version: 66.04
glider: 108
mission: 11
dive: 640
start: 1 8 109 3 31 14
data:
$ID,108
$MISSION,11
$DIVE,640
$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,30
$R_STBD_OVSHOOT,27
$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
$GPS1,002640,6617.756,-5909.148,0,2099.0,0,-37.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.11
$_SM_ANGLEo,-9.6
$GPS2,002640,6617.756,-5909.148,0,2099.0,0,-37.1
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6618.697,-5842.371
$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,671
$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,-5.43,0.000,2,0.000,0.000,2696,326,2595
$GC,29,-0.99,-146.0,7.0,-0.0,1,59,0.65,0.80,-22.60,0.000,4,0.071,0.095,2450,829,3247
$GC,275,-0.67,-146.0,27.3,-9.4,44,283,0.32,2.25,0.00,0.000,6,0.133,0.064,2534,2227,3252
$GC,623,-0.74,-146.0,58.0,-7.3,105,629,0.00,2.22,0.00,0.000,4,0.000,0.076,2526,3596,3251
$GC,671,-0.83,-146.0,62.7,-10.1,113,678,0.10,2.15,0.00,0.000,6,0.091,0.049,2479,2221,3251
$GC,1018,-0.72,-146.0,92.1,-8.2,174,1025,0.17,2.25,0.00,0.000,4,0.141,0.062,2529,817,3251
$GC,1050,-0.72,-146.0,94.0,-6.3,179,1056,0.00,2.33,0.00,0.000,6,0.000,0.063,2521,2236,3251
$GC,1388,-0.81,-146.0,111.8,-6.7,211,1392,0.00,2.30,0.00,0.000,4,0.000,0.063,2521,824,3251
$GC,1439,-0.86,-146.0,116.1,-7.9,213,1443,0.00,2.33,0.00,0.000,6,0.000,0.063,2511,2240,3251
$GC,1767,-0.91,-146.0,138.8,-6.6,229,1771,0.12,2.33,0.00,0.000,4,0.081,0.064,2453,822,3250
$GC,1819,-0.73,-146.0,143.8,-10.4,231,1824,0.28,2.35,0.00,0.000,6,0.133,0.064,2522,2243,3250
$GC,2141,-0.85,-146.0,167.3,-7.1,247,2143,0.10,0.00,0.00,0.000,6,0.092,0.000,2480,2243,3250
$GC,2451,-0.85,-146.0,198.5,-10.7,262,2452,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2243,3250
$GC,2759,-0.85,-146.0,227.5,-7.3,277,2763,0.00,2.33,0.00,0.000,4,0.000,0.065,2480,825,3250
$GC,2770,-0.85,-146.0,228.3,-7.2,277,2777,0.10,2.33,0.00,0.000,6,0.141,0.064,2495,2235,3250
$GC,3088,-0.85,-146.0,242.1,-3.8,293,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2235,3250
$GC,3396,-0.85,-146.0,258.4,-6.1,308,3398,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2235,3250
$GC,3706,-0.85,-146.0,278.4,-6.7,323,3707,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2235,3250
$GC,4016,-0.91,-146.0,299.9,-7.1,338,4019,0.00,2.22,0.00,0.000,4,0.000,0.077,2487,3594,3250
$GC,4028,-0.96,-146.0,300.8,-7.1,338,4032,0.00,2.15,0.00,0.000,6,0.000,0.049,2487,2225,3249
$GC,4350,-0.96,-146.0,324.2,-7.0,354,4354,0.00,2.25,0.00,0.000,4,0.000,0.064,2487,817,3249
