version: 66.04
glider: 108
mission: 11
dive: 508
start: 12 25 108 9 31 27
data:
$ID,108
$MISSION,11
$DIVE,508
$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,-126013.3
$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,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
$GPS1,042120,6633.377,-5843.662,0,4105.0,0,-37.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,1.9
$GPS2,042120,6633.377,-5843.662,0,4105.0,0,-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,317.7,88867,-13.0,-7.021
$D_GRID,692
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,16,-0.99,-146.0,0.0,0.0,0,62,0.00,0.00,-44.05,0.000,6,0.000,0.000,2697,3156,3247
$GC,66,-0.99,-146.0,2.9,-2.0,8,73,0.65,3.80,0.00,0.000,4,0.084,0.055,2461,803,3249
$GC,114,-0.84,-146.0,7.1,-8.1,16,121,0.17,2.33,0.00,0.000,6,0.146,0.061,2498,2235,3250
$GC,461,-0.79,-146.0,38.6,-9.0,77,467,0.00,2.20,0.00,0.000,4,0.000,0.074,2490,3592,3252
$GC,722,-0.74,-146.0,62.2,-9.0,123,729,0.12,2.17,0.00,0.000,6,0.150,0.051,2522,2208,3252
$GC,1068,-0.80,-146.0,86.7,-7.1,184,1075,0.00,2.30,0.00,0.000,4,0.000,0.074,2514,3598,3252
$GC,1116,-0.86,-146.0,90.3,-7.7,192,1123,0.00,2.17,0.00,0.000,6,0.000,0.052,2514,2214,3252
$GC,1463,-0.92,-146.0,115.4,-7.3,226,1465,0.12,0.00,0.00,0.000,6,0.087,0.000,2459,2214,3252
$GC,1769,-0.77,-146.0,142.4,-8.4,241,1774,0.20,2.30,0.00,0.000,4,0.151,0.074,2511,3591,3251
$GC,1865,-0.87,-146.0,149.4,-7.4,245,1869,0.00,2.15,0.00,0.000,6,0.000,0.051,2511,2228,3251
$GC,2188,-0.93,-146.0,169.8,-6.0,261,2192,0.12,2.28,0.00,0.000,4,0.087,0.064,2454,811,3251
$GC,2328,-0.76,-146.0,182.0,-8.7,267,2333,0.25,2.33,0.00,0.000,6,0.138,0.063,2515,2234,3251
$GC,2656,-0.85,-146.0,202.4,-6.2,283,2660,0.00,2.22,0.00,0.000,4,0.000,0.076,2507,3600,3251
$GC,2740,-0.95,-146.0,208.5,-7.1,286,2747,0.12,2.17,0.00,0.000,6,0.081,0.052,2451,2220,3251
$GC,3057,-0.81,-146.0,236.2,-8.4,302,3059,0.20,0.00,0.00,0.000,6,0.140,0.000,2508,2220,3250
$GC,3366,-0.89,-146.0,255.1,-5.8,317,3370,0.00,2.25,0.00,0.000,4,0.000,0.065,2508,814,3250
$GC,3458,-0.95,-146.0,260.8,-6.3,321,3463,0.12,2.33,0.00,0.000,6,0.081,0.063,2449,2232,3250
$GC,3791,-0.83,-146.0,286.8,-7.6,337,3796,0.17,2.25,0.00,0.000,4,0.151,0.074,2489,3605,3249
$GC,3887,-0.89,-146.0,292.8,-6.1,341,3891,0.00,2.17,0.00,0.000,6,0.000,0.051,2489,2226,3249
$GC,4215,-0.89,-146.0,311.3,-5.5,357,4216,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2226,3249
$GC,4523,-0.89,-146.0,329.2,-5.8,372,4527,0.00,2.25,0.00,0.000,4,0.000,0.064,2489,819,3249
$GC,4626,-0.89,-146.0,335.7,-6.4,376,4630,0.00,2.33,0.00,0.000,6,0.000,0.062,2479,2239,3249
$GC,4948,-0.89,-146.0,355.0,-5.9,392,4949,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2239,3250
