version: 66.04
glider: 108
mission: 11
dive: 523
start: 12 28 108 11 14 51
data:
$ID,108
$MISSION,11
$DIVE,523
$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,26
$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
$GPS1,081954,6626.398,-5953.046,0,3077.7,0,-37.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.05
$_SM_ANGLEo,-7.8
$GPS2,081954,6626.398,-5953.046,0,3077.7,0,-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,345.6,46626,-13.0,-7.021
$D_GRID,587
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-5.40,0.000,2,0.000,0.000,2700,324,2496
$GC,28,-0.99,-146.0,5.2,-0.0,1,64,0.62,5.47,-27.12,0.000,4,0.059,0.074,2427,3603,3249
$GC,263,-0.68,-146.0,35.0,-13.7,42,270,0.35,2.20,0.00,0.000,6,0.154,0.053,2533,2212,3253
$GC,610,-0.73,-146.0,64.7,-8.3,103,616,0.00,2.22,0.00,0.000,4,0.000,0.065,2533,818,3254
$GC,735,-0.73,-146.0,75.3,-8.3,125,742,0.00,2.33,0.00,0.000,6,0.000,0.065,2526,2234,3254
$GC,1094,-0.77,-146.0,103.1,-7.4,183,1098,0.00,2.25,0.00,0.000,4,0.000,0.078,2515,3601,3254
$GC,1231,-0.85,-146.0,113.6,-7.8,189,1234,0.00,2.17,0.00,0.000,6,0.000,0.052,2515,2223,3254
$GC,1564,-0.85,-146.0,140.6,-8.0,205,1567,0.00,2.25,0.00,0.000,4,0.000,0.066,2515,818,3254
$GC,1665,-0.85,-146.0,149.3,-8.4,209,1669,0.00,2.35,0.00,0.000,6,0.000,0.067,2505,2242,3254
$GC,1986,-0.85,-146.0,175.7,-7.9,225,1990,0.00,2.25,0.00,0.000,4,0.000,0.081,2495,3604,3254
$GC,2168,-0.85,-146.0,190.8,-7.9,233,2172,0.00,2.20,0.00,0.000,6,0.000,0.054,2495,2215,3254
$GC,2501,-0.85,-146.0,216.5,-7.9,249,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2215,3254
$GC,2811,-0.85,-146.0,238.6,-7.2,264,2812,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2215,3254
$GC,3119,-0.85,-146.0,263.5,-8.5,279,3123,0.00,2.25,0.00,0.000,4,0.000,0.067,2495,819,3253
$GC,3256,-0.85,-146.0,275.8,-8.9,285,3260,0.00,2.35,0.00,0.000,6,0.000,0.070,2485,2232,3254
$GC,3583,-0.85,-146.0,304.9,-8.7,301,3587,0.00,2.25,0.00,0.000,4,0.000,0.078,2475,3598,3253
$GC,3698,-0.85,-146.0,315.7,-9.8,306,3702,0.00,2.17,0.00,0.000,6,0.000,0.054,2475,2224,3254
$GC,4033,-0.85,-146.0,346.6,-9.5,322,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2224,3253
$GC,4342,-0.85,-146.0,372.3,-8.1,337,4346,0.00,2.28,0.00,0.000,4,0.000,0.067,2474,810,3253
$GC,4479,-0.77,-146.0,384.0,-7.9,343,4484,0.17,2.38,0.00,0.000,6,0.135,0.066,2513,2247,3253
$GC,4829,-0.89,-146.0,406.7,-6.7,358,4831,0.10,0.00,0.00,0.000,6,0.093,0.000,2471,2247,3253
$GC,5151,-0.89,-146.0,432.5,-7.8,366,5152,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2247,3253
$GC,5475,-0.89,-146.0,456.0,-7.3,374,5476,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2246,3253
