version: 66.04
glider: 108
mission: 11
dive: 480
start: 12 19 108 3 13 22
data:
$ID,108
$MISSION,11
$DIVE,480
$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,-122178.86
$T_RSLEEP,60
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$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,26
$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
$GPS1,030726,6652.668,-5651.584,38,1.9,38,-37.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-64.2
$GPS2,031303,6652.655,-5651.594,12,1.1,12,-37.3
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,15000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,300.7,170661,-13.0,-7.021
$D_GRID,615
$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,13,begin dive
$GC,16,-0.99,-146.0,0.0,0.0,0,103,0.00,0.00,-84.60,0.000,2,0.000,0.000,329,2236,3024
$GC,107,-0.99,-146.0,3.1,-1.4,15,132,8.93,2.28,-7.75,0.000,4,0.245,0.085,2450,3587,3248
$GC,387,-0.76,-146.0,30.1,-10.9,64,394,0.22,2.15,0.00,0.000,6,0.142,0.047,2514,2210,3251
$GC,733,-0.76,-146.0,50.4,-7.6,125,739,0.00,2.30,0.00,0.000,4,0.000,0.070,2506,3605,3251
$GC,864,-0.82,-146.0,61.0,-7.9,148,871,0.00,2.15,0.00,0.000,6,0.000,0.046,2506,2217,3251
$GC,1209,-0.82,-146.0,84.1,-6.7,209,1216,0.00,2.20,0.00,0.000,4,0.000,0.058,2506,822,3251
$GC,1262,-0.82,-146.0,87.8,-7.0,218,1269,0.00,2.28,0.00,0.000,6,0.000,0.058,2496,2231,3251
$GC,1593,-0.82,-146.0,111.6,-6.8,255,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2231,3251
$GC,1902,-0.82,-146.0,132.8,-7.1,270,1906,0.00,2.28,0.00,0.000,4,0.000,0.058,2496,817,3251
$GC,1994,-0.82,-146.0,139.1,-6.7,274,1998,0.00,2.30,0.00,0.000,6,0.000,0.059,2487,2237,3251
$GC,2327,-0.82,-146.0,159.4,-5.7,290,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2236,3250
$GC,2636,-0.82,-146.0,178.2,-6.1,305,2637,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2236,3250
$GC,2946,-0.82,-146.0,198.7,-6.9,320,2950,0.00,2.25,0.00,0.000,4,0.000,0.058,2487,823,3250
$GC,3064,-0.82,-146.0,206.8,-6.4,325,3069,0.10,2.30,0.00,0.000,6,0.141,0.060,2502,2238,3250
$GC,3386,-0.91,-146.0,225.5,-5.7,341,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2238,3250
$GC,3695,-1.01,-146.0,241.5,-4.9,356,3697,0.15,0.00,0.00,0.000,6,0.077,0.000,2440,2238,3249
$GC,4004,-0.86,-146.0,262.6,-6.7,371,4006,0.20,0.00,0.00,0.000,6,0.149,0.000,2496,2238,3249
$GC,4314,-0.93,-146.0,279.4,-5.5,386,4318,0.00,2.30,0.00,0.000,4,0.000,0.057,2497,817,3249
$GC,4405,-0.93,-146.0,285.0,-6.5,390,4410,0.00,2.30,0.00,0.000,6,0.000,0.058,2489,2241,3249
$GC,4733,-0.93,-146.0,306.2,-6.7,406,4735,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2241,3250