$GC,5257,-0.89,-146.0,373.3,-5.9,407,5261,0.00,2.30,0.00,0.000,4,0.000,0.061,2479,821,3250
$GC,5381,-0.89,-146.0,381.2,-6.4,412,5386,0.00,2.30,0.00,0.000,6,0.000,0.061,2470,2240,3250
$GC,5703,-0.89,-146.0,401.1,-6.4,428,5707,0.00,2.20,0.00,0.000,4,0.000,0.073,2459,3598,3250
$GC,5804,-0.89,-146.0,408.2,-7.3,430,5809,0.10,2.15,0.00,0.000,6,0.150,0.048,2483,2223,3250
$GC,6124,-0.89,-146.0,426.9,-5.9,438,6128,0.00,2.22,0.00,0.000,4,0.000,0.062,2484,825,3250
$GC,6215,-0.89,-146.0,433.1,-6.8,440,6219,0.00,2.33,0.00,0.000,6,0.000,0.061,2476,2238,3250
$GC,6546,-0.89,-146.0,453.7,-6.0,448,6550,0.00,2.20,0.00,0.000,4,0.000,0.073,2465,3595,3251
$GC,6642,-0.89,-146.0,459.8,-6.6,450,6646,0.00,2.15,0.00,0.000,6,0.000,0.048,2465,2218,3251
$GC,6967,-0.89,-146.0,478.0,-5.5,458,6971,0.00,2.20,0.00,0.000,4,0.000,0.060,2465,826,3251
$GC,7087,-0.83,-146.0,485.5,-7.0,460,7091,0.17,2.30,0.00,0.000,6,0.131,0.060,2504,2246,3251
$GC,7430,-0.96,-146.0,501.0,-4.4,469,7432,0.12,0.00,0.00,0.000,6,0.084,0.000,2453,2246,3252
$GC,7755,-0.89,-146.0,520.5,-6.0,477,7757,0.12,0.00,0.00,0.000,6,0.148,0.000,2485,2246,3252
$GC,8080,-0.96,-146.0,536.9,-5.0,485,8082,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2246,3252
$GC,8405,-1.01,-146.0,553.3,-5.1,493,8407,0.10,0.00,0.00,0.000,6,0.096,0.000,2444,2246,3252
$GC,8730,-0.92,-146.0,573.9,-6.4,501,8732,0.15,0.00,0.00,0.000,6,0.151,0.000,2485,2246,3253
$GC,9055,-0.98,-146.0,589.9,-4.9,509,9059,0.00,2.30,0.00,0.000,4,0.000,0.060,2485,812,3253
$GC,9112,-0.98,-146.0,593.1,-5.4,510,9116,0.00,2.33,0.00,0.000,6,0.000,0.058,2477,2244,3253
$GC,9431,-0.98,-146.0,610.0,-5.3,518,9435,0.00,2.20,0.00,0.000,4,0.000,0.071,2466,3601,3253
$GC,9499,-0.98,-146.0,614.1,-6.0,519,9504,0.00,2.15,0.00,0.000,6,0.000,0.046,2466,2212,3253
$GC,9848,-0.98,-146.0,634.5,-6.0,528,9852,0.00,2.20,0.00,0.000,4,0.000,0.058,2466,822,3253
$GC,9951,-0.93,-146.0,640.7,-6.1,530,9955,0.00,2.30,0.00,0.000,6,0.000,0.058,2457,2242,3253
$GC,10264,-0.93,-146.0,659.2,-5.9,538,10268,0.00,2.20,0.00,0.000,4,0.000,0.071,2446,3597,3253
$GC,10332,-0.87,-146.0,663.7,-6.0,539,10336,0.17,2.12,0.00,0.000,6,0.146,0.046,2494,2228,3253
$GC,10681,-1.00,-146.0,680.3,-4.4,548,10686,0.12,2.22,0.00,0.000,4,0.086,0.058,2443,822,3253
$STATE,10857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10857,begin apogee
$GC,10866,-0.31,0.0,692.3,5.9,552,11001,0.55,0.00,131.93,1.263,6,0.127,0.000,2614,1748,2650
$STATE,11002,end apogee,CONTROL_FINISHED_OK
$STATE,11002,begin climb
$GC,11006,0.99,146.0,694.4,0.0,555,11153,0.88,2.55,136.95,1.185,4,0.087,0.061,2898,3148,2053
$GC,11165,0.71,146.0,680.9,10.7,558,11172,0.30,2.47,0.00,0.000,6,0.133,0.045,2830,1742,2050
