version: 66.04
glider: 108
mission: 11
dive: 685
start: 1 16 109 22 38 36
data:
$ID,108
$MISSION,11
$DIVE,685
$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,-133567.56
$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,37
$R_STBD_OVSHOOT,31
$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
$GPS1,222306,6609.395,-5724.306,31,1.8,31,-36.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-27.4
$GPS2,223818,6609.094,-5724.513,140,3.4,159,-36.5
$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,51.3,103257,-13.0,-7.021
$D_GRID,604
$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,-146.0,0.0,0.0,0,100,0.00,0.00,-77.43,0.000,6,0.000,0.000,327,2238,3247
$GC,106,-0.99,-146.0,2.2,-0.4,15,119,7.35,2.35,0.00,0.000,4,0.162,0.052,2464,823,3250
$GC,206,-0.74,-146.0,6.5,-8.5,32,213,0.22,2.35,0.00,0.000,6,0.135,0.053,2520,2231,3250
$GC,554,-0.74,-146.0,31.7,-4.3,93,560,0.00,2.25,0.00,0.000,4,0.000,0.066,2512,3595,3250
$GC,619,-0.81,-146.0,36.8,-8.9,104,625,0.00,2.15,0.00,0.000,6,0.000,0.042,2512,2222,3250
$GC,966,-0.81,-146.0,61.5,-7.4,165,972,0.00,2.30,0.00,0.000,4,0.000,0.066,2502,3594,3250
$GC,1104,-0.81,-146.0,72.7,-8.0,189,1110,0.00,2.15,0.00,0.000,6,0.000,0.043,2502,2220,3249
$GC,1452,-0.81,-146.0,99.6,-7.4,250,1458,0.00,2.22,0.00,0.000,4,0.000,0.054,2502,828,3248
$GC,1556,-0.76,-146.0,107.1,-7.5,256,1560,0.10,2.30,0.00,0.000,6,0.131,0.055,2519,2245,3248
$GC,1878,-0.86,-146.0,125.2,-5.9,272,1883,0.10,2.33,0.00,0.000,4,0.081,0.054,2473,817,3247
$GC,1975,-0.75,-146.0,132.7,-8.2,276,1980,0.20,2.30,0.00,0.000,6,0.127,0.054,2521,2245,3247
$GC,2293,-0.88,-146.0,151.2,-6.1,291,2298,0.12,2.33,0.00,0.000,4,0.077,0.054,2464,819,3247
$GC,2339,-0.73,-146.0,154.8,-8.2,293,2343,0.25,2.28,0.00,0.000,6,0.127,0.054,2526,2231,3246
$GC,2662,-0.90,-146.0,170.6,-4.0,309,2667,0.15,2.25,0.00,0.000,4,0.071,0.065,2450,3597,3246
$GC,2824,-0.81,-146.0,181.8,-6.8,316,2829,0.20,2.15,0.00,0.000,6,0.133,0.042,2507,2212,3246
$GC,3148,-0.92,-146.0,196.8,-4.0,332,3152,0.10,2.20,0.00,0.000,4,0.084,0.052,2458,824,3246
$GC,3266,-0.80,-146.0,203.8,-6.2,337,3271,0.20,2.28,0.00,0.000,6,0.124,0.052,2507,2241,3246
$GC,3590,-0.92,-146.0,217.5,-4.5,353,3594,0.10,2.20,0.00,0.000,4,0.083,0.064,2449,3594,3247
$GC,3660,-0.84,-146.0,222.0,-6.8,356,3664,0.17,2.10,0.00,0.000,6,0.136,0.040,2497,2219,3247
$GC,3995,-0.92,-146.0,239.6,-5.4,372,3998,0.00,2.17,0.00,0.000,4,0.000,0.051,2498,831,3248
$GC,4080,-0.92,-146.0,244.6,-5.9,375,4086,0.00,2.30,0.00,0.000,6,0.000,0.051,2490,2245,3248
