version: 66.04
glider: 108
mission: 11
dive: 706
start: 1 21 109 13 51 41
data:
$ID,108
$MISSION,11
$DIVE,706
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,122120,6630.663,-5709.862,0,2087.0,0,-36.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-5.4
$GPS2,122120,6630.663,-5709.862,0,2087.0,0,-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,51.5,61934,-13.0,-7.021
$D_GRID,663
$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,-146.0,0.0,0.0,0,63,0.00,0.00,-41.42,0.000,6,0.000,0.000,2683,3159,3247
$GC,68,-0.99,-146.0,2.5,-1.2,8,75,0.60,3.85,0.00,0.000,4,0.066,0.051,2455,807,3248
$GC,219,-0.71,-146.0,15.9,-9.6,34,226,0.30,2.38,0.00,0.000,6,0.139,0.058,2529,2239,3251
$GC,566,-0.77,-146.0,42.9,-7.6,95,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2239,3251
$GC,913,-0.85,-146.0,69.7,-8.1,156,920,0.12,2.38,0.00,0.000,4,0.079,0.058,2473,809,3251
$GC,980,-0.68,-146.0,76.6,-10.8,167,987,0.25,2.38,0.00,0.000,6,0.134,0.059,2533,2228,3250
$GC,1328,-0.79,-146.0,97.5,-5.8,228,1334,0.10,0.00,0.00,0.000,6,0.081,0.000,2487,2229,3250
$GC,1654,-0.79,-146.0,122.7,-7.4,248,1656,0.10,0.00,0.00,0.000,6,0.146,0.000,2512,2229,3250
$GC,1963,-0.84,-146.0,144.3,-7.7,263,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2229,3249
$GC,2274,-0.91,-146.0,166.4,-6.5,278,2278,0.12,2.35,0.00,0.000,4,0.084,0.059,2457,814,3249
$GC,2465,-0.77,-146.0,183.2,-8.5,286,2472,0.22,2.40,0.00,0.000,6,0.133,0.061,2511,2242,3249
$GC,2784,-0.85,-146.0,203.3,-6.2,302,2787,0.00,2.38,0.00,0.000,4,0.000,0.062,2512,813,3249
$GC,2841,-0.85,-146.0,207.2,-6.3,304,2845,0.00,2.35,0.00,0.000,6,0.000,0.060,2504,2239,3248
$GC,3164,-0.92,-146.0,225.8,-5.3,320,3168,0.10,2.38,0.00,0.000,4,0.084,0.060,2454,811,3248
$GC,3244,-0.76,-146.0,231.2,-6.9,323,3251,0.25,2.35,0.00,0.000,6,0.130,0.060,2515,2237,3248
$GC,3564,-0.88,-146.0,246.4,-4.9,339,3565,0.10,0.00,0.00,0.000,6,0.085,0.000,2469,2237,3248
$GC,3872,-0.88,-146.0,264.5,-6.1,354,3875,0.00,2.38,0.00,0.000,4,0.000,0.060,2468,806,3247
$GC,3947,-0.79,-146.0,269.5,-6.3,357,3952,0.17,2.40,0.00,0.000,6,0.127,0.059,2507,2235,3247
$GC,4270,-0.88,-146.0,284.1,-4.5,373,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2234,3248
$GC,4580,-0.99,-146.0,298.7,-4.8,388,4584,0.15,2.38,0.00,0.000,4,0.075,0.058,2444,808,3248
$GC,4659,-0.82,-146.0,304.5,-7.2,391,4666,0.25,2.40,0.00,0.000,6,0.132,0.058,2505,2233,3248
$GC,4978,-0.92,-146.0,319.2,-4.0,407,4980,0.10,0.00,0.00,0.000,6,0.086,0.000,2460,2233,3248
$GC,5288,-0.86,-146.0,335.7,-5.8,422,5293,0.12,2.38,0.00,0.000,4,0.144,0.058,2494,809,3249
$GC,5391,-0.86,-146.0,341.5,-5.8,426,5397,0.00,2.40,0.00,0.000,6,0.000,0.058,2486,2236,3249
$GC,5708,-0.86,-146.0,358.9,-5.5,442,5712,0.00,2.33,0.00,0.000,4,0.000,0.058,2486,817,3249
$GC,5793,-0.86,-146.0,364.3,-6.7,445,5799,0.00,2.38,0.00,0.000,6,0.000,0.058,2477,2232,3249
$GC,6111,-0.86,-146.0,383.0,-6.0,461,6112,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2232,3249
$GC,6439,-0.86,-146.0,403.5,-6.2,476,6443,0.00,2.33,0.00,0.000,4,0.000,0.057,2477,818,3249
$GC,6576,-0.86,-146.0,412.9,-6.9,479,6581,0.10,2.38,0.00,0.000,6,0.134,0.056,2492,2240,3249
