version: 66.04
glider: 108
mission: 11
dive: 488
start: 12 20 108 23 41 40
data:
$ID,108
$MISSION,11
$DIVE,488
$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,-122297.55
$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,28
$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
$GPS1,233532,6645.274,-5728.386,38,1.7,38,-37.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-31.9
$GPS2,234121,6645.179,-5728.299,12,1.6,12,-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,304.9,142750,-13.0,-7.021
$D_GRID,669
$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,-146.0,0.0,0.0,0,111,0.00,0.00,-88.43,0.000,6,0.000,0.000,332,2233,3246
$GC,115,-0.99,-146.0,2.1,-0.2,17,128,7.32,2.25,0.00,0.000,4,0.163,0.072,2454,3598,3248
$GC,383,-0.63,-146.0,1.9,0.3,64,390,0.30,2.17,0.00,0.000,6,0.143,0.051,2545,2221,3250
$GC,729,-0.63,-146.0,6.0,-6.7,125,735,0.00,2.30,0.00,0.000,4,0.000,0.074,2537,3599,3251
$GC,902,-0.69,-146.0,18.0,-6.2,155,908,0.00,2.17,0.00,0.000,6,0.000,0.051,2537,2214,3251
$GC,1248,-0.76,-146.0,41.5,-6.4,216,1254,0.10,0.00,0.00,0.000,6,0.091,0.000,2493,2214,3250
$GC,1593,-0.71,-146.0,70.2,-8.1,277,1599,0.12,0.00,0.00,0.000,6,0.152,0.000,2525,2213,3249
$GC,1940,-0.80,-146.0,93.2,-6.3,338,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2214,3249
$GC,2287,-0.90,-146.0,114.7,-6.5,369,2291,0.15,2.25,0.00,0.000,4,0.082,0.063,2463,812,3249
$GC,2372,-0.73,-146.0,122.4,-9.1,373,2377,0.25,2.38,0.00,0.000,6,0.141,0.064,2523,2239,3249
$GC,2703,-0.83,-146.0,141.8,-5.5,389,2708,0.10,2.25,0.00,0.000,4,0.089,0.077,2470,3607,3249
$GC,2754,-0.75,-146.0,145.6,-7.5,391,2759,0.17,2.17,0.00,0.000,6,0.150,0.051,2517,2224,3248
$GC,3078,-0.85,-146.0,162.4,-4.9,407,3080,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2224,3248
$GC,3386,-0.95,-146.0,177.9,-5.3,422,3388,0.15,0.00,0.00,0.000,6,0.084,0.000,2457,2224,3248
$GC,3696,-0.84,-146.0,204.4,-9.0,437,3700,0.15,2.25,0.00,0.000,4,0.152,0.063,2501,825,3248
$GC,3748,-0.84,-146.0,208.9,-8.3,439,3752,0.00,2.33,0.00,0.000,6,0.000,0.064,2492,2240,3248
$GC,4075,-0.84,-146.0,233.0,-6.9,455,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2240,3248
$GC,4386,-0.84,-146.0,253.1,-6.3,470,4387,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2240,3248
$GC,4694,-0.84,-146.0,272.5,-6.3,485,4698,0.00,2.30,0.00,0.000,4,0.000,0.062,2492,825,3248
$GC,4768,-0.84,-146.0,277.4,-6.9,488,4772,0.00,2.33,0.00,0.000,6,0.000,0.064,2483,2240,3248
$GC,5095,-0.84,-146.0,297.3,-5.7,504,5096,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2240,3248
$GC,5405,-0.84,-146.0,314.9,-6.0,519,5409,0.00,2.30,0.00,0.000,4,0.000,0.061,2483,821,3248
$GC,5546,-0.84,-146.0,324.3,-7.0,525,5550,0.10,2.30,0.00,0.000,6,0.139,0.062,2500,2233,3248
