version: 66.04
glider: 108
mission: 11
dive: 669
start: 1 13 109 13 0 40
data:
$ID,108
$MISSION,11
$DIVE,669
$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,-131003.39
$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,34
$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
$GPS1,124126,6552.254,-5749.772,30,4.4,49,-36.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-52.4
$GPS2,130022,6552.083,-5749.775,8,4.9,27,-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,55.1,138707,-13.0,-7.021
$D_GRID,532
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-0.99,-146.0,0.0,0.0,0,128,0.00,0.00,-103.05,0.000,6,0.000,0.000,328,2247,3246
$GC,133,-0.99,-146.0,1.9,0.1,19,146,7.88,2.38,0.00,0.000,4,0.195,0.058,2471,817,3250
$GC,375,-0.43,-146.0,21.5,-12.3,61,382,0.43,2.33,0.00,0.000,6,0.151,0.056,2583,2228,3251
$GC,723,-0.50,-146.0,44.0,-5.9,122,729,0.00,2.22,0.00,0.000,4,0.000,0.067,2576,3597,3251
$GC,771,-0.57,-146.0,47.0,-6.3,130,778,0.00,2.15,0.00,0.000,6,0.000,0.044,2576,2211,3251
$GC,1119,-0.69,-146.0,66.8,-4.0,191,1126,0.15,2.20,0.00,0.000,4,0.067,0.056,2505,816,3250
$GC,1213,-0.57,-146.0,73.0,-7.3,207,1219,0.22,2.33,0.00,0.000,6,0.133,0.057,2560,2243,3250
$GC,1562,-0.71,-146.0,93.9,-6.3,268,1568,0.12,0.00,0.00,0.000,6,0.069,0.000,2501,2242,3249
$GC,1886,-0.71,-146.0,117.5,-6.4,293,1890,0.10,2.30,0.00,0.000,4,0.146,0.056,2528,817,3248
$GC,2047,-0.76,-146.0,126.5,-5.8,300,2051,0.00,2.30,0.00,0.000,6,0.000,0.056,2520,2243,3248
$GC,2376,-0.83,-146.0,144.9,-6.0,316,2380,0.00,2.17,0.00,0.000,4,0.000,0.067,2509,3599,3248
$GC,2458,-0.89,-146.0,150.6,-7.1,319,2462,0.10,2.12,0.00,0.000,6,0.087,0.044,2461,2222,3248
$GC,2780,-0.77,-146.0,179.1,-8.7,335,2782,0.20,0.00,0.00,0.000,6,0.132,0.000,2520,2222,3249
$GC,3090,-0.87,-146.0,198.4,-5.8,350,3094,0.12,2.20,0.00,0.000,4,0.077,0.054,2461,816,3249
$GC,3231,-0.72,-146.0,209.1,-7.3,356,3236,0.25,2.25,0.00,0.000,6,0.127,0.053,2524,2233,3249
$GC,3560,-0.85,-146.0,222.7,-3.7,372,3562,0.12,0.00,0.00,0.000,6,0.075,0.000,2466,2233,3251
$GC,3869,-0.77,-146.0,240.1,-5.6,387,3871,0.17,0.00,0.00,0.000,6,0.135,0.000,2516,2233,3252
$GC,4179,-0.89,-146.0,251.3,-3.6,402,4184,0.12,2.28,0.00,0.000,4,0.077,0.051,2458,817,3253
$GC,4258,-0.73,-146.0,255.8,-6.1,405,4266,0.25,2.33,0.00,0.000,6,0.129,0.051,2520,2244,3253
$GC,4576,-0.85,-146.0,269.0,-4.4,421,4581,0.10,2.28,0.00,0.000,4,0.081,0.051,2471,817,3254
$GC,4651,-0.74,-146.0,273.4,-6.3,424,4656,0.20,2.30,0.00,0.000,6,0.125,0.051,2519,2233,3254
$GC,4973,-0.87,-146.0,288.3,-4.5,440,4975,0.12,0.00,0.00,0.000,6,0.073,0.000,2461,2233,3255
$GC,5284,-0.79,-146.0,306.8,-6.2,455,5289,0.17,2.28,0.00,0.000,4,0.137,0.051,2514,817,3255
$GC,5420,-0.86,-146.0,314.1,-5.4,461,5424,0.00,2.30,0.00,0.000,6,0.000,0.051,2506,2239,3255
$GC,5755,-0.95,-146.0,330.3,-5.0,477,5759,0.12,2.22,0.00,0.000,4,0.071,0.061,2433,3593,3255
$GC,5834,-0.79,-146.0,335.8,-7.2,480,5839,0.25,2.12,0.00,0.000,6,0.133,0.040,2507,2210,3255
