version: 66.04
glider: 108
mission: 11
dive: 676
start: 1 14 109 22 40 2
data:
$ID,108
$MISSION,11
$DIVE,676
$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,-132078.31
$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,29
$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
$GPS1,222430,6559.924,-5729.159,36,1.1,41,-36.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-68.7
$GPS2,223943,6559.722,-5729.217,10,1.2,15,-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,50.6,120912,-13.0,-7.021
$D_GRID,598
$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,-146.0,0.0,0.0,0,114,0.00,0.00,-94.10,0.000,2,0.000,0.000,329,2242,3242
$GC,119,-0.99,-146.0,3.0,-1.0,17,132,8.93,2.38,0.00,0.000,4,0.245,0.054,2472,813,3248
$GC,383,-0.55,-146.0,34.8,-11.2,63,390,0.35,2.35,0.00,0.000,6,0.148,0.055,2563,2243,3250
$GC,731,-0.55,-146.0,62.8,-8.6,124,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2243,3250
$GC,1078,-0.65,-146.0,89.8,-5.3,185,1085,0.10,2.33,0.00,0.000,4,0.080,0.055,2516,812,3249
$GC,1132,-0.54,-146.0,93.4,-6.9,194,1139,0.20,2.30,0.00,0.000,6,0.130,0.056,2562,2239,3249
$GC,1465,-0.70,-146.0,108.3,-5.2,231,1467,0.12,0.00,0.00,0.000,6,0.068,0.000,2504,2239,3248
$GC,1773,-0.70,-146.0,133.0,-7.0,246,1778,0.10,2.30,0.00,0.000,4,0.141,0.055,2531,814,3247
$GC,1848,-0.76,-146.0,137.0,-4.8,249,1852,0.00,2.30,0.00,0.000,6,0.000,0.054,2522,2244,3247
$GC,2166,-0.83,-146.0,150.0,-4.2,264,2170,0.10,2.20,0.00,0.000,4,0.078,0.067,2460,3604,3247
$GC,2230,-0.70,-146.0,154.2,-6.9,266,2236,0.22,2.15,0.00,0.000,6,0.133,0.044,2527,2213,3247
$GC,2548,-0.80,-146.0,170.8,-5.4,282,2552,0.00,2.17,0.00,0.000,4,0.000,0.054,2527,827,3247
$GC,2651,-0.86,-146.0,177.0,-6.1,286,2655,0.10,2.28,0.00,0.000,6,0.075,0.054,2470,2239,3247
$GC,2969,-0.78,-146.0,195.6,-5.4,301,2974,0.15,2.28,0.00,0.000,4,0.139,0.053,2514,820,3248
$GC,3026,-0.78,-146.0,198.3,-4.5,303,3032,0.00,2.28,0.00,0.000,6,0.000,0.053,2506,2240,3248
$GC,3343,-0.83,-146.0,212.4,-4.6,319,3344,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2240,3249
$GC,3653,-0.88,-146.0,228.6,-5.4,334,3654,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2240,3249
$GC,3963,-0.94,-146.0,247.8,-6.5,349,3968,0.12,2.28,0.00,0.000,4,0.072,0.051,2444,816,3250
$GC,4049,-0.73,-146.0,255.3,-8.7,353,4054,0.30,2.28,0.00,0.000,6,0.128,0.051,2522,2235,3250
$GC,4383,-0.87,-146.0,274.5,-5.2,369,4385,0.12,0.00,0.00,0.000,6,0.073,0.000,2464,2235,3251
$GC,4693,-0.79,-146.0,295.2,-6.8,384,4694,0.17,0.00,0.00,0.000,6,0.135,0.000,2514,2235,3251
$GC,5003,-0.91,-146.0,312.4,-5.3,399,5004,0.12,0.00,0.00,0.000,6,0.076,0.000,2455,2235,3252
$GC,5311,-0.81,-146.0,334.1,-7.0,414,5313,0.17,0.00,0.00,0.000,6,0.137,0.000,2505,2236,3252
$GC,5623,-0.91,-146.0,348.9,-4.5,429,5627,0.10,2.28,0.00,0.000,4,0.083,0.048,2454,822,3253
$GC,5709,-0.75,-146.0,354.3,-6.6,432,5716,0.25,2.28,0.00,0.000,6,0.125,0.050,2517,2243,3253
$GC,6029,-0.89,-146.0,368.1,-4.1,448,6030,0.12,0.00,0.00,0.000,6,0.074,0.000,2458,2243,3253
$GC,6336,-0.81,-146.0,385.7,-5.8,463,6341,0.17,2.30,0.00,0.000,4,0.133,0.049,2513,820,3254
