version: 66.04
glider: 108
mission: 11
dive: 668
start: 1 13 109 8 26 59
data:
$ID,108
$MISSION,11
$DIVE,668
$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,-130972.91
$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,35
$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
$GPS1,040802,6552.007,-5756.067,14,2.0,14,-36.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,18.8
$GPS2,040802,6552.007,-5756.067,14,2.0,14,-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,56.8,140366,-13.0,-7.021
$D_GRID,526
$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,-146.0,0.0,0.0,0,91,0.00,0.00,-71.22,0.000,6,0.000,0.000,2966,1751,3247
$GC,96,-0.99,-146.0,2.5,-1.2,13,103,1.42,1.52,0.00,0.000,4,0.079,0.054,2459,811,3248
$GC,167,-0.71,-146.0,9.2,-9.2,25,174,0.28,2.28,0.00,0.000,6,0.139,0.053,2526,2237,3249
$GC,515,-0.76,-146.0,35.5,-7.0,86,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2237,3249
$GC,861,-0.82,-146.0,62.7,-7.5,147,868,0.10,2.30,0.00,0.000,4,0.087,0.054,2480,818,3248
$GC,989,-0.69,-146.0,73.9,-8.0,169,996,0.20,2.30,0.00,0.000,6,0.134,0.055,2526,2244,3248
$GC,1337,-0.79,-146.0,93.7,-6.1,230,1343,0.00,2.30,0.00,0.000,4,0.000,0.056,2526,820,3246
$GC,1481,-0.87,-146.0,102.8,-6.5,249,1485,0.10,2.28,0.00,0.000,6,0.077,0.055,2471,2235,3246
$GC,1815,-0.81,-146.0,128.0,-7.7,265,1819,0.12,2.20,0.00,0.000,4,0.140,0.066,2496,3597,3245
$GC,1866,-0.88,-146.0,132.3,-8.1,267,1870,0.00,2.15,0.00,0.000,6,0.000,0.044,2496,2208,3244
$GC,2194,-0.94,-146.0,154.9,-6.7,283,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2208,3243
$GC,2504,-0.94,-146.0,174.0,-5.7,298,2508,0.00,2.17,0.00,0.000,4,0.000,0.056,2495,820,3243
$GC,2699,-0.94,-146.0,185.4,-6.3,306,2703,0.00,2.28,0.00,0.000,6,0.000,0.054,2487,2237,3243
$GC,3023,-0.94,-146.0,201.5,-4.8,322,3024,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2237,3243
$GC,3330,-0.94,-146.0,216.3,-4.9,337,3331,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2237,3243
$GC,3641,-0.94,-146.0,232.5,-5.5,352,3645,0.00,2.25,0.00,0.000,4,0.000,0.052,2487,824,3244
$GC,3743,-0.94,-146.0,238.6,-6.1,356,3747,0.00,2.28,0.00,0.000,6,0.000,0.051,2477,2243,3244
$GC,4066,-0.94,-146.0,259.3,-7.1,372,4067,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2243,3244
$GC,4375,-0.94,-146.0,280.4,-6.9,387,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2243,3245
$GC,4685,-0.94,-146.0,300.2,-6.1,402,4689,0.00,2.25,0.00,0.000,4,0.000,0.051,2477,820,3246
$GC,4756,-0.94,-146.0,304.6,-6.1,405,4760,0.00,2.28,0.00,0.000,6,0.000,0.050,2467,2243,3246
$GC,5092,-0.94,-146.0,323.3,-5.1,421,5093,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2243,3247
$GC,5400,-0.94,-146.0,339.7,-5.6,436,5402,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2243,3247
$GC,5709,-0.94,-146.0,358.1,-5.9,451,5710,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2243,3248
