version: 66.04
glider: 108
mission: 11
dive: 336
start: 11 21 108 0 44 30
data:
$ID,108
$MISSION,11
$DIVE,336
$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,23
$R_STBD_OVSHOOT,21
$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
$GPS1,202536,6636.716,-6005.753,0,4096.0,0,-37.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.90
$_SM_ANGLEo,-4.4
$GPS2,202536,6636.716,-6005.753,0,4096.0,0,-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,-0.227,-0.055
$KALMAN_X,198091.4,-6274.2,6028.3,-252107.5,4973.1
$KALMAN_Y,-243835.2,17898.5,-13114.7,224202.2,13060.2
$MHEAD_RNG_PITCHd_Wd,294.4,28987,-13.0,-7.021
$D_GRID,552
$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,-146.0,0.0,0.0,0,26,0.00,0.00,-7.78,0.000,2,0.000,0.000,2689,3154,2534
$GC,29,-0.99,-146.0,4.4,-0.0,1,64,0.62,0.75,-28.67,0.000,4,0.083,0.129,2458,3596,3248
$GC,318,-0.72,-146.0,33.1,-10.5,52,325,0.22,2.17,0.00,0.000,6,0.143,0.056,2526,2221,3253
$GC,663,-0.72,-146.0,65.2,-9.6,113,669,0.00,2.30,0.00,0.000,4,0.000,0.082,2518,3596,3254
$GC,742,-0.72,-146.0,72.3,-8.7,127,749,0.00,2.17,0.00,0.000,6,0.000,0.056,2518,2223,3254
$GC,1087,-0.72,-146.0,96.7,-6.3,188,1093,0.00,2.25,0.00,0.000,4,0.000,0.070,2518,820,3254
$GC,1217,-0.72,-146.0,105.6,-6.7,200,1224,0.00,2.35,0.00,0.000,6,0.000,0.071,2508,2242,3253
$GC,1533,-0.72,-146.0,129.1,-7.9,216,1537,0.00,2.33,0.00,0.000,4,0.000,0.070,2508,818,3253
$GC,1605,-0.72,-146.0,135.1,-8.4,219,1609,0.10,2.35,0.00,0.000,6,0.149,0.070,2524,2244,3253
$GC,1932,-0.80,-146.0,157.0,-6.8,235,1933,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2244,3254
$GC,2242,-0.90,-146.0,176.5,-6.3,250,2243,0.15,0.00,0.00,0.000,6,0.086,0.000,2464,2244,3254
$GC,2550,-0.79,-146.0,203.5,-9.0,265,2552,0.17,0.00,0.00,0.000,6,0.154,0.000,2512,2244,3253
$GC,2860,-0.86,-146.0,225.5,-6.7,280,2861,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2244,3254
$GC,3169,-0.93,-146.0,244.2,-6.1,295,3171,0.12,0.00,0.00,0.000,6,0.092,0.000,2461,2244,3253
$GC,3478,-0.82,-146.0,269.7,-8.4,310,3482,0.15,2.22,0.00,0.000,4,0.157,0.084,2493,3595,3253
$GC,3637,-0.82,-146.0,281.3,-7.3,317,3641,0.00,2.17,0.00,0.000,6,0.000,0.057,2493,2224,3253
$GC,3969,-0.82,-146.0,303.8,-6.4,333,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2223,3253
$GC,4280,-0.82,-146.0,323.5,-6.1,348,4284,0.00,2.33,0.00,0.000,4,0.000,0.084,2484,3602,3253
$GC,4349,-0.82,-146.0,328.2,-6.5,351,4352,0.00,2.20,0.00,0.000,6,0.000,0.056,2484,2215,3253
$GC,4681,-0.82,-146.0,350.1,-6.7,367,4682,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2214,3253
$GC,4991,-0.82,-146.0,371.0,-6.8,382,4995,0.00,2.30,0.00,0.000,4,0.000,0.081,2474,3596,3253
$GC,5074,-0.82,-146.0,377.5,-8.0,385,5081,0.12,2.17,0.00,0.000,6,0.153,0.056,2506,2225,3252
$GC,5390,-0.92,-146.0,398.6,-6.4,401,5394,0.10,2.28,0.00,0.000,4,0.098,0.069,2462,814,3252
