version: 66.04
glider: 108
mission: 11
dive: 637
start: 1 7 109 11 53 50
data:
$ID,108
$MISSION,11
$DIVE,637
$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,27
$R_STBD_OVSHOOT,24
$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
$GPS1,081954,6621.220,-5917.740,0,3082.7,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,3.3
$GPS2,081954,6621.220,-5917.740,0,3082.7,0,-38.0
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6622.161,-5850.901
$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,701
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-5.40,0.000,2,0.000,0.000,2694,3161,2513
$GC,29,-0.99,-146.0,3.5,-0.0,1,71,0.62,3.90,-34.83,0.000,4,0.055,0.066,2452,817,3248
$GC,327,-0.77,-146.0,39.9,-15.7,53,334,0.25,2.33,0.00,0.000,6,0.132,0.064,2517,2231,3252
$GC,674,-0.77,-146.0,67.5,-5.9,114,680,0.00,2.30,0.00,0.000,4,0.000,0.063,2520,818,3252
$GC,688,-0.77,-146.0,68.7,-6.8,116,694,0.00,2.33,0.00,0.000,6,0.000,0.061,2512,2243,3253
$GC,1034,-0.77,-146.0,97.7,-8.5,177,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2243,3253
$GC,1368,-0.77,-146.0,127.6,-8.4,196,1371,0.00,2.22,0.00,0.000,4,0.000,0.077,2501,3605,3252
$GC,1407,-0.77,-146.0,131.3,-9.7,197,1413,0.00,2.20,0.00,0.000,6,0.000,0.051,2501,2209,3252
$GC,1724,-0.77,-146.0,156.6,-7.8,213,1728,0.00,2.22,0.00,0.000,4,0.000,0.066,2501,820,3252
$GC,1735,-0.77,-146.0,157.5,-7.4,213,1739,0.00,2.33,0.00,0.000,6,0.000,0.063,2492,2234,3252
$GC,2057,-0.77,-146.0,181.5,-8.1,229,2061,0.00,2.22,0.00,0.000,4,0.000,0.076,2481,3600,3252
$GC,2069,-0.77,-146.0,182.5,-8.1,229,2073,0.12,2.17,0.00,0.000,6,0.149,0.051,2514,2218,3252
$GC,2387,-0.86,-146.0,204.2,-6.8,244,2391,0.00,2.25,0.00,0.000,4,0.000,0.065,2514,815,3252
$GC,2400,-0.94,-146.0,205.1,-6.7,244,2405,0.12,2.35,0.00,0.000,6,0.079,0.063,2454,2243,3251
$GC,2719,-0.81,-146.0,231.5,-7.8,259,2723,0.17,2.35,0.00,0.000,4,0.150,0.064,2509,818,3251
$GC,2737,-0.75,-146.0,232.9,-7.7,260,2741,0.00,2.33,0.00,0.000,6,0.000,0.064,2501,2232,3251
$GC,3071,-0.80,-146.0,253.4,-6.4,276,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2232,3251
$GC,3381,-0.86,-146.0,273.6,-6.4,291,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2232,3251
$GC,3690,-0.92,-146.0,292.2,-6.0,306,3693,0.00,2.25,0.00,0.000,4,0.000,0.078,2491,3604,3251
$GC,3714,-0.97,-146.0,293.7,-6.0,307,3718,0.00,2.17,0.00,0.000,6,0.000,0.052,2490,2225,3251
$GC,4049,-0.97,-146.0,315.1,-6.7,323,4052,0.00,2.28,0.00,0.000,4,0.000,0.065,2490,816,3251
$GC,4073,-0.97,-146.0,316.8,-7.0,324,4077,0.00,2.38,0.00,0.000,6,0.000,0.062,2481,2246,3251
$GC,4401,-0.97,-146.0,339.2,-6.7,340,4405,0.00,2.22,0.00,0.000,4,0.000,0.074,2470,3602,3251
