version: 66.04
glider: 108
mission: 11
dive: 681
start: 1 16 109 1 22 19
data:
$ID,108
$MISSION,11
$DIVE,681
$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,-132709.59
$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,32
$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
$GPS1,010545,6603.807,-5722.524,69,3.0,88,-36.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-56.7
$GPS2,010545,6603.807,-5722.524,69,3.0,88,-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,49.2,112425,-13.0,-7.021
$D_GRID,619
$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,-146.0,0.0,0.0,0,115,0.00,0.00,-96.05,0.000,2,0.000,0.000,328,2256,3098
$GC,120,-0.99,-146.0,3.2,-1.9,17,140,8.75,2.28,-4.18,0.000,4,0.236,0.077,2454,3599,3249
$GC,233,-0.75,-146.0,19.4,-11.0,36,240,0.22,2.17,0.00,0.000,6,0.140,0.042,2518,2217,3251
$GC,581,-0.80,-146.0,46.7,-8.1,97,587,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2217,3251
$GC,927,-0.87,-146.0,69.8,-6.2,158,934,0.12,2.22,0.00,0.000,4,0.078,0.054,2459,825,3251
$GC,1072,-0.69,-146.0,83.2,-9.8,183,1081,0.28,2.33,0.00,0.000,6,0.127,0.054,2531,2228,3250
$GC,1426,-0.83,-146.0,108.5,-5.3,226,1430,0.12,2.25,0.00,0.000,4,0.075,0.064,2464,3597,3250
$GC,1501,-0.76,-146.0,113.8,-6.8,229,1505,0.20,2.15,0.00,0.000,6,0.133,0.044,2521,2218,3250
$GC,1830,-0.88,-146.0,125.2,-2.7,245,1835,0.12,2.20,0.00,0.000,4,0.077,0.054,2461,816,3249
$GC,1899,-0.74,-146.0,128.8,-6.0,248,1905,0.25,2.33,0.00,0.000,6,0.124,0.053,2524,2236,3249
$GC,2228,-0.88,-146.0,144.8,-5.4,264,2230,0.15,0.00,0.00,0.000,6,0.068,0.000,2456,2236,3249
$GC,2538,-0.78,-146.0,168.4,-7.9,279,2540,0.20,0.00,0.00,0.000,6,0.134,0.000,2514,2236,3249
$GC,2847,-0.90,-146.0,183.8,-4.1,294,2851,0.12,2.28,0.00,0.000,4,0.077,0.051,2455,823,3250
$GC,2941,-0.76,-146.0,189.1,-5.9,298,2946,0.25,2.28,0.00,0.000,6,0.126,0.052,2519,2240,3250
$GC,3271,-0.91,-146.0,203.6,-4.6,314,3275,0.15,2.28,0.00,0.000,4,0.068,0.051,2449,828,3251
$GC,3357,-0.76,-146.0,209.7,-7.5,317,3364,0.25,2.30,0.00,0.000,6,0.123,0.052,2513,2235,3251
$GC,3674,-0.91,-146.0,225.2,-4.3,333,3676,0.12,0.00,0.00,0.000,6,0.075,0.000,2455,2234,3252
$GC,3985,-0.82,-146.0,241.9,-5.3,348,3987,0.17,0.00,0.00,0.000,6,0.135,0.000,2505,2235,3252
$GC,4294,-0.94,-146.0,255.3,-4.4,363,4298,0.12,2.28,0.00,0.000,4,0.075,0.049,2446,824,3253
$GC,4379,-0.78,-146.0,261.3,-6.7,366,4386,0.25,2.30,0.00,0.000,6,0.124,0.051,2510,2231,3253
$GC,4699,-0.91,-146.0,277.9,-5.3,382,4701,0.12,0.00,0.00,0.000,6,0.073,0.000,2451,2231,3254
