0.00,2.28,0.00,0.000,4,0.000,0.059,2842,3158,1950
$GC,14849,0.69,170.5,346.9,7.7,739,14855,0.00,2.20,0.00,0.000,6,0.000,0.044,2850,1734,1949
$GC,15165,0.69,170.5,322.7,8.0,755,15166,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1734,1949
$GC,15475,0.69,170.5,293.0,10.2,770,15479,0.00,2.30,0.00,0.000,4,0.000,0.059,2851,3150,1950
$GC,15499,0.61,170.5,290.5,10.2,771,15504,0.17,2.20,0.00,0.000,6,0.128,0.043,2809,1729,1950
$GC,15827,0.79,170.5,265.9,7.0,787,15829,0.15,0.00,0.00,0.000,6,0.065,0.000,2880,1729,1950
$GC,16135,0.63,170.5,235.4,9.3,802,16140,0.20,2.33,0.00,0.000,4,0.122,0.057,2814,3153,1950
$GC,16153,0.54,170.5,234.0,8.9,802,16159,0.10,2.22,0.00,0.000,6,0.137,0.043,2794,1724,1950
$GC,16469,1.10,220.6,218.5,5.4,818,16520,0.35,2.42,43.12,0.937,4,0.072,0.057,2928,3153,1749
$GC,16655,0.75,220.6,197.1,14.3,826,16660,0.32,2.22,0.00,0.000,6,0.136,0.044,2843,1736,1743
$GC,16971,0.80,220.6,170.8,9.1,841,16972,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1736,1741
$GC,17281,0.87,220.6,137.3,11.2,856,17286,0.10,2.25,0.00,0.000,4,0.077,0.055,2904,330,1740
$GC,17292,0.87,220.6,135.8,11.1,856,17299,0.15,2.22,0.00,0.000,6,0.128,0.043,2861,1755,1741
$GC,17608,0.87,220.6,103.7,8.9,872,17609,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1755,1740
$GC,17940,1.00,220.6,76.3,7.6,923,17947,0.12,2.20,0.00,0.000,4,0.071,0.057,2922,3145,1740
$GC,17971,0.94,220.6,73.1,9.2,928,17978,0.17,2.20,0.00,0.000,6,0.135,0.044,2882,1735,1740
$GC,18318,1.03,256.9,49.2,5.9,989,18354,0.10,0.00,30.95,0.815,6,0.081,0.000,2934,1734,1603
$GC,18693,0.89,256.9,11.4,11.7,1055,18699,0.20,0.00,0.00,0.000,6,0.126,0.000,2870,1735,1597
$FREEZE,6.80,0.970,-1.833
$FREEZE,6.33,0.969,-1.832
$FREEZE,5.98,0.969,-1.832
$FREEZE,5.60,0.971,-1.832
$FREEZE,5.10,0.973,-1.832
$FREEZE,4.67,0.971,-1.831
$FREEZE,4.14,0.967,-1.831
$FREEZE,3.64,0.966,-1.830
$FREEZE,3.19,0.969,-1.830
$FREEZE,2.77,0.972,-1.830
$STATE,18805,end climb,SURFACE_DEPTH_REACHED
$STATE,18808,begin surface coast
$FREEZE,2.41,0.958,-1.830
$FREEZE,2.08,0.957,-1.829
$FREEZE,1.65,0.934,-1.829
$FREEZE,1.53,0.489,-1.300
$FREEZE,1.51,0.621,-0.724
$FREEZE,1.43,0.560,-1.847
$FREEZE,1.50,0.211,-1.847
$FINISH,1.5,1.027020
$STATE,18847,end surface coast,CONTROL_FINISHED_OK
$STATE,18847,begin surface
$SM_CCo,18926,0.00,0.000,0,0,1592,259.53
$SM_GC,2.37,6.72,0.00,0.00,0.044,0.000,0.000,333,2242,1592,-10.67,0.34,259.53
$RAFOS_CLK,746
$RAFOS,4,1229532243,16.750000,16.734167,83,66,58,57,57,51,860,213,172,190,199,158
$RAFOS,3,1229531644,16.583334,16.567778,61,59,57,55,54,53,186,218,209,156,1299,144
$RAFOS,2,1229531064,16.416666,16.406666,74,67,66,60,60,59,206,185,561,224,155,550
$RAFOS,1,1229530455,16.250000,16.237499,59,54,52,52,51,51,211,174,126,221,139,194
$RAFOS,0,1229529843,16.083334,16.067499,62,59,57,56,55,49,191,972,122,170,221,156
$RAFOS_FIX,-25908.130859,-4013866.500000,171208,161612,2,78,65053.33
$IRIDIUM_FIX,6625.71,-5648.94,130398,141437
$TT8_MAMPS,0.026845
$HUMID,1800
$INTERNAL_PRESSURE,9.94179
$TCM_TEMP,16.40
$XPDR_PINGS,136
$24V_AH,22.0,77.504
$10V_AH,10.5,35.523
$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,23.975,156.500,357.500,0.000,0.000,48.873,75.115,386.213,34.000,0.000,0.000,34.210,2069.448,13964.162,514.649,2237.022,932.354,0.000,1679.534,0.000,2181.750,1800.000,0.532,0.000
$DEVICE_MAMPS,240.838,67.496,1185.782,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,751.597,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34647,1082
$CAP_FILE_SIZE,162918,0
$CFSIZE,260165632,220479488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.8
$GPS,171208,193613,6655.155,-5650.659,39,1.0,50,-37.4