$GC,4377,-0.96,-146.0,326.1,-7.8,355,4381,0.00,2.33,0.00,0.000,6,0.000,0.062,2477,2233,3249
$GC,4705,-0.96,-146.0,349.9,-6.9,371,4709,0.00,2.22,0.00,0.000,4,0.000,0.076,2467,3602,3249
$GC,4717,-0.96,-146.0,350.9,-6.9,371,4720,0.00,2.17,0.00,0.000,6,0.000,0.049,2467,2217,3250
$GC,5041,-0.96,-146.0,374.4,-7.0,387,5045,0.00,2.22,0.00,0.000,4,0.000,0.061,2467,821,3250
$GC,5088,-0.89,-146.0,378.1,-7.6,389,5093,0.12,2.33,0.00,0.000,6,0.133,0.061,2491,2237,3250
$GC,5417,-0.96,-146.0,397.0,-5.3,405,5418,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2237,3250
$GC,5723,-1.03,-146.0,413.8,-5.5,414,5725,0.12,0.00,0.00,0.000,6,0.082,0.000,2438,2237,3251
$GC,6047,-0.91,-146.0,438.1,-7.6,422,6051,0.17,2.33,0.00,0.000,4,0.143,0.060,2488,814,3251
$GC,6059,-0.82,-146.0,439.0,-7.9,422,6063,0.10,2.33,0.00,0.000,6,0.133,0.059,2507,2236,3251
$GC,6374,-0.96,-146.0,456.6,-5.7,430,6376,0.12,0.00,0.00,0.000,6,0.081,0.000,2453,2236,3252
$GC,6698,-0.90,-146.0,478.4,-6.5,438,6702,0.12,2.22,0.00,0.000,4,0.144,0.072,2479,3601,3252
$GC,6709,-0.90,-146.0,479.2,-6.3,438,6713,0.00,2.15,0.00,0.000,6,0.000,0.047,2478,2221,3252
$GC,7030,-0.90,-146.0,495.4,-5.1,446,7034,0.00,2.22,0.00,0.000,4,0.000,0.060,2478,817,3252
$GC,7048,-0.90,-146.0,496.5,-5.2,446,7052,0.00,2.33,0.00,0.000,6,0.000,0.058,2469,2246,3252
$GC,7362,-0.90,-146.0,515.6,-6.3,454,7364,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2246,3252
$GC,7687,-0.90,-146.0,536.8,-6.7,462,7691,0.00,2.20,0.00,0.000,4,0.000,0.072,2458,3604,3253
$GC,7717,-0.90,-146.0,538.9,-7.2,462,7721,0.12,2.15,0.00,0.000,6,0.139,0.046,2491,2224,3253
$GC,8060,-0.99,-146.0,558.0,-5.5,471,8065,0.12,2.22,0.00,0.000,4,0.081,0.059,2437,817,3253
$GC,8089,-0.87,-146.0,560.2,-7.9,471,8094,0.22,2.33,0.00,0.000,6,0.127,0.058,2492,2246,3253
$GC,8428,-0.98,-146.0,579.0,-5.2,480,8430,0.10,0.00,0.00,0.000,6,0.082,0.000,2448,2246,3253
$GC,8752,-0.91,-146.0,599.7,-5.9,488,8757,0.12,2.30,0.00,0.000,4,0.146,0.057,2483,826,3254
$GC,8764,-0.86,-146.0,600.5,-5.6,488,8768,0.00,2.30,0.00,0.000,6,0.000,0.058,2475,2241,3254
$GC,9080,-0.86,-146.0,619.5,-6.6,496,9084,0.00,2.30,0.00,0.000,4,0.000,0.058,2475,827,3254
$GC,9092,-0.86,-146.0,620.4,-6.2,496,9097,0.12,2.28,0.00,0.000,6,0.129,0.057,2500,2241,3254
$GC,9412,-1.01,-146.0,633.6,-4.7,504,9414,0.15,0.00,0.00,0.000,6,0.075,0.000,2436,2240,3254
$GC,9737,-1.01,-146.0,655.2,-6.4,512,9742,0.10,2.22,0.00,0.000,4,0.123,0.071,2463,3602,3255
$GC,9749,-1.26,-146.0,655.2,-5.1,512,9753,0.17,2.17,0.00,0.000,6,0.070,0.044,2389,2210,3255