$GC,6903,-0.95,-146.0,432.2,-6.1,487,6904,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2240,3249
$GC,7227,-1.04,-146.0,451.8,-5.9,495,7232,0.15,2.35,0.00,0.000,4,0.070,0.055,2429,807,3250
$GC,7367,-0.85,-146.0,462.9,-8.5,498,7372,0.28,2.35,0.00,0.000,6,0.127,0.054,2500,2238,3250
$GC,7693,-0.96,-146.0,481.3,-5.3,506,7695,0.12,0.00,0.00,0.000,6,0.075,0.000,2445,2238,3251
$GC,8018,-0.88,-146.0,502.0,-6.5,514,8023,0.17,2.35,0.00,0.000,4,0.138,0.053,2495,812,3252
$GC,8122,-0.94,-146.0,507.8,-5.8,516,8126,0.00,2.38,0.00,0.000,6,0.000,0.053,2488,2244,3252
$GC,8472,-1.00,-146.0,525.4,-5.0,525,8474,0.10,0.00,0.00,0.000,6,0.081,0.000,2436,2244,3253
$GC,8797,-0.88,-146.0,546.8,-6.6,533,8802,0.20,2.38,0.00,0.000,4,0.137,0.053,2494,805,3253
$GC,8934,-0.94,-146.0,554.1,-5.4,536,8938,0.00,2.38,0.00,0.000,6,0.000,0.053,2487,2236,3254
$GC,9262,-1.00,-146.0,571.1,-5.0,544,9264,0.10,0.00,0.00,0.000,6,0.079,0.000,2435,2236,3254
$GC,9585,-0.87,-146.0,591.1,-6.1,552,9589,0.20,2.35,0.00,0.000,4,0.136,0.052,2500,807,3255
$GC,9704,-0.95,-146.0,597.1,-4.6,554,9708,0.00,2.38,0.00,0.000,6,0.000,0.053,2492,2236,3255
$GC,10044,-1.04,-146.0,611.6,-4.4,563,10046,0.12,0.00,0.00,0.000,6,0.071,0.000,2432,2236,3255
$GC,10370,-0.90,-146.0,631.4,-6.2,571,10371,0.17,0.00,0.00,0.000,6,0.137,0.000,2482,2236,3255
$GC,10694,-0.96,-146.0,647.6,-4.9,579,10698,0.00,2.35,0.00,0.000,4,0.000,0.054,2482,806,3255
$GC,10768,-0.96,-146.0,651.8,-6.1,580,10773,0.00,2.40,0.00,0.000,6,0.000,0.054,2474,2244,3255
$STATE,11021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11021,begin apogee
$GC,11031,-0.31,0.0,664.6,5.0,587,11165,0.45,0.00,130.60,1.210,6,0.116,0.000,2616,1726,2650
$STATE,11165,end apogee,CONTROL_FINISHED_OK
$STATE,11165,begin climb
$GC,11170,0.99,146.0,666.0,0.0,590,11310,0.85,0.00,135.88,1.135,6,0.093,0.000,2892,1726,2054
$GC,11623,0.81,146.0,621.0,10.6,601,11628,0.15,2.40,0.00,0.000,4,0.127,0.058,2849,3154,2047
$GC,11692,0.67,146.0,613.7,10.3,602,11696,0.12,2.25,0.00,0.000,6,0.133,0.045,2823,1734,2046
$GC,12036,0.77,165.3,590.7,6.4,611,12055,0.10,0.00,16.60,1.082,6,0.077,0.000,2875,1734,1976
$GC,12360,0.66,165.3,560.6,9.5,619,12365,0.20,2.38,0.00,0.000,4,0.119,0.058,2810,3163,1973
$GC,12402,0.71,165.3,557.3,7.7,620,12406,0.00,2.25,0.00,0.000,6,0.000,0.044,2816,1737,1972
$GC,12734,0.87,188.8,536.4,6.3,628,12763,0.17,2.45,21.67,1.095,4,0.062,0.059,2899,3162,1880
$GC,12788,0.61,188.8,530.9,11.9,629,12793,0.35,2.28,0.00,0.000,6,0.132,0.045,2806,1734,1878
$GC,13104,0.84,217.6,511.0,6.1,637,13132,0.17,0.00,26.23,1.087,6,0.059,0.000,2893,1734,1762
$GC,13427,0.70,217.6,475.3,11.4,645,13432,0.20,2.38,0.00,0.000,4,0.123,0.060,2828,3154,1755
$GC,13456,0.70,217.6,472.4,9.2,645,13460,0.00,2.25,0.00,0.000,6,0.000,0.044,2836,1734,1755
$GC,13795,0.77,217.6,447.5,7.6,654,13799,0.00,2.38,0.00,0.000,4,0.000,0.058,2835,3160,1754
$GC,13824,0.77,217.6,444.9,7.9,654,13828,0.00,2.25,0.00,0.000,6,0.000,0.044,2845,1735,1753
$GC,14168,0.77,217.6,414.8,8.8,663,14172,0.00,2.35,0.00,0.000,4,0.000,0.058,2845,3162,1753
$GC,14203,0.77,217.6,411.5,10.1,663,14207,0.00,2.25,0.00,0.000,6,0.000,0.044,2856,1733,1753
$GC,14524,0.77,217.6,383.2,8.7,676,14525,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1733,1753
