version: 66.04
glider: 108
mission: 11
dive: 699
start: 1 20 109 5 12 3
data:
$ID,108
$MISSION,11
$DIVE,699
$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,-135291.25
$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,38
$R_STBD_OVSHOOT,33
$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
$GPS1,045207,6616.895,-5715.257,33,1.3,33,-36.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-65.7
$GPS2,051144,6616.828,-5715.647,12,1.4,12,-36.7
$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,49.8,87811,-13.0,-7.021
$D_GRID,634
$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,-146.0,0.0,0.0,0,98,0.00,0.00,-78.97,0.000,2,0.000,0.000,335,2241,3075
$GC,104,-0.99,-146.0,3.1,-1.7,14,124,8.73,2.40,-5.18,0.000,4,0.239,0.068,2471,814,3248
$GC,254,-0.75,-146.0,20.1,-9.9,39,261,0.20,2.33,0.00,0.000,6,0.130,0.054,2520,2240,3251
$GC,603,-0.80,-146.0,44.9,-6.7,100,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2239,3251
$GC,951,-0.86,-146.0,65.3,-5.5,161,957,0.12,2.30,0.00,0.000,4,0.074,0.053,2464,823,3250
$GC,1050,-0.70,-146.0,74.0,-9.3,178,1057,0.25,2.30,0.00,0.000,6,0.127,0.054,2527,2234,3250
$GC,1399,-0.80,-146.0,94.2,-6.0,239,1405,0.00,2.30,0.00,0.000,4,0.000,0.054,2527,816,3250
$GC,1460,-0.85,-146.0,98.1,-6.5,249,1467,0.10,2.30,0.00,0.000,6,0.078,0.054,2471,2235,3250
$GC,1796,-0.77,-146.0,125.0,-7.9,268,1798,0.15,0.00,0.00,0.000,6,0.140,0.000,2513,2235,3250
$GC,2108,-0.83,-146.0,146.8,-6.6,283,2112,0.00,2.30,0.00,0.000,4,0.000,0.054,2513,820,3250
$GC,2149,-0.83,-146.0,149.7,-6.4,284,2155,0.00,2.30,0.00,0.000,6,0.000,0.054,2505,2235,3249
$GC,2467,-0.89,-146.0,167.8,-5.3,300,2471,0.00,2.20,0.00,0.000,4,0.000,0.067,2495,3600,3249
$GC,2605,-0.95,-146.0,175.1,-5.1,306,2609,0.00,2.15,0.00,0.000,6,0.000,0.043,2495,2223,3249
$GC,2939,-1.00,-146.0,190.5,-5.1,322,2943,0.12,2.25,0.00,0.000,4,0.075,0.054,2437,817,3249
$GC,3127,-0.80,-146.0,204.9,-7.3,330,3132,0.28,2.28,0.00,0.000,6,0.127,0.053,2508,2238,3248
$GC,3456,-0.91,-146.0,219.8,-4.5,346,3458,0.10,0.00,0.00,0.000,6,0.081,0.000,2460,2238,3249
$GC,3766,-0.87,-146.0,240.3,-7.2,361,3771,0.12,2.30,0.00,0.000,4,0.140,0.051,2497,820,3249
$GC,3868,-0.87,-146.0,246.9,-6.0,365,3874,0.00,2.28,0.00,0.000,6,0.000,0.051,2490,2243,3250
$GC,4187,-0.87,-146.0,266.1,-5.8,381,4190,0.00,2.30,0.00,0.000,4,0.000,0.051,2490,816,3251
$GC,4273,-0.87,-146.0,271.4,-5.6,384,4279,0.00,2.33,0.00,0.000,6,0.000,0.051,2480,2243,3251
$GC,4590,-0.87,-146.0,288.7,-5.5,400,4591,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2243,3253
