version: 66.04
glider: 108
mission: 11
dive: 639
start: 1 7 109 22 29 15
data:
$ID,108
$MISSION,11
$DIVE,639
$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,-128427.43
$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,23
$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
$GPS1,220932,6614.924,-5908.790,37,1.7,37,-37.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-40.7
$GPS2,220932,6614.924,-5908.790,37,1.7,37,-37.1
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6615.865,-5842.062
$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,122.1,20000,-13.0,-7.021
$D_GRID,660
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-0.99,-146.0,0.0,0.0,0,99,0.00,0.00,-77.03,0.000,2,0.000,0.000,334,2257,2572
$GC,103,-0.99,-146.0,3.0,-0.6,14,150,8.32,2.38,-31.55,0.000,4,0.219,0.074,2471,810,3247
$GC,283,-0.74,-146.0,19.2,-10.7,45,290,0.20,2.35,0.00,0.000,6,0.137,0.063,2520,2232,3251
$GC,630,-0.74,-146.0,50.7,-10.8,106,636,0.00,2.33,0.00,0.000,4,0.000,0.062,2520,806,3251
$GC,649,-0.74,-146.0,52.7,-10.0,109,655,0.00,2.35,0.00,0.000,6,0.000,0.061,2512,2236,3251
$GC,996,-0.74,-146.0,86.7,-10.2,170,1002,0.00,2.22,0.00,0.000,4,0.000,0.077,2502,3597,3251
$GC,1009,-0.74,-146.0,88.0,-10.3,172,1016,0.00,2.17,0.00,0.000,6,0.000,0.051,2502,2213,3251
$GC,1354,-0.74,-146.0,117.6,-8.0,203,1358,0.00,2.22,0.00,0.000,4,0.000,0.063,2502,824,3251
$GC,1435,-0.68,-146.0,124.9,-9.0,206,1440,0.15,2.33,0.00,0.000,6,0.131,0.064,2533,2239,3251
$GC,1752,-0.80,-146.0,145.0,-6.9,221,1757,0.10,2.33,0.00,0.000,4,0.084,0.063,2489,824,3251
$GC,1832,-0.73,-146.0,152.4,-9.8,224,1837,0.17,2.33,0.00,0.000,6,0.135,0.064,2527,2236,3251
$GC,2149,-0.84,-146.0,174.8,-7.4,239,2154,0.12,2.33,0.00,0.000,4,0.082,0.063,2474,821,3251
$GC,2160,-0.90,-146.0,175.7,-7.3,239,2167,0.00,2.33,0.00,0.000,6,0.000,0.063,2464,2235,3251
$GC,2478,-0.80,-146.0,207.6,-10.3,255,2483,0.15,2.33,0.00,0.000,4,0.143,0.063,2510,823,3251
$GC,2519,-0.80,-146.0,211.4,-8.1,257,2523,0.00,2.35,0.00,0.000,6,0.000,0.064,2503,2238,3251
$GC,2850,-0.85,-146.0,234.1,-6.3,273,2851,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2238,3251
$GC,3156,-0.91,-146.0,252.5,-6.4,288,3161,0.00,2.35,0.00,0.000,4,0.000,0.064,2503,812,3251
$GC,3185,-0.91,-146.0,254.8,-7.8,289,3189,0.00,2.38,0.00,0.000,6,0.000,0.063,2493,2240,3251
$GC,3504,-0.91,-146.0,277.6,-6.9,304,3508,0.00,2.35,0.00,0.000,4,0.000,0.064,2492,811,3251
$GC,3568,-0.91,-146.0,282.4,-7.0,307,3572,0.00,2.35,0.00,0.000,6,0.000,0.063,2483,2232,3251
$GC,3895,-0.91,-146.0,307.3,-8.2,323,3897,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2232,3251
