version: 66.04
glider: 108
mission: 11
dive: 689
start: 1 17 109 21 6 14
data:
$ID,108
$MISSION,11
$DIVE,689
$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,-134229.34
$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,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
$GPS1,204016,6610.731,-5716.824,37,0.9,47,-36.5
$_CALLS,3
$_XMS_NAKs,35
$_XMS_TOUTs,1
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-56.2
$GPS2,210556,6610.369,-5717.293,34,1.5,34,-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,48.7,99741,-13.0,-7.021
$D_GRID,639
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-0.99,-146.0,0.0,0.0,0,112,0.00,0.00,-88.95,0.000,2,0.000,0.000,329,2250,3117
$GC,118,-0.99,-146.0,3.3,-1.7,16,137,8.85,2.33,-3.85,0.000,4,0.241,0.069,2471,813,3249
$GC,309,-0.66,-146.0,32.0,-9.9,49,316,0.25,2.30,0.00,0.000,6,0.142,0.057,2534,2228,3252
$GC,657,-0.66,-146.0,60.7,-7.3,110,663,0.00,2.22,0.00,0.000,4,0.000,0.067,2525,3607,3253
$GC,767,-0.66,-146.0,69.4,-7.9,129,773,0.00,2.17,0.00,0.000,6,0.000,0.044,2526,2208,3252
$GC,1115,-0.75,-146.0,91.1,-5.0,190,1121,0.00,2.20,0.00,0.000,4,0.000,0.058,2526,816,3252
$GC,1295,-0.75,-146.0,100.6,-5.7,220,1301,0.00,2.30,0.00,0.000,6,0.000,0.057,2516,2235,3251
$GC,1612,-0.81,-146.0,116.9,-5.2,236,1616,0.00,2.28,0.00,0.000,4,0.000,0.056,2516,819,3251
$GC,1732,-0.81,-146.0,124.3,-6.4,241,1736,0.00,2.30,0.00,0.000,6,0.000,0.057,2506,2245,3251
$GC,2061,-0.86,-146.0,144.3,-6.0,257,2065,0.00,2.30,0.00,0.000,4,0.000,0.057,2506,816,3251
$GC,2141,-0.86,-146.0,149.5,-6.1,260,2145,0.00,2.30,0.00,0.000,6,0.000,0.056,2496,2238,3251
$GC,2464,-0.86,-146.0,167.8,-5.8,276,2465,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2238,3250
$GC,2773,-0.86,-146.0,188.1,-6.6,291,2776,0.00,2.28,0.00,0.000,4,0.000,0.055,2496,820,3251
$GC,2943,-0.86,-146.0,199.1,-6.6,298,2947,0.00,2.30,0.00,0.000,6,0.000,0.054,2486,2246,3251
$GC,3260,-0.86,-146.0,216.1,-5.0,313,3264,0.00,2.15,0.00,0.000,4,0.000,0.067,2476,3597,3251
$GC,3385,-0.86,-146.0,223.2,-5.7,318,3389,0.00,2.12,0.00,0.000,6,0.000,0.043,2476,2220,3251
$GC,3709,-0.86,-146.0,238.8,-4.7,334,3713,0.00,2.17,0.00,0.000,4,0.000,0.053,2476,827,3252
$GC,3825,-0.81,-146.0,244.3,-5.1,339,3830,0.15,2.28,0.00,0.000,6,0.124,0.053,2508,2246,3253
$GC,4156,-0.93,-146.0,256.3,-3.8,355,4158,0.12,0.00,0.00,0.000,6,0.074,0.000,2451,2246,3254
$GC,4463,-0.84,-146.0,274.6,-6.5,370,4465,0.17,0.00,0.00,0.000,6,0.134,0.000,2501,2246,3255
$GC,4772,-0.95,-146.0,291.3,-5.6,385,4777,0.10,2.28,0.00,0.000,4,0.085,0.051,2453,817,3256
$GC,4998,-0.81,-146.0,308.0,-7.4,395,5003,0.22,2.28,0.00,0.000,6,0.123,0.051,2509,2245,3256
$GC,5322,-0.95,-146.0,324.8,-4.9,411,5324,0.12,0.00,0.00,0.000,6,0.074,0.000,2450,2245,3257
