version: 66.04
glider: 108
mission: 11
dive: 475
start: 12 18 108 1 10 57
data:
$ID,108
$MISSION,11
$DIVE,475
$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,-122055.75
$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,30
$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
$GPS1,005637,6654.942,-5646.005,32,1.0,32,-37.3
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-67.0
$GPS2,011038,6654.933,-5645.776,10,1.0,15,-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,31.2,15026,-13.0,-7.021
$D_GRID,592
$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,-146.0,0.0,0.0,0,97,0.00,0.00,-77.75,0.000,6,0.000,0.000,329,2246,3246
$GC,101,-0.99,-146.0,3.1,-1.3,14,115,8.88,2.35,0.00,0.000,4,0.244,0.054,2468,811,3250
$GC,288,-0.58,-146.0,23.2,-11.0,46,295,0.32,2.30,0.00,0.000,6,0.144,0.056,2553,2237,3253
$GC,634,-0.63,-146.0,48.0,-6.6,107,641,0.00,2.17,0.00,0.000,4,0.000,0.068,2545,3594,3253
$GC,699,-0.69,-146.0,52.4,-7.3,118,705,0.00,2.12,0.00,0.000,6,0.000,0.042,2544,2209,3253
$GC,1044,-0.77,-146.0,76.0,-6.2,179,1051,0.12,2.17,0.00,0.000,4,0.077,0.054,2486,813,3252
$GC,1171,-0.59,-146.0,86.0,-7.3,201,1178,0.28,2.30,0.00,0.000,6,0.136,0.056,2556,2245,3253
$GC,1527,-0.76,-146.0,101.0,-4.3,261,1532,0.15,2.28,0.00,0.000,4,0.068,0.054,2490,819,3252
$GC,1646,-0.66,-146.0,109.0,-6.6,266,1651,0.20,2.28,0.00,0.000,6,0.134,0.056,2537,2232,3252
$GC,1968,-0.78,-146.0,121.8,-3.4,282,1972,0.10,2.20,0.00,0.000,4,0.079,0.067,2481,3604,3252
$GC,2037,-0.72,-146.0,125.0,-4.8,285,2041,0.17,2.12,0.00,0.000,6,0.142,0.044,2528,2216,3251
$GC,2370,-0.85,-146.0,138.7,-4.7,301,2374,0.12,2.17,0.00,0.000,4,0.080,0.054,2473,821,3251
$GC,2627,-0.73,-146.0,156.6,-6.2,312,2632,0.20,2.28,0.00,0.000,6,0.131,0.055,2519,2241,3251
$GC,2945,-0.84,-146.0,170.8,-4.5,327,2946,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2241,3252
$GC,3253,-0.96,-146.0,185.4,-4.6,342,3255,0.17,0.00,0.00,0.000,6,0.071,0.000,2447,2241,3252
$GC,3563,-0.82,-146.0,206.4,-6.8,357,3567,0.20,2.25,0.00,0.000,4,0.143,0.051,2513,830,3252
$GC,3664,-0.88,-146.0,211.7,-4.9,361,3668,0.00,2.28,0.00,0.000,6,0.000,0.052,2506,2240,3253
$GC,3987,-0.94,-146.0,226.9,-4.4,377,3991,0.10,2.17,0.00,0.000,4,0.081,0.064,2444,3593,3253
$GC,4073,-0.78,-146.0,232.3,-6.6,380,4080,0.22,2.10,0.00,0.000,6,0.139,0.041,2509,2213,3254
$GC,4390,-0.86,-146.0,246.4,-4.3,396,4394,0.00,2.12,0.00,0.000,4,0.000,0.052,2509,830,3255
$GC,4508,-0.86,-146.0,252.1,-4.7,401,4512,0.00,2.22,0.00,0.000,6,0.000,0.051,2502,2234,3255
$GC,4835,-0.92,-146.0,267.2,-4.6,417,4840,0.08,2.15,0.00,0.000,4,0.093,0.064,2447,3590,3255
$GC,4979,-0.80,-146.0,276.1,-6.6,423,4983,0.20,2.08,0.00,0.000,6,0.137,0.041,2504,2228,3255
$GC,5306,-0.89,-146.0,288.0,-3.3,439,5310,0.00,2.17,0.00,0.000,4,0.000,0.052,2504,829,3256
$GC,5425,-0.94,-146.0,292.6,-3.8,444,5429,0.00,2.25,0.00,0.000,6,0.000,0.052,2496,2230,3255
$GC,5753,-0.99,-146.0,305.3,-3.8,460,5758,0.12,2.20,0.00,0.000,4,0.073,0.064,2427,3598,3255
$GC,5908,-0.79,-146.0,315.4,-6.2,466,5915,0.28,2.10,0.00,0.000,6,0.137,0.041,2511,2215,3256
$GC,6225,-0.93,-146.0,329.9,-4.4,482,6229,0.12,2.15,0.00,0.000,4,0.080,0.050,2455,822,3256
$GC,6374,-0.80,-146.0,339.5,-6.8,488,6378,0.22,2.25,0.00,0.000,6,0.129,0.052,2510,2236,3256
$GC,6696,-0.93,-146.0,355.4,-5.0,504,6698,0.12,0.00,0.00,0.000,6,0.078,0.000,2455,2236,3256
