version: 66.04
glider: 108
mission: 11
dive: 337
start: 11 21 108 4 46 5
data:
$ID,108
$MISSION,11
$DIVE,337
$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,21
$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,1.69
$_SM_ANGLEo,-0.0
$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,-0.233,0.011
$KALMAN_X,206084.8,-2163.2,-1103.1,-255674.7,14253.8
$KALMAN_Y,-241575.3,5954.1,9629.9,223344.9,-24469.8
$MHEAD_RNG_PITCHd_Wd,310.6,28987,-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,14,begin dive
$GC,17,-0.99,-146.0,0.0,0.0,0,68,0.00,0.00,-47.22,0.000,6,0.000,0.000,2702,1750,3246
$GC,72,-0.99,-146.0,2.8,-2.0,9,78,0.65,1.55,0.00,0.000,4,0.067,0.070,2452,813,3248
$GC,108,-1.05,-146.0,5.3,-6.0,15,114,0.00,2.35,0.00,0.000,6,0.000,0.070,2442,2232,3249
$GC,452,-0.76,-146.0,50.2,-13.9,76,459,0.22,2.25,0.00,0.000,4,0.159,0.081,2500,3605,3251
$GC,714,-0.76,-146.0,74.8,-9.4,122,721,0.00,2.20,0.00,0.000,6,0.000,0.057,2501,2221,3251
$GC,1062,-0.76,-146.0,101.9,-7.9,181,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2221,3251
$GC,1371,-0.76,-146.0,124.9,-7.1,196,1375,0.00,2.33,0.00,0.000,4,0.000,0.087,2492,3601,3251
$GC,1471,-0.76,-146.0,132.6,-7.9,200,1475,0.10,2.20,0.00,0.000,6,0.155,0.056,2517,2212,3250
$GC,1794,-0.83,-146.0,153.9,-6.7,216,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2212,3250
$GC,2101,-0.89,-146.0,173.8,-6.7,231,2106,0.12,2.25,0.00,0.000,4,0.094,0.069,2466,812,3250
$GC,2152,-0.72,-146.0,178.5,-9.4,233,2157,0.25,2.35,0.00,0.000,6,0.144,0.070,2527,2238,3250
$GC,2473,-0.83,-146.0,201.7,-7.3,249,2477,0.12,2.25,0.00,0.000,4,0.091,0.084,2467,3605,3250
$GC,2579,-0.73,-146.0,212.3,-10.2,253,2585,0.20,2.20,0.00,0.000,6,0.152,0.058,2522,2220,3250
$GC,2897,-0.83,-146.0,234.3,-6.3,269,2898,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2221,3250
$GC,3204,-0.94,-146.0,253.8,-6.3,284,3209,0.17,2.35,0.00,0.000,4,0.083,0.081,2444,3604,3250
$GC,3294,-0.80,-146.0,262.6,-10.9,288,3298,0.22,2.20,0.00,0.000,6,0.150,0.056,2507,2224,3250
$GC,3615,-0.87,-146.0,287.3,-7.5,304,3616,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2223,3250
$GC,3924,-0.94,-146.0,308.2,-6.2,319,3929,0.12,2.33,0.00,0.000,4,0.094,0.081,2446,3602,3250
$GC,3991,-0.78,-146.0,313.6,-8.1,322,3996,0.22,2.20,0.00,0.000,6,0.151,0.057,2509,2214,3250
$GC,4318,-0.87,-146.0,331.7,-5.4,338,4322,0.00,2.33,0.00,0.000,4,0.000,0.094,2501,3593,3250
$GC,4374,-0.98,-146.0,335.2,-6.5,340,4379,0.12,2.15,0.00,0.000,6,0.089,0.055,2450,2223,3250
$GC,4695,-0.84,-146.0,360.6,-8.1,356,4700,0.17,2.28,0.00,0.000,4,0.147,0.069,2500,813,3250
$GC,4826,-0.84,-146.0,369.7,-6.7,361,4833,0.00,2.35,0.00,0.000,6,0.000,0.070,2492,2235,3250