$GC,5630,-0.87,-146.0,344.2,-6.1,426,5635,0.15,2.28,0.00,0.000,4,0.134,0.050,2497,822,3258
$GC,5792,-0.87,-146.0,352.3,-4.8,433,5796,0.00,2.25,0.00,0.000,6,0.000,0.049,2489,2238,3258
$GC,6121,-0.93,-146.0,367.8,-4.8,449,6125,0.00,2.25,0.00,0.000,4,0.000,0.050,2489,816,3259
$GC,6229,-0.93,-146.0,373.5,-5.0,453,6236,0.00,2.28,0.00,0.000,6,0.000,0.049,2479,2245,3259
$GC,6548,-0.93,-146.0,390.4,-5.3,469,6549,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2244,3259
$GC,6854,-0.93,-146.0,406.0,-4.9,481,6858,0.00,2.28,0.00,0.000,4,0.000,0.050,2479,813,3260
$GC,6979,-0.93,-146.0,412.8,-5.5,483,6983,0.00,2.28,0.00,0.000,6,0.000,0.048,2469,2243,3260
$GC,7318,-0.93,-146.0,430.7,-5.2,492,7319,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2243,3260
$GC,7642,-0.93,-146.0,447.9,-5.3,500,7646,0.00,2.25,0.00,0.000,4,0.000,0.050,2469,817,3261
$GC,7745,-0.88,-146.0,453.6,-5.5,502,7750,0.12,2.25,0.00,0.000,6,0.127,0.048,2494,2234,3261
$GC,8061,-0.97,-146.0,466.8,-4.1,510,8063,0.10,0.00,0.00,0.000,6,0.079,0.000,2445,2233,3261
$GC,8385,-0.88,-146.0,484.3,-5.5,518,8390,0.15,2.25,0.00,0.000,4,0.135,0.048,2488,819,3261
$GC,8465,-0.88,-146.0,488.5,-5.3,519,8471,0.00,2.25,0.00,0.000,6,0.000,0.048,2480,2238,3261
$GC,8798,-0.88,-146.0,505.1,-5.1,528,8799,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2238,3261
$GC,9123,-0.88,-146.0,521.2,-4.9,536,9127,0.00,2.25,0.00,0.000,4,0.000,0.048,2480,815,3262
$GC,9237,-0.88,-146.0,527.2,-5.1,538,9241,0.00,2.25,0.00,0.000,6,0.000,0.048,2470,2237,3261
$GC,9587,-0.88,-146.0,544.4,-5.0,547,9591,0.00,2.22,0.00,0.000,4,0.000,0.048,2470,825,3262
$GC,9667,-0.88,-146.0,548.7,-5.5,548,9671,0.12,2.25,0.00,0.000,6,0.124,0.048,2495,2240,3262
$GC,10001,-0.99,-146.0,563.3,-4.5,556,10003,0.12,0.00,0.00,0.000,6,0.074,0.000,2437,2241,3262
$GC,10325,-0.88,-146.0,582.0,-5.7,564,10330,0.17,2.25,0.00,0.000,4,0.137,0.048,2487,823,3263
$GC,10427,-0.88,-146.0,587.1,-5.5,566,10431,0.00,2.25,0.00,0.000,6,0.000,0.048,2480,2236,3262
$GC,10748,-0.93,-146.0,602.5,-4.7,574,10749,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2236,3262
$GC,11073,-0.97,-146.0,618.4,-5.0,582,11077,0.00,2.22,0.00,0.000,4,0.000,0.048,2480,823,3263
$GC,11170,-0.97,-146.0,623.3,-6.0,584,11174,0.00,2.25,0.00,0.000,6,0.000,0.048,2470,2235,3263
$STATE,11492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11492,begin apogee
$GC,11502,-0.31,0.0,639.3,5.6,592,11643,0.45,0.00,133.07,1.155,6,0.108,0.000,2616,1731,2650
$STATE,11644,end apogee,CONTROL_FINISHED_OK
$STATE,11644,begin climb
$GC,11649,0.99,146.0,643.0,0.0,595,11793,0.82,2.50,132.10,1.104,4,0.076,0.054,2908,333,2053
$GC,11850,0.82,146.0,623.3,9.9,600,11855,0.20,2.38,0.00,0.000,6,0.128,0.041,2854,1742,2051
