version: 66.04
glider: 108
mission: 11
dive: 491
start: 12 21 108 16 49 4
data:
$ID,108
$MISSION,11
$DIVE,491
$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,-123051.27
$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,27
$R_STBD_OVSHOOT,23
$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
$GPS1,123056,6642.583,-5740.488,0,4096.2,0,-37.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-31.5
$GPS2,123056,6642.583,-5740.488,0,4096.2,0,-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,306.8,133703,-13.0,-7.021
$D_GRID,602
$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,-146.0,0.0,0.0,0,80,0.00,0.00,-61.83,0.000,2,0.000,0.000,332,2242,2703
$GC,84,-0.99,-146.0,3.1,-1.1,11,126,8.95,2.30,-23.70,0.000,4,0.248,0.091,2455,3593,3248
$GC,308,-0.82,-146.0,21.5,-9.5,50,315,0.17,2.17,0.00,0.000,6,0.151,0.051,2502,2215,3252
$GC,653,-0.82,-146.0,48.1,-8.0,111,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2215,3252
$GC,997,-0.82,-146.0,76.0,-8.0,172,1003,0.00,2.33,0.00,0.000,4,0.000,0.077,2494,3604,3251
$GC,1084,-0.82,-146.0,83.7,-9.1,187,1090,0.00,2.17,0.00,0.000,6,0.000,0.052,2494,2222,3252
$GC,1434,-0.82,-146.0,111.7,-7.7,230,1437,0.00,2.30,0.00,0.000,4,0.000,0.077,2485,3598,3251
$GC,1518,-0.82,-146.0,118.5,-8.2,233,1524,0.00,2.17,0.00,0.000,6,0.000,0.051,2484,2216,3251
$GC,1834,-0.82,-146.0,139.7,-6.0,249,1838,0.00,2.22,0.00,0.000,4,0.000,0.063,2485,817,3251
$GC,1905,-0.76,-146.0,144.5,-6.8,252,1909,0.15,2.33,0.00,0.000,6,0.139,0.064,2515,2233,3251
$GC,2234,-0.87,-146.0,161.0,-5.0,268,2239,0.10,2.25,0.00,0.000,4,0.093,0.077,2463,3600,3252
$GC,2383,-0.78,-146.0,171.5,-6.9,274,2390,0.17,2.17,0.00,0.000,6,0.147,0.051,2510,2214,3251
$GC,2700,-0.87,-146.0,190.4,-6.2,290,2704,0.00,2.22,0.00,0.000,4,0.000,0.064,2510,818,3251
$GC,2780,-0.91,-146.0,196.0,-6.9,293,2784,0.00,2.33,0.00,0.000,6,0.000,0.065,2503,2232,3251
$GC,3102,-0.99,-146.0,218.9,-7.4,309,3107,0.12,2.25,0.00,0.000,4,0.084,0.077,2437,3603,3251
$GC,3251,-0.84,-146.0,233.1,-9.5,315,3255,0.22,2.17,0.00,0.000,6,0.149,0.051,2500,2220,3250
$GC,3568,-0.91,-146.0,254.2,-6.1,330,3572,0.00,2.25,0.00,0.000,4,0.000,0.064,2500,812,3250
$GC,3661,-0.91,-146.0,260.0,-5.9,334,3665,0.00,2.33,0.00,0.000,6,0.000,0.063,2492,2232,3250
$GC,3996,-0.96,-146.0,279.7,-5.6,350,4000,0.00,2.22,0.00,0.000,4,0.000,0.077,2482,3594,3250
$GC,4053,-0.96,-146.0,283.6,-6.7,352,4056,0.00,2.15,0.00,0.000,6,0.000,0.048,2482,2217,3250
$GC,4374,-0.96,-146.0,302.5,-5.9,368,4378,0.00,2.22,0.00,0.000,4,0.000,0.061,2482,812,3250