$GC,4475,-0.97,-146.0,344.6,-7.6,343,4479,0.00,2.20,0.00,0.000,6,0.000,0.050,2470,2213,3251
$GC,4803,-0.97,-146.0,367.7,-7.0,359,4807,0.00,2.25,0.00,0.000,4,0.000,0.064,2470,810,3251
$GC,4815,-0.97,-146.0,368.5,-6.8,359,4819,0.00,2.35,0.00,0.000,6,0.000,0.061,2460,2243,3251
$GC,5137,-0.92,-146.0,391.9,-7.7,375,5139,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2242,3251
$GC,5463,-0.86,-146.0,415.7,-7.1,386,5465,0.12,0.00,0.00,0.000,6,0.145,0.000,2494,2242,3252
$GC,5789,-0.95,-146.0,435.5,-6.2,394,5793,0.00,2.33,0.00,0.000,4,0.000,0.061,2495,818,3252
$GC,5802,-1.02,-146.0,436.4,-6.3,394,5807,0.12,2.35,0.00,0.000,6,0.076,0.061,2434,2241,3252
$GC,6116,-0.89,-146.0,461.4,-7.9,402,6118,0.20,0.00,0.00,0.000,6,0.145,0.000,2491,2241,3252
$GC,6442,-0.96,-146.0,479.6,-5.3,410,6445,0.00,2.22,0.00,0.000,4,0.000,0.074,2483,3598,3253
$GC,6455,-1.04,-146.0,480.3,-5.0,410,6459,0.12,2.15,0.00,0.000,6,0.078,0.047,2429,2221,3253
$GC,6775,-0.89,-146.0,502.2,-6.9,418,6776,0.20,0.00,0.00,0.000,6,0.135,0.000,2487,2221,3253
$GC,7100,-0.96,-146.0,517.8,-4.6,426,7101,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2221,3254
$GC,7425,-1.03,-146.0,530.6,-3.9,434,7427,0.12,0.00,0.00,0.000,6,0.083,0.000,2435,2220,3254
$GC,7749,-0.91,-146.0,550.8,-6.5,442,7754,0.17,2.33,0.00,0.000,4,0.147,0.071,2475,3597,3254
$GC,7761,-0.82,-146.0,551.7,-6.6,442,7766,0.10,2.15,0.00,0.000,6,0.141,0.046,2501,2216,3254
$GC,8077,-0.95,-146.0,566.5,-4.7,450,8079,0.12,0.00,0.00,0.000,6,0.084,0.000,2449,2216,3255
$GC,8401,-0.88,-146.0,587.7,-6.7,458,8403,0.15,0.00,0.00,0.000,6,0.147,0.000,2489,2216,3255
$GC,8726,-0.97,-146.0,604.7,-5.2,466,8730,0.00,2.22,0.00,0.000,4,0.000,0.058,2489,815,3255
$GC,8739,-1.04,-146.0,605.2,-5.1,466,8743,0.10,2.33,0.00,0.000,6,0.079,0.058,2436,2233,3255
$GC,9059,-0.93,-146.0,626.8,-6.8,474,9063,0.15,2.30,0.00,0.000,4,0.143,0.056,2483,815,3255
$GC,9081,-0.93,-146.0,628.3,-6.2,474,9085,0.00,2.33,0.00,0.000,6,0.000,0.057,2475,2235,3255
$GC,9426,-0.93,-146.0,645.3,-5.0,483,9430,0.00,2.22,0.00,0.000,4,0.000,0.071,2464,3606,3255
$GC,9449,-0.93,-146.0,646.7,-5.9,483,9453,0.00,2.15,0.00,0.000,6,0.000,0.044,2464,2221,3255
$GC,9798,-0.93,-146.0,666.8,-5.7,492,9799,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2221,3256
$GC,10124,-0.93,-146.0,687.3,-6.4,500,10128,0.00,2.20,0.00,0.000,4,0.000,0.059,2464,829,3256
$GC,10142,-0.93,-146.0,688.6,-6.5,500,10146,0.10,2.30,0.00,0.000,6,0.137,0.057,2481,2239,3256
$STATE,10405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10405,begin apogee
$GC,10414,-0.31,0.0,701.1,4.4,507,10549,0.40,0.00,131.88,1.266,6,0.090,0.000,2621,1732,2650
$STATE,10549,end apogee,CONTROL_FINISHED_OK
$STATE,10550,begin climb
