version: 66.04
glider: 108
mission: 11
dive: 687
start: 1 17 109 9 39 58
data:
$ID,108
$MISSION,11
$DIVE,687
$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,-133824.44
$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,36
$R_STBD_OVSHOOT,45
$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
$GPS1,092506,6609.987,-5721.576,32,2.0,32,-36.5
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,2
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-65.6
$GPS2,093936,6609.775,-5721.521,11,1.3,27,-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,50.3,101501,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,16,-0.99,-146.0,0.0,0.0,0,101,0.00,0.00,-81.25,0.000,6,0.000,0.000,336,2271,3247
$GC,107,-0.99,-146.0,3.1,-1.4,15,121,8.80,2.38,0.00,0.000,4,0.242,0.055,2471,810,3251
$GC,273,-0.44,-146.0,25.8,-12.4,43,280,0.43,2.28,0.00,0.000,6,0.153,0.055,2582,2222,3254
$GC,622,-0.52,-146.0,49.8,-5.4,104,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2222,3254
$GC,969,-0.66,-146.0,68.4,-6.2,165,975,0.17,2.22,0.00,0.000,4,0.064,0.070,2497,3594,3253
$GC,1040,-0.54,-146.0,75.7,-10.6,177,1047,0.25,2.15,0.00,0.000,6,0.143,0.045,2567,2212,3253
$GC,1404,-0.68,-146.0,101.2,-5.0,238,1408,0.12,2.20,0.00,0.000,4,0.077,0.057,2512,823,3252
$GC,1568,-0.60,-146.0,113.4,-7.2,245,1573,0.17,2.28,0.00,0.000,6,0.132,0.057,2551,2229,3252
$GC,1896,-0.72,-146.0,130.0,-4.8,261,1901,0.12,2.28,0.00,0.000,4,0.074,0.056,2494,821,3251
$GC,2010,-0.60,-146.0,138.5,-7.8,266,2015,0.22,2.30,0.00,0.000,6,0.132,0.057,2548,2240,3251
$GC,2333,-0.74,-146.0,158.7,-6.6,282,2338,0.12,2.30,0.00,0.000,4,0.075,0.056,2491,816,3250
$GC,2407,-0.63,-146.0,165.1,-8.8,285,2412,0.22,2.30,0.00,0.000,6,0.132,0.056,2545,2240,3250
$GC,2730,-0.80,-146.0,185.7,-5.6,301,2735,0.15,2.22,0.00,0.000,4,0.071,0.067,2469,3604,3250
$GC,2788,-0.72,-146.0,189.8,-6.9,303,2793,0.20,2.15,0.00,0.000,6,0.138,0.044,2524,2211,3250
$GC,3112,-0.84,-146.0,204.3,-4.8,319,3116,0.10,2.20,0.00,0.000,4,0.087,0.054,2477,816,3251
$GC,3299,-0.72,-146.0,217.8,-7.3,327,3303,0.20,2.30,0.00,0.000,6,0.129,0.055,2524,2236,3251
$GC,3630,-0.84,-146.0,232.8,-3.5,343,3632,0.12,0.00,0.00,0.000,6,0.077,0.000,2469,2236,3251
$GC,3936,-0.77,-146.0,247.7,-4.6,358,3941,0.17,2.30,0.00,0.000,4,0.138,0.052,2520,813,3252
$GC,4118,-0.85,-146.0,254.1,-3.4,366,4122,0.00,2.30,0.00,0.000,6,0.000,0.053,2512,2241,3252
$GC,4447,-0.94,-146.0,264.9,-3.5,382,4449,0.12,0.00,0.00,0.000,6,0.072,0.000,2451,2241,3253