$GC,5801,-0.89,-146.0,478.8,-6.9,382,5805,0.00,2.35,0.00,0.000,4,0.000,0.064,2471,811,3253
$GC,5874,-0.83,-146.0,484.4,-7.4,383,5879,0.15,2.35,0.00,0.000,6,0.134,0.063,2502,2241,3253
$GC,6212,-0.95,-146.0,504.7,-5.9,392,6217,0.12,2.25,0.00,0.000,4,0.087,0.077,2441,3607,3253
$GC,6274,-0.86,-146.0,509.2,-7.3,393,6279,0.20,2.20,0.00,0.000,6,0.145,0.051,2495,2213,3253
$GC,6623,-1.19,-146.0,523.5,-2.1,402,6627,0.20,2.22,0.00,0.000,4,0.071,0.061,2408,820,3254
$GC,6635,-1.64,-146.0,523.5,-0.1,402,6640,0.25,2.33,0.00,0.000,6,0.064,0.061,2302,2242,3254
$STATE,6783,end dive,NO_VERTICAL_VELOCITY
$STATE,6783,begin apogee
$GC,6792,-0.31,0.0,523.6,0.0,406,6923,0.95,0.00,128.10,1.188,6,0.097,0.000,2619,1737,2650
$STATE,6924,end apogee,CONTROL_FINISHED_OK
$STATE,6924,begin climb
$GC,6927,0.99,146.0,523.3,0.0,409,7070,0.85,2.67,133.35,1.106,4,0.088,0.066,2905,327,2054
$GC,7248,0.79,146.0,494.8,10.5,416,7254,0.20,2.45,0.00,0.000,6,0.138,0.056,2852,1744,2052
$GC,7597,0.79,146.0,467.7,7.7,425,7600,0.00,2.33,0.00,0.000,4,0.000,0.069,2852,3167,2049
$GC,7637,0.64,146.0,464.1,9.2,425,7644,0.15,2.30,0.00,0.000,6,0.137,0.051,2818,1732,2048
$GC,7970,0.77,155.7,441.4,6.7,434,7985,0.10,2.38,8.27,0.964,4,0.081,0.067,2866,3151,2015
$GC,7997,0.70,155.7,439.0,8.7,434,8002,0.17,2.25,0.00,0.000,6,0.137,0.051,2826,1733,2015
$GC,8335,0.85,195.0,418.5,5.8,443,8374,0.12,0.00,35.58,1.098,6,0.077,0.000,2883,1733,1855
$GC,8680,0.77,195.0,389.4,8.6,454,8685,0.15,2.42,0.00,0.000,4,0.122,0.066,2839,3164,1852
$GC,8731,0.77,195.0,385.5,7.8,456,8735,0.00,2.30,0.00,0.000,6,0.000,0.051,2847,1728,1851
$GC,9053,0.92,240.2,366.4,5.6,472,9100,0.12,2.47,40.15,1.075,4,0.078,0.066,2904,3158,1670
$GC,9107,0.81,240.2,362.3,7.8,474,9111,0.22,2.33,0.00,0.000,6,0.133,0.050,2850,1728,1668
$GC,9424,0.98,259.6,342.4,6.4,489,9444,0.15,0.00,17.45,1.018,6,0.071,0.000,2919,1727,1592
$GC,9752,0.88,259.6,309.6,10.0,505,9757,0.17,2.38,0.00,0.000,4,0.130,0.066,2868,3161,1589
$GC,9775,0.88,259.6,307.7,8.6,506,9779,0.00,2.25,0.00,0.000,6,0.000,0.052,2874,1738,1588
$GC,10102,1.01,280.7,285.7,6.3,522,10125,0.10,0.00,19.83,1.017,6,0.087,0.000,2922,1738,1505
$GC,10431,0.93,280.7,254.6,9.5,538,10436,0.15,2.38,0.00,0.000,4,0.132,0.069,2878,3165,1503
$GC,10460,0.93,280.7,252.0,9.1,539,10464,0.00,2.28,0.00,0.000,6,0.000,0.054,2884,1732,1502
$GC,10781,1.04,295.9,229.8,6.5,555,10803,0.00,2.38,14.10,0.980,4,0.000,0.069,2884,3159,1443
$GC,10810,1.14,307.4,227.8,6.7,556,10828,0.12,2.28,12.27,0.940,6,0.081,0.053,2948,1734,1396
$GC,11138,0.99,307.4,193.1,11.3,572,11142,0.20,2.33,0.00,0.000,4,0.137,0.069,2894,323,1394