$GC,4400,-0.97,-146.0,261.7,-5.3,391,4404,0.00,2.30,0.00,0.000,4,0.000,0.050,2490,819,3248
$GC,4508,-0.97,-146.0,267.9,-5.9,395,4514,0.00,2.33,0.00,0.000,6,0.000,0.049,2480,2238,3249
$GC,4825,-0.97,-146.0,285.4,-5.3,411,4826,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2237,3250
$GC,5136,-0.97,-146.0,301.4,-5.1,426,5140,0.00,2.28,0.00,0.000,4,0.000,0.048,2480,825,3251
$GC,5233,-0.97,-146.0,306.7,-5.1,430,5237,0.00,2.25,0.00,0.000,6,0.000,0.048,2470,2239,3250
$GC,5561,-0.97,-146.0,323.2,-4.4,446,5563,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2239,3252
$GC,5871,-0.97,-146.0,336.4,-4.3,461,5875,0.00,2.28,0.00,0.000,4,0.000,0.049,2470,817,3253
$GC,5964,-0.90,-146.0,340.9,-5.0,465,5969,0.10,2.25,0.00,0.000,6,0.130,0.048,2487,2235,3252
$GC,6297,-0.96,-146.0,355.4,-5.0,481,6300,0.00,2.28,0.00,0.000,4,0.000,0.048,2487,817,3253
$GC,6366,-0.96,-146.0,359.5,-5.9,484,6370,0.00,2.30,0.00,0.000,6,0.000,0.048,2480,2233,3253
$GC,6695,-0.96,-146.0,377.6,-5.8,500,6699,0.00,2.28,0.00,0.000,4,0.000,0.048,2480,821,3253
$GC,6780,-0.96,-146.0,383.0,-6.4,503,6787,0.00,2.30,0.00,0.000,6,0.000,0.048,2470,2234,3254
$GC,7118,-0.96,-146.0,402.8,-5.9,519,7119,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2233,3254
$GC,7443,-0.96,-146.0,421.0,-5.5,527,7447,0.00,2.28,0.00,0.000,4,0.000,0.048,2470,820,3254
$GC,7557,-0.90,-146.0,427.8,-5.5,529,7562,0.10,2.30,0.00,0.000,6,0.130,0.048,2487,2231,3255
$GC,7902,-0.97,-146.0,445.0,-5.0,538,7903,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2231,3255
$GC,8227,-1.04,-146.0,460.8,-4.9,546,8231,0.12,2.28,0.00,0.000,4,0.073,0.046,2428,823,3255
$GC,8320,-0.85,-146.0,467.0,-6.8,548,8325,0.28,2.33,0.00,0.000,6,0.125,0.048,2501,2245,3255
$GC,8647,-0.98,-146.0,481.2,-4.2,556,8649,0.12,0.00,0.00,0.000,6,0.074,0.000,2443,2245,3255
$GC,8971,-0.89,-146.0,500.1,-5.8,564,8975,0.17,2.30,0.00,0.000,4,0.133,0.048,2496,827,3255
$GC,9073,-0.94,-146.0,505.3,-5.0,566,9077,0.00,2.30,0.00,0.000,6,0.000,0.048,2488,2234,3255
$GC,9395,-1.02,-146.0,520.5,-4.9,574,9397,0.12,0.00,0.00,0.000,6,0.071,0.000,2428,2233,3255
$GC,9719,-0.86,-146.0,543.0,-7.0,582,9724,0.22,2.30,0.00,0.000,4,0.130,0.048,2501,820,3256
$GC,9810,-0.96,-146.0,548.2,-5.3,584,9814,0.00,2.33,0.00,0.000,6,0.000,0.048,2493,2241,3255
$GC,10137,-1.04,-146.0,565.0,-5.1,592,10139,0.15,0.00,0.00,0.000,6,0.065,0.000,2424,2240,3256
$GC,10460,-0.88,-146.0,587.8,-7.2,600,10462,0.22,0.00,0.00,0.000,6,0.131,0.000,2491,2241,3255
