version: 66.04
glider: 108
mission: 11
dive: 686
start: 1 17 109 4 10 59
data:
$ID,108
$MISSION,11
$DIVE,686
$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,-133795.36
$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
$GPS1,223818,6609.094,-5724.513,140,3.4,159,-36.5
$_CALLS,3
$_XMS_NAKs,19
$_XMS_TOUTs,3
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-43.3
$GPS2,041037,6608.699,-5723.274,40,2.0,40,-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,50.7,103742,-13.0,-7.021
$D_GRID,606
$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,-146.0,0.0,0.0,0,119,0.00,0.00,-98.00,0.000,6,0.000,0.000,326,2261,3247
$GC,124,-0.99,-146.0,2.4,-0.0,18,138,7.60,2.38,0.00,0.000,4,0.179,0.057,2467,813,3250
$GC,394,-0.99,-146.0,2.2,-0.1,65,400,0.00,2.33,0.00,0.000,6,0.000,0.052,2460,2236,3252
$GC,741,-0.78,-146.0,2.2,-0.0,126,748,0.17,2.33,0.00,0.000,4,0.140,0.055,2514,820,3252
$GC,930,-0.68,-146.0,5.5,-6.7,158,937,0.10,2.30,0.00,0.000,6,0.140,0.058,2531,2232,3251
$GC,1279,-0.74,-146.0,30.0,-6.6,219,1285,0.00,2.22,0.00,0.000,4,0.000,0.070,2522,3603,3251
$GC,1333,-0.83,-146.0,34.7,-8.8,228,1340,0.10,2.17,0.00,0.000,6,0.087,0.046,2475,2218,3251
$GC,1682,-0.73,-146.0,66.4,-8.8,289,1688,0.17,2.25,0.00,0.000,4,0.135,0.057,2526,823,3250
$GC,1737,-0.73,-146.0,70.2,-6.8,298,1743,0.00,2.33,0.00,0.000,6,0.000,0.058,2519,2232,3250
$GC,2084,-0.79,-146.0,93.1,-6.1,359,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2232,3250
$GC,2420,-0.86,-146.0,115.3,-7.6,391,2422,0.10,0.00,0.00,0.000,6,0.085,0.000,2469,2232,3249
$GC,2727,-0.79,-146.0,142.7,-8.0,406,2731,0.15,2.25,0.00,0.000,4,0.140,0.070,2503,3598,3249
$GC,2914,-0.93,-146.0,153.6,-5.1,414,2918,0.10,2.15,0.00,0.000,6,0.085,0.046,2455,2227,3248
$GC,3243,-0.83,-146.0,176.3,-7.0,430,3247,0.17,2.25,0.00,0.000,4,0.133,0.057,2507,817,3248
$GC,3335,-0.88,-146.0,181.8,-5.4,434,3338,0.00,2.30,0.00,0.000,6,0.000,0.056,2500,2240,3248
$GC,3670,-0.96,-146.0,202.9,-6.2,450,3674,0.10,2.22,0.00,0.000,4,0.082,0.067,2438,3604,3249
$GC,3732,-0.83,-146.0,208.1,-8.4,452,3739,0.22,2.15,0.00,0.000,6,0.137,0.044,2503,2218,3249
$GC,4050,-0.93,-146.0,226.8,-5.6,468,4054,0.10,2.20,0.00,0.000,4,0.086,0.054,2454,823,3251
$GC,4170,-0.80,-146.0,235.4,-6.9,473,4175,0.22,2.30,0.00,0.000,6,0.127,0.054,2510,2246,3251
$GC,4493,-0.93,-146.0,251.4,-4.8,489,4495,0.12,0.00,0.00,0.000,6,0.078,0.000,2454,2246,3252
$GC,4803,-0.86,-146.0,271.3,-6.3,504,4808,0.15,2.30,0.00,0.000,4,0.140,0.052,2497,817,3253
$GC,4970,-0.86,-146.0,281.1,-5.9,511,4974,0.00,2.30,0.00,0.000,6,0.000,0.052,2489,2245,3253