$GC,7006,-0.85,-146.0,374.3,-5.9,519,7008,0.15,0.00,0.00,0.000,6,0.140,0.000,2497,2236,3256
$GC,7314,-0.94,-146.0,387.9,-4.2,534,7318,0.00,2.17,0.00,0.000,4,0.000,0.064,2488,3603,3257
$GC,7371,-1.02,-146.0,390.4,-4.5,536,7376,0.12,2.10,0.00,0.000,6,0.074,0.039,2433,2217,3257
$GC,7713,-0.87,-146.0,411.8,-6.5,549,7718,0.20,2.15,0.00,0.000,4,0.139,0.050,2495,827,3257
$GC,7843,-0.87,-146.0,419.4,-5.4,551,7849,0.00,2.28,0.00,0.000,6,0.000,0.051,2487,2239,3257
$GC,8175,-0.92,-146.0,436.1,-5.2,560,8176,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2239,3257
$GC,8500,-0.97,-146.0,452.0,-4.8,568,8502,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2239,3257
$GC,8824,-0.97,-146.0,467.0,-4.6,576,8826,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2239,3258
$GC,9149,-0.97,-146.0,481.6,-4.6,584,9151,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2239,3258
$GC,9475,-1.02,-146.0,496.9,-4.7,592,9479,0.10,2.28,0.00,0.000,4,0.083,0.050,2438,818,3258
$GC,9571,-0.83,-146.0,503.0,-6.2,594,9576,0.25,2.33,0.00,0.000,6,0.132,0.051,2501,2245,3258
$GC,9890,-0.94,-146.0,517.2,-4.4,602,9892,0.10,0.00,0.00,0.000,6,0.087,0.000,2455,2245,3258
$GC,10216,-0.87,-146.0,534.6,-5.4,610,10217,0.12,0.00,0.00,0.000,6,0.144,0.000,2489,2245,3258
$GC,10540,-0.94,-146.0,550.1,-4.8,618,10544,0.00,2.28,0.00,0.000,4,0.000,0.053,2489,830,3258
$GC,10602,-0.94,-146.0,553.3,-5.4,619,10606,0.00,2.30,0.00,0.000,6,0.000,0.052,2482,2241,3258
$GC,10951,-0.94,-146.0,569.9,-4.8,628,10952,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2241,3258
$GC,11275,-0.94,-146.0,585.9,-5.0,636,11279,0.00,2.20,0.00,0.000,4,0.000,0.067,2471,3595,3257
$GC,11353,-0.94,-146.0,590.1,-4.7,637,11358,0.00,2.10,0.00,0.000,6,0.000,0.040,2471,2225,3257
$STATE,11404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11404,begin apogee
$GC,11412,-0.31,0.0,592.7,5.1,639,11545,0.45,0.00,129.50,1.180,6,0.124,0.000,2612,1745,2650
$STATE,11545,end apogee,CONTROL_FINISHED_OK
$STATE,11545,begin climb
$GC,11549,0.99,146.0,593.5,0.0,642,11689,0.85,2.60,132.12,1.106,4,0.090,0.058,2892,3140,2053
$GC,11696,0.76,146.0,579.8,10.2,645,11701,0.22,2.42,0.00,0.000,6,0.133,0.041,2845,1737,2051
$GC,12034,0.76,146.0,553.0,7.8,654,12037,0.00,2.38,0.00,0.000,4,0.000,0.058,2845,3155,2045
$GC,12056,0.70,146.0,551.0,7.9,654,12060,0.00,2.28,0.00,0.000,6,0.000,0.043,2853,1725,2045
$GC,12405,0.65,146.0,522.9,8.0,663,12410,0.12,2.35,0.00,0.000,4,0.133,0.058,2817,3155,2044
$GC,12444,0.66,150.2,519.9,6.9,663,12450,0.00,2.22,0.00,0.000,6,0.000,0.044,2825,1734,2043
$GC,12776,0.72,164.1,497.9,6.6,672,12796,0.00,2.35,14.77,1.065,4,0.000,0.060,2825,3147,1981
$GC,12820,0.72,164.1,494.7,7.4,673,12824,0.00,2.22,0.00,0.000,6,0.000,0.044,2834,1733,1980
$GC,13151,0.72,164.1,470.0,7.6,681,13155,0.00,2.33,0.00,0.000,4,0.000,0.060,2835,3162,1978
$GC,13173,0.72,164.1,468.1,8.0,681,13176,0.00,2.22,0.00,0.000,6,0.000,0.044,2845,1734,1977
$GC,13521,0.72,164.1,439.4,8.2,690,13525,0.00,2.30,0.00,0.000,4,0.000,0.060,2845,3161,1977
$GC,13549,0.63,164.1,436.6,9.4,690,13554,0.15,2.22,0.00,0.000,6,0.132,0.044,2812,1728,1976
$GC,13893,0.77,179.4,413.5,6.5,699,13913,0.12,2.35,14.30,1.035,4,0.072,0.060,2872,3151,1918
$GC,13920,0.69,179.4,411.1,8.6,699,13924,0.20,2.20,0.00,0.000,6,0.133,0.044,2824,1736,1917
$GC,14245,0.76,182.8,387.7,6.9,711,14252,0.10,0.00,4.18,0.720,6,0.077,0.000,2873,1736,1904
