version: 66.04
glider: 108
mission: 11
dive: 482
start: 12 19 108 13 58 10
data:
$ID,108
$MISSION,11
$DIVE,482
$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,-122208.59
$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,29
$R_STBD_OVSHOOT,27
$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
$GPS1,135202,6649.544,-5701.075,35,1.4,35,-37.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-63.0
$GPS2,135751,6649.525,-5701.043,12,1.1,12,-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,302.4,163191,-13.0,-7.021
$D_GRID,681
$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,-146.0,0.0,0.0,0,108,0.00,0.00,-89.25,0.000,2,0.000,0.000,339,2238,3090
$GC,112,-0.99,-146.0,3.1,-1.4,16,132,8.95,2.28,-4.95,0.000,4,0.248,0.085,2455,3596,3249
$GC,387,-0.83,-146.0,31.7,-9.8,64,394,0.17,2.15,0.00,0.000,6,0.146,0.047,2503,2214,3252
$GC,732,-0.83,-146.0,57.1,-7.4,125,738,0.00,2.20,0.00,0.000,4,0.000,0.059,2503,814,3253
$GC,841,-0.83,-146.0,65.5,-7.8,144,847,0.00,2.30,0.00,0.000,6,0.000,0.059,2495,2237,3252
$GC,1186,-0.83,-146.0,91.0,-5.8,205,1192,0.00,2.28,0.00,0.000,4,0.000,0.058,2495,821,3252
$GC,1289,-0.83,-146.0,97.4,-6.6,223,1296,0.00,2.30,0.00,0.000,6,0.000,0.060,2486,2242,3252
$GC,1626,-0.83,-146.0,114.3,-4.5,245,1630,0.00,2.20,0.00,0.000,4,0.000,0.074,2476,3604,3252
$GC,1700,-0.83,-146.0,118.8,-6.2,248,1704,0.10,2.15,0.00,0.000,6,0.149,0.047,2501,2214,3252
$GC,2027,-0.88,-146.0,140.0,-7.2,264,2029,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2214,3252
$GC,2336,-0.93,-146.0,162.4,-7.0,279,2338,0.10,0.00,0.00,0.000,6,0.094,0.000,2457,2214,3252
$GC,2645,-0.83,-146.0,187.1,-7.3,294,2650,0.15,2.20,0.00,0.000,4,0.143,0.058,2500,821,3252
$GC,2747,-0.83,-146.0,192.7,-5.3,298,2751,0.00,2.30,0.00,0.000,6,0.000,0.060,2493,2242,3252
$GC,3069,-0.83,-146.0,208.6,-5.3,314,3070,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2242,3252
$GC,3379,-0.83,-146.0,226.8,-6.1,329,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2242,3252
$GC,3689,-0.83,-146.0,247.7,-7.0,344,3693,0.00,2.20,0.00,0.000,4,0.000,0.074,2482,3603,3251
$GC,3751,-0.89,-146.0,252.5,-7.2,346,3758,0.00,2.15,0.00,0.000,6,0.000,0.047,2482,2217,3251
$GC,4068,-0.89,-146.0,274.5,-6.6,362,4072,0.00,2.20,0.00,0.000,4,0.000,0.058,2482,813,3251
$GC,4147,-0.89,-146.0,279.6,-6.5,365,4151,0.00,2.30,0.00,0.000,6,0.000,0.058,2472,2234,3251
$GC,4469,-0.89,-146.0,299.3,-6.2,381,4473,0.00,2.20,0.00,0.000,4,0.000,0.072,2462,3600,3250
$GC,4554,-0.89,-146.0,305.1,-6.8,384,4561,0.10,2.12,0.00,0.000,6,0.146,0.045,2486,2222,3251
$GC,4871,-0.93,-146.0,322.0,-5.1,400,4875,0.00,2.17,0.00,0.000,4,0.000,0.058,2487,828,3251
