version: 66.04
glider: 108
mission: 11
dive: 328
start: 11 19 108 12 45 10
data:
$ID,108
$MISSION,11
$DIVE,328
$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,2.34
$_SM_ANGLEo,-1.1
$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,0.010,0.233
$KALMAN_X,132983.4,-9138.2,-16896.9,-233144.8,-10048.3
$KALMAN_Y,-270411.5,-4834.2,6189.2,216577.6,11189.3
$MHEAD_RNG_PITCHd_Wd,40.4,31367,-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,16,-0.99,-146.0,0.0,0.0,0,63,0.00,0.00,-44.45,0.000,2,0.000,0.000,2691,3154,3240
$GC,66,-0.99,-146.0,3.3,-2.2,8,72,0.62,0.00,0.00,0.000,6,0.073,0.000,2458,3154,3241
$GC,409,-0.78,-146.0,44.7,-12.1,69,417,0.20,3.83,0.00,0.000,4,0.176,0.062,2530,814,3245
$GC,670,-0.78,-146.0,66.5,-7.1,115,676,0.00,2.35,0.00,0.000,6,0.000,0.069,2522,2236,3245
$GC,1015,-0.83,-146.0,90.4,-7.7,176,1021,0.10,0.00,0.00,0.000,6,0.094,0.000,2478,2236,3245
$GC,1352,-0.73,-146.0,120.7,-8.9,206,1356,0.17,2.35,0.00,0.000,4,0.152,0.067,2527,807,3245
$GC,1425,-0.79,-146.0,126.3,-7.1,209,1429,0.00,2.38,0.00,0.000,6,0.000,0.069,2520,2245,3245
$GC,1741,-0.86,-146.0,145.8,-6.0,224,1743,0.10,0.00,0.00,0.000,6,0.093,0.000,2475,2245,3245
$GC,2050,-0.78,-146.0,168.4,-7.3,239,2051,0.12,0.00,0.00,0.000,6,0.155,0.000,2507,2245,3245
$GC,2359,-0.85,-146.0,187.3,-5.9,254,2363,0.00,2.22,0.00,0.000,4,0.000,0.084,2499,3596,3244
$GC,2416,-0.91,-146.0,191.0,-6.5,256,2420,0.00,2.17,0.00,0.000,6,0.000,0.056,2499,2223,3244
$GC,2737,-0.91,-146.0,212.1,-6.9,272,2741,0.00,2.25,0.00,0.000,4,0.000,0.070,2499,820,3244
$GC,2799,-0.91,-146.0,216.6,-7.5,274,2805,0.00,2.35,0.00,0.000,6,0.000,0.071,2490,2239,3244
$GC,3114,-0.91,-146.0,238.8,-6.8,290,3118,0.00,2.25,0.00,0.000,4,0.000,0.084,2479,3605,3244
$GC,3159,-0.91,-146.0,242.3,-7.7,292,3163,0.00,2.20,0.00,0.000,6,0.000,0.056,2479,2218,3244
$GC,3492,-0.91,-146.0,267.3,-7.9,308,3496,0.00,2.25,0.00,0.000,4,0.000,0.069,2479,819,3243
$GC,3582,-0.85,-146.0,274.8,-8.3,312,3587,0.10,2.33,0.00,0.000,6,0.148,0.070,2494,2233,3244
$GC,3915,-0.90,-146.0,296.5,-6.3,328,3916,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2233,3244
$GC,4226,-0.96,-146.0,315.0,-6.0,343,4230,0.10,2.33,0.00,0.000,4,0.097,0.067,2454,816,3243
$GC,4326,-0.81,-146.0,322.2,-7.3,347,4333,0.22,2.35,0.00,0.000,6,0.143,0.070,2506,2234,3243
$GC,4643,-0.92,-146.0,337.5,-4.8,363,4644,0.10,0.00,0.00,0.000,6,0.097,0.000,2465,2235,3243
