version: 66.04
glider: 108
mission: 11
dive: 671
start: 1 13 109 22 11 6
data:
$ID,108
$MISSION,11
$DIVE,671
$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,34
$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
$GPS1,173504,6554.730,-5746.450,31,2.2,50,-36.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-4.7
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,17,-0.99,-146.0,0.0,0.0,0,107,0.00,0.00,-87.57,0.000,6,0.000,0.000,2902,1724,3246
$GC,111,-0.99,-146.0,2.2,-1.4,16,119,1.42,3.12,0.00,0.000,4,0.140,0.061,2462,3589,3248
$GC,161,-1.22,-146.0,3.8,-3.0,24,168,0.17,2.15,0.00,0.000,6,0.070,0.044,2392,2211,3249
$GC,509,-0.82,-146.0,51.7,-13.3,85,515,0.35,0.00,0.00,0.000,6,0.152,0.000,2498,2209,3249
$GC,855,-0.82,-146.0,78.7,-7.3,146,861,0.00,2.20,0.00,0.000,4,0.000,0.056,2499,817,3249
$GC,897,-0.82,-146.0,81.9,-7.7,153,904,0.00,2.33,0.00,0.000,6,0.000,0.056,2491,2229,3248
$GC,1240,-0.82,-146.0,106.6,-6.1,200,1244,0.00,2.28,0.00,0.000,4,0.000,0.056,2491,816,3247
$GC,1314,-0.82,-146.0,111.1,-5.9,203,1318,0.00,2.35,0.00,0.000,6,0.000,0.055,2481,2246,3246
$GC,1637,-0.82,-146.0,128.3,-5.7,219,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2245,3246
$GC,1945,-0.82,-146.0,152.1,-8.3,234,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2245,3246
$GC,2254,-0.82,-146.0,178.0,-8.2,249,2258,0.00,2.30,0.00,0.000,4,0.000,0.054,2481,822,3245
$GC,2369,-0.77,-146.0,187.0,-7.6,254,2374,0.15,2.33,0.00,0.000,6,0.124,0.054,2514,2232,3246
$GC,2698,-0.90,-146.0,202.6,-4.2,270,2699,0.12,0.00,0.00,0.000,6,0.074,0.000,2457,2232,3246
$GC,3008,-0.82,-146.0,221.4,-6.5,285,3012,0.17,2.30,0.00,0.000,4,0.133,0.052,2510,813,3247
$GC,3100,-0.89,-146.0,226.5,-4.8,289,3104,0.00,2.35,0.00,0.000,6,0.000,0.052,2503,2244,3247
$GC,3429,-0.97,-146.0,243.1,-5.2,305,3431,0.12,0.00,0.00,0.000,6,0.071,0.000,2440,2243,3247
$GC,3737,-0.84,-146.0,265.9,-7.5,320,3742,0.20,2.22,0.00,0.000,4,0.134,0.063,2495,3593,3247
$GC,3811,-0.95,-146.0,271.0,-7.1,323,3815,0.00,2.12,0.00,0.000,6,0.000,0.041,2495,2217,3248
$GC,4140,-1.03,-146.0,291.7,-6.3,339,4144,0.15,2.20,0.00,0.000,4,0.072,0.051,2428,818,3248
$GC,4291,-0.82,-146.0,304.6,-9.3,345,4296,0.28,2.33,0.00,0.000,6,0.127,0.052,2502,2240,3248
$GC,4610,-0.92,-146.0,323.1,-5.2,360,4611,0.10,0.00,0.00,0.000,6,0.084,0.000,2455,2240,3248
$GC,4918,-0.86,-146.0,342.4,-6.2,375,4919,0.15,0.00,0.00,0.000,6,0.139,0.000,2496,2240,3248
$GC,5228,-0.95,-146.0,358.1,-5.1,390,5232,0.10,2.28,0.00,0.000,4,0.084,0.051,2449,821,3249
$GC,5307,-0.81,-146.0,363.9,-7.2,393,5314,0.22,2.30,0.00,0.000,6,0.123,0.051,2505,2239,3249
$GC,5625,-0.93,-146.0,382.4,-5.9,409,5626,0.10,0.00,0.00,0.000,6,0.083,0.000,2456,2239,3250
$GC,5954,-0.87,-146.0,406.2,-7.1,423,5955,0.12,0.00,0.00,0.000,6,0.137,0.000,2490,2239,3250
