version: 66.04
glider: 108
mission: 11
dive: 672
start: 1 14 109 2 38 18
data:
$ID,108
$MISSION,11
$DIVE,672
$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,-131424.92
$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,34
$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
$GPS1,173504,6554.730,-5746.450,31,2.2,50,-36.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-22.5
$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,16,-0.99,-146.0,0.0,0.0,0,29,0.00,0.00,-11.00,0.000,2,0.000,0.000,327,2240,1683
$GC,34,-0.99,-146.0,3.1,-1.0,2,128,8.62,2.35,-76.62,0.000,4,0.229,0.076,2466,823,3248
$GC,384,-0.79,-146.0,23.9,-10.5,63,391,0.17,2.30,0.00,0.000,6,0.134,0.058,2507,2239,3250
$GC,732,-0.79,-146.0,52.2,-7.0,124,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2239,3249
$GC,1078,-0.84,-146.0,77.1,-7.5,185,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2239,3248
$GC,1425,-0.92,-146.0,98.7,-4.4,246,1431,0.10,0.00,0.00,0.000,6,0.083,0.000,2461,2239,3247
$GC,1760,-0.84,-146.0,120.7,-6.5,265,1762,0.15,0.00,0.00,0.000,6,0.141,0.000,2503,2239,3246
$GC,2069,-0.91,-146.0,138.8,-6.5,280,2073,0.00,2.28,0.00,0.000,4,0.000,0.055,2503,820,3246
$GC,2228,-0.91,-146.0,150.7,-7.5,287,2233,0.00,2.30,0.00,0.000,6,0.000,0.054,2495,2234,3246
$GC,2563,-0.96,-146.0,173.4,-6.0,303,2565,0.10,0.00,0.00,0.000,6,0.076,0.000,2443,2234,3247
$GC,2873,-0.83,-146.0,196.4,-7.5,318,2875,0.20,0.00,0.00,0.000,6,0.131,0.000,2503,2234,3247
$GC,3181,-0.93,-146.0,212.1,-4.5,333,3183,0.10,0.00,0.00,0.000,6,0.084,0.000,2454,2234,3248
$GC,3491,-0.85,-146.0,229.7,-5.5,348,3493,0.15,0.00,0.00,0.000,6,0.139,0.000,2497,2234,3249
$GC,3802,-0.92,-146.0,242.9,-4.4,363,3804,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2234,3250
$GC,4109,-1.00,-146.0,258.1,-5.3,378,4114,0.12,2.28,0.00,0.000,4,0.076,0.049,2439,814,3251
$GC,4181,-0.83,-146.0,263.1,-7.9,381,4186,0.25,2.30,0.00,0.000,6,0.123,0.051,2503,2233,3250
$GC,4511,-0.92,-146.0,280.3,-4.7,397,4513,0.10,0.00,0.00,0.000,6,0.080,0.000,2455,2232,3251
$GC,4820,-0.86,-146.0,297.3,-5.4,412,4822,0.15,0.00,0.00,0.000,6,0.138,0.000,2497,2233,3252
$GC,5130,-0.95,-146.0,310.1,-4.1,427,5134,0.10,2.28,0.00,0.000,4,0.083,0.049,2448,808,3253
$GC,5187,-0.81,-146.0,313.7,-6.7,429,5192,0.22,2.30,0.00,0.000,6,0.123,0.049,2504,2234,3253
$GC,5506,-0.94,-146.0,328.9,-5.0,444,5507,0.12,0.00,0.00,0.000,6,0.073,0.000,2447,2234,3253
$GC,5814,-0.85,-146.0,349.1,-6.6,459,5816,0.17,0.00,0.00,0.000,6,0.139,0.000,2496,2234,3254
$GC,6125,-0.95,-146.0,362.8,-3.9,474,6130,0.10,2.28,0.00,0.000,4,0.084,0.048,2447,808,3255
$GC,6211,-0.81,-146.0,367.4,-5.4,477,6218,0.22,2.30,0.00,0.000,6,0.124,0.048,2503,2244,3254
$GC,6530,-0.94,-146.0,378.1,-3.1,493,6534,0.10,2.17,0.00,0.000,4,0.080,0.060,2445,3606,3255
$GC,6581,-0.86,-146.0,380.5,-4.9,495,6586,0.17,2.15,0.00,0.000,6,0.133,0.038,2494,2196,3255