$GC,6018,-0.94,-146.0,375.5,-5.5,466,6022,0.00,2.30,0.00,0.000,4,0.000,0.050,2467,811,3248
$GC,6105,-0.86,-146.0,380.7,-5.9,469,6111,0.15,2.33,0.00,0.000,6,0.124,0.048,2500,2243,3248
$GC,6422,-0.97,-146.0,394.4,-4.3,485,6424,0.12,0.00,0.00,0.000,6,0.075,0.000,2443,2243,3249
$GC,6729,-0.87,-146.0,413.0,-6.2,495,6731,0.17,0.00,0.00,0.000,6,0.137,0.000,2493,2243,3249
$GC,7053,-0.96,-146.0,428.7,-4.7,503,7057,0.00,2.28,0.00,0.000,4,0.000,0.050,2494,816,3249
$GC,7122,-0.96,-146.0,432.4,-5.5,504,7125,0.00,2.30,0.00,0.000,6,0.000,0.049,2486,2236,3249
$GC,7472,-1.01,-146.0,449.8,-4.9,513,7474,0.10,0.00,0.00,0.000,6,0.077,0.000,2434,2236,3249
$GC,7797,-0.87,-146.0,471.2,-6.7,521,7798,0.20,0.00,0.00,0.000,6,0.134,0.000,2493,2236,3249
$GC,8122,-0.95,-146.0,486.9,-4.9,529,8125,0.00,2.25,0.00,0.000,4,0.000,0.050,2493,825,3249
$GC,8196,-0.95,-146.0,491.0,-5.2,530,8201,0.00,2.28,0.00,0.000,6,0.000,0.050,2485,2233,3249
$GC,8540,-0.95,-146.0,508.7,-5.2,539,8542,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2233,3250
$GC,8866,-1.01,-146.0,525.7,-5.0,547,8870,0.10,2.20,0.00,0.000,4,0.078,0.062,2422,3602,3249
$STATE,8874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8874,begin apogee
$GC,8886,-0.31,0.0,526.4,5.0,547,9015,0.55,0.00,125.38,1.113,6,0.125,0.000,2608,1729,2650
$STATE,9016,end apogee,CONTROL_FINISHED_OK
$STATE,9016,begin climb
$GC,9020,0.99,146.0,527.9,0.0,550,9153,0.88,0.00,129.38,1.045,6,0.089,0.000,2899,1729,2054
$GC,9472,0.81,146.0,482.7,10.7,561,9474,0.17,0.00,0.00,0.000,6,0.125,0.000,2847,1729,2048
$GC,9794,0.81,146.0,457.2,7.6,569,9798,0.00,2.30,0.00,0.000,4,0.000,0.058,2847,3149,2046
$GC,9828,0.71,146.0,454.1,9.2,569,9832,0.00,2.20,0.00,0.000,6,0.000,0.044,2855,1731,2045
$GC,10166,0.71,146.0,427.8,7.5,578,10170,0.00,2.30,0.00,0.000,4,0.000,0.057,2855,3156,2045
$GC,10190,0.61,146.0,425.8,8.0,578,10194,0.20,2.20,0.00,0.000,6,0.123,0.043,2806,1732,2045
$GC,10540,0.82,188.8,406.7,5.6,587,10578,0.17,0.00,36.25,1.035,6,0.058,0.000,2891,1731,1880
$GC,10889,0.65,188.8,367.4,11.7,602,10891,0.25,0.00,0.00,0.000,6,0.120,0.000,2815,1732,1874
$GC,11198,0.83,204.4,345.2,6.5,617,11216,0.15,0.00,13.48,0.941,6,0.063,0.000,2886,1732,1816
$GC,11526,0.70,204.4,312.5,9.5,633,11531,0.20,2.22,0.00,0.000,4,0.115,0.056,2828,329,1814
$GC,11544,0.70,204.4,310.9,9.3,634,11548,0.00,2.22,0.00,0.000,6,0.000,0.044,2829,1751,1814
$GC,11878,0.83,234.3,290.7,6.1,650,11911,0.12,2.22,26.88,0.948,4,0.067,0.056,2892,3153,1695
$GC,11968,0.62,234.3,281.0,12.5,654,11973,0.30,2.20,0.00,0.000,6,0.122,0.043,2812,1737,1690
$GC,12298,0.91,285.9,263.1,5.4,670,12349,0.20,2.30,45.60,0.929,4,0.057,0.057,2923,323,1484
$GC,12363,0.75,285.9,256.1,12.8,673,12368,0.28,2.28,0.00,0.000,6,0.123,0.043,2840,1741,1483
$GC,12693,0.89,285.9,230.2,8.1,689,12697,0.12,2.25,0.00,0.000,4,0.067,0.055,2904,3152,1477
$GC,12755,0.72,285.9,221.9,14.3,691,12762,0.28,2.20,0.00,0.000,6,0.121,0.042,2829,1728,1474