$GC,6406,-0.90,-146.0,389.2,-5.1,466,6410,0.00,2.30,0.00,0.000,6,0.000,0.050,2505,2237,3254
$GC,6728,-0.99,-146.0,403.9,-4.7,480,6730,0.15,0.00,0.00,0.000,6,0.064,0.000,2435,2237,3254
$GC,7052,-0.83,-146.0,426.1,-7.1,488,7054,0.22,0.00,0.00,0.000,6,0.134,0.000,2501,2237,3254
$GC,7378,-0.93,-146.0,442.2,-4.8,496,7383,0.10,2.28,0.00,0.000,4,0.084,0.049,2451,817,3255
$GC,7452,-0.78,-146.0,447.0,-6.9,497,7457,0.25,2.30,0.00,0.000,6,0.124,0.049,2514,2232,3255
$GC,7791,-0.93,-146.0,461.9,-4.3,506,7793,0.12,0.00,0.00,0.000,6,0.072,0.000,2455,2231,3255
$GC,8117,-0.85,-146.0,481.1,-5.9,514,8119,0.15,0.00,0.00,0.000,6,0.136,0.000,2498,2232,3256
$GC,8441,-0.94,-146.0,496.5,-4.6,522,8445,0.00,2.25,0.00,0.000,4,0.000,0.049,2498,822,3256
$GC,8514,-0.94,-146.0,500.3,-4.7,523,8518,0.00,2.25,0.00,0.000,6,0.000,0.049,2490,2235,3256
$GC,8860,-0.99,-146.0,517.4,-4.8,532,8862,0.10,0.00,0.00,0.000,6,0.077,0.000,2437,2235,3256
$GC,9184,-0.85,-146.0,536.9,-6.1,540,9188,0.20,2.28,0.00,0.000,4,0.134,0.049,2500,828,3256
$GC,9241,-0.92,-146.0,540.0,-5.4,541,9245,0.00,2.30,0.00,0.000,6,0.000,0.050,2493,2242,3256
$GC,9563,-0.98,-146.0,553.3,-4.1,549,9565,0.10,0.00,0.00,0.000,6,0.077,0.000,2440,2242,3256
$GC,9887,-0.86,-146.0,572.3,-6.2,557,9889,0.20,0.00,0.00,0.000,6,0.132,0.000,2499,2242,3256
$GC,10212,-0.97,-146.0,587.7,-4.5,565,10214,0.12,0.00,0.00,0.000,6,0.077,0.000,2441,2242,3256
$STATE,10410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10410,begin apogee
$GC,10420,-0.31,0.0,600.2,6.4,570,10555,0.55,0.00,131.65,1.159,6,0.120,0.000,2614,1729,2650
$STATE,10556,end apogee,CONTROL_FINISHED_OK
$STATE,10556,begin climb
$GC,10560,0.99,146.0,601.0,0.0,573,10696,0.88,0.00,131.73,1.093,6,0.087,0.000,2899,1729,2054
$GC,11026,0.77,146.0,551.9,11.4,585,11030,0.20,2.35,0.00,0.000,4,0.127,0.057,2839,3158,2047
$GC,11071,0.69,146.0,546.8,9.1,586,11075,0.00,2.25,0.00,0.000,6,0.000,0.043,2847,1721,2046
$GC,11397,0.69,146.0,521.8,7.3,594,11401,0.00,2.33,0.00,0.000,4,0.000,0.058,2847,3162,2046
$GC,11427,0.59,146.0,519.4,8.2,594,11431,0.17,2.22,0.00,0.000,6,0.126,0.042,2806,1726,2046
$GC,11770,0.83,202.8,501.0,5.2,603,11826,0.17,2.40,48.28,1.088,4,0.058,0.057,2891,3152,1822
$GC,11839,0.64,202.8,494.7,10.9,604,11844,0.30,2.25,0.00,0.000,6,0.123,0.042,2813,1727,1820
$GC,12180,0.87,234.7,473.7,6.0,613,12210,0.17,0.00,28.27,1.050,6,0.058,0.000,2898,1727,1693
$GC,12503,0.71,234.7,435.9,12.0,621,12505,0.22,0.00,0.00,0.000,6,0.120,0.000,2829,1727,1687
$GC,12829,0.82,234.7,411.0,7.4,629,12833,0.12,2.30,0.00,0.000,4,0.067,0.057,2893,3160,1685
$GC,12852,0.76,234.7,408.5,9.5,629,12857,0.20,2.22,0.00,0.000,6,0.127,0.043,2844,1726,1684
$GC,13185,0.81,234.7,382.4,7.4,643,13186,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1726,1684
$GC,13495,0.86,234.7,358.4,8.0,658,13497,0.10,0.00,0.00,0.000,6,0.074,0.000,2898,1726,1683
$GC,13804,0.71,234.7,322.0,11.8,673,13806,0.22,0.00,0.00,0.000,6,0.119,0.000,2828,1726,1683
$GC,14115,0.85,234.7,298.5,7.6,688,14119,0.12,2.35,0.00,0.000,4,0.067,0.055,2893,3161,1683
$GC,14139,0.80,234.7,296.0,9.2,689,14144,0.20,2.20,0.00,0.000,6,0.128,0.041,2845,1735,1683
