version: 66.04
glider: 108
mission: 11
dive: 705
start: 1 21 109 9 24 17
data:
$ID,108
$MISSION,11
$DIVE,705
$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,33
$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,4.43
$_SM_ANGLEo,-3.5
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-0.99,-146.0,0.0,0.0,0,24,0.00,0.00,-5.40,0.000,2,0.000,0.000,2690,333,2574
$GC,29,-0.99,-146.0,3.6,-0.0,1,64,0.60,0.77,-28.23,0.000,4,0.054,0.091,2446,821,3248
$GC,271,-0.70,-146.0,28.2,-12.9,43,278,0.32,2.28,0.00,0.000,6,0.140,0.058,2528,2236,3252
$GC,620,-0.76,-146.0,53.0,-6.5,104,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2236,3252
$GC,966,-0.82,-146.0,77.1,-6.4,165,973,0.10,2.33,0.00,0.000,4,0.087,0.056,2482,811,3251
$GC,1027,-0.68,-146.0,82.4,-9.1,175,1034,0.22,2.33,0.00,0.000,6,0.134,0.057,2536,2242,3251
$GC,1370,-0.79,-146.0,103.7,-5.9,227,1375,0.10,2.33,0.00,0.000,4,0.081,0.058,2489,817,3250
$GC,1423,-0.69,-146.0,107.8,-8.1,229,1428,0.20,2.33,0.00,0.000,6,0.137,0.058,2534,2239,3250
$GC,1746,-0.82,-146.0,127.0,-6.5,245,1750,0.12,2.33,0.00,0.000,4,0.073,0.058,2477,813,3250
$GC,1809,-0.71,-146.0,132.7,-9.5,247,1816,0.22,2.38,0.00,0.000,6,0.132,0.058,2531,2244,3249
$GC,2128,-0.84,-146.0,155.4,-6.9,263,2130,0.12,0.00,0.00,0.000,6,0.074,0.000,2475,2244,3249
$GC,2436,-0.84,-146.0,180.1,-8.3,278,2440,0.10,2.35,0.00,0.000,4,0.145,0.059,2500,816,3248
$GC,2554,-0.84,-146.0,189.3,-7.4,283,2558,0.00,2.33,0.00,0.000,6,0.000,0.058,2493,2236,3248
$GC,2876,-0.84,-146.0,211.5,-6.4,299,2877,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2236,3247
$GC,3188,-0.84,-146.0,229.7,-6.2,314,3192,0.00,2.33,0.00,0.000,4,0.000,0.058,2493,815,3246
$GC,3273,-0.84,-146.0,235.3,-6.4,317,3279,0.00,2.35,0.00,0.000,6,0.000,0.058,2483,2235,3246
$GC,3590,-0.84,-146.0,256.5,-6.8,333,3594,0.00,2.30,0.00,0.000,4,0.000,0.057,2483,818,3246
$GC,3670,-0.84,-146.0,261.9,-6.5,336,3675,0.10,2.35,0.00,0.000,6,0.135,0.057,2499,2242,3246
$GC,3988,-0.92,-146.0,280.1,-5.8,351,3992,0.00,2.30,0.00,0.000,4,0.000,0.057,2500,814,3246
$GC,4091,-0.92,-146.0,286.5,-6.4,355,4095,0.00,2.35,0.00,0.000,6,0.000,0.054,2492,2244,3246
$GC,4414,-0.97,-146.0,305.6,-5.7,371,4416,0.10,0.00,0.00,0.000,6,0.081,0.000,2440,2244,3247
$GC,4724,-0.86,-146.0,327.8,-7.2,386,4729,0.20,2.22,0.00,0.000,4,0.135,0.065,2495,3597,3247
$GC,4794,-0.99,-146.0,332.1,-5.8,389,4798,0.12,2.15,0.00,0.000,6,0.074,0.041,2439,2208,3248
$GC,5122,-0.87,-146.0,355.6,-7.1,405,5126,0.17,2.20,0.00,0.000,4,0.133,0.053,2494,820,3248
$GC,5308,-0.87,-146.0,365.7,-5.3,413,5312,0.00,2.33,0.00,0.000,6,0.000,0.054,2487,2243,3249
$GC,5642,-0.87,-146.0,382.3,-4.6,429,5646,0.00,2.30,0.00,0.000,4,0.000,0.054,2487,817,3250
$GC,5706,-0.87,-146.0,385.3,-4.7,431,5712,0.00,2.33,0.00,0.000,6,0.000,0.052,2477,2244,3251
$GC,6023,-0.87,-146.0,400.8,-4.8,447,6027,0.00,2.30,0.00,0.000,4,0.000,0.053,2477,814,3251
