version: 66.04
glider: 108
mission: 11
dive: 517
start: 12 27 108 15 17 24
data:
$ID,108
$MISSION,11
$DIVE,517
$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,28
$R_STBD_OVSHOOT,22
$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
$GPS1,122016,6631.508,-5932.201,0,3088.3,0,-37.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.39
$_SM_ANGLEo,-7.4
$GPS2,122016,6631.508,-5932.201,0,3088.3,0,-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,327.8,55384,-13.0,-7.021
$D_GRID,771
$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,-146.0,0.0,0.0,0,23,0.00,0.00,-5.38,0.000,2,0.000,0.000,2694,327,2511
$GC,27,-0.99,-146.0,4.7,-0.0,1,68,0.62,5.47,-29.27,0.000,4,0.061,0.070,2423,3603,3249
$GC,324,-0.66,-146.0,44.5,-16.2,53,331,0.38,2.17,0.00,0.000,6,0.158,0.051,2538,2220,3253
$GC,670,-0.72,-146.0,71.5,-7.5,114,676,0.00,2.33,0.00,0.000,4,0.000,0.076,2530,3607,3254
$GC,830,-0.79,-146.0,85.1,-8.7,142,836,0.00,2.17,0.00,0.000,6,0.000,0.051,2530,2230,3253
$GC,1166,-0.85,-146.0,113.3,-7.8,180,1170,0.12,2.25,0.00,0.000,4,0.087,0.064,2476,821,3253
$GC,1308,-0.69,-146.0,127.0,-10.7,186,1313,0.22,2.33,0.00,0.000,6,0.141,0.064,2529,2235,3253
$GC,1631,-0.77,-146.0,153.9,-7.1,202,1635,0.00,2.25,0.00,0.000,4,0.000,0.077,2521,3601,3253
$GC,1694,-0.87,-146.0,158.5,-6.9,204,1701,0.12,2.17,0.00,0.000,6,0.085,0.051,2465,2228,3253
$GC,2010,-0.72,-146.0,188.2,-9.9,220,2012,0.20,0.00,0.00,0.000,6,0.143,0.000,2522,2227,3253
$GC,2321,-0.81,-146.0,205.9,-5.7,235,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2227,3253
$GC,2631,-0.92,-146.0,225.1,-6.2,250,2633,0.15,0.00,0.00,0.000,6,0.081,0.000,2461,2228,3252
$GC,2939,-0.80,-146.0,252.4,-9.6,265,2943,0.17,2.30,0.00,0.000,4,0.154,0.065,2514,820,3252
$GC,3011,-0.80,-146.0,258.5,-8.1,268,3015,0.00,2.35,0.00,0.000,6,0.000,0.065,2506,2242,3252
$GC,3333,-0.85,-146.0,280.2,-5.8,284,3337,0.00,2.25,0.00,0.000,4,0.000,0.079,2496,3601,3252
$GC,3425,-0.91,-146.0,285.9,-6.3,288,3429,0.00,2.20,0.00,0.000,6,0.000,0.051,2496,2212,3252
$GC,3758,-0.91,-146.0,305.8,-6.7,304,3762,0.00,2.22,0.00,0.000,4,0.000,0.065,2496,824,3252
$GC,3820,-0.91,-146.0,310.6,-7.6,306,3827,0.00,2.35,0.00,0.000,6,0.000,0.065,2486,2243,3252
$GC,4137,-0.91,-146.0,333.2,-6.4,322,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2243,3252
$GC,4448,-0.91,-146.0,350.6,-6.1,337,4451,0.00,2.25,0.00,0.000,4,0.000,0.078,2475,3607,3252
$GC,4527,-0.91,-146.0,356.2,-7.0,340,4531,0.00,2.20,0.00,0.000,6,0.000,0.052,2475,2218,3252
$GC,4849,-0.91,-146.0,375.9,-5.8,356,4853,0.00,2.25,0.00,0.000,4,0.000,0.064,2475,813,3252
$GC,4934,-0.84,-146.0,381.1,-6.3,359,4941,0.12,2.35,0.00,0.000,6,0.139,0.064,2499,2239,3252
$GC,5252,-0.92,-146.0,397.9,-5.6,375,5253,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2239,3252