$GC,4505,-0.96,-146.0,310.6,-6.6,373,4511,0.00,2.33,0.00,0.000,6,0.000,0.062,2472,2235,3250
$GC,4821,-0.96,-146.0,328.3,-5.4,389,4822,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2234,3251
$GC,5130,-0.96,-146.0,344.0,-4.9,404,5134,0.00,2.22,0.00,0.000,4,0.000,0.075,2461,3598,3251
$GC,5193,-0.96,-146.0,347.3,-5.2,406,5199,0.00,2.15,0.00,0.000,6,0.000,0.048,2461,2224,3251
$GC,5509,-0.96,-146.0,365.0,-5.8,422,5510,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2224,3252
$GC,5818,-0.96,-146.0,383.0,-5.6,437,5820,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2223,3252
$GC,6128,-0.96,-146.0,400.2,-5.7,452,6132,0.00,2.25,0.00,0.000,4,0.000,0.060,2461,814,3253
$GC,6208,-0.88,-146.0,405.3,-6.7,453,6213,0.15,2.33,0.00,0.000,6,0.132,0.061,2492,2236,3253
$GC,6540,-0.97,-146.0,422.0,-5.1,461,6542,0.10,0.00,0.00,0.000,6,0.088,0.000,2450,2236,3253
$GC,6866,-0.89,-146.0,442.1,-6.1,469,6868,0.15,0.00,0.00,0.000,6,0.146,0.000,2490,2236,3253
$GC,7190,-0.98,-146.0,456.6,-4.2,477,7192,0.10,0.00,0.00,0.000,6,0.092,0.000,2448,2236,3253
$GC,7515,-0.91,-146.0,474.4,-5.5,485,7517,0.15,0.00,0.00,0.000,6,0.148,0.000,2488,2236,3254
$GC,7841,-0.99,-146.0,487.0,-3.7,493,7846,0.10,2.30,0.00,0.000,4,0.093,0.057,2446,815,3254
$GC,7903,-0.87,-146.0,490.5,-5.4,494,7907,0.20,2.35,0.00,0.000,6,0.134,0.058,2492,2238,3254
$GC,8252,-0.97,-146.0,504.7,-4.1,503,8256,0.00,2.22,0.00,0.000,4,0.000,0.071,2484,3597,3255
$GC,8308,-1.06,-146.0,507.5,-4.8,504,8313,0.12,2.15,0.00,0.000,6,0.081,0.045,2431,2209,3255
$GC,8628,-0.93,-146.0,527.2,-6.5,512,8632,0.17,2.20,0.00,0.000,4,0.140,0.056,2483,819,3255
$GC,8708,-0.93,-146.0,531.7,-6.1,513,8712,0.00,2.33,0.00,0.000,6,0.000,0.058,2475,2242,3255
$GC,9046,-0.93,-146.0,548.7,-5.0,522,9050,0.00,2.22,0.00,0.000,4,0.000,0.072,2465,3606,3255
$GC,9107,-0.93,-146.0,552.7,-7.3,523,9111,0.00,2.15,0.00,0.000,6,0.000,0.045,2465,2222,3256
$GC,9422,-0.93,-146.0,569.9,-5.6,531,9423,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2222,3256
$GC,9746,-0.93,-146.0,588.1,-5.5,539,9747,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2222,3256
$GC,10071,-1.36,-146.0,594.9,0.0,547,10073,0.25,0.00,0.00,0.000,6,0.064,0.000,2359,2222,3256
$STATE,10149,end dive,NO_VERTICAL_VELOCITY
$STATE,10149,begin apogee
$GC,10158,-0.31,0.0,594.9,0.0,549,10298,0.77,0.00,131.93,1.185,6,0.103,0.000,2615,1734,2650
$STATE,10298,end apogee,CONTROL_FINISHED_OK
$STATE,10299,begin climb
$GC,10302,0.99,146.0,594.7,0.0,552,10444,0.90,2.67,133.43,1.123,4,0.091,0.063,2901,3141,2053
$GC,10487,0.64,146.0,576.5,12.5,557,10492,0.35,2.42,0.00,0.000,6,0.137,0.046,2818,1739,2048
