version: 66.04
glider: 108
mission: 11
dive: 531
start: 12 29 108 18 3 17
data:
$ID,108
$MISSION,11
$DIVE,531
$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,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
$GPS1,161144,6634.245,-6011.660,0,2151.0,0,-37.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-8.3
$GPS2,161144,6634.245,-6011.660,0,2151.0,0,-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,339.3,27080,-13.0,-7.021
$D_GRID,523
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.99,-146.0,0.0,0.0,0,67,0.00,0.00,-47.42,0.000,6,0.000,0.000,2701,325,3247
$GC,71,-0.99,-146.0,3.0,-1.5,9,83,0.65,5.45,0.00,0.000,4,0.063,0.066,2432,3605,3248
$GC,339,-0.67,-146.0,39.1,-16.2,56,346,0.32,2.20,0.00,0.000,6,0.166,0.054,2531,2220,3251
$GC,685,-0.67,-146.0,76.3,-10.8,117,690,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2220,3251
$GC,1030,-0.67,-146.0,109.0,-8.4,165,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2220,3251
$GC,1340,-0.67,-146.0,132.7,-7.2,180,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2221,3251
$GC,1649,-0.72,-146.0,156.7,-8.1,195,1653,0.00,2.25,0.00,0.000,4,0.000,0.067,2531,817,3251
$GC,1719,-0.72,-146.0,163.0,-10.0,198,1723,0.00,2.33,0.00,0.000,6,0.000,0.065,2523,2231,3251
$GC,2054,-0.78,-146.0,189.5,-8.0,214,2058,0.00,2.25,0.00,0.000,4,0.000,0.079,2512,3605,3251
$GC,2152,-0.88,-146.0,197.6,-7.7,218,2156,0.10,2.20,0.00,0.000,6,0.096,0.054,2468,2217,3251
$GC,2479,-0.76,-146.0,227.7,-9.9,234,2484,0.17,2.25,0.00,0.000,4,0.141,0.066,2526,814,3250
$GC,2542,-0.83,-146.0,232.8,-8.0,236,2548,0.00,2.35,0.00,0.000,6,0.000,0.066,2518,2236,3250
$GC,2860,-0.92,-146.0,253.7,-5.8,252,2865,0.12,2.25,0.00,0.000,4,0.086,0.078,2453,3598,3251
$GC,2946,-0.80,-146.0,261.1,-9.5,256,2951,0.20,2.17,0.00,0.000,6,0.149,0.054,2508,2226,3251
$GC,3279,-0.87,-146.0,287.3,-8.3,272,3282,0.00,2.28,0.00,0.000,4,0.000,0.066,2510,816,3251
$GC,3411,-0.94,-146.0,299.1,-8.4,277,3417,0.10,2.35,0.00,0.000,6,0.090,0.065,2461,2241,3250
$GC,3727,-0.86,-146.0,324.7,-7.3,293,3732,0.12,2.25,0.00,0.000,4,0.153,0.079,2485,3605,3250
$GC,3818,-0.86,-146.0,330.4,-6.1,297,3822,0.00,2.20,0.00,0.000,6,0.000,0.053,2485,2215,3250
$GC,4152,-0.86,-146.0,348.7,-5.8,313,4156,0.00,2.22,0.00,0.000,4,0.000,0.064,2485,821,3250
$GC,4243,-0.86,-146.0,355.0,-7.5,317,4247,0.00,2.35,0.00,0.000,6,0.000,0.067,2475,2240,3251
$GC,4570,-0.86,-146.0,377.6,-6.6,333,4574,0.00,2.25,0.00,0.000,4,0.000,0.079,2464,3610,3250
$GC,4655,-0.86,-146.0,383.5,-7.2,336,4662,0.12,2.20,0.00,0.000,6,0.148,0.053,2497,2218,3251
$GC,4972,-0.95,-146.0,400.3,-5.3,352,4976,0.10,2.22,0.00,0.000,4,0.095,0.064,2455,821,3251
