version: 66.04
glider: 108
mission: 11
dive: 522
start: 12 28 108 7 13 36
data:
$ID,108
$MISSION,11
$DIVE,522
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$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,-126385.23
$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,25
$R_STBD_OVSHOOT,25
$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
$GPS1,041040,6628.665,-5952.582,0,2090.5,0,-37.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.57
$_SM_ANGLEo,-4.6
$GPS2,041040,6628.665,-5952.582,0,2090.5,0,-37.3
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,15000.000
$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,341.1,44430,-13.0,-7.021
$D_GRID,612
$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,16,-0.99,-146.0,0.0,0.0,0,57,0.00,0.00,-38.92,0.000,2,0.000,0.000,2702,1726,3125
$GC,61,-0.99,-146.0,3.1,-1.9,7,74,0.68,1.48,-5.18,0.000,4,0.081,0.087,2457,811,3248
$GC,103,-0.99,-146.0,7.2,-9.0,14,110,0.00,2.33,0.00,0.000,6,0.000,0.064,2447,2232,3251
$GC,449,-0.71,-146.0,51.4,-13.4,75,456,0.25,2.25,0.00,0.000,4,0.153,0.077,2513,3603,3252
$GC,610,-0.71,-146.0,67.9,-10.0,103,616,0.00,2.20,0.00,0.000,6,0.000,0.052,2513,2207,3252
$GC,954,-0.71,-146.0,96.0,-8.3,164,961,0.00,2.22,0.00,0.000,4,0.000,0.065,2513,815,3253
$GC,1069,-0.71,-146.0,106.3,-9.5,175,1074,0.10,2.35,0.00,0.000,6,0.148,0.065,2529,2241,3253
$GC,1403,-0.79,-146.0,128.7,-5.8,191,1407,0.00,2.22,0.00,0.000,4,0.000,0.079,2521,3598,3252
$GC,1523,-0.91,-146.0,137.2,-6.6,196,1527,0.15,2.17,0.00,0.000,6,0.082,0.052,2457,2220,3252
$GC,1851,-0.74,-146.0,168.2,-9.5,212,1856,0.20,2.28,0.00,0.000,4,0.143,0.065,2527,811,3252
$GC,1971,-0.81,-146.0,176.8,-6.4,217,1975,0.00,2.35,0.00,0.000,6,0.000,0.064,2520,2236,3252
$GC,2299,-0.88,-146.0,198.5,-6.6,233,2303,0.12,2.25,0.00,0.000,4,0.084,0.077,2455,3601,3252
$GC,2417,-0.74,-146.0,209.6,-9.4,238,2422,0.22,2.17,0.00,0.000,6,0.150,0.053,2517,2227,3252
$GC,2745,-0.82,-146.0,231.8,-7.0,254,2749,0.00,2.25,0.00,0.000,4,0.000,0.066,2518,825,3252
$GC,2918,-0.89,-146.0,244.8,-7.2,261,2923,0.10,2.33,0.00,0.000,6,0.089,0.065,2469,2236,3252
$GC,3234,-0.79,-146.0,271.6,-8.5,276,3239,0.15,2.25,0.00,0.000,4,0.152,0.078,2501,3599,3252
$GC,3365,-0.86,-146.0,281.1,-7.3,282,3369,0.00,2.17,0.00,0.000,6,0.000,0.053,2500,2214,3252
$GC,3698,-0.91,-146.0,304.5,-7.6,298,3699,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2214,3252
$GC,4008,-0.97,-146.0,328.6,-7.8,313,4010,0.12,0.00,0.00,0.000,6,0.091,0.000,2451,2214,3252
$GC,4317,-0.84,-146.0,355.5,-8.3,328,4322,0.17,2.35,0.00,0.000,4,0.153,0.077,2490,3607,3252
$GC,4413,-0.90,-146.0,362.3,-6.8,332,4417,0.00,2.20,0.00,0.000,6,0.000,0.053,2490,2219,3252
$GC,4736,-0.90,-146.0,382.1,-6.3,348,4739,0.00,2.25,0.00,0.000,4,0.000,0.064,2490,814,3252
$GC,4814,-0.90,-146.0,387.5,-7.3,351,4818,0.00,2.35,0.00,0.000,6,0.000,0.064,2480,2234,3252
