version: 66.04
glider: 108
mission: 11
dive: 657
start: 1 11 109 8 10 28
data:
$ID,108
$MISSION,11
$DIVE,657
$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,1
$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,85
$ESCAPE_HEADING,15
$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,-130617.87
$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,35
$R_STBD_OVSHOOT,29
$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
$GPS1,074937,6553.282,-5752.550,33,0.8,33,-36.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-37.6
$GPS2,081010,6552.717,-5752.779,15,1.0,17,-36.3
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6553.659,-5726.438
$TGT_RADIUS,1852.000
$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,121.3,20000,-13.0,-7.021
$D_GRID,528
$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,17,-0.99,-146.0,0.0,0.0,0,119,0.00,0.00,-99.93,0.000,6,0.000,0.000,332,2232,3247
$GC,125,-0.99,-146.0,1.9,0.1,18,138,7.25,2.33,0.00,0.000,4,0.160,0.055,2469,822,3250
$GC,394,-0.75,-146.0,9.7,-8.2,65,401,0.20,2.30,0.00,0.000,6,0.128,0.055,2520,2233,3251
$GC,742,-0.75,-146.0,37.4,-8.3,126,749,0.00,2.30,0.00,0.000,4,0.000,0.055,2520,810,3250
$GC,824,-0.75,-146.0,44.1,-8.5,140,831,0.00,2.33,0.00,0.000,6,0.000,0.055,2512,2244,3250
$GC,1170,-0.75,-146.0,70.5,-7.3,201,1176,0.00,2.30,0.00,0.000,4,0.000,0.057,2512,822,3250
$GC,1207,-0.75,-146.0,73.1,-7.0,207,1213,0.00,2.28,0.00,0.000,6,0.000,0.057,2503,2232,3250
$GC,1555,-0.75,-146.0,96.4,-7.0,268,1561,0.00,2.28,0.00,0.000,4,0.000,0.056,2503,817,3249
$GC,1652,-0.75,-146.0,104.2,-7.8,278,1656,0.10,2.30,0.00,0.000,6,0.130,0.056,2520,2241,3249
$GC,1977,-0.88,-146.0,121.7,-4.2,294,1982,0.12,2.17,0.00,0.000,4,0.074,0.067,2454,3594,3248
$GC,1991,-0.98,-146.0,122.5,-4.2,294,1995,0.00,2.12,0.00,0.000,6,0.000,0.044,2454,2219,3248
$GC,2315,-0.86,-146.0,139.7,-5.4,310,2320,0.15,2.22,0.00,0.000,4,0.138,0.054,2500,812,3248
$GC,2351,-0.86,-146.0,141.8,-5.6,311,2357,0.00,2.30,0.00,0.000,6,0.000,0.054,2492,2242,3248
$GC,2669,-0.86,-146.0,160.6,-6.2,327,2673,0.00,2.28,0.00,0.000,4,0.000,0.055,2492,819,3249
$GC,2726,-0.86,-146.0,164.3,-6.2,329,2730,0.00,2.30,0.00,0.000,6,0.000,0.054,2483,2241,3249
$GC,3050,-0.86,-146.0,185.7,-6.8,345,3054,0.00,2.28,0.00,0.000,4,0.000,0.054,2483,814,3250
$GC,3102,-0.86,-146.0,189.5,-7.3,347,3106,0.00,2.30,0.00,0.000,6,0.000,0.054,2473,2244,3250
$GC,3430,-0.86,-146.0,210.5,-6.1,363,3431,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2243,3251
