version: 66.04
glider: 108
mission: 11
dive: 716
start: 1 23 109 17 55 47
data:
$ID,108
$MISSION,11
$DIVE,716
$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,-136028.25
$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,34
$R_STBD_OVSHOOT,35
$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
$GPS1,163056,6648.558,-5653.319,0,4105.5,0,-36.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.39
$_SM_ANGLEo,-5.3
$GPS2,163056,6648.558,-5653.319,0,4105.5,0,-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,44.9,27022,-13.0,-7.021
$D_GRID,610
$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,-146.0,0.0,0.0,0,62,0.00,0.00,-38.58,0.000,6,0.000,0.000,2696,1726,3247
$GC,67,-0.99,-146.0,2.4,0.1,8,74,0.65,3.10,0.00,0.000,4,0.067,0.063,2449,3591,3249
$GC,110,-0.94,-146.0,6.1,-8.5,15,117,0.12,2.15,0.00,0.000,6,0.146,0.043,2481,2212,3249
$GC,458,-0.84,-146.0,38.3,-8.9,76,465,0.00,2.20,0.00,0.000,4,0.000,0.056,2487,824,3250
$GC,541,-0.73,-146.0,46.2,-9.1,90,548,0.15,2.30,0.00,0.000,6,0.130,0.056,2521,2228,3250
$GC,888,-0.73,-146.0,73.6,-7.6,151,894,0.00,2.30,0.00,0.000,4,0.000,0.055,2524,816,3250
$GC,959,-0.73,-146.0,79.5,-8.5,163,966,0.00,2.33,0.00,0.000,6,0.000,0.057,2516,2233,3249
$GC,1308,-0.79,-146.0,100.3,-7.4,224,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2233,3248
$GC,1618,-0.86,-146.0,121.0,-5.2,239,1623,0.10,2.33,0.00,0.000,4,0.084,0.056,2464,817,3248
$GC,1737,-0.72,-146.0,129.1,-7.1,244,1742,0.25,2.35,0.00,0.000,6,0.129,0.058,2526,2238,3247
$GC,2055,-0.83,-146.0,146.4,-5.9,259,2057,0.10,0.00,0.00,0.000,6,0.086,0.000,2479,2237,3247
$GC,2363,-0.83,-146.0,169.3,-7.0,274,2367,0.00,2.33,0.00,0.000,4,0.000,0.058,2479,816,3246
$GC,2523,-0.76,-146.0,182.4,-8.8,281,2528,0.17,2.35,0.00,0.000,6,0.127,0.058,2518,2242,3246
$GC,2852,-0.88,-146.0,204.5,-6.5,297,2857,0.12,2.33,0.00,0.000,4,0.077,0.058,2461,821,3245
$GC,2939,-0.76,-146.0,211.5,-8.8,301,2944,0.22,2.33,0.00,0.000,6,0.127,0.058,2515,2244,3245
$GC,3267,-0.89,-146.0,227.7,-4.3,317,3269,0.12,0.00,0.00,0.000,6,0.080,0.000,2460,2244,3244
$GC,3577,-0.83,-146.0,245.7,-6.2,332,3582,0.15,2.33,0.00,0.000,4,0.138,0.056,2509,829,3244
$GC,3674,-0.90,-146.0,250.8,-5.4,336,3678,0.00,2.30,0.00,0.000,6,0.000,0.056,2501,2234,3244
$GC,3998,-0.99,-146.0,261.8,-2.7,352,4000,0.12,0.00,0.00,0.000,6,0.074,0.000,2441,2234,3244
$GC,4308,-0.88,-146.0,275.0,-4.3,367,4310,0.17,0.00,0.00,0.000,6,0.137,0.000,2491,2234,3244
$GC,4616,-0.96,-146.0,286.8,-4.9,382,4620,0.00,2.28,0.00,0.000,4,0.000,0.053,2491,820,3245
$GC,4736,-0.96,-146.0,293.5,-5.6,387,4740,0.00,2.30,0.00,0.000,6,0.000,0.054,2484,2239,3245
$GC,5065,-0.96,-146.0,311.3,-5.6,403,5066,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2239,3247
$GC,5374,-0.96,-146.0,328.8,-5.8,418,5378,0.00,2.28,0.00,0.000,4,0.000,0.053,2484,820,3248
$GC,5491,-0.96,-146.0,335.7,-5.6,423,5494,0.00,2.30,0.00,0.000,6,0.000,0.054,2474,2239,3248
$GC,5826,-0.96,-146.0,355.5,-5.9,439,5827,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2239,3248
