version: 66.04
glider: 108
mission: 11
dive: 537
start: 12 30 108 14 54 2
data:
$ID,108
$MISSION,11
$DIVE,537
$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,25
$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
$GPS1,202120,6633.087,-6012.624,0,2098.0,0,-37.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.14
$_SM_ANGLEo,-3.4
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.99,-146.0,0.0,0.0,0,23,0.00,0.00,-5.38,0.000,2,0.000,0.000,2691,3159,2462
$GC,27,-0.99,-146.0,4.3,-0.0,1,63,0.60,0.75,-29.98,0.000,4,0.051,0.129,2441,3601,3248
$GC,217,-0.70,-146.0,24.4,-15.2,34,224,0.28,2.17,0.00,0.000,6,0.173,0.051,2524,2212,3253
$GC,563,-0.70,-146.0,52.8,-6.5,95,569,0.00,2.30,0.00,0.000,4,0.000,0.077,2516,3595,3254
$GC,650,-0.70,-146.0,59.7,-7.8,110,656,0.00,2.15,0.00,0.000,6,0.000,0.052,2516,2226,3254
$GC,995,-0.70,-146.0,95.4,-11.9,171,1002,0.00,2.25,0.00,0.000,4,0.000,0.065,2516,822,3254
$GC,1098,-0.65,-146.0,107.3,-12.0,181,1103,0.12,2.35,0.00,0.000,6,0.138,0.066,2540,2235,3254
$GC,1414,-0.73,-146.0,134.1,-7.1,196,1418,0.00,2.25,0.00,0.000,4,0.000,0.081,2532,3602,3254
$GC,1529,-0.81,-146.0,141.5,-6.5,201,1534,0.12,2.17,0.00,0.000,6,0.087,0.053,2478,2221,3253
$GC,1862,-0.70,-146.0,168.6,-8.3,217,1867,0.17,2.28,0.00,0.000,4,0.143,0.067,2534,816,3253
$GC,1931,-0.76,-146.0,173.1,-6.1,220,1935,0.00,2.35,0.00,0.000,6,0.000,0.066,2525,2236,3253
$GC,2259,-0.83,-146.0,195.4,-6.9,236,2263,0.10,2.25,0.00,0.000,4,0.094,0.079,2469,3607,3253
$GC,2333,-0.73,-146.0,202.3,-10.4,239,2337,0.17,2.20,0.00,0.000,6,0.151,0.054,2519,2214,3252
$GC,2649,-0.81,-146.0,225.4,-7.0,254,2653,0.00,2.25,0.00,0.000,4,0.000,0.066,2519,814,3253
$GC,2796,-0.81,-146.0,236.2,-7.4,260,2800,0.00,2.38,0.00,0.000,6,0.000,0.066,2510,2244,3253
$GC,3113,-0.87,-146.0,258.1,-7.4,275,3114,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2244,3253
$GC,3422,-0.94,-146.0,280.9,-6.5,290,3424,0.12,0.00,0.00,0.000,6,0.087,0.000,2457,2245,3253
$GC,3732,-0.83,-146.0,300.7,-7.0,305,3734,0.17,0.00,0.00,0.000,6,0.150,0.000,2505,2245,3253
$GC,4040,-0.91,-146.0,319.0,-6.1,320,4045,0.10,2.35,0.00,0.000,4,0.097,0.064,2463,818,3252
$GC,4165,-0.80,-146.0,329.1,-8.2,325,4172,0.20,2.35,0.00,0.000,6,0.137,0.067,2509,2235,3252
$GC,4481,-0.92,-146.0,346.9,-5.7,341,4483,0.12,0.00,0.00,0.000,6,0.088,0.000,2459,2234,3252
$GC,4790,-0.85,-146.0,371.0,-7.8,356,4792,0.15,0.00,0.00,0.000,6,0.149,0.000,2500,2234,3252
$GC,5101,-0.94,-146.0,388.5,-5.4,371,5103,0.10,0.00,0.00,0.000,6,0.098,0.000,2459,2234,3252
$GC,5409,-0.90,-146.0,408.5,-6.4,383,5413,0.10,2.30,0.00,0.000,4,0.153,0.064,2487,823,3252
$GC,5494,-0.90,-146.0,413.2,-5.8,384,5500,0.00,2.33,0.00,0.000,6,0.000,0.064,2480,2235,3252
$GC,5826,-0.90,-146.0,433.4,-6.2,393,5827,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2234,3252
$STATE,6106,end dive,NO_VERTICAL_VELOCITY
$STATE,6107,begin apogee
$GC,6115,-0.31,0.0,434.6,0.0,400,6244,0.43,0.00,126.55,1.134,6,0.096,0.000,2623,1736,2650
$STATE,6245,end apogee,CONTROL_FINISHED_OK
$STATE,6245,begin climb
$GC,6249,0.99,146.0,434.4,0.0,403,6388,0.82,2.67,130.88,1.055,4,0.091,0.067,2893,3158,2054
$GC,6398,0.77,146.0,424.0,8.7,406,6403,0.22,2.53,0.00,0.000,6,0.137,0.051,2847,1740,2051
$GC,6736,0.78,150.7,400.3,6.9,415,6745,0.00,2.40,4.28,0.703,4,0.000,0.067,2857,320,2035
$GC,6753,0.78,150.7,399.0,7.1,415,6757,0.00,2.38,0.00,0.000,6,0.000,0.053,2856,1744,2037
