version: 66.04
glider: 108
mission: 11
dive: 670
start: 1 13 109 17 35 25
data:
$ID,108
$MISSION,11
$DIVE,670
$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,-1
$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,-131056.41
$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,33
$R_STBD_OVSHOOT,32
$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
$GPS1,171945,6555.089,-5746.888,25,1.3,33,-36.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-29.3
$GPS2,173504,6554.730,-5746.450,31,2.2,50,-36.3
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$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,54.8,133296,-13.0,-7.021
$D_GRID,543
$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,-146.0,0.0,0.0,0,117,0.00,0.00,-95.35,0.000,6,0.000,0.000,335,2258,3244
$GC,122,-0.99,-146.0,1.8,-0.2,18,135,7.25,2.35,0.00,0.000,4,0.157,0.061,2472,827,3247
$GC,392,-0.72,-146.0,1.6,0.0,65,399,0.22,2.28,0.00,0.000,6,0.132,0.049,2529,2234,3248
$GC,739,-0.46,-146.0,25.0,-10.0,126,746,0.17,2.30,0.00,0.000,4,0.143,0.055,2582,816,3248
$GC,867,-0.41,-146.0,36.8,-9.1,148,874,0.00,2.33,0.00,0.000,6,0.000,0.056,2574,2235,3248
$GC,1215,-0.53,-146.0,60.2,-4.5,209,1220,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2235,3248
$GC,1561,-0.68,-146.0,78.8,-5.6,270,1568,0.15,2.30,0.00,0.000,4,0.067,0.056,2505,813,3246
$GC,1690,-0.59,-146.0,89.4,-8.0,292,1697,0.20,2.33,0.00,0.000,6,0.130,0.057,2552,2231,3246
$GC,2029,-0.73,-146.0,104.7,-4.5,338,2034,0.12,2.20,0.00,0.000,4,0.071,0.067,2486,3596,3244
$GC,2082,-0.65,-146.0,108.7,-7.9,340,2087,0.20,2.15,0.00,0.000,6,0.140,0.045,2541,2211,3245
$GC,2405,-0.78,-146.0,128.2,-5.3,356,2409,0.12,2.20,0.00,0.000,4,0.078,0.056,2485,816,3244
$GC,2497,-0.67,-146.0,134.6,-7.3,360,2502,0.22,2.33,0.00,0.000,6,0.128,0.055,2540,2242,3244
$GC,2825,-0.81,-146.0,149.4,-3.7,376,2830,0.12,2.30,0.00,0.000,4,0.074,0.054,2482,815,3244
$GC,2900,-0.70,-146.0,153.3,-5.7,379,2905,0.20,2.33,0.00,0.000,6,0.129,0.054,2530,2238,3244
$GC,3218,-0.82,-146.0,166.6,-5.1,394,3222,0.12,2.22,0.00,0.000,4,0.075,0.064,2463,3604,3246
$GC,3281,-0.71,-146.0,171.6,-8.3,396,3288,0.22,2.12,0.00,0.000,6,0.136,0.043,2527,2224,3245
$GC,3599,-0.83,-146.0,191.1,-5.8,412,3603,0.10,2.17,0.00,0.000,4,0.086,0.054,2479,828,3247
$GC,3717,-0.73,-146.0,200.0,-7.1,417,3722,0.17,2.28,0.00,0.000,6,0.124,0.053,2520,2238,3247
$GC,4041,-0.84,-146.0,213.9,-3.8,433,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2238,3248
$GC,4349,-0.95,-146.0,224.4,-3.5,448,4354,0.17,2.28,0.00,0.000,4,0.066,0.052,2446,818,3249
$GC,4459,-0.74,-146.0,231.2,-6.7,453,4464,0.30,2.30,0.00,0.000,6,0.130,0.053,2523,2239,3249
$GC,4787,-0.87,-146.0,248.8,-6.0,469,4792,0.12,2.28,0.00,0.000,4,0.075,0.051,2465,822,3249
$GC,4856,-0.74,-146.0,254.5,-8.5,472,4861,0.22,2.30,0.00,0.000,6,0.127,0.052,2520,2236,3249
$GC,5179,-0.87,-146.0,274.7,-6.0,488,5183,0.12,2.22,0.00,0.000,4,0.077,0.063,2452,3604,3250
$GC,5235,-0.76,-146.0,278.8,-7.7,490,5240,0.22,2.12,0.00,0.000,6,0.134,0.041,2516,2224,3250
$GC,5554,-0.88,-146.0,294.5,-4.6,505,5558,0.12,2.20,0.00,0.000,4,0.077,0.052,2457,831,3250