$STATE,9902,end dive,NO_VERTICAL_VELOCITY
$STATE,9902,begin apogee
$GC,9911,-0.31,0.0,655.2,0.0,516,10045,0.68,0.00,130.77,1.233,6,0.097,0.000,2615,1739,2650
$STATE,10046,end apogee,CONTROL_FINISHED_OK
$STATE,10046,begin climb
$GC,10050,0.99,146.0,655.0,0.0,519,10196,0.90,2.75,136.15,1.157,4,0.087,0.061,2903,3154,2053
$GC,10236,0.67,146.0,638.8,11.9,524,10241,0.32,2.47,0.00,0.000,6,0.132,0.046,2827,1747,2050
$GC,10563,0.73,150.5,616.8,6.9,532,10571,0.00,0.00,4.05,0.729,6,0.000,0.000,2827,1747,2036
$GC,10893,0.79,150.5,590.8,7.9,540,10898,0.10,2.33,0.00,0.000,4,0.077,0.061,2887,317,2036
$GC,10927,0.69,150.5,587.6,10.1,540,10932,0.20,2.30,0.00,0.000,6,0.124,0.051,2829,1748,2036
$GC,11261,0.77,171.9,566.0,6.3,548,11285,0.00,2.33,19.83,1.125,4,0.000,0.064,2829,3161,1949
$GC,11371,0.77,171.9,557.3,8.2,550,11375,0.00,2.28,0.00,0.000,6,0.000,0.048,2837,1733,1947
$GC,11721,0.81,171.9,530.6,7.8,559,11725,0.00,2.28,0.00,0.000,4,0.000,0.063,2847,330,1947
$GC,11749,0.88,171.9,528.0,8.7,559,11754,0.08,2.28,0.00,0.000,6,0.097,0.050,2891,1749,1947
$GC,12093,0.74,171.9,491.8,10.4,568,12098,0.17,2.25,0.00,0.000,4,0.130,0.064,2838,3156,1946
$GC,12174,0.68,171.9,484.6,8.5,569,12178,0.00,2.25,0.00,0.000,6,0.000,0.049,2845,1726,1945
$GC,12511,0.68,171.9,458.8,7.6,578,12513,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1727,1946
$GC,12836,0.68,171.9,432.5,8.3,586,12840,0.00,2.35,0.00,0.000,4,0.000,0.063,2846,3160,1946
$GC,12893,0.58,171.9,426.9,10.4,587,12898,0.17,2.25,0.00,0.000,6,0.125,0.048,2805,1727,1945
$GC,13214,0.89,180.1,405.5,6.8,595,13229,0.20,2.38,8.45,0.956,4,0.071,0.062,2889,3150,1915
$GC,13305,0.62,180.1,396.8,10.7,597,13309,0.30,2.22,0.00,0.000,6,0.129,0.048,2810,1733,1914
$GC,13635,0.91,276.1,380.8,3.9,613,13724,0.22,0.00,86.32,1.058,6,0.057,0.000,2912,1733,1524
$GC,14021,0.78,276.1,343.3,10.1,632,14025,0.20,2.28,0.00,0.000,4,0.123,0.063,2855,334,1513
$GC,14091,0.97,277.5,338.1,7.0,635,14095,0.12,2.28,0.00,0.000,6,0.071,0.050,2919,1748,1512
$GC,14424,0.85,277.5,302.6,10.6,651,14428,0.20,2.28,0.00,0.000,4,0.126,0.064,2854,3158,1510
$GC,14475,0.85,277.5,298.1,7.6,653,14479,0.00,2.25,0.00,0.000,6,0.000,0.049,2860,1727,1508
$GC,14804,0.96,286.9,276.2,6.7,669,14814,0.10,0.00,8.02,0.875,6,0.082,0.000,2913,1727,1480
$GC,15113,0.88,286.9,242.0,11.9,684,15115,0.15,0.00,0.00,0.000,6,0.126,0.000,2868,1727,1479
$GC,15423,1.00,286.9,215.5,7.8,699,15428,0.10,2.35,0.00,0.000,4,0.081,0.064,2919,3155,1478
