version: 66.04
glider: 108
mission: 11
dive: 691
start: 1 18 109 8 16 10
data:
$ID,108
$MISSION,11
$DIVE,691
$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,-134477.44
$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,45
$R_STBD_OVSHOOT,36
$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
$GPS1,025356,6609.064,-5716.587,41,2.5,60,-36.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-66.1
$GPS2,025356,6609.064,-5716.587,41,2.5,60,-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,48.2,102000,-13.0,-7.021
$D_GRID,641
$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,-146.0,0.0,0.0,0,81,0.00,0.00,-61.50,0.000,2,0.000,0.000,327,2202,2968
$GC,86,-0.99,-146.0,3.1,-1.4,11,111,8.75,2.22,-8.18,0.000,4,0.238,0.062,2469,831,3249
$GC,262,-0.77,-146.0,22.6,-11.2,41,269,0.17,2.22,0.00,0.000,6,0.127,0.051,2511,2230,3252
$GC,608,-0.77,-146.0,48.4,-7.8,102,614,0.00,2.17,0.00,0.000,4,0.000,0.063,2503,3594,3251
$GC,690,-0.77,-146.0,54.8,-8.4,116,696,0.00,2.12,0.00,0.000,6,0.000,0.041,2503,2221,3251
$GC,1038,-0.77,-146.0,80.6,-6.7,177,1044,0.00,2.20,0.00,0.000,4,0.000,0.053,2503,830,3250
$GC,1148,-0.73,-146.0,88.5,-6.9,196,1155,0.12,2.28,0.00,0.000,6,0.126,0.054,2528,2238,3250
$GC,1492,-0.82,-146.0,107.0,-5.3,240,1493,0.10,0.00,0.00,0.000,6,0.079,0.000,2481,2238,3249
$GC,1800,-0.82,-146.0,129.2,-7.2,255,1805,0.10,2.30,0.00,0.000,4,0.144,0.054,2507,822,3248
$GC,1920,-0.82,-146.0,136.1,-6.1,260,1924,0.00,2.30,0.00,0.000,6,0.000,0.054,2499,2243,3248
$GC,2242,-0.82,-146.0,157.0,-6.5,276,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2243,3247
$GC,2552,-0.87,-146.0,172.9,-4.4,291,2556,0.00,2.28,0.00,0.000,4,0.000,0.054,2499,827,3246
$GC,2768,-0.87,-146.0,183.5,-5.6,300,2772,0.00,2.28,0.00,0.000,6,0.000,0.054,2489,2235,3246
$GC,3090,-0.87,-146.0,204.0,-7.0,316,3094,0.00,2.25,0.00,0.000,4,0.000,0.052,2489,828,3246
$GC,3215,-0.87,-146.0,213.6,-7.8,321,3219,0.00,2.28,0.00,0.000,6,0.000,0.052,2480,2245,3246
$GC,3538,-0.87,-146.0,236.4,-6.6,337,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2245,3246
$GC,3848,-0.87,-146.0,256.8,-6.7,352,3850,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2245,3246
$GC,4157,-0.87,-146.0,278.2,-6.8,367,4158,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2245,3247
$GC,4466,-0.87,-146.0,297.2,-5.7,382,4470,0.00,2.25,0.00,0.000,4,0.000,0.051,2480,824,3248
$GC,4597,-0.87,-146.0,305.4,-6.3,387,4604,0.00,2.25,0.00,0.000,6,0.000,0.049,2470,2244,3248
$GC,4915,-0.87,-146.0,324.6,-5.9,403,4918,0.00,2.25,0.00,0.000,4,0.000,0.050,2470,827,3249
$GC,5007,-0.78,-146.0,330.7,-6.7,407,5012,0.17,2.22,0.00,0.000,6,0.120,0.049,2511,2238,3249