$GC,11498,0.71,146.0,657.0,7.3,567,11499,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1742,2045
$GC,11822,0.71,148.8,634.3,6.9,575,11823,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1742,2044
$GC,12147,0.72,154.9,612.3,6.8,583,12156,0.00,0.00,7.30,1.001,6,0.000,0.000,2830,1742,2018
$GC,12473,0.72,155.5,589.9,7.0,591,12474,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1742,2017
$GC,12797,0.74,166.6,568.0,6.7,599,12811,0.00,0.00,11.90,1.099,6,0.000,0.000,2830,1742,1970
$GC,13122,0.81,173.5,545.8,6.8,607,13133,0.10,0.00,7.68,1.001,6,0.082,0.000,2878,1742,1942
$GC,13448,0.70,173.5,515.6,9.3,615,13450,0.17,0.00,0.00,0.000,6,0.125,0.000,2826,1742,1941
$GC,13772,0.80,188.1,494.2,6.6,623,13789,0.10,0.00,14.52,1.090,6,0.081,0.000,2873,1742,1883
$GC,14097,0.72,188.1,463.8,9.6,631,14099,0.15,0.00,0.00,0.000,6,0.123,0.000,2828,1741,1880
$GC,14423,0.83,191.8,441.1,6.9,639,14430,0.12,0.00,4.47,0.782,6,0.074,0.000,2885,1742,1868
$GC,14747,0.73,191.8,409.6,9.6,647,14749,0.17,0.00,0.00,0.000,6,0.123,0.000,2832,1742,1867
$GC,15054,0.86,204.8,389.0,6.6,658,15073,0.12,0.00,13.23,1.024,6,0.075,0.000,2889,1742,1814
$GC,15384,0.75,204.8,356.2,9.9,674,15388,0.17,2.33,0.00,0.000,4,0.123,0.063,2836,3160,1811
$GC,15405,0.75,204.8,354.1,8.1,675,15410,0.00,2.25,0.00,0.000,6,0.000,0.048,2843,1733,1810
$GC,15734,0.83,206.1,331.3,7.0,691,15738,0.00,2.33,0.00,0.000,4,0.000,0.063,2843,3152,1810
$GC,15746,0.91,206.1,330.3,7.3,691,15751,0.10,2.22,0.00,0.000,6,0.086,0.048,2899,1735,1809
$GC,16067,0.80,206.1,298.8,9.5,707,16072,0.17,2.35,0.00,0.000,4,0.133,0.062,2847,3162,1810
$GC,16091,0.75,206.1,296.7,9.2,708,16095,0.00,2.25,0.00,0.000,6,0.000,0.049,2855,1731,1809
$GC,16425,0.82,206.1,271.1,7.6,724,16426,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1730,1810
$GC,16734,0.90,206.1,246.7,7.9,739,16738,0.00,2.35,0.00,0.000,4,0.000,0.064,2855,3156,1809
$GC,16751,0.94,206.1,245.3,8.0,739,16758,0.08,2.25,0.00,0.000,6,0.098,0.049,2902,1727,1809
$GC,17068,0.86,206.1,214.0,9.6,755,17072,0.15,2.38,0.00,0.000,4,0.133,0.062,2858,3156,1810
$GC,17085,0.80,206.1,212.4,9.3,756,17089,0.00,2.25,0.00,0.000,6,0.000,0.050,2865,1730,1809
$GC,17420,0.90,220.4,189.6,6.6,772,17439,0.00,2.42,14.55,0.941,4,0.000,0.064,2864,3158,1751
$GC,17447,0.99,237.4,187.9,6.5,773,17471,0.08,2.25,17.12,0.928,6,0.100,0.050,2910,1735,1682
$GC,17797,0.93,237.4,156.9,9.3,790,17799,0.12,0.00,0.00,0.000,6,0.134,0.000,2875,1735,1676
$GC,18103,1.04,242.5,135.2,6.9,805,18113,0.12,2.35,4.75,0.723,4,0.081,0.066,2928,3148,1661
$GC,18119,1.04,242.5,133.8,7.3,805,18126,0.12,2.25,0.00,0.000,6,0.149,0.051,2905,1727,1661
$GC,18436,1.04,242.5,105.4,9.2,821,18440,0.00,2.28,0.00,0.000,4,0.000,0.067,2914,326,1659