$GC,5544,-0.82,-146.0,411.3,-8.7,405,5549,0.17,2.35,0.00,0.000,6,0.141,0.069,2501,2240,3252
$GC,5857,-0.92,-146.0,430.6,-6.1,413,5861,0.00,2.25,0.00,0.000,4,0.000,0.083,2492,3605,3253
$GC,5893,-1.01,-146.0,432.9,-6.5,413,5897,0.12,2.20,0.00,0.000,6,0.087,0.055,2442,2218,3253
$GC,6229,-0.88,-146.0,457.4,-7.0,422,6234,0.17,2.25,0.00,0.000,4,0.146,0.067,2500,821,3252
$GC,6389,-0.96,-146.0,465.5,-4.7,425,6393,0.00,2.33,0.00,0.000,6,0.000,0.069,2492,2237,3253
$GC,6737,-1.03,-146.0,482.4,-5.3,434,6742,0.12,2.25,0.00,0.000,4,0.084,0.083,2428,3599,3252
$GC,6838,-0.90,-146.0,490.5,-8.5,436,6842,0.20,2.17,0.00,0.000,6,0.150,0.054,2486,2221,3252
$GC,7157,-0.95,-146.0,507.6,-5.2,444,7161,0.00,2.25,0.00,0.000,4,0.000,0.067,2486,816,3253
$GC,7274,-0.95,-146.0,514.2,-5.1,446,7278,0.00,2.35,0.00,0.000,6,0.000,0.067,2478,2242,3253
$STATE,7614,end dive,NO_VERTICAL_VELOCITY
$STATE,7615,begin apogee
$GC,7622,-0.31,0.0,518.7,0.0,455,7751,0.43,0.00,126.07,1.198,6,0.092,0.000,2625,1732,2651
$STATE,7752,end apogee,CONTROL_FINISHED_OK
$STATE,7752,begin climb
$GC,7755,0.99,146.0,518.6,0.0,458,7893,0.82,2.62,131.02,1.119,4,0.095,0.071,2902,326,2054
$GC,7952,0.76,146.0,501.9,10.7,462,7957,0.22,2.55,0.00,0.000,6,0.137,0.059,2843,1749,2050
$GC,8288,0.76,146.0,476.2,7.2,471,8289,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1749,2046
$GC,8613,0.77,152.7,452.7,6.8,479,8623,0.00,2.33,5.65,0.875,4,0.000,0.071,2843,3163,2027
$GC,8663,0.64,152.7,449.0,8.3,480,8668,0.12,2.33,0.00,0.000,6,0.138,0.055,2818,1729,2027
$GC,8976,0.76,164.9,428.9,6.6,488,8996,0.10,2.42,12.20,1.044,4,0.083,0.070,2864,3154,1977
$GC,9007,0.64,164.9,426.3,9.2,488,9012,0.20,2.30,0.00,0.000,6,0.133,0.054,2817,1725,1976
$GC,9339,0.80,193.5,405.5,6.1,496,9369,0.15,0.00,25.95,1.091,6,0.073,0.000,2882,1724,1861
$GC,9691,0.69,193.5,371.9,9.5,511,9696,0.20,2.38,0.00,0.000,4,0.127,0.070,2818,3158,1856
$GC,9708,0.69,193.5,370.4,9.5,512,9712,0.00,2.28,0.00,0.000,6,0.000,0.054,2824,1726,1856
$GC,10041,0.88,234.1,350.6,5.7,528,10085,0.15,2.42,35.92,1.078,4,0.074,0.070,2890,3166,1694
$GC,10102,0.74,234.1,345.3,9.5,530,10108,0.22,2.33,0.00,0.000,6,0.132,0.054,2836,1737,1692
$GC,10418,0.91,245.6,324.5,6.6,546,10430,0.15,0.00,10.32,0.974,6,0.070,0.000,2900,1737,1648
$GC,10726,0.82,245.6,294.3,9.5,561,10731,0.15,2.35,0.00,0.000,4,0.130,0.071,2857,3157,1645
$GC,10766,0.82,245.6,290.9,8.0,563,10769,0.00,2.28,0.00,0.000,6,0.000,0.056,2864,1735,1644
$GC,11100,0.91,245.6,267.1,7.1,579,11104,0.00,2.35,0.00,0.000,4,0.000,0.074,2864,3160,1643
$GC,11127,0.91,245.6,264.7,8.5,580,11131,0.00,2.28,0.00,0.000,6,0.000,0.057,2873,1729,1643
$GC,11455,0.98,245.6,240.0,7.3,596,11459,0.00,2.35,0.00,0.000,4,0.000,0.072,2873,3159,1642
