version: 66.04
glider: 108
mission: 11
dive: 635
start: 1 7 109 1 25 44
data:
$ID,108
$MISSION,11
$DIVE,635
$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,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,85
$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,-128243.59
$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,25
$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
$GPS1,001912,6624.032,-5924.151,0,3088.0,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,2.0
$GPS2,001912,6624.032,-5924.151,0,3088.0,0,-38.0
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6624.973,-5857.262
$TGT_RADIUS,1852.000
$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,123.0,20000,-13.0,-7.021
$D_GRID,726
$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,-146.0,0.0,0.0,0,46,0.00,0.00,-27.80,0.000,2,0.000,0.000,2695,333,2963
$GC,51,-0.99,-146.0,3.2,-1.9,5,71,0.62,5.43,-11.45,0.000,4,0.061,0.067,2428,3606,3246
$GC,124,-0.78,-146.0,11.4,-12.2,17,131,0.25,2.20,0.00,0.000,6,0.153,0.051,2507,2208,3249
$GC,471,-0.78,-146.0,45.4,-8.5,78,476,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2208,3250
$GC,817,-0.72,-146.0,74.1,-6.9,139,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2208,3250
$GC,1163,-0.72,-146.0,105.2,-8.4,192,1167,0.00,2.38,0.00,0.000,4,0.000,0.073,2499,3606,3250
$GC,1174,-0.72,-146.0,106.4,-8.3,192,1179,0.10,2.20,0.00,0.000,6,0.153,0.050,2523,2223,3250
$GC,1497,-0.79,-146.0,130.4,-6.9,208,1501,0.00,2.28,0.00,0.000,4,0.000,0.064,2524,822,3250
$GC,1511,-0.85,-146.0,131.4,-6.8,208,1515,0.00,2.33,0.00,0.000,6,0.000,0.062,2516,2238,3250
$GC,1833,-0.85,-146.0,152.8,-6.4,224,1837,0.00,2.22,0.00,0.000,4,0.000,0.076,2505,3595,3250
$GC,1885,-0.91,-146.0,156.4,-6.9,226,1890,0.10,2.17,0.00,0.000,6,0.094,0.051,2461,2220,3250
$GC,2214,-0.79,-146.0,184.8,-8.9,242,2216,0.17,0.00,0.00,0.000,6,0.140,0.000,2510,2220,3250
$GC,2523,-0.85,-146.0,205.1,-6.7,257,2527,0.00,2.28,0.00,0.000,4,0.000,0.064,2512,811,3250
$GC,2536,-0.91,-146.0,206.1,-6.6,257,2539,0.00,2.33,0.00,0.000,6,0.000,0.061,2504,2230,3250
$GC,2858,-0.91,-146.0,229.6,-7.4,273,2862,0.00,2.22,0.00,0.000,4,0.000,0.074,2493,3594,3249
$GC,2876,-0.91,-146.0,231.1,-7.2,273,2882,0.00,2.17,0.00,0.000,6,0.000,0.050,2493,2216,3249
$GC,3192,-0.91,-146.0,256.7,-8.2,289,3196,0.00,2.33,0.00,0.000,4,0.000,0.074,2483,3603,3249
$GC,3221,-0.91,-146.0,259.2,-8.8,290,3225,0.00,2.17,0.00,0.000,6,0.000,0.051,2483,2228,3249
$GC,3548,-0.91,-146.0,285.1,-7.5,306,3552,0.00,2.28,0.00,0.000,4,0.000,0.064,2483,821,3250
$GC,3618,-0.85,-146.0,290.5,-7.6,309,3622,0.00,2.35,0.00,0.000,6,0.000,0.063,2474,2230,3249
$GC,3952,-0.85,-146.0,314.5,-7.1,325,3956,0.00,2.25,0.00,0.000,4,0.000,0.074,2464,3598,3249