$GC,6158,-0.88,-146.0,350.8,-4.4,496,6159,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2210,3256
$GC,6468,-0.98,-146.0,364.1,-4.7,511,6470,0.15,0.00,0.00,0.000,6,0.071,0.000,2439,2210,3256
$GC,6775,-0.82,-146.0,386.3,-7.8,526,6779,0.20,2.17,0.00,0.000,4,0.137,0.051,2501,828,3257
$GC,6861,-0.82,-146.0,392.0,-6.5,529,6867,0.00,2.30,0.00,0.000,6,0.000,0.051,2493,2244,3257
$GC,7196,-0.86,-146.0,412.4,-6.0,541,7199,0.00,2.25,0.00,0.000,4,0.000,0.051,2493,832,3257
$GC,7253,-0.86,-146.0,416.4,-7.0,542,7257,0.00,2.28,0.00,0.000,6,0.000,0.050,2484,2238,3257
$GC,7574,-0.86,-146.0,436.4,-6.1,550,7575,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2238,3257
$GC,7898,-0.86,-146.0,456.6,-6.3,558,7902,0.00,2.25,0.00,0.000,4,0.000,0.052,2484,827,3257
$GC,8005,-0.86,-146.0,463.7,-6.8,560,8009,0.00,2.28,0.00,0.000,6,0.000,0.051,2474,2240,3257
$GC,8320,-0.86,-146.0,484.2,-6.7,568,8321,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2239,3257
$GC,8644,-0.86,-146.0,502.1,-5.3,576,8648,0.00,2.20,0.00,0.000,4,0.000,0.064,2463,3598,3257
$GC,8762,-0.86,-146.0,509.9,-7.1,578,8767,0.12,2.10,0.00,0.000,6,0.138,0.041,2497,2223,3257
$GC,9107,-0.95,-146.0,527.1,-4.8,587,9112,0.10,2.17,0.00,0.000,4,0.085,0.053,2449,828,3257
$STATE,9178,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9178,begin apogee
$GC,9188,-0.31,0.0,532.4,8.1,588,9319,0.52,0.00,128.15,1.126,6,0.118,0.000,2613,1745,2650
$STATE,9320,end apogee,CONTROL_FINISHED_OK
$STATE,9320,begin climb
$GC,9324,0.99,146.0,534.8,0.0,591,9459,0.85,0.00,131.07,1.057,6,0.087,0.000,2896,1745,2054
$GC,9778,0.80,146.0,491.7,10.0,603,9783,0.17,2.28,0.00,0.000,4,0.122,0.058,2844,3154,2047
$GC,9852,0.68,146.0,484.8,9.3,604,9856,0.10,2.20,0.00,0.000,6,0.137,0.044,2824,1749,2046
$GC,10191,0.82,180.2,463.6,5.9,613,10223,0.12,0.00,29.27,1.047,6,0.070,0.000,2886,1748,1916
$GC,10515,0.70,180.2,433.6,9.4,621,10517,0.20,0.00,0.00,0.000,6,0.116,0.000,2824,1748,1911
$GC,10840,0.87,197.3,412.2,6.5,629,10861,0.15,2.33,15.15,0.997,4,0.065,0.058,2895,3156,1845
$GC,10882,0.67,197.3,408.3,10.5,630,10887,0.28,2.25,0.00,0.000,6,0.127,0.044,2823,1728,1843
$GC,11214,0.85,211.6,386.3,6.6,643,11230,0.15,0.00,13.15,0.976,6,0.061,0.000,2897,1728,1787
$GC,11541,0.71,211.6,350.8,11.2,659,11543,0.22,0.00,0.00,0.000,6,0.120,0.000,2828,1728,1784
$GC,11849,0.88,232.1,329.5,6.4,674,11875,0.15,2.42,19.08,0.981,4,0.065,0.058,2899,3151,1703
$GC,11900,0.67,232.1,324.6,11.1,676,11905,0.30,2.25,0.00,0.000,6,0.124,0.044,2818,1734,1700
$GC,12228,0.97,300.2,307.1,4.8,692,12291,0.22,0.00,60.90,0.999,6,0.055,0.000,2921,1734,1426
$GC,12594,0.80,300.2,263.2,13.0,710,12599,0.20,2.28,0.00,0.000,4,0.127,0.058,2864,324,1416
$GC,12640,0.95,300.2,258.2,8.7,712,12645,0.08,2.30,0.00,0.000,6,0.090,0.046,2912,1749,1415
$GC,12962,0.84,300.2,219.9,11.6,728,12967,0.17,2.25,0.00,0.000,4,0.123,0.058,2859,3158,1413
