version: 66.04
glider: 108
mission: 11
dive: 679
start: 1 15 109 14 30 12
data:
$ID,108
$MISSION,11
$DIVE,679
$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,-132344.38
$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,30
$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
$GPS1,141025,6602.062,-5724.623,37,1.7,37,-36.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-62.6
$GPS2,141025,6602.062,-5724.623,37,1.7,37,-36.4
$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,49.6,115914,-13.0,-7.021
$D_GRID,615
$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,-146.0,0.0,0.0,0,97,0.00,0.00,-77.85,0.000,2,0.000,0.000,326,2247,3060
$GC,102,-0.99,-146.0,3.0,-1.2,14,122,8.52,2.38,-6.53,0.000,4,0.226,0.069,2467,819,3248
$GC,187,-0.62,-146.0,13.2,-13.1,28,194,0.30,2.33,0.00,0.000,6,0.136,0.055,2546,2239,3252
$GC,536,-0.71,-146.0,39.9,-6.7,89,542,0.00,2.22,0.00,0.000,4,0.000,0.068,2538,3606,3252
$GC,635,-0.82,-146.0,46.9,-7.2,106,642,0.12,2.17,0.00,0.000,6,0.074,0.044,2477,2209,3251
$GC,983,-0.74,-146.0,75.8,-8.6,167,989,0.15,2.20,0.00,0.000,4,0.132,0.055,2524,827,3250
$GC,1093,-0.82,-146.0,83.8,-7.0,186,1099,0.00,2.30,0.00,0.000,6,0.000,0.057,2516,2231,3250
$GC,1442,-0.92,-146.0,108.3,-6.2,231,1446,0.12,2.28,0.00,0.000,4,0.073,0.056,2454,827,3250
$GC,1516,-0.73,-146.0,114.5,-8.6,234,1521,0.28,2.33,0.00,0.000,6,0.129,0.057,2525,2244,3249
$GC,1834,-0.87,-146.0,129.1,-3.6,249,1836,0.12,0.00,0.00,0.000,6,0.075,0.000,2467,2244,3249
$GC,2142,-0.82,-146.0,146.1,-5.6,264,2144,0.15,0.00,0.00,0.000,6,0.138,0.000,2509,2244,3248
$GC,2452,-0.92,-146.0,159.7,-4.7,279,2457,0.12,2.30,0.00,0.000,4,0.078,0.055,2451,816,3249
$GC,2548,-0.76,-146.0,166.8,-7.9,283,2553,0.25,2.30,0.00,0.000,6,0.127,0.054,2514,2235,3249
$GC,2866,-0.89,-146.0,184.9,-6.1,298,2868,0.10,0.00,0.00,0.000,6,0.083,0.000,2466,2235,3249
$GC,3174,-0.89,-146.0,207.1,-6.7,313,3176,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2235,3250
$GC,3485,-0.89,-146.0,226.9,-6.3,328,3489,0.00,2.25,0.00,0.000,4,0.000,0.053,2466,822,3251
$GC,3543,-0.79,-146.0,231.0,-7.8,330,3548,0.20,2.28,0.00,0.000,6,0.124,0.053,2513,2244,3251
$GC,3863,-0.93,-146.0,246.6,-4.9,345,3864,0.12,0.00,0.00,0.000,6,0.074,0.000,2456,2244,3252
$GC,4170,-0.86,-146.0,266.9,-6.9,360,4175,0.15,2.30,0.00,0.000,4,0.137,0.051,2500,813,3252
$GC,4241,-0.91,-146.0,271.2,-6.0,363,4245,0.00,2.30,0.00,0.000,6,0.000,0.051,2492,2247,3253
