version: 66.04
glider: 108
mission: 11
dive: 711
start: 1 22 109 16 49 45
data:
$ID,108
$MISSION,11
$DIVE,711
$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,-136028.25
$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,27
$R_STBD_OVSHOOT,27
$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
$GPS1,122120,6630.663,-5709.862,0,2087.0,0,-36.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-2.5
$GPS2,122120,6630.663,-5709.862,0,2087.0,0,-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,51.5,61934,-13.0,-7.021
$D_GRID,663
$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,-146.0,0.0,0.0,0,68,0.00,0.00,-44.55,0.000,6,0.000,0.000,2690,3153,3248
$GC,73,-0.99,-146.0,2.3,-2.3,9,80,0.62,3.90,0.00,0.000,4,0.071,0.051,2456,803,3249
$GC,256,-0.75,-146.0,19.5,-10.6,40,263,0.25,2.38,0.00,0.000,6,0.133,0.059,2517,2240,3251
$GC,603,-0.75,-146.0,49.1,-7.5,101,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2240,3251
$GC,949,-0.75,-146.0,75.0,-7.9,162,956,0.00,2.40,0.00,0.000,4,0.000,0.059,2517,804,3251
$GC,1020,-0.75,-146.0,80.3,-7.8,174,1026,0.00,2.38,0.00,0.000,6,0.000,0.060,2509,2236,3251
$GC,1363,-0.75,-146.0,108.6,-8.0,221,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2236,3250
$GC,1674,-0.80,-146.0,127.7,-5.3,236,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2236,3250
$GC,1983,-0.85,-146.0,144.0,-5.4,251,1986,0.00,2.38,0.00,0.000,4,0.000,0.061,2509,818,3249
$GC,2097,-0.85,-146.0,150.4,-5.7,256,2101,0.00,2.35,0.00,0.000,6,0.000,0.061,2500,2233,3249
$GC,2426,-0.85,-146.0,167.7,-4.9,272,2427,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2233,3249
$GC,2734,-0.85,-146.0,188.8,-7.6,287,2738,0.00,2.35,0.00,0.000,4,0.000,0.061,2499,813,3248
$GC,2858,-0.85,-146.0,199.8,-8.9,292,2862,0.00,2.38,0.00,0.000,6,0.000,0.060,2490,2244,3248
$GC,3175,-0.85,-146.0,225.7,-7.6,307,3177,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2244,3247
$GC,3484,-0.85,-146.0,245.4,-5.8,322,3488,0.00,2.38,0.00,0.000,4,0.000,0.060,2489,810,3247
$GC,3604,-0.85,-146.0,252.3,-6.0,327,3608,0.00,2.38,0.00,0.000,6,0.000,0.059,2480,2244,3247
$GC,3922,-0.85,-146.0,266.3,-4.3,342,3923,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2244,3247
$GC,4231,-0.85,-146.0,282.1,-6.0,357,4235,0.00,2.38,0.00,0.000,4,0.000,0.058,2479,806,3248
$GC,4444,-0.80,-146.0,297.5,-8.0,366,4449,0.15,2.38,0.00,0.000,6,0.130,0.057,2510,2246,3248
$GC,4767,-0.94,-146.0,317.0,-5.7,382,4769,0.12,0.00,0.00,0.000,6,0.077,0.000,2454,2246,3248
$GC,5077,-0.88,-146.0,337.9,-6.2,397,5082,0.15,2.35,0.00,0.000,4,0.140,0.056,2497,816,3248
$GC,5202,-0.94,-146.0,344.7,-5.7,402,5206,0.00,2.35,0.00,0.000,6,0.000,0.055,2490,2241,3248
$GC,5521,-1.01,-146.0,359.2,-4.1,417,5523,0.10,0.00,0.00,0.000,6,0.081,0.000,2438,2242,3249
$GC,5829,-0.90,-146.0,377.3,-6.1,432,5834,0.17,2.38,0.00,0.000,4,0.137,0.054,2488,803,3250
$GC,5975,-0.90,-146.0,385.0,-5.4,438,5979,0.00,2.35,0.00,0.000,6,0.000,0.054,2481,2246,3250
$GC,6317,-0.90,-146.0,403.1,-5.1,454,6319,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2246,3251
$GC,6642,-0.90,-146.0,418.2,-4.6,462,6646,0.00,2.35,0.00,0.000,4,0.000,0.052,2480,804,3252
$GC,6802,-0.90,-146.0,426.5,-5.4,465,6806,0.00,2.40,0.00,0.000,6,0.000,0.052,2470,2240,3252