$GC,5203,-0.85,-146.0,416.6,-7.0,357,5208,0.17,2.33,0.00,0.000,6,0.133,0.064,2496,2238,3251
$GC,5524,-0.95,-146.0,433.0,-5.1,365,5528,0.10,2.22,0.00,0.000,4,0.094,0.077,2444,3604,3251
$GC,5609,-0.86,-146.0,439.2,-7.3,366,5616,0.17,2.17,0.00,0.000,6,0.146,0.051,2492,2221,3251
$GC,5941,-0.95,-146.0,458.6,-5.7,375,5945,0.00,2.22,0.00,0.000,4,0.000,0.062,2492,820,3252
$GC,6027,-0.95,-146.0,463.7,-5.6,376,6033,0.00,2.33,0.00,0.000,6,0.000,0.062,2484,2241,3252
$GC,6359,-0.95,-146.0,481.9,-5.4,385,6363,0.00,2.22,0.00,0.000,4,0.000,0.077,2474,3602,3252
$GC,6450,-1.00,-146.0,487.5,-6.0,387,6454,0.00,2.17,0.00,0.000,6,0.000,0.050,2473,2213,3252
$GC,6781,-1.00,-146.0,507.0,-5.4,395,6785,0.00,2.28,0.00,0.000,4,0.000,0.071,2464,3596,3253
$STATE,6940,end dive,NO_VERTICAL_VELOCITY
$STATE,6941,begin apogee
$GC,6954,-0.31,0.0,507.9,0.0,398,7084,0.43,0.00,127.50,1.168,6,0.087,0.000,2615,1744,2650
$STATE,7085,end apogee,CONTROL_FINISHED_OK
$STATE,7085,begin climb
$GC,7089,0.99,146.0,507.3,0.0,401,7231,0.88,2.70,132.55,1.090,4,0.096,0.067,2896,3151,2053
$GC,7358,0.66,146.0,485.0,10.7,407,7363,0.30,2.42,0.00,0.000,6,0.135,0.050,2825,1732,2049
$GC,7673,0.78,179.8,466.0,5.9,415,7708,0.10,2.42,29.30,1.071,4,0.081,0.065,2871,3152,1917
$GC,7731,0.61,179.8,461.0,9.4,416,7736,0.25,2.33,0.00,0.000,6,0.133,0.051,2811,1725,1915
$GC,8081,0.82,213.7,440.1,5.9,425,8117,0.15,2.40,30.08,1.075,4,0.068,0.064,2877,3156,1777
$GC,8135,0.69,213.7,435.1,10.7,425,8140,0.22,2.30,0.00,0.000,6,0.133,0.050,2823,1726,1776
$GC,8487,0.90,243.8,412.2,6.1,434,8522,0.17,2.45,27.30,1.059,4,0.064,0.065,2901,3159,1655
$GC,8534,0.71,243.8,407.6,10.5,435,8539,0.28,2.30,0.00,0.000,6,0.133,0.050,2831,1726,1654
$GC,8862,0.90,254.8,386.1,6.7,448,8877,0.15,0.00,10.00,0.959,6,0.071,0.000,2900,1726,1611
$GC,9187,0.79,254.8,352.8,10.7,464,9192,0.17,2.35,0.00,0.000,4,0.130,0.064,2849,3159,1610
$GC,9215,0.79,254.8,349.9,9.5,465,9218,0.00,2.25,0.00,0.000,6,0.000,0.050,2856,1733,1609
$GC,9539,0.89,254.8,323.4,7.9,481,9543,0.00,2.33,0.00,0.000,4,0.000,0.066,2856,3157,1609
$GC,9567,0.89,254.8,320.8,8.2,482,9571,0.00,2.25,0.00,0.000,6,0.000,0.051,2866,1729,1608
$GC,9895,0.97,259.3,298.7,6.9,498,9905,0.10,2.35,5.28,0.800,4,0.087,0.065,2914,3163,1592
$GC,9913,0.97,259.3,297.2,7.5,499,9918,0.15,2.25,0.00,0.000,6,0.143,0.051,2883,1734,1592
$GC,10241,0.97,259.3,270.1,8.0,515,10242,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1733,1592
$GC,10549,0.97,259.3,246.0,7.7,530,10550,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1734,1592
$GC,10860,1.04,259.3,226.5,7.2,545,10864,0.10,2.35,0.00,0.000,4,0.084,0.068,2931,3161,1592
$GC,10888,0.89,259.3,223.4,11.2,546,10893,0.25,2.25,0.00,0.000,6,0.135,0.053,2869,1739,1592