$GC,4570,-0.98,-146.0,290.0,-5.5,379,4572,0.10,0.00,0.00,0.000,6,0.077,0.000,2440,2247,3253
$GC,4880,-0.85,-146.0,311.2,-6.6,394,4885,0.20,2.30,0.00,0.000,4,0.133,0.051,2509,814,3253
$GC,4960,-0.94,-146.0,315.4,-4.7,397,4967,0.10,2.30,0.00,0.000,6,0.075,0.051,2452,2245,3254
$GC,5280,-0.87,-146.0,333.8,-6.0,413,5282,0.15,0.00,0.00,0.000,6,0.133,0.000,2494,2245,3254
$GC,5587,-0.96,-146.0,349.2,-5.3,428,5590,0.00,2.28,0.00,0.000,4,0.000,0.051,2494,821,3256
$GC,5696,-0.96,-146.0,355.7,-6.2,432,5702,0.00,2.30,0.00,0.000,6,0.000,0.050,2487,2239,3255
$GC,6015,-1.01,-146.0,372.7,-5.1,448,6020,0.10,2.22,0.00,0.000,4,0.077,0.061,2423,3601,3256
$GC,6072,-0.84,-146.0,376.8,-7.3,450,6077,0.25,2.12,0.00,0.000,6,0.132,0.038,2502,2211,3256
$GC,6392,-0.95,-146.0,391.5,-4.4,465,6397,0.12,2.17,0.00,0.000,4,0.075,0.050,2442,824,3256
$GC,6485,-0.79,-146.0,397.0,-6.1,469,6490,0.28,2.30,0.00,0.000,6,0.123,0.050,2514,2242,3257
$GC,6805,-0.95,-146.0,409.0,-3.7,479,6807,0.15,0.00,0.00,0.000,6,0.068,0.000,2445,2242,3257
$GC,7129,-0.86,-146.0,429.0,-6.5,487,7133,0.17,2.28,0.00,0.000,4,0.135,0.050,2500,829,3258
$GC,7192,-0.93,-146.0,432.6,-5.9,488,7196,0.00,2.28,0.00,0.000,6,0.000,0.048,2492,2236,3258
$GC,7537,-1.01,-146.0,450.2,-5.0,497,7539,0.12,0.00,0.00,0.000,6,0.068,0.000,2431,2236,3258
$GC,7861,-0.87,-146.0,472.1,-6.7,505,7866,0.22,2.25,0.00,0.000,4,0.132,0.048,2507,827,3258
$GC,7947,-0.96,-146.0,476.8,-5.2,506,7954,0.10,2.28,0.00,0.000,6,0.073,0.049,2448,2235,3258
$GC,8280,-0.88,-146.0,497.7,-6.2,515,8282,0.15,0.00,0.00,0.000,6,0.137,0.000,2490,2235,3259
$GC,8605,-0.97,-146.0,513.0,-4.6,523,8606,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2235,3259
$GC,8931,-1.06,-146.0,528.6,-4.9,531,8933,0.15,0.00,0.00,0.000,6,0.070,0.000,2426,2235,3259
$GC,9255,-0.91,-146.0,549.8,-6.7,539,9260,0.20,2.28,0.00,0.000,4,0.135,0.048,2494,825,3259
$GC,9335,-0.96,-146.0,554.1,-5.1,540,9341,0.00,2.30,0.00,0.000,6,0.000,0.049,2487,2234,3259
$GC,9668,-1.03,-146.0,568.8,-4.4,549,9670,0.12,0.00,0.00,0.000,6,0.069,0.000,2426,2234,3259
$GC,9993,-0.87,-146.0,588.7,-6.2,557,9998,0.22,2.25,0.00,0.000,4,0.130,0.060,2491,3600,3259
$GC,10095,-1.01,-146.0,594.3,-6.0,559,10100,0.12,2.12,0.00,0.000,6,0.071,0.038,2433,2214,3259
$STATE,10405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10405,begin apogee
$GC,10416,-0.31,0.0,615.3,6.8,567,10549,0.57,0.00,130.07,1.154,6,0.123,0.000,2612,1748,2650
$STATE,10549,end apogee,CONTROL_FINISHED_OK
$STATE,10550,begin climb
