version: 66.04
glider: 108
mission: 11
dive: 534
start: 12 30 108 5 4 12
data:
$ID,108
$MISSION,11
$DIVE,534
$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,22
$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
$GPS1,202120,6633.087,-6012.624,0,2098.0,0,-37.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,5.3
$GPS2,202120,6633.087,-6012.624,0,2098.0,0,-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,343.9,27705,-13.0,-7.021
$D_GRID,516
$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,-146.0,0.0,0.0,0,97,0.00,0.00,-78.60,0.000,2,0.000,0.000,2939,1723,2580
$GC,101,-0.99,-146.0,3.3,-2.1,14,132,1.60,3.12,-22.38,0.000,4,0.161,0.087,2451,3605,3248
$GC,388,-0.76,-146.0,45.6,-13.4,64,395,0.20,2.20,0.00,0.000,6,0.163,0.054,2512,2209,3253
$GC,734,-0.76,-146.0,85.3,-9.0,125,740,0.00,2.33,0.00,0.000,4,0.000,0.078,2504,3606,3253
$GC,832,-0.76,-146.0,94.9,-9.6,142,838,0.00,2.17,0.00,0.000,6,0.000,0.053,2505,2225,3253
$GC,1152,-0.76,-146.0,126.1,-9.7,164,1156,0.00,2.28,0.00,0.000,4,0.000,0.066,2504,813,3253
$GC,1250,-0.67,-146.0,136.5,-10.0,168,1255,0.15,2.35,0.00,0.000,6,0.140,0.066,2535,2232,3252
$GC,1572,-0.77,-146.0,159.6,-7.6,184,1574,0.10,0.00,0.00,0.000,6,0.093,0.000,2494,2232,3253
$GC,1882,-0.77,-146.0,188.8,-7.1,199,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2232,3252
$GC,2190,-0.77,-146.0,220.0,-12.3,214,2194,0.00,2.25,0.00,0.000,4,0.000,0.081,2484,3601,3252
$GC,2281,-0.77,-146.0,229.4,-8.4,218,2286,0.12,2.17,0.00,0.000,6,0.150,0.054,2515,2220,3252
$GC,2616,-0.85,-146.0,242.1,-4.1,234,2617,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2220,3252
$GC,2924,-0.95,-146.0,263.5,-7.4,249,2926,0.15,0.00,0.00,0.000,6,0.087,0.000,2456,2220,3252
$GC,3234,-0.83,-146.0,292.0,-9.1,264,3238,0.17,2.28,0.00,0.000,4,0.153,0.066,2513,816,3252
$GC,3307,-0.88,-146.0,297.5,-7.1,267,3311,0.00,2.35,0.00,0.000,6,0.000,0.066,2506,2236,3252
$GC,3635,-0.96,-146.0,316.1,-6.1,283,3639,0.12,2.25,0.00,0.000,4,0.088,0.079,2441,3604,3252
$GC,3749,-0.82,-146.0,327.0,-10.7,288,3753,0.20,2.17,0.00,0.000,6,0.150,0.054,2499,2228,3251
$GC,4082,-0.91,-146.0,348.5,-4.5,304,4086,0.00,2.28,0.00,0.000,4,0.000,0.065,2500,812,3251
$GC,4162,-0.96,-146.0,351.8,-4.0,307,4166,0.00,2.35,0.00,0.000,6,0.000,0.064,2492,2233,3251
$GC,4484,-1.02,-146.0,368.3,-6.2,323,4489,0.12,2.25,0.00,0.000,4,0.084,0.078,2428,3606,3251
$GC,4711,-0.86,-146.0,389.5,-10.0,333,4715,0.22,2.17,0.00,0.000,6,0.146,0.053,2494,2226,3252
$GC,5062,-0.95,-146.0,408.6,-4.7,346,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2226,3252
$GC,5387,-1.04,-146.0,425.5,-5.5,354,5391,0.15,2.28,0.00,0.000,4,0.084,0.063,2435,812,3252
$GC,5528,-0.86,-146.0,436.7,-7.9,357,5533,0.25,2.35,0.00,0.000,6,0.132,0.064,2497,2233,3252
$GC,5848,-0.96,-146.0,454.1,-5.3,365,5850,0.10,0.00,0.00,0.000,6,0.093,0.000,2456,2232,3253
$GC,6174,-1.37,-146.0,459.7,-0.0,373,6178,0.22,2.25,0.00,0.000,4,0.067,0.076,2356,3606,3254
$STATE,6211,end dive,NO_VERTICAL_VELOCITY
$STATE,6211,begin apogee
$GC,6221,-0.31,0.0,459.6,0.0,374,6351,0.80,0.00,126.78,1.144,6,0.104,0.000,2619,1728,2650
$STATE,6352,end apogee,CONTROL_FINISHED_OK
$STATE,6352,begin climb
$GC,6355,0.99,146.0,459.5,0.0,377,6494,0.85,2.60,131.25,1.065,4,0.098,0.065,2903,334,2054
$GC,6577,0.80,146.0,441.8,10.2,382,6582,0.20,2.50,0.00,0.000,6,0.133,0.054,2851,1745,2051
