version: 66.04
glider: 108
mission: 11
dive: 708
start: 1 22 109 1 0 45
data:
$ID,108
$MISSION,11
$DIVE,708
$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,32
$R_STBD_OVSHOOT,28
$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,2.71
$_SM_ANGLEo,-65.8
$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,-146.0,0.0,0.0,0,82,0.00,0.00,-62.60,0.000,2,0.000,0.000,334,2247,2920
$GC,87,-0.99,-146.0,3.2,-0.8,11,113,8.80,2.40,-10.15,0.000,4,0.239,0.071,2459,810,3248
$GC,268,-0.74,-146.0,26.1,-18.1,42,276,0.25,2.35,0.00,0.000,6,0.129,0.061,2523,2235,3252
$GC,617,-0.74,-146.0,54.4,-6.5,103,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2235,3252
$GC,964,-0.78,-146.0,71.7,-6.5,164,970,0.00,2.35,0.00,0.000,4,0.000,0.058,2524,817,3252
$GC,1018,-0.78,-146.0,75.3,-6.3,173,1024,0.00,2.40,0.00,0.000,6,0.000,0.059,2516,2242,3252
$GC,1373,-0.78,-146.0,103.6,-8.0,230,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2242,3252
$GC,1684,-0.84,-146.0,127.2,-7.5,245,1686,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2242,3251
$GC,1993,-0.90,-146.0,143.5,-6.9,260,1998,0.12,2.38,0.00,0.000,4,0.080,0.060,2457,811,3251
$GC,2119,-0.71,-146.0,156.3,-10.7,265,2126,0.28,2.38,0.00,0.000,6,0.130,0.060,2526,2244,3251
$GC,2437,-0.83,-146.0,182.6,-7.4,281,2439,0.10,0.00,0.00,0.000,6,0.086,0.000,2481,2244,3251
$GC,2747,-0.83,-146.0,205.1,-6.5,296,2751,0.00,2.35,0.00,0.000,4,0.000,0.061,2481,820,3250
$GC,2850,-0.77,-146.0,212.0,-6.5,300,2855,0.17,2.38,0.00,0.000,6,0.126,0.060,2520,2233,3250
$GC,3168,-0.89,-146.0,225.4,-3.9,315,3173,0.12,2.33,0.00,0.000,4,0.077,0.058,2463,810,3250
$GC,3248,-0.78,-146.0,230.8,-7.2,318,3253,0.22,2.35,0.00,0.000,6,0.129,0.058,2516,2235,3249
$GC,3566,-0.89,-146.0,246.6,-5.1,333,3568,0.12,0.00,0.00,0.000,6,0.079,0.000,2460,2235,3250
$GC,3874,-0.81,-146.0,272.2,-8.7,348,3879,0.15,2.35,0.00,0.000,4,0.143,0.057,2504,808,3251
$GC,3965,-0.81,-146.0,278.9,-6.9,352,3969,0.00,2.38,0.00,0.000,6,0.000,0.057,2496,2245,3251
$GC,4294,-0.87,-146.0,295.6,-4.3,368,4296,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2245,3251
$GC,4603,-0.94,-146.0,304.2,-2.4,383,4607,0.00,2.33,0.00,0.000,4,0.000,0.058,2496,818,3251
$GC,4723,-0.94,-146.0,308.0,-3.8,388,4727,0.00,2.35,0.00,0.000,6,0.000,0.055,2486,2237,3251
$GC,5053,-0.94,-146.0,323.7,-5.7,404,5054,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2237,3252
$GC,5361,-0.94,-146.0,344.3,-7.0,419,5365,0.00,2.33,0.00,0.000,4,0.000,0.055,2486,806,3253
$GC,5498,-0.94,-146.0,354.8,-7.3,425,5502,0.00,2.35,0.00,0.000,6,0.000,0.054,2476,2245,3253
$GC,5834,-0.94,-146.0,378.3,-6.5,441,5835,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2245,3254
$GC,6142,-0.94,-146.0,395.7,-5.1,456,6143,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2245,3255
$GC,6449,-0.94,-146.0,409.8,-4.4,466,6453,0.00,2.33,0.00,0.000,4,0.000,0.054,2476,814,3255
$GC,6562,-0.94,-146.0,415.1,-4.6,468,6566,0.00,2.35,0.00,0.000,6,0.000,0.053,2466,2235,3255
$GC,6912,-0.94,-146.0,433.1,-5.3,477,6916,0.00,2.30,0.00,0.000,4,0.000,0.053,2466,815,3256
$GC,6998,-0.86,-146.0,438.2,-6.0,478,7005,0.15,2.35,0.00,0.000,6,0.125,0.052,2498,2243,3256
$GC,7332,-0.97,-146.0,454.2,-4.9,487,7333,0.12,0.00,0.00,0.000,6,0.076,0.000,2442,2243,3257