$GC,14554,0.62,182.8,357.3,9.6,726,14556,0.20,0.00,0.00,0.000,6,0.123,0.000,2813,1736,1904
$GC,14863,0.84,239.8,339.6,5.2,741,14917,0.17,0.00,50.85,1.025,6,0.064,0.000,2891,1736,1672
$GC,15213,0.68,239.8,302.2,11.3,758,15215,0.22,0.00,0.00,0.000,6,0.121,0.000,2822,1736,1662
$GC,15522,0.83,243.9,280.6,6.9,773,15527,0.15,2.33,0.00,0.000,4,0.067,0.058,2891,3163,1660
$GC,15540,0.83,243.9,279.1,7.6,774,15544,0.15,2.22,0.00,0.000,6,0.136,0.043,2861,1727,1659
$GC,15874,0.83,243.9,246.3,9.6,790,15875,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1727,1659
$GC,16181,0.83,243.9,218.4,8.8,805,16183,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1727,1660
$GC,16491,0.83,243.9,192.7,8.1,820,16492,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1727,1659
$GC,16801,0.83,243.9,167.9,8.3,835,16803,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1727,1658
$GC,17109,0.83,243.9,140.8,9.1,850,17110,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1727,1658
$GC,17419,0.91,243.9,112.7,8.9,865,17423,0.00,2.25,0.00,0.000,4,0.000,0.055,2867,327,1658
$GC,17442,1.02,243.9,110.5,9.9,866,17447,0.12,2.22,0.00,0.000,6,0.071,0.043,2930,1752,1659
$GC,17778,0.86,243.9,71.1,10.9,912,17785,0.20,2.22,0.00,0.000,4,0.127,0.058,2864,3149,1659
$GC,17815,0.82,243.9,67.5,9.7,918,17821,0.00,2.20,0.00,0.000,6,0.000,0.042,2871,1735,1659
$GC,18160,0.96,258.4,43.9,6.6,979,18179,0.00,0.00,15.57,0.793,6,0.000,0.000,2871,1735,1596
$GC,18518,1.14,281.3,20.5,6.3,1042,18542,0.17,0.00,21.42,0.798,6,0.064,0.000,2952,1735,1503
$FREEZE,6.71,0.704,-1.828
$FREEZE,5.88,0.701,-1.827
$FREEZE,5.24,0.707,-1.827
$FREEZE,4.43,0.709,-1.826
$FREEZE,3.78,0.710,-1.825
$FREEZE,2.96,0.697,-1.825
$STATE,18666,end climb,SURFACE_DEPTH_REACHED
$STATE,18666,begin surface coast
$FREEZE,2.21,0.701,-1.824
$FREEZE,1.37,0.690,-1.823
$FREEZE,1.45,0.332,-1.158
$FREEZE,1.44,0.299,-1.064
$FINISH,1.4,1.015713
$STATE,18690,end surface coast,CONTROL_FINISHED_OK
$STATE,18690,begin surface
$SM_CCo,18770,0.00,0.000,0,0,1495,283.32
$SM_GC,2.36,7.10,0.00,0.00,0.052,0.000,0.000,332,2232,1495,-10.69,0.06,283.32
$RAFOS_CLK,743
$RAFOS,4,1229575442,4.750000,4.733889,105,59,56,55,53,53,876,204,114,217,190,150
$RAFOS,3,1229574855,4.583333,4.570833,64,60,57,56,49,49,205,156,218,172,120,182
$RAFOS,2,1229574245,4.416667,4.401389,91,72,58,58,55,54,662,201,217,179,147,166
$RAFOS,1,1229573644,4.250000,4.234445,83,64,63,53,52,49,889,219,198,153,181,135
$RAFOS,0,1229573071,4.083333,4.075278,67,56,55,53,52,51,207,189,159,228,124,179
$RAFOS_FIX,6655.466797,-5651.443848,181208,040430,3,93,0.35
$IRIDIUM_FIX,6625.71,-5653.52,130398,191921
$TT8_MAMPS,0.026845
$HUMID,1808
$INTERNAL_PRESSURE,9.93202
$TCM_TEMP,16.30
$XPDR_PINGS,309
$24V_AH,22.0,77.847
$10V_AH,10.5,35.679
$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,24.175,126.850,382.725,0.000,0.000,26.542,39.714,630.152,77.250,0.000,0.000,16.885,2015.729,13944.479,516.228,2090.756,1049.203,0.000,1601.276,0.000,2052.179,1800.000,0.532,0.000
$DEVICE_MAMPS,243.906,68.263,1180.413,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,745.829,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34706,1072
$CAP_FILE_SIZE,149373,0
$CFSIZE,260165632,220667904
$ERRORS,0,0,1,0,0,4,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.1
$GPS,181208,062508,6656.567,-5645.539,23,1.6,23,-37.4