version: 66.04
glider: 108
mission: 11
dive: 485
start: 12 20 108 6 35 40
data:
$ID,108
$MISSION,11
$DIVE,485
$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,0
$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,-122254.49
$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,24
$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
$GPS1,062941,6646.147,-5716.295,33,1.8,37,-37.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-66.5
$GPS2,063521,6646.178,-5716.312,13,1.7,13,-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,304.4,151607,-13.0,-7.021
$D_GRID,697
$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,-84.95,0.000,2,0.000,0.000,335,2237,3075
$GC,107,-0.99,-146.0,3.2,-1.5,15,128,8.90,2.33,-5.53,0.000,4,0.244,0.084,2456,3607,3249
$GC,349,-0.83,-146.0,26.9,-8.6,57,356,0.17,2.17,0.00,0.000,6,0.144,0.047,2504,2218,3252
$GC,695,-0.83,-146.0,50.6,-6.8,118,701,0.00,2.20,0.00,0.000,4,0.000,0.058,2504,826,3252
$GC,826,-0.83,-146.0,60.4,-7.4,141,832,0.00,2.33,0.00,0.000,6,0.000,0.059,2497,2246,3252
$GC,1171,-0.83,-146.0,87.4,-8.6,202,1177,0.00,2.30,0.00,0.000,4,0.000,0.059,2497,815,3252
$GC,1274,-0.83,-146.0,96.6,-9.1,220,1280,0.00,2.33,0.00,0.000,6,0.000,0.059,2487,2245,3252
$GC,1605,-0.83,-146.0,124.2,-7.7,241,1609,0.00,2.20,0.00,0.000,4,0.000,0.073,2476,3597,3253
$GC,1675,-0.83,-146.0,129.9,-8.5,244,1680,0.10,2.15,0.00,0.000,6,0.150,0.048,2502,2215,3253
$GC,2010,-0.83,-146.0,150.7,-6.0,260,2014,0.00,2.20,0.00,0.000,4,0.000,0.060,2502,821,3252
$GC,2186,-0.83,-146.0,160.7,-5.5,267,2193,0.00,2.30,0.00,0.000,6,0.000,0.061,2494,2238,3252
$GC,2504,-0.83,-146.0,178.4,-6.2,283,2508,0.00,2.20,0.00,0.000,4,0.000,0.074,2484,3597,3251
$GC,2578,-0.83,-146.0,183.8,-7.5,286,2582,0.00,2.15,0.00,0.000,6,0.000,0.048,2484,2218,3251
$GC,2905,-0.83,-146.0,206.4,-6.5,302,2909,0.00,2.20,0.00,0.000,4,0.000,0.061,2484,824,3250
$GC,2996,-0.83,-146.0,212.8,-7.0,306,3001,0.10,2.30,0.00,0.000,6,0.136,0.061,2501,2238,3249
$GC,3330,-0.93,-146.0,228.5,-4.4,322,3332,0.10,0.00,0.00,0.000,6,0.088,0.000,2457,2238,3249
$GC,3639,-0.85,-146.0,246.3,-5.8,337,3641,0.15,0.00,0.00,0.000,6,0.142,0.000,2499,2238,3249
$GC,3950,-0.95,-146.0,262.8,-5.9,352,3955,0.10,2.30,0.00,0.000,4,0.092,0.056,2456,814,3249
$GC,4035,-0.83,-146.0,269.3,-7.4,356,4040,0.20,2.30,0.00,0.000,6,0.130,0.058,2503,2243,3249
$GC,4369,-0.94,-146.0,288.9,-5.7,372,4373,0.12,2.20,0.00,0.000,4,0.081,0.068,2439,3593,3249
$GC,4464,-0.83,-146.0,295.7,-7.3,376,4469,0.22,2.12,0.00,0.000,6,0.140,0.044,2503,2218,3249
$GC,4792,-0.95,-146.0,310.0,-3.8,392,4797,0.12,2.20,0.00,0.000,4,0.082,0.054,2448,815,3251
