version: 66.04
glider: 108
mission: 11
dive: 709
start: 1 22 109 6 21 17
data:
$ID,108
$MISSION,11
$DIVE,709
$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,30
$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,5.28
$_SM_ANGLEo,-5.2
$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,18,-0.99,-146.0,0.0,0.0,0,25,0.00,0.00,-5.40,0.000,2,0.000,0.000,2692,324,2617
$GC,30,-0.99,-146.0,6.0,-0.0,1,55,0.62,0.88,-19.45,0.000,4,0.061,0.085,2446,837,3248
$GC,74,-0.86,-146.0,8.7,-5.7,8,81,0.20,2.25,0.00,0.000,6,0.149,0.059,2489,2236,3251
$GC,423,-0.78,-146.0,39.3,-8.0,69,428,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2236,3253
$GC,770,-0.72,-146.0,66.1,-8.9,130,776,0.12,2.25,0.00,0.000,4,0.151,0.070,2517,3598,3252
$GC,818,-0.77,-146.0,70.2,-8.4,138,825,0.00,2.17,0.00,0.000,6,0.000,0.047,2517,2224,3252
$GC,1166,-0.77,-146.0,97.2,-6.9,199,1172,0.00,2.25,0.00,0.000,4,0.000,0.060,2517,820,3252
$GC,1242,-0.77,-146.0,103.0,-7.4,207,1246,0.00,2.38,0.00,0.000,6,0.000,0.059,2507,2241,3252
$GC,1571,-0.77,-146.0,126.1,-5.8,223,1575,0.00,2.33,0.00,0.000,4,0.000,0.060,2508,820,3251
$GC,1674,-0.77,-146.0,130.9,-4.0,227,1678,0.00,2.35,0.00,0.000,6,0.000,0.059,2497,2239,3251
$GC,1997,-0.77,-146.0,147.5,-6.1,243,2001,0.00,2.25,0.00,0.000,4,0.000,0.073,2487,3603,3250
$GC,2071,-0.77,-146.0,153.3,-8.3,246,2076,0.10,2.17,0.00,0.000,6,0.146,0.047,2512,2228,3250
$GC,2400,-0.85,-146.0,179.8,-8.1,262,2404,0.00,2.28,0.00,0.000,4,0.000,0.061,2513,814,3250
$GC,2554,-0.85,-146.0,191.2,-6.3,268,2560,0.00,2.35,0.00,0.000,6,0.000,0.060,2505,2231,3250
$GC,2871,-0.91,-146.0,208.6,-5.0,284,2873,0.10,0.00,0.00,0.000,6,0.082,0.000,2454,2231,3249
$GC,3181,-0.81,-146.0,232.5,-8.6,299,3183,0.17,0.00,0.00,0.000,6,0.140,0.000,2503,2231,3248
$GC,3491,-0.91,-146.0,252.0,-5.7,314,3495,0.00,2.30,0.00,0.000,4,0.000,0.058,2503,827,3248
$GC,3589,-0.91,-146.0,257.6,-5.9,318,3592,0.00,2.35,0.00,0.000,6,0.000,0.059,2495,2245,3248
$GC,3918,-0.97,-146.0,275.8,-5.2,334,3920,0.10,0.00,0.00,0.000,6,0.081,0.000,2444,2245,3248
$GC,4227,-0.87,-146.0,297.4,-6.6,349,4232,0.17,2.35,0.00,0.000,4,0.138,0.057,2497,817,3248
$GC,4347,-0.87,-146.0,303.6,-4.9,354,4351,0.00,2.33,0.00,0.000,6,0.000,0.056,2489,2242,3248
$GC,4670,-0.93,-146.0,319.4,-5.3,370,4674,0.00,2.33,0.00,0.000,4,0.000,0.056,2489,816,3249
$GC,4744,-0.93,-146.0,323.9,-5.9,373,4748,0.00,2.35,0.00,0.000,6,0.000,0.054,2480,2240,3249