$GC,5134,-0.90,-146.0,408.8,-6.9,364,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2234,3252
$GC,5461,-0.90,-146.0,429.8,-6.3,372,5462,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2234,3252
$GC,5783,-0.90,-146.0,449.5,-6.0,380,5785,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2234,3252
$GC,6108,-0.90,-146.0,470.1,-6.6,388,6112,0.00,2.28,0.00,0.000,4,0.000,0.078,2470,3603,3252
$GC,6193,-0.90,-146.0,476.4,-7.5,389,6200,0.00,2.17,0.00,0.000,6,0.000,0.050,2470,2222,3252
$GC,6525,-0.90,-146.0,501.2,-7.6,398,6529,0.00,2.22,0.00,0.000,4,0.000,0.063,2470,822,3252
$GC,6609,-0.90,-146.0,507.5,-7.9,399,6615,0.10,2.35,0.00,0.000,6,0.140,0.063,2486,2245,3252
$GC,6941,-0.90,-146.0,527.1,-5.9,408,6944,0.00,2.25,0.00,0.000,4,0.000,0.076,2477,3607,3253
$STATE,7150,end dive,NO_VERTICAL_VELOCITY
$STATE,7151,begin apogee
$GC,7161,-0.31,0.0,531.9,0.0,412,7293,0.38,0.00,127.50,1.193,6,0.084,0.000,2615,1744,2650
$STATE,7293,end apogee,CONTROL_FINISHED_OK
$STATE,7293,begin climb
$GC,7297,0.99,146.0,531.2,0.0,416,7438,0.93,2.67,133.75,1.109,4,0.100,0.067,2903,3160,2054
$GC,7496,0.65,146.0,514.0,12.5,420,7503,0.35,2.47,0.00,0.000,6,0.137,0.051,2820,1740,2051
$GC,7829,0.76,166.9,492.4,6.3,429,7849,0.10,0.00,18.17,1.058,6,0.081,0.000,2868,1740,1969
$GC,8154,0.69,166.9,465.9,8.3,437,8156,0.15,0.00,0.00,0.000,6,0.127,0.000,2824,1740,1969
$GC,8479,0.82,184.2,445.1,6.5,445,8502,0.12,2.35,16.55,1.065,4,0.075,0.067,2881,3155,1898
$GC,8515,0.67,184.2,441.9,9.4,445,8522,0.25,2.28,0.00,0.000,6,0.133,0.051,2819,1730,1898
$GC,8847,0.83,189.7,418.8,6.8,454,8856,0.15,0.00,6.00,0.874,6,0.067,0.000,2886,1730,1876
$GC,9153,0.73,189.7,389.4,9.4,464,9158,0.17,2.35,0.00,0.000,4,0.125,0.066,2834,3156,1878
$GC,9172,0.67,189.7,387.9,8.8,465,9176,0.00,2.25,0.00,0.000,6,0.000,0.051,2841,1732,1877
$GC,9505,0.80,201.4,367.1,6.6,481,9522,0.00,2.35,11.40,1.002,4,0.000,0.065,2841,3161,1828
$GC,9545,0.80,201.4,364.1,7.8,482,9549,0.00,2.28,0.00,0.000,6,0.000,0.051,2851,1725,1828
$GC,9880,0.92,228.0,342.3,6.2,498,9910,0.10,2.40,24.73,1.050,4,0.085,0.067,2897,3163,1720
$GC,9917,0.83,228.0,339.3,8.3,499,9924,0.20,2.28,0.00,0.000,6,0.136,0.051,2851,1738,1719
$GC,10235,0.97,229.8,316.6,7.0,515,10239,0.15,2.33,0.00,0.000,4,0.071,0.066,2917,3155,1718
$GC,10257,0.91,229.8,314.4,9.6,516,10262,0.20,2.25,0.00,0.000,6,0.142,0.051,2871,1733,1717
$GC,10580,0.97,233.3,291.4,6.9,532,10590,0.00,2.35,4.97,0.787,4,0.000,0.067,2871,3165,1699
$GC,10608,0.97,233.3,289.3,7.5,533,10612,0.00,2.28,0.00,0.000,6,0.000,0.052,2879,1729,1700
$GC,10930,0.97,233.3,264.5,7.8,549,10934,0.00,2.35,0.00,0.000,4,0.000,0.067,2879,3163,1701
$GC,10953,0.97,233.3,262.3,9.2,550,10957,0.00,2.28,0.00,0.000,6,0.000,0.052,2888,1727,1701
$GC,11286,0.97,233.3,236.1,7.7,566,11290,0.00,2.35,0.00,0.000,4,0.000,0.068,2888,3161,1700