$GC,10554,0.99,146.0,700.8,0.0,510,10701,0.85,2.75,137.62,1.188,4,0.091,0.062,2894,3153,2053
$GC,10814,0.68,146.0,676.3,11.8,516,10819,0.30,2.40,0.00,0.000,6,0.132,0.047,2824,1738,2048
$GC,11140,0.68,150.4,653.1,6.9,524,11149,0.00,2.35,3.95,0.734,4,0.000,0.063,2832,330,2036
$GC,11175,0.79,175.5,650.9,6.2,524,11205,0.00,2.30,24.02,1.155,6,0.000,0.050,2832,1753,1933
$GC,11515,0.79,175.5,628.2,7.1,533,11519,0.00,2.22,0.00,0.000,4,0.000,0.064,2832,3150,1930
$GC,11595,0.73,175.5,621.8,7.4,534,11599,0.00,2.22,0.00,0.000,6,0.000,0.048,2842,1733,1928
$GC,11932,0.73,175.5,596.1,7.6,543,11934,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1733,1928
$GC,12258,0.73,175.5,570.1,8.0,551,12262,0.00,2.30,0.00,0.000,4,0.000,0.065,2842,3147,1928
$GC,12327,0.62,175.5,564.0,8.7,552,12332,0.15,2.22,0.00,0.000,6,0.129,0.048,2810,1727,1927
$GC,12677,0.83,217.2,543.6,5.7,561,12716,0.17,0.00,36.75,1.160,6,0.061,0.000,2892,1727,1764
$GC,13042,0.69,217.2,505.9,10.5,570,13044,0.22,0.00,0.00,0.000,6,0.125,0.000,2824,1727,1758
$GC,13366,0.89,260.6,486.2,5.6,578,13412,0.17,2.42,39.28,1.120,4,0.061,0.064,2905,3152,1587
$GC,13442,0.67,260.6,478.6,10.7,579,13447,0.32,2.28,0.00,0.000,6,0.129,0.048,2819,1730,1584
$GC,13775,0.96,310.6,459.6,5.4,587,13827,0.20,2.35,45.75,1.092,4,0.061,0.062,2931,327,1383
$GC,13862,0.87,310.6,450.5,11.4,589,13867,0.22,2.33,0.00,0.000,6,0.128,0.051,2866,1746,1381
$GC,14183,0.92,310.6,423.4,8.5,597,14186,0.00,2.25,0.00,0.000,4,0.000,0.064,2866,3152,1375
$GC,14256,0.92,310.6,416.6,9.5,598,14260,0.00,2.25,0.00,0.000,6,0.000,0.048,2873,1725,1373
$GC,14581,0.92,310.6,388.8,8.8,609,14585,0.00,2.25,0.00,0.000,4,0.000,0.062,2883,330,1371
$GC,14616,1.01,310.6,385.7,8.5,610,14620,0.00,2.28,0.00,0.000,6,0.000,0.050,2883,1754,1371
$GC,14939,1.01,310.6,355.6,9.4,626,14943,0.00,2.22,0.00,0.000,4,0.000,0.065,2883,3150,1370
$GC,15013,0.94,310.6,347.6,11.4,629,15019,0.00,2.25,0.00,0.000,6,0.000,0.048,2892,1723,1369
$GC,15342,0.94,310.6,314.3,9.7,645,15346,0.00,2.25,0.00,0.000,4,0.000,0.062,2903,327,1368
$GC,15382,0.99,310.6,310.3,9.2,646,15389,0.00,2.28,0.00,0.000,6,0.000,0.051,2903,1744,1368
$GC,15699,0.94,310.6,278.3,10.6,662,15702,0.00,2.25,0.00,0.000,4,0.000,0.064,2903,3154,1368
$GC,15791,0.82,310.6,267.8,11.9,666,15796,0.20,2.25,0.00,0.000,6,0.124,0.049,2853,1728,1367
$GC,16122,1.08,347.8,246.0,5.8,682,16160,0.20,2.33,31.67,0.986,4,0.061,0.061,2964,325,1232
$GC,16213,0.99,347.8,235.4,12.2,685,16219,0.25,2.30,0.00,0.000,6,0.127,0.052,2891,1751,1231
$GC,16542,1.06,347.8,204.7,8.8,701,16545,0.00,2.25,0.00,0.000,4,0.000,0.065,2890,3159,1227
$GC,16621,1.06,347.8,197.2,8.6,704,16625,0.00,2.28,0.00,0.000,6,0.000,0.049,2897,1729,1226