$GC,6134,-0.96,-146.0,374.9,-6.4,454,6138,0.00,2.28,0.00,0.000,4,0.000,0.053,2474,821,3249
$GC,6265,-0.96,-146.0,383.8,-6.6,459,6271,0.00,2.30,0.00,0.000,6,0.000,0.053,2464,2238,3249
$GC,6582,-0.96,-146.0,403.0,-5.8,474,6583,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2238,3249
$GC,6907,-0.96,-146.0,421.9,-5.8,482,6911,0.00,2.28,0.00,0.000,4,0.000,0.052,2464,819,3250
$GC,7045,-0.88,-146.0,430.7,-7.1,485,7050,0.12,2.30,0.00,0.000,6,0.127,0.053,2489,2243,3250
$GC,7376,-0.96,-146.0,447.4,-4.8,493,7378,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2242,3250
$GC,7704,-1.03,-146.0,462.4,-4.6,501,7708,0.12,2.30,0.00,0.000,4,0.076,0.052,2435,821,3250
$GC,7876,-0.86,-146.0,473.9,-7.2,504,7883,0.25,2.30,0.00,0.000,6,0.123,0.052,2497,2245,3250
$GC,8211,-0.96,-146.0,488.6,-4.3,513,8212,0.10,0.00,0.00,0.000,6,0.081,0.000,2450,2245,3250
$GC,8535,-0.89,-146.0,506.8,-5.8,521,8539,0.15,2.33,0.00,0.000,4,0.136,0.052,2496,818,3250
$GC,8637,-0.95,-146.0,512.0,-5.4,523,8641,0.00,2.30,0.00,0.000,6,0.000,0.053,2489,2233,3250
$GC,8987,-1.03,-146.0,528.0,-4.7,532,8989,0.12,0.00,0.00,0.000,6,0.071,0.000,2428,2233,3250
$GC,9312,-0.90,-146.0,548.7,-6.3,540,9316,0.20,2.30,0.00,0.000,4,0.132,0.051,2497,814,3250
$GC,9375,-0.97,-146.0,551.8,-4.6,541,9379,0.00,2.30,0.00,0.000,6,0.000,0.051,2489,2238,3250
$GC,9726,-1.06,-146.0,568.0,-4.6,550,9728,0.15,0.00,0.00,0.000,6,0.067,0.000,2422,2238,3250
$GC,10051,-1.20,-146.0,581.2,-1.5,558,10054,0.00,2.28,0.00,0.000,4,0.000,0.052,2421,821,3251
$STATE,10177,end dive,NO_VERTICAL_VELOCITY
$STATE,10177,begin apogee
$GC,10189,-0.31,0.0,581.3,0.0,560,10319,0.57,0.00,127.68,1.145,6,0.090,0.000,2616,1750,2650
$STATE,10320,end apogee,CONTROL_FINISHED_OK
$STATE,10320,begin climb
$GC,10325,0.99,146.0,580.6,0.0,564,10464,0.82,2.50,132.10,1.078,4,0.084,0.058,2892,3151,2053
$GC,10628,0.71,146.0,550.1,11.5,571,10634,0.25,2.28,0.00,0.000,6,0.129,0.042,2831,1734,2047
$GC,10955,0.72,149.5,526.4,6.9,579,10959,0.00,2.30,0.00,0.000,4,0.000,0.058,2831,3166,2046
$GC,10967,0.72,150.0,525.4,7.0,579,10971,0.00,2.25,0.00,0.000,6,0.000,0.042,2840,1725,2046
$GC,11287,0.72,150.0,502.3,7.2,587,11290,0.00,2.30,0.00,0.000,4,0.000,0.057,2840,3160,2045
$GC,11327,0.62,150.0,498.9,8.0,587,11334,0.15,2.22,0.00,0.000,6,0.129,0.042,2807,1726,2044
$GC,11661,0.84,192.3,479.9,5.7,596,11704,0.17,0.00,39.72,1.073,6,0.058,0.000,2893,1726,1865
$GC,12025,0.70,192.3,443.6,10.1,605,12030,0.22,2.33,0.00,0.000,4,0.120,0.056,2820,3166,1859
$GC,12048,0.70,192.3,441.5,8.5,605,12052,0.00,2.22,0.00,0.000,6,0.000,0.043,2829,1738,1858
$GC,12393,0.82,208.3,419.4,6.5,614,12413,0.10,2.33,13.82,0.976,4,0.077,0.058,2885,3151,1801
$GC,12432,0.67,208.3,415.8,9.8,614,12439,0.25,2.20,0.00,0.000,6,0.123,0.042,2820,1737,1799
$GC,12746,0.90,250.3,397.0,5.7,623,12787,0.17,0.00,38.65,1.017,6,0.057,0.000,2907,1737,1629
$GC,13094,0.77,250.3,358.3,11.3,640,13099,0.20,2.28,0.00,0.000,4,0.120,0.057,2850,328,1621
$GC,13106,0.67,250.3,356.9,11.1,640,13113,0.10,2.25,0.00,0.000,6,0.114,0.044,2821,1750,1621
$GC,13425,0.95,295.2,338.8,5.6,656,13478,0.20,2.33,42.38,0.952,4,0.058,0.059,2917,3148,1446