$GC,14833,0.77,217.6,355.5,9.5,691,14837,0.00,2.35,0.00,0.000,4,0.000,0.058,2856,3161,1753
$GC,14870,0.70,217.6,351.7,11.3,692,14875,0.15,2.25,0.00,0.000,6,0.126,0.043,2822,1737,1752
$GC,15188,0.85,217.6,326.4,7.7,707,15190,0.15,0.00,0.00,0.000,6,0.061,0.000,2897,1737,1752
$GC,15496,0.74,217.6,290.8,11.0,722,15498,0.20,0.00,0.00,0.000,6,0.120,0.000,2835,1737,1753
$GC,15807,0.93,237.5,269.2,6.4,737,15830,0.15,2.42,17.88,0.915,4,0.063,0.058,2909,3165,1681
$GC,15838,0.87,237.5,266.6,9.4,738,15843,0.20,2.28,0.00,0.000,6,0.130,0.044,2862,1732,1679
$GC,16162,0.94,239.2,243.1,7.0,754,16163,0.10,0.00,0.00,0.000,6,0.076,0.000,2917,1732,1677
$GC,16470,0.79,239.2,208.6,12.6,769,16472,0.22,0.00,0.00,0.000,6,0.123,0.000,2847,1732,1677
$GC,16779,0.93,239.2,181.0,8.6,784,16784,0.12,2.35,0.00,0.000,4,0.069,0.058,2913,3155,1676
$GC,16814,0.73,239.2,177.0,11.8,785,16821,0.30,2.25,0.00,0.000,6,0.127,0.044,2833,1736,1675
$GC,17132,1.03,302.5,157.6,5.0,801,17197,0.20,2.40,58.08,0.893,4,0.058,0.058,2946,332,1416
$GC,17211,0.89,302.5,149.9,10.7,804,17216,0.25,2.35,0.00,0.000,6,0.121,0.046,2872,1750,1414
$GC,17528,1.11,330.8,130.5,6.1,819,17559,0.17,2.30,24.95,0.848,4,0.060,0.061,2956,3154,1301
$GC,17588,0.88,330.8,122.9,14.6,821,17596,0.32,2.28,0.00,0.000,6,0.125,0.044,2869,1733,1298
$GC,17909,1.52,330.8,95.8,9.7,840,17915,0.40,2.30,0.00,0.000,4,0.071,0.060,3021,328,1293
$GC,17935,2.02,330.8,92.7,10.9,844,17942,0.30,2.28,0.00,0.000,6,0.056,0.047,3146,1756,1293
$FREEZE,5.98,-1.659,-1.817
$FREEZE,4.66,-1.664,-1.816
$FREEZE,3.17,-1.665,-1.815
$FREEZE,1.83,-1.673,-1.812
$STATE,18280,end climb,SURFACE_DEPTH_REACHED
$STATE,18280,begin surface coast
$FREEZE,1.83,-1.673,-1.583
$FINISH,1.8,1.023300
$STATE,18290,end surface coast,FINISH_DEPTH_REACHED
$STATE,18290,begin surface
$SM_CCo,18386,0.00,0.000,0,0,1284,334.83
$SM_GC,1.98,8.07,0.00,0.00,0.077,0.000,0.000,335,2251,1284,-10.68,0.59,334.83
$RAFOS_CLK,791
$RAFOS,4,1232556264,16.750000,16.740000,60,59,56,54,54,51,219,209,135,186,195,174
$RAFOS,3,1232555655,16.583334,16.570833,62,59,59,56,53,52,206,185,215,167,112,149
$RAFOS,2,1232555075,16.416666,16.409721,73,67,59,53,53,52,572,196,162,211,1750,132
$RAFOS,1,1232554449,16.250000,16.235834,62,62,59,57,52,50,147,202,166,221,184,129
$RAFOS,0,1232553874,16.083334,16.076111,72,63,60,60,57,55,202,214,125,175,145,228
$RAFOS_FIX,6630.663086,-5709.862305,210109,121220,2,87,0.24
$IRIDIUM_FIX,6548.42,-5714.92,160498,050508
$TT8_MAMPS,0.026845
$HUMID,1823
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,15.60
$XPDR_PINGS,183
$24V_AH,21.5,106.941
$10V_AH,10.4,47.797
$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,18.900,129.775,431.875,0.000,0.000,0.000,0.000,0.000,45.750,0.000,0.000,0.000,1733.142,13970.688,527.832,1819.836,396.404,0.000,1508.897,0.000,1805.396,1800.000,0.530,0.000
$DEVICE_MAMPS,145.730,62.127,1209.559,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,633.109,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31576,906
$CAP_FILE_SIZE,135841,0
$CFSIZE,260165632,208293888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.3
$GPS,210109,122120,6630.663,-5709.862,0,2087.0,0,-36.7