version: 66.04
glider: 108
mission: 11
dive: 334
start: 11 20 108 16 7 29
data:
$ID,108
$MISSION,11
$DIVE,334
$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,-118637.09
$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,25
$R_STBD_OVSHOOT,22
$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
$GPS1,122120,6639.488,-5958.256,0,4108.0,0,-37.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.02
$_SM_ANGLEo,-55.3
$GPS2,122120,6639.488,-5958.256,0,4108.0,0,-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,-0.232,-0.022
$KALMAN_X,179635.1,7282.9,-575.8,-243750.9,5173.3
$KALMAN_Y,-249053.4,-17093.3,-2476.6,225412.1,28552.9
$MHEAD_RNG_PITCHd_Wd,302.5,33105,-13.0,-7.021
$D_GRID,636
$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,13,begin dive
$GC,16,-0.99,-146.0,0.0,0.0,0,29,0.00,0.00,-11.43,0.000,2,0.000,0.000,319,2239,1774
$GC,32,-0.99,-146.0,3.0,-1.1,2,125,8.70,2.30,-73.82,0.000,4,0.242,0.095,2450,3591,3248
$GC,373,-0.74,-146.0,38.2,-12.5,62,380,0.25,2.20,0.00,0.000,6,0.152,0.057,2521,2212,3251
$GC,717,-0.74,-146.0,67.9,-8.0,123,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2212,3252
$GC,1060,-0.74,-146.0,94.6,-7.8,184,1066,0.00,2.35,0.00,0.000,4,0.000,0.088,2513,3601,3252
$GC,1117,-0.74,-146.0,99.5,-8.5,194,1124,0.00,2.20,0.00,0.000,6,0.000,0.056,2513,2216,3252
$GC,1440,-0.74,-146.0,123.9,-7.0,211,1444,0.00,2.25,0.00,0.000,4,0.000,0.070,2513,815,3251
$GC,1479,-0.74,-146.0,126.9,-7.5,212,1486,0.00,2.35,0.00,0.000,6,0.000,0.070,2503,2234,3251
$GC,1795,-0.74,-146.0,150.4,-7.7,228,1798,0.00,2.25,0.00,0.000,4,0.000,0.089,2492,3596,3251
$GC,1953,-0.74,-146.0,164.0,-9.2,235,1957,0.12,2.17,0.00,0.000,6,0.151,0.057,2525,2225,3251
$GC,2281,-0.83,-146.0,186.9,-6.6,251,2286,0.10,2.28,0.00,0.000,4,0.098,0.069,2484,814,3251
$GC,2344,-0.73,-146.0,192.0,-8.2,254,2348,0.17,2.35,0.00,0.000,6,0.143,0.071,2522,2236,3251
$GC,2678,-0.81,-146.0,211.9,-5.7,270,2679,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2235,3251
$GC,2986,-0.91,-146.0,228.9,-5.6,285,2991,0.15,2.28,0.00,0.000,4,0.083,0.096,2453,3604,3252
$GC,3064,-0.79,-146.0,235.4,-8.5,288,3071,0.20,2.20,0.00,0.000,6,0.151,0.056,2508,2219,3251
$GC,3380,-0.85,-146.0,253.3,-5.2,304,3384,0.00,2.25,0.00,0.000,4,0.000,0.071,2510,821,3251
$GC,3436,-0.85,-146.0,256.4,-5.4,306,3440,0.00,2.35,0.00,0.000,6,0.000,0.071,2502,2238,3251
$GC,3753,-0.85,-146.0,275.3,-6.4,321,3757,0.00,2.25,0.00,0.000,4,0.000,0.090,2492,3596,3251
$GC,3854,-0.90,-146.0,282.5,-7.6,325,3858,0.00,2.17,0.00,0.000,6,0.000,0.055,2492,2225,3251
$GC,4175,-0.90,-146.0,305.3,-7.2,341,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2225,3251
$GC,4486,-0.90,-146.0,325.6,-6.3,356,4490,0.00,2.28,0.00,0.000,4,0.000,0.070,2492,812,3251
$GC,4548,-0.90,-146.0,330.0,-6.6,358,4554,0.00,2.38,0.00,0.000,6,0.000,0.070,2482,2244,3251
$GC,4864,-0.90,-146.0,351.0,-6.6,374,4868,0.00,2.25,0.00,0.000,4,0.000,0.084,2471,3608,3251
$GC,4919,-0.90,-146.0,355.0,-7.3,376,4923,0.00,2.20,0.00,0.000,6,0.000,0.057,2471,2225,3251
$GC,5241,-0.90,-146.0,376.3,-6.9,392,5245,0.00,2.33,0.00,0.000,4,0.000,0.082,2461,3607,3251