$GC,5684,-0.74,-146.0,303.5,-7.3,510,5690,0.25,2.25,0.00,0.000,6,0.124,0.052,2522,2238,3250
$GC,6002,-0.89,-146.0,318.4,-4.8,526,6006,0.12,2.20,0.00,0.000,4,0.074,0.063,2454,3596,3251
$GC,6071,-0.80,-146.0,322.9,-7.5,529,6075,0.20,2.12,0.00,0.000,6,0.133,0.041,2511,2214,3251
$GC,6405,-0.91,-146.0,338.3,-4.3,545,6410,0.12,2.17,0.00,0.000,4,0.077,0.051,2452,828,3251
$GC,6514,-0.76,-146.0,345.1,-6.2,549,6521,0.25,2.25,0.00,0.000,6,0.125,0.051,2516,2236,3251
$GC,6832,-0.89,-146.0,357.3,-3.8,565,6834,0.12,0.00,0.00,0.000,6,0.074,0.000,2459,2236,3252
$GC,7140,-0.81,-146.0,374.6,-5.8,580,7145,0.17,2.28,0.00,0.000,4,0.137,0.051,2510,820,3252
$GC,7238,-0.88,-146.0,379.5,-4.8,584,7241,0.00,2.30,0.00,0.000,6,0.000,0.051,2503,2234,3252
$GC,7561,-0.97,-146.0,393.3,-4.0,600,7563,0.12,0.00,0.00,0.000,6,0.072,0.000,2442,2233,3252
$GC,7888,-0.83,-146.0,414.2,-6.6,611,7892,0.20,2.25,0.00,0.000,4,0.139,0.051,2510,829,3252
$GC,7991,-0.91,-146.0,419.7,-5.2,613,7995,0.00,2.28,0.00,0.000,6,0.000,0.051,2503,2232,3252
$GC,8306,-0.99,-146.0,435.8,-5.2,621,8308,0.12,0.00,0.00,0.000,6,0.071,0.000,2441,2232,3253
$GC,8630,-0.85,-146.0,458.3,-7.0,629,8632,0.20,0.00,0.00,0.000,6,0.138,0.000,2499,2232,3253
$GC,8959,-0.93,-146.0,476.6,-5.8,637,8961,0.10,0.00,0.00,0.000,6,0.087,0.000,2451,2232,3253
$GC,9280,-0.84,-146.0,499.0,-6.8,645,9285,0.17,2.28,0.00,0.000,4,0.137,0.052,2501,822,3253
$GC,9398,-0.89,-146.0,505.6,-5.3,647,9402,0.00,2.28,0.00,0.000,6,0.000,0.053,2493,2241,3253
$GC,9748,-0.95,-146.0,523.9,-5.0,656,9749,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2241,3253
$GC,10073,-1.01,-146.0,541.1,-5.2,664,10077,0.12,2.33,0.00,0.000,4,0.072,0.052,2434,818,3253
$STATE,10097,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10097,begin apogee
$GC,10109,-0.31,0.0,543.1,7.1,664,10240,0.57,0.00,127.07,1.144,6,0.126,0.000,2609,1743,2650
$STATE,10241,end apogee,CONTROL_FINISHED_OK
$STATE,10241,begin climb
$GC,10245,0.99,146.0,545.0,0.0,668,10381,0.90,0.00,132.20,1.070,6,0.090,0.000,2901,1743,2054
$GC,10687,0.81,146.0,503.2,10.4,679,10692,0.17,2.35,0.00,0.000,4,0.124,0.058,2850,3161,2047
$GC,10729,0.70,146.0,499.3,9.8,680,10734,0.10,2.28,0.00,0.000,6,0.140,0.044,2830,1738,2046
$GC,11055,0.78,159.4,477.5,6.6,688,11068,0.00,0.00,11.10,0.978,6,0.000,0.000,2830,1738,2000
$GC,11382,0.87,166.1,455.3,6.8,696,11397,0.12,2.40,7.50,0.907,4,0.072,0.059,2892,3150,1972
$GC,11433,0.59,166.1,449.9,12.1,697,11438,0.32,2.25,0.00,0.000,6,0.128,0.045,2805,1731,1971
$GC,11754,0.82,205.7,431.0,5.7,705,11792,0.17,0.00,35.53,1.061,6,0.058,0.000,2890,1731,1811
$GC,12098,0.70,205.7,395.1,10.7,714,12100,0.20,0.00,0.00,0.000,6,0.118,0.000,2829,1731,1804
$GC,12407,0.83,214.8,373.4,6.7,729,12422,0.12,2.40,7.72,0.897,4,0.072,0.058,2890,3143,1774
$GC,12441,0.67,214.8,370.2,11.0,730,12446,0.28,2.22,0.00,0.000,6,0.126,0.045,2817,1736,1773
$GC,12760,0.89,234.9,349.2,6.4,745,12782,0.17,0.00,19.40,0.999,6,0.060,0.000,2902,1736,1692
$GC,13089,0.74,234.9,312.1,11.5,761,13093,0.20,2.30,0.00,0.000,4,0.123,0.058,2844,324,1688
$GC,13119,0.81,234.9,309.2,8.5,762,13123,0.00,2.33,0.00,0.000,6,0.000,0.046,2844,1752,1688
