version: 66.04
glider: 108
mission: 11
dive: 474
start: 12 17 108 19 52 9
data:
$ID,108
$MISSION,11
$DIVE,474
$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,-122038.24
$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,34
$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
$GPS1,193613,6655.155,-5650.659,39,1.0,50,-37.4
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-68.6
$GPS2,195150,6655.226,-5650.769,9,1.3,14,-37.4
$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,45.3,14536,-13.0,-7.021
$D_GRID,625
$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,-146.0,0.0,0.0,0,95,0.00,0.00,-73.18,0.000,6,0.000,0.000,333,2242,3247
$GC,99,-0.99,-146.0,3.2,-1.3,14,113,8.75,2.35,0.00,0.000,4,0.240,0.052,2473,810,3251
$GC,356,-0.70,-146.0,30.6,-11.1,59,363,0.22,2.28,0.00,0.000,6,0.135,0.054,2529,2232,3253
$GC,701,-0.70,-146.0,53.0,-6.4,120,708,0.00,2.20,0.00,0.000,4,0.000,0.066,2521,3598,3254
$GC,771,-0.70,-146.0,58.1,-7.7,132,777,0.00,2.12,0.00,0.000,6,0.000,0.042,2521,2213,3254
$GC,1116,-0.70,-146.0,84.8,-7.3,193,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2213,3253
$GC,1460,-0.75,-146.0,99.9,-2.0,254,1466,0.00,2.28,0.00,0.000,4,0.000,0.066,2511,3601,3252
$GC,1518,-0.81,-146.0,102.5,-5.4,257,1522,0.00,2.12,0.00,0.000,6,0.000,0.043,2511,2214,3252
$GC,1841,-0.85,-146.0,125.2,-7.5,273,1845,0.00,2.15,0.00,0.000,4,0.000,0.054,2511,813,3252
$GC,2017,-0.85,-146.0,139.4,-7.9,280,2023,0.00,2.28,0.00,0.000,6,0.000,0.054,2501,2242,3251
$GC,2334,-0.85,-146.0,161.9,-5.6,296,2337,0.00,2.17,0.00,0.000,4,0.000,0.067,2490,3604,3251
$GC,2448,-0.90,-146.0,167.7,-4.7,301,2451,0.00,2.12,0.00,0.000,6,0.000,0.042,2491,2213,3251
$GC,2781,-0.90,-146.0,181.9,-4.5,317,2784,0.00,2.15,0.00,0.000,4,0.000,0.053,2490,819,3251
$GC,2888,-0.90,-146.0,187.3,-5.1,321,2894,0.00,2.28,0.00,0.000,6,0.000,0.053,2481,2243,3251
$GC,3204,-0.90,-146.0,203.7,-5.4,337,3205,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2243,3252
$GC,3514,-0.90,-146.0,222.7,-6.5,352,3518,0.00,2.15,0.00,0.000,4,0.000,0.065,2470,3600,3253
$GC,3586,-0.90,-146.0,228.3,-8.0,355,3590,0.00,2.10,0.00,0.000,6,0.000,0.041,2470,2217,3253
$GC,3914,-0.86,-146.0,251.7,-7.3,371,3918,0.10,2.15,0.00,0.000,4,0.146,0.050,2497,823,3253
$GC,4098,-0.86,-146.0,264.3,-7.0,379,4102,0.00,2.25,0.00,0.000,6,0.000,0.051,2490,2237,3254
$GC,4420,-0.86,-146.0,283.0,-5.9,395,4424,0.00,2.17,0.00,0.000,4,0.000,0.063,2480,3604,3255
$GC,4534,-0.86,-146.0,290.1,-6.1,400,4538,0.00,2.10,0.00,0.000,6,0.000,0.039,2479,2216,3254
$GC,4867,-0.86,-146.0,308.3,-5.3,416,4871,0.00,2.12,0.00,0.000,4,0.000,0.050,2480,829,3255
$GC,5014,-0.86,-146.0,316.6,-6.3,422,5019,0.10,2.22,0.00,0.000,6,0.134,0.050,2496,2234,3255