$GC,10554,0.99,146.0,616.9,0.0,570,10693,0.88,2.58,131.75,1.089,4,0.095,0.053,2898,3150,2054
$GC,10710,0.72,146.0,602.2,12.1,573,10715,0.28,2.42,0.00,0.000,6,0.125,0.038,2834,1736,2051
$GC,11042,0.72,146.0,575.5,8.0,581,11046,0.00,2.35,0.00,0.000,4,0.000,0.055,2834,3158,2048
$GC,11065,0.72,146.0,573.3,8.9,581,11069,0.00,2.25,0.00,0.000,6,0.000,0.041,2842,1726,2047
$GC,11415,0.72,146.0,543.0,8.8,590,11419,0.00,2.35,0.00,0.000,4,0.000,0.054,2842,3158,2046
$GC,11472,0.58,146.0,537.3,10.0,591,11477,0.17,2.22,0.00,0.000,6,0.124,0.041,2801,1730,2046
$GC,11787,0.77,169.9,517.0,6.3,599,11813,0.15,2.35,20.23,1.050,4,0.060,0.054,2877,3150,1956
$GC,11827,0.60,169.9,513.4,9.6,600,11832,0.28,2.22,0.00,0.000,6,0.127,0.041,2806,1726,1955
$GC,12153,0.81,209.4,493.4,5.7,608,12192,0.17,0.00,35.10,1.062,6,0.057,0.000,2891,1726,1796
$GC,12518,0.64,209.4,453.2,11.4,617,12523,0.22,2.33,0.00,0.000,4,0.120,0.054,2818,3147,1790
$GC,12559,0.64,209.4,449.4,8.1,618,12563,0.00,2.20,0.00,0.000,6,0.000,0.041,2826,1731,1788
$GC,12890,0.72,209.4,425.6,7.3,626,12894,0.00,2.33,0.00,0.000,4,0.000,0.055,2826,3162,1788
$GC,12925,0.72,209.4,422.6,8.4,626,12929,0.00,2.22,0.00,0.000,6,0.000,0.041,2835,1724,1788
$GC,13244,0.78,209.4,397.2,7.8,635,13247,0.00,2.33,0.00,0.000,4,0.000,0.054,2835,3152,1788
$GC,13278,0.78,209.4,394.2,8.2,636,13282,0.00,2.20,0.00,0.000,6,0.000,0.041,2845,1736,1786
$GC,13601,0.78,209.4,369.1,7.4,652,13605,0.00,2.30,0.00,0.000,4,0.000,0.054,2845,3155,1787
$GC,13630,0.78,209.4,366.7,8.4,653,13634,0.00,2.20,0.00,0.000,6,0.000,0.041,2855,1727,1786
$GC,13957,0.78,209.4,339.3,8.6,669,13961,0.00,2.30,0.00,0.000,4,0.000,0.054,2855,3148,1786
$GC,13982,0.73,209.4,337.0,9.8,670,13986,0.12,2.20,0.00,0.000,6,0.129,0.041,2828,1726,1786
$GC,14316,0.82,209.4,312.5,7.3,686,14321,0.12,2.30,0.00,0.000,4,0.067,0.053,2894,3152,1786
$GC,14334,0.82,209.4,310.8,7.9,687,14339,0.17,2.20,0.00,0.000,6,0.130,0.040,2854,1722,1786
$GC,14668,0.82,209.4,281.9,8.4,703,14669,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1722,1786
$GC,14976,0.82,209.4,254.5,9.0,718,14980,0.00,2.30,0.00,0.000,4,0.000,0.054,2854,3159,1786
$GC,15006,0.77,209.4,251.6,10.2,719,15010,0.00,2.20,0.00,0.000,6,0.000,0.040,2861,1736,1786
$GC,15334,0.77,209.4,221.9,8.9,735,15335,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1736,1786
$GC,15643,0.77,209.4,194.0,9.2,750,15644,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1736,1786