$GC,4206,-0.91,-146.0,330.9,-6.8,338,4210,0.00,2.30,0.00,0.000,4,0.000,0.062,2483,818,3251
$GC,4240,-0.91,-146.0,333.3,-7.0,339,4244,0.00,2.35,0.00,0.000,6,0.000,0.063,2473,2240,3251
$GC,4557,-0.91,-146.0,354.9,-6.8,354,4561,0.00,2.22,0.00,0.000,4,0.000,0.076,2462,3595,3252
$GC,4574,-0.91,-146.0,356.2,-6.9,354,4581,0.00,2.15,0.00,0.000,6,0.000,0.048,2462,2226,3251
$GC,4892,-0.86,-146.0,378.6,-7.3,370,4897,0.12,2.28,0.00,0.000,4,0.146,0.061,2499,812,3252
$GC,4926,-0.86,-146.0,381.2,-6.9,371,4932,0.00,2.35,0.00,0.000,6,0.000,0.061,2491,2238,3251
$GC,5264,-0.91,-146.0,403.4,-6.6,387,5266,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2238,3252
$GC,5589,-0.97,-146.0,423.0,-5.8,395,5590,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2238,3253
$GC,5914,-1.03,-146.0,440.7,-5.5,403,5915,0.12,0.00,0.00,0.000,6,0.081,0.000,2435,2238,3253
$GC,6239,-0.89,-146.0,464.0,-7.1,411,6243,0.20,2.25,0.00,0.000,4,0.139,0.074,2489,3597,3253
$GC,6251,-0.80,-146.0,464.9,-7.1,411,6255,0.00,2.17,0.00,0.000,6,0.000,0.047,2489,2213,3253
$GC,6571,-0.87,-146.0,482.8,-5.8,419,6575,0.00,2.22,0.00,0.000,4,0.000,0.058,2489,814,3253
$GC,6611,-0.87,-146.0,485.5,-6.7,419,6617,0.00,2.35,0.00,0.000,6,0.000,0.059,2479,2246,3253
$GC,6946,-0.87,-146.0,508.1,-7.0,428,6947,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2246,3254
$GC,7270,-0.87,-146.0,528.9,-6.1,436,7274,0.00,2.30,0.00,0.000,4,0.000,0.058,2479,823,3254
$GC,7298,-0.87,-146.0,530.7,-6.3,436,7303,0.10,2.33,0.00,0.000,6,0.136,0.060,2496,2237,3254
$GC,7643,-0.97,-146.0,548.9,-5.2,445,7644,0.12,0.00,0.00,0.000,6,0.078,0.000,2443,2236,3255
$GC,7967,-0.88,-146.0,570.3,-6.5,453,7971,0.17,2.33,0.00,0.000,4,0.141,0.057,2498,812,3255
$GC,7990,-0.88,-146.0,571.8,-6.2,453,7994,0.00,2.33,0.00,0.000,6,0.000,0.058,2490,2234,3256
$GC,8340,-0.96,-146.0,589.3,-4.9,462,8342,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2233,3255
$GC,8665,-1.04,-146.0,605.1,-4.8,470,8666,0.12,0.00,0.00,0.000,6,0.079,0.000,2434,2233,3256
$GC,8989,-0.92,-146.0,627.0,-7.0,478,8993,0.17,2.28,0.00,0.000,4,0.142,0.071,2476,3602,3256
$GC,9007,-0.92,-146.0,628.1,-7.0,478,9011,0.00,2.17,0.00,0.000,6,0.000,0.044,2475,2218,3256
$GC,9321,-0.92,-146.0,647.0,-6.1,486,9325,0.00,2.33,0.00,0.000,4,0.000,0.070,2465,3603,3256
$GC,9361,-0.92,-146.0,649.6,-7.0,486,9367,0.00,2.17,0.00,0.000,6,0.000,0.044,2465,2214,3256
$STATE,9567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9567,begin apogee
$GC,9577,-0.31,0.0,662.2,6.0,492,9712,0.47,0.00,131.50,1.241,6,0.120,0.000,2614,1743,2651
$STATE,9713,end apogee,CONTROL_FINISHED_OK