$GC,13436,0.89,234.9,284.1,8.0,777,13441,0.10,2.33,0.00,0.000,4,0.076,0.060,2898,3162,1687
$GC,13494,0.66,234.9,277.2,13.6,779,13501,0.30,2.28,0.00,0.000,6,0.124,0.045,2817,1726,1686
$GC,13811,0.91,247.1,255.0,6.6,795,13829,0.20,0.00,11.10,0.894,6,0.058,0.000,2913,1727,1643
$GC,14141,0.75,247.1,215.7,12.3,811,14146,0.22,2.28,0.00,0.000,4,0.122,0.058,2847,323,1641
$GC,14153,0.62,247.1,213.9,12.2,811,14160,0.12,2.30,0.00,0.000,6,0.111,0.045,2810,1742,1640
$GC,14470,1.27,247.1,188.3,9.6,827,14472,0.45,0.00,0.00,0.000,6,0.085,0.000,2966,1742,1639
$GC,14780,0.97,247.1,146.1,14.7,842,14785,0.25,2.33,0.00,0.000,4,0.127,0.058,2886,3155,1639
$GC,14804,0.75,247.1,142.8,12.9,843,14808,0.20,2.25,0.00,0.000,6,0.118,0.044,2833,1725,1639
$GC,15128,1.07,333.9,126.4,4.2,859,15208,0.25,0.00,77.07,0.869,6,0.051,0.000,2951,1725,1288
$GC,15533,0.92,333.9,73.8,13.5,902,15539,0.22,2.25,0.00,0.000,4,0.117,0.056,2885,332,1277
$GC,15599,1.13,335.2,68.3,7.0,913,15606,0.15,2.28,0.00,0.000,6,0.060,0.044,2962,1748,1277
$GC,15948,1.03,335.2,27.1,13.1,974,15954,0.20,2.30,0.00,0.000,4,0.117,0.058,2896,3159,1276
$GC,15990,1.03,335.2,23.0,9.1,981,15997,0.00,2.25,0.00,0.000,6,0.000,0.044,2902,1724,1275
$FREEZE,6.88,-1.130,-1.814
$FREEZE,6.45,-1.145,-1.814
$FREEZE,6.00,-1.140,-1.814
$FREEZE,5.52,-1.149,-1.813
$FREEZE,5.02,-1.126,-1.813
$FREEZE,4.47,-1.139,-1.812
$FREEZE,3.99,-1.149,-1.812
$FREEZE,3.36,-1.155,-1.811
$FREEZE,3.00,-1.173,-1.811
$FREEZE,2.72,-1.183,-1.812
$STATE,16249,end climb,SURFACE_DEPTH_REACHED
$STATE,16249,begin surface coast
$FREEZE,2.20,-1.180,-1.811
$FREEZE,2.15,-1.099,-1.806
$FREEZE,1.83,-1.194,-1.811
$FREEZE,1.77,-1.191,-1.811
$FREEZE,1.73,-1.198,-1.812
$FREEZE,1.80,-1.195,-1.812
$FINISH,1.8,1.026571
$STATE,16286,end surface coast,CONTROL_FINISHED_OK
$STATE,16286,begin surface
$RAFOS_CLK,671
$RAFOS,4,1231879459,20.750000,20.738611,57,55,54,53,53,51,202,146,136,172,162,214
$RAFOS,3,1231878843,20.583334,20.567499,60,59,57,51,51,50,223,203,190,174,805,163
$RAFOS,2,1231878243,20.416666,20.400833,59,57,56,54,54,53,202,218,170,118,185,152
$RAFOS,1,1231877665,20.250000,20.240278,68,63,59,56,56,52,206,218,187,169,197,144
$RAFOS,0,1231877076,20.083334,20.076666,62,54,53,51,51,51,202,171,141,188,226,240
$RAFOS_FIX,6617.756348,-5909.147949,080109,000040,2,99,0.64
$IRIDIUM_FIX,6532.72,-5755.20,090498,171717
$TT8_MAMPS,0.026845
$HUMID,1809
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,16.20
$XPDR_PINGS,254
$24V_AH,22.0,101.789
$10V_AH,10.4,45.128
$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,19.250,121.750,428.700,0.000,0.000,95.218,139.294,110.469,63.500,0.000,0.000,52.390,1892.972,11873.112,592.098,1932.053,1030.270,0.000,1596.292,0.000,1873.430,1800.000,0.532,0.000
$DEVICE_MAMPS,157.235,67.496,1144.364,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,719.787,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34686,1033
$CAP_FILE_SIZE,142675,0
$CFSIZE,260165632,210825216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.8
$GPS,130109,173504,6554.730,-5746.450,31,2.2,50,-36.3