$GC,3965,-0.85,-146.0,315.6,-7.2,325,3970,0.12,2.17,0.00,0.000,6,0.150,0.050,2496,2224,3249
$GC,4287,-0.92,-146.0,337.4,-6.9,341,4292,0.00,2.30,0.00,0.000,4,0.000,0.074,2488,3606,3249
$GC,4301,-0.99,-146.0,338.3,-6.8,341,4305,0.10,2.20,0.00,0.000,6,0.093,0.051,2444,2215,3249
$GC,4623,-0.87,-146.0,363.9,-7.6,357,4624,0.17,0.00,0.00,0.000,6,0.139,0.000,2494,2215,3249
$GC,4932,-0.93,-146.0,381.6,-5.6,372,4933,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2215,3249
$GC,5244,-1.01,-146.0,398.0,-5.6,387,5248,0.12,2.25,0.00,0.000,4,0.082,0.061,2441,818,3249
$GC,5255,-1.01,-146.0,399.1,-5.9,387,5260,0.12,2.33,0.00,0.000,6,0.137,0.061,2465,2237,3249
$GC,5573,-1.01,-146.0,421.3,-7.0,396,5574,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2237,3249
$GC,5898,-1.01,-146.0,443.7,-6.8,404,5902,0.00,2.33,0.00,0.000,4,0.000,0.061,2466,824,3250
$GC,5911,-1.01,-146.0,444.6,-6.8,404,5915,0.00,2.33,0.00,0.000,6,0.000,0.060,2458,2230,3250
$GC,6231,-0.95,-146.0,467.6,-7.1,412,6234,0.00,2.33,0.00,0.000,4,0.000,0.060,2458,810,3250
$GC,6255,-0.87,-146.0,469.4,-7.4,412,6259,0.15,2.33,0.00,0.000,6,0.130,0.058,2489,2237,3250
$GC,6604,-0.94,-146.0,489.2,-5.3,421,6605,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2237,3251
$GC,6929,-1.02,-146.0,505.9,-5.2,429,6933,0.12,2.22,0.00,0.000,4,0.078,0.071,2426,3599,3251
$GC,6946,-1.02,-146.0,506.9,-5.4,429,6950,0.12,2.17,0.00,0.000,6,0.150,0.048,2457,2212,3251
$GC,7260,-1.02,-146.0,526.9,-6.3,437,7264,0.00,2.30,0.00,0.000,4,0.000,0.068,2450,3596,3251
$GC,7273,-1.02,-146.0,527.7,-6.1,437,7277,0.00,2.15,0.00,0.000,6,0.000,0.046,2450,2218,3251
$GC,7593,-0.95,-146.0,546.8,-5.8,445,7598,0.10,2.22,0.00,0.000,4,0.151,0.058,2483,823,3252
$GC,7606,-0.90,-146.0,547.6,-5.8,445,7611,0.00,2.30,0.00,0.000,6,0.000,0.058,2476,2238,3251
$GC,7926,-0.90,-146.0,564.3,-5.4,453,7930,0.00,2.20,0.00,0.000,4,0.000,0.071,2465,3596,3252
$GC,7963,-0.90,-146.0,566.3,-6.2,453,7966,0.00,2.15,0.00,0.000,6,0.000,0.046,2465,2217,3252
$GC,8301,-0.90,-146.0,587.1,-6.4,462,8303,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2217,3252
$GC,8626,-0.90,-146.0,608.7,-6.8,470,8627,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2217,3253
$GC,8951,-0.90,-146.0,630.3,-6.6,478,8952,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2217,3253
$GC,9276,-0.90,-146.0,650.7,-6.1,486,9279,0.00,2.28,0.00,0.000,4,0.000,0.070,2455,3596,3254
$GC,9288,-0.90,-146.0,651.5,-6.2,486,9293,0.12,2.12,0.00,0.000,6,0.143,0.045,2488,2224,3253
$GC,9608,-0.99,-146.0,668.4,-5.3,494,9609,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2224,3254
$GC,9933,-1.08,-146.0,685.2,-5.3,502,9937,0.15,2.22,0.00,0.000,4,0.076,0.058,2429,822,3254
$GC,10007,-0.91,-146.0,690.1,-7.0,503,10012,0.22,2.30,0.00,0.000,6,0.130,0.058,2485,2236,3254
