version: 66.04
glider: 108
mission: 11
dive: 666
start: 1 12 109 23 38 54
data:
$ID,108
$MISSION,11
$DIVE,666
$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,-130952.49
$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,37
$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
$GPS1,191831,6552.109,-5800.799,38,1.7,38,-36.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,10.6
$GPS2,191831,6552.109,-5800.799,38,1.7,38,-36.3
$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,58.1,141424,-13.0,-7.021
$D_GRID,528
$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,18,-0.99,-146.0,0.0,0.0,0,90,0.00,0.00,-67.10,0.000,6,0.000,0.000,2924,1739,3247
$GC,95,-0.99,-146.0,2.8,-0.3,13,102,1.58,3.05,0.00,0.000,4,0.166,0.055,2467,3597,3248
$GC,155,-0.99,-146.0,6.4,-7.5,23,161,0.00,2.15,0.00,0.000,6,0.000,0.043,2467,2212,3248
$GC,502,-0.84,-146.0,41.0,-10.1,84,508,0.12,0.00,0.00,0.000,6,0.144,0.000,2502,2212,3248
$GC,848,-0.84,-146.0,69.7,-8.0,145,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2212,3247
$GC,1194,-0.84,-146.0,92.7,-5.7,206,1200,0.00,2.20,0.00,0.000,4,0.000,0.057,2504,819,3246
$GC,1253,-0.84,-146.0,96.5,-6.6,216,1260,0.00,2.30,0.00,0.000,6,0.000,0.056,2496,2232,3246
$GC,1582,-0.84,-146.0,120.6,-7.8,239,1585,0.00,2.20,0.00,0.000,4,0.000,0.067,2486,3597,3244
$GC,1657,-0.84,-146.0,126.8,-8.5,242,1661,0.00,2.12,0.00,0.000,6,0.000,0.044,2486,2227,3243
$GC,1985,-0.84,-146.0,148.7,-6.1,258,1986,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2227,3243
$GC,2295,-0.84,-146.0,166.3,-5.9,273,2299,0.00,2.22,0.00,0.000,4,0.000,0.056,2486,817,3243
$GC,2442,-0.84,-146.0,176.6,-7.5,279,2446,0.00,2.28,0.00,0.000,6,0.000,0.054,2476,2235,3242
$GC,2763,-0.84,-146.0,201.3,-8.4,295,2767,0.00,2.28,0.00,0.000,4,0.000,0.053,2476,817,3242
$GC,2849,-0.77,-146.0,209.2,-9.2,298,2856,0.17,2.33,0.00,0.000,6,0.127,0.053,2516,2242,3242
$GC,3167,-0.91,-146.0,229.5,-5.6,314,3169,0.12,0.00,0.00,0.000,6,0.075,0.000,2457,2242,3242
$GC,3479,-0.84,-146.0,249.3,-5.9,329,3483,0.15,2.20,0.00,0.000,4,0.137,0.064,2491,3595,3242
$GC,3542,-0.93,-146.0,252.7,-5.2,332,3546,0.00,2.10,0.00,0.000,6,0.000,0.041,2491,2220,3242
$GC,3877,-0.98,-146.0,264.7,-3.2,348,3882,0.10,2.17,0.00,0.000,4,0.081,0.051,2439,824,3243
$GC,4042,-0.80,-146.0,273.3,-6.2,355,4047,0.28,2.25,0.00,0.000,6,0.126,0.051,2512,2238,3244
$GC,4374,-0.95,-146.0,285.5,-3.9,371,4376,0.15,0.00,0.00,0.000,6,0.069,0.000,2444,2238,3244
$GC,4680,-0.84,-146.0,303.8,-5.8,386,4684,0.20,2.25,0.00,0.000,4,0.135,0.050,2510,816,3245
$GC,4788,-0.93,-146.0,308.3,-3.6,390,4795,0.10,2.25,0.00,0.000,6,0.075,0.049,2452,2238,3245
$GC,5106,-0.85,-146.0,323.8,-5.0,406,5110,0.15,2.17,0.00,0.000,4,0.134,0.061,2486,3588,3245
$GC,5185,-0.93,-146.0,327.4,-4.7,409,5189,0.00,2.10,0.00,0.000,6,0.000,0.039,2486,2215,3246
$GC,5509,-0.99,-146.0,340.5,-4.1,425,5513,0.00,2.15,0.00,0.000,4,0.000,0.050,2486,820,3247
$GC,5673,-0.99,-146.0,348.0,-4.6,432,5678,0.00,2.28,0.00,0.000,6,0.000,0.049,2477,2240,3247
