version: 66.04
glider: 108
mission: 11
dive: 477
start: 12 18 108 11 44 7
data:
$ID,108
$MISSION,11
$DIVE,477
$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,-122116.86
$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,33
$R_STBD_OVSHOOT,36
$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
$GPS1,113708,6657.776,-5646.189,27,1.2,27,-37.4
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,1
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-67.1
$GPS2,114345,6657.819,-5646.281,15,1.2,15,-37.4
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,15000.000
$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,297.8,175866,-13.0,-7.021
$D_GRID,588
$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,-146.0,0.0,0.0,0,103,0.00,0.00,-84.35,0.000,2,0.000,0.000,324,2251,3139
$GC,107,-0.99,-146.0,3.2,-1.7,15,127,8.82,2.20,-3.10,0.000,4,0.242,0.079,2452,3593,3249
$GC,381,-0.80,-146.0,35.0,-11.2,63,388,0.20,2.12,0.00,0.000,6,0.141,0.042,2509,2210,3252
$GC,727,-0.80,-146.0,61.4,-6.9,124,733,0.00,2.15,0.00,0.000,4,0.000,0.054,2509,826,3252
$GC,870,-0.80,-146.0,71.6,-6.9,149,876,0.00,2.25,0.00,0.000,6,0.000,0.054,2502,2237,3252
$GC,1215,-0.80,-146.0,94.4,-6.8,210,1220,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2237,3251
$GC,1543,-0.80,-146.0,119.0,-7.6,236,1547,0.00,2.22,0.00,0.000,4,0.000,0.054,2502,828,3251
$GC,1756,-0.80,-146.0,135.8,-8.9,245,1760,0.00,2.28,0.00,0.000,6,0.000,0.055,2492,2241,3251
$GC,2078,-0.80,-146.0,158.4,-5.3,261,2079,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2241,3250
$GC,2388,-0.80,-146.0,171.2,-3.8,276,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2241,3249
$GC,2698,-0.80,-146.0,189.9,-6.9,291,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2241,3249
$GC,3007,-0.80,-146.0,208.9,-5.5,306,3009,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2241,3249
$GC,3315,-0.80,-146.0,223.1,-4.2,321,3319,0.00,2.25,0.00,0.000,4,0.000,0.052,2491,818,3250
$GC,3452,-0.80,-146.0,229.5,-4.6,327,3456,0.10,2.28,0.00,0.000,6,0.132,0.052,2509,2235,3250
$GC,3786,-0.92,-146.0,242.2,-3.8,343,3791,0.12,2.20,0.00,0.000,4,0.075,0.063,2443,3607,3251
$GC,3894,-0.79,-146.0,248.8,-6.6,348,3899,0.22,2.12,0.00,0.000,6,0.139,0.041,2507,2215,3251
$GC,4224,-0.91,-146.0,262.4,-4.1,364,4228,0.10,2.17,0.00,0.000,4,0.087,0.051,2459,815,3252
$GC,4321,-0.79,-146.0,267.9,-6.1,368,4326,0.20,2.28,0.00,0.000,6,0.127,0.051,2508,2247,3252
$GC,4643,-0.91,-146.0,282.8,-4.7,384,4648,0.10,2.25,0.00,0.000,4,0.084,0.051,2461,818,3252
$GC,4700,-0.79,-146.0,286.6,-7.0,386,4705,0.20,2.30,0.00,0.000,6,0.127,0.051,2509,2245,3252
