version: 66.04
glider: 108
mission: 11
dive: 702
start: 1 20 109 19 33 13
data:
$ID,108
$MISSION,11
$DIVE,702
$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,32
$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
$GPS1,162618,6623.215,-5723.298,0,3085.3,0,-36.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.54
$_SM_ANGLEo,-4.0
$GPS2,162618,6623.215,-5723.298,0,3085.3,0,-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,55.8,77967,-13.0,-7.021
$D_GRID,560
$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,-146.0,0.0,0.0,0,57,0.00,0.00,-36.75,0.000,6,0.000,0.000,2694,336,3247
$GC,62,-0.99,-146.0,3.0,-4.3,7,68,0.60,0.77,0.00,0.000,4,0.047,0.044,2445,834,3249
$GC,93,-1.05,-146.0,5.7,-7.1,12,100,0.00,2.20,0.00,0.000,6,0.000,0.054,2434,2234,3250
$GC,441,-0.77,-146.0,45.2,-11.9,73,447,0.25,0.00,0.00,0.000,6,0.139,0.000,2512,2234,3250
$GC,788,-0.77,-146.0,73.9,-8.4,134,794,0.00,2.30,0.00,0.000,4,0.000,0.054,2513,815,3250
$GC,846,-0.77,-146.0,79.1,-8.9,144,853,0.00,2.33,0.00,0.000,6,0.000,0.055,2505,2237,3250
$GC,1201,-0.77,-146.0,108.5,-7.9,193,1205,0.00,2.25,0.00,0.000,4,0.000,0.069,2494,3604,3249
$GC,1247,-0.77,-146.0,112.1,-7.6,195,1251,0.00,2.17,0.00,0.000,6,0.000,0.044,2495,2215,3249
$GC,1582,-0.77,-146.0,136.9,-6.6,211,1586,0.00,2.22,0.00,0.000,4,0.000,0.056,2495,823,3247
$GC,1662,-0.77,-146.0,141.9,-6.2,214,1667,0.12,2.30,0.00,0.000,6,0.127,0.057,2519,2238,3246
$GC,1980,-0.87,-146.0,157.2,-5.3,229,1985,0.12,2.33,0.00,0.000,4,0.077,0.055,2462,816,3246
$GC,2097,-0.72,-146.0,165.9,-8.0,234,2102,0.25,2.30,0.00,0.000,6,0.127,0.056,2524,2235,3246
$GC,2430,-0.86,-146.0,181.1,-4.3,250,2435,0.12,2.30,0.00,0.000,4,0.075,0.054,2465,826,3245
$GC,2505,-0.75,-146.0,186.3,-6.9,253,2510,0.22,2.28,0.00,0.000,6,0.127,0.056,2520,2233,3245
$GC,2829,-0.89,-146.0,202.8,-5.4,269,2834,0.12,2.30,0.00,0.000,4,0.077,0.054,2462,823,3245
$GC,2909,-0.76,-146.0,208.9,-7.8,272,2916,0.22,2.33,0.00,0.000,6,0.128,0.055,2516,2236,3244
$GC,3227,-0.89,-146.0,226.8,-5.2,288,3229,0.12,0.00,0.00,0.000,6,0.075,0.000,2458,2236,3245
$GC,3537,-0.82,-146.0,247.2,-6.8,303,3542,0.15,2.33,0.00,0.000,4,0.136,0.054,2500,813,3245
$GC,3594,-0.87,-146.0,250.9,-6.2,305,3601,0.00,2.33,0.00,0.000,6,0.000,0.053,2493,2233,3245
$GC,3912,-0.93,-146.0,271.4,-7.0,321,3916,0.00,2.28,0.00,0.000,4,0.000,0.053,2492,817,3245
$GC,3984,-0.93,-146.0,276.5,-7.4,324,3988,0.00,2.33,0.00,0.000,6,0.000,0.053,2483,2244,3245
$GC,4312,-0.93,-146.0,299.8,-6.8,340,4313,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2244,3245
$GC,4621,-0.93,-146.0,319.7,-6.5,355,4625,0.00,2.30,0.00,0.000,4,0.000,0.053,2482,812,3245
$GC,4785,-0.93,-146.0,330.0,-6.3,362,4789,0.00,2.30,0.00,0.000,6,0.000,0.052,2473,2242,3245
$GC,5113,-0.93,-146.0,349.4,-5.9,378,5116,0.00,2.28,0.00,0.000,4,0.000,0.051,2472,822,3246
$GC,5188,-0.87,-146.0,353.9,-6.2,381,5193,0.12,2.28,0.00,0.000,6,0.127,0.051,2497,2237,3246
