version: 66.04
glider: 108
mission: 11
dive: 510
start: 12 25 108 21 5 56
data:
$ID,108
$MISSION,11
$DIVE,510
$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,29
$R_STBD_OVSHOOT,26
$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
$GPS1,162640,6633.021,-5858.604,0,4125.2,0,-37.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.20
$_SM_ANGLEo,-2.4
$GPS2,162640,6633.021,-5858.604,0,4125.2,0,-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,319.6,78262,-13.0,-7.021
$D_GRID,768
$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,-146.0,0.0,0.0,0,56,0.00,0.00,-38.33,0.000,2,0.000,0.000,2687,3161,3193
$GC,60,-0.99,-146.0,3.2,-0.9,7,73,0.62,3.88,-2.25,0.000,4,0.080,0.064,2459,812,3248
$GC,176,-0.74,-146.0,15.1,-10.7,27,183,0.25,2.33,0.00,0.000,6,0.149,0.063,2517,2235,3251
$GC,522,-0.74,-146.0,44.4,-8.3,88,528,0.00,2.22,0.00,0.000,4,0.000,0.077,2509,3595,3252
$GC,682,-0.74,-146.0,59.0,-9.4,116,688,0.00,2.17,0.00,0.000,6,0.000,0.050,2509,2211,3252
$GC,1027,-0.74,-146.0,88.0,-7.9,177,1033,0.00,2.30,0.00,0.000,4,0.000,0.075,2499,3593,3251
$GC,1169,-0.74,-146.0,100.0,-8.8,202,1173,0.00,2.15,0.00,0.000,6,0.000,0.051,2499,2230,3251
$GC,1496,-0.74,-146.0,125.2,-7.4,218,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2230,3251
$GC,1806,-0.74,-146.0,148.4,-7.2,233,1810,0.00,2.30,0.00,0.000,4,0.000,0.077,2489,3604,3251
$GC,1862,-0.74,-146.0,152.9,-7.8,235,1867,0.12,2.17,0.00,0.000,6,0.150,0.052,2521,2226,3251
$GC,2184,-0.84,-146.0,173.7,-5.8,251,2189,0.10,2.28,0.00,0.000,4,0.096,0.064,2479,811,3250
$GC,2302,-0.75,-146.0,182.8,-8.1,256,2307,0.17,2.35,0.00,0.000,6,0.140,0.063,2516,2243,3250
$GC,2619,-0.84,-146.0,201.4,-5.9,271,2620,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2243,3250
$GC,2929,-0.94,-146.0,219.7,-6.0,286,2931,0.15,0.00,0.00,0.000,6,0.083,0.000,2455,2243,3250
$GC,3237,-0.82,-146.0,244.0,-7.5,301,3242,0.17,2.33,0.00,0.000,4,0.154,0.064,2512,819,3249
$GC,3323,-0.87,-146.0,249.2,-6.0,304,3329,0.00,2.33,0.00,0.000,6,0.000,0.065,2504,2231,3249
$GC,3639,-0.94,-146.0,266.6,-5.4,320,3644,0.10,2.25,0.00,0.000,4,0.092,0.076,2447,3600,3249
$GC,3712,-0.82,-146.0,272.1,-8.0,323,3717,0.20,2.17,0.00,0.000,6,0.150,0.052,2501,2222,3249
$GC,4030,-0.90,-146.0,290.8,-6.0,338,4031,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2221,3249
$GC,4338,-0.97,-146.0,309.8,-6.0,353,4343,0.12,2.25,0.00,0.000,4,0.090,0.063,2449,821,3249
$GC,4487,-0.81,-146.0,321.7,-8.1,359,4494,0.22,2.33,0.00,0.000,6,0.138,0.064,2502,2233,3249
$GC,4804,-0.90,-146.0,338.3,-4.8,375,4805,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2233,3249