$GC,5294,-0.91,-146.0,300.3,-5.9,527,5298,0.00,2.28,0.00,0.000,4,0.000,0.052,2489,821,3254
$GC,5373,-0.91,-146.0,305.4,-6.3,530,5378,0.00,2.28,0.00,0.000,6,0.000,0.051,2480,2236,3254
$GC,5696,-0.91,-146.0,325.2,-6.1,546,5697,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2236,3255
$GC,6006,-0.91,-146.0,343.6,-5.8,561,6008,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2236,3256
$GC,6315,-0.91,-146.0,360.3,-5.2,576,6319,0.00,2.28,0.00,0.000,4,0.000,0.050,2480,813,3257
$GC,6424,-0.91,-146.0,366.5,-5.7,580,6430,0.00,2.30,0.00,0.000,6,0.000,0.050,2469,2245,3257
$GC,6741,-0.91,-146.0,383.0,-5.2,596,6745,0.00,2.28,0.00,0.000,4,0.000,0.050,2469,816,3257
$GC,6849,-0.85,-146.0,389.5,-6.1,600,6856,0.15,2.28,0.00,0.000,6,0.126,0.049,2502,2236,3257
$GC,7166,-0.97,-146.0,404.1,-4.6,614,7171,0.12,2.25,0.00,0.000,4,0.076,0.048,2445,823,3258
$GC,7252,-0.83,-146.0,409.5,-7.2,615,7259,0.22,2.28,0.00,0.000,6,0.125,0.049,2501,2244,3258
$GC,7586,-0.94,-146.0,424.7,-4.4,624,7590,0.10,2.28,0.00,0.000,4,0.084,0.049,2454,816,3259
$GC,7683,-0.83,-146.0,430.1,-5.6,626,7688,0.20,2.28,0.00,0.000,6,0.125,0.048,2501,2238,3259
$GC,8003,-0.94,-146.0,442.4,-3.8,634,8005,0.10,0.00,0.00,0.000,6,0.084,0.000,2453,2238,3260
$GC,8329,-0.88,-146.0,460.2,-5.8,642,8333,0.15,2.28,0.00,0.000,4,0.137,0.048,2494,815,3260
$GC,8387,-0.93,-146.0,463.5,-5.6,643,8391,0.00,2.28,0.00,0.000,6,0.000,0.048,2487,2241,3260
$GC,8708,-0.99,-146.0,479.6,-4.9,651,8713,0.10,2.28,0.00,0.000,4,0.080,0.048,2436,813,3260
$GC,8805,-0.82,-146.0,486.0,-7.6,653,8810,0.28,2.28,0.00,0.000,6,0.124,0.048,2507,2238,3260
$GC,9120,-0.97,-146.0,498.7,-3.8,661,9121,0.15,0.00,0.00,0.000,6,0.071,0.000,2440,2238,3260
$GC,9445,-0.86,-146.0,518.0,-6.0,669,9447,0.20,0.00,0.00,0.000,6,0.135,0.000,2498,2237,3261
$GC,9770,-0.98,-146.0,532.8,-4.8,677,9774,0.12,2.28,0.00,0.000,4,0.077,0.048,2441,813,3261
$GC,9862,-0.82,-146.0,538.7,-6.6,679,9866,0.25,2.28,0.00,0.000,6,0.127,0.048,2504,2234,3261
$GC,10188,-0.95,-146.0,554.0,-4.7,687,10190,0.12,0.00,0.00,0.000,6,0.075,0.000,2448,2233,3262
$GC,10512,-0.87,-146.0,573.6,-6.0,695,10514,0.17,0.00,0.00,0.000,6,0.139,0.000,2497,2233,3261
$GC,10838,-0.98,-146.0,588.1,-4.3,703,10843,0.12,2.28,0.00,0.000,4,0.077,0.048,2441,819,3262
$GC,10963,-0.85,-146.0,596.4,-7.4,705,10968,0.22,2.30,0.00,0.000,6,0.127,0.050,2495,2245,3262
$STATE,11170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11170,begin apogee
$GC,11180,-0.31,0.0,606.8,4.8,710,11313,0.38,0.00,130.43,1.154,6,0.111,0.000,2618,1731,2650
$STATE,11313,end apogee,CONTROL_FINISHED_OK
$STATE,11314,begin climb
$GC,11319,0.99,146.0,608.2,0.0,713,11459,0.88,2.60,131.82,1.091,4,0.089,0.054,2901,3144,2054
