version: 66.04
glider: 108
mission: 11
dive: 509
start: 12 25 108 15 25 16
data:
$ID,108
$MISSION,11
$DIVE,509
$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,-2
$USE_ICE,2
$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,80
$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,-126385.23
$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,26
$R_STBD_OVSHOOT,18
$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
$GPS1,122306,6634.878,-5850.443,0,3081.3,0,-37.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-20.7
$GPS2,122306,6634.878,-5850.443,0,3081.3,0,-37.3
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,15000.000
$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,316.4,83502,-13.0,-7.021
$D_GRID,731
$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,16,-0.99,-146.0,0.0,0.0,0,91,0.00,0.00,-72.68,0.000,2,0.000,0.000,334,2230,3136
$GC,96,-0.99,-146.0,3.0,-1.1,13,115,9.02,2.28,-3.45,0.000,4,0.250,0.091,2451,3607,3249
$GC,243,-0.74,-146.0,25.6,-14.1,38,250,0.25,2.22,0.00,0.000,6,0.149,0.055,2523,2210,3252
$GC,589,-0.74,-146.0,54.2,-7.8,99,595,0.00,2.33,0.00,0.000,4,0.000,0.075,2515,3606,3253
$GC,670,-0.80,-146.0,61.1,-8.5,113,677,0.00,2.20,0.00,0.000,6,0.000,0.053,2515,2217,3253
$GC,1016,-0.80,-146.0,88.9,-8.1,174,1022,0.00,2.25,0.00,0.000,4,0.000,0.065,2515,814,3253
$GC,1169,-0.80,-146.0,101.4,-8.2,198,1175,0.00,2.35,0.00,0.000,6,0.000,0.064,2505,2242,3253
$GC,1485,-0.80,-146.0,124.4,-6.9,214,1489,0.00,2.22,0.00,0.000,4,0.000,0.078,2494,3598,3252
$GC,1542,-0.80,-146.0,128.6,-7.2,216,1546,0.00,2.17,0.00,0.000,6,0.000,0.053,2494,2223,3252
$GC,1864,-0.80,-146.0,153.2,-7.9,232,1868,0.00,2.25,0.00,0.000,4,0.000,0.066,2494,821,3253
$GC,2090,-0.74,-146.0,172.4,-8.0,242,2095,0.12,2.33,0.00,0.000,6,0.139,0.064,2517,2234,3253
$GC,2421,-0.83,-146.0,192.4,-5.6,258,2424,0.00,2.22,0.00,0.000,4,0.000,0.077,2509,3593,3253
$GC,2478,-0.95,-146.0,196.3,-6.4,260,2482,0.12,2.17,0.00,0.000,6,0.085,0.051,2455,2218,3253
$GC,2800,-0.81,-146.0,222.2,-8.0,276,2805,0.17,2.25,0.00,0.000,4,0.142,0.064,2510,822,3253
$GC,2962,-0.86,-146.0,233.6,-6.9,283,2966,0.00,2.33,0.00,0.000,6,0.000,0.064,2503,2234,3252
$GC,3279,-0.91,-146.0,254.9,-6.7,298,3283,0.00,2.22,0.00,0.000,4,0.000,0.077,2492,3598,3252
$GC,3398,-0.97,-146.0,263.6,-7.2,303,3402,0.10,2.17,0.00,0.000,6,0.093,0.052,2449,2225,3252
$GC,3726,-0.84,-146.0,289.5,-7.5,319,3730,0.17,2.28,0.00,0.000,4,0.143,0.065,2500,818,3252
$GC,3881,-0.84,-146.0,298.6,-5.8,326,3885,0.00,2.33,0.00,0.000,6,0.000,0.064,2492,2232,3252
$GC,4209,-0.84,-146.0,315.3,-5.0,342,4213,0.00,2.25,0.00,0.000,4,0.000,0.076,2482,3604,3252
$GC,4323,-0.84,-146.0,321.8,-5.9,347,4326,0.00,2.17,0.00,0.000,6,0.000,0.051,2482,2223,3251
$GC,4656,-0.84,-146.0,339.9,-5.8,363,4660,0.00,2.25,0.00,0.000,4,0.000,0.064,2482,818,3252