$GC,11478,0.98,245.6,238.1,7.8,597,11482,0.00,2.28,0.00,0.000,6,0.000,0.058,2883,1734,1642
$GC,11810,0.98,245.6,212.2,8.1,613,11814,0.00,2.30,0.00,0.000,4,0.000,0.073,2894,323,1642
$GC,11837,0.98,245.6,209.5,8.5,614,11842,0.00,2.33,0.00,0.000,6,0.000,0.061,2894,1748,1641
$GC,12164,0.98,245.6,179.3,9.3,630,12168,0.00,2.28,0.00,0.000,4,0.000,0.075,2894,3155,1641
$GC,12210,0.85,245.6,174.6,10.3,632,12215,0.15,2.28,0.00,0.000,6,0.137,0.059,2861,1733,1640
$GC,12539,1.03,265.4,152.1,6.4,648,12559,0.15,0.00,17.70,0.986,6,0.074,0.000,2926,1733,1568
$GC,12866,0.93,265.4,121.3,9.4,664,12871,0.17,2.38,0.00,0.000,4,0.133,0.075,2874,3157,1565
$GC,12893,0.93,265.4,118.7,8.6,665,12896,0.00,2.30,0.00,0.000,6,0.000,0.059,2882,1727,1564
$GC,13216,1.02,265.4,95.4,7.2,689,13222,0.00,2.30,0.00,0.000,4,0.000,0.075,2892,325,1563
$GC,13241,1.16,276.8,93.7,6.7,693,13259,0.12,2.33,11.18,0.922,6,0.081,0.062,2947,1746,1521
$GC,13599,1.04,276.8,59.2,9.8,756,13606,0.15,2.33,0.00,0.000,4,0.140,0.078,2904,3159,1518
$GC,13641,0.99,276.8,55.0,9.5,763,13648,0.00,2.30,0.00,0.000,6,0.000,0.061,2911,1738,1518
$GC,13986,1.06,276.8,26.5,8.2,824,13992,0.00,2.33,0.00,0.000,4,0.000,0.077,2920,330,1517
$GC,13999,1.17,296.4,26.0,6.4,826,14023,0.00,2.33,18.50,0.921,6,0.000,0.062,2919,1747,1441
$FREEZE,6.52,-1.773,-1.776
$STATE,14270,end climb,FINISH_DEPTH_REACHED
$STATE,14270,begin subsurface finish
$FINISH1,6.5,1.026034,79
$GC,14278,0.10,79.3,6.5,-9.7,874,14313,0.68,0.00,-30.95,0.000,6,0.124,0.000,2702,1747,2329
$FINISH2,4.9
$STATE,14314,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14314,begin surface
$RAFOS_CLK,667
$RAFOS,3,1227242045,4.583333,4.568056,64,62,57,53,52,51,209,176,191,221,159,147
$RAFOS,2,1227241442,4.416667,4.400556,67,58,58,57,56,54,214,158,116,140,199,175
$RAFOS,1,1227240844,4.250000,4.234445,60,55,54,53,52,51,208,176,143,119,195,360
$RAFOS,0,1227240246,4.083333,4.068333,136,59,59,57,55,54,627,219,207,166,156,186
$RAFOS,4,1227228291,0.750000,0.747500,73,67,60,59,54,54,220,638,143,184,164,200
$RAFOS_FIX,6232.697266,-5331.492188,211108,000026,3,81,38.68
$IRIDIUM_FIX,6620.33,-5917.14,100298,030337
$TT8_MAMPS,0.026078
$HUMID,1798
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,15.00
$XPDR_PINGS,33
$24V_AH,22.1,58.485
$10V_AH,10.5,26.805
$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,6.925,119.150,394.525,0.000,0.000,0.000,0.000,0.000,8.250,0.000,0.000,0.000,1664.432,10356.018,470.474,1717.669,198.739,33.371,1400.653,0.000,1699.874,1800.000,0.530,0.000
$DEVICE_MAMPS,157.235,128.856,1198.054,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,617.168,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28388,880
$CAP_FILE_SIZE,115819,0
$CFSIZE,260165632,228941824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.8
$GPS,201108,202536,6636.716,-6005.753,0,4096.0,0,-37.9