$GC,5017,-0.92,-146.0,304.0,-5.2,401,5019,0.12,0.00,0.00,0.000,6,0.075,0.000,2453,2246,3252
$GC,5327,-0.84,-146.0,323.0,-6.2,416,5332,0.15,2.28,0.00,0.000,4,0.140,0.051,2499,817,3252
$GC,5460,-0.91,-146.0,329.6,-4.5,422,5464,0.00,2.33,0.00,0.000,6,0.000,0.051,2491,2245,3252
$GC,5793,-0.98,-146.0,345.6,-4.7,438,5797,0.10,2.20,0.00,0.000,4,0.080,0.062,2429,3603,3253
$GC,5863,-0.82,-146.0,350.3,-7.5,441,5868,0.25,2.10,0.00,0.000,6,0.137,0.040,2504,2219,3253
$GC,6196,-0.95,-146.0,365.6,-4.4,457,6200,0.12,2.17,0.00,0.000,4,0.080,0.049,2446,823,3253
$GC,6345,-0.79,-146.0,374.7,-6.4,463,6350,0.25,2.30,0.00,0.000,6,0.127,0.051,2510,2242,3254
$GC,6663,-0.93,-146.0,387.6,-3.8,478,6668,0.12,2.25,0.00,0.000,4,0.076,0.050,2454,827,3254
$GC,6761,-0.82,-146.0,392.9,-6.1,482,6765,0.20,2.28,0.00,0.000,6,0.127,0.051,2502,2237,3254
$GC,7101,-0.95,-146.0,407.0,-4.1,495,7102,0.12,0.00,0.00,0.000,6,0.077,0.000,2447,2237,3254
$GC,7426,-0.86,-146.0,424.5,-5.4,503,7431,0.17,2.22,0.00,0.000,4,0.140,0.049,2497,834,3254
$GC,7511,-0.92,-146.0,428.4,-4.5,504,7518,0.00,2.25,0.00,0.000,6,0.000,0.049,2490,2236,3254
$GC,7843,-1.00,-146.0,442.1,-4.1,513,7845,0.10,0.00,0.00,0.000,6,0.079,0.000,2438,2236,3254
$GC,8169,-0.88,-146.0,461.1,-6.0,521,8171,0.17,0.00,0.00,0.000,6,0.138,0.000,2488,2236,3254
$GC,8493,-0.96,-146.0,476.2,-4.6,529,8497,0.00,2.20,0.00,0.000,4,0.000,0.049,2488,829,3255
$GC,8629,-0.96,-146.0,483.0,-5.0,532,8633,0.00,2.25,0.00,0.000,6,0.000,0.049,2481,2239,3254
$GC,8961,-0.96,-146.0,497.5,-4.5,540,8965,0.00,2.20,0.00,0.000,4,0.000,0.062,2470,3601,3255
$GC,9017,-0.96,-146.0,500.5,-5.4,541,9021,0.00,2.10,0.00,0.000,6,0.000,0.038,2470,2217,3254
$GC,9336,-0.96,-146.0,516.0,-4.9,549,9340,0.00,2.17,0.00,0.000,4,0.000,0.048,2470,820,3255
$GC,9494,-0.96,-146.0,525.0,-5.8,552,9498,0.00,2.22,0.00,0.000,6,0.000,0.049,2460,2232,3255
$GC,9843,-0.96,-146.0,543.2,-5.2,561,9847,0.00,2.20,0.00,0.000,4,0.000,0.061,2450,3596,3256
$GC,9935,-0.90,-146.0,548.3,-5.7,563,9940,0.12,2.10,0.00,0.000,6,0.140,0.038,2483,2213,3256
$GC,10266,-0.97,-146.0,563.8,-4.5,571,10270,0.00,2.15,0.00,0.000,4,0.000,0.049,2483,826,3256
$GC,10374,-0.97,-146.0,568.9,-4.7,573,10378,0.00,2.28,0.00,0.000,6,0.000,0.050,2476,2234,3256
$GC,10687,-0.97,-146.0,582.4,-4.3,581,10691,0.00,2.20,0.00,0.000,4,0.000,0.063,2465,3592,3256
$GC,10754,-0.97,-146.0,585.7,-4.8,582,10758,0.00,2.10,0.00,0.000,6,0.000,0.039,2465,2215,3256
$STATE,10815,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10815,begin apogee