$GC,10806,0.70,146.0,552.9,7.0,565,10807,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1739,2046
$GC,11131,0.77,146.0,529.5,7.5,573,11136,0.12,2.33,0.00,0.000,4,0.074,0.062,2876,3160,2045
$GC,11148,0.77,146.0,528.0,7.7,573,11153,0.15,2.25,0.00,0.000,6,0.143,0.048,2846,1732,2044
$GC,11492,0.77,146.0,499.3,8.1,582,11493,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1731,2044
$GC,11816,0.77,146.0,472.9,8.1,590,11817,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1732,2044
$GC,12141,0.77,146.0,446.2,8.3,598,12142,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1732,2044
$GC,12467,0.77,146.0,419.0,8.2,606,12471,0.00,2.38,0.00,0.000,4,0.000,0.061,2845,3152,2044
$GC,12483,0.77,146.0,417.4,8.6,606,12486,0.00,2.25,0.00,0.000,6,0.000,0.048,2853,1729,2043
$GC,12813,0.73,146.0,388.5,8.5,617,12814,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1729,2043
$GC,13122,0.68,146.0,361.6,8.8,632,13127,0.10,2.35,0.00,0.000,4,0.138,0.060,2825,3153,2043
$GC,13144,0.68,146.0,359.5,8.1,633,13148,0.00,2.22,0.00,0.000,6,0.000,0.048,2833,1734,2042
$GC,13471,0.68,146.0,333.5,7.7,649,13476,0.00,2.35,0.00,0.000,4,0.000,0.061,2833,3155,2043
$GC,13488,0.68,146.0,332.1,7.7,649,13494,0.00,2.25,0.00,0.000,6,0.000,0.047,2843,1726,2043
$GC,13806,0.68,146.0,307.1,7.6,665,13810,0.00,2.35,0.00,0.000,4,0.000,0.060,2843,3161,2043
$GC,13829,0.63,146.0,304.9,8.9,666,13834,0.15,2.22,0.00,0.000,6,0.130,0.047,2811,1732,2043
$GC,14160,0.84,197.6,286.4,5.4,682,14206,0.17,0.00,43.53,1.019,6,0.066,0.000,2889,1731,1844
$GC,14505,0.73,197.6,253.1,9.8,699,14510,0.17,2.28,0.00,0.000,4,0.121,0.061,2845,322,1837
$GC,14533,0.79,197.6,250.6,8.3,700,14538,0.00,2.30,0.00,0.000,6,0.000,0.049,2846,1755,1836
$GC,14856,0.86,197.6,224.7,8.2,716,14860,0.00,2.22,0.00,0.000,4,0.000,0.062,2846,3153,1835
$GC,14906,0.86,197.6,219.9,9.5,718,14910,0.00,2.22,0.00,0.000,6,0.000,0.048,2855,1731,1834
$GC,15234,0.91,197.6,191.5,8.3,734,15238,0.00,2.35,0.00,0.000,4,0.000,0.061,2856,3162,1834
$GC,15268,0.85,197.6,188.3,9.0,735,15272,0.00,2.25,0.00,0.000,6,0.000,0.048,2865,1730,1834
$GC,15591,0.85,197.6,163.9,7.1,751,15595,0.00,2.33,0.00,0.000,4,0.000,0.061,2865,3156,1834
$GC,15615,0.85,197.6,161.9,7.3,752,15619,0.00,2.22,0.00,0.000,6,0.000,0.048,2875,1735,1834
$GC,15949,0.86,204.1,138.4,6.8,768,15959,0.00,2.35,5.68,0.756,4,0.000,0.062,2875,3155,1816
$GC,15976,0.86,204.1,136.3,7.1,769,15980,0.00,2.25,0.00,0.000,6,0.000,0.048,2885,1728,1816
$GC,16300,0.86,204.1,110.3,8.4,785,16301,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1728,1815