$GC,11172,1.10,307.4,189.8,8.0,573,11179,0.10,2.33,0.00,0.000,6,0.083,0.055,2943,1755,1393
$GC,11489,1.00,307.4,156.4,10.8,589,11494,0.17,2.28,0.00,0.000,4,0.136,0.071,2892,3159,1392
$GC,11512,0.95,307.4,154.0,9.9,590,11516,0.00,2.28,0.00,0.000,6,0.000,0.055,2899,1736,1392
$GC,11846,1.04,307.4,126.7,8.5,606,11847,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1736,1390
$GC,12156,1.16,307.4,103.3,7.4,621,12157,0.12,0.00,0.00,0.000,6,0.079,0.000,2956,1736,1390
$GC,12489,1.09,307.4,71.2,8.8,675,12496,0.15,2.40,0.00,0.000,4,0.133,0.072,2912,3155,1389
$GC,12553,1.09,307.4,65.8,8.0,686,12559,0.00,2.30,0.00,0.000,6,0.000,0.055,2919,1733,1389
$GC,12899,1.19,307.4,41.6,7.4,747,12905,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,1733,1388
$GC,13244,1.29,307.6,16.3,7.0,808,13250,0.15,0.00,0.00,0.000,6,0.077,0.000,2980,1733,1388
$FREEZE,6.81,-1.780,-1.780
$FREEZE,6.26,-1.779,-1.780
$FREEZE,5.60,-1.779,-1.779
$FREEZE,4.87,-1.780,-1.779
$FREEZE,4.27,-1.779,-1.778
$FREEZE,3.65,-1.780,-1.778
$FREEZE,3.26,-1.780,-1.777
$FREEZE,3.13,-1.775,-1.777
$FREEZE,3.01,-1.782,-1.777
$FREEZE,2.86,-1.782,-1.777
$STATE,13381,end climb,SURFACE_DEPTH_REACHED
$STATE,13381,begin surface coast
$FREEZE,2.53,-1.782,-1.777
$FREEZE,2.28,-1.783,-1.777
$FREEZE,2.01,-1.784,-1.777
$FREEZE,1.81,-1.781,-1.777
$FREEZE,1.84,-1.781,-1.777
$FREEZE,1.83,-1.781,-1.777
$FREEZE,1.84,-1.782,-1.777
$FREEZE,1.86,-1.782,-1.777
$FINISH,1.9,1.026088
$STATE,13427,end surface coast,CONTROL_FINISHED_OK
$STATE,13427,begin surface
$RAFOS_CLK,627
$RAFOS,4,1230468242,12.750000,12.733889,60,59,57,56,50,49,170,209,136,149,114,239
$RAFOS,3,1230467672,12.583333,12.575556,65,61,56,55,55,50,216,182,195,206,225,143
$RAFOS,2,1230467043,12.416667,12.400833,58,58,57,54,52,50,121,156,217,139,176,192
$RAFOS,1,1230466450,12.250000,12.236111,59,56,55,53,52,51,216,182,150,193,115,159
$RAFOS,0,1230465842,12.083333,12.067223,83,65,63,57,56,53,659,213,199,143,181,119
$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,1845
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,14.90
$XPDR_PINGS,66
$24V_AH,21.6,84.737
$10V_AH,10.4,38.963
$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,6.825,105.600,409.100,0.000,0.000,0.000,0.000,0.000,16.500,0.000,0.000,0.000,1569.528,9723.169,455.952,1619.479,243.437,0.000,1332.501,0.000,1608.174,1800.000,0.528,0.000
$DEVICE_MAMPS,154.167,80.535,1188.083,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,589.959,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28451,840
$CAP_FILE_SIZE,108351,0
$CFSIZE,260165632,217317376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.3
$GPS,281208,081954,6626.398,-5953.046,0,3077.7,0,-37.3