$GC,5042,-0.93,-146.0,326.0,-6.2,421,5043,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2240,3250
$GC,5352,-0.98,-146.0,342.2,-4.8,436,5356,0.10,2.30,0.00,0.000,4,0.087,0.055,2442,815,3250
$GC,5414,-0.82,-146.0,346.1,-6.4,438,5421,0.25,2.35,0.00,0.000,6,0.133,0.057,2505,2244,3250
$GC,5732,-0.93,-146.0,358.6,-3.9,454,5733,0.10,0.00,0.00,0.000,6,0.087,0.000,2461,2244,3251
$GC,6041,-0.88,-146.0,374.6,-5.4,469,6043,0.12,0.00,0.00,0.000,6,0.149,0.000,2494,2244,3251
$GC,6350,-0.97,-146.0,387.0,-3.8,484,6354,0.10,2.30,0.00,0.000,4,0.091,0.056,2451,815,3251
$GC,6424,-0.82,-146.0,391.0,-5.8,487,6429,0.22,2.33,0.00,0.000,6,0.132,0.056,2505,2242,3252
$GC,6745,-0.95,-146.0,403.1,-3.7,501,6749,0.12,2.25,0.00,0.000,4,0.080,0.068,2442,3600,3252
$GC,6791,-0.84,-146.0,405.6,-5.8,502,6795,0.20,2.15,0.00,0.000,6,0.145,0.044,2497,2210,3251
$GC,7122,-0.94,-146.0,421.0,-4.7,510,7126,0.00,2.17,0.00,0.000,4,0.000,0.056,2497,821,3252
$GC,7206,-0.99,-146.0,425.5,-5.6,511,7213,0.10,2.33,0.00,0.000,6,0.084,0.056,2445,2240,3252
$GC,7539,-0.89,-146.0,446.7,-6.6,520,7544,0.15,2.22,0.00,0.000,4,0.147,0.069,2478,3597,3252
$GC,7619,-0.94,-146.0,451.4,-5.6,521,7623,0.00,2.12,0.00,0.000,6,0.000,0.044,2478,2221,3252
$GC,7956,-0.94,-146.0,469.9,-5.5,530,7960,0.00,2.20,0.00,0.000,4,0.000,0.056,2477,818,3252
$GC,8048,-0.94,-146.0,475.6,-7.0,532,8052,0.00,2.33,0.00,0.000,6,0.000,0.056,2468,2244,3252
$GC,8379,-0.94,-146.0,496.7,-6.4,540,8380,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2244,3252
$GC,8704,-0.94,-146.0,515.4,-5.6,548,8705,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2244,3252
$GC,9029,-0.94,-146.0,532.8,-5.3,556,9031,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2244,3252
$GC,9354,-0.94,-146.0,549.3,-5.1,564,9358,0.00,2.30,0.00,0.000,4,0.000,0.057,2468,820,3252
$GC,9416,-0.89,-146.0,552.8,-5.6,565,9421,0.12,2.30,0.00,0.000,6,0.134,0.057,2492,2242,3252
$GC,9731,-0.98,-146.0,566.8,-4.4,573,9735,0.10,2.22,0.00,0.000,4,0.087,0.070,2439,3604,3252
$GC,9782,-0.88,-146.0,569.8,-6.2,574,9786,0.17,2.15,0.00,0.000,6,0.145,0.044,2486,2215,3252
$GC,10107,-0.95,-146.0,584.7,-4.5,582,10111,0.00,2.17,0.00,0.000,4,0.000,0.057,2487,822,3252
$GC,10198,-0.95,-146.0,589.2,-4.9,584,10202,0.00,2.30,0.00,0.000,6,0.000,0.058,2479,2239,3252
$GC,10529,-0.95,-146.0,605.0,-4.8,592,10533,0.00,2.28,0.00,0.000,4,0.000,0.056,2479,818,3252
$GC,10575,-0.95,-146.0,607.4,-5.2,593,10579,0.00,2.33,0.00,0.000,6,0.000,0.057,2469,2237,3252
$STATE,10739,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10739,begin apogee