$GC,11309,0.97,233.3,234.2,8.3,567,11313,0.00,2.28,0.00,0.000,6,0.000,0.053,2898,1729,1700
$GC,11643,0.97,233.3,207.3,7.7,583,11644,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1728,1700
$GC,11951,0.97,233.3,183.8,7.6,598,11955,0.00,2.35,0.00,0.000,4,0.000,0.070,2898,3159,1700
$GC,11962,0.97,233.3,182.7,7.7,598,11967,0.00,2.25,0.00,0.000,6,0.000,0.054,2908,1737,1699
$GC,12284,0.97,233.3,158.0,7.2,614,12285,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,1737,1699
$GC,12594,0.99,248.5,137.0,6.5,629,12615,0.00,2.35,14.95,0.953,4,0.000,0.071,2908,3155,1636
$GC,12628,0.93,248.5,134.6,7.3,630,12633,0.15,2.28,0.00,0.000,6,0.140,0.054,2876,1733,1636
$GC,12945,1.10,286.8,116.3,5.8,645,12984,0.15,0.00,35.95,0.963,6,0.074,0.000,2940,1733,1480
$GC,13307,1.04,286.8,82.9,9.7,683,13314,0.15,2.38,0.00,0.000,4,0.133,0.071,2897,3158,1475
$GC,13327,0.98,286.8,81.1,9.6,686,13334,0.00,2.28,0.00,0.000,6,0.000,0.056,2903,1740,1474
$GC,13673,1.13,300.8,56.6,6.6,747,13692,0.08,0.00,12.27,0.887,6,0.100,0.000,2945,1740,1423
$GC,14031,1.13,300.8,26.8,8.6,810,14037,0.00,2.35,0.00,0.000,4,0.000,0.074,2945,3156,1421
$GC,14044,1.13,300.8,25.6,8.8,812,14051,0.12,2.28,0.00,0.000,6,0.143,0.057,2922,1738,1421
$FREEZE,6.80,-1.780,-1.781
$STATE,14310,end climb,FINISH_DEPTH_REACHED
$STATE,14310,begin subsurface finish
$FINISH1,6.8,1.026090,77
$GC,14318,0.09,76.6,6.8,-7.1,859,14355,0.70,2.40,-29.88,0.000,4,0.133,0.083,2699,324,2342
$FINISH2,5.3
$STATE,14356,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14356,begin surface
$RAFOS_CLK,658
$RAFOS,4,1230453871,8.750000,8.741944,67,60,58,57,56,52,207,198,180,162,136,219
$RAFOS,3,1230453259,8.583333,8.571944,67,63,63,58,55,54,584,208,168,220,180,190
$RAFOS,2,1230452646,8.416667,8.401667,61,59,59,53,53,48,209,197,160,118,182,108
$RAFOS,1,1230452048,8.250000,8.235556,75,67,65,61,56,54,739,218,143,170,118,197
$RAFOS,0,1230451461,8.083333,8.072500,91,61,59,57,57,51,575,207,218,198,174,115
$RAFOS_FIX,6626.398438,-5953.045898,281208,080854,3,78,0.28
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.026845
$HUMID,1850
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,14.80
$XPDR_PINGS,100
$24V_AH,21.6,84.607
$10V_AH,10.4,38.912
$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,6.975,121.700,406.250,0.000,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000,1598.276,10369.793,508.024,1686.422,252.904,0.000,1417.667,0.000,1671.611,1800.000,0.529,0.000
$DEVICE_MAMPS,153.400,86.671,1193.452,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,606.342,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28425,865
$CAP_FILE_SIZE,113418,0
$CFSIZE,260165632,217370624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1445.0
$GPS,281208,081954,6626.398,-5953.046,0,3077.7,0,-37.3