version: 66.04
glider: 108
mission: 11
dive: 530
start: 12 29 108 14 15 43
data:
$ID,108
$MISSION,11
$DIVE,530
$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,-126752.72
$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,27
$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
$GPS1,122608,6631.255,-6004.494,0,4092.8,0,-37.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.80
$_SM_ANGLEo,-6.7
$GPS2,122608,6631.255,-6004.494,0,4092.8,0,-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,342.5,34521,-13.0,-7.021
$D_GRID,525
$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,13,begin dive
$GC,17,-0.99,-146.0,0.0,0.0,0,24,0.00,0.00,-5.38,0.000,2,0.000,0.000,2697,329,2481
$GC,28,-0.99,-146.0,4.8,-0.0,1,69,0.62,5.43,-28.55,0.000,4,0.059,0.074,2425,3600,3249
$GC,325,-0.67,-146.0,43.4,-15.7,53,332,0.35,2.17,0.00,0.000,6,0.156,0.053,2534,2221,3253
$GC,672,-0.72,-146.0,75.1,-8.9,114,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2221,3254
$GC,1012,-0.78,-146.0,104.1,-9.1,169,1014,0.10,0.00,0.00,0.000,6,0.095,0.000,2493,2220,3254
$GC,1324,-0.68,-146.0,139.8,-11.1,184,1329,0.15,2.30,0.00,0.000,4,0.152,0.077,2525,3594,3253
$GC,1436,-0.77,-146.0,151.0,-9.2,189,1440,0.00,2.17,0.00,0.000,6,0.000,0.053,2525,2216,3253
$GC,1765,-0.83,-146.0,177.7,-8.7,205,1769,0.10,2.25,0.00,0.000,4,0.096,0.065,2481,813,3253
$GC,1860,-0.70,-146.0,189.0,-12.0,209,1865,0.20,2.35,0.00,0.000,6,0.141,0.066,2526,2238,3253
$GC,2178,-0.80,-146.0,210.2,-6.2,224,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2238,3253
$GC,2486,-0.92,-146.0,229.0,-5.7,239,2488,0.17,0.00,0.00,0.000,6,0.082,0.000,2456,2238,3252
$GC,2797,-0.78,-146.0,253.7,-8.7,254,2802,0.20,2.35,0.00,0.000,4,0.153,0.064,2521,811,3252
$GC,2883,-0.85,-146.0,260.2,-7.4,258,2887,0.00,2.35,0.00,0.000,6,0.000,0.066,2512,2244,3252
$GC,3216,-0.94,-146.0,282.0,-6.3,274,3221,0.12,2.22,0.00,0.000,4,0.086,0.079,2448,3594,3252
$GC,3341,-0.83,-146.0,292.9,-9.2,279,3346,0.17,2.15,0.00,0.000,6,0.150,0.053,2497,2221,3252
$GC,3663,-0.88,-146.0,314.9,-7.3,295,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2221,3252
$GC,3972,-0.93,-146.0,336.7,-7.3,310,3976,0.00,2.25,0.00,0.000,4,0.000,0.065,2497,813,3252
$GC,4063,-0.93,-146.0,343.8,-8.4,314,4067,0.00,2.35,0.00,0.000,6,0.000,0.066,2489,2233,3252
$GC,4396,-0.93,-146.0,369.3,-7.3,330,4400,0.00,2.25,0.00,0.000,4,0.000,0.080,2479,3600,3252
$GC,4465,-0.93,-146.0,374.2,-7.6,333,4469,0.00,2.17,0.00,0.000,6,0.000,0.052,2479,2222,3252
$GC,4799,-0.93,-146.0,396.7,-6.6,349,4803,0.00,2.25,0.00,0.000,4,0.000,0.064,2479,815,3252