$GC,12987,0.78,300.2,217.4,9.7,729,12991,0.00,2.22,0.00,0.000,6,0.000,0.045,2865,1737,1412
$GC,13320,0.85,300.2,190.7,8.2,745,13322,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1736,1412
$GC,13630,0.90,300.2,164.1,8.8,760,13634,0.00,2.25,0.00,0.000,4,0.000,0.058,2874,333,1411
$GC,13649,0.97,300.2,162.5,8.9,760,13655,0.00,2.28,0.00,0.000,6,0.000,0.045,2875,1752,1410
$GC,13965,0.97,300.2,133.4,8.9,776,13969,0.00,2.25,0.00,0.000,4,0.000,0.060,2874,3160,1409
$GC,13983,0.97,300.2,131.8,8.6,776,13989,0.00,2.22,0.00,0.000,6,0.000,0.044,2883,1735,1409
$GC,14300,0.97,300.2,104.8,8.3,792,14304,0.00,2.22,0.00,0.000,4,0.000,0.057,2893,335,1409
$GC,14341,1.06,300.2,101.6,7.7,793,14347,0.00,2.25,0.00,0.000,6,0.000,0.044,2893,1745,1409
$GC,14686,1.12,300.2,69.4,10.3,851,14692,0.10,2.28,0.00,0.000,4,0.077,0.057,2945,3155,1409
$GC,14717,1.06,300.2,65.0,12.2,856,14724,0.17,2.22,0.00,0.000,6,0.126,0.044,2903,1731,1409
$GC,15066,1.16,300.2,33.4,7.9,917,15072,0.10,0.00,0.00,0.000,6,0.077,0.000,2956,1731,1409
$FREEZE,6.83,-1.082,-1.815
$FREEZE,6.00,-1.083,-1.814
$FREEZE,5.32,-1.083,-1.813
$FREEZE,4.40,-1.122,-1.814
$FREEZE,3.80,-1.096,-1.812
$FREEZE,3.20,-1.104,-1.812
$FREEZE,2.40,-1.107,-1.811
$STATE,15347,end climb,SURFACE_DEPTH_REACHED
$STATE,15348,begin surface coast
$FREEZE,1.81,-1.118,-1.811
$FREEZE,1.75,-1.132,-1.810
$FREEZE,1.73,-1.146,-1.809
$FREEZE,1.79,-1.145,-1.809
$FINISH,1.8,1.026538
$STATE,15374,end surface coast,CONTROL_FINISHED_OK
$STATE,15374,begin surface
$SM_CCo,15462,0.00,0.000,0,0,1407,304.91
$SM_GC,1.97,7.15,0.00,0.00,0.054,0.000,0.000,337,2242,1407,-10.67,0.34,304.91
$RAFOS_CLK,627
$RAFOS,4,1231865059,16.750000,16.738611,60,58,56,56,56,51,217,133,156,199,114,177
$RAFOS,3,1231864453,16.583334,16.570278,67,61,60,59,56,52,206,150,189,137,218,178
$RAFOS,2,1231863858,16.416666,16.405001,59,58,58,57,56,54,184,199,217,145,154,166
$RAFOS,1,1231863258,16.250000,16.238333,60,59,52,51,51,51,180,150,208,193,109,222
$RAFOS,0,1231862661,16.083334,16.072500,61,59,57,54,54,49,215,198,132,171,231,184
$RAFOS,3,1231850044,12.583333,12.567778,68,67,61,55,51,46,190,210,221,114,153,135
$RAFOS_FIX,6617.756348,-5909.147949,080109,000040,2,99,0.64
$IRIDIUM_FIX,6527.51,-5744.63,090498,121241
$TT8_MAMPS,0.026078
$HUMID,1804
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,16.10
$XPDR_PINGS,256
$24V_AH,22.0,101.639
$10V_AH,10.4,45.055
$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,23.225,108.125,396.775,0.000,0.000,49.648,66.829,536.295,64.000,0.000,0.000,29.851,1761.029,11136.956,560.813,1811.226,1320.412,0.000,1497.017,0.000,1774.707,1800.000,0.532,0.000
$DEVICE_MAMPS,194.818,67.496,1125.956,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,675.681,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31540,971
$CAP_FILE_SIZE,138692,0
$CFSIZE,260165632,210976768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.8
$GPS,130109,171945,6555.089,-5746.888,25,1.3,33,-36.3