$GC,5874,-0.93,-146.0,343.1,-5.5,541,5876,0.10,0.00,0.00,0.000,6,0.091,0.000,2457,2233,3248
$GC,6182,-0.87,-146.0,362.6,-6.0,556,6184,0.12,0.00,0.00,0.000,6,0.146,0.000,2490,2233,3248
$GC,6492,-0.93,-146.0,376.0,-4.2,571,6493,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2233,3249
$GC,6802,-0.99,-146.0,389.1,-4.2,586,6806,0.10,2.28,0.00,0.000,4,0.093,0.059,2448,825,3249
$GC,6870,-0.84,-146.0,393.2,-6.8,589,6875,0.22,2.33,0.00,0.000,6,0.133,0.061,2501,2245,3249
$GC,7196,-0.95,-146.0,407.3,-4.2,601,7198,0.10,0.00,0.00,0.000,6,0.094,0.000,2459,2245,3250
$GC,7520,-0.89,-146.0,425.1,-5.6,609,7525,0.12,2.33,0.00,0.000,4,0.146,0.059,2495,814,3250
$GC,7582,-0.89,-146.0,428.6,-5.6,610,7586,0.00,2.33,0.00,0.000,6,0.000,0.060,2487,2243,3250
$GC,7931,-0.94,-146.0,446.3,-5.1,619,7932,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2243,3251
$GC,8255,-1.00,-146.0,461.3,-4.3,627,8260,0.10,2.30,0.00,0.000,4,0.088,0.060,2441,822,3250
$GC,8329,-0.83,-146.0,465.4,-5.9,628,8334,0.25,2.30,0.00,0.000,6,0.134,0.061,2502,2232,3250
$GC,8667,-0.96,-146.0,477.2,-3.7,637,8669,0.12,0.00,0.00,0.000,6,0.084,0.000,2450,2232,3251
$GC,8991,-0.87,-146.0,495.4,-5.9,645,8993,0.15,0.00,0.00,0.000,6,0.147,0.000,2491,2232,3251
$GC,9316,-0.96,-146.0,512.7,-5.2,653,9320,0.00,2.28,0.00,0.000,4,0.000,0.058,2491,824,3251
$GC,9385,-0.96,-146.0,516.5,-5.4,654,9389,0.00,2.30,0.00,0.000,6,0.000,0.060,2484,2235,3251
$GC,9734,-1.01,-146.0,534.7,-5.3,663,9738,0.00,2.20,0.00,0.000,4,0.000,0.072,2473,3595,3251
$GC,9807,-1.01,-146.0,539.0,-5.9,664,9811,0.00,2.12,0.00,0.000,6,0.000,0.045,2473,2225,3251
$GC,10151,-1.01,-146.0,556.3,-5.0,673,10154,0.00,2.22,0.00,0.000,4,0.000,0.059,2473,821,3251
$GC,10201,-1.01,-146.0,559.0,-5.3,674,10205,0.00,2.30,0.00,0.000,6,0.000,0.059,2463,2236,3252
$GC,10526,-1.01,-146.0,575.8,-5.3,682,10531,0.00,2.20,0.00,0.000,4,0.000,0.072,2452,3604,3252
$GC,10584,-0.96,-146.0,579.4,-6.2,683,10588,0.00,2.15,0.00,0.000,6,0.000,0.045,2452,2217,3251
$GC,10904,-0.90,-146.0,598.3,-5.8,691,10909,0.12,2.20,0.00,0.000,4,0.150,0.057,2487,826,3252
$GC,10962,-0.90,-146.0,601.4,-5.5,692,10965,0.00,2.30,0.00,0.000,6,0.000,0.059,2479,2235,3252
$GC,11281,-0.90,-146.0,616.8,-4.8,700,11282,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2235,3252
$GC,11606,-0.90,-146.0,632.2,-4.8,708,11610,0.00,2.22,0.00,0.000,4,0.000,0.072,2469,3593,3252
$GC,11662,-0.90,-146.0,635.3,-5.5,709,11666,0.00,2.12,0.00,0.000,6,0.000,0.045,2469,2223,3252
$GC,11982,-0.90,-146.0,652.4,-5.6,717,11986,0.00,2.22,0.00,0.000,4,0.000,0.058,2469,814,3252
$GC,12100,-0.90,-146.0,659.4,-5.5,719,12104,0.10,2.33,0.00,0.000,6,0.136,0.058,2485,2236,3252
$STATE,12318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12318,begin apogee