$GC,5342,-0.93,-146.0,348.2,-5.3,423,5344,0.12,0.00,0.00,0.000,6,0.073,0.000,2452,2238,3250
$GC,5650,-0.85,-146.0,367.9,-6.1,438,5652,0.17,0.00,0.00,0.000,6,0.132,0.000,2502,2238,3251
$GC,5961,-0.97,-146.0,381.0,-3.9,453,5965,0.12,2.25,0.00,0.000,4,0.075,0.048,2443,827,3251
$GC,6075,-0.81,-146.0,387.6,-6.2,458,6080,0.25,2.28,0.00,0.000,6,0.123,0.048,2507,2239,3251
$GC,6405,-0.95,-146.0,400.5,-4.0,474,6406,0.12,0.00,0.00,0.000,6,0.073,0.000,2449,2239,3251
$GC,6729,-0.87,-146.0,419.7,-6.1,482,6733,0.15,2.28,0.00,0.000,4,0.136,0.048,2494,819,3252
$GC,6814,-0.87,-146.0,424.0,-5.1,483,6820,0.00,2.28,0.00,0.000,6,0.000,0.048,2487,2234,3251
$GC,7148,-0.92,-146.0,440.6,-5.1,492,7149,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2234,3252
$GC,7472,-0.98,-146.0,456.5,-4.8,500,7476,0.00,2.25,0.00,0.000,4,0.000,0.048,2487,820,3252
$GC,7586,-0.98,-146.0,462.5,-6.1,502,7589,0.00,2.28,0.00,0.000,6,0.000,0.048,2477,2237,3252
$GC,7936,-0.98,-146.0,481.0,-5.3,511,7937,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2237,3253
$GC,8260,-0.98,-146.0,496.8,-4.7,519,8264,0.00,2.25,0.00,0.000,4,0.000,0.048,2477,828,3253
$GC,8425,-0.98,-146.0,505.1,-5.0,522,8429,0.00,2.28,0.00,0.000,6,0.000,0.048,2467,2242,3253
$GC,8770,-0.98,-146.0,521.9,-4.9,531,8771,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2242,3253
$GC,9095,-0.98,-146.0,538.9,-5.2,539,9098,0.00,2.28,0.00,0.000,4,0.000,0.048,2467,824,3253
$GC,9197,-0.92,-146.0,544.9,-6.2,541,9202,0.10,2.25,0.00,0.000,6,0.130,0.048,2484,2245,3253
$GC,9518,-1.00,-146.0,560.2,-4.6,549,9522,0.00,2.28,0.00,0.000,4,0.000,0.048,2484,820,3253
$GC,9621,-1.00,-146.0,565.7,-6.0,551,9625,0.00,2.28,0.00,0.000,6,0.000,0.047,2476,2231,3254
$GC,9942,-1.00,-146.0,582.9,-5.7,559,9943,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2231,3254
$GC,10266,-1.00,-146.0,602.4,-6.0,567,10270,0.00,2.25,0.00,0.000,4,0.000,0.048,2476,830,3254
$GC,10347,-1.00,-146.0,607.3,-6.5,568,10350,0.00,2.28,0.00,0.000,6,0.000,0.048,2466,2236,3254
$GC,10686,-1.00,-146.0,627.4,-5.7,577,10687,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2235,3254
$STATE,10965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10965,begin apogee
$GC,10975,-0.31,0.0,643.1,5.4,584,11114,0.47,0.00,130.95,1.164,6,0.113,0.000,2619,1736,2650
$STATE,11114,end apogee,CONTROL_FINISHED_OK
$STATE,11115,begin climb
$GC,11119,0.99,146.0,644.4,0.0,587,11258,0.82,2.58,132.05,1.111,4,0.081,0.054,2897,3152,2053
$GC,11315,0.68,146.0,624.2,12.6,591,11320,0.30,2.38,0.00,0.000,6,0.127,0.041,2824,1735,2048
$GC,11659,0.75,146.0,598.4,7.1,600,11663,0.00,2.30,0.00,0.000,4,0.000,0.055,2824,3146,2046