$GC,5114,-0.99,-146.0,354.3,-5.2,390,5116,0.15,0.00,0.00,0.000,6,0.084,0.000,2442,2233,3249
$GC,5424,-0.87,-146.0,377.1,-7.8,405,5429,0.17,2.25,0.00,0.000,4,0.153,0.076,2482,3598,3250
$GC,5520,-0.91,-146.0,383.7,-6.7,409,5524,0.00,2.17,0.00,0.000,6,0.000,0.049,2482,2213,3250
$GC,5842,-0.91,-146.0,403.3,-6.2,424,5846,0.00,2.22,0.00,0.000,4,0.000,0.061,2482,815,3250
$GC,5949,-0.91,-146.0,410.5,-6.5,426,5953,0.00,2.33,0.00,0.000,6,0.000,0.061,2472,2236,3250
$GC,6298,-0.91,-146.0,430.6,-5.6,435,6302,0.00,2.22,0.00,0.000,4,0.000,0.074,2461,3604,3250
$GC,6389,-0.91,-146.0,436.3,-6.6,437,6392,0.00,2.17,0.00,0.000,6,0.000,0.049,2461,2215,3251
$GC,6719,-0.91,-146.0,456.3,-6.0,445,6723,0.00,2.20,0.00,0.000,4,0.000,0.061,2461,819,3251
$GC,6919,-0.82,-146.0,469.5,-7.1,449,6924,0.17,2.33,0.00,0.000,6,0.130,0.061,2500,2240,3251
$GC,7268,-0.93,-146.0,487.4,-5.1,458,7272,0.00,2.22,0.00,0.000,4,0.000,0.074,2492,3608,3252
$GC,7326,-1.04,-146.0,490.6,-5.9,459,7331,0.12,2.15,0.00,0.000,6,0.082,0.048,2437,2221,3252
$GC,7645,-0.90,-146.0,512.7,-7.0,467,7650,0.17,2.25,0.00,0.000,4,0.142,0.058,2487,815,3252
$GC,7795,-0.90,-146.0,521.6,-5.9,470,7799,0.00,2.33,0.00,0.000,6,0.000,0.060,2479,2242,3253
$GC,8108,-0.90,-146.0,539.4,-5.6,478,8112,0.00,2.22,0.00,0.000,4,0.000,0.074,2469,3605,3252
$GC,8176,-0.90,-146.0,543.8,-6.5,479,8180,0.00,2.15,0.00,0.000,6,0.000,0.046,2469,2225,3253
$GC,8526,-0.90,-146.0,564.8,-5.9,488,8529,0.00,2.22,0.00,0.000,4,0.000,0.060,2469,827,3253
$GC,8639,-0.85,-146.0,571.9,-5.9,490,8644,0.15,2.33,0.00,0.000,6,0.133,0.060,2500,2246,3253
$GC,8982,-0.97,-146.0,588.4,-4.8,499,8987,0.12,2.22,0.00,0.000,4,0.086,0.072,2438,3604,3253
$GC,9056,-0.87,-146.0,593.2,-7.1,500,9061,0.20,2.15,0.00,0.000,6,0.145,0.046,2493,2225,3253
$GC,9388,-0.97,-146.0,609.4,-4.8,508,9393,0.10,2.22,0.00,0.000,4,0.092,0.058,2450,825,3253
$GC,9544,-0.86,-146.0,619.3,-6.9,511,9548,0.20,2.30,0.00,0.000,6,0.133,0.060,2496,2242,3253
$GC,9892,-0.98,-146.0,637.2,-5.2,520,9897,0.12,2.22,0.00,0.000,4,0.084,0.071,2434,3604,3254
$GC,9949,-0.87,-146.0,640.8,-6.5,521,9954,0.20,2.15,0.00,0.000,6,0.144,0.046,2489,2221,3254
$GC,10298,-0.96,-146.0,658.5,-4.8,530,10299,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2221,3254
$GC,10623,-1.07,-146.0,677.8,-6.2,538,10628,0.15,2.22,0.00,0.000,4,0.080,0.058,2429,819,3254
$GC,10737,-0.89,-146.0,686.4,-8.9,540,10742,0.22,2.33,0.00,0.000,6,0.134,0.059,2484,2242,3254
$GC,11081,-0.96,-146.0,704.4,-4.7,549,11082,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2243,3254
$GC,11407,-1.03,-146.0,722.2,-5.6,557,11409,0.12,0.00,0.00,0.000,6,0.084,0.000,2434,2242,3254
