version: 66.04
glider: 108
mission: 11
dive: 327
start: 11 19 108 9 21 21
data:
$ID,108
$MISSION,11
$DIVE,327
$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,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,-118268.59
$T_RSLEEP,60
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$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,21
$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
$GPS1,082120,6625.746,-6030.967,0,2075.0,0,-37.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-4.2
$GPS2,082120,6625.746,-6030.967,0,2075.0,0,-37.9
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,8000.000
$KALMAN_CONTROL,-0.223,0.069
$KALMAN_X,164160.8,-78588.9,8915.0,-221232.3,53229.6
$KALMAN_Y,-266253.4,3720.9,-7885.0,217871.3,10993.2
$MHEAD_RNG_PITCHd_Wd,325.0,31367,-13.0,-7.021
$D_GRID,440
$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,15,-0.99,-146.0,0.0,0.0,0,67,0.00,0.00,-47.58,0.000,6,0.000,0.000,2692,3158,3247
$GC,70,-0.99,-146.0,3.0,-3.1,9,77,0.65,0.70,0.00,0.000,4,0.095,0.084,2464,3596,3248
$GC,330,-0.80,-146.0,31.0,-11.6,55,337,0.17,2.17,0.00,0.000,6,0.153,0.054,2510,2215,3251
$GC,675,-0.80,-146.0,58.6,-7.4,116,680,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2215,3252
$GC,1017,-0.80,-146.0,86.3,-8.4,177,1023,0.00,2.30,0.00,0.000,4,0.000,0.081,2503,3597,3251
$GC,1098,-0.80,-146.0,93.7,-9.4,191,1104,0.00,2.17,0.00,0.000,6,0.000,0.054,2503,2213,3251
$GC,1435,-0.80,-146.0,125.4,-9.1,216,1439,0.00,2.22,0.00,0.000,4,0.000,0.067,2503,816,3251
$GC,1503,-0.80,-146.0,131.5,-9.3,219,1506,0.00,2.35,0.00,0.000,6,0.000,0.069,2493,2244,3251
$GC,1835,-0.80,-146.0,157.1,-7.3,235,1839,0.00,2.22,0.00,0.000,4,0.000,0.083,2482,3600,3251
$GC,1997,-0.80,-146.0,170.5,-8.1,242,2001,0.10,2.17,0.00,0.000,6,0.153,0.054,2507,2216,3251
$GC,2324,-0.86,-146.0,190.3,-5.1,258,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2216,3251
$GC,2633,-0.93,-146.0,206.6,-5.6,273,2638,0.12,2.33,0.00,0.000,4,0.093,0.080,2447,3600,3250
$GC,2689,-0.79,-146.0,211.0,-8.0,275,2695,0.22,2.17,0.00,0.000,6,0.151,0.054,2511,2224,3250
$GC,3005,-0.87,-146.0,229.2,-5.8,291,3008,0.00,2.25,0.00,0.000,4,0.000,0.068,2511,819,3250
$GC,3083,-0.93,-146.0,234.2,-6.4,294,3088,0.10,2.35,0.00,0.000,6,0.090,0.069,2460,2243,3250
$GC,3399,-0.83,-146.0,258.6,-7.8,309,3404,0.15,2.25,0.00,0.000,4,0.158,0.081,2491,3609,3250
$GC,3483,-0.90,-146.0,264.7,-7.4,312,3490,0.00,2.20,0.00,0.000,6,0.000,0.055,2492,2222,3250
$GC,3799,-0.90,-146.0,285.2,-6.6,328,3803,0.00,2.25,0.00,0.000,4,0.000,0.068,2491,816,3250
$GC,3982,-0.90,-146.0,298.4,-6.9,336,3986,0.00,2.33,0.00,0.000,6,0.000,0.070,2482,2232,3249
$GC,4315,-0.90,-146.0,320.2,-6.3,352,4318,0.00,2.25,0.00,0.000,4,0.000,0.081,2471,3605,3249
$GC,4445,-0.90,-146.0,329.1,-6.9,357,4451,0.00,2.20,0.00,0.000,6,0.000,0.054,2471,2214,3249
$GC,4760,-0.90,-146.0,349.4,-6.4,373,4764,0.00,2.22,0.00,0.000,4,0.000,0.066,2471,818,3250
$GC,4959,-0.84,-146.0,363.6,-7.7,381,4966,0.15,2.35,0.00,0.000,6,0.140,0.073,2502,2232,3250
$GC,5277,-0.95,-146.0,382.8,-6.1,397,5281,0.12,2.25,0.00,0.000,4,0.089,0.079,2441,3602,3250
$GC,5355,-0.83,-146.0,389.4,-8.5,400,5359,0.20,2.17,0.00,0.000,6,0.151,0.052,2497,2218,3250
$GC,5696,-0.93,-146.0,410.8,-6.3,413,5699,0.00,2.22,0.00,0.000,4,0.000,0.064,2497,818,3250
$GC,5757,-0.99,-146.0,414.9,-7.0,414,5762,0.10,2.33,0.00,0.000,6,0.089,0.066,2447,2233,3250
$GC,6105,-0.89,-146.0,438.5,-6.4,423,6110,0.15,2.25,0.00,0.000,4,0.155,0.077,2478,3607,3251
$STATE,6130,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6130,begin apogee
$GC,6139,-0.31,0.0,440.3,6.0,423,6265,0.40,0.00,123.20,1.152,6,0.128,0.000,2608,1739,2650
$STATE,6266,end apogee,CONTROL_FINISHED_OK
$STATE,6266,begin climb
$GC,6269,0.99,146.0,441.9,0.0,426,6406,0.90,2.67,129.30,1.071,4,0.098,0.070,2897,3155,2053