$GC,4973,-0.93,-146.0,328.1,-6.2,404,4977,0.00,2.28,0.00,0.000,6,0.000,0.058,2480,2243,3251
$GC,5295,-0.93,-146.0,346.5,-5.8,420,5298,0.00,2.20,0.00,0.000,4,0.000,0.071,2469,3607,3252
$GC,5345,-0.93,-146.0,349.9,-6.6,422,5349,0.00,2.12,0.00,0.000,6,0.000,0.044,2469,2228,3251
$GC,5674,-0.93,-146.0,370.8,-6.4,438,5677,0.00,2.20,0.00,0.000,4,0.000,0.056,2469,827,3253
$GC,5781,-0.86,-146.0,378.2,-6.8,442,5788,0.12,2.28,0.00,0.000,6,0.132,0.058,2494,2239,3252
$GC,6098,-0.94,-146.0,394.8,-5.2,458,6099,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2238,3253
$GC,6425,-1.02,-146.0,411.2,-5.1,469,6427,0.12,0.00,0.00,0.000,6,0.081,0.000,2440,2238,3254
$GC,6749,-0.91,-146.0,434.4,-7.5,477,6754,0.17,2.28,0.00,0.000,4,0.146,0.055,2494,818,3253
$GC,6840,-0.91,-146.0,440.3,-6.1,479,6844,0.00,2.30,0.00,0.000,6,0.000,0.058,2486,2241,3253
$GC,7172,-0.96,-146.0,459.9,-5.9,487,7176,0.00,2.20,0.00,0.000,4,0.000,0.071,2476,3597,3253
$GC,7234,-1.01,-146.0,463.7,-6.1,488,7238,0.00,2.12,0.00,0.000,6,0.000,0.044,2476,2222,3253
$GC,7549,-1.01,-146.0,482.5,-5.9,496,7554,0.00,2.20,0.00,0.000,4,0.000,0.057,2476,817,3253
$GC,7627,-1.01,-146.0,487.9,-6.7,497,7631,0.00,2.30,0.00,0.000,6,0.000,0.057,2466,2238,3253
$GC,7960,-1.01,-146.0,508.5,-6.3,505,7964,0.00,2.20,0.00,0.000,4,0.000,0.071,2456,3601,3253
$GC,8028,-1.01,-146.0,513.2,-7.0,506,8032,0.00,2.12,0.00,0.000,6,0.000,0.044,2455,2222,3253
$GC,8377,-0.95,-146.0,534.4,-6.1,515,8381,0.00,2.20,0.00,0.000,4,0.000,0.057,2456,818,3253
$GC,8532,-0.85,-146.0,544.1,-6.0,518,8537,0.15,2.33,0.00,0.000,6,0.132,0.058,2491,2243,3253
$GC,8847,-0.94,-146.0,557.8,-4.1,526,8848,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2242,3253
$GC,9171,-1.03,-146.0,570.9,-4.1,534,9176,0.12,2.28,0.00,0.000,4,0.084,0.056,2438,818,3253
$GC,9250,-0.88,-146.0,575.5,-5.9,535,9255,0.20,2.30,0.00,0.000,6,0.132,0.058,2487,2235,3253
$GC,9583,-0.96,-146.0,590.8,-4.6,543,9584,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2235,3253
$GC,9908,-1.04,-146.0,605.4,-4.5,551,9910,0.12,0.00,0.00,0.000,6,0.081,0.000,2435,2235,3253
$GC,10233,-0.93,-146.0,624.6,-6.0,559,10235,0.17,0.00,0.00,0.000,6,0.148,0.000,2484,2235,3253
$GC,10558,-1.00,-146.0,639.6,-4.4,567,10559,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2235,3253
$GC,10883,-1.07,-146.0,655.9,-5.4,575,10884,0.15,0.00,0.00,0.000,6,0.079,0.000,2424,2235,3253
$GC,11209,-0.92,-146.0,677.4,-6.5,583,11213,0.20,2.30,0.00,0.000,4,0.145,0.057,2487,820,3253
$STATE,11272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11272,begin apogee
$GC,11281,-0.31,0.0,681.1,5.6,584,11418,0.40,0.00,130.77,1.268,6,0.119,0.000,2614,1749,2649
$STATE,11419,end apogee,CONTROL_FINISHED_OK
$STATE,11419,begin climb