$GC,12326,-0.31,0.0,670.6,5.1,725,12467,0.40,0.00,133.12,1.239,6,0.119,0.000,2614,1743,2650
$STATE,12468,end apogee,CONTROL_FINISHED_OK
$STATE,12468,begin climb
$GC,12471,0.99,146.0,673.4,0.0,728,12612,0.90,0.00,136.70,1.177,6,0.093,0.000,2897,1743,2054
$GC,12927,0.77,146.0,629.3,10.9,740,12932,0.20,2.40,0.00,0.000,4,0.132,0.065,2837,3150,2045
$GC,12962,0.65,146.0,626.0,8.6,740,12969,0.10,2.30,0.00,0.000,6,0.141,0.048,2818,1727,2044
$GC,13294,0.74,159.6,603.9,6.6,749,13312,0.00,2.35,11.52,1.080,4,0.000,0.063,2818,3153,1998
$GC,13337,0.76,176.8,600.9,6.5,750,13360,0.00,2.25,16.90,1.118,6,0.000,0.048,2826,1731,1929
$GC,13706,0.84,192.5,576.1,6.5,759,13726,0.12,2.35,14.90,1.109,4,0.077,0.064,2883,3160,1865
$GC,13761,0.57,192.5,570.7,10.5,760,13766,0.32,2.28,0.00,0.000,6,0.137,0.048,2799,1725,1862
$GC,14076,0.89,236.1,552.7,5.6,768,14123,0.25,2.45,39.85,1.162,4,0.078,0.063,2888,3157,1686
$GC,14186,0.60,236.1,541.9,11.7,770,14190,0.32,2.28,0.00,0.000,6,0.132,0.048,2804,1732,1681
$GC,14529,0.95,236.1,516.9,7.6,779,14534,0.22,2.25,0.00,0.000,4,0.084,0.061,2890,334,1676
$GC,14546,1.41,236.1,515.0,9.1,779,14551,0.30,2.28,0.00,0.000,6,0.077,0.049,3000,1757,1677
$GC,14894,0.91,236.1,447.2,20.3,788,14897,0.43,0.00,0.00,0.000,6,0.148,0.000,2875,1757,1676
$GC,15220,0.82,236.1,410.8,10.9,796,15221,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1757,1675
$GC,15527,0.74,236.1,373.6,12.1,808,15532,0.12,2.35,0.00,0.000,4,0.139,0.062,2845,324,1674
$GC,15549,0.74,236.1,371.2,10.2,809,15553,0.00,2.28,0.00,0.000,6,0.000,0.051,2845,1739,1675
$GC,15877,0.81,236.1,342.9,8.0,825,15881,0.00,2.28,0.00,0.000,4,0.000,0.067,2846,3161,1674
$GC,15928,0.76,236.1,338.1,9.6,827,15932,0.00,2.25,0.00,0.000,6,0.000,0.049,2856,1724,1674
$GC,16255,0.76,236.1,310.8,8.5,843,16256,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1724,1674
$GC,16565,0.76,236.1,285.6,8.1,858,16566,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1724,1674
$GC,16873,0.76,236.1,260.6,8.2,873,16875,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1724,1674
$GC,17183,0.81,236.1,235.6,8.2,888,17187,0.00,2.33,0.00,0.000,4,0.000,0.064,2856,3155,1674
$GC,17211,0.81,236.1,233.1,8.4,889,17215,0.00,2.22,0.00,0.000,6,0.000,0.049,2865,1733,1673
$GC,17538,0.81,236.1,206.0,8.0,905,17539,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1733,1673
$GC,17847,0.87,236.1,181.6,7.4,920,17849,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1733,1673
$GC,18161,1.00,272.9,161.9,5.8,935,18198,0.12,2.35,31.75,0.959,4,0.077,0.067,2924,3152,1537
$GC,18222,0.81,272.9,155.8,10.7,937,18227,0.28,2.25,0.00,0.000,6,0.129,0.050,2853,1738,1534
$GC,18553,1.05,317.4,135.2,5.6,953,18600,0.17,2.35,40.05,0.938,4,0.066,0.065,2943,338,1355
$GC,18612,0.94,317.4,129.3,10.6,955,18619,0.22,2.30,0.00,0.000,6,0.127,0.053,2878,1740,1353