$GC,7657,-0.85,-146.0,475.0,-6.5,495,7662,0.20,2.33,0.00,0.000,4,0.134,0.051,2507,819,3258
$GC,7777,-0.95,-146.0,481.5,-5.0,497,7782,0.10,2.35,0.00,0.000,6,0.077,0.051,2451,2244,3258
$GC,8110,-0.88,-146.0,500.9,-5.9,505,8112,0.15,0.00,0.00,0.000,6,0.137,0.000,2493,2244,3258
$GC,8436,-0.97,-146.0,515.2,-4.3,513,8440,0.10,2.33,0.00,0.000,4,0.085,0.052,2445,806,3258
$GC,8516,-0.82,-146.0,520.1,-6.3,514,8521,0.22,2.35,0.00,0.000,6,0.126,0.051,2500,2232,3259
$GC,8855,-0.93,-146.0,534.8,-4.3,523,8860,0.10,2.28,0.00,0.000,4,0.083,0.051,2452,814,3259
$GC,8989,-0.82,-146.0,542.8,-6.1,525,8996,0.22,2.35,0.00,0.000,6,0.124,0.051,2506,2242,3259
$GC,9323,-0.96,-146.0,556.4,-3.8,534,9325,0.12,0.00,0.00,0.000,6,0.076,0.000,2449,2242,3259
$GC,9648,-0.88,-146.0,573.7,-5.5,542,9652,0.15,2.33,0.00,0.000,4,0.140,0.052,2490,819,3259
$GC,9739,-0.88,-146.0,578.1,-4.5,544,9743,0.00,2.33,0.00,0.000,6,0.000,0.051,2483,2236,3259
$GC,10072,-0.88,-146.0,594.1,-4.9,552,10076,0.00,2.33,0.00,0.000,4,0.000,0.052,2483,806,3259
$GC,10146,-0.88,-146.0,598.3,-6.2,553,10150,0.00,2.35,0.00,0.000,6,0.000,0.052,2472,2233,3259
$GC,10490,-0.88,-146.0,616.9,-5.5,562,10491,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2233,3259
$GC,10815,-0.88,-146.0,633.9,-5.3,570,10819,0.00,2.33,0.00,0.000,4,0.000,0.052,2473,806,3259
$GC,10924,-0.88,-146.0,640.2,-6.3,572,10928,0.10,2.38,0.00,0.000,6,0.133,0.052,2488,2243,3260
$GC,11273,-0.97,-146.0,657.0,-4.9,581,11278,0.00,2.33,0.00,0.000,4,0.000,0.053,2488,806,3259
$GC,11337,-0.97,-146.0,660.6,-5.6,582,11341,0.00,2.33,0.00,0.000,6,0.000,0.052,2481,2244,3259
$STATE,11399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11399,begin apogee
$GC,11410,-0.31,0.0,663.1,3.8,584,11544,0.40,0.00,131.60,1.206,6,0.085,0.000,2620,1724,2650
$STATE,11545,end apogee,CONTROL_FINISHED_OK
$STATE,11545,begin climb
$GC,11549,0.99,146.0,662.7,0.0,587,11692,0.82,2.58,135.25,1.132,4,0.082,0.058,2905,333,2054
$GC,11738,0.81,146.0,645.2,11.0,591,11743,0.20,2.47,0.00,0.000,6,0.128,0.044,2854,1742,2051
$GC,12088,0.81,146.0,617.8,7.7,600,12091,0.00,2.28,0.00,0.000,4,0.000,0.059,2854,3165,2047
$GC,12157,0.65,146.0,611.8,9.0,601,12162,0.15,2.25,0.00,0.000,6,0.127,0.044,2818,1732,2045
$GC,12507,0.77,163.7,590.1,6.5,610,12527,0.10,2.38,15.12,1.078,4,0.075,0.058,2872,3159,1982
$GC,12541,0.63,163.7,587.4,8.6,610,12548,0.22,2.25,0.00,0.000,6,0.127,0.044,2817,1737,1981
$GC,12874,0.77,181.6,565.4,6.4,619,12894,0.12,0.00,17.15,1.088,6,0.066,0.000,2883,1736,1910
$GC,13200,0.64,181.6,531.3,10.8,627,13202,0.22,0.00,0.00,0.000,6,0.118,0.000,2814,1736,1906
$GC,13525,0.82,198.5,509.5,6.5,635,13546,0.15,2.38,15.57,1.062,4,0.062,0.059,2889,3157,1840
$GC,13566,0.61,198.5,505.6,10.8,636,13571,0.30,2.25,0.00,0.000,6,0.126,0.045,2810,1734,1838
$GC,13893,0.82,208.2,483.3,6.7,644,13905,0.15,0.00,9.35,0.975,6,0.064,0.000,2888,1734,1801
$GC,14217,0.69,208.2,446.9,11.5,652,14221,0.20,2.28,0.00,0.000,4,0.121,0.058,2831,330,1798
$GC,14246,0.77,208.2,444.1,8.2,652,14250,0.00,2.28,0.00,0.000,6,0.000,0.046,2832,1756,1799
$GC,14591,0.86,220.0,420.3,6.6,661,14610,0.12,2.22,11.57,0.979,4,0.066,0.058,2896,3159,1753