$GC,4969,-0.79,-146.0,320.1,-5.4,399,4976,0.25,2.33,0.00,0.000,6,0.129,0.055,2511,2245,3251
$GC,5287,-0.93,-146.0,330.8,-3.4,415,5289,0.12,0.00,0.00,0.000,6,0.080,0.000,2455,2245,3252
$GC,5597,-0.86,-146.0,347.1,-5.7,430,5602,0.15,2.25,0.00,0.000,4,0.143,0.067,2489,3605,3253
$GC,5683,-0.97,-146.0,351.4,-5.3,434,5687,0.00,2.15,0.00,0.000,6,0.000,0.044,2489,2214,3253
$GC,6016,-1.01,-146.0,368.9,-5.3,450,6021,0.10,2.17,0.00,0.000,4,0.087,0.053,2442,826,3254
$GC,6159,-0.85,-146.0,378.8,-7.3,456,6164,0.22,2.30,0.00,0.000,6,0.132,0.055,2499,2233,3254
$GC,6476,-0.96,-146.0,395.1,-4.7,471,6478,0.10,0.00,0.00,0.000,6,0.087,0.000,2454,2233,3254
$GC,6782,-0.89,-146.0,412.7,-5.7,481,6784,0.12,0.00,0.00,0.000,6,0.147,0.000,2488,2233,3254
$GC,7111,-0.94,-146.0,427.8,-4.5,489,7112,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2233,3255
$GC,7432,-1.00,-146.0,444.0,-5.2,497,7434,0.10,0.00,0.00,0.000,6,0.091,0.000,2444,2233,3255
$GC,7758,-0.90,-146.0,466.7,-7.2,505,7760,0.15,0.00,0.00,0.000,6,0.147,0.000,2485,2233,3255
$GC,8084,-0.95,-146.0,486.9,-6.2,513,8088,0.00,2.22,0.00,0.000,4,0.000,0.071,2477,3595,3255
$GC,8136,-1.01,-146.0,490.5,-6.6,514,8140,0.00,2.12,0.00,0.000,6,0.000,0.043,2477,2214,3254
$GC,8461,-1.01,-146.0,510.4,-5.9,522,8465,0.00,2.17,0.00,0.000,4,0.000,0.055,2477,818,3254
$GC,8575,-1.01,-146.0,517.5,-6.5,524,8579,0.00,2.33,0.00,0.000,6,0.000,0.057,2467,2241,3255
$GC,8923,-1.01,-146.0,537.9,-5.6,533,8927,0.00,2.20,0.00,0.000,4,0.000,0.071,2457,3597,3254
$GC,8992,-1.01,-146.0,542.1,-6.2,534,8996,0.00,2.10,0.00,0.000,6,0.000,0.044,2457,2221,3255
$GC,9341,-0.96,-146.0,562.7,-5.9,543,9345,0.00,2.17,0.00,0.000,4,0.000,0.056,2457,828,3255
$GC,9477,-0.86,-146.0,572.0,-7.1,546,9482,0.17,2.28,0.00,0.000,6,0.131,0.057,2496,2235,3254
$GC,9803,-0.96,-146.0,589.0,-5.2,554,9807,0.10,2.20,0.00,0.000,4,0.087,0.069,2442,3598,3255
$GC,9864,-0.89,-146.0,593.2,-7.3,555,9868,0.17,2.12,0.00,0.000,6,0.146,0.044,2490,2216,3255
$GC,10178,-0.97,-146.0,608.9,-4.7,563,10182,0.00,2.17,0.00,0.000,4,0.000,0.056,2490,824,3254
$GC,10263,-1.02,-146.0,613.4,-5.0,564,10270,0.10,2.30,0.00,0.000,6,0.081,0.058,2437,2246,3254
$GC,10596,-0.91,-146.0,634.1,-6.2,573,10600,0.17,2.20,0.00,0.000,4,0.148,0.069,2478,3605,3254
$GC,10664,-0.99,-146.0,637.9,-5.9,574,10668,0.00,2.12,0.00,0.000,6,0.000,0.044,2478,2227,3254
$GC,11013,-1.04,-146.0,656.4,-5.3,583,11018,0.10,2.20,0.00,0.000,4,0.088,0.057,2434,821,3254
$GC,11211,-0.87,-146.0,670.0,-6.7,587,11216,0.25,2.30,0.00,0.000,6,0.132,0.057,2496,2246,3254
$GC,11560,-0.99,-146.0,686.2,-4.6,596,11562,0.12,0.00,0.00,0.000,6,0.082,0.000,2444,2246,3255