$GC,11207,1.09,301.8,200.3,5.7,561,11250,0.15,0.00,40.03,0.996,6,0.073,0.000,2937,1738,1419
$GC,11554,1.02,301.8,168.0,8.6,578,11559,0.15,2.30,0.00,0.000,4,0.131,0.067,2902,333,1414
$GC,11605,1.19,301.8,164.1,7.3,580,11610,0.12,2.30,0.00,0.000,6,0.074,0.055,2958,1752,1414
$GC,11924,1.10,301.8,132.5,10.6,595,11928,0.15,2.28,0.00,0.000,4,0.138,0.071,2915,3152,1412
$GC,11957,1.10,301.8,128.7,10.3,596,11963,0.00,2.25,0.00,0.000,6,0.000,0.054,2922,1737,1411
$GC,12275,1.17,301.8,104.7,7.3,612,12276,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1737,1410
$GC,12605,1.27,328.5,81.9,6.2,660,12635,0.12,2.35,23.73,0.931,4,0.080,0.071,2975,3149,1310
$GC,12649,1.18,328.5,77.6,9.5,667,12656,0.20,2.28,0.00,0.000,6,0.140,0.054,2929,1733,1309
$GC,12995,1.26,331.6,50.0,6.9,728,13002,0.10,2.30,0.00,0.000,4,0.084,0.070,2983,330,1305
$GC,13021,1.26,331.6,47.9,7.0,732,13027,0.12,2.30,0.00,0.000,6,0.146,0.057,2951,1745,1305
$GC,13367,1.29,361.1,16.7,6.1,793,13403,0.00,2.33,29.17,0.899,4,0.000,0.073,2951,3159,1177
$GC,13444,1.21,361.1,9.3,11.5,806,13450,0.00,2.30,0.00,0.000,6,0.000,0.057,2959,1737,1175
$FREEZE,6.43,-1.770,-1.773
$STATE,13472,end climb,FINISH_DEPTH_REACHED
$STATE,13472,begin subsurface finish
$FINISH1,6.4,1.025979,82
$GC,13482,0.10,82.0,6.4,-9.2,811,13528,0.80,0.00,-41.38,0.000,6,0.117,0.000,2700,1737,2319
$FINISH2,4.4
$STATE,13529,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13529,begin surface
$RAFOS_CLK,617
$RAFOS,4,1230583461,20.750000,20.739166,67,63,61,57,55,51,212,201,187,128,165,144
$RAFOS,3,1230582856,20.583334,20.571112,65,56,56,54,53,51,677,189,165,118,207,134
$RAFOS,2,1230582277,20.416666,20.410278,67,60,59,58,57,51,204,178,161,193,133,146
$RAFOS,1,1230581670,20.250000,20.241667,60,58,53,51,49,48,216,174,139,157,186,126
$RAFOS,0,1230581046,20.083334,20.068333,131,64,60,57,53,51,618,219,204,182,170,229
$RAFOS_FIX,6633.087402,-6012.624023,291208,202020,2,98,0.15
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.026845
$HUMID,1817
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,14.80
$XPDR_PINGS,91
$24V_AH,21.6,85.847
$10V_AH,10.4,39.399
$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,8.100,127.600,454.925,0.000,0.000,0.000,0.000,0.000,22.750,0.000,0.000,0.000,1531.312,9537.181,540.452,1713.364,268.509,0.000,1483.279,0.000,1696.451,1800.000,0.529,0.000
$DEVICE_MAMPS,165.672,79.001,1168.141,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,572.905,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25263,819
$CAP_FILE_SIZE,115028,0
$CFSIZE,260165632,216866816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1445.1
$GPS,291208,202120,6633.087,-6012.624,0,2098.0,0,-37.3