$GC,10346,-1.24,-146.0,703.5,-2.4,512,10350,0.20,2.30,0.00,0.000,4,0.066,0.056,2398,814,3254
$STATE,10481,end dive,NO_VERTICAL_VELOCITY
$STATE,10481,begin apogee
$GC,10491,-0.31,0.0,703.5,0.0,515,10626,0.65,0.00,131.52,1.266,6,0.098,0.000,2616,1753,2651
$STATE,10627,end apogee,CONTROL_FINISHED_OK
$STATE,10627,begin climb
$GC,10631,0.99,146.0,703.4,0.0,518,10782,0.88,2.65,137.75,1.187,4,0.090,0.061,2897,3154,2054
$GC,11027,0.67,146.0,663.0,11.5,527,11032,0.30,2.33,0.00,0.000,6,0.133,0.048,2823,1736,2046
$GC,11355,0.76,165.2,640.8,6.4,535,11379,0.08,2.38,16.55,1.130,4,0.090,0.064,2877,324,1976
$GC,11408,0.68,165.2,636.2,9.3,536,11413,0.17,2.33,0.00,0.000,6,0.123,0.050,2827,1755,1976
$GC,11724,0.78,181.7,615.6,6.5,544,11745,0.10,2.28,16.02,1.128,4,0.078,0.064,2876,3162,1909
$GC,11833,0.58,181.7,604.8,10.8,546,11839,0.28,2.28,0.00,0.000,6,0.130,0.048,2806,1724,1906
$GC,12178,0.81,224.0,584.1,5.7,555,12222,0.17,2.45,37.92,1.171,4,0.061,0.061,2888,3159,1737
$GC,12245,0.62,224.0,577.7,11.1,556,12250,0.30,2.28,0.00,0.000,6,0.129,0.048,2811,1739,1734
$GC,12590,0.87,256.1,556.9,6.0,565,12622,0.20,0.00,29.77,1.143,6,0.061,0.000,2904,1739,1605
$GC,12914,0.73,256.1,520.3,11.5,573,12916,0.22,0.00,0.00,0.000,6,0.123,0.000,2835,1739,1599
$GC,13239,0.86,256.1,495.4,7.7,581,13244,0.12,2.33,0.00,0.000,4,0.072,0.063,2896,3151,1597
$GC,13274,0.68,256.1,491.6,11.5,581,13281,0.28,2.25,0.00,0.000,6,0.128,0.048,2825,1726,1596
$GC,13607,0.88,256.1,465.8,7.6,590,13611,0.15,2.28,0.00,0.000,4,0.067,0.062,2906,323,1596
$GC,13635,0.88,256.1,462.8,10.8,590,13639,0.12,2.30,0.00,0.000,6,0.130,0.050,2872,1746,1596
$GC,13978,0.88,256.1,427.5,10.0,599,13982,0.00,2.28,0.00,0.000,4,0.000,0.063,2871,3154,1596
$GC,14075,0.78,256.1,417.5,10.2,601,14079,0.12,2.25,0.00,0.000,6,0.133,0.049,2844,1734,1594
$GC,14401,0.90,261.3,394.3,6.9,611,14411,0.12,2.33,4.25,0.739,4,0.070,0.063,2917,332,1584
$GC,14448,0.79,261.3,389.8,10.8,613,14453,0.22,2.28,0.00,0.000,6,0.129,0.051,2851,1742,1585
$GC,14776,0.92,280.3,367.1,6.4,629,14802,0.12,2.33,19.10,1.036,4,0.071,0.064,2912,3146,1507
$GC,14892,0.72,280.3,354.6,12.1,634,14897,0.30,2.25,0.00,0.000,6,0.127,0.048,2832,1729,1505
$GC,15220,1.38,280.3,328.8,9.3,650,15225,0.43,2.28,0.00,0.000,4,0.087,0.062,2982,327,1502
$GC,15266,1.30,280.3,324.1,10.3,652,15270,0.00,2.30,0.00,0.000,6,0.000,0.051,2983,1752,1503
$GC,15595,0.99,280.3,275.2,14.7,668,15599,0.28,2.28,0.00,0.000,4,0.136,0.066,2896,3161,1502
$GC,15646,0.89,280.3,269.6,10.1,670,15650,0.12,2.25,0.00,0.000,6,0.133,0.050,2868,1734,1502
$GC,15968,1.02,280.3,247.0,7.1,686,15973,0.12,2.28,0.00,0.000,4,0.071,0.064,2938,327,1502
$GC,16020,0.93,280.3,241.6,11.1,688,16025,0.20,2.28,0.00,0.000,6,0.130,0.052,2880,1740,1502