$STATE,11759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11759,begin apogee
$GC,11768,-0.31,0.0,698.1,5.9,601,11902,0.55,0.00,131.73,1.267,6,0.125,0.000,2619,1736,2650
$STATE,11904,end apogee,CONTROL_FINISHED_OK
$STATE,11904,begin climb
$GC,11907,0.99,146.0,700.5,0.0,604,12050,0.88,2.60,135.85,1.188,4,0.088,0.062,2898,3151,2054
$GC,12085,0.66,146.0,682.7,13.3,609,12090,0.32,2.45,0.00,0.000,6,0.135,0.045,2821,1731,2049
$GC,12411,0.73,150.4,659.1,6.9,617,12412,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1730,2045
$GC,12735,0.78,152.2,636.6,7.0,625,12746,0.10,2.33,5.22,0.884,4,0.082,0.062,2870,3157,2029
$GC,12759,0.70,152.2,634.7,7.9,625,12764,0.17,2.25,0.00,0.000,6,0.138,0.048,2830,1726,2028
$GC,13095,0.70,152.2,609.2,7.5,634,13099,0.00,2.33,0.00,0.000,4,0.000,0.063,2830,3164,2028
$GC,13119,0.70,152.2,607.3,7.8,634,13123,0.00,2.25,0.00,0.000,6,0.000,0.047,2839,1724,2027
$GC,13468,0.70,152.2,579.3,7.9,643,13472,0.00,2.33,0.00,0.000,4,0.000,0.062,2839,3157,2027
$GC,13515,0.56,152.2,575.2,9.0,644,13519,0.17,2.22,0.00,0.000,6,0.133,0.048,2799,1732,2026
$GC,13845,0.76,193.7,555.7,5.7,652,13889,0.15,2.42,37.25,1.180,4,0.068,0.062,2868,3159,1860
$GC,13901,0.63,193.7,551.0,9.1,653,13906,0.22,2.28,0.00,0.000,6,0.130,0.048,2814,1734,1857
$GC,14215,0.82,216.3,531.0,6.3,661,14238,0.15,0.00,20.23,1.122,6,0.067,0.000,2882,1734,1768
$GC,14540,0.67,216.3,497.3,10.5,669,14544,0.20,2.33,0.00,0.000,4,0.125,0.064,2818,3156,1763
$GC,14563,0.62,216.3,495.1,9.3,669,14566,0.00,2.25,0.00,0.000,6,0.000,0.048,2825,1726,1762
$GC,14906,0.75,233.3,472.5,6.5,678,14927,0.00,2.33,16.00,1.084,4,0.000,0.062,2825,3153,1698
$GC,14939,0.90,262.3,470.3,6.1,678,14974,0.15,2.25,27.77,1.096,6,0.072,0.047,2899,1725,1580
$GC,15313,0.72,262.3,426.5,12.0,688,15318,0.20,2.33,0.00,0.000,4,0.133,0.062,2835,3155,1571
$GC,15335,0.64,262.3,423.8,11.6,688,15340,0.10,2.22,0.00,0.000,6,0.136,0.047,2815,1735,1570
$GC,15679,1.33,262.3,397.0,9.5,697,15684,0.45,2.25,0.00,0.000,4,0.112,0.062,2966,332,1568
$GC,15724,1.28,262.3,392.0,10.6,699,15728,0.00,2.25,0.00,0.000,6,0.000,0.050,2966,1745,1568
$GC,16051,0.89,262.3,333.0,18.4,715,16056,0.30,2.25,0.00,0.000,4,0.143,0.064,2873,3156,1568
$GC,16074,0.62,262.3,329.2,16.2,716,16079,0.22,2.20,0.00,0.000,6,0.123,0.048,2814,1735,1567
$GC,16402,1.27,262.3,298.4,11.4,732,16406,0.40,2.25,0.00,0.000,4,0.089,0.061,2957,327,1566
$GC,16442,1.34,262.3,293.6,12.5,734,16446,0.00,2.25,0.00,0.000,6,0.000,0.051,2957,1741,1566
$GC,16776,0.97,262.3,235.1,17.8,750,16778,0.25,0.00,0.00,0.000,6,0.144,0.000,2884,1741,1565
$GC,17084,0.88,262.3,200.2,11.3,765,17088,0.00,2.25,0.00,0.000,4,0.000,0.064,2884,3158,1565