$GC,11492,0.69,146.0,592.9,12.2,717,11497,0.30,2.40,0.00,0.000,6,0.129,0.040,2830,1730,2050
$GC,11827,0.75,156.4,569.3,6.7,725,11841,0.00,2.35,9.15,0.950,4,0.000,0.056,2830,3147,2012
$GC,11854,0.76,165.7,567.1,6.7,725,11871,0.00,2.22,9.73,0.953,6,0.000,0.041,2837,1730,1974
$GC,12197,0.76,165.7,543.1,7.0,734,12201,0.00,2.30,0.00,0.000,4,0.000,0.056,2837,3159,1972
$GC,12245,0.69,165.7,539.7,7.4,735,12249,0.00,2.22,0.00,0.000,6,0.000,0.042,2847,1729,1971
$GC,12576,0.69,165.7,514.0,7.9,743,12580,0.00,2.30,0.00,0.000,4,0.000,0.057,2847,3156,1970
$GC,12610,0.59,165.7,510.9,8.7,743,12615,0.17,2.22,0.00,0.000,6,0.128,0.042,2806,1728,1970
$GC,12950,0.81,211.1,491.7,5.6,752,12992,0.17,0.00,39.95,1.091,6,0.060,0.000,2887,1728,1789
$GC,13313,0.69,211.1,452.0,11.3,761,13318,0.20,2.30,0.00,0.000,4,0.117,0.056,2820,3152,1782
$GC,13331,0.63,211.1,450.0,11.0,761,13335,0.00,2.20,0.00,0.000,6,0.000,0.041,2827,1734,1781
$GC,13681,0.72,211.1,422.6,7.6,770,13685,0.00,2.30,0.00,0.000,4,0.000,0.056,2827,3165,1780
$GC,13721,0.72,211.1,419.2,7.8,770,13727,0.00,2.22,0.00,0.000,6,0.000,0.042,2836,1731,1779
$GC,14034,0.77,211.1,395.0,7.9,780,14038,0.00,2.30,0.00,0.000,4,0.000,0.055,2836,3162,1779
$GC,14075,0.77,211.1,391.3,9.6,781,14081,0.00,2.22,0.00,0.000,6,0.000,0.041,2845,1726,1779
$GC,14392,0.77,211.1,362.4,9.4,797,14394,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1726,1779
$GC,14701,0.77,211.1,332.4,9.8,812,14704,0.00,2.30,0.00,0.000,4,0.000,0.054,2845,3160,1779
$GC,14736,0.73,211.1,328.7,11.1,813,14740,0.00,2.20,0.00,0.000,6,0.000,0.041,2855,1734,1778
$GC,15059,0.73,211.1,297.5,9.1,829,15060,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1734,1778
$GC,15367,0.73,211.1,269.2,9.1,844,15368,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1734,1778
$GC,15677,0.73,211.1,240.2,9.8,859,15679,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1734,1778
$GC,15986,0.73,211.1,211.5,8.5,874,15987,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1734,1779
$GC,16295,0.73,211.1,186.5,8.4,889,16296,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1734,1779
$GC,16606,0.74,224.0,162.7,6.6,904,16622,0.00,2.30,11.38,0.803,4,0.000,0.054,2855,3153,1736
$GC,16646,0.74,224.0,159.9,7.2,905,16650,0.00,2.20,0.00,0.000,6,0.000,0.040,2864,1736,1734
$GC,16981,0.82,242.6,138.7,6.4,921,17004,0.00,2.30,17.55,0.819,4,0.000,0.054,2873,336,1660
$GC,17034,0.95,242.6,135.0,7.1,923,17038,0.00,2.22,0.00,0.000,6,0.000,0.041,2873,1751,1660
$GC,17363,1.05,244.3,111.5,7.0,939,17365,0.12,0.00,0.00,0.000,6,0.069,0.000,2939,1750,1658