$GC,5578,-1.00,-146.0,416.4,-5.7,384,5579,0.15,0.00,0.00,0.000,6,0.081,0.000,2438,2239,3252
$GC,5902,-0.86,-146.0,441.9,-8.0,392,5906,0.20,2.22,0.00,0.000,4,0.151,0.076,2490,3595,3252
$GC,5980,-0.96,-146.0,447.3,-6.9,393,5984,0.00,2.15,0.00,0.000,6,0.000,0.048,2490,2221,3253
$GC,6319,-1.02,-146.0,466.3,-5.4,402,6323,0.12,2.22,0.00,0.000,4,0.087,0.060,2437,826,3253
$GC,6381,-0.84,-146.0,470.8,-7.6,403,6386,0.25,2.33,0.00,0.000,6,0.133,0.061,2500,2246,3253
$GC,6730,-0.95,-146.0,488.9,-5.1,412,6734,0.10,2.22,0.00,0.000,4,0.094,0.074,2448,3603,3253
$GC,6874,-0.89,-146.0,498.6,-6.9,415,6878,0.15,2.17,0.00,0.000,6,0.149,0.049,2488,2217,3253
$GC,7193,-0.95,-146.0,514.3,-4.8,423,7197,0.00,2.22,0.00,0.000,4,0.000,0.061,2487,816,3254
$GC,7323,-0.95,-146.0,521.3,-5.5,425,7329,0.00,2.33,0.00,0.000,6,0.000,0.061,2480,2236,3254
$GC,7655,-0.95,-146.0,539.6,-5.8,434,7659,0.00,2.22,0.00,0.000,4,0.000,0.074,2469,3598,3254
$GC,7734,-0.95,-146.0,544.8,-6.6,435,7738,0.00,2.15,0.00,0.000,6,0.000,0.048,2469,2223,3255
$GC,8072,-0.95,-146.0,566.1,-6.3,444,8076,0.00,2.22,0.00,0.000,4,0.000,0.061,2469,820,3255
$GC,8202,-0.89,-146.0,575.1,-6.9,446,8209,0.10,2.33,0.00,0.000,6,0.137,0.060,2485,2245,3255
$GC,8535,-0.96,-146.0,595.0,-6.0,455,8536,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2245,3255
$GC,8860,-1.03,-146.0,614.5,-6.1,463,8862,0.12,0.00,0.00,0.000,6,0.086,0.000,2436,2245,3256
$GC,9184,-0.91,-146.0,639.3,-7.7,471,9186,0.17,0.00,0.00,0.000,6,0.150,0.000,2484,2245,3255
$GC,9509,-0.97,-146.0,658.0,-5.6,479,9511,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2245,3256
$GC,9835,-1.03,-146.0,675.5,-5.3,487,9837,0.12,0.00,0.00,0.000,6,0.085,0.000,2434,2245,3256
$GC,10159,-0.90,-146.0,697.1,-6.7,495,10164,0.17,2.22,0.00,0.000,4,0.150,0.073,2474,3601,3257
$GC,10239,-0.96,-146.0,701.9,-6.4,496,10243,0.00,2.15,0.00,0.000,6,0.000,0.047,2474,2222,3256
$GC,10577,-0.96,-146.0,719.9,-5.6,505,10578,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2221,3256
$STATE,10898,end dive,NO_VERTICAL_VELOCITY
$STATE,10898,begin apogee
$GC,10906,-0.31,0.0,724.1,0.0,513,11042,0.45,0.00,132.80,1.284,6,0.108,0.000,2621,1734,2651
$STATE,11043,end apogee,CONTROL_FINISHED_OK
$STATE,11043,begin climb
$GC,11046,0.99,146.0,723.4,0.0,516,11193,0.85,2.65,137.52,1.205,4,0.085,0.063,2908,335,2054
$GC,11231,0.78,146.0,706.0,11.2,520,11236,0.25,2.50,0.00,0.000,6,0.137,0.050,2844,1742,2053
$GC,11579,0.78,146.0,678.8,7.6,529,11583,0.00,2.30,0.00,0.000,4,0.000,0.064,2844,3152,2048
$GC,11630,0.63,146.0,674.3,9.2,530,11635,0.15,2.28,0.00,0.000,6,0.133,0.049,2811,1731,2047
$GC,11950,0.77,173.4,654.3,6.1,538,11980,0.12,2.45,23.65,1.185,4,0.074,0.064,2868,3159,1943
