version: 66.04
glider: 108
mission: 11
dive: 332
start: 11 20 108 6 31 27
data:
$ID,108
$MISSION,11
$DIVE,332
$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,2
$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,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,-1
$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,-118268.59
$T_RSLEEP,60
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$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
$GPS1,042504,6629.271,-5906.320,0,4085.8,0,-37.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.45
$_SM_ANGLEo,-2.9
$GPS2,042504,6629.271,-5906.320,0,4085.8,0,-37.9
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,8000.000
$KALMAN_CONTROL,-0.179,0.149
$KALMAN_X,159436.4,-13282.3,23315.9,-235033.5,8707.6
$KALMAN_Y,-269375.2,15752.2,-12750.7,220691.1,-42367.5
$MHEAD_RNG_PITCHd_Wd,347.7,74643,-13.0,-7.021
$D_GRID,754
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.99,-146.0,0.0,0.0,0,64,0.00,0.00,-45.42,0.000,2,0.000,0.000,2692,3165,3241
$GC,67,-0.99,-146.0,3.2,-2.3,8,75,0.65,3.83,0.00,0.000,4,0.081,0.060,2455,809,3244
$GC,177,-0.71,-146.0,15.8,-12.4,27,184,0.30,2.35,0.00,0.000,6,0.151,0.068,2530,2240,3246
$GC,521,-0.71,-146.0,46.0,-9.0,88,527,0.00,2.22,0.00,0.000,4,0.000,0.082,2521,3599,3247
$GC,641,-0.71,-146.0,56.9,-9.3,109,647,0.00,2.17,0.00,0.000,6,0.000,0.054,2521,2218,3247
$GC,984,-0.71,-146.0,85.4,-8.0,170,991,0.00,2.22,0.00,0.000,4,0.000,0.067,2521,821,3247
$GC,1054,-0.71,-146.0,91.2,-8.8,182,1060,0.00,2.33,0.00,0.000,6,0.000,0.070,2512,2233,3247
$GC,1396,-0.71,-146.0,117.3,-7.1,213,1400,0.00,2.25,0.00,0.000,4,0.000,0.086,2501,3597,3247
$GC,1503,-0.71,-146.0,125.9,-8.1,217,1510,0.10,2.17,0.00,0.000,6,0.157,0.054,2526,2217,3247
$GC,1819,-0.79,-146.0,146.6,-6.2,233,1823,0.00,2.22,0.00,0.000,4,0.000,0.067,2527,822,3247
$GC,1887,-0.84,-146.0,151.6,-7.8,236,1892,0.10,2.33,0.00,0.000,6,0.090,0.069,2478,2235,3246
$GC,2220,-0.76,-146.0,181.8,-9.4,252,2222,0.15,0.00,0.00,0.000,6,0.156,0.000,2518,2235,3246
$GC,2529,-0.84,-146.0,204.5,-6.9,267,2533,0.00,2.22,0.00,0.000,4,0.000,0.084,2509,3597,3246
$GC,2658,-0.95,-146.0,213.9,-6.8,272,2665,0.12,2.17,0.00,0.000,6,0.087,0.054,2455,2217,3246
$GC,2976,-0.81,-146.0,241.1,-8.4,288,2981,0.17,2.35,0.00,0.000,4,0.146,0.086,2496,3609,3246
$GC,3055,-0.86,-146.0,246.9,-6.9,291,3061,0.00,2.20,0.00,0.000,6,0.000,0.055,2497,2219,3246
$GC,3371,-0.86,-146.0,266.5,-5.8,307,3374,0.00,2.25,0.00,0.000,4,0.000,0.068,2497,813,3246
$GC,3471,-0.86,-146.0,273.0,-6.0,311,3475,0.00,2.35,0.00,0.000,6,0.000,0.070,2489,2236,3246
$GC,3793,-0.86,-146.0,293.9,-6.6,327,3797,0.00,2.25,0.00,0.000,4,0.000,0.083,2478,3604,3245
$GC,3950,-0.86,-146.0,305.0,-6.7,334,3954,0.00,2.17,0.00,0.000,6,0.000,0.055,2479,2228,3246
$GC,4284,-0.86,-146.0,328.2,-6.9,350,4285,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2228,3245
$GC,4592,-0.86,-146.0,348.5,-6.4,365,4596,0.00,2.30,0.00,0.000,4,0.000,0.082,2468,3597,3245
$GC,4732,-0.86,-146.0,358.4,-7.3,371,4737,0.10,2.17,0.00,0.000,6,0.157,0.054,2493,2221,3245
$GC,5062,-0.92,-146.0,378.3,-6.2,387,5066,0.00,2.25,0.00,0.000,4,0.000,0.068,2494,814,3245
$GC,5135,-0.92,-146.0,383.1,-6.2,390,5138,0.00,2.35,0.00,0.000,6,0.000,0.069,2486,2239,3245