$GC,11682,0.75,146.0,596.3,7.8,600,11686,0.00,2.22,0.00,0.000,6,0.000,0.041,2832,1723,2045
$GC,12032,0.76,150.7,572.1,6.9,609,12042,0.00,2.33,3.83,0.681,4,0.000,0.055,2832,3140,2035
$GC,12066,0.76,150.7,569.3,7.9,609,12070,0.00,2.20,0.00,0.000,6,0.000,0.041,2842,1725,2035
$GC,12404,0.76,150.7,543.4,7.7,618,12408,0.00,2.30,0.00,0.000,4,0.000,0.055,2842,3147,2035
$GC,12430,0.71,150.7,541.2,8.5,618,12433,0.00,2.20,0.00,0.000,6,0.000,0.041,2852,1731,2035
$GC,12780,0.66,150.7,510.5,8.7,627,12784,0.12,2.28,0.00,0.000,4,0.129,0.054,2816,3148,2033
$GC,12826,0.66,150.7,506.7,7.8,628,12830,0.00,2.20,0.00,0.000,6,0.000,0.042,2823,1735,2032
$GC,13158,0.71,150.7,483.3,7.2,636,13162,0.00,2.33,0.00,0.000,4,0.000,0.055,2823,3156,2032
$GC,13193,0.71,150.7,480.5,7.8,636,13197,0.00,2.22,0.00,0.000,6,0.000,0.041,2833,1730,2031
$GC,13531,0.71,150.7,454.7,7.4,645,13535,0.00,2.30,0.00,0.000,4,0.000,0.055,2833,3148,2032
$GC,13566,0.64,150.7,451.8,8.7,645,13570,0.10,2.20,0.00,0.000,6,0.135,0.041,2816,1736,2031
$GC,13905,0.74,151.8,428.5,7.0,654,13909,0.10,2.28,0.00,0.000,4,0.077,0.055,2870,3154,2032
$GC,13928,0.65,151.8,426.3,8.9,654,13933,0.22,2.22,0.00,0.000,6,0.128,0.041,2814,1725,2031
$GC,14273,0.75,153.7,401.8,7.0,663,14279,0.10,0.00,3.60,0.613,6,0.072,0.000,2873,1725,2023
$GC,14580,0.63,153.7,371.1,9.8,677,14585,0.20,2.33,0.00,0.000,4,0.119,0.054,2807,3151,2023
$GC,14603,0.63,153.7,368.9,8.8,678,14607,0.00,2.20,0.00,0.000,6,0.000,0.040,2813,1736,2023
$GC,14933,0.75,158.3,346.4,6.9,694,14944,0.10,2.30,6.05,0.798,4,0.077,0.054,2870,3148,2003
$GC,14968,0.57,158.3,342.9,10.8,695,14975,0.28,2.20,0.00,0.000,6,0.124,0.040,2798,1734,2003
$GC,15287,0.84,210.9,324.2,5.3,711,15338,0.20,2.35,45.80,0.969,4,0.054,0.054,2903,3149,1790
$GC,15357,0.62,210.9,316.9,11.9,714,15362,0.35,2.25,0.00,0.000,6,0.125,0.040,2808,1726,1787
$GC,15680,0.92,264.9,298.1,5.3,730,15730,0.22,0.00,47.53,0.933,6,0.053,0.000,2919,1726,1570
$GC,16029,0.75,264.9,256.9,12.4,747,16033,0.22,2.22,0.00,0.000,4,0.122,0.052,2854,333,1562
$GC,16047,0.68,264.9,254.9,11.8,748,16052,0.12,2.22,0.00,0.000,6,0.104,0.041,2816,1744,1562
$GC,16383,1.41,264.9,227.9,11.0,764,16388,0.50,2.25,0.00,0.000,4,0.094,0.054,2982,3162,1558
$GC,16418,1.30,264.9,223.1,12.5,765,16425,0.12,2.22,0.00,0.000,6,0.165,0.040,2959,1727,1558
$GC,16736,1.05,264.9,174.3,14.3,781,16738,0.17,0.00,0.00,0.000,6,0.133,0.000,2906,1727,1558
$GC,17045,0.99,264.9,142.9,9.5,796,17046,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1726,1558
$GC,17354,0.99,264.9,113.1,9.4,811,17357,0.00,2.33,0.00,0.000,4,0.000,0.054,2906,3160,1558
$GC,17379,0.99,264.9,110.7,9.7,812,17383,0.00,2.22,0.00,0.000,6,0.000,0.041,2914,1729,1558