$GC,3740,-0.86,-146.0,233.5,-8.3,378,3744,0.00,2.17,0.00,0.000,4,0.000,0.067,2462,3605,3252
$GC,3836,-0.86,-146.0,241.2,-8.2,382,3840,0.12,2.12,0.00,0.000,6,0.135,0.043,2496,2220,3252
$GC,4166,-0.93,-146.0,261.2,-6.0,398,4169,0.00,2.17,0.00,0.000,4,0.000,0.054,2496,827,3252
$GC,4246,-0.93,-146.0,266.4,-6.2,401,4250,0.00,2.28,0.00,0.000,6,0.000,0.054,2489,2242,3252
$GC,4569,-0.98,-146.0,284.5,-5.4,417,4573,0.00,2.25,0.00,0.000,4,0.000,0.053,2489,829,3253
$GC,4626,-0.98,-146.0,287.5,-5.1,419,4630,0.00,2.28,0.00,0.000,6,0.000,0.052,2479,2246,3253
$GC,4949,-0.98,-146.0,302.3,-4.4,435,4953,0.00,2.25,0.00,0.000,4,0.000,0.052,2479,828,3253
$GC,5012,-0.98,-146.0,305.6,-5.2,437,5018,0.00,2.25,0.00,0.000,6,0.000,0.052,2469,2237,3254
$GC,5329,-0.98,-146.0,321.3,-4.7,453,5333,0.00,2.25,0.00,0.000,4,0.000,0.052,2469,818,3254
$GC,5342,-0.98,-146.0,322.2,-6.0,453,5346,0.00,2.28,0.00,0.000,6,0.000,0.051,2459,2245,3254
$GC,5665,-0.92,-146.0,342.8,-6.2,469,5666,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2244,3254
$GC,5974,-0.86,-146.0,362.8,-6.8,484,5979,0.12,2.28,0.00,0.000,4,0.136,0.052,2495,820,3255
$GC,6026,-0.86,-146.0,366.2,-6.6,486,6030,0.00,2.28,0.00,0.000,6,0.000,0.051,2488,2241,3254
$GC,6349,-0.91,-146.0,385.6,-6.3,502,6353,0.00,2.25,0.00,0.000,4,0.000,0.052,2488,824,3255
$GC,6385,-0.91,-146.0,387.9,-6.9,503,6388,0.00,2.25,0.00,0.000,6,0.000,0.051,2478,2231,3255
$GC,6705,-0.91,-146.0,409.2,-6.5,516,6709,0.00,2.22,0.00,0.000,4,0.000,0.052,2478,826,3255
$GC,6719,-0.91,-146.0,410.1,-6.6,516,6723,0.00,2.25,0.00,0.000,6,0.000,0.052,2467,2233,3255
$GC,7039,-0.91,-146.0,431.3,-6.6,524,7043,0.00,2.22,0.00,0.000,4,0.000,0.052,2468,829,3255
$GC,7052,-0.91,-146.0,432.1,-6.4,524,7056,0.10,2.25,0.00,0.000,6,0.137,0.051,2484,2238,3255
$GC,7372,-0.96,-146.0,449.2,-5.2,532,7376,0.00,2.25,0.00,0.000,4,0.000,0.052,2484,826,3255
$GC,7389,-0.96,-146.0,450.1,-4.7,532,7393,0.00,2.25,0.00,0.000,6,0.000,0.052,2476,2231,3255
$GC,7705,-0.96,-146.0,465.4,-4.8,540,7707,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2231,3256
$GC,8029,-0.96,-146.0,482.0,-5.4,548,8030,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2231,3255
$GC,8354,-0.96,-146.0,500.5,-5.7,556,8358,0.00,2.28,0.00,0.000,4,0.000,0.053,2476,823,3255
$GC,8411,-0.96,-146.0,503.9,-6.0,557,8415,0.00,2.28,0.00,0.000,6,0.000,0.052,2466,2232,3255
$GC,8732,-0.96,-146.0,522.4,-5.9,565,8735,0.00,2.28,0.00,0.000,4,0.000,0.052,2466,821,3255
$GC,8744,-0.96,-146.0,523.3,-6.0,565,8748,0.00,2.30,0.00,0.000,6,0.000,0.052,2456,2244,3255