$STATE,10781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10781,begin apogee
$GC,10792,-0.31,0.0,605.2,5.2,608,10924,0.38,0.00,128.90,1.151,6,0.110,0.000,2613,1733,2650
$STATE,10924,end apogee,CONTROL_FINISHED_OK
$STATE,10924,begin climb
$GC,10929,0.99,146.0,607.1,0.0,611,11067,0.85,2.62,131.30,1.085,4,0.092,0.053,2893,3154,2054
$GC,11130,0.71,146.0,590.0,11.2,615,11135,0.25,2.40,0.00,0.000,6,0.124,0.040,2834,1736,2049
$GC,11469,0.71,146.0,564.4,7.1,624,11473,0.00,2.30,0.00,0.000,4,0.000,0.055,2834,3161,2047
$GC,11497,0.71,146.0,562.0,7.7,624,11501,0.00,2.28,0.00,0.000,6,0.000,0.041,2842,1723,2046
$GC,11841,0.71,146.0,536.0,7.4,633,11845,0.00,2.33,0.00,0.000,4,0.000,0.055,2842,3161,2046
$GC,11876,0.62,146.0,533.2,8.2,633,11881,0.15,2.25,0.00,0.000,6,0.126,0.041,2809,1732,2045
$GC,12215,0.78,162.0,511.6,6.5,642,12230,0.15,0.00,13.23,1.025,6,0.061,0.000,2884,1732,1989
$GC,12539,0.64,162.0,477.4,10.7,650,12541,0.22,0.00,0.00,0.000,6,0.117,0.000,2815,1732,1988
$GC,12865,0.75,162.0,454.2,7.1,658,12870,0.10,2.35,0.00,0.000,4,0.075,0.056,2868,3156,1987
$GC,12895,0.63,162.0,451.2,9.5,658,12899,0.22,2.25,0.00,0.000,6,0.123,0.042,2811,1726,1986
$GC,13233,0.76,162.0,426.9,7.2,667,13235,0.12,0.00,0.00,0.000,6,0.065,0.000,2877,1726,1986
$GC,13540,0.64,162.0,394.3,11.0,675,13542,0.20,0.00,0.00,0.000,6,0.116,0.000,2816,1726,1986
$GC,13847,0.74,162.0,370.8,7.2,690,13852,0.10,2.38,0.00,0.000,4,0.074,0.054,2870,3158,1986
$GC,13876,0.62,162.0,367.8,10.1,691,13881,0.22,2.25,0.00,0.000,6,0.122,0.041,2813,1731,1986
$GC,14196,0.78,186.5,346.7,6.2,706,14221,0.12,0.00,22.27,0.974,6,0.064,0.000,2880,1731,1889
$GC,14522,0.68,186.5,315.4,9.4,722,14524,0.20,0.00,0.00,0.000,6,0.114,0.000,2818,1731,1886
$GC,14833,0.85,215.2,296.9,6.1,737,14864,0.15,2.40,25.02,0.938,4,0.062,0.054,2891,3156,1772
$GC,14888,0.66,215.2,291.3,11.4,739,14893,0.28,2.25,0.00,0.000,6,0.120,0.040,2818,1730,1769
$GC,15208,0.85,231.7,269.6,6.5,754,15226,0.15,0.00,15.20,0.883,6,0.058,0.000,2895,1729,1705
$GC,15534,0.74,231.7,235.7,10.2,770,15539,0.20,2.28,0.00,0.000,4,0.117,0.053,2837,328,1702
$GC,15570,0.90,240.0,232.6,6.8,771,15586,0.12,2.22,8.50,0.792,6,0.066,0.041,2904,1747,1671
$GC,15919,0.78,240.0,193.6,11.8,788,15923,0.20,2.22,0.00,0.000,4,0.121,0.054,2838,3152,1669
$GC,15975,0.78,240.0,187.6,9.2,790,15980,0.00,2.22,0.00,0.000,6,0.000,0.040,2844,1731,1668
$GC,16299,0.90,240.0,162.7,7.1,806,16301,0.12,0.00,0.00,0.000,6,0.068,0.000,2909,1731,1668
$GC,16609,0.79,240.0,131.4,9.9,821,16614,0.20,2.33,0.00,0.000,4,0.118,0.053,2842,3144,1668