$GC,5074,-0.93,-146.0,344.2,-6.5,389,5075,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2240,3250
$GC,5382,-0.93,-146.0,361.8,-5.4,404,5386,0.00,2.33,0.00,0.000,4,0.000,0.054,2480,813,3250
$GC,5530,-0.93,-146.0,369.9,-5.0,410,5534,0.00,2.33,0.00,0.000,6,0.000,0.053,2470,2236,3251
$GC,5852,-0.93,-146.0,386.8,-5.1,426,5856,0.00,2.30,0.00,0.000,4,0.000,0.053,2470,817,3252
$GC,5927,-0.87,-146.0,391.0,-5.7,429,5932,0.12,2.33,0.00,0.000,6,0.128,0.052,2494,2233,3252
$GC,6270,-0.95,-146.0,405.6,-4.2,443,6271,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2233,3253
$GC,6594,-1.03,-146.0,419.8,-4.4,451,6595,0.15,0.00,0.00,0.000,6,0.070,0.000,2429,2233,3254
$GC,6919,-0.88,-146.0,440.2,-6.4,459,6924,0.20,2.30,0.00,0.000,4,0.138,0.051,2495,823,3254
$GC,6999,-0.88,-146.0,444.1,-4.7,460,7005,0.00,2.33,0.00,0.000,6,0.000,0.052,2487,2241,3254
$GC,7332,-0.93,-146.0,459.0,-4.4,469,7336,0.00,2.33,0.00,0.000,4,0.000,0.053,2487,811,3255
$GC,7401,-0.93,-146.0,462.4,-4.7,470,7405,0.00,2.35,0.00,0.000,6,0.000,0.051,2477,2243,3255
$GC,7746,-0.93,-146.0,479.4,-5.1,479,7747,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2243,3256
$GC,8070,-0.93,-146.0,497.3,-5.6,487,8073,0.00,2.33,0.00,0.000,4,0.000,0.053,2477,817,3256
$GC,8163,-0.93,-146.0,502.9,-6.2,489,8167,0.00,2.35,0.00,0.000,6,0.000,0.052,2467,2244,3256
$GC,8489,-0.93,-146.0,521.3,-5.5,497,8492,0.00,2.33,0.00,0.000,4,0.000,0.053,2467,813,3256
$GC,8586,-0.87,-146.0,527.2,-6.1,499,8590,0.12,2.33,0.00,0.000,6,0.127,0.052,2491,2236,3256
$GC,8913,-0.95,-146.0,541.4,-4.1,507,8914,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2236,3256
$GC,9237,-1.03,-146.0,555.3,-4.4,515,9241,0.12,2.33,0.00,0.000,4,0.075,0.052,2435,813,3256
$GC,9345,-0.85,-146.0,562.5,-7.0,517,9350,0.25,2.35,0.00,0.000,6,0.128,0.053,2497,2239,3256
$GC,9660,-0.97,-146.0,577.5,-4.3,525,9662,0.12,0.00,0.00,0.000,6,0.074,0.000,2440,2239,3256
$GC,9985,-0.87,-146.0,597.4,-6.6,533,9990,0.20,2.33,0.00,0.000,4,0.137,0.052,2503,821,3255
$GC,10100,-0.96,-146.0,603.4,-5.1,535,10105,0.10,2.33,0.00,0.000,6,0.075,0.052,2447,2236,3256
$GC,10438,-0.89,-146.0,624.0,-6.2,544,10443,0.15,2.25,0.00,0.000,4,0.140,0.064,2480,3597,3256
$GC,10514,-0.96,-146.0,628.5,-5.8,545,10518,0.00,2.15,0.00,0.000,6,0.000,0.041,2480,2219,3256
$GC,10858,-0.96,-146.0,646.2,-5.2,554,10862,0.00,2.22,0.00,0.000,4,0.000,0.053,2480,821,3255
$GC,10966,-0.96,-146.0,652.1,-5.3,556,10970,0.00,2.30,0.00,0.000,6,0.000,0.052,2470,2246,3256