$GC,13502,0.77,295.2,330.4,12.1,659,13509,0.28,2.25,0.00,0.000,6,0.123,0.043,2845,1730,1443
$GC,13821,0.92,307.7,308.4,6.6,675,13838,0.12,0.00,11.32,0.889,6,0.066,0.000,2912,1730,1394
$GC,14149,0.80,307.7,269.0,12.6,691,14154,0.20,2.25,0.00,0.000,4,0.120,0.055,2854,330,1389
$GC,14167,0.80,307.7,266.9,12.0,692,14171,0.00,2.22,0.00,0.000,6,0.000,0.044,2854,1749,1389
$GC,14502,0.90,307.7,236.4,9.2,708,14505,0.00,2.22,0.00,0.000,4,0.000,0.058,2854,3160,1388
$GC,14548,0.90,307.7,231.7,10.2,710,14552,0.00,2.22,0.00,0.000,6,0.000,0.043,2863,1732,1387
$GC,14883,0.97,307.7,200.1,9.6,726,14888,0.10,2.25,0.00,0.000,4,0.079,0.055,2926,328,1387
$GC,14902,0.97,307.7,198.0,9.8,727,14906,0.15,2.22,0.00,0.000,6,0.123,0.043,2883,1745,1387
$GC,15231,1.03,307.7,165.9,9.1,743,15235,0.00,2.25,0.00,0.000,4,0.000,0.057,2883,3161,1387
$GC,15268,1.03,307.7,162.1,9.5,744,15272,0.00,2.25,0.00,0.000,6,0.000,0.042,2890,1724,1387
$GC,15590,1.03,307.7,130.3,9.7,760,15591,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1724,1387
$GC,15903,1.08,307.7,95.1,10.8,781,15909,0.10,0.00,0.00,0.000,6,0.077,0.000,2942,1724,1387
$GC,16251,1.02,307.7,59.4,9.9,842,16258,0.15,2.28,0.00,0.000,4,0.124,0.057,2904,327,1387
$GC,16266,0.97,307.7,57.9,9.6,844,16272,0.00,2.25,0.00,0.000,6,0.000,0.044,2905,1747,1387
$GC,16614,1.09,313.2,31.9,6.8,905,16626,0.00,2.28,4.93,0.645,4,0.000,0.061,2904,3143,1373
$GC,16663,1.09,313.2,27.9,8.9,913,16669,0.00,2.22,0.00,0.000,6,0.000,0.047,2912,1737,1373
$FREEZE,6.97,-1.817,-1.813
$STATE,16911,end climb,FINISH_DEPTH_REACHED
$STATE,16911,begin subsurface finish
$FINISH1,7.0,1.026559,54
$GC,16921,0.07,53.6,7.0,-9.3,957,16963,0.65,2.35,-31.67,0.000,4,0.103,0.072,2693,334,2436
$FINISH2,5.9
$STATE,16963,end subsurface finish,CONTROL_FINISHED_OK
$STATE,16963,begin surface
$RAFOS_CLK,711
$RAFOS,4,1232743446,20.750000,20.735001,67,58,57,56,53,52,217,187,203,152,229,115
$RAFOS,3,1232742865,20.583334,20.573610,57,55,51,51,50,50,215,191,137,224,159,118
$RAFOS,2,1232742247,20.416666,20.401945,138,60,58,57,56,53,666,152,208,217,232,191
$RAFOS,1,1232741673,20.250000,20.242500,66,61,60,59,55,51,218,736,162,194,146,176
$RAFOS,0,1232741043,20.083334,20.067499,57,57,57,56,51,50,134,180,217,204,193,119
$RAFOS_FIX,6648.844727,-5650.362793,230109,202016,2,102,0.16
$IRIDIUM_FIX,6548.42,-5642.25,160498,050538
$TT8_MAMPS,0.026845
$HUMID,1824
$INTERNAL_PRESSURE,9.95155
$TCM_TEMP,15.40
$XPDR_PINGS,220
$24V_AH,21.7,108.264
$10V_AH,10.4,48.473
$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,8.675,130.225,410.600,0.000,0.000,0.000,0.000,0.000,55.000,0.000,0.000,0.000,1775.378,12432.676,525.934,1923.328,367.782,0.000,1551.919,0.000,1904.983,1800.000,0.532,0.000
$DEVICE_MAMPS,146.497,72.098,1145.131,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,672.296,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31600,964
$CAP_FILE_SIZE,131058,0
$CFSIZE,260165632,207671296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1455.6
$GPS,230109,202016,6648.845,-5650.363,0,2102.0,0,-36.7