version: 66.04
glider: 108
mission: 11
dive: 528
start: 12 29 108 6 26 54
data:
$ID,108
$MISSION,11
$DIVE,528
$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,24
$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
$GPS1,042224,6630.607,-6000.817,0,3085.3,0,-37.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.09
$_SM_ANGLEo,-4.8
$GPS2,042224,6630.607,-6000.817,0,3085.3,0,-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,341.6,37417,-13.0,-7.021
$D_GRID,543
$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,17,-0.99,-146.0,0.0,0.0,0,24,0.00,0.00,-5.43,0.000,2,0.000,0.000,2702,1745,2472
$GC,28,-0.99,-146.0,4.0,-0.0,1,64,0.65,0.00,-32.60,0.000,6,0.056,0.000,2441,1745,3247
$GC,404,-0.71,-146.0,50.2,-13.9,67,411,0.28,3.08,0.00,0.000,4,0.146,0.077,2513,3604,3253
$GC,666,-0.71,-146.0,76.6,-9.6,113,672,0.00,2.20,0.00,0.000,6,0.000,0.054,2514,2214,3254
$GC,1005,-0.71,-146.0,105.1,-8.2,165,1009,0.00,2.33,0.00,0.000,4,0.000,0.077,2506,3601,3254
$GC,1174,-0.71,-146.0,120.5,-9.5,172,1178,0.00,2.20,0.00,0.000,6,0.000,0.054,2506,2212,3254
$GC,1496,-0.71,-146.0,147.9,-8.2,188,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2211,3254
$GC,1805,-0.71,-146.0,174.5,-8.0,203,1809,0.00,2.33,0.00,0.000,4,0.000,0.079,2496,3594,3254
$GC,1896,-0.71,-146.0,181.5,-8.2,207,1901,0.12,2.17,0.00,0.000,6,0.151,0.054,2527,2220,3254
$GC,2229,-0.81,-146.0,201.6,-6.1,223,2234,0.10,2.25,0.00,0.000,4,0.098,0.066,2486,824,3254
$GC,2299,-0.73,-146.0,207.2,-8.4,226,2304,0.17,2.33,0.00,0.000,6,0.137,0.067,2522,2227,3253
$GC,2627,-0.82,-146.0,231.5,-7.4,242,2630,0.00,2.28,0.00,0.000,4,0.000,0.081,2514,3604,3254
$GC,2695,-0.95,-146.0,236.9,-7.7,245,2700,0.15,2.20,0.00,0.000,6,0.082,0.054,2451,2213,3253
$GC,3029,-0.80,-146.0,270.9,-10.4,261,3033,0.20,2.25,0.00,0.000,4,0.143,0.067,2513,824,3253
$GC,3177,-0.85,-146.0,282.8,-7.2,267,3181,0.00,2.35,0.00,0.000,6,0.000,0.067,2506,2244,3253
$GC,3501,-0.91,-146.0,303.5,-5.7,283,3505,0.10,2.25,0.00,0.000,4,0.095,0.080,2451,3604,3253
$GC,3579,-0.78,-146.0,309.7,-8.3,286,3584,0.22,2.20,0.00,0.000,6,0.150,0.054,2512,2214,3253
$GC,3902,-0.87,-146.0,327.0,-5.2,302,3904,0.10,0.00,0.00,0.000,6,0.098,0.000,2471,2214,3253
$GC,4212,-0.87,-146.0,345.5,-5.8,317,4215,0.00,2.25,0.00,0.000,4,0.000,0.067,2471,818,3253
$GC,4438,-0.81,-146.0,360.2,-6.6,327,4443,0.15,2.35,0.00,0.000,6,0.137,0.067,2502,2236,3253
$GC,4765,-0.91,-146.0,379.4,-7.0,343,4769,0.00,2.25,0.00,0.000,4,0.000,0.079,2493,3597,3253
$GC,4834,-1.04,-146.0,384.8,-7.7,346,4839,0.15,2.17,0.00,0.000,6,0.082,0.053,2433,2221,3253
$GC,5167,-0.89,-146.0,415.4,-9.2,358,5172,0.20,2.28,0.00,0.000,4,0.140,0.064,2500,812,3253
$GC,5353,-0.96,-146.0,429.7,-7.4,362,5357,0.00,2.35,0.00,0.000,6,0.000,0.064,2492,2234,3253
$GC,5673,-1.04,-146.0,450.9,-6.4,370,5677,0.12,2.25,0.00,0.000,4,0.084,0.077,2428,3598,3253