$GC,11282,-1.36,-146.0,657.1,0.0,564,11286,0.22,2.25,0.00,0.000,4,0.061,0.064,2368,3604,3256
$STATE,11318,end dive,NO_VERTICAL_VELOCITY
$STATE,11318,begin apogee
$GC,11330,-0.31,0.0,657.1,0.0,564,11463,0.70,0.00,130.43,1.204,6,0.089,0.000,2612,1739,2650
$STATE,11465,end apogee,CONTROL_FINISHED_OK
$STATE,11465,begin climb
$GC,11469,0.99,146.0,655.8,0.0,568,11608,0.85,0.00,134.68,1.132,6,0.074,0.000,2902,1739,2054
$GC,11918,0.78,146.0,611.4,10.7,579,11922,0.20,2.35,0.00,0.000,4,0.125,0.059,2843,3153,2048
$GC,11981,0.67,146.0,605.6,8.7,580,11986,0.12,2.28,0.00,0.000,6,0.130,0.044,2816,1726,2046
$GC,12331,0.81,181.4,584.1,5.9,589,12367,0.15,2.40,30.70,1.114,4,0.064,0.057,2889,3160,1910
$GC,12415,0.57,181.4,575.4,12.3,590,12420,0.32,2.28,0.00,0.000,6,0.126,0.044,2803,1734,1906
$GC,12742,0.83,226.9,556.3,5.6,598,12786,0.20,0.00,40.78,1.112,6,0.054,0.000,2902,1734,1724
$GC,13106,0.69,226.9,517.0,10.9,607,13108,0.25,0.00,0.00,0.000,6,0.119,0.000,2825,1734,1717
$GC,13432,0.86,249.2,495.7,6.3,615,13457,0.15,2.35,19.50,1.055,4,0.064,0.060,2898,3161,1634
$GC,13481,0.66,249.2,490.5,11.3,616,13486,0.30,2.28,0.00,0.000,6,0.122,0.045,2817,1737,1632
$GC,13802,0.92,277.9,469.8,6.1,624,13832,0.20,0.00,27.40,1.061,6,0.057,0.000,2916,1737,1517
$GC,14127,0.77,277.9,431.1,12.0,632,14132,0.22,2.35,0.00,0.000,4,0.123,0.059,2841,3160,1511
$GC,14162,0.77,277.9,427.6,7.9,632,14168,0.00,2.28,0.00,0.000,6,0.000,0.044,2848,1727,1509
$GC,14495,0.86,277.9,401.3,8.2,641,14498,0.00,2.38,0.00,0.000,4,0.000,0.058,2848,3163,1509
$GC,14524,0.86,277.9,398.7,8.7,641,14528,0.00,2.25,0.00,0.000,6,0.000,0.043,2856,1737,1508
$GC,14853,0.91,277.9,372.8,7.5,657,14854,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1737,1507
$GC,15162,0.96,277.9,350.7,7.5,672,15164,0.12,0.00,0.00,0.000,6,0.072,0.000,2920,1737,1506
$GC,15474,0.81,277.9,314.6,12.1,687,15479,0.20,2.38,0.00,0.000,4,0.121,0.059,2854,3159,1506
$GC,15519,0.81,277.9,309.7,8.5,689,15523,0.00,2.25,0.00,0.000,6,0.000,0.045,2860,1740,1505
$GC,15849,0.87,277.9,282.0,9.1,705,15850,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1740,1505
$GC,16157,0.93,277.9,257.7,7.3,720,16162,0.08,2.35,0.00,0.000,4,0.094,0.058,2908,3149,1505
$GC,16180,0.88,277.9,255.5,8.3,721,16185,0.17,2.25,0.00,0.000,6,0.128,0.044,2868,1726,1505
$GC,16505,0.95,277.9,230.9,7.5,737,16509,0.00,2.28,0.00,0.000,4,0.000,0.058,2876,332,1505
