version: 66.04
glider: 108
mission: 11
dive: 701
start: 1 20 109 14 58 29
data:
$ID,108
$MISSION,11
$DIVE,701
$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,36
$R_STBD_OVSHOOT,32
$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
$GPS1,123554,6622.331,-5724.604,0,3080.7,0,-36.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.77
$_SM_ANGLEo,-3.9
$GPS2,123554,6622.331,-5724.604,0,3080.7,0,-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,56.0,79823,-13.0,-7.021
$D_GRID,551
$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,-146.0,0.0,0.0,0,57,0.00,0.00,-34.90,0.000,6,0.000,0.000,2690,1730,3247
$GC,62,-0.99,-146.0,2.8,0.5,7,69,0.62,1.42,0.00,0.000,4,0.065,0.054,2452,819,3248
$GC,172,-0.73,-146.0,14.3,-12.4,26,180,0.28,2.30,0.00,0.000,6,0.138,0.052,2520,2237,3250
$GC,521,-0.73,-146.0,41.8,-6.9,87,526,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2237,3250
$GC,867,-0.73,-146.0,69.1,-7.6,148,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2237,3249
$GC,1214,-0.78,-146.0,93.2,-6.5,209,1220,0.00,2.22,0.00,0.000,4,0.000,0.068,2512,3598,3248
$GC,1257,-0.83,-146.0,96.1,-7.0,216,1263,0.00,2.15,0.00,0.000,6,0.000,0.044,2511,2219,3248
$GC,1587,-0.83,-146.0,118.4,-6.7,239,1591,0.00,2.20,0.00,0.000,4,0.000,0.055,2512,828,3248
$GC,1819,-0.83,-146.0,133.6,-7.0,249,1823,0.00,2.30,0.00,0.000,6,0.000,0.057,2502,2230,3247
$GC,2149,-0.83,-146.0,152.5,-5.3,265,2152,0.00,2.28,0.00,0.000,4,0.000,0.056,2502,821,3245
$GC,2251,-0.83,-146.0,158.3,-5.8,269,2255,0.00,2.33,0.00,0.000,6,0.000,0.057,2492,2239,3245
$GC,2574,-0.83,-146.0,177.1,-6.1,285,2575,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2239,3245
$GC,2883,-0.83,-146.0,198.5,-7.4,300,2887,0.00,2.30,0.00,0.000,4,0.000,0.055,2492,814,3244
$GC,2963,-0.83,-146.0,204.5,-7.7,303,2967,0.00,2.33,0.00,0.000,6,0.000,0.054,2482,2245,3244
$GC,3285,-0.83,-146.0,228.5,-7.2,319,3289,0.00,2.30,0.00,0.000,4,0.000,0.054,2482,819,3244
$GC,3387,-0.83,-146.0,235.9,-7.2,323,3392,0.12,2.33,0.00,0.000,6,0.132,0.055,2506,2246,3244
$GC,3705,-0.93,-146.0,250.0,-3.7,338,3707,0.12,0.00,0.00,0.000,6,0.075,0.000,2450,2246,3244
$GC,4015,-0.83,-146.0,265.5,-5.4,353,4020,0.17,2.30,0.00,0.000,4,0.136,0.053,2500,824,3244
$GC,4150,-0.88,-146.0,271.4,-4.3,359,4154,0.00,2.28,0.00,0.000,6,0.000,0.054,2493,2235,3244
$GC,4484,-0.95,-146.0,287.2,-4.9,375,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2235,3244
$GC,4793,-1.02,-146.0,302.2,-5.1,390,4798,0.12,2.28,0.00,0.000,4,0.071,0.050,2433,814,3245
$GC,4987,-0.82,-146.0,316.7,-6.7,398,4994,0.28,2.30,0.00,0.000,6,0.127,0.051,2503,2239,3245
$GC,5305,-0.93,-146.0,330.9,-4.1,414,5307,0.10,0.00,0.00,0.000,6,0.080,0.000,2456,2239,3246
$GC,5615,-0.87,-146.0,347.5,-5.4,429,5617,0.12,0.00,0.00,0.000,6,0.138,0.000,2490,2239,3247
$GC,5923,-0.94,-146.0,361.1,-4.3,444,5927,0.00,2.25,0.00,0.000,4,0.000,0.051,2489,820,3248