$GC,4994,-0.93,-146.0,409.8,-6.3,355,4998,0.00,2.35,0.00,0.000,6,0.000,0.065,2469,2237,3252
$GC,5315,-0.93,-146.0,431.7,-6.8,363,5318,0.00,2.25,0.00,0.000,4,0.000,0.078,2458,3607,3253
$GC,5451,-0.93,-146.0,442.2,-7.9,366,5455,0.00,2.17,0.00,0.000,6,0.000,0.052,2459,2221,3252
$GC,5783,-0.89,-146.0,465.6,-6.9,374,5787,0.12,2.25,0.00,0.000,4,0.149,0.063,2494,818,3252
$GC,5874,-0.93,-146.0,471.5,-6.5,376,5878,0.00,2.33,0.00,0.000,6,0.000,0.063,2487,2237,3252
$GC,6205,-0.98,-146.0,491.7,-6.1,384,6206,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2236,3253
$GC,6532,-1.05,-146.0,509.8,-5.4,392,6534,0.12,0.00,0.00,0.000,6,0.084,0.000,2432,2236,3253
$STATE,6770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6770,begin apogee
$GC,6778,-0.31,0.0,526.5,7.0,398,6909,0.57,0.00,128.10,1.183,6,0.105,0.000,2621,1735,2650
$STATE,6910,end apogee,CONTROL_FINISHED_OK
$STATE,6910,begin climb
$GC,6913,0.99,146.0,526.3,0.0,401,7059,0.82,2.72,133.07,1.104,4,0.081,0.067,2896,3152,2054
$GC,7111,0.66,146.0,510.8,11.8,405,7116,0.32,2.47,0.00,0.000,6,0.136,0.050,2821,1733,2051
$GC,7449,0.77,154.7,488.3,6.7,414,7459,0.10,0.00,7.82,0.932,6,0.082,0.000,2867,1733,2019
$GC,7776,0.69,154.7,459.8,8.9,422,7778,0.15,0.00,0.00,0.000,6,0.129,0.000,2824,1733,2020
$GC,8100,0.78,159.7,437.1,6.9,430,8111,0.10,2.35,5.60,0.865,4,0.082,0.066,2870,3160,2000
$GC,8135,0.62,159.7,433.8,9.9,430,8142,0.25,2.28,0.00,0.000,6,0.134,0.051,2808,1728,2000
$GC,8467,0.82,188.9,413.0,6.1,439,8502,0.17,2.45,27.05,1.093,4,0.065,0.065,2883,3164,1879
$GC,8520,0.63,188.9,408.2,10.1,440,8525,0.28,2.30,0.00,0.000,6,0.133,0.050,2815,1728,1878
$GC,8837,0.85,213.3,387.8,6.2,452,8865,0.17,2.38,21.77,1.057,4,0.067,0.065,2893,3159,1779
$GC,8888,0.65,213.3,383.0,11.2,454,8893,0.30,2.28,0.00,0.000,6,0.134,0.050,2816,1735,1778
$GC,9207,0.89,245.0,363.5,6.0,469,9239,0.20,0.00,29.10,1.052,6,0.062,0.000,2905,1735,1651
$GC,9535,0.78,245.0,330.3,10.3,485,9537,0.20,0.00,0.00,0.000,6,0.125,0.000,2845,1735,1646
$GC,9845,0.93,245.0,307.2,8.1,500,9847,0.12,0.00,0.00,0.000,6,0.076,0.000,2903,1735,1645
$GC,10155,0.86,245.0,277.6,8.9,515,10160,0.15,2.35,0.00,0.000,4,0.127,0.068,2859,3162,1644
$GC,10177,0.86,245.0,275.5,8.2,516,10181,0.00,2.25,0.00,0.000,6,0.000,0.051,2867,1735,1643
$GC,10505,1.01,282.6,254.6,5.8,532,10548,0.12,2.40,33.92,1.016,4,0.080,0.067,2923,3148,1497
$GC,10560,0.89,282.6,249.7,9.8,534,10565,0.22,2.28,0.00,0.000,6,0.132,0.051,2868,1732,1496
$GC,10878,1.09,306.9,227.6,6.2,549,10903,0.17,0.00,22.17,0.977,6,0.068,0.000,2943,1732,1398
$GC,11234,0.99,306.9,189.3,10.9,566,11239,0.17,2.30,0.00,0.000,4,0.129,0.067,2899,321,1394