$GC,4713,-0.84,-146.0,343.5,-6.6,365,4717,0.10,2.33,0.00,0.000,6,0.143,0.062,2497,2235,3252
$GC,5029,-0.92,-146.0,360.4,-5.3,380,5031,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2235,3252
$GC,5341,-1.00,-146.0,375.9,-4.8,395,5343,0.12,0.00,0.00,0.000,6,0.085,0.000,2446,2235,3253
$GC,5648,-0.89,-146.0,396.4,-6.8,410,5653,0.15,2.25,0.00,0.000,4,0.152,0.075,2478,3601,3253
$GC,5755,-0.89,-146.0,403.2,-6.1,414,5759,0.00,2.17,0.00,0.000,6,0.000,0.049,2478,2216,3253
$GC,6104,-0.89,-146.0,422.1,-5.3,423,6108,0.00,2.22,0.00,0.000,4,0.000,0.061,2478,814,3254
$GC,6245,-0.89,-146.0,430.8,-6.6,426,6249,0.00,2.33,0.00,0.000,6,0.000,0.061,2468,2237,3254
$GC,6570,-0.89,-146.0,450.7,-6.2,434,6574,0.00,2.22,0.00,0.000,4,0.000,0.073,2458,3602,3254
$GC,6683,-0.89,-146.0,458.5,-7.2,436,6687,0.12,2.17,0.00,0.000,6,0.146,0.048,2490,2211,3254
$GC,7032,-0.95,-146.0,477.9,-5.5,445,7035,0.00,2.22,0.00,0.000,4,0.000,0.061,2490,819,3255
$GC,7106,-0.95,-146.0,482.2,-5.7,446,7110,0.00,2.33,0.00,0.000,6,0.000,0.060,2483,2242,3255
$GC,7449,-0.95,-146.0,500.0,-5.0,455,7450,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2242,3255
$GC,7774,-0.95,-146.0,516.2,-5.0,463,7778,0.00,2.33,0.00,0.000,4,0.000,0.061,2483,815,3255
$GC,7859,-0.95,-146.0,520.8,-5.4,464,7865,0.00,2.33,0.00,0.000,6,0.000,0.059,2473,2236,3256
$GC,8191,-0.95,-146.0,538.3,-5.2,473,8195,0.00,2.22,0.00,0.000,4,0.000,0.072,2462,3605,3256
$GC,8304,-0.95,-146.0,544.9,-6.4,475,8308,0.00,2.17,0.00,0.000,6,0.000,0.048,2462,2214,3256
$GC,8653,-0.95,-146.0,563.6,-5.3,484,8654,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2214,3256
$GC,8977,-0.95,-146.0,580.9,-5.2,492,8978,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2214,3256
$GC,9302,-0.95,-146.0,596.6,-4.7,500,9303,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2214,3257
$GC,9627,-0.95,-146.0,611.6,-4.8,508,9631,0.00,2.22,0.00,0.000,4,0.000,0.060,2462,812,3257
$GC,9695,-0.88,-146.0,615.6,-6.1,509,9700,0.15,2.33,0.00,0.000,6,0.131,0.058,2493,2242,3257
$GC,10039,-0.99,-146.0,630.5,-4.0,518,10043,0.12,2.22,0.00,0.000,4,0.083,0.072,2431,3605,3257
$GC,10118,-0.85,-146.0,635.3,-6.8,519,10123,0.22,2.17,0.00,0.000,6,0.139,0.047,2494,2211,3257
$GC,10451,-0.96,-146.0,649.4,-3.8,527,10453,0.10,0.00,0.00,0.000,6,0.094,0.000,2451,2211,3257
$GC,10776,-0.89,-146.0,668.4,-6.2,535,10778,0.15,0.00,0.00,0.000,6,0.146,0.000,2492,2210,3257
$GC,11101,-0.98,-146.0,682.5,-4.3,543,11103,0.10,0.00,0.00,0.000,6,0.091,0.000,2450,2211,3258
$GC,11426,-0.92,-146.0,704.3,-6.3,551,11427,0.12,0.00,0.00,0.000,6,0.150,0.000,2483,2210,3257
$GC,11751,-0.99,-146.0,721.2,-5.1,559,11754,0.00,2.30,0.00,0.000,4,0.000,0.070,2475,3602,3258
$STATE,11925,end dive,NO_VERTICAL_VELOCITY
$STATE,11925,begin apogee