$GC,5461,-0.92,-146.0,402.8,-5.8,405,5465,0.00,2.22,0.00,0.000,4,0.000,0.081,2476,3596,3245
$GC,5545,-0.92,-146.0,408.5,-7.2,406,5551,0.00,2.17,0.00,0.000,6,0.000,0.053,2475,2215,3245
$GC,5876,-0.92,-146.0,430.5,-6.7,415,5880,0.00,2.22,0.00,0.000,4,0.000,0.066,2476,818,3245
$GC,6012,-0.92,-146.0,440.2,-7.1,418,6016,0.00,2.33,0.00,0.000,6,0.000,0.068,2466,2242,3245
$GC,6342,-0.92,-146.0,461.5,-6.3,426,6346,0.00,2.22,0.00,0.000,4,0.000,0.081,2455,3601,3245
$GC,6443,-0.92,-146.0,468.3,-6.6,428,6447,0.10,2.17,0.00,0.000,6,0.160,0.052,2480,2216,3246
$GC,6765,-0.92,-146.0,484.4,-5.0,436,6769,0.00,2.22,0.00,0.000,4,0.000,0.065,2481,820,3246
$GC,6916,-0.92,-146.0,493.1,-5.3,439,6920,0.00,2.33,0.00,0.000,6,0.000,0.066,2473,2235,3246
$GC,7264,-0.92,-146.0,512.3,-5.6,448,7265,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2235,3246
$GC,7588,-0.92,-146.0,529.3,-5.2,456,7592,0.00,2.30,0.00,0.000,4,0.000,0.064,2473,813,3247
$GC,7679,-0.88,-146.0,534.1,-5.4,458,7684,0.10,2.33,0.00,0.000,6,0.142,0.066,2489,2234,3246
$GC,8004,-0.96,-146.0,547.7,-4.3,466,8008,0.00,2.22,0.00,0.000,4,0.000,0.078,2481,3597,3247
$GC,8072,-1.04,-146.0,551.2,-5.3,467,8076,0.12,2.15,0.00,0.000,6,0.084,0.051,2431,2225,3247
$GC,8421,-0.89,-146.0,572.5,-6.4,476,8422,0.20,0.00,0.00,0.000,6,0.138,0.000,2489,2225,3247
$GC,8745,-0.98,-146.0,586.9,-4.4,484,8747,0.10,0.00,0.00,0.000,6,0.094,0.000,2448,2225,3248
$GC,9070,-0.91,-146.0,605.4,-5.7,492,9072,0.12,0.00,0.00,0.000,6,0.156,0.000,2481,2225,3248
$GC,9395,-0.98,-146.0,621.2,-4.8,500,9400,0.00,2.22,0.00,0.000,4,0.000,0.064,2481,820,3249
$GC,9491,-1.43,-146.0,624.8,0.5,502,9496,0.32,2.33,0.00,0.000,6,0.060,0.064,2345,2242,3249
$STATE,9604,end dive,NO_VERTICAL_VELOCITY
$STATE,9604,begin apogee
$GC,9611,-0.31,0.0,624.7,0.0,505,9740,0.82,0.00,126.05,1.256,6,0.112,0.000,2613,1740,2650
$STATE,9741,end apogee,CONTROL_FINISHED_OK
$STATE,9741,begin climb
$GC,9744,0.99,146.0,624.3,0.0,508,9886,0.88,2.65,132.50,1.175,4,0.100,0.067,2902,334,2054
$GC,10006,0.76,146.0,597.7,12.4,514,10011,0.22,2.47,0.00,0.000,6,0.133,0.057,2841,1750,2050
$GC,10330,0.76,146.0,571.5,7.8,522,10333,0.00,2.35,0.00,0.000,4,0.000,0.071,2841,3162,2047
$GC,10369,0.62,146.0,568.1,8.2,522,10376,0.15,2.35,0.00,0.000,6,0.133,0.053,2808,1724,2046
$GC,10701,0.78,187.2,548.2,5.7,531,10744,0.15,2.42,35.65,1.167,4,0.071,0.069,2873,3155,1885
$GC,10778,0.52,187.2,541.2,10.8,532,10783,0.32,2.33,0.00,0.000,6,0.133,0.052,2789,1730,1883
$GC,11109,1.04,187.2,519.8,7.1,540,11114,0.32,2.38,0.00,0.000,4,0.078,0.068,2909,3158,1879
$GC,11187,0.63,187.2,511.1,14.1,541,11194,0.35,2.28,0.00,0.000,6,0.141,0.053,2817,1736,1879
$GC,11520,0.75,187.2,486.2,7.4,550,11521,0.10,0.00,0.00,0.000,6,0.081,0.000,2865,1735,1878
$GC,11844,0.66,187.2,451.7,10.7,558,11846,0.15,0.00,0.00,0.000,6,0.126,0.000,2821,1735,1878
$GC,12169,0.76,187.2,427.0,7.4,566,12173,0.10,2.30,0.00,0.000,4,0.082,0.067,2876,326,1878
$GC,12179,0.83,187.2,426.2,7.4,566,12183,0.00,2.30,0.00,0.000,6,0.000,0.056,2876,1750,1879
$GC,12498,0.72,187.2,393.0,10.5,575,12500,0.15,0.00,0.00,0.000,6,0.134,0.000,2832,1749,1878
$GC,12809,0.82,187.2,367.8,7.9,590,12813,0.10,2.28,0.00,0.000,4,0.083,0.071,2878,3157,1877