$GC,16944,1.13,354.2,172.9,6.8,720,16956,0.10,2.28,6.00,0.794,4,0.081,0.063,2960,327,1205
$GC,16986,1.05,354.2,168.8,10.1,722,16991,0.20,2.30,0.00,0.000,6,0.127,0.053,2901,1752,1206
$GC,17315,1.14,354.2,146.2,7.8,738,17319,0.10,2.25,0.00,0.000,4,0.077,0.066,2953,3154,1205
$GC,17394,0.94,354.2,135.6,14.5,741,17400,0.28,2.25,0.00,0.000,6,0.127,0.051,2882,1733,1204
$GC,17713,1.62,354.2,105.8,10.5,757,17718,0.43,2.30,0.00,0.000,4,0.089,0.063,3034,326,1202
$GC,17754,1.75,354.2,100.9,11.9,759,17759,0.10,2.33,0.00,0.000,6,0.091,0.053,3075,1748,1203
$GC,18099,1.25,354.2,32.1,21.2,818,18105,0.40,0.00,0.00,0.000,6,0.158,0.000,2955,1748,1203
$FREEZE,6.77,-1.823,-1.796
$STATE,18325,end climb,FINISH_DEPTH_REACHED
$STATE,18325,begin subsurface finish
$FINISH1,6.8,1.026305,66
$GC,18335,0.08,66.0,6.8,-9.1,858,18377,0.77,0.00,-38.88,0.000,6,0.118,0.000,2700,1749,2381
$FINISH2,5.2
$STATE,18377,end subsurface finish,CONTROL_FINISHED_OK
$STATE,18377,begin surface
$RAFOS_CLK,823
$RAFOS,4,1231346648,16.750000,16.735556,59,57,55,55,55,49,117,164,151,206,220,192
$RAFOS,3,1231346046,16.583334,16.568333,123,66,61,60,58,58,519,193,202,218,116,156
$RAFOS,2,1231345447,16.416666,16.401945,65,59,58,57,53,53,187,215,168,136,201,110
$RAFOS,1,1231344842,16.250000,16.233889,61,59,58,57,54,51,219,206,751,171,122,184
$RAFOS,0,1231344247,16.083334,16.068611,65,61,58,57,52,49,191,215,137,153,177,117
$RAFOS,4,1231332255,12.750000,12.737500,60,59,58,57,56,50,171,205,128,160,151,965
$RAFOS,3,1231331654,12.583333,12.570556,107,64,56,56,55,55,483,212,120,162,222,189
$RAFOS,2,1231331056,12.416667,12.404445,62,56,56,53,53,52,188,176,149,201,221,159
$RAFOS,1,1231330449,12.250000,12.235833,84,58,56,51,51,50,721,183,167,210,120,193
$RAFOS,0,1231329843,12.083333,12.067500,60,59,55,52,52,51,224,169,196,155,113,212
$RAFOS_FIX,6620.143555,-5910.897949,070109,121240,2,96,0.37
$IRIDIUM_FIX,6609.62,-6043.56,300398,121218
$TT8_MAMPS,0.026845
$HUMID,1831
$INTERNAL_PRESSURE,9.92226
$TCM_TEMP,15.40
$XPDR_PINGS,172
$24V_AH,21.1,96.903
$10V_AH,10.4,42.977
$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,9.150,157.500,456.925,0.000,0.000,0.000,0.000,0.000,43.000,0.000,0.000,0.000,1702.903,14122.136,537.590,1743.642,362.756,0.000,1534.285,0.000,1721.072,3600.000,0.529,0.000
$DEVICE_MAMPS,158.002,78.234,1266.317,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,605.968,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28400,865
$CAP_FILE_SIZE,136758,0
$CFSIZE,260165632,213020672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.0
$GPS,070109,122640,6620.144,-5910.898,0,2095.5,0,-38.0
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581