$GC,4758,-0.82,-146.0,281.2,-5.4,397,4759,0.20,0.00,0.00,0.000,6,0.136,0.000,2509,2242,3253
$GC,5066,-0.91,-146.0,293.8,-4.0,412,5071,0.10,2.30,0.00,0.000,4,0.085,0.051,2461,813,3255
$GC,5181,-0.78,-146.0,300.5,-6.2,417,5185,0.22,2.30,0.00,0.000,6,0.125,0.051,2517,2240,3255
$GC,5509,-0.90,-146.0,312.9,-3.5,433,5511,0.12,0.00,0.00,0.000,6,0.078,0.000,2461,2239,3256
$GC,5818,-0.82,-146.0,328.2,-5.2,448,5820,0.15,0.00,0.00,0.000,6,0.138,0.000,2502,2240,3257
$GC,6129,-0.91,-146.0,341.7,-4.5,463,6132,0.00,2.28,0.00,0.000,4,0.000,0.050,2502,820,3257
$GC,6288,-0.91,-146.0,350.0,-5.1,470,6292,0.00,2.30,0.00,0.000,6,0.000,0.050,2494,2245,3257
$GC,6624,-0.98,-146.0,365.5,-4.5,486,6625,0.10,0.00,0.00,0.000,6,0.077,0.000,2444,2244,3258
$GC,6932,-0.85,-146.0,382.3,-5.3,501,6937,0.20,2.30,0.00,0.000,4,0.134,0.048,2511,814,3259
$GC,7053,-0.92,-146.0,387.2,-3.7,506,7057,0.10,2.30,0.00,0.000,6,0.077,0.048,2454,2245,3259
$GC,7375,-0.82,-146.0,402.1,-4.7,521,7377,0.17,0.00,0.00,0.000,6,0.135,0.000,2504,2245,3259
$GC,7700,-0.93,-146.0,413.1,-3.3,529,7704,0.10,2.28,0.00,0.000,4,0.086,0.048,2457,823,3260
$GC,7892,-0.80,-146.0,422.1,-4.5,533,7897,0.20,2.28,0.00,0.000,6,0.127,0.049,2504,2237,3260
$GC,8214,-0.90,-146.0,433.8,-3.5,541,8215,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2237,3260
$GC,8538,-1.01,-146.0,445.8,-3.7,549,8543,0.15,2.28,0.00,0.000,4,0.073,0.048,2440,816,3260
$GC,8618,-0.82,-146.0,450.5,-6.1,550,8625,0.25,2.28,0.00,0.000,6,0.127,0.048,2503,2233,3260
$GC,8952,-0.92,-146.0,464.9,-4.3,559,8954,0.10,0.00,0.00,0.000,6,0.084,0.000,2456,2233,3261
$GC,9279,-0.87,-146.0,484.1,-6.0,567,9284,0.15,2.28,0.00,0.000,4,0.136,0.048,2500,815,3261
$GC,9420,-0.91,-146.0,492.4,-5.9,570,9424,0.00,2.28,0.00,0.000,6,0.000,0.048,2492,2242,3261
$GC,9746,-0.97,-146.0,510.1,-5.5,578,9748,0.10,0.00,0.00,0.000,6,0.079,0.000,2440,2242,3262
$GC,10071,-0.85,-146.0,533.7,-7.1,586,10075,0.20,2.28,0.00,0.000,4,0.133,0.048,2503,822,3262
$GC,10174,-0.91,-146.0,539.6,-5.5,588,10178,0.00,2.25,0.00,0.000,6,0.000,0.048,2496,2230,3262
$GC,10494,-0.99,-146.0,557.4,-5.4,596,10496,0.12,0.00,0.00,0.000,6,0.071,0.000,2436,2231,3262
$GC,10821,-0.85,-146.0,580.7,-7.1,604,10826,0.20,2.28,0.00,0.000,4,0.136,0.048,2497,816,3262
$GC,10895,-0.91,-146.0,585.3,-6.0,605,10899,0.00,2.28,0.00,0.000,6,0.000,0.048,2489,2232,3262
$GC,11239,-0.96,-146.0,602.4,-4.8,614,11240,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2232,3262
$GC,11565,-1.01,-146.0,617.9,-4.6,622,11570,0.12,2.28,0.00,0.000,4,0.074,0.048,2431,819,3262