$GC,6412,0.74,146.0,429.5,10.7,430,6417,0.28,2.53,0.00,0.000,6,0.133,0.052,2836,1735,2051
$GC,6760,0.74,146.0,402.2,7.5,439,6761,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1735,2046
$GC,7069,0.74,151.8,380.1,6.8,453,7078,0.00,2.40,4.78,0.785,4,0.000,0.071,2836,3165,2031
$GC,7095,0.75,158.1,378.1,6.8,454,7112,0.00,2.33,7.12,0.900,6,0.000,0.053,2844,1723,2005
$GC,7421,0.76,162.6,355.0,6.9,470,7428,0.00,0.00,5.43,0.833,6,0.000,0.000,2843,1723,1987
$GC,7730,0.78,183.1,334.8,6.4,485,7755,0.00,2.45,19.35,1.038,4,0.000,0.070,2844,3149,1903
$GC,7761,0.79,191.6,332.7,6.7,486,7776,0.00,2.30,8.93,0.924,6,0.000,0.052,2854,1738,1868
$GC,8104,0.79,191.6,305.9,8.1,503,8105,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1738,1865
$GC,8413,0.79,191.6,282.4,7.2,518,8414,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1738,1865
$GC,8724,0.79,192.5,260.8,7.0,533,8725,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1738,1865
$GC,9032,0.79,192.5,236.2,8.4,548,9035,0.00,2.38,0.00,0.000,4,0.000,0.074,2854,3165,1864
$GC,9042,0.79,192.5,235.3,8.3,548,9046,0.00,2.30,0.00,0.000,6,0.000,0.054,2864,1743,1864
$GC,9363,0.79,192.5,206.1,9.0,564,9367,0.00,2.35,0.00,0.000,4,0.000,0.073,2863,3166,1864
$GC,9390,0.72,192.5,203.3,9.8,565,9395,0.15,2.28,0.00,0.000,6,0.130,0.054,2828,1734,1863
$GC,9717,1.08,192.5,179.9,7.3,581,9722,0.22,2.35,0.00,0.000,4,0.071,0.072,2927,3158,1863
$GC,9812,0.71,192.5,170.4,10.5,585,9817,0.35,2.28,0.00,0.000,6,0.140,0.056,2833,1729,1863
$GC,10128,1.08,194.4,150.7,7.0,600,10133,0.22,2.33,0.00,0.000,4,0.074,0.072,2928,3151,1863
$GC,10220,0.73,194.4,141.4,12.2,604,10225,0.35,2.25,0.00,0.000,6,0.137,0.058,2834,1737,1863
$GC,10549,1.08,201.4,121.0,6.8,620,10560,0.25,0.00,8.80,0.903,6,0.073,0.000,2932,1737,1828
$GC,10859,1.08,201.4,94.7,8.6,641,10864,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,1737,1827
$GC,11202,1.08,201.4,64.6,8.7,702,11208,0.00,2.35,0.00,0.000,4,0.000,0.077,2932,3155,1827
$GC,11214,1.08,201.4,63.5,8.4,704,11222,0.12,2.28,0.00,0.000,6,0.148,0.058,2909,1726,1826
$GC,11560,1.17,232.4,39.5,6.0,765,11593,0.10,2.45,27.40,0.937,4,0.086,0.075,2953,3157,1702
$GC,11703,0.89,232.4,25.7,12.0,789,11710,0.32,2.30,0.00,0.000,6,0.137,0.059,2868,1737,1698
$FREEZE,6.82,-1.741,-1.774
$STATE,12023,end climb,FINISH_DEPTH_REACHED
$STATE,12023,begin subsurface finish
$FINISH1,6.8,1.026000,81
$GC,12031,0.10,81.0,6.8,-6.6,846,12061,0.47,2.42,-20.15,0.000,4,0.097,0.090,2691,3154,2324
$FINISH2,5.0
$STATE,12062,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12062,begin surface
$RAFOS_CLK,557
$RAFOS,3,1227098045,12.583333,12.568055,68,64,63,56,53,51,156,696,194,142,207,217
$RAFOS,2,1227097445,12.416667,12.401389,66,61,59,58,57,56,886,206,188,221,121,172
$RAFOS,1,1227096860,12.250000,12.238889,75,56,55,51,50,50,585,216,147,226,172,115
$RAFOS,0,1227096246,12.083333,12.068334,96,80,53,51,50,48,539,193,219,151,120,232
$RAFOS_FIX,6657.400391,-6008.229004,191108,121240,2,86,4.43
$IRIDIUM_FIX,6614.97,-5912.45,100298,030321
$TT8_MAMPS,0.026845
$HUMID,1822
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,15.00
$XPDR_PINGS,18
$24V_AH,22.3,57.325
$10V_AH,10.5,26.274
$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,6.400,102.650,334.300,0.000,0.000,0.000,0.000,0.000,4.500,0.000,0.000,0.000,1545.825,8394.194,443.487,1595.089,165.569,33.390,1280.150,0.000,1583.594,1440.000,0.530,0.000
$DEVICE_MAMPS,158.002,89.739,1152.034,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,596.167,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28419,851
$CAP_FILE_SIZE,99809,0
$CFSIZE,260165632,229498880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1445.3
$GPS,191108,082120,6625.746,-6030.967,0,2075.0,0,-37.9