$GC,10748,-0.31,0.0,616.0,5.2,597,10880,0.47,0.00,129.75,1.217,6,0.123,0.000,2618,1744,2650
$STATE,10881,end apogee,CONTROL_FINISHED_OK
$STATE,10881,begin climb
$GC,10885,0.99,146.0,617.3,0.0,600,11027,0.85,2.65,133.52,1.141,4,0.091,0.062,2894,3144,2053
$GC,11073,0.64,146.0,599.7,12.6,604,11078,0.32,2.42,0.00,0.000,6,0.135,0.046,2818,1733,2048
$GC,11422,0.71,161.4,575.7,6.5,613,11441,0.00,2.42,13.25,1.056,4,0.000,0.064,2818,3147,1991
$GC,11459,0.74,180.8,573.1,6.4,613,11484,0.00,2.28,19.10,1.085,6,0.000,0.047,2825,1732,1911
$GC,11794,0.80,189.4,550.4,6.7,622,11809,0.10,2.38,8.12,0.982,4,0.083,0.063,2872,3149,1877
$GC,11860,0.54,189.4,543.6,11.2,623,11865,0.30,2.25,0.00,0.000,6,0.133,0.048,2795,1726,1876
$GC,12204,1.03,189.4,520.1,7.3,632,12209,0.30,2.35,0.00,0.000,4,0.079,0.062,2908,3162,1875
$GC,12283,0.63,189.4,511.4,13.0,633,12290,0.35,2.25,0.00,0.000,6,0.136,0.048,2814,1731,1874
$GC,12616,0.78,200.9,487.9,6.6,642,12629,0.12,0.00,11.10,1.048,6,0.072,0.000,2874,1731,1830
$GC,12940,0.66,200.9,455.2,10.1,650,12944,0.17,2.33,0.00,0.000,4,0.123,0.063,2821,3151,1827
$GC,12956,0.58,200.9,453.4,9.9,650,12961,0.10,2.22,0.00,0.000,6,0.137,0.048,2802,1731,1826
$GC,13271,0.92,241.8,435.6,5.7,658,13315,0.22,2.42,37.45,1.106,4,0.079,0.062,2889,3154,1664
$GC,13386,0.64,241.8,425.0,11.5,660,13391,0.28,2.28,0.00,0.000,6,0.130,0.048,2819,1726,1659
$GC,13729,0.85,260.8,402.4,6.4,669,13749,0.15,0.00,17.38,1.045,6,0.069,0.000,2889,1726,1586
$GC,14040,0.73,260.8,368.2,11.6,683,14045,0.17,2.40,0.00,0.000,4,0.126,0.063,2837,3154,1581
$GC,14058,0.65,260.8,365.9,11.8,684,14062,0.10,2.25,0.00,0.000,6,0.132,0.048,2816,1732,1580
$GC,14391,1.30,260.8,340.2,9.6,700,14393,0.45,0.00,0.00,0.000,6,0.087,0.000,2972,1732,1579
$GC,14700,0.90,260.8,291.7,17.7,715,14704,0.30,2.35,0.00,0.000,4,0.139,0.063,2876,3162,1579
$GC,14716,0.57,260.8,288.6,17.3,715,14723,0.28,2.25,0.00,0.000,6,0.121,0.048,2801,1732,1578
$GC,15033,1.27,260.8,259.0,11.1,731,15038,0.45,2.35,0.00,0.000,4,0.091,0.062,2958,3161,1577
$GC,15062,1.49,260.8,255.6,11.6,732,15066,0.12,2.25,0.00,0.000,6,0.085,0.048,3017,1729,1577
$GC,15384,0.97,260.8,190.0,21.2,748,15389,0.43,2.28,0.00,0.000,4,0.152,0.061,2897,324,1577
$GC,15468,0.97,260.8,179.3,9.9,751,15474,0.00,2.30,0.00,0.000,6,0.000,0.051,2897,1743,1577
$GC,15784,0.86,260.8,142.9,12.2,767,15788,0.12,2.30,0.00,0.000,4,0.140,0.066,2862,3159,1577
$GC,15812,0.81,260.8,139.4,10.8,768,15817,0.00,2.25,0.00,0.000,6,0.000,0.049,2869,1735,1576
$GC,16140,0.81,260.8,108.7,8.8,784,16143,0.00,2.28,0.00,0.000,4,0.000,0.064,2879,322,1577