$GC,7145,-0.90,-146.0,443.9,-5.0,474,7147,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2240,3254
$GC,7470,-0.90,-146.0,460.3,-5.0,482,7474,0.00,2.33,0.00,0.000,4,0.000,0.051,2470,812,3254
$GC,7624,-0.90,-146.0,468.6,-5.6,485,7629,0.10,2.38,0.00,0.000,6,0.130,0.051,2487,2244,3255
$GC,7939,-0.99,-146.0,480.9,-3.8,493,7941,0.10,0.00,0.00,0.000,6,0.081,0.000,2439,2244,3255
$GC,8264,-0.89,-146.0,498.1,-5.6,501,8269,0.17,2.35,0.00,0.000,4,0.135,0.050,2490,812,3256
$GC,8400,-0.94,-146.0,504.4,-5.2,504,8404,0.00,2.38,0.00,0.000,6,0.000,0.049,2481,2245,3256
$GC,8732,-0.99,-146.0,518.7,-4.4,512,8733,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2245,3257
$GC,9057,-1.04,-146.0,533.4,-4.6,520,9062,0.10,2.33,0.00,0.000,4,0.079,0.050,2430,804,3257
$GC,9126,-0.86,-146.0,537.9,-7.0,521,9131,0.25,2.33,0.00,0.000,6,0.125,0.051,2494,2235,3257
$GC,9465,-0.96,-146.0,553.3,-4.5,530,9467,0.10,0.00,0.00,0.000,6,0.081,0.000,2446,2235,3258
$GC,9790,-0.89,-146.0,572.9,-6.2,538,9795,0.15,2.30,0.00,0.000,4,0.137,0.049,2488,807,3258
$GC,9892,-0.89,-146.0,578.7,-5.5,540,9896,0.00,2.33,0.00,0.000,6,0.000,0.051,2481,2242,3258
$GC,10208,-0.93,-146.0,594.8,-5.1,548,10209,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2242,3258
$GC,10532,-0.98,-146.0,611.2,-5.0,556,10536,0.00,2.30,0.00,0.000,4,0.000,0.051,2481,807,3258
$GC,10629,-0.98,-146.0,616.2,-5.3,558,10633,0.00,2.33,0.00,0.000,6,0.000,0.051,2470,2243,3258
$GC,10956,-1.37,-146.0,624.7,-0.1,566,10961,0.22,2.30,0.00,0.000,4,0.054,0.051,2356,811,3258
$STATE,11031,end dive,NO_VERTICAL_VELOCITY
$STATE,11031,begin apogee
$GC,11042,-0.31,0.0,624.6,0.0,567,11175,0.77,0.00,129.73,1.163,6,0.096,0.000,2613,1746,2650
$STATE,11176,end apogee,CONTROL_FINISHED_OK
$STATE,11176,begin climb
$GC,11181,0.99,146.0,624.1,0.0,571,11323,0.85,2.55,132.55,1.098,4,0.090,0.056,2892,3142,2053
$GC,11532,0.71,146.0,588.0,11.7,579,11537,0.25,2.25,0.00,0.000,6,0.127,0.043,2830,1728,2048
$GC,11858,0.71,146.0,564.1,7.1,587,11861,0.00,2.30,0.00,0.000,4,0.000,0.058,2830,3159,2047
$GC,11875,0.71,146.0,562.7,7.3,587,11879,0.00,2.22,0.00,0.000,6,0.000,0.043,2838,1727,2046
$GC,12191,0.71,146.0,539.5,7.4,595,12194,0.00,2.30,0.00,0.000,4,0.000,0.057,2838,3160,2046
$GC,12225,0.62,146.0,536.6,9.0,595,12230,0.12,2.22,0.00,0.000,6,0.133,0.043,2814,1724,2045
$GC,12558,0.75,158.5,514.8,6.6,603,12574,0.10,2.33,10.45,0.996,4,0.074,0.057,2870,3162,2003
$GC,12600,0.56,158.5,511.0,10.1,604,12605,0.28,2.22,0.00,0.000,6,0.127,0.044,2798,1729,2002
$GC,12926,0.80,201.4,491.3,5.6,612,12967,0.17,0.00,38.40,1.075,6,0.055,0.000,2886,1729,1828
$GC,13291,0.66,201.4,453.0,10.7,621,13295,0.22,2.30,0.00,0.000,4,0.119,0.057,2814,3152,1821
$GC,13326,0.66,201.4,449.8,7.5,621,13332,0.00,2.20,0.00,0.000,6,0.000,0.043,2821,1736,1820
$GC,13660,0.75,201.4,426.0,7.2,630,13664,0.08,2.28,0.00,0.000,4,0.091,0.056,2870,3152,1820
$GC,13688,0.64,201.4,423.1,10.1,630,13693,0.22,2.20,0.00,0.000,6,0.123,0.043,2814,1732,1819
$GC,14023,0.82,238.8,402.6,5.8,638,14062,0.15,0.00,33.03,1.009,6,0.059,0.000,2891,1731,1676
$GC,14371,0.70,238.8,367.5,10.6,654,14373,0.20,0.00,0.00,0.000,6,0.118,0.000,2830,1731,1670
$GC,14681,0.80,238.8,344.2,7.3,669,14685,0.10,2.28,0.00,0.000,4,0.074,0.054,2885,3149,1668