$GC,5517,-0.97,-146.0,371.3,-5.2,397,5522,0.12,2.28,0.00,0.000,4,0.074,0.051,2440,812,3247
$GC,5627,-0.81,-146.0,379.0,-7.3,402,5632,0.25,2.28,0.00,0.000,6,0.124,0.050,2503,2235,3247
$GC,5955,-0.93,-146.0,395.8,-4.9,418,5957,0.10,0.00,0.00,0.000,6,0.081,0.000,2454,2235,3248
$GC,6282,-0.86,-146.0,415.9,-6.2,428,6287,0.15,2.28,0.00,0.000,4,0.136,0.048,2497,816,3249
$GC,6379,-0.92,-146.0,421.3,-5.5,430,6383,0.00,2.30,0.00,0.000,6,0.000,0.049,2489,2245,3249
$GC,6700,-0.99,-146.0,438.3,-5.4,438,6704,0.10,2.28,0.00,0.000,4,0.078,0.049,2436,817,3249
$GC,6803,-0.82,-146.0,445.3,-6.7,440,6808,0.28,2.30,0.00,0.000,6,0.123,0.048,2507,2234,3249
$GC,7118,-0.97,-146.0,459.8,-4.4,448,7120,0.15,0.00,0.00,0.000,6,0.069,0.000,2441,2234,3250
$GC,7444,-0.86,-146.0,479.1,-5.9,456,7449,0.20,2.28,0.00,0.000,4,0.135,0.048,2500,811,3250
$GC,7541,-0.93,-146.0,484.0,-4.7,458,7545,0.00,2.30,0.00,0.000,6,0.000,0.048,2492,2235,3250
$GC,7862,-1.03,-146.0,498.4,-4.4,466,7863,0.12,0.00,0.00,0.000,6,0.070,0.000,2431,2235,3251
$GC,8187,-0.89,-146.0,518.1,-6.3,474,8192,0.20,2.28,0.00,0.000,4,0.131,0.048,2490,811,3252
$GC,8262,-0.94,-146.0,522.2,-5.4,475,8266,0.00,2.30,0.00,0.000,6,0.000,0.048,2483,2236,3252
$GC,8601,-0.99,-146.0,537.8,-4.5,484,8602,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2236,3252
$GC,8927,-1.04,-146.0,553.2,-4.9,492,8931,0.10,2.22,0.00,0.000,4,0.074,0.048,2431,821,3252
$STATE,9030,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9030,begin apogee
$GC,9041,-0.31,0.0,560.4,6.9,494,9171,0.57,0.00,126.95,1.104,6,0.123,0.000,2609,1752,2650
$STATE,9172,end apogee,CONTROL_FINISHED_OK
$STATE,9172,begin climb
$GC,9177,0.99,146.0,562.8,0.0,497,9311,0.90,0.00,130.45,1.045,6,0.088,0.000,2904,1752,2055
$GC,9634,0.77,146.0,516.8,10.8,509,9639,0.20,2.28,0.00,0.000,4,0.124,0.055,2844,3161,2048
$GC,9697,0.66,146.0,510.5,9.5,510,9702,0.12,2.20,0.00,0.000,6,0.128,0.041,2817,1732,2047
$GC,10047,0.75,158.1,487.3,6.6,519,10063,0.10,2.33,10.50,0.930,4,0.074,0.053,2872,3154,2005
$GC,10093,0.55,158.1,482.8,11.1,520,10098,0.30,2.20,0.00,0.000,6,0.124,0.039,2792,1732,2004
$GC,10414,0.80,190.4,462.9,6.0,528,10450,0.20,0.00,29.52,1.016,6,0.052,0.000,2890,1732,1873
$GC,10777,0.67,190.4,421.7,11.6,537,10782,0.22,2.33,0.00,0.000,4,0.120,0.053,2817,3159,1867
$GC,10806,0.67,190.4,418.7,9.3,537,10809,0.00,2.20,0.00,0.000,6,0.000,0.040,2824,1731,1866
$GC,11125,0.76,190.4,394.5,7.5,547,11129,0.00,2.30,0.00,0.000,4,0.000,0.053,2824,3157,1866
$GC,11154,0.76,190.4,392.0,7.9,548,11158,0.00,2.20,0.00,0.000,6,0.000,0.039,2833,1725,1866
$GC,11482,0.83,190.4,364.9,8.4,564,11487,0.10,2.30,0.00,0.000,4,0.077,0.051,2888,3153,1866
$GC,11518,0.63,190.4,360.9,12.9,565,11525,0.28,2.17,0.00,0.000,6,0.122,0.039,2815,1736,1866
$GC,11836,0.78,190.4,336.7,7.2,581,11837,0.12,0.00,0.00,0.000,6,0.064,0.000,2883,1736,1865
$GC,12145,0.68,190.4,305.4,9.6,596,12150,0.20,2.30,0.00,0.000,4,0.113,0.053,2816,3153,1866