$GC,7087,0.78,150.7,374.5,7.5,431,7091,0.00,2.38,0.00,0.000,4,0.000,0.065,2864,319,2037
$GC,7194,0.78,150.7,365.7,8.0,435,7201,0.00,2.33,0.00,0.000,6,0.000,0.054,2865,1745,2037
$GC,7511,0.79,154.7,342.8,6.9,451,7521,0.00,2.28,5.00,0.790,4,0.000,0.068,2866,3155,2020
$GC,7544,0.66,154.7,340.3,7.8,452,7551,0.20,2.28,0.00,0.000,6,0.134,0.051,2817,1722,2020
$GC,7863,0.92,245.9,326.4,4.1,468,7951,0.20,2.53,79.88,1.045,4,0.066,0.065,2909,3153,1646
$GC,7983,0.71,245.9,316.3,10.9,473,7988,0.30,2.33,0.00,0.000,6,0.133,0.051,2833,1739,1643
$GC,8300,1.21,245.9,289.3,9.9,488,8305,0.30,2.35,0.00,0.000,4,0.080,0.064,2946,317,1636
$GC,8367,1.08,245.9,281.4,12.1,491,8372,0.12,2.33,0.00,0.000,6,0.145,0.054,2914,1744,1636
$GC,8690,1.01,245.9,248.9,8.8,507,8693,0.00,2.28,0.00,0.000,4,0.000,0.070,2914,3150,1635
$GC,8759,0.82,245.9,242.0,10.2,510,8764,0.22,2.25,0.00,0.000,6,0.131,0.052,2855,1732,1633
$GC,9087,1.25,245.9,216.9,8.9,526,9092,0.28,2.30,0.00,0.000,4,0.077,0.067,2963,327,1632
$GC,9137,1.15,245.9,211.5,10.4,528,9142,0.15,2.30,0.00,0.000,6,0.143,0.055,2923,1746,1633
$GC,9453,1.15,245.9,185.0,8.2,543,9457,0.00,2.28,0.00,0.000,4,0.000,0.071,2923,3155,1632
$GC,9480,1.05,245.9,182.9,8.5,544,9484,0.10,2.25,0.00,0.000,6,0.155,0.054,2905,1735,1631
$GC,9814,1.11,245.9,160.0,7.9,560,9815,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1735,1631
$GC,10122,1.18,245.9,137.0,7.5,575,10124,0.12,0.00,0.00,0.000,6,0.077,0.000,2960,1734,1631
$GC,10432,1.06,245.9,106.6,10.3,590,10434,0.17,0.00,0.00,0.000,6,0.137,0.000,2909,1735,1631
$GC,10758,1.06,245.9,86.7,7.5,635,10763,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,1735,1630
$GC,11103,1.13,245.9,66.0,7.6,696,11108,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,1735,1630
$GC,11448,1.51,484.9,45.8,-0.7,757,11663,0.28,0.00,203.18,0.873,6,0.071,0.000,3017,1734,672
$FREEZE,6.36,-1.786,-1.772
$STATE,11736,end climb,FINISH_DEPTH_REACHED
$STATE,11736,begin subsurface finish
$FINISH1,6.4,1.025970,82
$GC,11745,0.10,82.5,6.4,-15.5,807,11809,1.05,0.00,-58.88,0.000,6,0.128,0.000,2706,1734,2316
$FINISH2,3.9
$STATE,11810,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11810,begin surface
$RAFOS_CLK,547
$RAFOS,4,1230655452,16.750000,16.736666,61,56,56,54,52,49,153,190,215,136,118,235
$RAFOS,3,1230654867,16.583334,16.574167,66,63,63,62,59,59,198,162,220,137,120,211
$RAFOS,2,1230654245,16.416666,16.401388,59,56,55,54,52,51,221,199,163,209,129,172
$RAFOS,1,1230653649,16.250000,16.235834,66,65,56,54,51,50,209,220,165,179,138,110
$RAFOS,0,1230653051,16.083334,16.069723,83,63,57,56,54,54,614,204,110,177,166,134
$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,1802
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,14.80
$XPDR_PINGS,76
$24V_AH,21.7,86.724
$10V_AH,10.4,39.688
$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,7.625,82.625,549.750,0.000,0.000,0.000,0.000,0.000,19.000,0.000,0.000,0.000,1394.351,8164.948,579.884,1503.066,221.604,0.000,1422.196,0.000,1491.359,1800.000,0.528,0.000
$DEVICE_MAMPS,172.575,128.856,1134.393,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,570.213,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28362,818
$CAP_FILE_SIZE,96806,0
$CFSIZE,260165632,216576000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.7
$GPS,291208,202120,6633.087,-6012.624,0,2098.0,0,-37.3