$STATE,8856,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8856,begin apogee
$GC,8866,-0.31,0.0,531.0,6.8,568,8997,0.50,0.00,127.72,1.137,6,0.110,0.000,2617,1748,2650
$STATE,8997,end apogee,CONTROL_FINISHED_OK
$STATE,8997,begin climb
$GC,9002,0.99,146.0,532.5,0.0,571,9140,0.82,2.55,130.75,1.065,4,0.086,0.056,2894,3155,2054
$GC,9173,0.72,146.0,517.8,11.7,575,9178,0.25,2.42,0.00,0.000,6,0.127,0.043,2837,1738,2050
$GC,9494,0.72,147.8,493.9,7.0,583,9497,0.00,2.30,0.00,0.000,4,0.000,0.058,2846,324,2047
$GC,9551,0.78,147.8,489.4,7.5,584,9555,0.00,2.28,0.00,0.000,6,0.000,0.046,2846,1747,2047
$GC,9870,0.78,147.8,465.2,7.5,592,9874,0.00,2.22,0.00,0.000,4,0.000,0.061,2846,3149,2046
$GC,9957,0.65,147.8,457.7,9.3,593,9964,0.15,2.22,0.00,0.000,6,0.129,0.044,2813,1725,2045
$GC,10290,0.84,187.7,437.4,5.7,602,10329,0.17,0.00,35.58,1.064,6,0.059,0.000,2897,1725,1884
$GC,10654,0.69,187.7,399.3,11.1,611,10656,0.22,0.00,0.00,0.000,6,0.121,0.000,2828,1725,1879
$GC,10964,0.80,187.7,375.0,7.7,626,10968,0.10,2.30,0.00,0.000,4,0.075,0.058,2881,3160,1878
$GC,11016,0.59,187.7,369.5,11.6,628,11021,0.28,2.22,0.00,0.000,6,0.123,0.045,2808,1731,1877
$GC,11340,0.86,247.9,350.8,5.1,644,11397,0.20,0.00,52.28,1.024,6,0.056,0.000,2905,1732,1638
$GC,11708,0.74,247.9,309.9,11.2,662,11712,0.20,2.25,0.00,0.000,4,0.121,0.058,2848,328,1630
$GC,11755,0.91,247.9,306.0,7.1,664,11759,0.10,2.25,0.00,0.000,6,0.077,0.046,2904,1751,1630
$GC,12089,0.78,247.9,272.5,10.4,680,12093,0.20,2.22,0.00,0.000,4,0.123,0.060,2839,3160,1628
$GC,12158,0.78,247.9,266.5,8.5,683,12161,0.00,2.22,0.00,0.000,6,0.000,0.045,2845,1727,1626
$GC,12493,0.88,254.4,243.2,6.8,699,12502,0.10,2.22,4.55,0.689,4,0.079,0.058,2910,336,1613
$GC,12532,0.79,254.4,239.6,9.2,700,12539,0.20,2.22,0.00,0.000,6,0.124,0.046,2851,1743,1613
$GC,12849,0.91,272.8,218.8,6.4,716,12875,0.10,2.28,18.45,0.914,4,0.076,0.059,2903,3146,1537
$GC,12942,0.73,272.8,209.5,11.6,720,12947,0.25,2.20,0.00,0.000,6,0.125,0.045,2838,1741,1534
$GC,13272,0.91,284.1,188.2,6.7,736,13288,0.15,2.28,10.93,0.848,4,0.063,0.057,2923,330,1491
$GC,13314,0.81,284.1,183.8,11.8,737,13319,0.25,2.25,0.00,0.000,6,0.121,0.047,2846,1748,1491
$GC,13642,1.01,284.1,156.7,7.8,753,13647,0.17,2.25,0.00,0.000,4,0.059,0.059,2930,3160,1489
$GC,13724,0.79,284.1,145.8,14.2,756,13731,0.30,2.22,0.00,0.000,6,0.126,0.045,2849,1735,1488
$GC,14041,0.95,284.1,119.9,7.5,772,14046,0.12,2.25,0.00,0.000,4,0.068,0.058,2922,333,1487
$GC,14093,0.89,284.1,114.2,11.3,774,14098,0.17,2.25,0.00,0.000,6,0.123,0.046,2870,1747,1487
