version: 66.04
glider: 108
mission: 11
dive: 636
start: 1 7 109 6 41 32
data:
$ID,108
$MISSION,11
$DIVE,636
$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,24
$R_STBD_OVSHOOT,26
$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
$GPS1,041933,6622.224,-5921.142,0,3066.3,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.49
$_SM_ANGLEo,-7.4
$GPS2,041933,6622.224,-5921.142,0,3066.3,0,-38.0
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6623.165,-5854.285
$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,711
$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,-146.0,0.0,0.0,0,68,0.00,0.00,-44.85,0.000,6,0.000,0.000,2696,324,3247
$GC,72,-0.99,-146.0,3.4,-2.8,9,85,0.65,5.40,0.00,0.000,4,0.082,0.062,2452,3605,3248
$GC,217,-0.76,-146.0,20.2,-13.0,34,224,0.22,2.20,0.00,0.000,6,0.148,0.051,2514,2206,3250
$GC,564,-0.76,-146.0,52.1,-12.4,95,570,0.00,2.33,0.00,0.000,4,0.000,0.074,2506,3603,3250
$GC,595,-0.76,-146.0,55.3,-10.8,100,602,0.00,2.17,0.00,0.000,6,0.000,0.051,2507,2220,3250
$GC,941,-0.76,-146.0,87.9,-8.1,161,947,0.00,2.25,0.00,0.000,4,0.000,0.064,2507,812,3250
$GC,973,-0.71,-146.0,90.3,-7.8,166,980,0.10,2.35,0.00,0.000,6,0.141,0.062,2525,2242,3250
$GC,1321,-0.78,-146.0,112.1,-6.6,203,1325,0.00,2.22,0.00,0.000,4,0.000,0.077,2516,3605,3249
$GC,1356,-0.83,-146.0,114.7,-8.0,204,1360,0.00,2.17,0.00,0.000,6,0.000,0.051,2516,2226,3250
$GC,1678,-0.88,-146.0,141.0,-8.1,220,1683,0.10,2.30,0.00,0.000,4,0.094,0.074,2460,3602,3249
$GC,1702,-0.81,-146.0,143.3,-10.0,221,1706,0.17,2.17,0.00,0.000,6,0.148,0.051,2507,2221,3250
$GC,2030,-0.85,-146.0,167.4,-7.5,237,2034,0.00,2.25,0.00,0.000,4,0.000,0.065,2507,824,3249
$GC,2087,-0.85,-146.0,172.0,-8.3,239,2091,0.00,2.33,0.00,0.000,6,0.000,0.063,2500,2238,3249
$GC,2410,-0.85,-146.0,194.5,-6.3,255,2411,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2238,3249
$GC,2719,-0.85,-146.0,217.9,-8.0,270,2723,0.00,2.22,0.00,0.000,4,0.000,0.077,2489,3598,3249
$GC,2766,-0.85,-146.0,222.0,-9.2,272,2770,0.00,2.17,0.00,0.000,6,0.000,0.051,2489,2218,3249
$GC,3100,-0.85,-146.0,247.3,-7.0,288,3101,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2218,3249
$GC,3409,-0.85,-146.0,270.0,-7.5,303,3413,0.00,2.25,0.00,0.000,4,0.000,0.066,2489,818,3249
$GC,3427,-0.85,-146.0,271.4,-7.4,303,3433,0.00,2.35,0.00,0.000,6,0.000,0.063,2479,2246,3249
$GC,3743,-0.85,-146.0,295.4,-7.8,319,3747,0.00,2.33,0.00,0.000,4,0.000,0.064,2479,820,3249
$GC,3766,-0.85,-146.0,297.3,-7.9,320,3771,0.10,2.33,0.00,0.000,6,0.142,0.062,2495,2232,3248
$GC,4101,-0.91,-146.0,320.6,-7.0,336,4105,0.00,2.22,0.00,0.000,4,0.000,0.075,2487,3595,3248
$GC,4115,-0.97,-146.0,321.6,-6.7,336,4119,0.00,2.15,0.00,0.000,6,0.000,0.048,2487,2222,3248