$GC,4901,-0.87,-146.0,303.9,-4.3,415,4905,0.00,2.30,0.00,0.000,4,0.000,0.051,2480,817,3253
$GC,5020,-0.87,-146.0,309.3,-4.4,420,5024,0.00,2.33,0.00,0.000,6,0.000,0.050,2469,2242,3253
$GC,5349,-0.87,-146.0,324.1,-4.8,436,5350,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2242,3254
$GC,5659,-0.87,-146.0,338.8,-4.9,451,5663,0.00,2.30,0.00,0.000,4,0.000,0.050,2470,816,3255
$GC,5822,-0.80,-146.0,347.7,-5.7,458,5827,0.17,2.33,0.00,0.000,6,0.120,0.049,2510,2245,3255
$GC,6151,-0.95,-146.0,360.3,-3.5,474,6153,0.15,0.00,0.00,0.000,6,0.069,0.000,2443,2245,3256
$GC,6460,-0.86,-146.0,377.3,-5.7,489,6464,0.20,2.30,0.00,0.000,4,0.133,0.048,2510,826,3256
$GC,6563,-0.96,-146.0,381.8,-4.4,493,6568,0.12,2.28,0.00,0.000,6,0.068,0.049,2444,2238,3256
$GC,6886,-0.86,-146.0,399.9,-5.9,509,6890,0.17,2.20,0.00,0.000,4,0.132,0.059,2487,3597,3257
$GC,6960,-0.96,-146.0,404.0,-5.9,511,6964,0.00,2.12,0.00,0.000,6,0.000,0.038,2487,2214,3257
$GC,7306,-1.02,-146.0,421.5,-5.2,520,7310,0.10,2.17,0.00,0.000,4,0.081,0.047,2436,829,3257
$GC,7479,-0.85,-146.0,433.7,-7.8,523,7483,0.25,2.28,0.00,0.000,6,0.123,0.048,2500,2246,3258
$GC,7813,-0.97,-146.0,450.7,-4.9,531,7817,0.12,2.28,0.00,0.000,4,0.074,0.047,2442,828,3258
$GC,7905,-0.82,-146.0,456.8,-7.1,533,7909,0.25,2.28,0.00,0.000,6,0.123,0.048,2506,2238,3258
$GC,8231,-0.96,-146.0,471.1,-4.2,541,8236,0.12,2.25,0.00,0.000,4,0.072,0.047,2445,829,3259
$GC,8307,-0.81,-146.0,475.6,-6.5,542,8312,0.25,2.25,0.00,0.000,6,0.123,0.048,2509,2234,3258
$GC,8645,-0.97,-146.0,489.6,-4.1,551,8647,0.15,0.00,0.00,0.000,6,0.067,0.000,2440,2234,3259
$GC,8971,-0.86,-146.0,509.3,-6.1,559,8973,0.20,0.00,0.00,0.000,6,0.133,0.000,2498,2234,3259
$GC,9295,-0.98,-146.0,523.4,-4.1,567,9300,0.12,2.22,0.00,0.000,4,0.075,0.046,2440,828,3259
$GC,9430,-0.81,-146.0,531.5,-6.6,569,9437,0.25,2.25,0.00,0.000,6,0.121,0.047,2503,2233,3259
$GC,9763,-0.95,-146.0,546.6,-4.3,578,9765,0.12,0.00,0.00,0.000,6,0.074,0.000,2445,2233,3260
$GC,10088,-0.87,-146.0,564.9,-5.7,586,10093,0.17,2.28,0.00,0.000,4,0.133,0.048,2498,817,3260
$GC,10246,-0.94,-146.0,572.9,-4.8,589,10250,0.00,2.28,0.00,0.000,6,0.000,0.047,2491,2244,3260
$GC,10561,-1.03,-146.0,587.5,-4.5,597,10563,0.12,0.00,0.00,0.000,6,0.070,0.000,2430,2244,3260
$GC,10887,-0.90,-146.0,607.1,-6.1,605,10889,0.20,0.00,0.00,0.000,6,0.130,0.000,2489,2244,3260
$GC,11211,-0.99,-146.0,621.8,-4.5,613,11213,0.10,0.00,0.00,0.000,6,0.082,0.000,2441,2243,3260
$STATE,11449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11450,begin apogee