$GC,5006,-0.82,-146.0,299.2,-7.2,397,5010,0.17,2.30,0.00,0.000,4,0.134,0.049,2501,817,3254
$GC,5085,-0.88,-146.0,304.3,-6.3,400,5089,0.00,2.33,0.00,0.000,6,0.000,0.049,2494,2233,3254
$GC,5409,-0.96,-146.0,322.9,-5.5,416,5411,0.08,0.00,0.00,0.000,6,0.088,0.000,2444,2233,3255
$GC,5718,-0.85,-146.0,344.2,-7.1,431,5722,0.17,2.30,0.00,0.000,4,0.130,0.048,2497,816,3255
$GC,5821,-0.90,-146.0,350.3,-5.7,435,5824,0.00,2.33,0.00,0.000,6,0.000,0.048,2490,2238,3255
$GC,6144,-0.96,-146.0,367.2,-5.0,451,6145,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2239,3256
$GC,6453,-1.01,-146.0,382.2,-4.9,466,6457,0.12,2.28,0.00,0.000,4,0.071,0.049,2428,823,3256
$GC,6533,-0.80,-146.0,387.6,-7.4,469,6538,0.30,2.30,0.00,0.000,6,0.125,0.049,2509,2235,3256
$GC,6855,-0.94,-146.0,402.3,-4.4,484,6857,0.12,0.00,0.00,0.000,6,0.073,0.000,2449,2235,3257
$GC,7181,-0.86,-146.0,421.7,-6.1,492,7183,0.17,0.00,0.00,0.000,6,0.133,0.000,2500,2235,3257
$GC,7505,-0.97,-146.0,436.2,-4.3,500,7509,0.12,2.28,0.00,0.000,4,0.075,0.048,2441,821,3257
$GC,7613,-0.81,-146.0,443.1,-7.2,502,7618,0.25,2.25,0.00,0.000,6,0.123,0.048,2504,2237,3257
$GC,7963,-0.94,-146.0,458.4,-4.2,511,7965,0.12,0.00,0.00,0.000,6,0.075,0.000,2447,2237,3257
$GC,8287,-0.85,-146.0,477.1,-6.0,519,8289,0.17,0.00,0.00,0.000,6,0.137,0.000,2497,2237,3258
$GC,8612,-0.95,-146.0,492.8,-4.9,527,8617,0.10,2.30,0.00,0.000,4,0.082,0.049,2448,813,3258
$GC,8693,-0.82,-146.0,498.1,-7.1,528,8698,0.22,2.33,0.00,0.000,6,0.125,0.048,2503,2231,3258
$GC,9026,-0.94,-146.0,513.9,-4.6,536,9028,0.12,0.00,0.00,0.000,6,0.074,0.000,2446,2230,3257
$GC,9351,-0.85,-146.0,532.8,-5.9,544,9356,0.17,2.30,0.00,0.000,4,0.137,0.049,2500,815,3258
$GC,9426,-0.92,-146.0,536.6,-5.0,545,9430,0.00,2.33,0.00,0.000,6,0.000,0.048,2492,2236,3258
$GC,9770,-1.01,-146.0,550.1,-3.8,554,9772,0.12,0.00,0.00,0.000,6,0.071,0.000,2432,2236,3257
$GC,10097,-0.88,-146.0,570.1,-6.5,562,10102,0.20,2.25,0.00,0.000,4,0.133,0.061,2483,3597,3257
$GC,10189,-0.98,-146.0,575.2,-5.8,564,10193,0.00,2.15,0.00,0.000,6,0.000,0.038,2483,2209,3257
$GC,10522,-1.04,-146.0,592.8,-5.2,572,10526,0.10,2.17,0.00,0.000,4,0.082,0.049,2435,828,3257
$GC,10601,-0.87,-146.0,598.6,-7.4,573,10606,0.22,2.33,0.00,0.000,6,0.127,0.050,2490,2239,3257
$GC,10937,-0.98,-146.0,614.8,-4.7,581,10942,0.10,2.25,0.00,0.000,4,0.081,0.061,2432,3603,3257
$GC,11001,-0.86,-146.0,618.3,-6.2,582,11006,0.22,2.15,0.00,0.000,6,0.137,0.039,2497,2212,3257
$STATE,11009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11009,begin apogee