$GC,6002,-0.99,-146.0,362.6,-4.5,448,6003,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2240,3247
$GC,6312,-0.99,-146.0,377.5,-4.8,463,6316,0.00,2.25,0.00,0.000,4,0.000,0.050,2476,820,3248
$GC,6375,-0.99,-146.0,380.9,-5.7,465,6381,0.00,2.28,0.00,0.000,6,0.000,0.049,2467,2235,3248
$GC,6693,-0.99,-146.0,397.3,-5.4,481,6696,0.00,2.22,0.00,0.000,4,0.000,0.048,2466,832,3249
$GC,6795,-0.91,-146.0,403.6,-6.8,484,6800,0.10,2.25,0.00,0.000,6,0.131,0.048,2483,2236,3248
$GC,7117,-0.96,-146.0,419.3,-4.8,492,7118,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2236,3248
$GC,7441,-1.00,-146.0,435.0,-4.8,500,7445,0.00,2.25,0.00,0.000,4,0.000,0.048,2484,828,3248
$GC,7514,-1.00,-146.0,439.0,-5.3,501,7519,0.00,2.28,0.00,0.000,6,0.000,0.049,2476,2239,3248
$GC,7859,-1.00,-146.0,458.0,-5.7,510,7863,0.00,2.20,0.00,0.000,4,0.000,0.062,2466,3602,3249
$GC,7911,-1.00,-146.0,461.2,-5.8,511,7915,0.00,2.12,0.00,0.000,6,0.000,0.038,2465,2215,3248
$GC,8236,-1.00,-146.0,480.7,-5.9,519,8237,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2215,3248
$GC,8561,-1.00,-146.0,498.8,-5.4,527,8565,0.00,2.28,0.00,0.000,4,0.000,0.061,2455,3600,3248
$GC,8675,-0.96,-146.0,505.8,-5.7,529,8679,0.00,2.12,0.00,0.000,6,0.000,0.039,2456,2217,3248
$GC,9025,-0.90,-146.0,526.3,-5.8,538,9027,0.12,0.00,0.00,0.000,6,0.140,0.000,2490,2217,3248
$STATE,9060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9061,begin apogee
$GC,9071,-0.31,0.0,528.4,5.6,539,9199,0.40,0.00,125.60,1.114,6,0.111,0.000,2621,1737,2650
$STATE,9200,end apogee,CONTROL_FINISHED_OK
$STATE,9200,begin climb
$GC,9204,0.99,146.0,530.4,0.0,542,9340,0.85,2.58,129.27,1.045,4,0.082,0.054,2903,3153,2053
$GC,9368,0.69,146.0,516.4,11.4,545,9373,0.32,2.40,0.00,0.000,6,0.127,0.041,2825,1745,2050
$GC,9713,0.76,149.3,491.6,6.9,554,9717,0.00,2.33,0.00,0.000,4,0.000,0.055,2824,3163,2047
$GC,9741,0.76,149.3,489.2,8.0,554,9745,0.00,2.25,0.00,0.000,6,0.000,0.042,2832,1731,2046
$GC,10085,0.81,149.3,464.6,7.2,563,10090,0.08,2.33,0.00,0.000,4,0.088,0.055,2879,3161,2045
$GC,10132,0.54,149.3,459.9,11.9,564,10137,0.32,2.25,0.00,0.000,6,0.126,0.043,2791,1725,2045
$GC,10452,0.94,149.3,437.7,7.5,572,10456,0.25,2.33,0.00,0.000,4,0.064,0.055,2897,3160,2045
$GC,10614,0.62,149.3,418.9,12.3,575,10619,0.32,2.25,0.00,0.000,6,0.129,0.043,2810,1725,2044
$GC,10932,0.81,190.4,398.8,5.7,584,10972,0.15,0.00,37.50,1.035,6,0.061,0.000,2886,1725,1873
$GC,11282,0.66,190.4,364.0,9.9,601,11284,0.22,0.00,0.00,0.000,6,0.118,0.000,2816,1725,1867
$GC,11590,0.83,223.0,345.4,6.0,616,11626,0.15,2.40,27.92,0.988,4,0.063,0.056,2888,3149,1740
$GC,11650,0.63,223.0,339.4,11.6,618,11657,0.28,2.22,0.00,0.000,6,0.125,0.042,2816,1738,1738
$GC,11968,0.86,266.8,320.0,5.6,634,12010,0.17,0.00,39.35,0.971,6,0.058,0.000,2901,1737,1562
$GC,12317,0.69,266.8,277.6,13.0,651,12321,0.22,2.25,0.00,0.000,4,0.122,0.055,2836,336,1554
$GC,12364,0.88,266.8,273.2,7.9,653,12368,0.12,2.22,0.00,0.000,6,0.067,0.043,2903,1757,1553