$GC,6903,-0.94,-146.0,392.7,-3.9,510,6905,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2196,3256
$GC,7207,-1.03,-146.0,406.0,-4.4,522,7211,0.15,2.15,0.00,0.000,4,0.070,0.049,2427,822,3256
$GC,7263,-0.81,-146.0,410.0,-7.2,523,7268,0.30,2.22,0.00,0.000,6,0.128,0.049,2507,2239,3256
$GC,7581,-0.94,-146.0,423.7,-4.2,531,7583,0.12,0.00,0.00,0.000,6,0.073,0.000,2449,2239,3257
$GC,7903,-0.85,-146.0,442.1,-5.6,539,7905,0.17,0.00,0.00,0.000,6,0.140,0.000,2499,2239,3257
$GC,8228,-0.96,-146.0,456.9,-4.6,547,8232,0.12,2.25,0.00,0.000,4,0.077,0.049,2442,831,3257
$GC,8321,-0.81,-146.0,463.0,-7.0,549,8326,0.25,2.25,0.00,0.000,6,0.129,0.050,2505,2231,3257
$GC,8647,-0.95,-146.0,477.7,-4.2,557,8649,0.12,0.00,0.00,0.000,6,0.074,0.000,2448,2231,3257
$GC,8973,-0.88,-146.0,498.0,-6.4,565,8977,0.15,2.20,0.00,0.000,4,0.140,0.061,2482,3592,3257
$GC,9041,-0.97,-146.0,501.9,-5.6,566,9046,0.00,2.10,0.00,0.000,6,0.000,0.039,2482,2218,3257
$GC,9392,-1.02,-146.0,519.6,-4.9,575,9396,0.10,2.17,0.00,0.000,4,0.081,0.049,2434,826,3257
$GC,9495,-0.85,-146.0,526.3,-6.2,577,9500,0.25,2.25,0.00,0.000,6,0.127,0.050,2497,2243,3257
$GC,9810,-0.97,-146.0,540.7,-4.4,585,9814,0.12,2.17,0.00,0.000,4,0.073,0.061,2430,3600,3257
$STATE,9845,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9845,begin apogee
$GC,9858,-0.31,0.0,543.2,6.6,585,9989,0.55,0.00,127.93,1.113,6,0.124,0.000,2608,1737,2650
$STATE,9990,end apogee,CONTROL_FINISHED_OK
$STATE,9990,begin climb
$GC,9994,0.99,146.0,544.6,0.0,589,10128,0.85,0.00,129.60,1.051,6,0.086,0.000,2894,1737,2054
$GC,10444,0.80,146.0,499.3,10.8,600,10446,0.15,0.00,0.00,0.000,6,0.127,0.000,2851,1737,2048
$GC,10769,0.80,146.0,472.1,8.1,608,10773,0.00,2.30,0.00,0.000,4,0.000,0.057,2850,3158,2046
$GC,10804,0.66,146.0,468.8,9.5,608,10809,0.12,2.22,0.00,0.000,6,0.132,0.042,2822,1729,2046
$GC,11142,0.75,149.7,445.0,6.9,617,11146,0.00,2.30,0.00,0.000,4,0.000,0.055,2822,3157,2046
$GC,11156,0.83,157.0,444.1,6.8,617,11170,0.10,2.22,9.25,0.920,6,0.077,0.041,2881,1723,2009
$GC,11515,0.70,157.0,411.2,9.1,626,11520,0.17,2.33,0.00,0.000,4,0.120,0.055,2827,3149,2009
$GC,11538,0.64,157.0,409.1,8.4,626,11542,0.00,2.20,0.00,0.000,6,0.000,0.041,2834,1732,2008
$GC,11864,0.64,157.0,386.5,7.4,639,11868,0.00,2.28,0.00,0.000,4,0.000,0.056,2834,3147,2008
$GC,11882,0.64,157.0,385.0,7.7,639,11889,0.10,2.20,0.00,0.000,6,0.135,0.041,2817,1728,2008
$GC,12199,0.75,164.8,363.7,6.8,655,12210,0.10,0.00,7.93,0.874,6,0.076,0.000,2870,1728,1978
$GC,12509,0.64,164.8,333.4,9.8,670,12511,0.17,0.00,0.00,0.000,6,0.119,0.000,2817,1728,1977
$GC,12818,0.77,187.3,312.5,6.3,685,12844,0.12,2.33,20.50,0.950,4,0.068,0.056,2880,3150,1886
$GC,12864,0.60,187.3,308.3,9.9,687,12869,0.28,2.22,0.00,0.000,6,0.122,0.041,2808,1731,1884
$GC,13192,0.81,200.9,286.8,6.6,703,13210,0.17,0.00,12.57,0.885,6,0.056,0.000,2897,1730,1831
$GC,13522,0.65,200.9,247.1,11.8,719,13524,0.25,0.00,0.00,0.000,6,0.117,0.000,2819,1731,1828