$GC,11460,-0.31,0.0,635.9,5.9,619,11600,0.55,0.00,131.93,1.140,6,0.120,0.000,2613,1738,2650
$STATE,11600,end apogee,CONTROL_FINISHED_OK
$STATE,11600,begin climb
$GC,11606,0.99,146.0,637.7,0.0,622,11744,0.85,2.53,130.93,1.091,4,0.088,0.052,2896,3157,2054
$GC,11777,0.69,146.0,621.9,11.6,626,11782,0.28,2.40,0.00,0.000,6,0.127,0.038,2831,1726,2050
$GC,12099,0.69,146.0,598.2,7.3,634,12103,0.00,2.30,0.00,0.000,4,0.000,0.052,2831,3161,2047
$GC,12127,0.69,146.0,595.8,8.2,634,12132,0.00,2.22,0.00,0.000,6,0.000,0.039,2839,1725,2047
$GC,12473,0.69,146.0,567.3,8.4,643,12477,0.00,2.28,0.00,0.000,4,0.000,0.053,2840,3154,2046
$GC,12537,0.55,146.0,561.1,9.8,644,12541,0.20,2.20,0.00,0.000,6,0.122,0.040,2791,1735,2045
$GC,12851,0.78,171.3,541.0,6.2,652,12875,0.20,0.00,21.40,1.058,6,0.053,0.000,2890,1734,1951
$GC,13176,0.61,171.3,503.7,11.8,660,13181,0.25,2.28,0.00,0.000,4,0.120,0.053,2810,3147,1948
$GC,13205,0.61,171.3,500.6,9.3,660,13209,0.00,2.20,0.00,0.000,6,0.000,0.040,2816,1726,1947
$GC,13544,0.70,171.3,474.4,7.9,669,13548,0.00,2.28,0.00,0.000,4,0.000,0.052,2816,3152,1947
$GC,13584,0.70,171.3,470.8,9.3,669,13590,0.00,2.20,0.00,0.000,6,0.000,0.039,2825,1728,1947
$GC,13918,0.75,171.3,442.3,8.7,678,13922,0.00,2.28,0.00,0.000,4,0.000,0.051,2825,3162,1947
$GC,13958,0.75,171.3,438.5,9.5,678,13964,0.00,2.20,0.00,0.000,6,0.000,0.040,2835,1736,1946
$GC,14290,0.75,171.3,408.6,8.8,687,14294,0.00,2.28,0.00,0.000,4,0.000,0.054,2835,3158,1946
$GC,14331,0.69,171.3,404.7,9.4,687,14337,0.00,2.20,0.00,0.000,6,0.000,0.039,2845,1731,1946
$GC,14649,0.69,171.3,377.7,8.0,701,14653,0.00,2.28,0.00,0.000,4,0.000,0.053,2845,3154,1947
$GC,14678,0.62,171.3,375.1,8.4,702,14683,0.15,2.17,0.00,0.000,6,0.124,0.039,2811,1732,1946
$GC,15006,0.80,205.2,355.2,5.9,718,15038,0.15,0.00,29.65,0.971,6,0.061,0.000,2886,1732,1813
$GC,15336,0.69,205.2,319.9,10.8,734,15341,0.20,2.28,0.00,0.000,4,0.116,0.052,2820,3149,1809
$GC,15365,0.69,205.2,317.1,8.3,735,15369,0.00,2.17,0.00,0.000,6,0.000,0.038,2828,1738,1808
$GC,15689,0.79,205.2,292.9,7.1,751,15693,0.08,2.25,0.00,0.000,4,0.090,0.051,2880,3153,1808
$GC,15723,0.63,205.2,289.6,9.8,752,15728,0.25,2.20,0.00,0.000,6,0.120,0.039,2814,1725,1807
$GC,16041,0.91,262.1,271.4,5.2,767,16094,0.20,0.00,49.97,0.923,6,0.052,0.000,2913,1725,1581
$GC,16392,0.77,262.1,231.2,11.6,784,16396,0.20,2.28,0.00,0.000,4,0.120,0.052,2848,3148,1573
$GC,16415,0.73,262.1,228.6,11.1,785,16419,0.00,2.17,0.00,0.000,6,0.000,0.038,2854,1732,1571