$GC,5734,-0.89,-146.0,456.0,-8.6,371,5739,0.20,2.17,0.00,0.000,6,0.148,0.051,2487,2216,3253
$GC,6049,-0.96,-146.0,473.9,-5.4,379,6050,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2215,3254
$GC,6373,-1.04,-146.0,491.0,-5.3,387,6375,0.12,0.00,0.00,0.000,6,0.091,0.000,2437,2216,3254
$GC,6698,-1.04,-146.0,511.7,-6.1,395,6701,0.00,2.33,0.00,0.000,4,0.000,0.074,2428,3597,3255
$STATE,6835,end dive,NO_VERTICAL_VELOCITY
$STATE,6835,begin apogee
$GC,6846,-0.31,0.0,511.7,0.0,398,6977,0.55,0.00,127.85,1.177,6,0.102,0.000,2615,1731,2650
$STATE,6978,end apogee,CONTROL_FINISHED_OK
$STATE,6978,begin climb
$GC,6982,0.99,146.0,511.6,0.0,401,7124,0.88,2.65,133.48,1.096,4,0.100,0.064,2903,332,2053
$GC,7300,0.80,146.0,484.2,9.7,408,7305,0.20,2.45,0.00,0.000,6,0.140,0.054,2850,1753,2051
$GC,7650,0.81,150.9,459.8,6.9,417,7660,0.00,2.42,4.12,0.716,4,0.000,0.065,2858,330,2035
$GC,7762,0.81,150.9,451.0,7.9,419,7766,0.00,2.33,0.00,0.000,6,0.000,0.056,2858,1749,2038
$GC,8105,0.76,150.9,422.9,8.3,428,8109,0.00,2.28,0.00,0.000,4,0.000,0.069,2858,3161,2037
$GC,8128,0.65,150.9,420.8,9.0,428,8133,0.17,2.28,0.00,0.000,6,0.135,0.051,2818,1725,2036
$GC,8472,0.81,184.2,399.1,6.0,437,8507,0.12,0.00,30.38,1.077,6,0.074,0.000,2875,1725,1899
$GC,8828,0.74,184.2,370.6,7.9,454,8829,0.12,0.00,0.00,0.000,6,0.125,0.000,2840,1725,1897
$GC,9134,0.90,229.0,352.7,5.6,469,9181,0.12,2.47,39.40,1.056,4,0.077,0.067,2896,3157,1716
$GC,9193,0.75,229.0,347.7,8.9,471,9199,0.22,2.33,0.00,0.000,6,0.133,0.050,2842,1726,1714
$GC,9510,0.95,276.1,328.9,5.5,487,9558,0.15,2.35,42.47,1.035,4,0.071,0.063,2923,327,1523
$GC,9571,0.85,276.1,323.3,9.9,490,9576,0.22,2.38,0.00,0.000,6,0.130,0.054,2858,1749,1524
$GC,9901,1.01,276.1,297.5,8.2,506,9906,0.15,2.30,0.00,0.000,4,0.071,0.067,2927,3158,1517
$GC,9929,0.87,276.1,294.2,11.8,507,9934,0.25,2.28,0.00,0.000,6,0.138,0.052,2865,1734,1516
$GC,10250,1.02,276.1,266.8,7.9,523,10252,0.12,0.00,0.00,0.000,6,0.077,0.000,2926,1734,1514
$GC,10562,0.92,276.1,235.0,10.1,538,10566,0.17,2.30,0.00,0.000,4,0.132,0.066,2883,324,1514
$GC,10584,0.92,276.1,232.7,9.1,539,10588,0.00,2.30,0.00,0.000,6,0.000,0.054,2883,1743,1514
$GC,10912,1.03,276.1,207.2,7.5,555,10913,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1743,1512
$GC,11222,1.15,276.1,184.4,7.6,570,11227,0.15,2.30,0.00,0.000,4,0.073,0.071,2951,3158,1512
$GC,11262,0.88,276.1,179.6,13.4,572,11267,0.32,2.28,0.00,0.000,6,0.138,0.054,2867,1728,1511
$GC,11592,1.32,276.1,154.4,8.0,588,11597,0.28,2.28,0.00,0.000,4,0.081,0.067,2972,330,1511
$GC,11643,1.32,276.1,149.6,9.3,590,11647,0.00,2.30,0.00,0.000,6,0.000,0.057,2971,1748,1511
$GC,11966,1.14,276.1,112.1,11.9,606,11971,0.17,2.30,0.00,0.000,4,0.144,0.071,2921,3162,1511
$GC,12007,1.06,276.1,107.9,9.6,608,12011,0.00,2.28,0.00,0.000,6,0.000,0.055,2929,1732,1510