$GC,12819,0.86,187.2,366.9,7.6,590,12823,0.00,2.28,0.00,0.000,6,0.000,0.052,2888,1727,1877
$GC,13141,0.72,187.2,333.7,10.0,606,13145,0.20,2.35,0.00,0.000,4,0.131,0.069,2823,3151,1877
$GC,13158,0.65,187.2,332.3,8.8,607,13162,0.00,2.22,0.00,0.000,6,0.000,0.053,2830,1736,1878
$GC,13491,0.83,233.5,312.4,5.5,623,13537,0.10,2.42,39.08,1.065,4,0.084,0.071,2882,3154,1698
$GC,13543,0.75,233.5,308.6,7.1,625,13548,0.17,2.30,0.00,0.000,6,0.130,0.053,2842,1731,1697
$GC,13859,0.95,277.7,290.6,5.6,640,13902,0.15,0.00,40.25,1.034,6,0.072,0.000,2906,1731,1517
$GC,14209,0.84,277.7,255.9,9.7,657,14211,0.17,0.00,0.00,0.000,6,0.129,0.000,2855,1731,1509
$GC,14518,1.04,316.6,238.9,5.8,672,14558,0.17,0.00,34.05,1.014,6,0.071,0.000,2927,1731,1359
$GC,14868,0.90,316.6,199.2,11.5,689,14870,0.20,0.00,0.00,0.000,6,0.131,0.000,2869,1731,1351
$GC,15176,1.05,316.6,174.4,7.3,704,15178,0.15,0.00,0.00,0.000,6,0.073,0.000,2933,1731,1347
$GC,15486,0.91,316.6,137.6,11.7,719,15490,0.20,2.30,0.00,0.000,4,0.130,0.071,2877,322,1346
$GC,15496,0.81,316.6,136.4,11.6,719,15501,0.00,2.33,0.00,0.000,6,0.000,0.058,2877,1750,1346
$GC,15818,0.97,316.6,112.5,7.8,735,15819,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1749,1345
$GC,16141,1.18,334.1,89.0,6.5,768,16160,0.20,2.35,14.05,0.938,4,0.067,0.076,2965,3159,1288
$GC,16178,1.11,334.1,84.9,9.8,774,16186,0.20,2.30,0.00,0.000,6,0.150,0.058,2920,1729,1288
$GC,16523,1.11,334.1,53.6,9.7,835,16529,0.00,2.30,0.00,0.000,4,0.000,0.073,2928,326,1285
$GC,16570,1.18,334.1,49.2,9.8,843,16576,0.00,2.33,0.00,0.000,6,0.000,0.062,2929,1744,1285
$GC,16913,1.18,334.1,19.1,7.8,904,16919,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,1744,1284
$FREEZE,6.63,-1.786,-1.774
$STATE,17059,end climb,FINISH_DEPTH_REACHED
$STATE,17059,begin subsurface finish
$FINISH1,6.6,1.025995,81
$GC,17066,0.10,81.3,6.6,-9.1,930,17108,0.70,2.33,-34.10,0.000,4,0.115,0.091,2687,3157,2320
$FINISH2,5.4
$STATE,17108,end subsurface finish,CONTROL_FINISHED_OK
$STATE,17109,begin surface
$RAFOS_CLK,773
$RAFOS,4,1227170647,8.750000,8.735278,113,67,67,57,57,55,816,191,175,203,159,146
$RAFOS,3,1227170069,8.583333,8.574722,83,62,56,56,55,53,578,166,189,178,212,131
$RAFOS,2,1227169445,8.416667,8.401389,83,62,60,58,54,54,912,152,215,229,200,187
$RAFOS,1,1227168864,8.250000,8.240000,128,60,57,57,55,53,580,211,165,200,145,190
$RAFOS,0,1227168276,8.083333,8.076667,91,65,60,58,54,50,382,198,155,213,170,138
$RAFOS_FIX,6640.460449,-5954.385742,201108,080827,5,100,2.82
$IRIDIUM_FIX,6614.97,-5912.45,100298,030321
$TT8_MAMPS,0.026078
$HUMID,1812
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,14.90
$XPDR_PINGS,32
$24V_AH,22.1,57.975
$10V_AH,10.5,26.559
$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,9.225,137.300,421.625,0.000,0.000,0.000,0.000,0.000,8.000,0.000,0.000,0.000,1783.268,12710.201,533.467,1933.584,221.465,33.368,1573.604,0.000,1915.211,1800.000,0.529,0.000
$DEVICE_MAMPS,160.303,91.273,1255.579,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,656.209,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31582,937
$CAP_FILE_SIZE,131567,0
$CFSIZE,260165632,229167104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.2
$GPS,201108,042504,6629.271,-5906.320,0,4085.8,0,-37.9