$GC,13831,0.83,239.2,227.5,5.8,734,13871,0.15,2.38,34.20,0.897,4,0.062,0.054,2893,3157,1674
$GC,13883,0.73,239.2,222.5,9.4,736,13888,0.22,2.25,0.00,0.000,6,0.122,0.041,2837,1726,1672
$GC,14201,0.84,239.2,198.4,7.7,751,14206,0.10,2.20,0.00,0.000,4,0.073,0.054,2900,335,1668
$GC,14225,0.84,239.2,196.1,9.5,752,14230,0.15,2.20,0.00,0.000,6,0.123,0.041,2857,1747,1668
$GC,14559,0.89,239.2,165.8,9.1,768,14563,0.00,2.20,0.00,0.000,4,0.000,0.055,2857,3148,1667
$GC,14617,0.83,239.2,159.7,11.0,770,14621,0.00,2.20,0.00,0.000,6,0.000,0.041,2864,1725,1666
$GC,14939,0.83,239.2,126.4,10.5,786,14940,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1725,1666
$GC,15253,0.88,239.2,97.4,8.9,804,15258,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1725,1666
$GC,15599,0.99,251.7,73.6,6.6,865,15612,0.12,0.00,10.80,0.745,6,0.067,0.000,2929,1725,1623
$GC,15953,0.92,251.7,42.2,9.1,927,15960,0.17,2.22,0.00,0.000,4,0.115,0.054,2883,328,1622
$GC,15997,1.04,251.7,38.8,7.8,934,16004,0.08,2.25,0.00,0.000,6,0.088,0.042,2936,1749,1622
$FREEZE,6.44,-1.269,-1.815
$GC,16346,0.93,251.7,6.4,8.9,995,16352,0.20,0.00,0.00,0.000,6,0.130,0.000,2873,1750,1622
$FREEZE,4.65,-1.258,-1.813
$FREEZE,4.18,-1.259,-1.813
$FREEZE,3.68,-1.267,-1.813
$FREEZE,3.23,-1.269,-1.812
$FREEZE,2.78,-1.274,-1.812
$STATE,16379,end climb,SURFACE_DEPTH_REACHED
$STATE,16379,begin surface coast
$FREEZE,2.38,-1.271,-1.812
$FREEZE,1.87,-1.278,-1.811
$FREEZE,1.66,-1.297,-1.811
$FREEZE,1.78,-1.317,-1.813
$FREEZE,1.65,-1.320,-1.813
$FREEZE,1.62,-1.318,-1.813
$FINISH,1.6,1.026601
$STATE,16417,end surface coast,CONTROL_FINISHED_OK
$STATE,16417,begin surface
$SM_CCo,16499,0.00,0.000,0,0,1621,252.41
$SM_GC,1.98,6.85,0.00,0.00,0.051,0.000,0.000,329,2235,1621,-10.68,0.14,252.41
$RAFOS_CLK,698
$RAFOS,4,1231908272,4.750000,4.742222,64,59,59,53,53,52,198,160,229,144,135,172
$RAFOS,3,1231907653,4.583333,4.570278,63,61,53,53,51,47,140,214,155,121,108,81
$RAFOS,2,1231907057,4.416667,4.404722,58,55,54,51,48,47,156,221,121,194,175,230
$RAFOS,1,1231906445,4.250000,4.234722,63,62,56,55,52,51,152,209,191,179,110,225
$RAFOS,0,1231905842,4.083333,4.067222,65,58,56,55,54,49,200,217,146,176,166,134
$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,1778
$INTERNAL_PRESSURE,9.93202
$TCM_TEMP,16.30
$XPDR_PINGS,258
$24V_AH,22.1,102.028
$10V_AH,10.5,45.257
$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,24.525,91.200,352.775,0.000,0.000,99.263,85.187,0.000,64.500,0.000,0.000,183.213,1834.270,12257.516,473.384,1956.713,883.647,0.000,1416.052,0.000,1766.881,1800.000,0.532,0.000
$DEVICE_MAMPS,229.333,75.933,1112.917,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,700.081,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34703,1007
$CAP_FILE_SIZE,131228,0
$CFSIZE,260165632,210718720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.8
$GPS,130109,173504,6554.730,-5746.450,31,2.2,50,-36.3