$GC,5454,-0.90,-146.0,393.2,-8.7,401,5458,0.10,2.20,0.00,0.000,6,0.159,0.056,2486,2225,3251
$GC,5773,-0.95,-146.0,413.4,-6.2,412,5776,0.00,2.28,0.00,0.000,4,0.000,0.069,2486,808,3251
$GC,5948,-0.95,-146.0,424.1,-6.5,415,5955,0.00,2.38,0.00,0.000,6,0.000,0.069,2478,2247,3251
$GC,6280,-0.95,-146.0,444.5,-6.3,424,6283,0.00,2.22,0.00,0.000,4,0.000,0.081,2467,3602,3251
$GC,6352,-0.95,-146.0,449.8,-7.9,425,6356,0.00,2.17,0.00,0.000,6,0.000,0.054,2467,2222,3251
$GC,6695,-0.95,-146.0,472.5,-6.9,434,6699,0.00,2.25,0.00,0.000,4,0.000,0.067,2467,814,3253
$GC,6894,-0.88,-146.0,487.1,-7.1,438,6899,0.12,2.35,0.00,0.000,6,0.144,0.067,2490,2240,3252
$GC,7242,-0.95,-146.0,507.6,-5.4,447,7243,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2240,3252
$GC,7567,-1.03,-146.0,526.3,-5.4,455,7569,0.12,0.00,0.00,0.000,6,0.090,0.000,2440,2240,3253
$GC,7892,-0.91,-146.0,550.0,-7.1,463,7897,0.17,2.25,0.00,0.000,4,0.151,0.080,2480,3606,3253
$GC,7959,-0.99,-146.0,554.0,-5.7,464,7963,0.00,2.17,0.00,0.000,6,0.000,0.053,2480,2225,3253
$GC,8308,-1.31,-146.0,565.7,-1.1,473,8313,0.22,2.25,0.00,0.000,4,0.068,0.065,2381,819,3255
$STATE,8435,end dive,NO_VERTICAL_VELOCITY
$STATE,8435,begin apogee
$GC,8445,-0.31,0.0,565.6,0.0,476,8575,0.70,0.00,127.07,1.220,6,0.091,0.000,2621,1749,2650
$STATE,8576,end apogee,CONTROL_FINISHED_OK
$STATE,8576,begin climb
$GC,8579,0.99,146.0,565.5,0.0,479,8718,0.85,2.58,131.82,1.141,4,0.094,0.070,2895,3149,2053
$GC,8777,0.63,146.0,546.1,12.6,483,8782,0.32,2.45,0.00,0.000,6,0.137,0.053,2819,1745,2049
$GC,9109,0.73,182.4,525.6,5.8,491,9147,0.00,0.00,32.40,1.118,6,0.000,0.000,2819,1745,1906
$GC,9473,0.88,231.7,505.8,5.4,500,9520,0.17,0.00,44.35,1.134,6,0.067,0.000,2889,1745,1705
$GC,9838,0.71,231.7,466.6,10.9,509,9843,0.20,2.38,0.00,0.000,4,0.128,0.069,2840,316,1697
$GC,9893,0.83,231.7,461.7,8.4,510,9898,0.00,2.35,0.00,0.000,6,0.000,0.055,2840,1747,1697
$GC,10242,0.83,231.7,436.4,7.2,519,10245,0.00,2.28,0.00,0.000,4,0.000,0.069,2840,3154,1695
$GC,10264,0.83,232.4,434.8,7.0,519,10268,0.00,2.28,0.00,0.000,6,0.000,0.052,2850,1725,1694
$GC,10612,0.83,232.4,404.8,8.7,528,10615,0.00,2.35,0.00,0.000,4,0.000,0.069,2851,3157,1694
$GC,10624,0.83,232.4,403.7,8.9,528,10628,0.00,2.28,0.00,0.000,6,0.000,0.054,2859,1726,1693
$GC,10946,0.83,232.4,373.7,9.0,542,10950,0.00,2.35,0.00,0.000,4,0.000,0.070,2859,3162,1693
$GC,10974,0.74,232.4,370.8,10.4,543,10979,0.12,2.28,0.00,0.000,6,0.140,0.055,2834,1735,1692
$GC,11296,0.88,233.5,346.7,7.0,559,11301,0.12,2.33,0.00,0.000,4,0.075,0.071,2891,3152,1692
$GC,11313,0.88,233.5,345.2,7.3,560,11318,0.12,2.25,0.00,0.000,6,0.146,0.053,2868,1729,1692
$GC,11639,0.88,233.5,317.6,8.0,576,11643,0.00,2.33,0.00,0.000,4,0.000,0.070,2868,3153,1692
$GC,11656,0.88,233.5,316.1,7.8,576,11662,0.00,2.25,0.00,0.000,6,0.000,0.054,2875,1731,1693
$GC,11971,0.88,233.5,291.4,7.9,592,11975,0.00,2.33,0.00,0.000,4,0.000,0.071,2875,3149,1692
$GC,11988,0.82,233.5,289.9,8.0,592,11995,0.12,2.25,0.00,0.000,6,0.135,0.054,2850,1729,1692
$GC,12304,0.95,242.7,269.5,6.7,608,12319,0.12,2.30,8.88,0.953,4,0.077,0.071,2917,335,1660