$GC,12195,0.82,146.0,596.4,7.5,609,12198,0.00,2.25,0.00,0.000,4,0.000,0.056,2855,3159,2046
$GC,12247,0.67,146.0,592.1,8.3,610,12252,0.15,2.22,0.00,0.000,6,0.127,0.041,2819,1724,2046
$GC,12568,0.79,180.2,573.1,5.9,618,12603,0.12,2.35,29.23,1.096,4,0.068,0.054,2882,3155,1915
$GC,12612,0.60,180.2,569.4,9.2,619,12617,0.28,2.22,0.00,0.000,6,0.123,0.041,2811,1730,1913
$GC,12939,0.80,233.3,550.8,5.3,627,12989,0.15,0.00,47.08,1.101,6,0.061,0.000,2885,1730,1698
$GC,13306,0.71,233.3,515.0,10.1,636,13310,0.17,2.30,0.00,0.000,4,0.116,0.054,2832,3153,1690
$GC,13346,0.71,233.3,511.3,8.3,636,13352,0.00,2.20,0.00,0.000,6,0.000,0.041,2840,1735,1687
$GC,13679,0.71,233.3,486.1,7.6,645,13680,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1735,1687
$GC,14004,0.76,233.3,461.0,7.7,653,14008,0.00,2.30,0.00,0.000,4,0.000,0.054,2840,3160,1686
$GC,14039,0.76,233.3,457.9,8.4,653,14043,0.00,2.22,0.00,0.000,6,0.000,0.041,2849,1724,1685
$GC,14377,0.76,233.3,429.3,8.4,662,14378,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1724,1685
$GC,14702,0.76,233.3,401.9,8.4,670,14703,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1724,1685
$GC,15011,0.76,233.3,375.4,8.9,684,15015,0.00,2.30,0.00,0.000,4,0.000,0.054,2849,3155,1685
$GC,15036,0.76,233.3,373.1,9.0,685,15040,0.00,2.20,0.00,0.000,6,0.000,0.040,2858,1730,1684
$GC,15370,0.76,233.3,341.1,9.8,701,15374,0.00,2.22,0.00,0.000,4,0.000,0.053,2869,327,1684
$GC,15399,0.76,233.3,338.1,9.5,702,15404,0.10,2.25,0.00,0.000,6,0.116,0.042,2840,1756,1684
$GC,15728,0.84,233.3,311.2,8.0,718,15732,0.00,2.22,0.00,0.000,4,0.000,0.054,2840,3159,1684
$GC,15799,0.84,233.3,305.3,8.3,721,15802,0.00,2.20,0.00,0.000,6,0.000,0.040,2847,1735,1684
$GC,16134,0.88,233.3,278.8,7.6,737,16139,0.08,2.22,0.00,0.000,4,0.090,0.052,2905,335,1684
$GC,16165,0.83,233.3,275.9,9.8,738,16169,0.17,2.20,0.00,0.000,6,0.121,0.041,2854,1742,1685
$GC,16492,0.83,233.3,249.6,7.9,754,16496,0.00,2.22,0.00,0.000,4,0.000,0.054,2854,3152,1685
$GC,16550,0.78,233.3,244.2,9.1,756,16554,0.00,2.20,0.00,0.000,6,0.000,0.040,2860,1726,1683
$GC,16873,0.78,233.3,214.0,9.3,772,16877,0.00,2.22,0.00,0.000,4,0.000,0.053,2871,337,1684
$GC,16902,0.83,233.3,211.2,8.0,773,16906,0.00,2.22,0.00,0.000,6,0.000,0.041,2871,1740,1684
$GC,17230,0.83,233.3,182.3,8.2,789,17234,0.00,2.25,0.00,0.000,4,0.000,0.054,2871,3152,1684
$GC,17289,0.72,233.3,176.5,10.8,791,17293,0.17,2.20,0.00,0.000,6,0.120,0.040,2828,1738,1684
$GC,17612,0.98,262.1,156.8,6.1,807,17642,0.20,2.33,23.95,0.844,4,0.054,0.053,2946,338,1581
$GC,17657,0.80,262.1,152.3,11.3,809,17662,0.32,2.22,0.00,0.000,6,0.118,0.041,2846,1755,1581