$STATE,11578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11578,begin apogee
$GC,11589,-0.31,0.0,619.0,5.2,622,11723,0.57,0.00,130.75,1.158,6,0.130,0.000,2606,1752,2651
$STATE,11724,end apogee,CONTROL_FINISHED_OK
$STATE,11724,begin climb
$GC,11728,0.99,146.0,620.6,0.0,625,11871,0.90,2.50,133.55,1.093,4,0.099,0.054,2897,3144,2053
$GC,11901,0.73,146.0,605.0,11.5,629,11906,0.28,2.38,0.00,0.000,6,0.129,0.041,2833,1748,2050
$GC,12227,0.73,146.0,580.1,7.4,637,12228,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1748,2047
$GC,12553,0.73,146.0,555.7,8.1,645,12554,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1748,2046
$GC,12877,0.75,163.0,534.1,6.5,653,12893,0.00,0.00,14.23,1.042,6,0.000,0.000,2833,1748,1985
$GC,13202,0.77,177.2,512.5,6.6,661,13221,0.00,2.33,13.75,1.035,4,0.000,0.057,2833,3142,1927
$GC,13235,0.79,198.4,510.3,6.3,661,13261,0.00,2.22,20.10,1.052,6,0.000,0.042,2841,1729,1840
$GC,13577,0.79,198.4,486.1,7.2,670,13581,0.00,2.30,0.00,0.000,4,0.000,0.056,2841,3154,1834
$GC,13606,0.79,198.4,483.7,8.5,670,13610,0.00,2.22,0.00,0.000,6,0.000,0.042,2851,1735,1833
$GC,13949,0.79,198.4,457.3,7.9,679,13953,0.00,2.30,0.00,0.000,4,0.000,0.056,2851,3158,1832
$GC,13974,0.73,198.4,455.2,8.8,679,13978,0.00,2.22,0.00,0.000,6,0.000,0.042,2861,1734,1831
$GC,14324,0.69,198.4,420.0,10.2,688,14326,0.12,0.00,0.00,0.000,6,0.127,0.000,2824,1734,1831
$GC,14649,0.83,230.6,398.7,6.0,696,14684,0.12,2.38,27.88,1.020,4,0.070,0.055,2884,3149,1709
$GC,14704,0.67,230.6,393.9,8.8,698,14709,0.25,2.22,0.00,0.000,6,0.121,0.041,2820,1736,1707
$GC,15023,0.84,242.2,373.5,6.6,713,15040,0.15,0.00,11.15,0.918,6,0.061,0.000,2894,1737,1661
$GC,15351,0.74,242.2,338.2,10.8,729,15353,0.20,0.00,0.00,0.000,6,0.119,0.000,2833,1737,1659
$GC,15660,0.84,242.2,316.1,7.4,744,15665,0.12,2.30,0.00,0.000,4,0.068,0.054,2895,3162,1657
$GC,15689,0.72,242.2,313.1,11.4,745,15694,0.25,2.22,0.00,0.000,6,0.126,0.041,2831,1735,1657
$GC,16008,0.84,242.2,288.5,7.8,760,16010,0.12,0.00,0.00,0.000,6,0.067,0.000,2897,1734,1657
$GC,16315,0.74,242.2,251.7,12.0,775,16317,0.20,0.00,0.00,0.000,6,0.117,0.000,2835,1734,1657
$GC,16627,0.88,242.2,227.5,7.3,790,16629,0.12,0.00,0.00,0.000,6,0.069,0.000,2897,1734,1657
$GC,16934,0.79,242.2,195.4,10.6,805,16936,0.17,0.00,0.00,0.000,6,0.117,0.000,2844,1734,1656
$GC,17245,0.91,243.1,171.9,7.0,820,17247,0.12,0.00,0.00,0.000,6,0.068,0.000,2907,1734,1657
$GC,17553,0.83,243.1,139.8,10.3,835,17555,0.17,0.00,0.00,0.000,6,0.119,0.000,2853,1734,1657