$GC,5331,-0.93,-146.0,331.2,-4.6,437,5335,0.00,2.20,0.00,0.000,4,0.000,0.050,2497,832,3256
$GC,5399,-0.93,-146.0,334.6,-4.5,440,5403,0.00,2.22,0.00,0.000,6,0.000,0.049,2489,2247,3256
$GC,5733,-0.93,-146.0,351.7,-5.2,456,5736,0.00,2.15,0.00,0.000,4,0.000,0.063,2479,3600,3256
$GC,5795,-0.93,-146.0,355.4,-5.8,458,5801,0.00,2.10,0.00,0.000,6,0.000,0.039,2479,2214,3257
$GC,6113,-0.93,-146.0,373.0,-5.7,474,6117,0.00,2.15,0.00,0.000,4,0.000,0.050,2479,816,3258
$GC,6254,-0.88,-146.0,381.4,-6.2,480,6258,0.00,2.28,0.00,0.000,6,0.000,0.051,2469,2245,3257
$GC,6582,-0.88,-146.0,399.2,-5.1,496,6583,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2244,3258
$GC,6887,-0.88,-146.0,414.6,-5.0,504,6891,0.00,2.22,0.00,0.000,4,0.000,0.051,2469,828,3257
$GC,6985,-0.81,-146.0,420.0,-5.9,506,6989,0.17,2.25,0.00,0.000,6,0.127,0.051,2509,2244,3258
$GC,7304,-0.94,-146.0,433.4,-4.2,514,7306,0.12,0.00,0.00,0.000,6,0.077,0.000,2454,2243,3257
$GC,7629,-0.86,-146.0,452.8,-5.9,522,7631,0.15,0.00,0.00,0.000,6,0.142,0.000,2495,2244,3257
$GC,7954,-0.96,-146.0,467.5,-4.4,530,7958,0.10,2.25,0.00,0.000,4,0.089,0.051,2450,821,3257
$GC,8045,-0.83,-146.0,472.6,-6.0,532,8050,0.20,2.25,0.00,0.000,6,0.127,0.052,2498,2230,3257
$GC,8370,-0.93,-146.0,486.1,-4.2,540,8374,0.00,2.20,0.00,0.000,4,0.000,0.064,2489,3600,3257
$GC,8427,-1.03,-146.0,488.5,-5.1,541,8431,0.12,2.10,0.00,0.000,6,0.077,0.039,2434,2218,3257
$GC,8747,-0.89,-146.0,506.5,-5.8,549,8751,0.20,2.15,0.00,0.000,4,0.140,0.050,2497,838,3257
$GC,8854,-0.94,-146.0,511.7,-4.7,551,8857,0.00,2.25,0.00,0.000,6,0.000,0.051,2490,2238,3257
$GC,9168,-1.01,-146.0,526.1,-4.8,559,9173,0.10,2.17,0.00,0.000,4,0.081,0.064,2429,3600,3257
$GC,9225,-0.86,-146.0,529.9,-7.0,560,9230,0.22,2.10,0.00,0.000,6,0.140,0.039,2498,2217,3257
$GC,9539,-0.97,-146.0,544.4,-4.6,568,9543,0.12,2.15,0.00,0.000,4,0.081,0.051,2442,830,3257
$GC,9646,-0.82,-146.0,551.1,-6.5,570,9651,0.25,2.22,0.00,0.000,6,0.130,0.051,2506,2236,3257
$GC,9995,-0.96,-146.0,565.7,-4.1,579,9997,0.12,0.00,0.00,0.000,6,0.079,0.000,2451,2236,3257
$GC,10320,-0.89,-146.0,584.0,-5.8,587,10325,0.15,2.25,0.00,0.000,4,0.142,0.050,2494,827,3257
$GC,10376,-0.94,-146.0,586.9,-4.9,588,10380,0.00,2.30,0.00,0.000,6,0.000,0.052,2487,2236,3257
$GC,10691,-1.00,-146.0,601.2,-4.5,596,10695,0.10,2.20,0.00,0.000,4,0.081,0.065,2426,3600,3256
$GC,10747,-0.85,-146.0,604.9,-7.0,597,10752,0.22,2.10,0.00,0.000,6,0.141,0.040,2497,2228,3256
$GC,11067,-0.98,-146.0,618.5,-3.7,605,11071,0.12,2.20,0.00,0.000,4,0.080,0.052,2442,821,3256
$GC,11179,-0.82,-146.0,624.9,-5.9,607,11184,0.12,2.28,0.00,0.000,1,0.132,0.053,2470,2232,3256
$STATE,11185,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11185,begin apogee