$GC,13073,1.01,344.6,200.3,5.1,707,13130,0.20,2.28,50.55,0.878,4,0.055,0.056,2942,326,1245
$GC,13154,0.87,344.6,191.2,12.4,710,13160,0.25,2.28,0.00,0.000,6,0.123,0.042,2867,1747,1243
$GC,13471,0.98,344.6,164.9,8.2,726,13475,0.10,2.25,0.00,0.000,4,0.074,0.054,2922,3161,1237
$GC,13512,0.79,344.6,159.9,13.7,727,13518,0.28,2.20,0.00,0.000,6,0.120,0.041,2847,1734,1235
$GC,13829,1.03,344.6,133.2,8.3,743,13833,0.17,2.22,0.00,0.000,4,0.060,0.054,2943,330,1234
$GC,13848,1.16,344.6,131.3,8.7,744,13852,0.00,2.25,0.00,0.000,6,0.000,0.041,2943,1753,1234
$GC,14176,1.05,344.6,82.8,13.5,775,14183,0.15,2.30,0.00,0.000,4,0.125,0.053,2906,328,1233
$GC,14225,1.13,344.6,77.3,10.6,783,14232,0.00,2.25,0.00,0.000,6,0.000,0.042,2906,1748,1233
$GC,14573,1.22,344.6,46.0,7.6,844,14580,0.12,2.22,0.00,0.000,4,0.065,0.054,2971,3155,1233
$GC,14612,1.12,344.6,41.9,10.4,850,14619,0.22,2.20,0.00,0.000,6,0.130,0.043,2915,1729,1233
$GC,14959,1.21,344.6,13.4,8.0,911,14966,0.10,2.22,0.00,0.000,4,0.074,0.056,2978,327,1232
$GC,14979,1.21,344.6,11.2,9.2,914,14986,0.15,2.22,0.00,0.000,6,0.122,0.044,2935,1748,1233
$FREEZE,6.78,-1.322,-1.811
$FREEZE,6.32,-1.361,-1.810
$FREEZE,5.78,-1.343,-1.810
$FREEZE,5.27,-1.354,-1.809
$FREEZE,4.70,-1.379,-1.809
$FREEZE,4.35,-1.364,-1.809
$FREEZE,3.90,-1.365,-1.808
$FREEZE,3.24,-1.370,-1.808
$FREEZE,2.64,-1.392,-1.807
$STATE,15067,end climb,SURFACE_DEPTH_REACHED
$STATE,15067,begin surface coast
$FREEZE,1.88,-1.405,-1.807
$FREEZE,1.19,-1.421,-1.806
$FREEZE,1.20,-2.176,-0.119
$FINISH,1.2,1.001406
$STATE,15084,end surface coast,FINISH_DEPTH_REACHED
$STATE,15085,begin surface
$SM_CCo,15167,0.00,0.000,0,0,1231,348.08
$SM_GC,2.06,6.97,0.00,0.00,0.047,0.000,0.000,328,2246,1231,-10.70,0.45,348.08
$RAFOS_CLK,621
$RAFOS,2,1231849448,12.416667,12.402223,59,57,56,56,54,53,196,224,121,178,153,207
$RAFOS,1,1231848858,12.250000,12.238334,60,59,59,54,54,51,177,194,216,162,152,119
$RAFOS,0,1231848246,12.083333,12.068334,67,62,56,55,53,53,170,197,209,181,121,149
$RAFOS,4,1231836241,8.750000,8.733611,62,60,55,54,54,51,202,224,148,120,180,167
$RAFOS,3,1231835646,8.583333,8.568334,67,65,58,55,53,50,790,221,84,179,139,151
$RAFOS_FIX,6617.756348,-5909.147949,080109,000040,2,99,0.64
$IRIDIUM_FIX,6506.88,-6335.43,080498,191956
$TT8_MAMPS,0.028379
$HUMID,1776
$INTERNAL_PRESSURE,9.88319
$TCM_TEMP,16.10
$XPDR_PINGS,221
$24V_AH,22.2,101.475
$10V_AH,10.4,44.982
$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,15.675,104.225,427.500,0.000,0.000,0.000,0.000,0.000,55.250,0.000,0.000,0.000,1675.593,11040.604,515.303,1670.774,325.768,0.000,1421.651,0.000,1659.076,2160.000,0.532,0.000
$DEVICE_MAMPS,140.361,65.962,1112.917,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,648.392,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31498,932
$CAP_FILE_SIZE,116279,0
$CFSIZE,260165632,211054592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.9
$GPS,130109,124126,6552.254,-5749.772,30,4.4,49,-36.3