$GC,17102,0.79,262.3,198.1,11.6,765,17109,0.17,2.22,0.00,0.000,6,0.127,0.048,2840,1732,1565
$GC,17418,0.98,262.3,172.9,7.1,781,17420,0.17,0.00,0.00,0.000,6,0.064,0.000,2924,1732,1565
$GC,17728,0.82,262.3,136.5,11.6,796,17732,0.20,2.30,0.00,0.000,4,0.130,0.062,2859,3151,1565
$GC,17740,0.69,262.3,135.1,11.6,796,17746,0.15,2.20,0.00,0.000,6,0.123,0.047,2821,1736,1565
$GC,18056,1.37,262.3,107.4,10.5,812,18061,0.45,2.25,0.00,0.000,4,0.096,0.061,2978,333,1565
$GC,18090,1.53,262.3,103.7,9.7,813,18096,0.12,2.25,0.00,0.000,6,0.079,0.050,3030,1746,1566
$GC,18431,1.06,262.3,43.1,18.0,868,18438,0.40,2.25,0.00,0.000,4,0.149,0.064,2909,3148,1566
$GC,18470,0.79,262.3,38.0,14.4,874,18477,0.22,2.22,0.00,0.000,6,0.125,0.049,2849,1731,1566
$GC,18816,1.40,262.3,11.3,9.3,935,18823,0.40,2.28,0.00,0.000,4,0.099,0.063,2987,319,1565
$FREEZE,6.69,0.295,-1.837
$GC,18859,1.54,262.3,6.7,10.5,942,18866,0.10,2.30,0.00,0.000,6,0.091,0.053,3028,1749,1565
$FREEZE,4.65,0.229,-1.837
$FREEZE,3.77,0.214,-1.836
$FREEZE,2.94,0.206,-1.836
$STATE,18882,end climb,SURFACE_DEPTH_REACHED
$STATE,18882,begin surface coast
$FREEZE,2.14,0.211,-1.835
$FREEZE,1.57,0.025,-0.912
$FREEZE,1.75,0.208,-1.833
$FREEZE,1.64,-0.145,-1.854
$FINISH,1.6,1.027136
$STATE,18906,end surface coast,CONTROL_FINISHED_OK
$STATE,18906,begin surface
$SM_CCo,18986,0.00,0.000,0,0,1563,266.64
$SM_GC,2.51,7.32,0.00,0.00,0.054,0.000,0.000,332,2242,1563,-10.70,0.34,266.64
$RAFOS_CLK,778
$RAFOS,4,1229762652,8.750000,8.736667,68,64,62,57,56,53,774,116,186,132,228,171
$RAFOS,3,1229762043,8.583333,8.567500,65,58,56,54,52,48,210,158,192,222,169,135
$RAFOS,2,1229761453,8.416667,8.403611,115,66,62,59,56,56,567,164,208,154,120,190
$RAFOS,1,1229760849,8.250000,8.235833,67,65,63,60,58,57,773,188,178,228,203,219
$RAFOS,0,1229760243,8.083333,8.067500,61,58,57,51,46,45,208,156,187,117,174,223
$RAFOS_FIX,6648.127441,-5722.562012,201208,080852,3,83,0.85
$IRIDIUM_FIX,6620.33,-5707.03,160398,010132
$TT8_MAMPS,0.026845
$HUMID,1822
$INTERNAL_PRESSURE,9.88319
$TCM_TEMP,15.70
$XPDR_PINGS,161
$24V_AH,21.7,79.443
$10V_AH,10.4,36.390
$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,27.550,163.600,374.050,0.000,0.000,25.613,31.527,135.013,40.250,0.000,0.000,14.643,1893.336,14293.335,533.117,2033.530,574.663,0.000,1624.611,0.000,1993.870,1800.000,0.530,0.000
$DEVICE_MAMPS,243.906,83.603,1267.084,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,663.053,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31617,950
$CAP_FILE_SIZE,156506,0
$CFSIZE,260165632,219713536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.9
$GPS,201208,115338,6646.462,-5721.651,33,1.7,34,-37.3