$GC,5142,-0.84,-146.0,390.4,-6.2,377,5146,0.00,2.22,0.00,0.000,4,0.000,0.083,2482,3601,3250
$GC,5197,-0.84,-146.0,394.0,-6.0,379,5201,0.00,2.20,0.00,0.000,6,0.000,0.055,2482,2213,3250
$GC,5536,-0.84,-146.0,416.5,-6.8,390,5540,0.00,2.25,0.00,0.000,4,0.000,0.070,2482,811,3249
$GC,5608,-0.84,-146.0,421.9,-7.7,391,5612,0.10,2.35,0.00,0.000,6,0.147,0.068,2498,2240,3250
$GC,5951,-0.94,-146.0,443.4,-6.3,400,5952,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2240,3250
$GC,6276,-1.02,-146.0,462.7,-5.9,408,6281,0.15,2.33,0.00,0.000,4,0.086,0.067,2439,821,3250
$GC,6399,-0.85,-146.0,472.5,-8.5,410,6406,0.22,2.35,0.00,0.000,6,0.140,0.070,2494,2244,3249
$GC,6731,-0.94,-146.0,491.5,-5.3,419,6734,0.00,2.33,0.00,0.000,4,0.000,0.067,2494,817,3250
$GC,6810,-0.94,-146.0,496.0,-6.5,420,6814,0.00,2.35,0.00,0.000,6,0.000,0.068,2487,2244,3250
$GC,7147,-1.22,-146.0,510.4,-2.8,429,7152,0.20,2.35,0.00,0.000,4,0.068,0.066,2395,810,3251
$STATE,7281,end dive,NO_VERTICAL_VELOCITY
$STATE,7281,begin apogee
$GC,7289,-0.31,0.0,510.4,0.0,432,7417,0.65,0.00,124.85,1.202,6,0.100,0.000,2615,1754,2650
$STATE,7418,end apogee,CONTROL_FINISHED_OK
$STATE,7418,begin climb
$GC,7421,0.99,146.0,509.9,0.0,435,7561,0.90,2.58,131.20,1.116,4,0.096,0.072,2899,3152,2053
$GC,7609,0.63,146.0,492.1,12.9,439,7616,0.35,2.47,0.00,0.000,6,0.139,0.054,2817,1746,2049
$GC,7940,0.78,194.8,472.4,5.4,448,7991,0.12,2.53,43.35,1.106,4,0.077,0.068,2879,330,1855
$GC,8020,0.71,194.8,465.8,9.6,449,8027,0.17,2.47,0.00,0.000,6,0.123,0.058,2832,1748,1852
$GC,8352,0.82,215.2,444.2,6.4,458,8376,0.10,2.40,17.90,1.061,4,0.081,0.084,2875,3150,1772
$GC,8399,0.64,215.2,440.1,9.6,459,8404,0.25,2.35,0.00,0.000,6,0.130,0.054,2815,1727,1771
$GC,8718,0.90,276.3,422.9,5.1,467,8778,0.20,0.00,56.65,1.100,6,0.065,0.000,2897,1727,1523
$GC,9064,0.78,276.3,389.5,9.2,478,9069,0.17,2.33,0.00,0.000,4,0.129,0.068,2856,326,1513
$GC,9081,0.78,276.3,388.2,8.4,479,9085,0.00,2.35,0.00,0.000,6,0.000,0.058,2856,1747,1514
$GC,9415,0.87,276.3,365.3,7.5,495,9419,0.00,2.30,0.00,0.000,4,0.000,0.072,2856,3156,1511
$GC,9438,0.87,276.3,363.2,8.1,496,9442,0.00,2.28,0.00,0.000,6,0.000,0.054,2865,1732,1510
$GC,9770,0.93,276.3,335.7,8.0,512,9772,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1733,1510
$GC,10079,1.01,276.3,311.6,7.5,527,10084,0.12,2.35,0.00,0.000,4,0.082,0.072,2919,3155,1509
$GC,10101,0.92,276.3,309.5,9.0,528,10106,0.20,2.28,0.00,0.000,6,0.142,0.056,2872,1728,1509
$GC,10423,0.99,276.3,285.2,7.8,544,10425,0.10,0.00,0.00,0.000,6,0.085,0.000,2918,1729,1508
$GC,10731,0.87,276.3,249.8,11.7,559,10736,0.17,2.30,0.00,0.000,4,0.134,0.071,2875,321,1507