$GC,4438,-0.97,-146.0,344.7,-7.3,352,4442,0.00,2.22,0.00,0.000,4,0.000,0.063,2487,819,3249
$GC,4461,-0.97,-146.0,346.6,-7.7,353,4465,0.00,2.33,0.00,0.000,6,0.000,0.062,2477,2232,3249
$GC,4795,-0.97,-146.0,371.2,-7.1,369,4798,0.00,2.30,0.00,0.000,4,0.000,0.061,2477,824,3248
$GC,4808,-0.97,-146.0,372.0,-6.9,369,4812,0.00,2.33,0.00,0.000,6,0.000,0.060,2467,2238,3249
$GC,5131,-0.97,-146.0,393.9,-6.7,385,5135,0.00,2.33,0.00,0.000,4,0.000,0.062,2467,814,3249
$GC,5150,-0.92,-146.0,395.2,-6.8,386,5154,0.00,2.33,0.00,0.000,6,0.000,0.060,2458,2234,3249
$GC,5500,-0.86,-146.0,422.4,-7.8,396,5504,0.12,2.22,0.00,0.000,4,0.142,0.071,2484,3596,3249
$GC,5535,-0.93,-146.0,424.7,-6.5,396,5539,0.00,2.15,0.00,0.000,6,0.000,0.048,2483,2223,3249
$GC,5874,-1.04,-146.0,444.6,-5.5,405,5876,0.10,0.00,0.00,0.000,6,0.088,0.000,2438,2223,3250
$GC,6200,-0.91,-146.0,466.3,-6.9,413,6204,0.17,2.30,0.00,0.000,4,0.146,0.071,2479,3599,3250
$GC,6212,-0.81,-146.0,467.2,-6.9,413,6216,0.10,2.15,0.00,0.000,6,0.142,0.048,2504,2219,3250
$GC,6527,-0.94,-146.0,481.9,-4.6,421,6529,0.12,0.00,0.00,0.000,6,0.084,0.000,2451,2219,3251
$GC,6853,-0.87,-146.0,503.0,-6.6,429,6855,0.15,0.00,0.00,0.000,6,0.145,0.000,2491,2219,3251
$GC,7176,-0.96,-146.0,520.0,-5.2,437,7180,0.00,2.20,0.00,0.000,4,0.000,0.061,2491,824,3251
$GC,7188,-1.03,-146.0,520.5,-5.2,437,7192,0.10,2.30,0.00,0.000,6,0.081,0.058,2438,2235,3251
$GC,7508,-0.91,-146.0,543.3,-7.4,445,7513,0.17,2.22,0.00,0.000,4,0.143,0.071,2478,3599,3251
$GC,7519,-0.83,-146.0,544.3,-7.4,445,7523,0.00,2.15,0.00,0.000,6,0.000,0.046,2478,2215,3251
$GC,7834,-0.83,-146.0,564.4,-6.5,453,7838,0.00,2.30,0.00,0.000,4,0.000,0.070,2468,3605,3252
$GC,7846,-0.83,-146.0,565.2,-6.3,453,7851,0.12,2.15,0.00,0.000,6,0.143,0.046,2501,2220,3252
$GC,8168,-0.97,-146.0,583.4,-5.7,461,8170,0.12,0.00,0.00,0.000,6,0.084,0.000,2449,2220,3252
$GC,8492,-0.90,-146.0,604.4,-6.3,469,8494,0.15,0.00,0.00,0.000,6,0.146,0.000,2490,2220,3252
$GC,8818,-1.00,-146.0,620.2,-4.8,477,8819,0.10,0.00,0.00,0.000,6,0.091,0.000,2448,2220,3253
$GC,9142,-0.93,-146.0,641.1,-6.4,485,9144,0.12,0.00,0.00,0.000,6,0.148,0.000,2480,2220,3253
$GC,9467,-0.98,-146.0,657.9,-5.2,493,9468,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2220,3253
$GC,9792,-1.04,-146.0,674.6,-4.9,501,9797,0.10,2.33,0.00,0.000,4,0.089,0.069,2426,3602,3254
$GC,9804,-1.04,-146.0,675.3,-4.9,501,9808,0.10,2.15,0.00,0.000,6,0.152,0.045,2452,2217,3254
$GC,10118,-0.98,-146.0,696.1,-6.6,509,10122,0.00,2.30,0.00,0.000,4,0.000,0.069,2444,3601,3254
$STATE,10363,end dive,NO_VERTICAL_VELOCITY
$STATE,10363,begin apogee