$STATE,9713,begin climb
$GC,9717,0.99,146.0,664.6,0.0,495,9858,0.90,0.00,137.38,1.165,6,0.091,0.000,2898,1744,2054
$GC,10178,0.81,146.0,622.6,9.7,507,10180,0.17,0.00,0.00,0.000,6,0.129,0.000,2848,1743,2047
$GC,10503,0.81,146.0,598.0,7.3,515,10504,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1743,2046
$GC,10827,0.81,146.0,573.8,7.6,523,10831,0.00,2.33,0.00,0.000,4,0.000,0.065,2848,3152,2046
$GC,10863,0.70,146.0,570.8,8.7,523,10867,0.10,2.25,0.00,0.000,6,0.141,0.048,2829,1729,2045
$GC,11201,0.77,152.5,547.9,6.8,532,11211,0.00,2.35,5.40,0.887,4,0.000,0.062,2829,3162,2027
$GC,11246,0.77,152.5,544.2,8.5,533,11250,0.00,2.28,0.00,0.000,6,0.000,0.048,2838,1723,2027
$GC,11571,0.77,152.5,519.9,7.6,541,11572,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1723,2027
$GC,11896,0.77,152.5,495.6,7.4,549,11900,0.00,2.38,0.00,0.000,4,0.000,0.063,2837,3163,2027
$GC,11931,0.71,152.5,492.8,8.3,549,11935,0.00,2.28,0.00,0.000,6,0.000,0.048,2848,1726,2027
$GC,12269,0.71,157.5,468.9,6.9,558,12277,0.00,0.00,5.78,0.893,6,0.000,0.000,2848,1726,2008
$GC,12594,0.71,157.5,446.2,7.2,566,12598,0.00,2.38,0.00,0.000,4,0.000,0.064,2848,3158,2009
$GC,12629,0.63,157.5,443.3,8.3,566,12634,0.15,2.28,0.00,0.000,6,0.131,0.048,2815,1733,2008
$GC,12967,0.81,188.4,422.6,6.0,575,12998,0.15,0.00,28.50,1.090,6,0.065,0.000,2886,1733,1882
$GC,13272,0.71,188.4,393.7,9.6,584,13274,0.20,0.00,0.00,0.000,6,0.119,0.000,2825,1733,1878
$GC,13583,0.87,209.7,372.8,6.3,599,13609,0.15,2.40,18.80,1.032,4,0.066,0.064,2896,3149,1795
$GC,13645,0.66,209.7,366.7,11.3,601,13651,0.28,2.28,0.00,0.000,6,0.128,0.048,2825,1724,1793
$GC,13963,0.90,259.3,349.2,5.4,617,14014,0.17,2.38,44.95,1.039,4,0.061,0.062,2919,331,1592
$GC,14038,0.80,259.3,341.8,11.8,620,14043,0.22,2.33,0.00,0.000,6,0.128,0.051,2854,1752,1591
$GC,14356,0.91,259.3,313.1,9.2,635,14360,0.10,2.25,0.00,0.000,4,0.079,0.064,2904,3151,1584
$GC,14435,0.73,259.3,302.9,13.1,638,14440,0.28,2.25,0.00,0.000,6,0.124,0.048,2831,1738,1583
$GC,14757,1.00,292.1,280.6,6.0,654,14793,0.20,2.38,28.70,0.987,4,0.061,0.063,2944,334,1459
$GC,14840,0.88,292.1,271.3,12.2,657,14847,0.25,2.33,0.00,0.000,6,0.129,0.051,2871,1744,1457
$GC,15157,0.97,292.1,244.6,9.1,673,15161,0.00,2.30,0.00,0.000,4,0.000,0.065,2871,3158,1453
$GC,15220,0.97,292.1,238.2,10.2,675,15226,0.00,2.28,0.00,0.000,6,0.000,0.049,2877,1725,1452
$GC,15537,1.05,293.6,212.6,7.0,691,15542,0.10,2.25,0.00,0.000,4,0.081,0.063,2939,335,1451
$GC,15566,1.01,293.6,210.1,9.1,692,15570,0.15,2.25,0.00,0.000,6,0.131,0.050,2897,1744,1451