$GC,16655,0.89,250.3,128.0,6.7,823,16672,0.08,2.20,9.88,0.764,6,0.087,0.041,2899,1733,1629
$GC,16983,0.89,250.3,101.9,7.3,839,16988,0.12,2.33,0.00,0.000,4,0.118,0.053,2861,3156,1628
$GC,17006,0.96,266.6,100.2,6.5,840,17029,0.00,2.22,15.93,0.794,6,0.000,0.041,2867,1724,1563
$GC,17371,1.20,303.5,78.9,5.8,902,17408,0.20,0.00,33.65,0.811,6,0.056,0.000,2969,1724,1412
$GC,17749,1.04,303.5,35.5,12.5,968,17756,0.20,2.33,0.00,0.000,4,0.119,0.055,2903,3156,1405
$GC,17776,0.94,303.5,32.6,12.6,972,17784,0.10,2.22,0.00,0.000,6,0.129,0.042,2881,1734,1404
$GC,18125,1.21,336.5,11.5,6.0,1033,18162,0.20,2.30,28.75,0.795,4,0.056,0.057,2990,324,1278
$FREEZE,6.40,-1.160,-1.815
$FREEZE,5.75,-1.158,-1.815
$GC,18177,1.10,336.5,5.8,12.1,1041,18184,0.25,2.25,0.00,0.000,6,0.125,0.045,2916,1738,1276
$FREEZE,3.53,-1.235,-1.812
$FREEZE,2.91,-1.230,-1.812
$STATE,18194,end climb,SURFACE_DEPTH_REACHED
$STATE,18194,begin surface coast
$FREEZE,2.45,-1.232,-1.811
$FREEZE,1.84,-1.249,-1.811
$FREEZE,1.73,-1.224,-1.809
$FREEZE,1.61,-1.092,-1.802
$FINISH,1.6,1.026428
$STATE,18218,end surface coast,CONTROL_FINISHED_OK
$STATE,18218,begin surface
$SM_CCo,18301,0.00,0.000,0,0,1271,338.27
$SM_GC,2.38,6.97,0.00,0.00,0.048,0.000,0.000,327,2249,1271,-10.70,0.54,338.27
$RAFOS_CLK,715
$RAFOS,4,1232153046,0.750000,0.735000,67,63,57,55,55,53,224,204,141,123,179,191
$RAFOS,3,1232152444,0.583333,0.567778,62,59,59,58,57,52,187,169,220,134,209,200
$RAFOS,2,1232151844,0.416667,0.401111,61,59,57,55,54,51,157,218,199,120,175,143
$RAFOS,1,1232151258,0.250000,0.238333,57,56,53,53,51,51,149,211,190,178,166,221
$RAFOS,0,1232150645,0.083333,0.068056,69,64,63,62,57,56,198,155,220,173,211,185
$RAFOS_FIX,6613.218750,-5733.207031,160109,202056,2,73,0.51
$IRIDIUM_FIX,6543.17,-5745.59,120498,222202
$TT8_MAMPS,0.026845
$HUMID,1803
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,15.80
$XPDR_PINGS,208
$24V_AH,22.0,103.940
$10V_AH,10.4,46.254
$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,23.750,142.925,432.625,0.000,0.000,96.312,184.087,173.910,52.000,0.000,0.000,161.561,1944.405,13537.438,547.301,2198.635,973.236,0.000,1647.547,0.000,2020.570,1800.000,0.532,0.000
$DEVICE_MAMPS,161.837,65.962,1151.267,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,728.099,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34644,1048
$CAP_FILE_SIZE,152350,0
$CFSIZE,260165632,209580032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.8
$GPS,160109,223818,6609.094,-5724.513,140,3.4,159,-36.5