$GC,10824,-0.31,0.0,588.8,5.0,584,10955,0.47,0.00,128.62,1.155,6,0.117,0.000,2617,1742,2650
$STATE,10956,end apogee,CONTROL_FINISHED_OK
$STATE,10956,begin climb
$GC,10959,0.99,146.0,589.8,0.0,587,11101,0.88,2.62,130.35,1.092,4,0.088,0.056,2902,3141,2052
$GC,11132,0.63,146.0,572.6,13.2,591,11137,0.35,2.40,0.00,0.000,6,0.130,0.041,2816,1737,2049
$GC,11470,0.73,146.1,547.6,7.0,600,11472,0.10,0.00,0.00,0.000,6,0.079,0.000,2867,1737,2046
$GC,11794,0.61,146.1,516.1,10.0,608,11799,0.20,2.35,0.00,0.000,4,0.123,0.058,2802,3152,2045
$GC,11811,0.57,146.1,514.4,9.9,608,11815,0.00,2.22,0.00,0.000,6,0.000,0.042,2809,1732,2044
$GC,12160,0.70,158.9,490.6,6.6,617,12176,0.10,2.35,10.57,1.002,4,0.081,0.057,2859,3152,2002
$GC,12205,0.51,158.9,486.3,10.7,618,12210,0.28,2.22,0.00,0.000,6,0.130,0.044,2788,1735,2000
$GC,12525,0.75,195.8,466.7,5.8,626,12563,0.17,0.00,33.22,1.091,6,0.061,0.000,2870,1735,1850
$GC,12889,0.62,195.8,427.8,11.0,635,12894,0.20,2.35,0.00,0.000,4,0.124,0.058,2806,3162,1843
$GC,12900,0.51,195.8,426.5,11.0,635,12904,0.00,2.22,0.00,0.000,6,0.000,0.042,2813,1735,1842
$GC,13215,0.63,195.8,402.8,7.5,643,13219,0.00,2.33,0.00,0.000,4,0.000,0.058,2813,3164,1841
$GC,13232,0.72,195.8,401.2,7.5,643,13236,0.00,2.22,0.00,0.000,6,0.000,0.042,2821,1731,1841
$GC,13550,0.79,195.8,376.3,7.9,658,13555,0.10,2.30,0.00,0.000,4,0.080,0.056,2871,3155,1840
$GC,13584,0.60,195.8,372.8,10.8,659,13591,0.25,2.20,0.00,0.000,6,0.127,0.043,2807,1734,1840
$GC,13902,0.83,231.8,352.2,5.9,675,13939,0.17,2.25,30.80,1.012,4,0.061,0.056,2899,336,1703
$GC,13951,0.70,231.8,347.7,9.4,676,13956,0.25,2.28,0.00,0.000,6,0.123,0.044,2823,1747,1702
$GC,14268,0.88,250.1,326.4,6.4,691,14291,0.17,2.30,16.38,0.951,4,0.061,0.057,2903,3147,1629
$GC,14315,0.64,250.1,321.2,11.8,693,14320,0.32,2.22,0.00,0.000,6,0.130,0.042,2815,1727,1628
$GC,14644,0.88,288.1,300.4,5.8,709,14685,0.17,0.00,34.53,0.969,6,0.061,0.000,2899,1727,1475
$GC,14995,0.70,288.1,255.1,13.5,726,15000,0.20,2.22,0.00,0.000,4,0.124,0.055,2842,332,1467
$GC,15013,0.60,288.1,252.9,13.6,727,15018,0.12,2.25,0.00,0.000,6,0.111,0.044,2805,1743,1466
$GC,15346,1.28,288.1,219.9,12.4,743,15351,0.43,2.28,0.00,0.000,4,0.071,0.054,2966,336,1463
$GC,15380,1.41,288.1,215.8,10.9,744,15386,0.00,2.22,0.00,0.000,6,0.000,0.044,2966,1745,1463
$GC,15697,1.06,288.1,159.1,18.7,760,15701,0.20,2.25,0.00,0.000,4,0.141,0.058,2903,3143,1463
$GC,15714,0.74,288.1,155.6,19.2,761,15719,0.25,2.20,0.00,0.000,6,0.121,0.042,2835,1725,1463
$GC,16046,0.94,291.0,129.2,6.9,777,16050,0.17,2.22,0.00,0.000,4,0.061,0.056,2927,326,1462