$GC,16530,1.05,277.9,228.7,7.7,738,16535,0.12,2.28,0.00,0.000,6,0.067,0.044,2942,1744,1505
$GC,16864,0.88,277.9,184.5,13.4,754,16869,0.22,2.30,0.00,0.000,4,0.122,0.059,2869,3148,1505
$GC,16906,0.88,277.9,179.9,9.1,756,16910,0.00,2.22,0.00,0.000,6,0.000,0.044,2875,1737,1504
$GC,17240,1.01,306.8,156.3,6.1,772,17268,0.10,0.00,25.65,0.890,6,0.078,0.000,2932,1737,1399
$GC,17570,0.94,306.8,122.1,10.2,788,17572,0.17,0.00,0.00,0.000,6,0.120,0.000,2878,1737,1395
$GC,17879,1.14,315.8,102.2,6.7,803,17894,0.17,2.35,8.90,0.799,4,0.060,0.061,2972,336,1362
$GC,17925,1.02,315.8,97.5,11.2,805,17932,0.25,2.25,0.00,0.000,6,0.122,0.049,2896,1740,1362
$GC,18274,1.17,315.8,69.5,8.2,866,18280,0.15,2.30,0.00,0.000,4,0.061,0.061,2969,3150,1359
$GC,18329,0.93,315.8,62.7,13.7,875,18336,0.35,2.28,0.00,0.000,6,0.127,0.048,2875,1733,1358
$GC,18678,1.59,315.8,32.2,10.9,936,18685,0.45,2.33,0.00,0.000,4,0.094,0.061,3031,331,1356
$GC,18699,2.12,315.8,29.6,11.3,939,18706,0.32,2.28,0.00,0.000,6,0.053,0.048,3166,1748,1356
$FREEZE,5.62,-1.724,-1.815
$STATE,18795,end climb,FINISH_DEPTH_REACHED
$STATE,18795,begin subsurface finish
$FINISH1,5.6,1.026596,52
$GC,18805,0.06,51.7,5.6,-26.5,956,18864,1.42,2.35,-48.70,0.000,4,0.099,0.077,2688,3141,2441
$FINISH2,1.8
$STATE,18865,end subsurface finish,CONTROL_FINISHED_OK
$STATE,18865,begin surface
$RAFOS_CLK,804
$RAFOS,4,1232613842,8.750000,8.733889,61,59,57,56,53,51,218,205,163,192,183,145
$RAFOS,3,1232613261,8.583333,8.572500,60,57,56,53,53,52,191,200,172,154,136,218
$RAFOS,2,1232612646,8.416667,8.401667,99,60,58,56,55,51,703,117,223,189,155,126
$RAFOS,1,1232612069,8.250000,8.241389,65,62,60,60,51,49,195,156,178,210,133,117
$RAFOS,0,1232611459,8.083333,8.071944,69,59,57,55,53,53,191,222,158,126,200,174
$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,1827
$INTERNAL_PRESSURE,9.93202
$TCM_TEMP,15.00
$XPDR_PINGS,64
$24V_AH,21.5,107.358
$10V_AH,10.4,48.030
$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,11.375,148.875,418.025,0.000,0.000,0.000,0.000,0.000,16.000,0.000,0.000,0.000,1855.767,14125.316,530.911,2001.864,406.337,0.000,1608.538,0.000,1981.003,1800.000,0.532,0.000
$DEVICE_MAMPS,151.099,85.137,1204.190,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,674.871,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31571,966
$CAP_FILE_SIZE,143225,0
$CFSIZE,260165632,208097280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.8
$GPS,210109,122120,6630.663,-5709.862,0,2087.0,0,-36.7