$GC,5998,-0.94,-146.0,364.8,-5.2,447,6002,0.00,2.28,0.00,0.000,6,0.000,0.050,2482,2240,3248
$GC,6327,-0.94,-146.0,380.3,-4.7,463,6328,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2240,3249
$GC,6637,-0.94,-146.0,394.5,-4.5,478,6640,0.00,2.25,0.00,0.000,4,0.000,0.050,2482,821,3249
$GC,6722,-0.94,-146.0,399.1,-5.2,481,6729,0.00,2.28,0.00,0.000,6,0.000,0.049,2472,2242,3249
$GC,7036,-0.94,-146.0,414.7,-4.9,490,7040,0.00,2.25,0.00,0.000,4,0.000,0.049,2472,819,3249
$GC,7122,-0.88,-146.0,419.4,-5.5,491,7128,0.10,2.28,0.00,0.000,6,0.131,0.048,2489,2235,3250
$GC,7456,-0.95,-146.0,434.6,-4.5,500,7457,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2235,3251
$GC,7780,-1.02,-146.0,448.3,-4.2,508,7784,0.12,2.25,0.00,0.000,4,0.072,0.048,2431,813,3252
$GC,7936,-0.84,-146.0,457.5,-6.6,511,7941,0.28,2.28,0.00,0.000,6,0.123,0.048,2503,2240,3252
$GC,8287,-0.97,-146.0,471.4,-3.9,520,8292,0.12,2.25,0.00,0.000,4,0.073,0.048,2444,819,3252
$GC,8395,-0.82,-146.0,477.9,-6.2,522,8400,0.25,2.25,0.00,0.000,6,0.122,0.048,2508,2231,3252
$GC,8740,-0.96,-146.0,492.4,-4.3,531,8742,0.15,0.00,0.00,0.000,6,0.067,0.000,2440,2232,3252
$GC,9064,-0.86,-146.0,512.1,-6.3,539,9069,0.20,2.25,0.00,0.000,4,0.133,0.047,2498,816,3253
$GC,9166,-0.93,-146.0,517.7,-5.8,541,9170,0.00,2.28,0.00,0.000,6,0.000,0.047,2491,2242,3253
$GC,9482,-1.00,-146.0,533.4,-5.0,549,9484,0.10,0.00,0.00,0.000,6,0.076,0.000,2437,2242,3253
$STATE,9802,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9802,begin apogee
$GC,9812,-0.31,0.0,553.3,6.3,557,9942,0.57,0.00,127.18,1.101,6,0.121,0.000,2616,1735,2650
$STATE,9943,end apogee,CONTROL_FINISHED_OK
$STATE,9943,begin climb
$GC,9948,0.99,146.0,554.9,0.0,560,10085,0.82,2.53,129.10,1.039,4,0.088,0.053,2893,3140,2053
$GC,10130,0.72,146.0,538.0,12.1,564,10135,0.25,2.33,0.00,0.000,6,0.123,0.038,2834,1740,2050
$GC,10445,0.72,146.0,513.6,7.5,572,10446,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1740,2047
$GC,10769,0.72,146.0,489.4,7.5,580,10773,0.00,2.30,0.00,0.000,4,0.000,0.054,2834,3159,2047
$GC,10804,0.66,146.0,486.3,8.7,580,10808,0.00,2.22,0.00,0.000,6,0.000,0.041,2842,1723,2046
$GC,11142,0.66,146.0,458.8,8.2,589,11145,0.00,2.30,0.00,0.000,4,0.000,0.054,2842,3148,2045
$GC,11183,0.54,146.0,455.1,9.5,589,11190,0.20,2.20,0.00,0.000,6,0.123,0.039,2793,1723,2045
$GC,11516,0.80,194.9,436.0,5.4,598,11560,0.20,0.00,41.55,1.025,6,0.052,0.000,2891,1722,1855
$GC,11881,0.66,194.9,398.0,10.5,607,11886,0.22,2.33,0.00,0.000,4,0.117,0.053,2816,3159,1849
$GC,11924,0.71,194.9,394.4,7.4,609,11928,0.00,2.20,0.00,0.000,6,0.000,0.040,2824,1733,1848
$GC,12258,0.82,204.8,371.8,6.7,625,12273,0.12,2.35,8.65,0.861,4,0.066,0.054,2891,3156,1814
$GC,12305,0.59,204.8,367.1,11.4,627,12310,0.32,2.20,0.00,0.000,6,0.123,0.040,2803,1731,1813
$GC,12633,0.90,261.7,348.6,5.2,643,12692,0.22,0.00,51.70,0.963,6,0.052,0.000,2912,1731,1581