$GC,10374,-0.31,0.0,703.3,0.0,514,10508,0.47,0.00,131.27,1.269,6,0.087,0.000,2614,1741,2651
$STATE,10510,end apogee,CONTROL_FINISHED_OK
$STATE,10510,begin climb
$GC,10514,0.99,146.0,703.2,0.0,517,10665,0.88,2.70,137.68,1.190,4,0.082,0.061,2912,331,2054
$GC,10700,0.77,146.0,687.5,10.6,521,10705,0.25,2.55,0.00,0.000,6,0.138,0.048,2848,1745,2052
$GC,11049,0.72,146.0,661.2,7.3,530,11053,0.00,2.30,0.00,0.000,4,0.000,0.064,2848,3160,2048
$GC,11135,0.56,146.0,653.7,9.8,531,11142,0.20,2.28,0.00,0.000,6,0.130,0.048,2799,1729,2046
$GC,11468,0.77,180.4,633.5,5.9,540,11504,0.17,2.30,30.02,1.186,4,0.060,0.063,2890,335,1914
$GC,11528,0.65,180.4,628.2,9.3,540,11533,0.25,2.30,0.00,0.000,6,0.127,0.049,2817,1750,1913
$GC,11873,0.83,217.5,607.1,5.8,549,11915,0.15,2.35,33.10,1.175,4,0.064,0.065,2886,3152,1763
$GC,12004,0.58,217.5,593.2,12.0,551,12011,0.32,2.25,0.00,0.000,6,0.130,0.049,2801,1738,1758
$GC,12337,1.13,217.5,570.5,7.4,560,12342,0.35,2.30,0.00,0.000,4,0.097,0.064,2924,322,1755
$GC,12382,1.13,217.5,566.5,9.2,561,12386,0.00,2.30,0.00,0.000,6,0.000,0.050,2925,1742,1756
$GC,12708,0.87,217.5,526.7,12.5,569,12713,0.20,2.28,0.00,0.000,4,0.138,0.064,2861,3160,1755
$GC,12787,0.74,217.5,518.2,10.3,570,12792,0.12,2.25,0.00,0.000,6,0.136,0.049,2834,1731,1754
$GC,13126,0.85,217.5,493.8,7.2,579,13130,0.12,2.28,0.00,0.000,4,0.070,0.064,2904,324,1754
$GC,13166,0.73,217.5,489.7,11.5,579,13173,0.22,2.30,0.00,0.000,6,0.127,0.051,2837,1747,1755
$GC,13498,0.84,217.5,462.5,8.0,588,13503,0.10,2.28,0.00,0.000,4,0.077,0.064,2890,3160,1754
$GC,13567,0.60,217.5,454.5,12.4,589,13571,0.32,2.25,0.00,0.000,6,0.130,0.049,2804,1728,1753
$GC,13916,1.28,217.5,427.6,8.2,598,13921,0.45,2.28,0.00,0.000,4,0.096,0.063,2960,321,1753
$GC,13946,1.48,217.5,424.9,8.8,598,13951,0.15,2.30,0.00,0.000,6,0.077,0.051,3019,1747,1753
$GC,14262,0.92,217.5,370.0,17.7,609,14264,0.47,0.00,0.00,0.000,6,0.150,0.000,2880,1747,1753
$GC,14570,0.92,217.5,341.9,8.9,624,14574,0.00,2.25,0.00,0.000,4,0.000,0.065,2880,3152,1753
$GC,14617,0.77,217.5,337.0,11.3,626,14621,0.15,2.22,0.00,0.000,6,0.127,0.049,2845,1728,1753
$GC,14951,0.92,237.7,313.9,6.4,642,14974,0.12,2.35,17.65,1.005,4,0.070,0.064,2919,324,1681
$GC,15032,0.80,237.7,305.9,10.2,645,15036,0.22,2.30,0.00,0.000,6,0.128,0.051,2853,1746,1681
$GC,15355,0.94,240.9,283.5,6.9,661,15365,0.12,2.33,4.25,0.708,4,0.068,0.064,2916,3150,1667
$GC,15423,0.68,240.9,276.4,11.4,664,15428,0.32,2.22,0.00,0.000,6,0.128,0.048,2828,1733,1667
$GC,15758,1.36,243.6,256.2,6.9,680,15768,0.43,2.30,3.85,0.655,4,0.091,0.064,2978,335,1656
$GC,15804,1.20,243.6,252.3,9.2,682,15809,0.15,2.28,0.00,0.000,6,0.153,0.051,2939,1744,1657
$GC,16131,1.04,243.6,218.5,10.0,698,16136,0.12,2.28,0.00,0.000,4,0.142,0.064,2902,3158,1657