$GC,14722,0.61,238.8,339.9,11.4,671,14727,0.28,2.20,0.00,0.000,6,0.120,0.042,2812,1725,1667
$GC,15051,0.87,277.5,320.4,5.8,687,15089,0.17,0.00,34.65,0.948,6,0.058,0.000,2904,1725,1518
$GC,15399,0.76,277.5,279.9,12.0,704,15401,0.20,0.00,0.00,0.000,6,0.118,0.000,2843,1725,1513
$GC,15709,0.92,277.5,253.6,8.5,719,15713,0.12,2.30,0.00,0.000,4,0.067,0.054,2910,3161,1512
$GC,15732,0.92,277.5,251.0,10.6,720,15737,0.15,2.20,0.00,0.000,6,0.132,0.041,2877,1732,1511
$GC,16056,0.92,277.5,214.1,11.6,736,16060,0.00,2.22,0.00,0.000,4,0.000,0.056,2886,326,1511
$GC,16085,0.98,277.5,210.6,11.0,737,16089,0.00,2.22,0.00,0.000,6,0.000,0.044,2886,1747,1511
$GC,16414,0.98,277.5,179.9,8.0,753,16418,0.00,2.22,0.00,0.000,4,0.000,0.059,2886,3150,1511
$GC,16462,0.89,277.5,175.8,8.5,755,16466,0.10,2.20,0.00,0.000,6,0.133,0.042,2869,1728,1510
$GC,16796,1.02,299.2,154.9,6.3,771,16822,0.12,2.28,19.30,0.856,4,0.066,0.058,2948,334,1430
$GC,16835,0.88,299.2,151.0,11.2,772,16842,0.28,2.25,0.00,0.000,6,0.118,0.044,2865,1751,1430
$GC,17152,1.08,299.2,129.1,7.5,788,17157,0.17,2.22,0.00,0.000,4,0.060,0.058,2953,3158,1426
$GC,17200,0.80,299.2,123.4,15.0,790,17205,0.38,2.20,0.00,0.000,6,0.123,0.045,2848,1739,1426
$GC,17525,1.48,299.2,96.6,9.5,809,17531,0.43,0.00,0.00,0.000,6,0.065,0.000,3014,1739,1424
$GC,17873,1.19,299.2,50.3,14.3,870,17880,0.25,2.28,0.00,0.000,4,0.133,0.059,2945,330,1424
$GC,17932,1.19,299.2,43.9,9.2,880,17939,0.00,2.25,0.00,0.000,6,0.000,0.047,2945,1748,1424
$GC,18280,1.09,299.2,9.2,10.8,941,18287,0.12,2.25,0.00,0.000,4,0.135,0.060,2909,3152,1423
$GC,18296,1.03,299.2,7.3,11.2,943,18302,0.00,2.22,0.00,0.000,6,0.000,0.047,2916,1734,1422
$FREEZE,6.08,-1.822,-1.816
$STATE,18307,end climb,FINISH_DEPTH_REACHED
$STATE,18307,begin subsurface finish
$FINISH1,6.1,1.026599,52
$GC,18318,0.06,51.6,6.1,-10.5,945,18359,0.68,2.35,-32.65,0.000,4,0.103,0.074,2680,3147,2443
$FINISH2,4.9
$STATE,18360,end subsurface finish,CONTROL_FINISHED_OK
$STATE,18360,begin surface
$RAFOS_CLK,768
$RAFOS,4,1232657043,20.750000,20.734167,65,59,58,57,56,53,196,174,111,223,187,212
$RAFOS,3,1232656477,20.583334,20.576944,63,59,57,55,52,48,199,209,165,238,186,117
$RAFOS,2,1232655865,20.416666,20.406944,73,63,58,56,54,53,577,175,199,221,189,161
$RAFOS,1,1232655254,20.250000,20.237223,83,69,63,60,58,52,820,219,208,232,189,161
$RAFOS,0,1232654676,20.083334,20.076666,71,64,56,55,51,51,201,211,171,132,150,229
$RAFOS,4,1232642642,16.750000,16.733889,60,58,54,53,52,51,143,124,186,202,158,212
$RAFOS_FIX,6642.040527,-5658.450684,220109,202020,2,78,0.20
$IRIDIUM_FIX,6548.42,-5642.25,160498,050538
$TT8_MAMPS,0.026845
$HUMID,1809
$INTERNAL_PRESSURE,9.94179
$TCM_TEMP,15.20
$XPDR_PINGS,200
$24V_AH,21.7,107.629
$10V_AH,10.4,48.159
$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,9.750,136.850,398.100,0.000,0.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000,1794.862,13713.255,517.729,1998.061,398.990,0.000,1580.031,0.000,1975.015,1800.000,0.531,0.000
$DEVICE_MAMPS,139.594,73.632,1162.772,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,663.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31536,952
$CAP_FILE_SIZE,136825,0
$CFSIZE,260165632,207970304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.6
$GPS,220109,202120,6642.041,-5658.451,0,2078.0,0,-36.7