$GC,11423,0.99,146.0,681.4,0.0,588,11562,0.88,0.00,135.43,1.183,6,0.094,0.000,2894,1748,2054
$GC,11874,0.78,146.0,636.0,11.1,599,11878,0.17,2.35,0.00,0.000,4,0.132,0.065,2844,3161,2045
$GC,11914,0.64,146.0,631.8,9.1,600,11919,0.15,2.28,0.00,0.000,6,0.134,0.049,2812,1749,2044
$GC,12240,0.77,168.4,610.5,6.3,608,12261,0.12,0.00,19.08,1.141,6,0.075,0.000,2868,1748,1964
$GC,12564,0.67,168.4,580.0,9.5,616,12568,0.17,2.33,0.00,0.000,4,0.125,0.064,2816,3161,1960
$GC,12586,0.67,168.4,577.9,9.0,616,12590,0.00,2.25,0.00,0.000,6,0.000,0.048,2822,1732,1959
$GC,12929,0.74,168.4,553.6,7.2,625,12933,0.00,2.33,0.00,0.000,4,0.000,0.064,2822,3160,1959
$GC,12947,0.79,168.4,552.2,7.1,625,12951,0.00,2.25,0.00,0.000,6,0.000,0.048,2832,1725,1958
$GC,13260,0.79,168.4,528.9,7.4,633,13264,0.00,2.33,0.00,0.000,4,0.000,0.064,2833,3162,1957
$GC,13283,0.79,168.4,527.1,7.5,633,13287,0.00,2.25,0.00,0.000,6,0.000,0.048,2843,1725,1957
$GC,13632,0.79,168.4,500.5,7.7,642,13636,0.00,2.30,0.00,0.000,4,0.000,0.064,2843,3159,1957
$GC,13665,0.68,168.4,497.7,8.2,642,13670,0.10,2.22,0.00,0.000,6,0.143,0.048,2827,1734,1957
$GC,14004,0.77,180.0,474.5,6.6,651,14017,0.00,0.00,10.95,1.054,6,0.000,0.000,2827,1733,1916
$GC,14328,0.88,199.6,453.7,6.4,659,14349,0.15,0.00,18.55,1.097,6,0.071,0.000,2893,1733,1836
$GC,14653,0.68,199.6,418.7,11.2,667,14658,0.20,2.35,0.00,0.000,4,0.131,0.064,2829,3159,1831
$GC,14676,0.57,199.6,416.4,10.1,667,14681,0.15,2.25,0.00,0.000,6,0.129,0.048,2795,1731,1830
$GC,14994,1.22,199.6,394.2,8.6,677,14999,0.43,2.25,0.00,0.000,4,0.088,0.061,2947,332,1829
$GC,15039,1.07,199.6,389.6,10.8,679,15043,0.15,2.28,0.00,0.000,6,0.155,0.051,2908,1749,1830
$GC,15361,0.82,199.6,349.9,12.8,695,15365,0.17,2.25,0.00,0.000,4,0.139,0.064,2855,3151,1830
$GC,15395,0.68,199.6,345.7,11.1,696,15399,0.15,2.22,0.00,0.000,6,0.133,0.048,2819,1732,1829
$GC,15712,0.81,199.6,322.4,7.2,711,15714,0.12,0.00,0.00,0.000,6,0.071,0.000,2879,1732,1829
$GC,16020,0.68,199.6,289.9,10.7,726,16025,0.17,2.35,0.00,0.000,4,0.123,0.062,2826,3161,1829
$GC,16044,0.61,199.6,287.7,9.8,727,16048,0.00,2.25,0.00,0.000,6,0.000,0.048,2834,1725,1829
$GC,16373,0.68,199.6,261.4,7.6,743,16377,0.00,2.30,0.00,0.000,4,0.000,0.061,2834,3152,1829
$GC,16389,0.68,199.6,259.8,7.4,743,16396,0.00,2.22,0.00,0.000,6,0.000,0.046,2843,1723,1829
$GC,16707,0.70,217.8,237.0,6.4,759,16729,0.00,2.33,16.12,0.939,4,0.000,0.061,2843,3153,1762
$GC,16759,0.71,222.2,233.4,6.9,761,16768,0.00,2.22,5.20,0.733,6,0.000,0.046,2853,1731,1744
$GC,17080,0.76,261.9,212.2,5.7,776,17119,0.00,0.00,36.28,0.946,6,0.000,0.000,2853,1731,1582
$GC,17430,0.90,307.0,194.0,5.6,793,17473,0.08,0.00,40.42,0.922,6,0.100,0.000,2898,1731,1398