$GC,13003,0.75,261.7,303.5,12.6,661,13005,0.25,0.00,0.00,0.000,6,0.119,0.000,2835,1731,1572
$GC,13312,0.88,261.7,278.7,7.7,676,13314,0.12,0.00,0.00,0.000,6,0.068,0.000,2901,1731,1570
$GC,13623,0.79,261.7,241.8,11.6,691,13627,0.17,2.30,0.00,0.000,4,0.118,0.053,2846,3152,1570
$GC,13664,0.79,261.7,237.5,9.1,693,13668,0.00,2.17,0.00,0.000,6,0.000,0.039,2854,1735,1569
$GC,14000,0.87,261.7,211.2,7.5,709,14001,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1735,1569
$GC,14308,0.99,272.0,189.9,6.7,724,14323,0.15,2.33,8.12,0.760,4,0.062,0.053,2933,3145,1541
$GC,14337,0.85,272.0,187.2,10.0,725,14342,0.28,2.17,0.00,0.000,6,0.124,0.040,2860,1739,1541
$GC,14661,0.95,272.0,162.7,7.7,741,14663,0.10,0.00,0.00,0.000,6,0.072,0.000,2919,1739,1539
$GC,14970,0.84,272.0,127.7,11.2,756,14975,0.20,2.25,0.00,0.000,4,0.117,0.054,2861,335,1539
$GC,14999,0.98,272.0,125.0,8.0,757,15003,0.10,2.20,0.00,0.000,6,0.074,0.041,2921,1745,1539
$GC,15325,0.91,272.0,93.6,9.0,781,15331,0.17,2.22,0.00,0.000,4,0.117,0.054,2871,3147,1539
$GC,15374,0.97,272.0,89.4,7.9,789,15381,0.00,2.20,0.00,0.000,6,0.000,0.041,2877,1731,1539
$GC,15722,1.17,272.0,64.5,7.8,850,15728,0.17,0.00,0.00,0.000,6,0.059,0.000,2966,1731,1538
$GC,16070,1.05,272.0,27.1,11.1,911,16077,0.20,2.33,0.00,0.000,4,0.122,0.057,2900,3149,1539
$GC,16107,1.05,272.0,23.4,9.5,917,16113,0.00,2.20,0.00,0.000,6,0.000,0.044,2907,1746,1538
$FREEZE,6.63,-1.776,-1.813
$STATE,16305,end climb,FINISH_DEPTH_REACHED
$STATE,16305,begin subsurface finish
$FINISH1,6.6,1.026556,54
$GC,16316,0.07,53.7,6.6,-7.3,952,16352,0.62,2.35,-25.80,0.000,4,0.099,0.068,2693,336,2436
$FINISH2,5.8
$STATE,16352,end subsurface finish,CONTROL_FINISHED_OK
$STATE,16352,begin surface
$RAFOS_CLK,663
$RAFOS,4,1232469851,16.750000,16.736389,62,58,54,53,51,50,200,131,181,158,172,191
$RAFOS,3,1232469242,16.583334,16.567223,91,65,63,62,55,55,828,187,196,217,138,163
$RAFOS,2,1232468644,16.416666,16.401112,99,72,65,60,56,53,776,220,202,185,171,150
$RAFOS,1,1232468050,16.250000,16.236111,66,59,57,56,54,53,832,197,128,217,150,119
$RAFOS,0,1232467457,16.083334,16.071388,58,57,52,50,50,49,193,159,210,221,279,119
$RAFOS_FIX,6623.214844,-5723.298340,200109,161618,3,85,0.14
$IRIDIUM_FIX,6548.42,-5714.92,160498,050508
$TT8_MAMPS,0.026845
$HUMID,1812
$INTERNAL_PRESSURE,9.96132
$TCM_TEMP,15.40
$XPDR_PINGS,205
$24V_AH,22.2,106.315
$10V_AH,10.4,47.497
$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,8.775,111.175,366.300,0.000,0.000,0.000,0.000,0.000,51.250,0.000,0.000,0.000,1754.092,11967.571,474.623,1850.074,368.828,0.000,1449.461,0.000,1838.462,1800.000,0.532,0.000
$DEVICE_MAMPS,138.060,68.263,1100.645,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,667.770,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31524,958
$CAP_FILE_SIZE,123310,0
$CFSIZE,260165632,208617472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.4
$GPS,200109,162618,6623.215,-5723.298,0,3085.3,0,-36.7