$GC,15457,0.84,286.9,211.7,11.3,700,15464,0.25,2.25,0.00,0.000,6,0.124,0.049,2855,1730,1477
$GC,15775,1.06,313.8,189.8,6.2,716,15806,0.17,2.30,25.40,0.948,4,0.064,0.064,2950,327,1370
$GC,15852,0.94,313.8,181.7,11.3,719,15857,0.25,2.33,0.00,0.000,6,0.129,0.052,2876,1748,1369
$GC,16169,1.11,313.8,154.5,9.2,734,16173,0.15,2.28,0.00,0.000,4,0.066,0.067,2949,3152,1365
$GC,16221,0.85,313.8,147.2,15.1,736,16226,0.32,2.25,0.00,0.000,6,0.129,0.051,2861,1732,1364
$GC,16543,1.49,313.8,118.6,9.0,752,16548,0.40,2.28,0.00,0.000,4,0.088,0.065,3005,324,1362
$GC,16572,1.78,313.8,115.8,9.3,753,16577,0.20,2.30,0.00,0.000,6,0.071,0.052,3083,1745,1362
$GC,16910,1.27,313.8,52.5,20.4,801,16917,0.43,2.35,0.00,0.000,4,0.155,0.063,2963,325,1362
$GC,16994,1.35,380.8,44.6,4.9,815,17058,0.00,2.30,58.85,0.886,6,0.000,0.055,2964,1742,1097
$FREEZE,6.65,-1.646,-1.804
$STATE,17322,end climb,FINISH_DEPTH_REACHED
$STATE,17322,begin subsurface finish
$FINISH1,6.7,1.026426,60
$GC,17333,0.07,60.1,6.7,-7.8,873,17387,0.75,2.42,-48.00,0.000,4,0.061,0.077,2690,327,2408
$FINISH2,3.7
$STATE,17388,end subsurface finish,CONTROL_FINISHED_OK
$STATE,17388,begin surface
$RAFOS_CLK,779
$RAFOS,1,1231402445,8.250000,8.234722,76,59,58,57,56,54,209,162,200,227,120,176
$RAFOS,0,1231401848,8.083333,8.068889,62,59,59,58,55,49,188,166,210,136,219,178
$RAFOS,4,1231389844,4.750000,4.734445,74,55,55,51,51,50,208,184,140,109,166,156
$RAFOS,3,1231389258,4.583333,4.571667,115,60,58,58,58,55,495,215,202,121,160,169
$RAFOS,2,1231388660,4.416667,4.405556,68,62,62,62,56,53,209,197,185,228,131,154
$RAFOS,1,1231388044,4.250000,4.234445,59,59,52,52,50,50,179,213,134,146,197,222
$RAFOS,0,1231387446,4.083333,4.068333,62,57,56,54,53,52,148,158,216,171,118,188
$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,1827
$INTERNAL_PRESSURE,9.92226
$TCM_TEMP,15.00
$XPDR_PINGS,178
$24V_AH,21.2,97.404
$10V_AH,10.4,43.172
$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,11.025,147.775,477.850,0.000,0.000,0.000,0.000,0.000,44.500,0.000,0.000,0.000,1670.635,13173.323,564.524,1678.182,356.721,0.000,1516.487,0.000,1664.181,2520.000,0.529,0.000
$DEVICE_MAMPS,154.934,95.108,1232.569,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,616.781,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28469,882
$CAP_FILE_SIZE,132689,0
$CFSIZE,260165632,212783104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.2
$GPS,080109,002640,6617.756,-5909.148,0,2099.0,0,-37.1
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581