$GC,12344,1.07,282.9,82.0,6.8,654,12356,0.00,2.33,4.45,0.705,4,0.000,0.071,2939,334,1496
$GC,12369,1.07,285.6,80.1,6.9,658,12382,0.12,2.28,4.47,0.699,6,0.130,0.055,2904,1743,1485
$GC,12725,1.20,286.2,57.7,7.0,720,12732,0.12,2.30,0.00,0.000,4,0.077,0.072,2961,3156,1485
$GC,12755,1.20,286.2,54.1,9.5,725,12762,0.12,2.28,0.00,0.000,6,0.151,0.055,2939,1731,1485
$GC,13102,1.20,286.2,25.3,9.9,786,13107,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,1731,1485
$FREEZE,6.68,-1.783,-1.778
$FREEZE,6.24,-1.783,-1.777
$FREEZE,5.93,-1.784,-1.777
$FREEZE,5.80,-1.784,-1.777
$FREEZE,5.41,-1.784,-1.777
$FREEZE,4.95,-1.784,-1.776
$FREEZE,4.83,-1.785,-1.776
$FREEZE,4.84,-1.770,-1.775
$FREEZE,4.69,-1.766,-1.775
$FREEZE,4.37,-1.761,-1.775
$FREEZE,4.12,-1.759,-1.774
$FREEZE,3.75,-1.756,-1.774
$FREEZE,3.51,-1.778,-1.775
$FREEZE,3.35,-1.784,-1.775
$FREEZE,3.10,-1.785,-1.775
$FREEZE,2.65,-1.785,-1.775
$STATE,13416,end climb,SURFACE_DEPTH_REACHED
$STATE,13416,begin surface coast
$FREEZE,2.50,-1.786,-1.775
$FREEZE,2.40,-1.777,-1.774
$FREEZE,2.34,-1.779,-1.774
$FREEZE,2.43,-1.783,-1.775
$FREEZE,2.37,-1.784,-1.774
$FREEZE,2.46,-1.785,-1.775
$FREEZE,2.41,-1.784,-1.775
$FREEZE,2.43,-1.784,-1.775
$FREEZE,2.42,-1.785,-1.775
$FREEZE,2.41,-1.786,-1.775
$FREEZE,2.42,-1.786,-1.775
$FREEZE,2.37,-1.786,-1.775
$FREEZE,2.36,-1.785,-1.775
$FINISH,2.4,1.026053
$STATE,13490,end surface coast,CONTROL_FINISHED_OK
$STATE,13491,begin surface
$SM_CCo,13692,0.00,0.000,0,0,1483,286.27
$SM_GC,3.85,7.35,0.00,0.00,0.071,0.000,0.000,324,2228,1483,-10.71,-0.06,286.27
$RAFOS_CLK,628
$RAFOS,4,1230540278,8.750000,8.743889,123,67,60,59,56,53,715,220,204,145,179,127
$RAFOS,3,1230539659,8.583333,8.571944,113,60,57,56,54,50,619,205,193,229,169,156
$RAFOS,2,1230539075,8.416667,8.409722,56,55,55,54,50,50,193,152,215,177,117,137
$RAFOS,1,1230538464,8.250000,8.240000,83,66,59,54,54,53,649,144,241,192,205,122
$RAFOS,0,1230537855,8.083333,8.070833,150,65,59,56,54,54,574,165,219,180,209,138
$RAFOS_FIX,6630.279785,-6002.659180,291208,080840,4,117,0.10
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.026845
$HUMID,1826
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,14.80
$XPDR_PINGS,95
$24V_AH,21.5,85.419
$10V_AH,10.4,39.228
$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,15.175,112.600,386.625,0.000,0.000,0.000,0.000,0.000,23.750,0.000,0.000,0.000,1663.969,9633.757,432.423,1766.697,266.263,0.000,1378.333,0.000,1746.838,1800.000,0.528,0.000
$DEVICE_MAMPS,151.099,80.535,1176.578,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,600.368,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28398,855
$CAP_FILE_SIZE,116714,0
$CFSIZE,260165632,217034752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.5
$GPS,291208,082640,6630.280,-6002.659,0,4117.2,0,-37.3