$GC,6891,0.80,146.0,418.6,7.3,390,6892,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1745,2048
$GC,7195,0.80,146.0,396.6,7.0,398,7199,0.00,2.28,0.00,0.000,4,0.000,0.067,2851,3157,2047
$GC,7242,0.65,146.0,393.0,8.2,400,7246,0.15,2.28,0.00,0.000,6,0.135,0.051,2817,1725,2047
$GC,7575,0.85,199.5,373.9,5.3,416,7627,0.15,2.45,45.33,1.064,4,0.072,0.067,2882,3166,1836
$GC,7656,0.65,199.5,367.2,9.8,419,7663,0.25,2.33,0.00,0.000,6,0.131,0.051,2821,1726,1832
$GC,7973,0.90,265.3,350.4,4.9,435,8038,0.17,2.45,57.58,1.043,4,0.066,0.067,2898,3163,1567
$GC,8050,0.77,265.3,344.3,8.9,438,8055,0.22,2.33,0.00,0.000,6,0.130,0.050,2844,1734,1565
$GC,8367,0.94,269.4,322.7,6.9,453,8369,0.15,0.00,0.00,0.000,6,0.071,0.000,2913,1734,1559
$GC,8677,0.84,269.4,291.5,9.5,468,8679,0.20,0.00,0.00,0.000,6,0.128,0.000,2853,1734,1558
$GC,8985,1.01,269.4,270.2,7.4,483,8987,0.15,0.00,0.00,0.000,6,0.072,0.000,2922,1734,1557
$GC,9297,0.94,269.4,239.5,9.4,498,9302,0.15,2.40,0.00,0.000,4,0.133,0.067,2877,3162,1556
$GC,9331,0.94,269.4,236.3,7.8,499,9337,0.00,2.28,0.00,0.000,6,0.000,0.051,2884,1733,1555
$GC,9647,1.03,269.4,208.4,10.0,515,9648,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1733,1554
$GC,9959,1.24,350.3,190.5,4.4,530,10043,0.20,2.55,73.68,0.984,4,0.070,0.069,2973,3165,1222
$GC,10050,1.03,350.3,181.7,11.3,534,10055,0.30,2.35,0.00,0.000,6,0.139,0.051,2899,1739,1220
$GC,10373,1.20,350.3,155.1,7.7,550,10377,0.15,2.33,0.00,0.000,4,0.072,0.067,2966,327,1213
$GC,10396,1.26,350.3,153.1,8.6,551,10400,0.00,2.38,0.00,0.000,6,0.000,0.055,2966,1758,1213
$GC,10730,1.17,350.3,120.3,9.8,567,10731,0.12,0.00,0.00,0.000,6,0.142,0.000,2931,1758,1210
$GC,11048,1.25,350.3,92.5,9.2,591,11053,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,1758,1208
$GC,11393,1.33,350.3,67.7,8.5,652,11401,0.12,2.28,0.00,0.000,4,0.079,0.074,2981,3161,1207
$GC,11408,1.33,350.3,65.7,9.7,654,11415,0.10,2.28,0.00,0.000,6,0.163,0.054,2967,1729,1207
$GC,11755,1.23,350.3,31.0,16.8,715,11761,0.00,2.30,0.00,0.000,4,0.000,0.071,2975,329,1206
$GC,11797,1.23,350.3,25.2,13.6,722,11804,0.12,2.33,0.00,0.000,6,0.130,0.060,2940,1745,1205
$FREEZE,6.57,-1.783,-1.770
$STATE,12057,end climb,FINISH_DEPTH_REACHED
$STATE,12057,begin subsurface finish
$FINISH1,6.6,1.025946,84
$GC,12066,0.10,83.7,6.6,-5.9,768,12112,0.73,2.30,-39.22,0.000,4,0.119,0.089,2691,3155,2311
$FINISH2,4.4
$STATE,12113,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12113,begin surface
$RAFOS_CLK,560
$RAFOS,1,1230624849,8.250000,8.235833,59,52,52,51,50,50,205,176,629,214,134,153
$RAFOS,0,1230624260,8.083333,8.072222,97,68,65,62,58,57,568,227,203,215,128,185
$RAFOS_FIX,6633.087402,-6012.624023,291208,202020,2,98,0.15
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.028379
$HUMID,1828
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,14.90
$XPDR_PINGS,92
$24V_AH,21.7,86.284
$10V_AH,10.4,39.548
$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,9.200,91.775,434.600,0.000,0.000,0.000,0.000,0.000,23.000,0.000,0.000,0.000,1381.455,8546.817,534.842,1484.348,220.126,0.000,1360.433,0.000,1473.008,1080.000,0.528,0.000
$DEVICE_MAMPS,163.371,88.972,1144.364,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,542.511,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25295,776
$CAP_FILE_SIZE,96517,0
$CFSIZE,260165632,216719360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.7
$GPS,291208,202120,6633.087,-6012.624,0,2098.0,0,-37.3