$GC,11018,-0.31,0.0,619.0,5.4,582,11151,0.32,0.00,130.18,1.169,6,0.113,0.000,2609,1733,2650
$STATE,11152,end apogee,CONTROL_FINISHED_OK
$STATE,11152,begin climb
$GC,11157,0.99,146.0,620.0,0.0,586,11294,0.90,0.00,133.35,1.102,6,0.087,0.000,2902,1733,2054
$GC,11593,0.75,146.0,575.5,11.3,597,11598,0.20,2.38,0.00,0.000,4,0.124,0.056,2837,3147,2047
$GC,11635,0.68,146.0,571.3,8.6,598,11639,0.00,2.22,0.00,0.000,6,0.000,0.042,2845,1737,2047
$GC,11967,0.68,146.0,544.7,7.9,606,11971,0.00,2.35,0.00,0.000,4,0.000,0.056,2845,3157,2046
$GC,12014,0.54,146.0,540.5,9.3,607,12019,0.20,2.22,0.00,0.000,6,0.124,0.042,2796,1736,2046
$GC,12345,0.79,203.9,522.1,5.2,615,12400,0.17,0.00,49.30,1.097,6,0.057,0.000,2883,1736,1818
$GC,12720,0.68,203.9,485.5,10.2,624,12725,0.20,2.30,0.00,0.000,4,0.116,0.056,2822,3157,1811
$GC,12748,0.68,203.9,482.4,8.4,624,12752,0.00,2.25,0.00,0.000,6,0.000,0.041,2829,1726,1809
$GC,13093,0.75,203.9,458.1,7.1,633,13096,0.00,2.38,0.00,0.000,4,0.000,0.055,2830,3162,1808
$GC,13121,0.75,203.9,455.7,7.5,633,13125,0.00,2.25,0.00,0.000,6,0.000,0.041,2839,1728,1808
$GC,13465,0.75,203.9,429.0,7.8,642,13469,0.00,2.35,0.00,0.000,4,0.000,0.055,2839,3146,1808
$GC,13512,0.69,203.9,425.1,9.1,643,13515,0.00,2.22,0.00,0.000,6,0.000,0.041,2849,1729,1807
$GC,13846,0.69,203.9,396.1,8.7,652,13850,0.00,2.35,0.00,0.000,4,0.000,0.056,2849,3156,1807
$GC,13882,0.60,203.9,392.5,10.2,653,13887,0.17,2.22,0.00,0.000,6,0.124,0.042,2807,1735,1806
$GC,14205,0.87,242.2,372.8,5.8,669,14243,0.20,0.00,33.47,1.005,6,0.054,0.000,2907,1735,1662
$GC,14554,0.70,242.2,331.1,12.6,686,14559,0.22,2.28,0.00,0.000,4,0.124,0.054,2842,326,1656
$GC,14573,0.61,242.2,329.0,12.4,687,14577,0.12,2.28,0.00,0.000,6,0.109,0.044,2805,1750,1656
$GC,14907,1.30,242.2,301.4,10.5,703,14912,0.45,2.28,0.00,0.000,4,0.078,0.056,2968,3151,1653
$GC,14936,1.38,242.2,297.7,11.5,704,14940,0.00,2.22,0.00,0.000,6,0.000,0.041,2976,1727,1653
$GC,15258,1.01,242.2,240.2,17.8,720,15263,0.25,2.25,0.00,0.000,4,0.139,0.052,2907,331,1653
$GC,15310,0.95,242.2,232.8,12.7,722,15314,0.00,2.28,0.00,0.000,6,0.000,0.043,2907,1748,1653
$GC,15633,0.80,242.2,193.1,11.7,738,15638,0.20,2.28,0.00,0.000,4,0.123,0.056,2839,3160,1653
$GC,15691,0.80,242.2,187.7,8.5,740,15697,0.00,2.22,0.00,0.000,6,0.000,0.041,2847,1733,1653
$GC,16008,0.90,249.7,164.2,6.8,756,16022,0.10,2.38,6.62,0.723,4,0.076,0.054,2905,3155,1631
$GC,16035,0.79,249.7,161.9,8.9,757,16040,0.22,2.22,0.00,0.000,6,0.123,0.041,2847,1726,1631
$GC,16360,0.91,262.1,140.7,6.6,773,16382,0.12,2.30,12.38,0.800,4,0.065,0.053,2928,337,1582