$GC,6278,-0.95,-146.0,424.2,-5.4,431,6282,0.00,2.25,0.00,0.000,4,0.000,0.052,2490,825,3250
$GC,6370,-0.95,-146.0,429.5,-5.7,433,6374,0.00,2.30,0.00,0.000,6,0.000,0.051,2483,2246,3250
$GC,6696,-0.95,-146.0,447.1,-5.2,441,6697,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2246,3250
$GC,7021,-1.02,-146.0,462.7,-4.7,449,7023,0.10,0.00,0.00,0.000,6,0.077,0.000,2431,2246,3250
$GC,7347,-0.88,-146.0,481.4,-5.7,457,7351,0.20,2.22,0.00,0.000,4,0.131,0.063,2483,3596,3250
$GC,7415,-0.95,-146.0,484.7,-4.7,458,7419,0.00,2.12,0.00,0.000,6,0.000,0.040,2482,2211,3250
$GC,7766,-0.95,-146.0,500.6,-4.6,467,7769,0.00,2.17,0.00,0.000,4,0.000,0.051,2483,818,3250
$GC,7874,-0.95,-146.0,506.2,-5.4,469,7878,0.00,2.28,0.00,0.000,6,0.000,0.051,2473,2235,3250
$GC,8189,-0.95,-146.0,522.8,-5.2,477,8190,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2235,3250
$GC,8514,-0.95,-146.0,540.2,-5.4,485,8518,0.00,2.25,0.00,0.000,4,0.000,0.051,2473,828,3250
$STATE,8561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8561,begin apogee
$GC,8573,-0.31,0.0,543.2,6.0,486,8702,0.45,0.00,126.35,1.122,6,0.118,0.000,2613,1745,2650
$STATE,8703,end apogee,CONTROL_FINISHED_OK
$STATE,8703,begin climb
$GC,8707,0.99,146.0,544.6,0.0,489,8843,0.85,0.00,129.93,1.055,6,0.088,0.000,2896,1745,2054
$GC,9159,0.80,146.0,499.3,10.7,500,9161,0.15,0.00,0.00,0.000,6,0.126,0.000,2853,1745,2048
$GC,9484,0.80,146.0,472.1,8.2,508,9488,0.00,2.25,0.00,0.000,4,0.000,0.058,2853,3152,2046
$GC,9546,0.64,146.0,466.5,9.8,509,9551,0.15,2.20,0.00,0.000,6,0.128,0.043,2817,1736,2046
$GC,9896,0.74,154.9,443.2,6.7,518,9911,0.10,2.35,7.45,0.887,4,0.077,0.057,2870,3149,2018
$GC,9930,0.56,154.9,440.1,9.4,518,9935,0.28,2.20,0.00,0.000,6,0.125,0.043,2798,1738,2018
$GC,10264,0.82,200.9,420.7,5.5,526,10307,0.20,0.00,40.62,1.036,6,0.054,0.000,2896,1738,1831
$GC,10609,0.67,200.9,382.8,11.0,538,10611,0.25,0.00,0.00,0.000,6,0.120,0.000,2818,1738,1825
$GC,10919,0.89,247.7,364.7,5.5,553,10966,0.17,2.35,40.90,0.997,4,0.059,0.058,2904,3154,1640
$GC,10986,0.69,247.7,358.3,11.3,556,10991,0.30,2.25,0.00,0.000,6,0.123,0.043,2823,1732,1637
$GC,11314,0.93,280.0,336.9,6.0,572,11346,0.17,0.00,29.23,0.963,6,0.058,0.000,2911,1731,1508
$GC,11644,0.79,280.0,297.0,12.9,588,11648,0.20,2.25,0.00,0.000,4,0.121,0.055,2854,326,1502
$GC,11674,0.85,280.0,293.7,10.3,589,11678,0.00,2.30,0.00,0.000,6,0.000,0.044,2854,1752,1502
$GC,12002,0.93,280.0,262.1,10.0,605,12006,0.10,2.25,0.00,0.000,4,0.078,0.058,2909,3149,1499
$GC,12059,0.70,280.0,254.0,14.8,607,12064,0.30,2.22,0.00,0.000,6,0.123,0.043,2827,1727,1498
$GC,12376,0.92,280.0,227.8,7.3,622,12381,0.17,2.22,0.00,0.000,4,0.061,0.056,2917,334,1498
$GC,12394,1.05,280.0,226.1,7.8,622,12401,0.00,2.25,0.00,0.000,6,0.000,0.043,2917,1748,1498
$GC,12712,0.91,280.0,186.6,11.9,638,12716,0.15,2.25,0.00,0.000,4,0.131,0.056,2873,3147,1498