$GC,17986,1.11,337.0,133.3,4.6,825,18058,0.20,2.28,66.30,0.831,4,0.057,0.054,2953,3152,1276
$GC,18109,0.94,337.0,120.0,13.2,830,18114,0.28,2.22,0.00,0.000,6,0.120,0.041,2881,1732,1271
$GC,18432,1.21,392.3,101.0,5.2,846,18489,0.20,2.33,47.10,0.803,4,0.053,0.054,2993,338,1050
$GC,18521,1.07,392.3,90.8,13.3,858,18528,0.28,2.25,0.00,0.000,6,0.119,0.042,2910,1736,1047
$GC,18870,1.16,392.3,62.1,8.7,919,18877,0.08,2.28,0.00,0.000,4,0.084,0.057,2959,3161,1041
$GC,18925,1.00,392.3,55.0,14.3,928,18932,0.25,2.22,0.00,0.000,6,0.122,0.043,2893,1740,1039
$GC,19274,1.29,432.6,31.6,5.7,989,19315,0.20,2.33,33.30,0.798,4,0.055,0.056,3007,340,885
$GC,19346,1.17,432.6,22.4,14.5,1001,19354,0.25,2.25,0.00,0.000,6,0.120,0.044,2931,1746,884
$FREEZE,6.79,-0.841,-1.817
$FREEZE,6.43,-0.844,-1.816
$FREEZE,5.94,-0.835,-1.816
$FREEZE,5.44,-0.837,-1.816
$FREEZE,4.91,-0.839,-1.815
$FREEZE,4.40,-0.826,-1.815
$FREEZE,3.84,-0.829,-1.814
$FREEZE,3.36,-0.824,-1.814
$FREEZE,2.53,-0.829,-1.813
$STATE,19557,end climb,SURFACE_DEPTH_REACHED
$STATE,19557,begin surface coast
$FREEZE,2.12,-0.824,-1.813
$FREEZE,1.69,-0.877,-1.758
$FREEZE,1.62,-0.747,-1.743
$FREEZE,1.58,-0.837,-1.751
$FREEZE,1.62,-0.717,-1.745
$FREEZE,1.64,-0.722,-1.747
$FINISH,1.6,1.025640
$STATE,19595,end surface coast,CONTROL_FINISHED_OK
$STATE,19595,begin surface
$SM_CCo,19678,0.00,0.000,0,0,876,434.92
$SM_GC,2.57,6.97,0.00,0.00,0.048,0.000,0.000,333,2253,876,-10.67,0.65,434.92
$RAFOS_CLK,784
$RAFOS,4,1232239472,0.750000,0.742222,60,53,53,52,51,51,196,135,212,176,93,122
$RAFOS,3,1232238855,0.583333,0.570833,64,62,59,58,57,51,148,214,190,225,161,136
$RAFOS,2,1232238280,0.416667,0.411111,67,56,54,52,51,50,179,204,162,227,132,213
$RAFOS,1,1232237662,0.250000,0.239444,61,60,59,58,54,53,157,147,171,227,125,182
$RAFOS,0,1232237075,0.083333,0.076389,59,55,55,53,51,51,199,162,210,174,142,220
$RAFOS,3,1232224445,20.583334,20.568056,63,60,58,55,54,50,164,117,220,199,177,146
$RAFOS_FIX,6613.218750,-5733.207031,160109,202056,2,73,0.51
$IRIDIUM_FIX,6543.17,-5719.08,130498,212148
$TT8_MAMPS,0.026078
$HUMID,1797
$INTERNAL_PRESSURE,9.86366
$TCM_TEMP,15.80
$XPDR_PINGS,224
$24V_AH,21.9,104.607
$10V_AH,10.4,46.595
$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,23.050,159.425,512.125,0.000,0.000,86.886,151.189,645.039,56.000,0.000,0.000,35.776,1965.163,14636.606,617.085,2237.126,1748.962,0.000,1818.823,0.000,2174.590,1800.000,0.532,0.000
$DEVICE_MAMPS,240.838,69.030,1155.102,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,724.404,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34677,1044
$CAP_FILE_SIZE,167958,0
$CFSIZE,260165632,209330176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1463.3
$GPS,170109,210556,6610.369,-5717.293,34,1.5,34,-36.5