$GC,16179,0.89,243.6,214.4,8.4,700,16184,0.15,2.25,0.00,0.000,6,0.131,0.051,2868,1730,1656
$GC,16512,1.05,273.7,195.4,6.1,716,16548,0.15,2.35,28.90,0.969,4,0.066,0.066,2951,331,1534
$GC,16602,0.93,273.7,185.4,12.6,720,16607,0.25,2.33,0.00,0.000,6,0.129,0.052,2878,1752,1532
$GC,16935,1.07,273.7,158.7,7.6,736,16940,0.12,2.30,0.00,0.000,4,0.069,0.067,2937,3150,1529
$GC,16999,0.84,273.7,152.1,11.5,739,17004,0.30,2.25,0.00,0.000,6,0.130,0.052,2859,1733,1528
$GC,17333,1.45,317.0,132.5,5.6,755,17379,0.38,2.38,39.12,0.943,4,0.073,0.067,3010,335,1357
$GC,17393,1.34,317.0,126.8,10.8,757,17400,0.15,2.35,0.00,0.000,6,0.158,0.052,2972,1744,1357
$GC,17718,1.22,317.0,91.7,10.8,782,17725,0.12,2.33,0.00,0.000,4,0.146,0.067,2936,3162,1351
$GC,17823,1.10,317.0,79.4,12.2,800,17830,0.10,2.28,0.00,0.000,6,0.141,0.053,2917,1732,1349
$GC,18171,1.34,458.1,53.9,2.5,861,18299,0.17,2.47,120.60,0.874,4,0.065,0.070,2999,332,781
$GC,18398,1.25,458.1,21.4,14.0,900,18405,0.17,2.35,0.00,0.000,6,0.133,0.054,2952,1742,773
$FREEZE,6.97,-1.818,-1.797
$STATE,18531,end climb,FINISH_DEPTH_REACHED
$STATE,18532,begin subsurface finish
$FINISH1,7.0,1.026320,65
$GC,18541,0.08,65.3,7.0,-11.8,923,18606,0.77,2.35,-56.65,0.000,4,0.114,0.085,2694,3162,2386
$FINISH2,3.9
$STATE,18606,end subsurface finish,CONTROL_FINISHED_OK
$STATE,18607,begin surface
$RAFOS_CLK,836
$RAFOS,4,1231317873,8.750000,8.742500,61,56,53,51,50,48,208,222,187,110,161,122
$RAFOS,3,1231317257,8.583333,8.571389,96,60,58,56,54,52,476,166,125,200,140,189
$RAFOS,2,1231316646,8.416667,8.401667,56,56,54,51,51,50,161,215,177,201,124,149
$RAFOS,1,1231316077,8.250000,8.243611,69,67,57,56,53,52,566,203,218,138,168,125
$RAFOS,0,1231315453,8.083333,8.070278,83,66,56,55,54,54,682,206,193,216,115,175
$RAFOS_FIX,6621.219727,-5917.739746,070109,080854,3,83,0.22
$IRIDIUM_FIX,6609.62,-6043.56,300398,121218
$TT8_MAMPS,0.026845
$HUMID,1827
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,14.90
$XPDR_PINGS,147
$24V_AH,21.1,96.747
$10V_AH,10.4,42.917
$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,12.950,184.175,546.450,0.000,0.000,0.000,0.000,0.000,36.750,0.000,0.000,0.000,1778.170,13953.680,642.543,1901.389,393.481,0.000,1746.842,0.000,1875.411,1800.000,0.529,0.000
$DEVICE_MAMPS,158.002,85.137,1269.385,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,651.786,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31571,934
$CAP_FILE_SIZE,148976,0
$CFSIZE,260165632,213069824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.7
$GPS,070109,081954,6621.220,-5917.740,0,3082.7,0,-38.0
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581