$GC,17717,0.99,264.9,77.7,9.1,858,17722,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,1729,1558
$GC,18063,0.99,264.9,45.0,10.1,919,18069,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,1729,1558
$GC,18409,0.99,264.9,16.9,7.1,980,18416,0.00,2.33,0.00,0.000,4,0.000,0.058,2914,3151,1557
$GC,18435,0.99,264.9,15.1,7.0,984,18442,0.12,2.22,0.00,0.000,6,0.132,0.044,2888,1737,1557
$FREEZE,6.79,-0.423,-1.821
$FREEZE,6.54,-0.434,-1.821
$FREEZE,6.31,-0.408,-1.821
$FREEZE,5.81,-0.418,-1.821
$FREEZE,5.24,-0.415,-1.820
$FREEZE,4.57,-0.463,-1.821
$FREEZE,3.96,-0.485,-1.818
$FREEZE,3.77,-0.520,-1.818
$FREEZE,3.17,-0.503,-1.818
$FREEZE,2.67,-0.517,-1.817
$STATE,18583,end climb,SURFACE_DEPTH_REACHED
$STATE,18583,begin surface coast
$FREEZE,2.25,-0.513,-1.817
$FREEZE,1.82,-0.527,-1.815
$FREEZE,1.55,-0.548,-1.816
$FREEZE,1.67,-0.545,-1.816
$FREEZE,1.67,-0.582,-1.819
$FREEZE,1.65,-0.599,-1.820
$FREEZE,1.70,-0.607,-1.820
$FINISH,1.7,1.026673
$STATE,18623,end surface coast,CONTROL_FINISHED_OK
$STATE,18624,begin surface
$SM_CCo,18712,0.00,0.000,0,0,1555,268.36
$SM_GC,2.17,7.38,0.00,0.00,0.080,0.000,0.000,333,2241,1555,-10.69,0.31,268.36
$RAFOS_CLK,757
$RAFOS,4,1232282658,12.750000,12.738334,70,55,55,54,53,48,213,170,127,155,188,138
$RAFOS,3,1232282059,12.583333,12.571944,68,58,58,58,54,48,202,190,178,218,137,161
$RAFOS,2,1232281456,12.416667,12.404445,66,59,58,56,52,50,184,199,216,152,225,129
$RAFOS,1,1232280878,12.250000,12.243889,65,62,58,56,52,50,205,215,119,184,168,142
$RAFOS,0,1232280266,12.083333,12.073889,68,59,57,55,54,51,142,218,179,197,161,151
$RAFOS,4,1232268242,8.750000,8.733889,65,64,62,60,54,53,197,222,207,142,111,186
$RAFOS,3,1232267646,8.583333,8.568334,61,60,57,56,55,51,207,196,121,175,217,235
$RAFOS,2,1232267045,8.416667,8.401389,62,57,55,54,54,52,185,161,214,121,227,137
$RAFOS_FIX,6613.218750,-5733.207031,160109,202056,2,73,0.51
$IRIDIUM_FIX,6543.17,-5719.08,140498,020232
$TT8_MAMPS,0.026845
$HUMID,1836
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,15.90
$XPDR_PINGS,292
$24V_AH,21.9,104.888
$10V_AH,10.4,46.744
$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,22.725,137.350,369.800,0.000,0.000,0.000,0.000,0.000,73.000,0.000,0.000,0.000,1906.453,13947.106,492.208,2018.789,409.143,0.000,1568.232,0.000,2000.436,2880.000,0.533,0.000
$DEVICE_MAMPS,237.770,62.894,1164.306,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,707.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34730,1017
$CAP_FILE_SIZE,138592,0
$CFSIZE,260165632,209264640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1462.6
$GPS,180109,025356,6609.064,-5716.587,41,2.5,60,-36.5