$GC,14467,0.87,234.7,266.4,8.9,705,14471,0.10,2.25,0.00,0.000,4,0.075,0.054,2909,326,1683
$GC,14491,0.87,234.7,263.9,10.0,706,14495,0.15,2.25,0.00,0.000,6,0.128,0.044,2867,1753,1683
$GC,14825,0.87,234.7,230.5,9.8,722,14828,0.00,2.22,0.00,0.000,4,0.000,0.058,2866,3149,1683
$GC,14888,0.75,234.7,223.7,10.4,724,14895,0.12,2.20,0.00,0.000,6,0.126,0.041,2838,1734,1682
$GC,15206,0.88,234.7,199.7,7.7,740,15208,0.12,0.00,0.00,0.000,6,0.068,0.000,2903,1733,1682
$GC,15514,0.76,234.7,162.5,12.3,755,15516,0.20,0.00,0.00,0.000,6,0.120,0.000,2842,1733,1682
$GC,15825,0.92,254.6,140.6,6.4,770,15845,0.12,0.00,16.77,0.832,6,0.069,0.000,2907,1733,1612
$GC,16154,0.81,254.6,104.3,11.2,786,16156,0.17,0.00,0.00,0.000,6,0.120,0.000,2854,1733,1610
$GC,16486,1.03,276.5,79.2,6.3,837,16511,0.17,0.00,20.65,0.808,6,0.058,0.000,2939,1733,1522
$GC,16852,0.95,276.5,40.0,9.9,901,16859,0.20,2.35,0.00,0.000,4,0.112,0.056,2871,3152,1519
$GC,16878,0.95,276.5,37.7,8.7,905,16884,0.00,2.22,0.00,0.000,6,0.000,0.042,2878,1728,1519
$GC,17226,1.16,288.3,15.4,6.6,966,17245,0.17,2.35,11.65,0.752,4,0.060,0.056,2965,3152,1473
$GC,17258,1.16,288.3,12.1,8.9,971,17265,0.17,2.20,0.00,0.000,6,0.140,0.043,2926,1738,1473
$FREEZE,6.77,-1.354,-1.817
$FREEZE,6.28,-1.352,-1.817
$FREEZE,6.00,-1.363,-1.816
$FREEZE,5.73,-1.371,-1.816
$FREEZE,4.98,-1.360,-1.816
$FREEZE,4.22,-1.356,-1.815
$FREEZE,3.82,-1.379,-1.815
$FREEZE,3.39,-1.370,-1.815
$FREEZE,2.83,-1.370,-1.814
$STATE,17366,end climb,SURFACE_DEPTH_REACHED
$STATE,17366,begin surface coast
$FREEZE,1.79,-1.386,-1.803
$FREEZE,1.75,-1.377,-1.809
$FREEZE,1.80,-1.333,-1.807
$FREEZE,1.83,-1.143,-1.796
$FREEZE,1.77,-1.035,-1.789
$FREEZE,1.80,-0.958,-1.785
$FINISH,1.8,1.026185
$STATE,17400,end surface coast,CONTROL_FINISHED_OK
$STATE,17400,begin surface
$SM_CCo,17500,0.00,0.000,0,0,1470,289.45
$SM_GC,2.48,6.85,0.00,0.00,0.040,0.000,0.000,319,2241,1470,-10.67,0.31,289.45
$RAFOS_CLK,698
$RAFOS,4,1231980245,0.750000,0.734722,64,58,52,52,50,48,154,196,186,224,167,129
$RAFOS,3,1231979646,0.583333,0.568333,72,65,61,60,56,54,800,205,192,226,150,161
$RAFOS,2,1231979051,0.416667,0.403056,64,58,57,54,53,51,205,220,161,143,172,123
$RAFOS,1,1231978444,0.250000,0.234444,67,59,59,57,55,51,223,211,119,155,202,177
$RAFOS,0,1231977861,0.083333,0.072500,59,54,53,53,51,48,208,223,148,167,130,238
$RAFOS_FIX,6617.756348,-5909.147949,080109,000040,2,99,0.64
$IRIDIUM_FIX,6532.72,-5736.18,100498,171704
$TT8_MAMPS,0.026078
$HUMID,1792
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,15.90
$XPDR_PINGS,268
$24V_AH,21.9,102.607
$10V_AH,10.4,45.556
$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,26.000,97.200,389.000,0.000,0.000,28.979,29.347,431.875,67.000,0.000,0.000,17.242,1816.026,13133.922,520.247,1743.794,1187.971,0.000,1452.471,0.000,1729.887,1800.000,0.532,0.000
$DEVICE_MAMPS,245.440,66.729,1158.937,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,692.272,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34712,995
$CAP_FILE_SIZE,142245,0
$CFSIZE,260165632,210468864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.5
$GPS,150109,033307,6600.262,-5727.987,34,1.0,34,-36.3