$GC,14424,0.99,284.1,85.5,8.5,810,14431,0.10,2.22,0.00,0.000,4,0.075,0.060,2924,3151,1486
$GC,14501,0.81,284.1,76.0,13.2,823,14508,0.28,2.20,0.00,0.000,6,0.120,0.046,2849,1737,1486
$GC,14849,1.41,284.1,49.0,7.7,884,14856,0.38,2.25,0.00,0.000,4,0.072,0.058,2990,330,1485
$GC,14914,1.17,284.1,41.6,12.4,895,14921,0.22,2.25,0.00,0.000,6,0.136,0.047,2926,1752,1486
$GC,15263,1.12,284.1,8.3,8.6,956,15268,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,1752,1486
$FREEZE,6.91,-0.597,-1.819
$FREEZE,6.48,-0.598,-1.818
$FREEZE,6.19,-0.603,-1.818
$FREEZE,5.60,-0.598,-1.817
$FREEZE,5.08,-0.597,-1.817
$FREEZE,4.63,-0.609,-1.817
$FREEZE,4.13,-0.595,-1.817
$FREEZE,3.44,-0.590,-1.816
$FREEZE,3.03,-0.597,-1.815
$FREEZE,2.53,-0.615,-1.816
$STATE,15323,end climb,SURFACE_DEPTH_REACHED
$STATE,15323,begin surface coast
$FREEZE,1.97,-0.609,-1.814
$FREEZE,1.55,-0.685,-1.815
$FREEZE,1.59,-0.664,-1.814
$FREEZE,1.55,-0.728,-1.816
$FREEZE,1.48,-0.845,-1.820
$FREEZE,1.51,-0.755,-1.813
$FINISH,1.5,1.026580
$STATE,15359,end surface coast,CONTROL_FINISHED_OK
$STATE,15359,begin surface
$SM_CCo,15442,0.00,0.000,0,0,1483,286.27
$SM_GC,2.19,7.05,0.00,0.00,0.054,0.000,0.000,332,2245,1483,-10.70,0.42,286.27
$RAFOS_CLK,634
$RAFOS,1,1231676041,12.250000,12.233611,67,59,56,54,54,54,200,118,218,161,171,183
$RAFOS,0,1231675444,12.083333,12.067778,60,58,54,53,52,52,191,206,218,169,178,118
$RAFOS,4,1231663448,8.750000,8.735556,58,57,54,54,53,50,173,211,187,142,162,127
$RAFOS,3,1231662843,8.583333,8.567500,63,60,59,59,55,52,218,125,209,148,174,184
$RAFOS,2,1231662242,8.416667,8.400556,68,67,63,59,54,54,188,178,212,146,163,123
$RAFOS,1,1231661643,8.250000,8.234167,61,61,56,56,55,51,200,218,162,182,147,132
$RAFOS_FIX,6617.756348,-5909.147949,080109,000040,2,99,0.64
$IRIDIUM_FIX,6527.51,-5722.85,070498,080836
$TT8_MAMPS,0.029146
$HUMID,1807
$INTERNAL_PRESSURE,9.92226
$TCM_TEMP,16.30
$XPDR_PINGS,164
$24V_AH,21.9,99.918
$10V_AH,10.4,44.282
$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,21.225,150.625,380.250,0.000,0.000,89.169,100.857,534.224,41.000,0.000,0.000,18.856,1804.911,11097.602,543.180,1832.445,1387.820,0.000,1533.085,0.000,1804.185,2520.000,0.532,0.000
$DEVICE_MAMPS,159.536,67.496,1136.694,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,677.764,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31511,973
$CAP_FILE_SIZE,144956,0
$CFSIZE,260165632,211656704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.6
$GPS,110109,122927,6552.401,-5750.345,26,2.5,45,-36.3