$GC,16623,0.86,204.1,82.4,8.4,827,16630,0.00,2.25,0.00,0.000,4,0.000,0.064,2896,331,1815
$GC,16642,0.86,204.1,80.9,8.2,830,16649,0.12,2.30,0.00,0.000,6,0.125,0.051,2861,1752,1815
$GC,16989,1.05,249.3,60.0,5.6,891,17037,0.15,2.28,40.60,0.907,4,0.071,0.067,2927,3143,1632
$GC,17079,0.86,249.3,51.7,10.4,906,17086,0.25,2.28,0.00,0.000,6,0.133,0.051,2865,1729,1627
$GC,17426,1.02,249.3,27.6,7.7,967,17432,0.12,2.28,0.00,0.000,4,0.075,0.065,2933,331,1622
$GC,17440,1.16,249.3,26.4,7.6,969,17446,0.00,2.28,0.00,0.000,6,0.000,0.051,2933,1747,1622
$FREEZE,6.47,-1.741,-1.827
$FREEZE,5.85,-1.743,-1.827
$FREEZE,5.20,-1.743,-1.826
$FREEZE,4.81,-1.743,-1.826
$FREEZE,4.12,-1.742,-1.825
$FREEZE,3.48,-1.741,-1.825
$FREEZE,2.97,-1.741,-1.825
$STATE,17664,end climb,SURFACE_DEPTH_REACHED
$STATE,17664,begin surface coast
$FREEZE,2.32,-1.740,-1.824
$FREEZE,1.69,-1.740,-1.824
$FREEZE,1.60,-1.713,-1.710
$FREEZE,1.57,-1.680,-1.708
$FREEZE,1.56,-1.737,-1.712
$FINISH,1.6,1.025162
$STATE,17694,end surface coast,CONTROL_FINISHED_OK
$STATE,17694,begin surface
$SM_CCo,17773,0.00,0.000,0,0,1619,252.66
$SM_GC,2.43,7.28,0.00,0.00,0.068,0.000,0.000,329,2228,1619,-10.70,-0.06,252.66
$RAFOS_CLK,802
$RAFOS,4,1229892255,20.750000,20.737499,107,64,57,52,51,50,757,215,226,205,172,241
$RAFOS,3,1229891656,20.583334,20.571112,60,59,58,56,53,53,198,213,172,732,187,138
$RAFOS,2,1229891056,20.416666,20.404444,161,57,53,53,50,50,584,211,144,174,196,1072
$RAFOS,1,1229890444,20.250000,20.234444,99,60,59,58,54,52,762,198,226,210,174,148
$RAFOS,0,1229889876,20.083334,20.076666,58,58,58,56,54,53,135,194,226,207,147,167
$RAFOS,2,1229876644,16.416666,16.401112,107,65,51,51,50,47,647,204,117,148,168,215
$RAFOS_FIX,6641.693359,-5741.464355,211208,202030,3,122,0.06
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.026845
$HUMID,1814
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,15.10
$XPDR_PINGS,38
$24V_AH,21.8,80.313
$10V_AH,10.4,36.858
$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,22.225,137.725,355.150,0.000,0.000,101.902,85.145,0.000,9.500,0.000,0.000,186.291,1857.856,13396.571,496.828,2083.103,652.963,0.000,1524.382,0.000,1887.778,1800.000,0.531,0.000
$DEVICE_MAMPS,247.741,91.273,1185.015,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,709.227,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34737,1014
$CAP_FILE_SIZE,138012,0
$CFSIZE,260165632,219303936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.3
$GPS,211208,202930,6641.693,-5741.464,0,3122.3,0,-37.3