$GC,11730,-1.03,-146.0,743.4,-6.3,565,11734,0.10,2.30,0.00,0.000,4,0.136,0.058,2461,815,3255
$STATE,11963,end dive,NO_VERTICAL_VELOCITY
$STATE,11963,begin apogee
$GC,11973,-0.31,0.0,743.3,0.0,570,12109,0.45,0.00,133.05,1.294,6,0.100,0.000,2616,1755,2650
$STATE,12110,end apogee,CONTROL_FINISHED_OK
$STATE,12110,begin climb
$GC,12113,0.99,146.0,742.7,0.0,573,12264,0.85,2.67,138.12,1.215,4,0.088,0.060,2903,352,2053
$GC,12283,0.78,146.0,727.8,11.4,577,12288,0.22,2.50,0.00,0.000,6,0.133,0.050,2845,1748,2052
$GC,12608,0.78,146.0,702.0,7.7,585,12612,0.00,2.38,0.00,0.000,4,0.000,0.061,2852,346,2046
$GC,12715,0.78,146.0,692.8,9.2,587,12720,0.00,2.30,0.00,0.000,6,0.000,0.051,2853,1755,2046
$GC,13064,0.72,146.0,664.3,8.3,596,13068,0.00,2.25,0.00,0.000,4,0.000,0.065,2852,3154,2045
$GC,13104,0.55,146.0,660.6,9.8,596,13111,0.22,2.22,0.00,0.000,6,0.133,0.048,2797,1745,2044
$GC,13437,0.77,188.5,641.2,5.7,605,13477,0.17,0.00,37.33,1.216,6,0.064,0.000,2876,1745,1881
$GC,13801,0.64,188.5,604.0,10.4,614,13803,0.20,0.00,0.00,0.000,6,0.124,0.000,2816,1745,1874
$GC,14126,0.81,206.0,582.7,6.5,622,14148,0.15,2.35,15.68,1.136,4,0.067,0.064,2884,3151,1810
$GC,14161,0.67,206.0,579.6,10.1,622,14168,0.25,2.28,0.00,0.000,6,0.130,0.049,2821,1727,1807
$GC,14493,0.81,214.9,556.6,6.7,631,14504,0.12,0.00,8.80,1.038,6,0.071,0.000,2881,1728,1774
$GC,14818,0.69,214.9,522.1,10.9,639,14820,0.20,0.00,0.00,0.000,6,0.123,0.000,2820,1727,1772
$GC,15143,0.86,228.9,500.0,6.6,647,15167,0.15,0.00,16.27,0.986,6,0.068,0.000,2889,1727,1716
$GC,15468,0.73,228.9,464.9,11.1,655,15469,0.17,0.00,0.00,0.000,6,0.126,0.000,2836,1728,1714
$GC,15793,0.81,228.9,438.3,8.2,663,15795,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1727,1712
$GC,16117,0.91,228.9,412.4,7.9,671,16122,0.15,2.35,0.00,0.000,4,0.071,0.063,2901,3151,1712
$GC,16153,0.68,228.9,408.5,12.3,671,16158,0.30,2.25,0.00,0.000,6,0.133,0.048,2822,1728,1711
$GC,16468,0.88,237.4,386.0,6.7,683,16479,0.15,0.00,8.65,0.963,6,0.069,0.000,2893,1728,1682
$GC,16776,0.75,237.4,352.4,11.2,698,16780,0.17,2.28,0.00,0.000,4,0.126,0.062,2850,325,1680
$GC,16799,0.75,237.4,350.2,9.1,699,16803,0.00,2.28,0.00,0.000,6,0.000,0.051,2850,1745,1680
$GC,17133,0.82,237.4,325.5,7.1,715,17136,0.00,2.28,0.00,0.000,4,0.000,0.065,2850,3164,1680
$GC,17166,0.82,237.4,322.7,8.9,716,17170,0.00,2.25,0.00,0.000,6,0.000,0.049,2858,1737,1679
$GC,17488,0.88,237.4,297.4,8.1,732,17489,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1738,1679
$GC,17798,0.94,237.4,273.9,7.4,747,17803,0.10,2.33,0.00,0.000,4,0.086,0.064,2905,3157,1679
$GC,17816,0.94,237.4,272.2,8.0,748,17820,0.12,2.25,0.00,0.000,6,0.147,0.049,2882,1728,1679