$GC,14673,0.63,220.0,411.2,11.5,662,14680,0.30,2.25,0.00,0.000,6,0.123,0.044,2815,1732,1751
$GC,14988,0.88,268.1,392.6,5.5,673,15035,0.17,0.00,44.72,1.034,6,0.060,0.000,2904,1732,1556
$GC,15338,0.75,268.1,351.9,12.1,690,15340,0.22,0.00,0.00,0.000,6,0.119,0.000,2835,1732,1549
$GC,15646,0.90,268.1,325.9,8.3,705,15648,0.15,0.00,0.00,0.000,6,0.061,0.000,2910,1732,1547
$GC,15956,0.77,268.1,288.7,11.9,720,15961,0.20,2.35,0.00,0.000,4,0.120,0.057,2843,3147,1547
$GC,15991,0.77,268.1,285.1,7.9,721,15997,0.00,2.22,0.00,0.000,6,0.000,0.044,2849,1731,1545
$GC,16308,0.87,268.1,260.0,8.4,737,16309,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1731,1545
$GC,16618,0.99,268.1,234.2,8.4,752,16623,0.15,2.38,0.00,0.000,4,0.065,0.056,2924,3162,1545
$GC,16653,0.77,268.1,230.1,12.7,753,16660,0.30,2.25,0.00,0.000,6,0.124,0.044,2844,1729,1545
$GC,16971,1.01,316.6,209.6,5.5,769,17016,0.17,0.00,42.83,0.911,6,0.058,0.000,2933,1729,1359
$GC,17321,0.91,316.6,169.9,12.1,786,17323,0.20,0.00,0.00,0.000,6,0.120,0.000,2872,1729,1353
$GC,17629,1.11,316.6,145.2,7.1,801,17631,0.17,0.00,0.00,0.000,6,0.059,0.000,2960,1729,1351
$GC,17941,0.95,316.6,105.6,12.8,816,17946,0.22,2.28,0.00,0.000,4,0.120,0.058,2895,327,1350
$GC,17964,0.95,316.6,102.6,10.7,817,17968,0.00,2.30,0.00,0.000,6,0.000,0.047,2895,1745,1349
$GC,18309,1.13,339.9,79.0,6.3,873,18335,0.10,2.40,20.30,0.852,4,0.078,0.061,2957,3160,1264
$GC,18365,1.00,339.9,73.4,10.9,882,18373,0.25,2.28,0.00,0.000,6,0.126,0.047,2893,1728,1262
$GC,18714,1.20,339.9,48.7,7.3,943,18720,0.15,0.00,0.00,0.000,6,0.063,0.000,2967,1728,1259
$FREEZE,6.35,-1.749,-1.816
$STATE,19047,end climb,FINISH_DEPTH_REACHED
$STATE,19047,begin subsurface finish
$FINISH1,6.3,1.026602,51
$GC,19058,0.06,51.4,6.3,-11.1,1002,19106,0.85,2.38,-40.97,0.000,4,0.117,0.074,2692,324,2444
$FINISH2,4.2
$STATE,19107,end subsurface finish,CONTROL_FINISHED_OK
$STATE,19107,begin surface
$RAFOS_CLK,842
$RAFOS,4,1232599443,4.750000,4.734167,62,62,59,55,52,49,193,215,182,117,147,138
$RAFOS,3,1232598874,4.583333,4.576111,64,62,58,58,57,54,205,193,146,167,135,216
$RAFOS,2,1232598263,4.416667,4.406389,128,59,57,56,53,50,615,191,164,218,130,149
$RAFOS,1,1232597644,4.250000,4.234445,57,54,54,52,51,51,220,141,866,199,190,120
$RAFOS,0,1232597070,4.083333,4.075000,57,55,50,49,48,48,210,187,225,150,169,132
$RAFOS,3,1232584443,0.583333,0.567500,66,60,54,54,51,51,196,212,135,163,145,172
$RAFOS_FIX,6630.663086,-5709.862305,210109,121220,2,87,0.24
$IRIDIUM_FIX,6548.42,-5642.25,160498,050538
$TT8_MAMPS,0.026845
$HUMID,1818
$INTERNAL_PRESSURE,9.94179
$TCM_TEMP,15.10
$XPDR_PINGS,196
$24V_AH,21.4,107.223
$10V_AH,10.4,47.966
$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,18.900,129.200,443.475,0.000,0.000,99.039,85.345,0.000,49.000,0.000,0.000,183.219,1897.342,14394.580,584.732,2184.937,1066.375,0.000,1661.678,0.000,1984.850,1800.000,0.532,0.000
$DEVICE_MAMPS,238.537,73.632,1205.724,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,704.868,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34700,1010
$CAP_FILE_SIZE,146229,0
$CFSIZE,260165632,208154624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.1
$GPS,210109,122120,6630.663,-5709.862,0,2087.0,0,-36.7