$GC,17779,0.85,307.0,159.9,10.3,810,17781,0.12,0.00,0.00,0.000,6,0.126,0.000,2862,1731,1389
$GC,18088,0.98,307.0,134.8,8.0,825,18093,0.12,2.38,0.00,0.000,4,0.076,0.063,2919,3151,1387
$GC,18111,0.93,307.0,132.2,10.6,826,18116,0.17,2.25,0.00,0.000,6,0.137,0.048,2879,1727,1386
$GC,18434,0.98,307.0,99.1,9.3,842,18441,0.00,2.28,0.00,0.000,4,0.000,0.061,2887,327,1385
$GC,18470,1.09,307.0,95.9,9.0,848,18477,0.12,2.33,0.00,0.000,6,0.075,0.051,2947,1751,1385
$GC,18817,0.92,307.0,50.1,14.5,909,18824,0.20,2.30,0.00,0.000,4,0.133,0.066,2882,3160,1384
$GC,18876,0.92,307.0,43.2,10.3,919,18883,0.00,2.25,0.00,0.000,6,0.000,0.050,2888,1736,1384
$GC,19222,0.99,307.0,13.5,8.4,980,19228,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1736,1383
$FREEZE,6.59,0.006,-1.837
$FREEZE,6.04,0.007,-1.837
$FREEZE,5.63,0.009,-1.837
$FREEZE,5.17,0.005,-1.836
$FREEZE,4.73,-0.001,-1.836
$FREEZE,4.15,-0.001,-1.835
$FREEZE,3.75,-0.017,-1.836
$FREEZE,3.45,-0.048,-1.835
$FREEZE,2.93,-0.036,-1.835
$STATE,19339,end climb,SURFACE_DEPTH_REACHED
$STATE,19339,begin surface coast
$FREEZE,2.49,-0.030,-1.834
$FREEZE,2.03,-0.041,-1.834
$FREEZE,1.58,-0.034,-1.833
$FREEZE,1.58,-0.608,-0.978
$FREEZE,1.62,-0.264,-1.844
$FREEZE,1.59,-1.243,-1.906
$FREEZE,1.52,-0.311,-1.833
$FINISH,1.5,1.026851
$STATE,19380,end surface coast,CONTROL_FINISHED_OK
$STATE,19380,begin surface
$SM_CCo,19461,0.00,0.000,0,0,1379,311.53
$SM_GC,2.39,6.93,0.00,0.00,0.055,0.000,0.000,338,2240,1379,-10.67,0.28,311.53
$RAFOS_CLK,803
$RAFOS,4,1229705075,16.750000,16.743055,62,62,55,55,53,53,202,217,159,192,119,137
$RAFOS,3,1229704466,16.583334,16.573889,60,57,53,50,48,48,209,222,136,177,118,149
$RAFOS,2,1229703851,16.416666,16.403055,104,62,59,55,54,51,600,221,194,166,156,209
$RAFOS,1,1229703260,16.250000,16.238890,105,58,57,56,53,51,751,220,138,183,116,198
$RAFOS,0,1229702643,16.083334,16.067499,65,64,60,59,58,58,172,197,141,110,188,129
$RAFOS_FIX,6648.908203,-5708.686035,191208,161620,2,104,0.66
$IRIDIUM_FIX,6625.71,-5653.52,150398,080801
$TT8_MAMPS,0.026845
$HUMID,1812
$INTERNAL_PRESSURE,9.87343
$TCM_TEMP,15.60
$XPDR_PINGS,91
$24V_AH,21.8,78.960
$10V_AH,10.5,36.178
$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,22.575,144.225,412.800,0.000,0.000,30.084,35.307,135.264,22.750,0.000,0.000,13.539,1896.141,14805.744,576.464,1941.666,587.656,0.000,1622.450,0.000,1914.375,1800.000,0.530,0.000
$DEVICE_MAMPS,247.741,85.137,1267.851,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,703.073,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34661,1008
$CAP_FILE_SIZE,148053,0
$CFSIZE,260165632,219918336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.1
$GPS,191208,192427,6648.591,-5706.221,40,2.3,59,-37.3