$GC,11193,-0.31,0.0,625.1,5.2,607,11333,0.43,0.00,131.62,1.188,6,0.130,0.000,2608,1746,2650
$STATE,11334,end apogee,CONTROL_FINISHED_OK
$STATE,11334,begin climb
$GC,11337,0.99,146.0,625.9,0.0,611,11479,0.88,2.53,132.50,1.131,4,0.089,0.056,2905,337,2053
$GC,11566,0.78,146.0,603.6,12.9,616,11571,0.22,2.40,0.00,0.000,6,0.130,0.045,2843,1749,2048
$GC,11914,0.78,146.0,574.1,7.9,625,11918,0.00,2.25,0.00,0.000,4,0.000,0.060,2843,3157,2044
$GC,11966,0.63,146.0,569.7,8.8,626,11970,0.15,2.22,0.00,0.000,6,0.132,0.045,2809,1737,2043
$GC,12285,0.77,165.6,548.9,6.4,634,12304,0.15,0.00,16.45,1.088,6,0.067,0.000,2877,1737,1974
$GC,12610,0.63,165.6,516.3,10.3,642,12612,0.20,0.00,0.00,0.000,6,0.121,0.000,2816,1737,1970
$GC,12934,0.74,165.6,492.7,7.2,650,12939,0.10,2.33,0.00,0.000,4,0.079,0.060,2865,3162,1969
$GC,12958,0.69,165.6,490.6,9.4,650,12963,0.17,2.22,0.00,0.000,6,0.132,0.046,2824,1731,1969
$GC,13296,0.76,165.6,464.4,7.7,659,13297,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1731,1969
$GC,13620,0.82,165.6,438.8,7.9,667,13622,0.12,0.00,0.00,0.000,6,0.071,0.000,2883,1731,1968
$GC,13945,0.62,165.6,401.6,11.6,675,13950,0.20,2.30,0.00,0.000,4,0.127,0.059,2817,3153,1968
$GC,13978,0.62,165.6,398.3,9.0,675,13984,0.00,2.20,0.00,0.000,6,0.000,0.045,2825,1731,1967
$GC,14296,0.69,165.6,374.7,7.6,691,14300,0.00,2.30,0.00,0.000,4,0.000,0.060,2825,3163,1967
$GC,14319,0.69,165.6,372.6,8.2,692,14323,0.00,2.22,0.00,0.000,6,0.000,0.045,2835,1724,1966
$GC,14652,0.69,165.6,347.0,7.3,708,14656,0.00,2.30,0.00,0.000,4,0.000,0.058,2835,3163,1967
$GC,14686,0.62,165.6,344.1,8.6,709,14691,0.12,2.22,0.00,0.000,6,0.131,0.044,2810,1723,1967
$GC,15003,0.82,216.3,325.9,5.4,724,15049,0.17,0.00,43.22,1.035,6,0.064,0.000,2889,1723,1768
$GC,15358,0.67,216.3,287.3,11.4,741,15360,0.22,0.00,0.00,0.000,6,0.120,0.000,2820,1723,1762
$GC,15666,0.94,272.3,268.6,5.2,756,15718,0.20,0.00,49.42,0.983,6,0.060,0.000,2910,1723,1539
$GC,16015,0.75,272.3,229.0,11.9,773,16019,0.20,2.22,0.00,0.000,4,0.128,0.057,2853,326,1528
$GC,16032,0.66,272.3,227.0,11.6,774,16037,0.12,2.25,0.00,0.000,6,0.109,0.046,2816,1745,1528
$GC,16362,1.31,272.3,199.2,10.9,790,16366,0.43,2.22,0.00,0.000,4,0.092,0.060,2958,3153,1524
$GC,16395,1.45,272.3,195.1,11.0,791,16402,0.12,2.20,0.00,0.000,6,0.084,0.044,3016,1731,1524
$GC,16712,0.89,272.3,122.2,22.9,807,16716,0.47,2.22,0.00,0.000,4,0.152,0.056,2882,327,1524
$GC,16803,0.97,272.3,110.2,9.0,811,16807,0.00,2.25,0.00,0.000,6,0.000,0.046,2882,1756,1523
$GC,17137,0.97,272.3,82.3,7.7,854,17143,0.00,2.20,0.00,0.000,4,0.000,0.060,2882,3152,1523
$GC,17172,0.97,272.3,79.2,8.9,860,17179,0.00,2.20,0.00,0.000,6,0.000,0.044,2892,1726,1523
$GC,17520,0.97,272.3,50.6,8.4,921,17526,0.00,2.20,0.00,0.000,4,0.000,0.057,2902,330,1523