$GC,17690,0.93,244.3,79.9,9.6,981,17697,0.20,2.22,0.00,0.000,4,0.120,0.056,2873,3154,1658
$GC,17722,0.93,244.3,77.2,9.0,986,17729,0.00,2.20,0.00,0.000,6,0.000,0.041,2879,1728,1657
$GC,18069,1.06,244.3,53.8,7.5,1047,18076,0.10,2.28,0.00,0.000,4,0.079,0.054,2936,3147,1657
$GC,18107,0.99,244.3,49.9,10.4,1053,18114,0.20,2.20,0.00,0.000,6,0.127,0.043,2888,1728,1657
$GC,18456,1.15,270.0,23.3,6.2,1114,18485,0.15,0.00,24.83,0.809,6,0.064,0.000,2960,1728,1549
$FREEZE,6.41,-1.020,-1.813
$FREEZE,5.43,-1.018,-1.813
$FREEZE,4.67,-1.016,-1.812
$FREEZE,4.28,-1.074,-1.811
$FREEZE,3.87,-1.090,-1.811
$FREEZE,3.21,-1.060,-1.810
$FREEZE,2.60,-1.085,-1.811
$STATE,18650,end climb,SURFACE_DEPTH_REACHED
$STATE,18650,begin surface coast
$FREEZE,2.12,-1.144,-1.813
$FREEZE,2.03,-1.092,-1.805
$FREEZE,2.01,-1.103,-1.800
$FREEZE,2.07,-0.952,-1.791
$FREEZE,1.75,-1.070,-1.806
$FINISH,1.7,1.026492
$STATE,18679,end surface coast,CONTROL_FINISHED_OK
$STATE,18679,begin surface
$SM_CCo,18762,0.00,0.000,0,0,1540,272.28
$SM_GC,2.19,7.15,0.00,0.00,0.054,0.000,0.000,339,2272,1540,-10.67,1.19,272.28
$RAFOS_CLK,804
$RAFOS,4,1232181853,8.750000,8.736944,62,58,56,53,53,49,204,188,160,170,213,82
$RAFOS,3,1232181255,8.583333,8.570833,61,59,59,56,54,53,174,216,225,154,197,136
$RAFOS,2,1232180657,8.416667,8.404722,61,58,57,52,48,47,230,180,215,189,137,92
$RAFOS,1,1232180052,8.250000,8.236667,62,57,57,55,51,51,204,161,125,171,149,229
$RAFOS,0,1232179447,8.083333,8.068611,76,59,55,54,52,51,208,225,120,193,166,97
$RAFOS,4,1232167442,4.750000,4.733889,61,60,59,56,51,50,208,187,142,168,196,119
$RAFOS,3,1232166843,4.583333,4.567500,62,59,53,52,50,50,135,215,110,119,187,1627
$RAFOS,2,1232166245,4.416667,4.401389,63,60,59,59,53,49,154,204,186,166,221,175
$RAFOS,1,1232165645,4.250000,4.234722,67,61,57,54,51,51,195,209,125,134,148,158
$RAFOS_FIX,6613.218750,-5733.207031,160109,202056,2,73,0.51
$IRIDIUM_FIX,6543.17,-5726.43,130498,040410
$TT8_MAMPS,0.026845
$HUMID,1804
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,15.70
$XPDR_PINGS,285
$24V_AH,21.9,104.105
$10V_AH,10.4,46.345
$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,22.425,137.900,374.825,0.000,0.000,97.072,177.928,521.547,71.250,0.000,0.000,41.508,2101.177,13712.702,541.405,2217.042,1573.967,0.000,1679.662,0.000,2156.554,3240.000,0.532,0.000
$DEVICE_MAMPS,179.478,69.797,1154.335,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,802.955,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37853,1153
$CAP_FILE_SIZE,163894,0
$CFSIZE,260165632,209498112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.6
$GPS,170109,092506,6609.987,-5721.576,32,2.0,32,-36.5