$GC,18929,1.20,380.0,111.4,5.0,971,18994,0.20,2.38,54.65,0.914,4,0.063,0.067,2968,3147,1099
$GC,19028,0.93,380.0,100.3,13.4,975,19033,0.35,2.30,0.00,0.000,6,0.137,0.051,2877,1729,1095
$GC,19373,1.20,419.1,81.9,5.8,1035,19415,0.20,2.35,32.38,0.891,4,0.065,0.066,2979,328,940
$GC,19446,1.05,419.1,73.4,13.5,1047,19453,0.25,2.33,0.00,0.000,6,0.130,0.054,2907,1745,937
$GC,19792,1.18,419.1,44.5,8.5,1108,19799,0.12,2.30,0.00,0.000,4,0.074,0.070,2963,3164,930
$GC,19812,1.25,419.1,42.2,9.4,1111,19818,0.00,2.28,0.00,0.000,6,0.000,0.053,2973,1733,930
$FREEZE,6.66,-1.703,-1.826
$FREEZE,5.77,-1.709,-1.825
$FREEZE,4.85,-1.711,-1.824
$FREEZE,4.02,-1.728,-1.824
$FREEZE,3.16,-1.747,-1.824
$FREEZE,2.22,-1.816,-1.823
$STATE,20093,end climb,SURFACE_DEPTH_REACHED
$STATE,20093,begin surface coast
$FREEZE,1.55,-1.834,-0.321
$FREEZE,1.56,-2.587,-1.850
$FREEZE,1.61,-2.074,-1.790
$FINISH,1.6,1.026287
$STATE,20111,end surface coast,CONTROL_FINISHED_OK
$STATE,20111,begin surface
$SM_CCo,20192,0.00,0.000,0,0,927,422.90
$SM_GC,2.29,7.18,0.00,0.00,0.055,0.000,0.000,336,2235,927,-10.67,0.14,422.90
$RAFOS_CLK,851
$RAFOS,4,1229834653,4.750000,4.736945,74,66,59,59,56,53,218,195,176,762,164,137
$RAFOS,3,1229834055,4.583333,4.570833,63,56,56,54,53,51,199,171,221,157,180,115
$RAFOS,2,1229833453,4.416667,4.403611,153,60,58,54,54,52,588,214,157,193,202,225
$RAFOS,1,1229832855,4.250000,4.237500,61,56,53,51,51,51,123,165,219,199,147,713
$RAFOS,0,1229832249,4.083333,4.069167,59,57,52,52,51,50,212,173,190,112,156,125
$RAFOS,4,1229820243,0.750000,0.734167,64,60,56,56,54,51,190,144,167,213,117,158
$RAFOS,3,1229819654,0.583333,0.570556,65,63,59,55,54,52,166,183,240,134,117,198
$RAFOS,2,1229819052,0.416667,0.403333,97,62,60,59,54,54,581,148,218,206,163,115
$RAFOS,1,1229818443,0.250000,0.234167,63,59,59,58,52,50,187,206,223,162,137,119
$RAFOS,0,1229817842,0.083333,0.067222,55,53,53,51,51,51,127,117,167,157,178,217
$RAFOS_FIX,6646.256348,-5730.846680,201208,161628,4,93,0.42
$IRIDIUM_FIX,6614.97,-5729.64,160398,181838
$TT8_MAMPS,0.026845
$HUMID,1807
$INTERNAL_PRESSURE,9.7953
$TCM_TEMP,15.40
$XPDR_PINGS,215
$24V_AH,21.6,79.913
$10V_AH,10.4,36.615
$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,23.350,138.425,511.825,0.000,0.000,25.317,34.764,136.994,53.750,0.000,0.000,13.589,2133.746,14960.334,640.730,2183.500,613.187,0.000,1811.480,0.000,2153.962,3600.000,0.530,0.000
$DEVICE_MAMPS,163.371,76.700,1239.472,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,814.657,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37777,1164
$CAP_FILE_SIZE,158214,0
$CFSIZE,260165632,219496448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.6
$GPS,211208,051937,6642.435,-5730.404,36,0.9,36,-37.3