$GC,16163,0.87,260.8,106.8,7.9,785,16167,0.00,2.30,0.00,0.000,6,0.000,0.051,2879,1755,1577
$GC,16503,0.94,260.8,78.1,7.4,834,16509,0.00,2.28,0.00,0.000,4,0.000,0.065,2879,3163,1577
$GC,16538,0.94,260.8,75.0,8.2,840,16545,0.00,2.25,0.00,0.000,6,0.000,0.049,2889,1730,1576
$GC,16884,0.99,260.8,48.2,7.3,901,16890,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1729,1577
$GC,17229,1.05,260.8,22.5,7.8,962,17235,0.00,2.35,0.00,0.000,4,0.000,0.065,2889,3159,1577
$GC,17254,1.05,260.8,20.5,7.7,966,17260,0.00,2.25,0.00,0.000,6,0.000,0.050,2898,1730,1577
$FREEZE,6.96,-0.694,-1.834
$FREEZE,6.48,-0.694,-1.834
$FREEZE,5.82,-0.694,-1.833
$FREEZE,5.39,-0.709,-1.832
$FREEZE,4.91,-0.689,-1.832
$FREEZE,4.43,-0.658,-1.831
$FREEZE,4.05,-0.568,-1.831
$FREEZE,3.60,-0.513,-1.828
$FREEZE,3.15,-0.494,-1.828
$FREEZE,2.59,-0.482,-1.827
$STATE,17468,end climb,SURFACE_DEPTH_REACHED
$STATE,17468,begin surface coast
$FREEZE,2.25,-0.481,-1.828
$FREEZE,1.63,-0.457,-1.827
$FREEZE,1.77,-0.485,-1.828
$FREEZE,1.58,-0.458,-1.826
$FREEZE,1.53,-0.584,-1.833
$FREEZE,1.46,-1.168,-1.842
$FREEZE,1.52,-0.767,-1.832
$FINISH,1.5,1.026845
$STATE,17509,end surface coast,CONTROL_FINISHED_OK
$STATE,17509,begin surface
$SM_CCo,17589,0.00,0.000,0,0,1574,263.70
$SM_GC,2.35,7.00,0.00,0.00,0.057,0.000,0.000,332,2230,1574,-10.69,0.00,263.70
$RAFOS_CLK,717
$RAFOS,4,1229661861,4.750000,4.739167,60,58,57,53,52,52,204,189,218,156,119,139
$RAFOS,3,1229661255,4.583333,4.570833,67,65,63,62,61,55,221,210,190,163,152,116
$RAFOS,2,1229660650,4.416667,4.402778,122,63,56,55,54,53,624,202,167,135,111,218
$RAFOS,1,1229660052,4.250000,4.236667,58,56,52,51,51,51,212,186,222,175,121,825
$RAFOS,0,1229659441,4.083333,4.066945,69,61,58,55,53,43,206,171,125,218,144,1688
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6625.71,-5650.52,140398,222258
$TT8_MAMPS,0.029146
$HUMID,1806
$INTERNAL_PRESSURE,9.88319
$TCM_TEMP,15.70
$XPDR_PINGS,118
$24V_AH,21.8,78.650
$10V_AH,10.4,36.036
$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,24.650,138.700,369.675,0.000,0.000,22.299,33.167,135.740,29.500,0.000,0.000,14.397,1904.648,12965.355,518.929,1967.527,562.583,0.000,1569.585,0.000,1939.553,2160.000,0.531,0.000
$DEVICE_MAMPS,245.440,85.137,1217.229,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,705.989,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34725,1011
$CAP_FILE_SIZE,143797,0
$CFSIZE,260165632,220057600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.3
$GPS,191208,080756,6651.981,-5656.158,36,1.3,36,-37.3