$GC,12187,0.76,190.4,302.1,7.5,598,12192,0.08,2.17,0.00,0.000,6,0.083,0.039,2873,1733,1865
$GC,12521,0.71,190.4,271.3,10.0,614,12523,0.15,0.00,0.00,0.000,6,0.114,0.000,2827,1733,1866
$GC,12831,0.85,190.4,249.2,7.2,629,12835,0.12,2.30,0.00,0.000,4,0.067,0.053,2891,3151,1866
$GC,12876,0.62,190.4,244.2,12.0,631,12881,0.30,2.17,0.00,0.000,6,0.121,0.040,2809,1740,1865
$GC,13199,1.09,190.4,221.7,7.3,647,13204,0.30,2.25,0.00,0.000,4,0.067,0.052,2928,326,1865
$GC,13281,0.90,190.4,213.7,11.3,650,13288,0.20,2.25,0.00,0.000,6,0.129,0.043,2870,1755,1866
$GC,13598,0.90,190.4,188.2,7.8,666,13602,0.00,2.25,0.00,0.000,4,0.000,0.056,2870,3160,1866
$GC,13684,0.79,190.4,180.6,9.4,669,13691,0.12,2.22,0.00,0.000,6,0.126,0.041,2842,1728,1865
$GC,14001,0.94,190.4,157.0,8.3,685,14003,0.15,0.00,0.00,0.000,6,0.062,0.000,2920,1728,1866
$GC,14310,0.84,190.4,124.8,8.7,700,14315,0.20,2.33,0.00,0.000,4,0.117,0.053,2858,3153,1866
$GC,14340,0.84,190.4,122.5,7.3,701,14344,0.00,2.20,0.00,0.000,6,0.000,0.041,2864,1735,1866
$GC,14659,0.98,190.4,98.5,7.1,719,14666,0.10,2.33,0.00,0.000,4,0.077,0.054,2923,3158,1866
$GC,14691,0.98,190.4,95.9,7.8,724,14698,0.15,2.22,0.00,0.000,6,0.134,0.041,2891,1727,1866
$GC,15039,1.03,190.4,74.0,7.1,785,15045,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1726,1866
$GC,15387,1.12,216.3,50.0,6.2,846,15411,0.12,0.00,21.90,0.832,6,0.068,0.000,2954,1726,1768
$GC,15753,0.97,216.3,15.5,9.7,910,15759,0.20,0.00,0.00,0.000,6,0.127,0.000,2889,1726,1763
$FREEZE,6.88,-1.811,-1.810
$STATE,15853,end climb,FINISH_DEPTH_REACHED
$STATE,15854,begin subsurface finish
$FINISH1,6.9,1.026513,56
$GC,15865,0.07,55.8,6.9,-6.2,928,15890,0.57,2.33,-19.38,0.000,4,0.104,0.072,2692,338,2426
$FINISH2,5.4
$STATE,15891,end subsurface finish,CONTROL_FINISHED_OK
$STATE,15891,begin surface
$RAFOS_CLK,649
$RAFOS,4,1232484259,20.750000,20.738611,74,59,57,57,56,52,211,153,193,137,220,168
$RAFOS,3,1232483653,20.583334,20.570278,61,59,54,51,51,50,215,189,147,179,228,110
$RAFOS,2,1232483050,20.416666,20.402779,61,60,60,56,56,54,178,136,201,187,211,118
$RAFOS,1,1232482443,20.250000,20.234167,61,53,51,50,50,50,215,166,137,123,152,226
$RAFOS,0,1232481844,20.083334,20.067778,64,57,57,55,52,52,216,183,170,127,157,136
$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,1825
$INTERNAL_PRESSURE,9.95155
$TCM_TEMP,15.20
$XPDR_PINGS,156
$24V_AH,22.1,106.414
$10V_AH,10.4,47.555
$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,10.325,127.200,319.325,0.000,0.000,0.000,0.000,0.000,39.000,0.000,0.000,0.000,1720.474,11589.660,452.193,1813.611,368.315,0.000,1401.698,0.000,1803.334,1800.000,0.532,0.000
$DEVICE_MAMPS,138.827,72.098,1104.480,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,650.090,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31519,932
$CAP_FILE_SIZE,127793,0
$CFSIZE,260165632,208551936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.3
$GPS,200109,162618,6623.215,-5723.298,0,3085.3,0,-36.7