$GC,12010,0.57,173.4,648.9,10.0,539,12015,0.28,2.30,0.00,0.000,6,0.135,0.049,2800,1731,1942
$GC,12359,0.79,207.7,627.6,5.9,548,12396,0.17,2.40,31.27,1.193,4,0.063,0.064,2878,3159,1803
$GC,12408,0.64,207.7,623.0,9.6,548,12413,0.25,2.30,0.00,0.000,6,0.130,0.049,2817,1734,1801
$GC,12722,0.81,213.0,600.8,6.8,556,12730,0.15,0.00,5.07,0.873,6,0.067,0.000,2884,1734,1781
$GC,13046,0.65,213.0,567.9,10.3,564,13048,0.22,0.00,0.00,0.000,6,0.123,0.000,2817,1734,1782
$GC,13372,0.83,213.0,545.8,7.1,572,13377,0.15,2.35,0.00,0.000,4,0.068,0.064,2887,3152,1780
$GC,13388,0.83,213.0,544.3,7.6,572,13393,0.15,2.22,0.00,0.000,6,0.145,0.049,2856,1736,1780
$GC,13736,0.83,213.0,514.2,8.3,581,13737,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1736,1780
$GC,14061,0.83,213.0,488.6,8.0,589,14065,0.00,2.28,0.00,0.000,4,0.000,0.064,2864,323,1779
$GC,14089,0.83,213.0,486.3,7.4,589,14093,0.00,2.30,0.00,0.000,6,0.000,0.051,2864,1749,1780
$GC,14432,0.83,213.0,456.1,9.0,598,14436,0.00,2.25,0.00,0.000,4,0.000,0.066,2864,3151,1780
$GC,14483,0.67,213.0,450.7,10.7,599,14487,0.17,2.22,0.00,0.000,6,0.130,0.049,2822,1733,1778
$GC,14803,0.87,238.8,429.4,6.2,607,14829,0.15,0.00,24.40,1.096,6,0.067,0.000,2892,1733,1676
$GC,15127,0.75,238.8,400.4,8.8,615,15131,0.17,2.35,0.00,0.000,4,0.127,0.064,2840,3152,1674
$GC,15143,0.67,238.8,398.9,8.6,615,15147,0.00,2.25,0.00,0.000,6,0.000,0.048,2848,1729,1673
$GC,15479,0.76,238.8,375.2,7.9,631,15483,0.00,2.38,0.00,0.000,4,0.000,0.063,2847,3161,1672
$GC,15496,0.83,238.8,373.4,8.4,631,15502,0.00,2.25,0.00,0.000,6,0.000,0.048,2856,1737,1672
$GC,15813,0.89,238.8,345.8,8.2,647,15816,0.00,2.33,0.00,0.000,4,0.000,0.064,2856,3148,1672
$GC,15841,0.89,238.8,343.1,8.9,648,15845,0.00,2.22,0.00,0.000,6,0.000,0.049,2865,1730,1671
$GC,16169,0.95,238.8,314.7,8.7,664,16174,0.08,2.35,0.00,0.000,4,0.099,0.064,2906,3161,1671
$GC,16197,0.81,238.8,311.7,10.8,665,16202,0.22,2.25,0.00,0.000,6,0.135,0.050,2851,1734,1671
$GC,16516,0.96,242.8,290.0,6.9,680,16522,0.12,0.00,3.88,0.675,6,0.074,0.000,2911,1733,1660
$GC,16823,0.87,242.8,258.3,10.0,695,16827,0.15,2.28,0.00,0.000,4,0.130,0.064,2875,332,1661
$GC,16835,0.81,242.8,257.1,9.8,695,16841,0.00,2.28,0.00,0.000,6,0.000,0.051,2875,1738,1662
$GC,17151,0.87,242.8,231.5,7.6,711,17155,0.00,2.28,0.00,0.000,4,0.000,0.067,2875,3153,1662
$GC,17203,0.82,242.8,226.9,9.5,713,17208,0.12,2.25,0.00,0.000,6,0.130,0.051,2849,1729,1661
$GC,17526,1.09,302.6,207.1,5.1,729,17590,0.20,2.42,55.62,0.996,4,0.066,0.067,2941,3161,1415
$GC,17608,0.90,302.6,199.5,10.3,732,17615,0.28,2.30,0.00,0.000,6,0.137,0.051,2873,1742,1414
$GC,17925,1.09,302.6,176.9,7.6,748,17927,0.15,0.00,0.00,0.000,6,0.073,0.000,2941,1742,1407
$GC,18235,0.98,302.6,145.4,9.1,763,18240,0.17,2.30,0.00,0.000,4,0.131,0.066,2899,329,1406