$GC,12325,0.95,242.7,267.7,7.6,609,12330,0.12,2.28,0.00,0.000,6,0.141,0.058,2884,1744,1660
$GC,12651,0.95,242.7,240.6,8.4,625,12655,0.00,2.28,0.00,0.000,4,0.000,0.074,2884,3156,1660
$GC,12680,0.88,242.7,237.8,9.9,626,12684,0.00,2.28,0.00,0.000,6,0.000,0.055,2891,1728,1659
$GC,13006,0.88,242.7,207.1,9.3,642,13007,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1727,1659
$GC,13316,0.88,242.7,180.3,8.0,657,13319,0.00,2.35,0.00,0.000,4,0.000,0.074,2892,3156,1658
$GC,13339,0.82,242.7,178.3,8.9,658,13344,0.17,2.28,0.00,0.000,6,0.129,0.057,2850,1727,1657
$GC,13666,1.27,260.6,157.5,6.4,674,13689,0.30,2.35,17.23,0.979,4,0.075,0.071,2977,326,1587
$GC,13818,1.01,260.6,139.7,12.6,680,13825,0.28,2.33,0.00,0.000,6,0.141,0.063,2896,1737,1585
$GC,14133,1.01,260.6,116.2,7.3,696,14137,0.00,2.33,0.00,0.000,4,0.000,0.077,2896,3163,1583
$GC,14179,0.93,260.6,112.4,9.1,698,14183,0.00,2.30,0.00,0.000,6,0.000,0.059,2904,1731,1582
$GC,14508,0.93,260.6,85.0,8.1,735,14514,0.00,2.35,0.00,0.000,4,0.000,0.075,2904,3149,1581
$GC,14532,0.93,260.6,83.0,8.2,739,14539,0.12,2.28,0.00,0.000,6,0.139,0.058,2880,1731,1581
$GC,14877,1.31,273.4,61.8,6.6,800,14896,0.25,2.38,12.15,0.912,4,0.071,0.076,2980,3163,1535
$GC,14926,1.13,273.4,57.1,10.0,808,14933,0.25,2.30,0.00,0.000,6,0.149,0.059,2921,1736,1535
$GC,15271,1.13,273.4,29.3,7.7,869,15277,0.00,2.33,0.00,0.000,4,0.000,0.075,2930,323,1532
$GC,15289,1.17,306.4,28.6,6.0,872,15325,0.00,2.33,30.33,0.926,6,0.000,0.063,2930,1738,1401
$FREEZE,6.92,-1.784,-1.775
$STATE,15565,end climb,FINISH_DEPTH_REACHED
$STATE,15565,begin subsurface finish
$FINISH1,6.9,1.026015,80
$GC,15573,0.10,80.3,6.9,-10.3,921,15609,0.70,2.42,-30.23,0.000,4,0.113,0.091,2690,3164,2326
$FINISH2,5.8
$STATE,15610,end subsurface finish,CONTROL_FINISHED_OK
$STATE,15610,begin surface
$RAFOS_CLK,742
$RAFOS,1,1227212044,20.250000,20.234444,82,70,55,53,51,50,733,206,222,177,151,127
$RAFOS,0,1227211442,20.083334,20.067223,147,73,67,54,53,53,597,195,208,118,162,153
$RAFOS,4,1227199443,16.750000,16.734167,67,59,56,56,53,51,213,113,203,194,226,135
$RAFOS,3,1227198855,16.583334,16.570833,99,67,60,57,57,54,661,213,148,230,199,124
$RAFOS,2,1227198245,16.416666,16.401388,70,64,61,58,57,53,206,229,175,152,216,193
$RAFOS,1,1227197644,16.250000,16.234444,74,60,59,58,52,52,728,225,194,208,140,181
$RAFOS_FIX,5619.582520,350347.562500,201108,161636,3,81,14981.76
$IRIDIUM_FIX,6620.33,-5917.14,100298,030337
$TT8_MAMPS,0.029146
$HUMID,1791
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,14.90
$XPDR_PINGS,52
$24V_AH,22.1,58.237
$10V_AH,10.5,26.694
$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,15.525,148.400,404.225,0.000,0.000,99.285,85.517,0.000,13.000,0.000,0.000,183.215,1749.199,11417.151,558.949,2062.175,680.884,33.368,1579.942,0.000,1861.238,2520.000,0.529,0.000
$DEVICE_MAMPS,242.372,95.875,1219.530,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,648.581,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31596,927
$CAP_FILE_SIZE,132528,0
$CFSIZE,260165632,229044224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1445.7
$GPS,201108,122120,6639.488,-5958.256,0,4108.0,0,-37.9