$GC,18486,1.04,242.5,100.4,9.2,823,18490,0.00,2.30,0.00,0.000,6,0.000,0.054,2913,1751,1659
$GC,18830,1.04,242.5,71.4,7.9,882,18837,0.00,2.28,0.00,0.000,4,0.000,0.069,2914,3160,1659
$GC,18855,0.98,242.5,69.2,7.9,886,18862,0.12,2.28,0.00,0.000,6,0.143,0.054,2890,1732,1658
$GC,19202,1.08,242.5,45.2,7.4,947,19208,0.10,0.00,0.00,0.000,6,0.084,0.000,2938,1732,1658
$GC,19546,0.95,242.5,15.0,10.5,1008,19553,0.20,2.30,0.00,0.000,4,0.130,0.067,2882,320,1657
$GC,19572,0.95,242.5,12.8,10.0,1012,19578,0.00,2.33,0.00,0.000,6,0.000,0.057,2882,1752,1657
$FREEZE,6.99,-1.789,-1.794
$FREEZE,6.51,-1.792,-1.793
$FREEZE,6.19,-1.791,-1.793
$FREEZE,5.86,-1.791,-1.793
$FREEZE,5.44,-1.792,-1.793
$FREEZE,5.25,-1.792,-1.792
$FREEZE,4.87,-1.793,-1.792
$FREEZE,4.57,-1.793,-1.792
$FREEZE,4.25,-1.793,-1.792
$FREEZE,3.85,-1.793,-1.791
$FREEZE,3.57,-1.793,-1.791
$FREEZE,3.16,-1.793,-1.791
$FREEZE,2.91,-1.794,-1.791
$STATE,19724,end climb,SURFACE_DEPTH_REACHED
$STATE,19724,begin surface coast
$FREEZE,2.63,-1.794,-1.791
$FREEZE,2.24,-1.796,-1.790
$FREEZE,2.14,-1.812,-1.791
$FREEZE,2.25,-1.810,-1.791
$FREEZE,2.16,-1.798,-1.790
$FREEZE,2.13,-1.753,-1.788
$FREEZE,2.08,-1.740,-1.787
$FREEZE,2.07,-1.716,-1.785
$FREEZE,2.06,-1.712,-1.785
$FREEZE,2.05,-1.760,-1.788
$FREEZE,2.11,-1.734,-1.786
$FINISH,2.1,1.026221
$STATE,19787,end surface coast,CONTROL_FINISHED_OK
$STATE,19787,begin surface
$SM_CCo,19988,0.00,0.000,0,0,1656,243.83
$SM_GC,2.89,7.15,0.00,0.00,0.070,0.000,0.000,334,2229,1656,-10.67,-0.03,243.83
$RAFOS_CLK,887
$RAFOS,4,1230209062,12.750000,12.739445,83,69,57,53,51,51,700,217,199,152,183,118
$RAFOS,3,1230208468,12.583333,12.574445,65,57,55,51,50,50,203,212,179,127,112,146
$RAFOS,2,1230207879,12.416667,12.410833,68,59,59,56,55,48,165,206,216,178,188,124
$RAFOS,1,1230207250,12.250000,12.236111,97,67,60,58,55,52,614,206,188,221,174,148
$RAFOS,0,1230206671,12.083333,12.075277,64,58,55,52,51,51,591,208,166,147,229,219
$RAFOS_FIX,6634.877930,-5850.443359,251208,121206,3,81,0.20
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.026845
$HUMID,1816
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,14.90
$XPDR_PINGS,103
$24V_AH,21.5,82.533
$10V_AH,10.4,38.074
$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,14.725,137.675,364.400,0.000,0.000,0.000,0.000,0.000,25.750,0.000,0.000,0.000,2014.023,15187.446,462.789,2062.765,333.559,0.000,1571.333,0.000,2043.838,1800.000,0.529,0.000
$DEVICE_MAMPS,151.099,82.069,1263.249,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,736.481,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34680,1050
$CAP_FILE_SIZE,148658,0
$CFSIZE,260165632,218169344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.9
$GPS,251208,122306,6634.878,-5850.443,0,3081.3,0,-37.3