$GC,12697,0.72,266.8,230.5,13.0,669,12702,0.20,2.20,0.00,0.000,4,0.123,0.055,2837,3154,1551
$GC,12725,0.72,266.8,227.2,10.7,670,12730,0.00,2.20,0.00,0.000,6,0.000,0.041,2843,1731,1550
$GC,13055,0.88,307.8,205.4,5.7,686,13097,0.10,2.30,35.47,0.891,4,0.076,0.054,2909,338,1395
$GC,13109,0.80,307.8,200.5,9.7,688,13116,0.20,2.22,0.00,0.000,6,0.120,0.042,2849,1740,1395
$GC,13428,0.98,330.2,180.4,6.3,704,13453,0.15,2.25,20.00,0.842,4,0.061,0.055,2924,3156,1304
$GC,13543,0.76,330.2,165.3,14.2,709,13548,0.30,2.22,0.00,0.000,6,0.121,0.042,2842,1732,1300
$GC,13872,1.02,330.2,139.0,7.8,725,13876,0.20,2.22,0.00,0.000,4,0.058,0.054,2943,336,1297
$GC,13896,1.10,330.2,136.5,9.9,726,13901,0.10,2.20,0.00,0.000,6,0.137,0.041,2917,1750,1297
$GC,14221,1.05,330.2,91.9,12.6,748,14228,0.00,2.30,0.00,0.000,4,0.000,0.054,2924,330,1297
$GC,14241,1.05,330.2,89.2,12.1,751,14248,0.00,2.20,0.00,0.000,6,0.000,0.042,2924,1740,1297
$GC,14588,1.05,330.2,52.9,9.6,812,14594,0.00,2.20,0.00,0.000,4,0.000,0.056,2924,3147,1297
$GC,14648,0.96,330.2,46.6,11.3,822,14655,0.17,2.20,0.00,0.000,6,0.120,0.042,2879,1731,1296
$GC,14996,1.63,330.2,14.7,10.5,883,15003,0.43,2.25,0.00,0.000,4,0.071,0.055,3042,327,1295
$GC,15028,2.02,330.2,11.1,10.9,888,15035,0.22,2.22,0.00,0.000,6,0.066,0.044,3135,1743,1295
$FREEZE,6.99,-1.511,-1.810
$FREEZE,5.69,-1.534,-1.809
$FREEZE,4.38,-1.546,-1.807
$FREEZE,3.02,-1.551,-1.806
$FREEZE,1.62,-1.563,-1.805
$STATE,15073,end climb,SURFACE_DEPTH_REACHED
$STATE,15073,begin surface coast
$FREEZE,1.34,-3.555,-1.899
$FREEZE,1.36,-4.211,-0.036
$FINISH,1.4,0.999905
$STATE,15090,end surface coast,CONTROL_FINISHED_OK
$STATE,15090,begin surface
$SM_CCo,15173,0.00,0.000,0,0,1293,332.63
$SM_GC,2.19,7.57,0.00,0.00,0.051,0.000,0.000,330,2242,1293,-10.70,0.34,332.63
$RAFOS_CLK,618
$RAFOS,4,1231807443,0.750000,0.734167,64,60,52,52,49,48,174,158,118,188,215,94
$RAFOS,3,1231806861,0.583333,0.572500,69,62,58,56,54,53,691,215,178,225,169,133
$RAFOS,2,1231806252,0.416667,0.403333,65,62,59,55,53,52,174,208,223,148,115,183
$RAFOS,1,1231805659,0.250000,0.238611,62,60,58,56,54,51,218,200,164,191,125,180
$RAFOS,0,1231805049,0.083333,0.069167,61,59,57,57,55,54,213,140,175,157,188,197
$RAFOS_FIX,6617.756348,-5909.147949,080109,000040,2,99,0.64
$IRIDIUM_FIX,6522.33,-5801.90,080498,111127
$TT8_MAMPS,0.026845
$HUMID,1800
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,16.10
$XPDR_PINGS,235
$24V_AH,22.1,101.199
$10V_AH,10.4,44.860
$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,16.875,127.750,415.125,0.000,0.000,0.000,0.000,0.000,58.750,0.000,0.000,0.000,1687.272,10863.675,539.248,1786.227,356.745,0.000,1496.829,0.000,1775.181,1800.000,0.531,0.000
$DEVICE_MAMPS,165.672,67.496,1113.684,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,624.544,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28399,898
$CAP_FILE_SIZE,124433,0
$CFSIZE,260165632,211169280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.0
$GPS,130109,035307,6552.113,-5756.286,31,1.1,31,-36.3