$GC,11257,1.05,306.9,187.0,8.8,567,11261,0.00,2.33,0.00,0.000,6,0.000,0.054,2899,1753,1394
$GC,11587,1.19,306.9,166.1,7.5,583,11592,0.12,2.28,0.00,0.000,4,0.077,0.071,2958,3155,1392
$GC,11621,1.00,306.9,162.5,11.8,584,11628,0.25,2.25,0.00,0.000,6,0.139,0.054,2896,1737,1391
$GC,11939,1.37,306.9,140.9,7.8,600,11943,0.22,2.35,0.00,0.000,4,0.079,0.071,2983,3162,1390
$GC,11985,1.28,306.9,136.4,9.9,602,11989,0.15,2.25,0.00,0.000,6,0.155,0.054,2955,1735,1390
$GC,12317,1.22,306.9,106.4,8.7,618,12321,0.00,2.30,0.00,0.000,4,0.000,0.070,2963,324,1390
$GC,12346,1.22,306.9,103.5,9.7,619,12350,0.00,2.30,0.00,0.000,6,0.000,0.057,2963,1744,1389
$GC,12689,1.12,306.9,70.5,9.4,675,12695,0.15,0.00,0.00,0.000,6,0.134,0.000,2920,1743,1389
$GC,13035,1.23,316.1,46.5,6.7,736,13048,0.10,2.38,7.50,0.833,4,0.084,0.072,2963,3162,1361
$GC,13068,1.18,316.1,43.6,8.0,741,13075,0.15,2.28,0.00,0.000,6,0.151,0.055,2933,1739,1361
$FREEZE,6.83,-1.787,-1.777
$GC,13415,1.32,391.0,12.7,4.6,802,13466,0.12,0.00,48.17,0.904,2,0.083,0.000,2983,1738,1147
$STATE,13467,end climb,FINISH_DEPTH_REACHED
$STATE,13467,begin subsurface finish
$FINISH1,6.8,1.026036,79
$GC,13475,0.10,79.3,6.8,-13.3,810,13528,0.93,2.38,-43.28,0.000,4,0.137,0.083,2701,325,2330
$FINISH2,4.7
$STATE,13529,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13529,begin surface
$RAFOS_CLK,624
$RAFOS,4,1230569055,16.750000,16.737499,63,59,52,52,51,50,158,192,170,126,216,180
$RAFOS,3,1230568444,16.583334,16.567778,62,59,59,59,52,51,222,188,203,168,119,739
$RAFOS,2,1230567872,16.416666,16.408890,59,57,57,57,52,51,167,148,189,208,176,158
$RAFOS,1,1230567245,16.250000,16.234722,123,68,63,57,55,54,746,214,203,181,164,192
$RAFOS,0,1230566669,16.083334,16.074722,179,69,60,58,58,51,470,208,170,224,189,154
$RAFOS_FIX,6634.245117,-6011.660156,291208,161644,2,151,0.57
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.026845
$HUMID,1832
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,14.80
$XPDR_PINGS,56
$24V_AH,21.5,85.707
$10V_AH,10.4,39.346
$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,9.275,103.050,464.300,0.000,0.000,0.000,0.000,0.000,14.000,0.000,0.000,0.000,1507.697,9700.206,519.977,1611.790,252.113,0.000,1403.862,0.000,1597.180,1800.000,0.529,0.000
$DEVICE_MAMPS,155.701,82.836,1183.481,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,573.584,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25246,819
$CAP_FILE_SIZE,109231,0
$CFSIZE,260165632,216932352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.9
$GPS,291208,161144,6634.245,-6011.660,0,2151.0,0,-37.3