$GC,16744,0.79,262.1,201.2,8.1,801,16745,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1732,1570
$GC,17054,0.88,262.1,177.5,7.4,816,17058,0.00,2.28,0.00,0.000,4,0.000,0.052,2854,3158,1570
$GC,17083,0.93,262.1,174.9,8.6,817,17087,0.00,2.20,0.00,0.000,6,0.000,0.039,2863,1724,1569
$GC,17412,1.02,262.1,150.5,7.2,833,17414,0.12,0.00,0.00,0.000,6,0.070,0.000,2928,1724,1569
$GC,17722,0.93,262.1,117.9,10.5,848,17724,0.17,0.00,0.00,0.000,6,0.118,0.000,2874,1724,1569
$GC,18032,1.09,283.1,97.4,6.3,866,18055,0.15,0.00,18.10,0.804,6,0.064,0.000,2949,1724,1495
$GC,18397,0.96,283.1,57.6,10.3,930,18404,0.20,2.30,0.00,0.000,4,0.117,0.054,2882,3149,1491
$GC,18458,1.02,283.1,52.2,8.6,940,18465,0.00,2.20,0.00,0.000,6,0.000,0.041,2888,1728,1490
$GC,18806,1.18,283.1,28.3,7.3,1001,18812,0.15,2.30,0.00,0.000,4,0.064,0.054,2965,3159,1489
$GC,18826,1.25,283.1,26.1,8.3,1004,18833,0.10,2.22,0.00,0.000,6,0.150,0.041,2949,1728,1490
$FREEZE,6.77,-1.723,-1.817
$STATE,19002,end climb,FINISH_DEPTH_REACHED
$STATE,19003,begin subsurface finish
$FINISH1,6.8,1.026612,51
$GC,19014,0.06,50.9,6.8,-10.9,1035,19049,0.77,0.00,-28.20,0.000,6,0.114,0.000,2693,1728,2445
$FINISH2,5.1
$STATE,19050,end subsurface finish,CONTROL_FINISHED_OK
$STATE,19050,begin surface
$RAFOS_CLK,748
$RAFOS,4,1232441047,8.750000,8.735278,67,61,61,60,53,50,216,198,171,181,136,125
$RAFOS,3,1232440442,8.583333,8.567223,128,61,56,56,54,54,821,213,188,200,142,153
$RAFOS,2,1232439853,8.416667,8.403611,56,56,53,52,52,50,112,196,165,138,215,206
$RAFOS,1,1232439244,8.250000,8.234445,75,68,58,56,51,51,872,194,206,223,655,180
$RAFOS,0,1232438676,8.083333,8.076667,62,58,56,52,50,50,192,150,204,168,217,231
$RAFOS,4,1232426642,4.750000,4.733889,64,59,58,54,52,52,222,119,200,183,161,128
$RAFOS_FIX,6621.728027,-5725.080078,200109,080840,2,102,0.98
$IRIDIUM_FIX,6548.42,-5714.92,160498,050508
$TT8_MAMPS,0.026845
$HUMID,1802
$INTERNAL_PRESSURE,9.98085
$TCM_TEMP,15.80
$XPDR_PINGS,335
$24V_AH,22.0,106.096
$10V_AH,10.5,47.380
$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,18.775,141.175,381.975,0.000,0.000,54.005,65.449,542.395,83.750,0.000,0.000,13.888,1959.940,14166.918,553.076,2073.234,1464.010,0.000,1658.944,0.000,2046.424,1800.000,0.531,0.000
$DEVICE_MAMPS,238.537,68.263,1139.762,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,722.698,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34707,1041
$CAP_FILE_SIZE,160208,0
$CFSIZE,260165632,208699392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1463.4
$GPS,200109,082640,6621.728,-5725.080,0,2101.5,0,-36.7