$GC,15952,0.77,209.4,165.6,8.9,765,15956,0.00,2.30,0.00,0.000,4,0.000,0.054,2861,3153,1787
$GC,15976,0.77,209.4,163.4,8.9,766,15980,0.10,2.20,0.00,0.000,6,0.131,0.040,2843,1737,1787
$GC,16310,0.88,215.5,138.7,6.8,782,16318,0.10,0.00,5.18,0.650,6,0.076,0.000,2898,1737,1771
$GC,16618,0.77,215.5,105.9,11.2,797,16620,0.17,0.00,0.00,0.000,6,0.118,0.000,2845,1737,1771
$GC,16950,1.03,268.5,85.1,5.3,845,17003,0.20,2.38,47.55,0.815,4,0.055,0.054,2957,330,1555
$GC,17024,0.85,268.5,78.1,10.8,857,17031,0.32,2.25,0.00,0.000,6,0.120,0.042,2858,1748,1553
$GC,17371,1.44,268.5,57.2,8.3,918,17378,0.38,2.22,0.00,0.000,4,0.081,0.056,2995,3144,1546
$GC,17414,1.44,268.5,52.9,9.9,925,17421,0.00,2.20,0.00,0.000,6,0.000,0.041,3003,1729,1546
$FREEZE,6.02,-0.537,-1.823
$FREEZE,4.71,-0.550,-1.822
$FREEZE,3.75,-0.536,-1.821
$FREEZE,2.81,-0.538,-1.821
$STATE,17737,end climb,SURFACE_DEPTH_REACHED
$STATE,17737,begin surface coast
$FREEZE,1.53,-0.548,-1.820
$FREEZE,1.36,-0.664,-1.816
$FREEZE,1.15,-1.059,-1.347
$FINISH,1.1,1.019871
$STATE,17758,end surface coast,CONTROL_FINISHED_OK
$STATE,17758,begin surface
$SM_CCo,17841,0.00,0.000,0,0,1542,271.79
$SM_GC,2.13,7.25,0.00,0.00,0.054,0.000,0.000,334,2254,1542,-10.67,0.68,271.79
$RAFOS_CLK,704
$RAFOS,4,1232037844,16.750000,16.734444,69,63,54,50,49,48,212,174,157,139,186,114
$RAFOS,3,1232037262,16.583334,16.572779,64,58,58,54,52,50,212,200,158,167,123,228
$RAFOS,2,1232036652,16.416666,16.403334,63,63,56,54,54,51,185,198,173,156,142,92
$RAFOS,1,1232036053,16.250000,16.236944,63,53,52,51,51,50,215,112,129,192,160,145
$RAFOS,0,1232035441,16.083334,16.066944,67,57,53,50,50,50,199,219,169,121,133,208
$RAFOS_FIX,6617.756348,-5909.147949,080109,000040,2,99,0.64
$IRIDIUM_FIX,6537.93,-5746.76,110498,141419
$TT8_MAMPS,0.026845
$HUMID,1788
$INTERNAL_PRESSURE,9.93202
$TCM_TEMP,16.50
$XPDR_PINGS,226
$24V_AH,21.9,103.066
$10V_AH,10.4,45.782
$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,25.450,133.350,369.875,0.000,0.000,91.861,196.966,225.213,56.500,0.000,0.000,183.218,1819.120,13495.810,497.141,2013.505,1172.227,0.000,1494.703,0.000,1819.176,1800.000,0.532,0.000
$DEVICE_MAMPS,226.265,69.030,1153.568,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,683.838,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31538,985
$CAP_FILE_SIZE,145762,0
$CFSIZE,260165632,210214912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.2
$GPS,150109,192950,6604.797,-5723.785,66,5.2,85,-36.4