$GC,10747,0.87,276.3,248.1,11.1,559,10754,0.00,2.35,0.00,0.000,6,0.000,0.060,2876,1752,1508
$GC,11064,0.97,276.3,222.3,7.7,575,11067,0.00,2.28,0.00,0.000,4,0.000,0.075,2875,3153,1507
$GC,11096,0.97,276.3,219.4,8.9,576,11100,0.00,2.25,0.00,0.000,6,0.000,0.057,2884,1740,1507
$GC,11418,1.03,278.5,196.2,6.9,592,11420,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1740,1506
$GC,11728,1.10,287.3,174.9,6.7,607,11739,0.12,0.00,8.07,0.924,6,0.084,0.000,2938,1740,1478
$GC,12055,0.96,287.3,140.4,10.9,623,12059,0.17,2.33,0.00,0.000,4,0.136,0.072,2896,332,1478
$GC,12071,0.89,287.3,138.7,10.7,623,12078,0.10,2.35,0.00,0.000,6,0.126,0.061,2868,1752,1478
$GC,12387,1.42,287.3,115.9,7.4,639,12392,0.35,2.30,0.00,0.000,4,0.081,0.076,2998,3156,1476
$GC,12472,0.96,287.3,105.1,15.5,643,12478,0.43,2.28,0.00,0.000,6,0.151,0.061,2885,1736,1476
$GC,12812,1.10,287.3,79.2,7.7,695,12819,0.12,2.33,0.00,0.000,4,0.078,0.074,2951,323,1476
$GC,12832,1.19,287.3,77.4,8.2,698,12838,0.00,2.35,0.00,0.000,6,0.000,0.064,2951,1753,1476
$GC,13176,1.09,287.3,42.3,7.7,759,13182,0.15,0.00,0.00,0.000,6,0.141,0.000,2908,1753,1476
$GC,13520,1.09,287.3,17.5,14.0,820,13526,0.00,2.33,0.00,0.000,4,0.000,0.084,2908,3160,1475
$GC,13652,1.05,308.3,9.4,6.3,843,13677,0.00,2.30,19.50,0.919,6,0.000,0.061,2916,1731,1393
$FREEZE,5.77,-1.770,-1.774
$STATE,13683,end climb,FINISH_DEPTH_REACHED
$STATE,13683,begin subsurface finish
$FINISH1,5.8,1.026003,81
$GC,13691,0.10,80.9,5.8,-9.5,848,13732,0.65,2.33,-33.12,0.000,4,0.101,0.087,2694,327,2323
$FINISH2,4.2
$STATE,13732,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13732,begin surface
$RAFOS_CLK,639
$RAFOS,2,1227255842,8.416667,8.400556,60,56,54,51,48,48,201,156,128,217,113,169
$RAFOS,1,1227255241,8.250000,8.233611,63,60,57,50,49,49,162,213,198,179,111,143
$RAFOS,0,1227254652,8.083333,8.070000,112,60,58,56,54,53,585,212,201,223,152,177
$RAFOS_FIX,6232.697266,-5331.492188,211108,000026,3,81,38.68
$IRIDIUM_FIX,6620.33,-5917.14,100298,030337
$TT8_MAMPS,0.029913
$HUMID,1810
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,14.70
$XPDR_PINGS,30
$24V_AH,22.1,58.614
$10V_AH,10.5,26.858
$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,9.025,121.125,401.525,0.000,0.000,0.000,0.000,0.000,7.500,0.000,0.000,0.000,1573.972,9860.594,499.942,1648.975,202.724,33.356,1403.970,0.000,1638.762,1440.000,0.529,0.000
$DEVICE_MAMPS,158.769,94.341,1201.889,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,599.377,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28425,855
$CAP_FILE_SIZE,114160,0
$CFSIZE,260165632,228888576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.5
$GPS,201108,202536,6636.716,-6005.753,0,4096.0,0,-37.9