version: 66.04
glider: 108
mission: 11
dive: 535
start: 12 30 108 8 27 57
data:
$ID,108
$MISSION,11
$DIVE,535
$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,19
$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,3.20
$_SM_ANGLEo,-9.7
$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,17,-0.99,-146.0,0.0,0.0,0,24,0.00,0.00,-5.30,0.000,2,0.000,0.000,2691,3155,2435
$GC,28,-0.99,-146.0,3.2,-0.0,1,68,0.60,0.00,-36.85,0.000,6,0.053,0.000,2447,3156,3247
$GC,407,-0.74,-146.0,44.8,-14.6,68,413,0.25,0.00,0.00,0.000,6,0.178,0.000,2517,3156,3252
$GC,753,-0.74,-146.0,81.3,-10.6,129,759,0.00,0.73,0.00,0.000,4,0.000,0.087,2516,3599,3253
$GC,1012,-0.74,-146.0,108.8,-11.0,164,1015,0.00,2.20,0.00,0.000,6,0.000,0.054,2516,2223,3253
$GC,1335,-0.74,-146.0,138.4,-9.2,180,1339,0.00,2.33,0.00,0.000,4,0.000,0.079,2506,3602,3253
$GC,1464,-0.74,-146.0,151.9,-10.4,185,1470,0.00,2.20,0.00,0.000,6,0.000,0.054,2506,2215,3252
$GC,1780,-0.74,-146.0,178.9,-8.3,201,1784,0.00,2.25,0.00,0.000,4,0.000,0.066,2506,822,3252
$GC,1882,-0.74,-146.0,188.2,-9.2,205,1886,0.10,2.38,0.00,0.000,6,0.146,0.067,2522,2240,3252
$GC,2198,-0.82,-146.0,210.1,-5.9,220,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2240,3252
$GC,2508,-0.92,-146.0,228.9,-6.0,235,2513,0.15,2.35,0.00,0.000,4,0.083,0.064,2461,816,3252
$GC,2571,-0.76,-146.0,234.0,-8.4,238,2576,0.22,2.35,0.00,0.000,6,0.135,0.071,2513,2231,3252
$GC,2905,-0.84,-146.0,258.7,-9.1,254,2909,0.00,2.25,0.00,0.000,4,0.000,0.081,2504,3606,3252
$GC,2961,-0.94,-146.0,264.4,-9.7,256,2965,0.10,2.20,0.00,0.000,6,0.094,0.054,2460,2213,3252
$GC,3282,-0.84,-146.0,295.2,-9.1,272,3287,0.15,2.25,0.00,0.000,4,0.146,0.064,2501,823,3252
$GC,3419,-0.84,-146.0,307.0,-8.5,278,3423,0.00,2.40,0.00,0.000,6,0.000,0.067,2493,2247,3251
$GC,3746,-0.84,-146.0,327.5,-6.0,294,3750,0.00,2.25,0.00,0.000,4,0.000,0.080,2483,3608,3251
$GC,3839,-0.90,-146.0,333.4,-6.8,298,3843,0.00,2.20,0.00,0.000,6,0.000,0.053,2483,2221,3251
$GC,4172,-0.90,-146.0,354.0,-6.0,314,4176,0.00,2.28,0.00,0.000,4,0.000,0.065,2483,811,3251
$GC,4312,-0.90,-146.0,363.5,-7.2,320,4316,0.00,2.38,0.00,0.000,6,0.000,0.065,2473,2238,3251
$GC,4640,-0.90,-146.0,385.4,-6.6,336,4644,0.00,2.25,0.00,0.000,4,0.000,0.078,2462,3605,3252
$GC,4731,-0.90,-146.0,391.8,-7.3,340,4735,0.10,2.20,0.00,0.000,6,0.150,0.053,2487,2211,3251
$GC,5082,-0.90,-146.0,411.7,-5.5,352,5086,0.00,2.22,0.00,0.000,4,0.000,0.064,2487,816,3251
$GC,5160,-0.90,-146.0,416.9,-6.3,353,5164,0.00,2.35,0.00,0.000,6,0.000,0.064,2479,2234,3252
$GC,5499,-0.90,-146.0,437.8,-6.2,362,5503,0.00,2.25,0.00,0.000,4,0.000,0.077,2469,3608,3252
$GC,5618,-0.90,-146.0,446.4,-7.6,364,5622,0.00,2.17,0.00,0.000,6,0.000,0.051,2469,2224,3252
$GC,5961,-1.35,-146.0,452.9,0.0,373,5966,0.22,2.25,0.00,0.000,4,0.067,0.061,2370,811,3253
$STATE,5997,end dive,NO_VERTICAL_VELOCITY
$STATE,5997,begin apogee
$GC,6007,-0.31,0.0,452.9,0.0,373,6137,0.73,0.00,126.82,1.139,6,0.101,0.000,2613,1749,2650
$STATE,6137,end apogee,CONTROL_FINISHED_OK
$STATE,6137,begin climb
$GC,6142,0.99,146.0,452.6,0.0,377,6280,0.88,2.60,131.05,1.063,4,0.099,0.067,2892,3157,2054
$GC,6436,0.70,146.0,425.8,11.7,383,6443,0.28,2.40,0.00,0.000,6,0.135,0.051,2828,1740,2048
$GC,6768,0.82,185.8,405.1,5.7,392,6811,0.12,2.40,34.15,1.049,4,0.077,0.067,2883,3159,1892