$GC,6098,-0.87,-146.0,404.6,-4.8,448,6103,0.10,2.33,0.00,0.000,6,0.133,0.051,2494,2244,3251
$GC,6437,-0.96,-146.0,418.6,-3.9,457,6439,0.10,0.00,0.00,0.000,6,0.083,0.000,2448,2244,3252
$GC,6761,-0.88,-146.0,435.4,-5.2,465,6766,0.15,2.30,0.00,0.000,4,0.140,0.053,2489,823,3252
$GC,6841,-0.88,-146.0,438.8,-4.4,466,6847,0.00,2.30,0.00,0.000,6,0.000,0.052,2481,2236,3252
$GC,7175,-0.88,-146.0,452.3,-4.2,475,7176,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2236,3253
$GC,7499,-0.88,-146.0,467.7,-4.8,483,7502,0.00,2.28,0.00,0.000,4,0.000,0.052,2482,817,3253
$GC,7618,-0.88,-146.0,474.1,-5.5,485,7622,0.00,2.30,0.00,0.000,6,0.000,0.052,2472,2231,3253
$GC,7963,-0.88,-146.0,491.0,-4.9,494,7964,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2231,3253
$GC,8287,-0.88,-146.0,507.6,-5.2,502,8291,0.00,2.28,0.00,0.000,4,0.000,0.051,2472,820,3253
$GC,8389,-0.88,-146.0,513.7,-5.9,504,8394,0.10,2.28,0.00,0.000,6,0.133,0.051,2488,2238,3254
$GC,8711,-0.96,-146.0,531.3,-5.6,512,8712,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2238,3254
$GC,9035,-1.03,-146.0,549.4,-5.5,520,9040,0.12,2.30,0.00,0.000,4,0.077,0.051,2433,821,3254
$GC,9137,-0.86,-146.0,556.6,-7.4,522,9142,0.25,2.28,0.00,0.000,6,0.125,0.052,2496,2236,3254
$STATE,9198,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9198,begin apogee
$GC,9208,-0.31,0.0,560.1,5.2,524,9339,0.38,0.00,128.20,1.136,6,0.108,0.000,2619,1740,2650
$STATE,9340,end apogee,CONTROL_FINISHED_OK
$STATE,9340,begin climb
$GC,9344,0.99,146.0,562.0,0.0,527,9480,0.82,0.00,131.95,1.068,6,0.087,0.000,2894,1740,2054
$GC,9797,0.83,146.0,522.0,9.6,538,9802,0.15,2.35,0.00,0.000,4,0.126,0.058,2850,3161,2047
$GC,9865,0.69,146.0,515.8,8.6,539,9870,0.12,2.28,0.00,0.000,6,0.132,0.044,2823,1725,2046
$GC,10207,0.82,168.7,494.5,6.3,548,10232,0.12,2.38,19.10,1.035,4,0.070,0.058,2885,3147,1962
$GC,10252,0.61,168.7,490.1,10.8,549,10257,0.30,2.22,0.00,0.000,6,0.126,0.043,2807,1734,1960
$GC,10579,0.86,219.2,471.3,5.4,557,10627,0.20,0.00,44.97,1.063,6,0.054,0.000,2902,1734,1756
$GC,10943,0.71,219.2,433.5,10.7,566,10948,0.22,2.33,0.00,0.000,4,0.123,0.058,2828,3158,1749
$GC,10989,0.71,219.2,429.1,8.4,567,10993,0.00,2.22,0.00,0.000,6,0.000,0.044,2836,1737,1747
$GC,11315,0.79,219.2,404.4,7.7,575,11319,0.00,2.30,0.00,0.000,4,0.000,0.058,2836,3162,1746
$GC,11349,0.79,219.2,401.3,8.6,575,11353,0.00,2.25,0.00,0.000,6,0.000,0.044,2845,1726,1746
$GC,11671,0.84,219.2,376.2,7.6,590,11675,0.00,2.33,0.00,0.000,4,0.000,0.057,2845,3160,1746
$GC,11700,0.84,219.2,373.7,8.1,591,11704,0.00,2.22,0.00,0.000,6,0.000,0.042,2855,1733,1746
$GC,12029,0.84,219.2,345.4,8.7,607,12030,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1732,1745
$GC,12338,0.89,219.2,319.5,8.2,622,12341,0.00,2.33,0.00,0.000,4,0.000,0.058,2856,3159,1745
$GC,12378,0.85,219.2,315.8,9.0,623,12385,0.00,2.25,0.00,0.000,6,0.000,0.044,2865,1726,1745