$GC,17864,1.02,258.0,119.1,6.5,850,17886,0.17,2.33,14.50,0.798,4,0.059,0.054,2939,3154,1598
$GC,17905,0.81,258.0,114.2,12.2,851,17912,0.32,2.22,0.00,0.000,6,0.127,0.040,2851,1733,1598
$GC,18237,1.46,258.0,83.6,9.9,888,18243,0.43,2.28,0.00,0.000,4,0.094,0.053,3000,323,1596
$GC,18286,1.46,258.0,78.2,11.3,896,18292,0.00,2.22,0.00,0.000,6,0.000,0.042,3000,1742,1596
$GC,18633,1.16,258.0,30.1,11.4,957,18640,0.22,2.25,0.00,0.000,4,0.144,0.054,2931,3151,1596
$GC,18700,1.01,258.0,23.0,10.6,968,18707,0.15,2.22,0.00,0.000,6,0.130,0.043,2896,1738,1596
$FREEZE,6.93,-0.988,-1.814
$FREEZE,6.29,-0.984,-1.813
$FREEZE,5.93,-0.991,-1.813
$FREEZE,5.29,-0.992,-1.812
$FREEZE,4.80,-0.991,-1.812
$FREEZE,4.29,-0.986,-1.812
$FREEZE,3.87,-0.996,-1.811
$FREEZE,3.44,-1.001,-1.811
$FREEZE,3.17,-0.993,-1.811
$FREEZE,2.75,-0.998,-1.810
$STATE,18937,end climb,SURFACE_DEPTH_REACHED
$STATE,18937,begin surface coast
$FREEZE,2.36,-1.015,-1.810
$FREEZE,2.04,-1.030,-1.810
$FREEZE,1.69,-1.034,-1.809
$FREEZE,1.76,-1.049,-1.809
$FREEZE,1.55,-1.005,-1.809
$FREEZE,1.58,-1.004,-1.808
$FREEZE,1.65,-1.017,-1.808
$FINISH,1.6,1.026517
$STATE,18980,end surface coast,CONTROL_FINISHED_OK
$STATE,18980,begin surface
$SM_CCo,19062,0.00,0.000,0,0,1593,259.28
$SM_GC,2.02,7.03,0.00,0.00,0.056,0.000,0.000,327,2245,1593,-10.70,0.42,259.28
$RAFOS_CLK,753
$RAFOS,4,1232196270,12.750000,12.741667,66,62,59,59,59,53,206,186,163,174,219,114
$RAFOS,3,1232195646,12.583333,12.568334,62,59,57,54,52,51,202,220,188,122,169,229
$RAFOS,2,1232195061,12.416667,12.405833,60,60,57,56,55,53,158,216,174,192,147,126
$RAFOS,1,1232194469,12.250000,12.241389,64,60,55,52,51,51,211,152,233,165,223,187
$RAFOS,0,1232193860,12.083333,12.072222,67,63,57,52,50,50,189,206,162,135,148,125
$RAFOS_FIX,6613.218750,-5733.207031,160109,202056,2,73,0.51
$IRIDIUM_FIX,6543.17,-5719.08,130498,040408
$TT8_MAMPS,0.026078
$HUMID,1786
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,16.00
$XPDR_PINGS,283
$24V_AH,21.9,104.262
$10V_AH,10.4,46.422
$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,27.025,118.350,365.900,0.000,0.000,29.746,31.167,541.747,70.750,0.000,0.000,28.454,1939.609,14263.591,480.023,2045.423,1193.621,0.000,1559.800,0.000,2009.527,1800.000,0.532,0.000
$DEVICE_MAMPS,241.605,69.797,1158.170,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,707.843,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34701,1017
$CAP_FILE_SIZE,158622,0
$CFSIZE,260165632,209485824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.3
$GPS,170109,093936,6609.775,-5721.521,11,1.3,27,-36.5