$GC,16069,0.94,291.0,126.4,9.8,778,16074,0.17,2.28,0.00,0.000,6,0.128,0.044,2876,1752,1462
$GC,16394,0.94,291.0,93.0,10.7,800,16401,0.00,2.30,0.00,0.000,4,0.000,0.056,2884,324,1462
$GC,16425,1.00,291.0,89.4,10.4,805,16432,0.00,2.25,0.00,0.000,6,0.000,0.044,2884,1741,1462
$GC,16771,1.06,291.0,57.0,8.8,866,16778,0.10,2.25,0.00,0.000,4,0.078,0.058,2938,3157,1462
$GC,16818,0.85,291.0,51.2,13.2,874,16825,0.30,2.22,0.00,0.000,6,0.130,0.044,2858,1725,1462
$GC,17164,1.09,308.2,25.1,6.5,935,17184,0.20,0.00,16.83,0.795,6,0.061,0.000,2957,1724,1393
$FREEZE,6.75,0.726,-1.833
$FREEZE,5.70,0.716,-1.832
$FREEZE,4.89,0.714,-1.831
$FREEZE,4.10,0.727,-1.831
$FREEZE,3.40,0.721,-1.830
$FREEZE,2.66,0.715,-1.830
$STATE,17342,end climb,SURFACE_DEPTH_REACHED
$STATE,17342,begin surface coast
$FREEZE,2.07,0.696,-1.830
$FREEZE,1.50,0.720,-1.814
$FREEZE,1.45,-0.204,-1.840
$FREEZE,1.48,-0.610,-1.818
$FINISH,1.5,1.026646
$STATE,17365,end surface coast,CONTROL_FINISHED_OK
$STATE,17366,begin surface
$SM_CCo,17446,0.00,0.000,0,0,1388,309.57
$SM_GC,2.33,7.07,0.00,0.00,0.051,0.000,0.000,333,2234,1388,-10.69,0.11,309.57
$RAFOS_CLK,667
$RAFOS,2,1229617445,16.416666,16.401388,72,68,59,58,54,53,651,215,196,161,224,144
$RAFOS,1,1229616859,16.250000,16.238611,59,58,57,53,53,52,794,190,210,161,133,120
$RAFOS,0,1229616257,16.083334,16.071388,65,56,54,51,48,47,221,173,196,158,1184,1166
$RAFOS,4,1229604242,12.750000,12.733889,60,59,55,55,51,48,221,198,132,158,97,868
$RAFOS,3,1229603650,12.583333,12.569445,62,57,53,52,51,50,213,135,153,190,179,1257
$RAFOS,2,1229603052,12.416667,12.403334,83,58,58,58,54,52,622,189,213,162,179,203
$RAFOS,1,1229602454,12.250000,12.237223,75,64,61,59,58,56,835,204,146,123,170,215
$RAFOS,0,1229601842,12.083333,12.067223,64,59,57,54,50,49,193,214,202,230,155,181
$RAFOS_FIX,6658.072754,-5650.837402,181208,121220,2,79,1.48
$IRIDIUM_FIX,6625.71,-5642.93,140398,060647
$TT8_MAMPS,0.026845
$HUMID,1787
$INTERNAL_PRESSURE,9.92226
$TCM_TEMP,16.60
$XPDR_PINGS,184
$24V_AH,22.1,78.191
$10V_AH,10.5,35.830
$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,25.525,144.925,401.300,0.000,0.000,27.231,35.671,187.059,46.000,0.000,0.000,16.552,1867.190,12794.932,545.764,2012.758,624.509,0.000,1617.993,0.000,1980.887,2880.000,0.531,0.000
$DEVICE_MAMPS,242.372,79.001,1155.102,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,673.807,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31591,970
$CAP_FILE_SIZE,150002,0
$CFSIZE,260165632,220213248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.0
$GPS,181208,163637,6656.265,-5647.408,36,1.5,47,-37.4