$GC,16343,1.01,280.3,216.6,7.5,704,16346,0.00,2.25,0.00,0.000,4,0.000,0.067,2880,3149,1502
$GC,16416,1.01,280.3,210.2,9.3,707,16420,0.00,2.22,0.00,0.000,6,0.000,0.050,2886,1730,1501
$GC,16745,1.08,280.3,186.8,8.0,723,16749,0.10,2.28,0.00,0.000,4,0.081,0.065,2948,329,1501
$GC,16792,0.99,280.3,181.5,12.3,725,16796,0.20,2.28,0.00,0.000,6,0.130,0.052,2890,1746,1501
$GC,17119,1.09,280.3,154.0,7.4,741,17124,0.10,2.28,0.00,0.000,4,0.080,0.066,2940,3162,1501
$GC,17161,0.87,280.3,149.8,11.2,743,17166,0.30,2.25,0.00,0.000,6,0.131,0.052,2862,1739,1500
$GC,17489,1.48,280.3,125.1,7.1,759,17491,0.43,0.00,0.00,0.000,6,0.091,0.000,3006,1739,1500
$GC,17809,1.20,280.3,87.9,13.6,786,17816,0.22,2.33,0.00,0.000,4,0.138,0.067,2937,3148,1500
$GC,17869,1.06,280.3,79.6,12.7,796,17876,0.15,2.25,0.00,0.000,6,0.130,0.053,2902,1729,1499
$GC,18217,1.17,280.3,51.1,9.0,857,18223,0.12,2.28,0.00,0.000,4,0.073,0.067,2965,333,1500
$GC,18259,1.17,280.3,46.7,10.1,864,18266,0.12,2.28,0.00,0.000,6,0.143,0.054,2932,1742,1500
$GC,18606,1.20,302.5,21.3,6.3,925,18631,0.00,2.35,20.15,0.893,4,0.000,0.069,2932,3151,1416
$GC,18708,1.10,302.5,12.0,10.2,942,18714,0.00,2.28,0.00,0.000,6,0.000,0.057,2939,1739,1414
$FREEZE,6.84,-1.808,-1.792
$STATE,18764,end climb,FINISH_DEPTH_REACHED
$STATE,18764,begin subsurface finish
$FINISH1,6.8,1.026252,69
$GC,18773,0.08,68.6,6.8,-7.6,952,18815,0.75,2.38,-32.30,0.000,4,0.118,0.079,2696,323,2374
$FINISH2,5.1
$STATE,18816,end subsurface finish,CONTROL_FINISHED_OK
$STATE,18816,begin surface
$RAFOS_CLK,845
$RAFOS,4,1231303473,4.750000,4.742500,64,59,55,53,52,51,193,214,126,204,163,180
$RAFOS,3,1231302852,4.583333,4.570000,67,59,56,54,53,51,518,220,166,151,118,186
$RAFOS,2,1231302245,4.416667,4.401389,66,54,54,52,50,50,201,112,216,146,164,1490
$RAFOS,1,1231301641,4.250000,4.233611,67,59,58,56,54,53,765,225,174,141,123,192
$RAFOS,0,1231301066,4.083333,4.073889,65,59,58,54,52,52,194,611,183,220,204,108
$RAFOS_FIX,6622.223633,-5921.141602,070109,040433,3,66,0.28
$IRIDIUM_FIX,6609.62,-6043.56,300398,121218
$TT8_MAMPS,0.026845
$HUMID,1844
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,14.90
$XPDR_PINGS,227
$24V_AH,21.1,96.573
$10V_AH,10.4,42.853
$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,11.675,177.750,413.050,0.000,0.000,0.000,0.000,0.000,56.750,0.000,0.000,0.000,1867.452,14167.291,513.375,1945.130,386.708,0.000,1600.920,0.000,1917.491,1800.000,0.529,0.000
$DEVICE_MAMPS,152.633,79.001,1266.317,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,672.246,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31528,959
$CAP_FILE_SIZE,149305,0
$CFSIZE,260165632,213135360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.5
$GPS,070109,041933,6622.224,-5921.142,0,3066.3,0,-38.0
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581