$GC,11936,-0.31,0.0,722.8,0.0,562,12079,0.40,0.00,135.48,1.268,6,0.082,0.000,2620,1731,2650
$STATE,12080,end apogee,CONTROL_FINISHED_OK
$STATE,12081,begin climb
$GC,12084,0.99,146.0,722.3,0.0,566,12226,0.85,0.00,137.95,1.201,6,0.095,0.000,2892,1731,2054
$GC,12536,0.78,146.0,677.3,10.9,577,12541,0.17,2.40,0.00,0.000,4,0.130,0.064,2843,3154,2045
$GC,12558,0.63,146.0,674.3,10.9,577,12563,0.15,2.30,0.00,0.000,6,0.132,0.048,2810,1732,2045
$GC,12897,0.82,211.1,655.7,4.9,586,12962,0.17,2.47,57.03,1.205,4,0.067,0.063,2885,3153,1788
$GC,12985,0.59,211.1,647.2,11.6,588,12990,0.32,2.33,0.00,0.000,6,0.133,0.048,2802,1732,1784
$GC,13305,1.05,237.8,625.1,6.2,596,13334,0.30,0.00,24.15,1.158,6,0.077,0.000,2914,1732,1680
$GC,13674,1.14,237.8,590.4,10.5,605,13677,0.00,2.28,0.00,0.000,4,0.000,0.064,2923,320,1674
$GC,13708,1.04,237.8,586.5,11.3,605,13712,0.00,2.30,0.00,0.000,6,0.000,0.051,2923,1750,1674
$GC,14046,0.79,237.8,539.6,14.0,614,14051,0.22,2.25,0.00,0.000,4,0.137,0.065,2850,3157,1672
$GC,14069,0.63,237.8,536.5,13.2,614,14074,0.15,2.25,0.00,0.000,6,0.128,0.049,2814,1726,1671
$GC,14406,0.84,244.7,512.9,6.8,623,14415,0.17,0.00,6.05,0.920,6,0.065,0.000,2895,1725,1652
$GC,14732,0.69,244.7,475.2,11.7,631,14737,0.20,2.25,0.00,0.000,4,0.128,0.061,2839,323,1651
$GC,14772,0.84,244.7,471.4,7.8,632,14776,0.00,2.28,0.00,0.000,6,0.000,0.051,2840,1749,1651
$GC,15102,0.91,244.7,444.8,8.2,640,15107,0.12,2.22,0.00,0.000,4,0.077,0.064,2899,3158,1650
$GC,15137,0.70,244.7,441.0,12.6,640,15141,0.28,2.22,0.00,0.000,6,0.131,0.049,2828,1737,1650
$GC,15469,0.86,245.6,415.9,7.0,648,15471,0.15,0.00,0.00,0.000,6,0.069,0.000,2897,1737,1650
$GC,15776,0.73,245.6,381.9,11.2,659,15781,0.20,2.28,0.00,0.000,4,0.127,0.063,2841,324,1650
$GC,15794,0.73,245.6,380.1,10.9,660,15797,0.00,2.28,0.00,0.000,6,0.000,0.051,2841,1750,1650
$GC,16129,0.85,245.6,354.6,7.6,676,16133,0.08,2.25,0.00,0.000,4,0.094,0.064,2886,3161,1650
$GC,16170,0.67,245.6,350.4,11.2,678,16175,0.25,2.25,0.00,0.000,6,0.127,0.049,2823,1726,1649
$GC,16499,1.07,245.6,327.1,7.8,694,16503,0.25,2.33,0.00,0.000,4,0.082,0.062,2917,3159,1648
$GC,16539,1.07,245.6,322.9,9.8,696,16543,0.00,2.22,0.00,0.000,6,0.000,0.049,2926,1736,1649
$GC,16873,0.86,245.6,282.6,11.6,712,16877,0.20,2.28,0.00,0.000,4,0.138,0.062,2871,326,1649
$GC,16923,0.95,245.6,278.3,7.2,714,16927,0.00,2.28,0.00,0.000,6,0.000,0.051,2871,1749,1649
$GC,17240,0.95,245.6,253.7,8.0,729,17244,0.00,2.25,0.00,0.000,4,0.000,0.066,2871,3159,1649
$GC,17265,0.95,245.6,251.6,8.3,730,17269,0.00,2.25,0.00,0.000,6,0.000,0.050,2882,1727,1649
$GC,17597,0.95,245.6,221.3,8.8,746,17598,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1726,1648
$GC,17907,0.95,245.6,196.4,7.6,761,17911,0.00,2.33,0.00,0.000,4,0.000,0.066,2881,3154,1649
$GC,17935,0.95,245.6,193.8,7.6,762,17939,0.00,2.25,0.00,0.000,6,0.000,0.050,2891,1725,1649