$GC,12740,0.84,280.0,183.3,10.3,639,12744,0.00,2.17,0.00,0.000,6,0.000,0.042,2881,1737,1496
$GC,13068,0.84,280.0,152.2,9.5,655,13072,0.00,2.25,0.00,0.000,4,0.000,0.057,2890,326,1496
$GC,13092,0.84,280.0,149.9,9.0,656,13097,0.12,2.28,0.00,0.000,6,0.116,0.045,2853,1747,1495
$GC,13426,0.98,302.8,127.8,6.3,672,13452,0.15,2.30,19.23,0.842,4,0.063,0.058,2926,3140,1415
$GC,13477,0.78,302.8,122.8,11.8,674,13482,0.30,2.20,0.00,0.000,6,0.123,0.043,2845,1735,1414
$GC,13799,0.98,302.8,101.3,8.4,690,13803,0.17,2.25,0.00,0.000,4,0.059,0.055,2939,326,1412
$GC,13828,0.98,302.8,97.7,12.2,692,13835,0.17,2.22,0.00,0.000,6,0.124,0.044,2888,1744,1412
$GC,14176,1.03,302.8,58.4,9.7,753,14182,0.00,2.20,0.00,0.000,4,0.000,0.058,2888,3146,1411
$GC,14224,1.03,302.8,53.2,11.1,761,14231,0.00,2.20,0.00,0.000,6,0.000,0.043,2895,1726,1410
$GC,14572,1.15,302.8,26.0,7.4,822,14579,0.12,2.30,0.00,0.000,4,0.071,0.056,2959,3160,1411
$GC,14588,1.23,302.8,24.7,7.8,824,14595,0.00,2.20,0.00,0.000,6,0.000,0.043,2968,1736,1411
$FREEZE,6.94,-1.194,-1.815
$FREEZE,6.37,-1.196,-1.814
$FREEZE,5.66,-1.195,-1.814
$FREEZE,4.80,-1.201,-1.813
$FREEZE,3.94,-1.197,-1.813
$FREEZE,3.30,-1.206,-1.812
$FREEZE,2.63,-1.207,-1.811
$STATE,14770,end climb,SURFACE_DEPTH_REACHED
$STATE,14770,begin surface coast
$FREEZE,2.06,-1.218,-1.811
$FREEZE,1.75,-1.194,-1.809
$FREEZE,1.76,-1.267,-1.813
$FREEZE,1.79,-1.252,-1.812
$FINISH,1.8,1.026574
$STATE,14793,end surface coast,CONTROL_FINISHED_OK
$STATE,14793,begin surface
$SM_CCo,14876,0.00,0.000,0,0,1409,304.42
$SM_GC,2.50,7.30,0.00,0.00,0.063,0.000,0.000,327,2240,1409,-10.70,0.28,304.42
$RAFOS_CLK,617
$RAFOS,4,1231893862,0.750000,0.739444,61,57,55,54,43,43,171,145,214,189,158,117
$RAFOS,3,1231893243,0.583333,0.567500,65,62,58,54,54,50,204,163,217,117,184,140
$RAFOS,2,1231892647,0.416667,0.401944,59,58,56,51,51,45,143,218,122,200,156,79
$RAFOS,1,1231892043,0.250000,0.234167,66,59,53,52,49,49,157,205,124,191,221,1604
$RAFOS,0,1231891479,0.083333,0.077500,63,60,58,53,53,50,214,119,185,146,174,159
$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,1782
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,16.40
$XPDR_PINGS,176
$24V_AH,22.0,101.911
$10V_AH,10.4,45.182
$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,16.600,108.975,393.700,0.000,0.000,0.000,0.000,0.000,44.000,0.000,0.000,0.000,1586.108,10907.543,486.884,1639.370,318.607,0.000,1385.861,0.000,1623.387,1800.000,0.533,0.000
$DEVICE_MAMPS,151.866,62.894,1122.121,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,598.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28354,860
$CAP_FILE_SIZE,116447,0
$CFSIZE,260165632,210792448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.2
$GPS,130109,173504,6554.730,-5746.450,31,2.2,50,-36.3