$GC,6834,0.63,185.8,398.9,10.4,393,6839,0.28,2.33,0.00,0.000,6,0.131,0.051,2814,1729,1890
$GC,7163,0.89,198.9,377.7,6.6,409,7177,0.20,0.00,11.85,0.970,6,0.077,0.000,2893,1729,1839
$GC,7494,0.95,198.9,350.5,7.5,425,7498,0.00,2.33,0.00,0.000,4,0.000,0.067,2893,3156,1838
$GC,7524,0.88,198.9,348.2,8.0,426,7528,0.12,2.25,0.00,0.000,6,0.148,0.051,2871,1730,1837
$GC,7851,0.94,245.1,328.6,5.5,442,7897,0.00,2.40,41.17,1.040,4,0.000,0.067,2870,3161,1650
$GC,7977,0.84,245.1,320.5,7.5,447,7984,0.00,2.28,0.00,0.000,6,0.000,0.051,2878,1739,1646
$GC,8295,0.84,245.1,295.8,9.2,463,8299,0.00,2.33,0.00,0.000,4,0.000,0.066,2878,3163,1643
$GC,8311,0.84,245.1,294.0,9.4,463,8318,0.12,2.25,0.00,0.000,6,0.135,0.050,2853,1739,1642
$GC,8629,1.04,284.9,272.6,5.7,479,8668,0.17,0.00,35.78,1.011,6,0.068,0.000,2931,1739,1488
$GC,8977,0.95,284.9,235.0,11.4,496,8982,0.17,2.35,0.00,0.000,4,0.130,0.066,2879,3158,1483
$GC,8999,0.95,284.9,232.7,9.3,497,9003,0.00,2.28,0.00,0.000,6,0.000,0.051,2885,1729,1482
$GC,9327,1.09,314.5,210.9,6.1,513,9356,0.12,0.00,26.48,0.979,6,0.080,0.000,2942,1729,1368
$GC,9656,1.02,314.5,176.6,9.9,529,9660,0.15,2.38,0.00,0.000,4,0.130,0.068,2898,3164,1363
$GC,9673,1.02,314.5,175.1,8.9,530,9677,0.00,2.28,0.00,0.000,6,0.000,0.052,2905,1731,1362
$GC,10007,1.13,314.5,151.5,8.5,546,10008,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1731,1361
$GC,10315,1.33,366.4,132.1,5.4,561,10367,0.20,2.45,46.00,0.960,4,0.068,0.071,2994,3151,1156
$GC,10375,1.12,366.4,126.5,12.0,563,10382,0.30,2.33,0.00,0.000,6,0.142,0.053,2919,1735,1155
$GC,10691,1.30,389.4,104.0,6.3,579,10717,0.15,2.38,20.05,0.913,4,0.071,0.068,2993,319,1062
$GC,10758,1.24,389.4,98.4,10.0,582,10765,0.17,2.38,0.00,0.000,6,0.133,0.058,2944,1743,1061
$GC,11104,1.24,389.4,72.2,9.8,643,11111,0.00,2.33,0.00,0.000,4,0.000,0.074,2944,3158,1057
$GC,11119,1.24,389.4,70.8,10.0,645,11125,0.00,2.30,0.00,0.000,6,0.000,0.056,2952,1732,1057
$GC,11464,1.24,389.4,38.5,9.6,706,11469,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,1732,1055
$FREEZE,6.71,-1.776,-1.771
$STATE,11778,end climb,FINISH_DEPTH_REACHED
$STATE,11778,begin subsurface finish
$FINISH1,6.7,1.025950,83
$GC,11787,0.10,83.5,6.7,-11.0,762,11841,0.80,2.40,-46.05,0.000,4,0.135,0.085,2690,3161,2311
$FINISH2,3.8
$STATE,11842,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11842,begin surface
$RAFOS_CLK,548
$RAFOS,4,1230626641,8.750000,8.733611,62,60,59,55,55,53,142,220,195,157,175,184
$RAFOS,3,1230626041,8.583333,8.566944,62,58,56,54,52,50,150,210,115,221,186,129
$RAFOS,2,1230625446,8.416667,8.401667,64,60,58,56,51,49,191,206,162,122,218,92
$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,1831
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,14.80
$XPDR_PINGS,150
$24V_AH,21.7,86.429
$10V_AH,10.4,39.596
$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,6.875,101.625,473.350,0.000,0.000,0.000,0.000,0.000,37.500,0.000,0.000,0.000,1402.028,8175.279,530.344,1571.180,218.824,0.000,1394.064,0.000,1556.355,720.000,0.529,0.000
$DEVICE_MAMPS,177.944,87.438,1138.995,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,539.814,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25307,771
$CAP_FILE_SIZE,97714,0
$CFSIZE,260165632,216670208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.4
$GPS,291208,202120,6633.087,-6012.624,0,2098.0,0,-37.3