$GC,18262,0.95,245.6,166.3,8.7,778,18263,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1725,1649
$GC,18572,0.95,245.6,141.2,7.5,793,18573,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1725,1649
$GC,18881,1.03,269.6,119.8,6.3,808,18907,0.00,0.00,24.00,0.943,6,0.000,0.000,2891,1725,1550
$GC,19212,1.13,269.6,97.6,7.3,827,19219,0.12,2.35,0.00,0.000,4,0.079,0.067,2947,3153,1544
$GC,19238,1.13,269.6,95.1,8.1,831,19245,0.12,2.25,0.00,0.000,6,0.148,0.053,2924,1737,1544
$GC,19584,1.13,269.6,63.5,8.7,892,19589,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,1737,1543
$GC,19928,1.13,269.6,34.8,8.7,953,19934,0.00,2.30,0.00,0.000,4,0.000,0.068,2933,327,1542
$GC,19947,1.13,269.6,33.3,7.9,956,19954,0.00,2.30,0.00,0.000,6,0.000,0.055,2933,1750,1542
$FREEZE,6.92,-1.798,-1.794
$STATE,20250,end climb,FINISH_DEPTH_REACHED
$STATE,20250,begin subsurface finish
$FINISH1,6.9,1.026286,67
$GC,20259,0.08,67.0,6.9,-9.4,1010,20295,0.73,2.33,-27.20,0.000,4,0.117,0.084,2687,3161,2381
$FINISH2,5.4
$STATE,20295,end subsurface finish,CONTROL_FINISHED_OK
$STATE,20296,begin surface
$RAFOS_CLK,934
$RAFOS,4,1230237860,20.750000,20.738890,61,58,53,52,52,52,218,115,180,169,125,149
$RAFOS,3,1230237242,20.583334,20.567223,139,63,56,55,55,55,602,209,190,200,173,226
$RAFOS,2,1230236644,20.416666,20.401112,58,56,56,52,52,51,188,197,804,207,174,227
$RAFOS,1,1230236042,20.250000,20.233889,131,61,61,56,56,52,666,214,177,163,196,122
$RAFOS,0,1230235460,20.083334,20.072222,91,58,58,57,54,52,631,210,196,136,220,111
$RAFOS,4,1230223454,16.750000,16.737223,93,69,62,59,54,52,756,162,223,198,181,400
$RAFOS,3,1230222859,16.583334,16.571945,162,62,61,57,56,54,530,182,216,198,147,158
$RAFOS,2,1230222252,16.416666,16.403334,62,53,53,52,52,50,223,193,150,212,176,135
$RAFOS,1,1230221642,16.250000,16.233889,155,56,56,55,51,51,665,216,146,172,238,161
$RAFOS,0,1230221047,16.083334,16.068611,91,65,64,62,60,58,714,163,186,209,219,200
$RAFOS_FIX,6633.020996,-5858.604004,251208,161640,4,125,0.47
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.026845
$HUMID,1826
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,15.00
$XPDR_PINGS,170
$24V_AH,21.5,82.676
$10V_AH,10.4,38.159
$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,17.075,157.050,384.650,0.000,0.000,99.181,85.082,0.000,42.500,0.000,0.000,185.635,1962.649,15524.643,538.517,2301.485,961.572,0.000,1679.921,0.000,2101.828,3600.000,0.530,0.000
$DEVICE_MAMPS,250.042,90.506,1267.851,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,711.659,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34703,1016
$CAP_FILE_SIZE,155940,0
$CFSIZE,260165632,218095616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.0
$GPS,251208,162640,6633.021,-5858.604,0,4125.2,0,-37.3