$GC,17538,0.97,272.3,48.9,7.8,924,17545,0.00,2.22,0.00,0.000,6,0.000,0.044,2903,1752,1523
$GC,17884,0.97,272.3,18.7,8.9,985,17891,0.00,2.20,0.00,0.000,4,0.000,0.061,2903,3146,1523
$GC,17909,0.97,272.3,16.0,9.5,989,17915,0.10,2.17,0.00,0.000,6,0.137,0.044,2885,1738,1523
$FREEZE,6.98,0.490,-1.830
$FREEZE,6.59,0.476,-1.830
$FREEZE,6.12,0.467,-1.830
$FREEZE,5.70,0.468,-1.829
$FREEZE,5.35,0.463,-1.829
$FREEZE,4.85,0.453,-1.829
$FREEZE,4.45,0.465,-1.828
$FREEZE,4.01,0.487,-1.828
$FREEZE,3.53,0.477,-1.827
$FREEZE,3.07,0.472,-1.827
$FREEZE,2.64,0.472,-1.827
$STATE,18067,end climb,SURFACE_DEPTH_REACHED
$STATE,18067,begin surface coast
$FREEZE,2.17,0.439,-1.826
$FREEZE,1.81,0.438,-1.826
$FREEZE,1.50,-0.756,-0.984
$FREEZE,1.43,0.210,-1.835
$FREEZE,1.38,0.028,-1.848
$FREEZE,1.43,-0.188,-0.893
$FREEZE,1.39,-1.142,-0.953
$FINISH,1.4,1.014059
$STATE,18107,end surface coast,CONTROL_FINISHED_OK
$STATE,18108,begin surface
$SM_CCo,18187,0.00,0.000,0,0,1521,276.94
$SM_GC,2.38,6.90,0.00,0.00,0.054,0.000,0.000,329,2246,1521,-10.70,0.45,276.94
$RAFOS_CLK,716
$RAFOS,4,1229561043,0.750000,0.734167,113,58,57,54,54,52,873,200,233,175,216,162
$RAFOS,3,1229560455,0.583333,0.570833,61,58,55,53,53,51,213,196,182,154,130,170
$RAFOS,2,1229559843,0.416667,0.400833,67,57,56,54,53,50,681,212,175,188,163,134
$RAFOS,1,1229559251,0.250000,0.236389,63,59,56,53,53,52,219,853,187,229,122,158
$RAFOS,0,1229558654,0.083333,0.070556,67,61,53,51,45,43,185,214,132,142,1098,947
$RAFOS,4,1229546647,20.750000,20.735277,102,66,60,57,57,55,842,217,184,168,127,137
$RAFOS,3,1229546059,20.583334,20.571945,63,60,54,53,51,51,217,160,191,138,204,123
$RAFOS,2,1229545446,20.416666,20.401667,67,64,61,59,57,53,647,203,168,117,186,218
$RAFOS,1,1229544845,20.250000,20.234722,57,56,56,55,54,51,173,204,230,220,143,159
$RAFOS,0,1229544246,20.083334,20.068333,60,59,59,58,56,54,199,181,146,1248,168,224
$RAFOS_FIX,-25908.130859,-4013866.500000,171208,161612,2,78,65053.33
$IRIDIUM_FIX,6625.71,-5645.94,130398,141405
$TT8_MAMPS,0.026845
$HUMID,1805
$INTERNAL_PRESSURE,9.92226
$TCM_TEMP,16.20
$XPDR_PINGS,279
$24V_AH,22.0,77.678
$10V_AH,10.5,35.602
$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,23.500,152.150,373.225,0.000,0.000,29.833,30.085,726.387,69.750,0.000,0.000,16.256,1954.462,13321.691,507.511,2176.983,1153.446,0.000,1655.340,0.000,2135.334,3600.000,0.533,0.000
$DEVICE_MAMPS,240.071,67.496,1188.083,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,712.068,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34666,1024
$CAP_FILE_SIZE,153851,0
$CFSIZE,260165632,220798976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1463.0
$GPS,181208,005637,6654.942,-5646.005,32,1.0,32,-37.3