$GC,18257,0.98,302.6,143.4,7.8,764,18261,0.00,2.28,0.00,0.000,6,0.000,0.054,2898,1747,1405
$GC,18585,1.10,302.6,118.1,8.6,780,18588,0.00,2.28,0.00,0.000,4,0.000,0.071,2899,3155,1403
$GC,18602,1.20,302.6,116.5,8.2,780,18609,0.10,2.25,0.00,0.000,6,0.085,0.053,2954,1736,1402
$GC,18932,1.13,302.6,83.1,9.3,817,18938,0.12,2.30,0.00,0.000,4,0.137,0.067,2927,324,1402
$GC,18968,1.13,302.6,79.7,9.1,823,18974,0.00,2.30,0.00,0.000,6,0.000,0.056,2927,1744,1401
$GC,19313,1.13,302.6,52.0,7.5,884,19319,0.00,2.30,0.00,0.000,4,0.000,0.072,2927,3157,1401
$GC,19348,1.13,302.6,48.9,8.5,890,19355,0.00,2.28,0.00,0.000,6,0.000,0.055,2937,1732,1401
$GC,19693,1.13,302.6,19.6,9.0,951,19699,0.00,2.30,0.00,0.000,4,0.000,0.071,2948,327,1400
$GC,19706,1.13,302.6,18.3,9.3,953,19713,0.10,2.30,0.00,0.000,6,0.131,0.055,2921,1750,1400
$FREEZE,6.65,-1.793,-1.785
$STATE,19867,end climb,FINISH_DEPTH_REACHED
$STATE,19868,begin subsurface finish
$FINISH1,6.6,1.026162,73
$GC,19876,0.09,73.0,6.6,-7.2,981,19911,0.68,0.00,-31.88,0.000,6,0.116,0.000,2698,1751,2355
$FINISH2,5.2
$STATE,19912,end subsurface finish,CONTROL_FINISHED_OK
$STATE,19912,begin surface
$RAFOS_CLK,895
$RAFOS,3,1230410044,20.583334,20.567778,59,58,56,56,53,51,203,137,157,220,189,175
$RAFOS,2,1230409459,20.416666,20.405277,63,61,57,56,52,49,220,164,203,190,181,152
$RAFOS,1,1230408861,20.250000,20.239166,79,58,56,54,54,51,630,224,120,137,180,203
$RAFOS,0,1230408243,20.083334,20.067499,128,67,55,54,51,48,653,202,144,184,211,156
$RAFOS,4,1230396250,16.750000,16.736111,72,60,59,57,56,52,830,118,202,188,170,220
$RAFOS,3,1230395642,16.583334,16.567223,88,61,55,55,52,51,649,183,220,197,166,139
$RAFOS,2,1230395053,16.416666,16.403610,60,60,59,54,49,48,155,198,208,177,133,96
$RAFOS,1,1230394442,16.250000,16.233889,65,63,58,57,57,57,127,205,156,181,214,716
$RAFOS,0,1230393855,16.083334,16.070833,136,67,63,55,55,52,582,215,200,160,143,179
$RAFOS_FIX,6630.986328,-5937.380859,271208,161652,3,99,0.26
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.029146
$HUMID,1834
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,14.90
$XPDR_PINGS,196
$24V_AH,21.4,83.937
$10V_AH,10.4,38.718
$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,10.000,163.625,414.225,0.000,0.000,0.000,0.000,0.000,49.000,0.000,0.000,0.000,1892.397,15247.539,528.565,1978.241,338.346,0.000,1617.300,0.000,1957.377,3600.000,0.528,0.000
$DEVICE_MAMPS,158.002,79.001,1283.958,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,691.612,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31625,987
$CAP_FILE_SIZE,149510,0
$CFSIZE,260165632,217550848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.6
$GPS,271208,162952,6630.986,-5937.381,0,3098.7,0,-37.3