$GC,16395,0.78,262.1,136.9,11.5,774,16400,0.28,2.22,0.00,0.000,6,0.121,0.041,2844,1757,1582
$GC,16713,0.96,262.1,114.2,7.3,789,16718,0.15,2.17,0.00,0.000,4,0.059,0.054,2924,3145,1580
$GC,16770,0.74,262.1,107.2,12.9,791,16775,0.32,2.20,0.00,0.000,6,0.117,0.040,2833,1738,1579
$GC,17109,1.40,262.1,76.4,10.6,839,17116,0.43,2.28,0.00,0.000,4,0.076,0.054,2990,332,1579
$GC,17153,1.57,262.1,72.2,9.8,846,17160,0.10,2.25,0.00,0.000,6,0.084,0.041,3035,1742,1579
$GC,17501,1.12,262.1,12.2,16.6,907,17508,0.38,2.28,0.00,0.000,4,0.151,0.052,2922,3150,1580
$FREEZE,6.80,-0.472,-1.827
$FREEZE,6.30,-0.473,-1.827
$FREEZE,5.75,-0.476,-1.826
$FREEZE,5.43,-0.519,-1.826
$FREEZE,5.17,-0.520,-1.826
$FREEZE,4.77,-0.507,-1.826
$FREEZE,3.95,-0.515,-1.824
$FREEZE,3.46,-0.499,-1.824
$FREEZE,3.15,-0.490,-1.824
$GC,17594,1.02,262.1,3.2,8.2,922,17601,0.12,2.22,0.00,0.000,6,0.129,0.043,2895,1737,1578
$FREEZE,1.22,-0.607,-1.820
$STATE,17606,end climb,SURFACE_DEPTH_REACHED
$STATE,17606,begin surface coast
$FREEZE,1.49,-0.708,-1.820
$FREEZE,1.77,-0.602,-1.817
$FREEZE,1.47,-0.560,-1.815
$FREEZE,1.23,-1.141,-0.158
$FINISH,1.2,1.002093
$STATE,17631,end surface coast,FINISH_DEPTH_REACHED
$STATE,17631,begin surface
$SM_CCo,17714,0.00,0.000,0,0,1578,262.96
$SM_GC,2.22,6.90,0.00,0.00,0.049,0.000,0.000,329,2236,1578,-10.69,0.20,262.96
$RAFOS_CLK,703
$RAFOS,4,1232081076,4.750000,4.743333,66,60,54,53,52,51,172,192,116,206,148,216
$RAFOS,3,1232080445,4.583333,4.568056,61,59,59,58,51,50,219,208,177,130,163,148
$RAFOS,2,1232079868,4.416667,4.407778,59,58,54,53,52,51,210,192,219,139,201,123
$RAFOS,1,1232079252,4.250000,4.236667,59,58,57,52,51,48,223,199,160,149,182,172
$RAFOS,0,1232078663,4.083333,4.073056,62,56,52,51,51,51,192,205,133,149,166,215
$RAFOS_FIX,6617.756348,-5909.147949,080109,000040,2,99,0.64
$IRIDIUM_FIX,6537.93,-5727.67,120498,010144
$TT8_MAMPS,0.026845
$HUMID,1786
$INTERNAL_PRESSURE,9.93202
$TCM_TEMP,16.60
$XPDR_PINGS,250
$24V_AH,22.0,103.375
$10V_AH,10.4,45.941
$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,28.175,142.125,365.300,0.000,0.000,78.929,191.596,90.957,62.500,0.000,0.000,183.225,1815.419,13335.055,543.401,2007.455,974.514,0.000,1529.820,0.000,1808.470,1800.000,0.532,0.000
$DEVICE_MAMPS,236.236,76.700,1168.908,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,644.110,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31556,928
$CAP_FILE_SIZE,146909,0
$CFSIZE,260165632,209948672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.1
$GPS,160109,061901,6605.261,-5724.281,38,1.4,38,-36.4