$GC,18148,0.94,237.4,241.7,9.0,764,18152,0.00,2.25,0.00,0.000,4,0.000,0.064,2890,330,1679
$GC,18165,0.94,237.4,240.1,8.8,764,18171,0.00,2.25,0.00,0.000,6,0.000,0.051,2890,1741,1679
$GC,18481,0.94,237.4,211.4,9.0,780,18485,0.00,2.25,0.00,0.000,4,0.000,0.066,2890,3151,1679
$GC,18517,0.83,237.4,208.0,10.1,781,18522,0.15,2.22,0.00,0.000,6,0.133,0.049,2858,1738,1679
$GC,18840,1.00,253.3,185.6,6.5,797,18859,0.15,0.00,15.60,0.945,6,0.071,0.000,2926,1738,1617
$GC,19168,0.90,253.3,154.0,9.4,813,19170,0.17,0.00,0.00,0.000,6,0.130,0.000,2874,1738,1614
$GC,19478,1.01,259.3,133.3,6.8,828,19487,0.10,0.00,6.55,0.815,6,0.084,0.000,2922,1738,1592
$GC,19786,0.94,259.3,103.4,9.3,843,19791,0.15,2.38,0.00,0.000,4,0.130,0.069,2878,3157,1590
$GC,19820,0.94,259.3,100.4,7.8,844,19827,0.00,2.28,0.00,0.000,6,0.000,0.052,2883,1733,1590
$GC,20167,1.10,281.3,76.3,6.3,905,20192,0.12,0.00,21.45,0.913,6,0.077,0.000,2942,1732,1503
$GC,20532,1.04,281.3,43.1,8.9,969,20539,0.15,2.33,0.00,0.000,4,0.125,0.067,2906,323,1498
$GC,20581,1.17,281.3,39.5,7.3,977,20588,0.10,2.35,0.00,0.000,6,0.082,0.054,2955,1741,1497
$FREEZE,6.80,-1.813,-1.793
$STATE,20913,end climb,FINISH_DEPTH_REACHED
$STATE,20913,begin subsurface finish
$FINISH1,6.8,1.026263,68
$GC,20923,0.08,68.1,6.8,-10.0,1036,20959,0.80,2.35,-29.05,0.000,4,0.123,0.084,2688,3152,2375
$FINISH2,5.2
$STATE,20960,end subsurface finish,CONTROL_FINISHED_OK
$STATE,20960,begin surface
$RAFOS_CLK,931
$RAFOS,4,1230252246,0.750000,0.735000,81,64,64,60,55,51,805,212,195,170,126,148
$RAFOS,3,1230251679,0.583333,0.577500,83,69,60,59,55,52,406,204,127,220,194,167
$RAFOS,2,1230251041,0.416667,0.400278,60,60,55,52,51,50,153,190,215,139,122,204
$RAFOS,1,1230250476,0.250000,0.243333,146,65,58,57,56,53,486,203,222,161,124,185
$RAFOS,0,1230249844,0.083333,0.067778,154,68,54,51,51,51,712,136,202,220,116,1605
$RAFOS_FIX,6631.695312,-5905.767090,261208,000040,4,116,0.20
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.026845
$HUMID,1819
$INTERNAL_PRESSURE,9.92226
$TCM_TEMP,15.10
$XPDR_PINGS,86
$24V_AH,21.4,82.814
$10V_AH,10.5,38.229
$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,10.825,153.100,401.500,0.000,0.000,0.000,0.000,0.000,21.500,0.000,0.000,0.000,2004.864,15950.967,520.844,2185.616,361.689,0.000,1688.362,0.000,2170.660,1800.000,0.529,0.000
$DEVICE_MAMPS,154.167,83.603,1293.929,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,730.126,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34684,1042
$CAP_FILE_SIZE,156183,0
$CFSIZE,260165632,218025984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.2
$GPS,261208,002640,6631.695,-5905.767,0,4116.0,0,-37.3