$GC,12696,0.85,219.2,291.3,7.2,639,12700,0.00,2.33,0.00,0.000,4,0.000,0.057,2865,3156,1745
$GC,12736,0.77,219.2,287.9,8.3,640,12743,0.12,2.22,0.00,0.000,6,0.130,0.044,2839,1738,1745
$GC,13056,1.03,293.5,272.0,4.6,656,13125,0.20,0.00,66.18,0.972,6,0.056,0.000,2931,1738,1453
$GC,13423,0.90,293.5,235.0,10.6,674,13427,0.20,2.33,0.00,0.000,4,0.126,0.060,2867,3160,1443
$GC,13452,0.90,293.5,232.3,8.5,675,13456,0.00,2.25,0.00,0.000,6,0.000,0.046,2874,1736,1441
$GC,13776,0.98,293.5,208.7,7.4,691,13777,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1736,1440
$GC,14085,1.07,293.5,184.4,7.6,706,14086,0.12,0.00,0.00,0.000,6,0.073,0.000,2935,1736,1439
$GC,14394,0.97,293.5,153.2,9.7,721,14399,0.17,2.35,0.00,0.000,4,0.125,0.061,2883,3153,1438
$GC,14429,0.98,297.1,150.4,6.9,722,14435,0.00,2.25,0.00,0.000,6,0.000,0.047,2889,1731,1437
$GC,14747,1.08,307.9,131.4,6.7,738,14768,0.08,2.35,11.40,0.858,4,0.094,0.062,2946,330,1394
$GC,14787,1.02,307.9,127.4,10.7,739,14794,0.17,2.28,0.00,0.000,6,0.125,0.049,2894,1752,1394
$GC,15106,1.13,307.9,97.0,9.5,758,15113,0.12,2.28,0.00,0.000,4,0.069,0.064,2956,3157,1391
$GC,15166,0.91,307.9,89.4,13.8,768,15173,0.30,2.28,0.00,0.000,6,0.127,0.048,2876,1734,1391
$GC,15514,1.59,307.9,61.5,9.4,829,15521,0.43,2.33,0.00,0.000,4,0.080,0.062,3033,327,1389
$GC,15559,1.65,307.9,56.4,11.3,836,15565,0.00,2.28,0.00,0.000,6,0.000,0.051,3033,1738,1389
$FREEZE,6.69,-1.759,-1.814
$STATE,15852,end climb,FINISH_DEPTH_REACHED
$STATE,15852,begin subsurface finish
$FINISH1,6.7,1.026564,53
$GC,15863,0.07,53.3,6.7,-18.4,888,15912,1.10,2.33,-40.85,0.000,4,0.134,0.080,2683,3158,2434
$FINISH2,3.2
$STATE,15913,end subsurface finish,CONTROL_FINISHED_OK
$STATE,15913,begin surface
$RAFOS_CLK,679
$RAFOS,4,1232541860,12.750000,12.738889,59,58,55,51,50,48,155,206,101,131,233,985
$RAFOS,3,1232541256,12.583333,12.571111,61,59,57,54,52,48,161,217,177,121,140,150
$RAFOS,2,1232540673,12.416667,12.409166,107,66,65,63,62,59,577,220,195,120,206,152
$RAFOS,1,1232540056,12.250000,12.237778,67,61,58,55,55,52,804,190,208,224,173,156
$RAFOS,0,1232539446,12.083333,12.068334,64,63,60,52,51,50,220,207,159,168,182,120
$RAFOS_FIX,6630.663086,-5709.862305,210109,121220,2,87,0.24
$IRIDIUM_FIX,6548.42,-5714.92,160498,050508
$TT8_MAMPS,0.026845
$HUMID,1834
$INTERNAL_PRESSURE,9.94179
$TCM_TEMP,15.20
$XPDR_PINGS,205
$24V_AH,21.8,106.802
$10V_AH,10.4,47.736
$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,9.000,130.200,401.800,0.000,0.000,0.000,0.000,0.000,51.250,0.000,0.000,0.000,1680.648,11644.951,529.309,1765.991,355.427,0.000,1475.116,0.000,1748.486,1800.000,0.532,0.000
$DEVICE_MAMPS,144.963,90.506,1135.927,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,625.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31538,896
$CAP_FILE_SIZE,123160,0
$CFSIZE,260165632,208371712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.0
$GPS,210109,122120,6630.663,-5709.862,0,2087.0,0,-36.7