$GC,15894,1.02,308.0,187.0,6.6,708,15915,0.00,2.28,14.18,0.923,4,0.000,0.066,2897,3148,1394
$GC,15945,0.98,308.0,182.7,8.4,710,15949,0.00,2.25,0.00,0.000,6,0.000,0.049,2904,1733,1392
$GC,16273,0.98,308.0,150.7,9.7,726,16274,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1733,1391
$GC,16582,1.03,308.0,121.8,9.9,741,16586,0.00,2.30,0.00,0.000,4,0.000,0.066,2913,324,1389
$GC,16629,1.14,308.0,117.7,8.6,743,16633,0.00,2.33,0.00,0.000,6,0.000,0.053,2912,1744,1389
$GC,16958,1.18,308.0,89.1,9.1,774,16965,0.10,2.30,0.00,0.000,4,0.081,0.067,2963,3158,1389
$GC,17040,0.97,308.0,78.8,12.8,788,17047,0.30,2.28,0.00,0.000,6,0.130,0.052,2884,1726,1389
$GC,17388,1.24,369.1,60.0,5.1,849,17448,0.20,2.40,54.70,0.908,4,0.064,0.067,2989,325,1145
$GC,17517,1.12,369.1,46.4,13.5,870,17524,0.25,2.33,0.00,0.000,6,0.129,0.054,2916,1743,1140
$GC,17864,1.22,369.1,16.8,8.6,931,17871,0.12,2.30,0.00,0.000,4,0.076,0.070,2978,3156,1136
$GC,17879,1.33,369.1,15.6,7.4,933,17886,0.00,2.25,0.00,0.000,6,0.000,0.049,2988,1732,1136
$FREEZE,6.78,-1.741,-1.808
$STATE,17930,end climb,FINISH_DEPTH_REACHED
$STATE,17930,begin subsurface finish
$FINISH1,6.8,1.026480,57
$GC,17940,0.07,57.4,6.8,-18.5,942,17988,0.90,2.38,-41.10,0.000,4,0.116,0.078,2696,326,2419
$FINISH2,5.8
$STATE,17989,end subsurface finish,CONTROL_FINISHED_OK
$STATE,17989,begin surface
$RAFOS_CLK,790
$RAFOS,4,1231375446,0.750000,0.735000,62,58,57,54,54,53,151,171,205,121,162,134
$RAFOS,3,1231374870,0.583333,0.575000,115,62,60,59,52,51,404,202,215,186,229,136
$RAFOS,2,1231374254,0.416667,0.403889,60,58,56,55,51,50,217,206,152,174,188,130
$RAFOS,1,1231373677,0.250000,0.243611,83,70,62,59,57,52,590,219,194,143,168,133
$RAFOS,0,1231373061,0.083333,0.072500,60,58,54,53,53,51,197,216,206,167,130,119
$RAFOS_FIX,6617.756348,-5909.147949,080109,000040,2,99,0.64
$IRIDIUM_FIX,6548.42,-5913.15,030498,222244
$TT8_MAMPS,0.026845
$HUMID,1817
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,15.00
$XPDR_PINGS,204
$24V_AH,21.3,97.250
$10V_AH,10.4,43.113
$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,16.300,154.850,469.875,0.000,0.000,92.576,142.339,238.731,51.000,0.000,0.000,183.216,1733.850,13692.252,660.236,1901.691,1156.136,0.000,1639.654,0.000,1706.339,1800.000,0.531,0.000
$DEVICE_MAMPS,219.362,78.234,1241.006,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,662.935,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31558,950
$CAP_FILE_SIZE,142621,0
$CFSIZE,260165632,212836352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.8
$GPS,080109,002640,6617.756,-5909.148,0,2099.0,0,-37.1
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581