$GC,4951,-0.92,-146.0,357.8,-6.7,378,4955,0.00,2.25,0.00,0.000,4,0.000,0.082,2454,3605,3243
$GC,5052,-0.86,-146.0,365.2,-7.3,382,5056,0.15,2.20,0.00,0.000,6,0.153,0.054,2494,2214,3243
$GC,5375,-0.93,-146.0,380.8,-4.6,398,5378,0.00,2.22,0.00,0.000,4,0.000,0.066,2494,820,3244
$GC,5475,-0.93,-146.0,386.4,-6.1,402,5479,0.00,2.35,0.00,0.000,6,0.000,0.067,2486,2245,3243
$GC,5797,-0.93,-146.0,402.2,-4.9,417,5800,0.00,2.22,0.00,0.000,4,0.000,0.081,2476,3602,3244
$GC,5869,-0.93,-146.0,405.9,-5.2,418,5873,0.00,2.17,0.00,0.000,6,0.000,0.053,2476,2221,3244
$GC,6212,-0.93,-146.0,422.5,-4.9,427,6216,0.00,2.25,0.00,0.000,4,0.000,0.067,2477,816,3244
$GC,6341,-0.93,-146.0,429.8,-6.0,429,6347,0.00,2.35,0.00,0.000,6,0.000,0.067,2466,2244,3244
$STATE,6547,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6548,begin apogee
$GC,6555,-0.31,0.0,441.3,5.6,435,6681,0.47,0.00,123.45,1.149,6,0.130,0.000,2613,1732,2650
$STATE,6682,end apogee,CONTROL_FINISHED_OK
$STATE,6682,begin climb
$GC,6684,0.99,146.0,442.7,0.0,438,6818,0.88,0.00,129.25,1.071,6,0.096,0.000,2895,1732,2054
$GC,7134,0.76,146.0,397.5,10.8,449,7139,0.20,2.40,0.00,0.000,4,0.130,0.070,2848,336,2047
$GC,7167,0.76,146.0,394.2,8.9,450,7173,0.00,2.40,0.00,0.000,6,0.000,0.058,2848,1746,2047
$GC,7483,0.76,146.0,369.1,7.9,466,7486,0.00,2.33,0.00,0.000,4,0.000,0.071,2848,3158,2046
$GC,7529,0.60,146.0,365.0,9.8,468,7533,0.17,2.30,0.00,0.000,6,0.133,0.054,2809,1736,2046
$GC,7857,0.76,174.2,344.4,6.1,484,7883,0.12,0.00,23.65,1.048,6,0.074,0.000,2865,1736,1939
$GC,8185,0.69,174.2,316.5,8.4,500,8190,0.15,2.38,0.00,0.000,4,0.124,0.071,2821,3164,1936
$GC,8202,0.69,174.2,315.1,8.1,501,8205,0.00,2.30,0.00,0.000,6,0.000,0.054,2829,1727,1936
$GC,8534,0.84,220.2,295.2,5.5,517,8577,0.12,0.00,39.88,1.039,6,0.074,0.000,2886,1726,1752
$GC,8884,0.73,220.2,264.4,9.1,534,8886,0.17,0.00,0.00,0.000,6,0.121,0.000,2834,1727,1746
$GC,9193,0.92,240.8,245.0,6.4,549,9219,0.15,2.45,18.17,0.988,4,0.073,0.071,2898,3164,1668
$GC,9231,0.78,240.8,241.6,10.5,550,9238,0.22,2.30,0.00,0.000,6,0.133,0.054,2843,1735,1666
$GC,9547,0.95,250.4,219.5,6.7,566,9558,0.15,0.00,9.25,0.910,6,0.071,0.000,2909,1734,1629
$GC,9856,0.82,250.4,188.4,9.9,581,9858,0.17,0.00,0.00,0.000,6,0.130,0.000,2858,1734,1627
$GC,10166,0.96,260.3,167.7,6.7,596,10181,0.12,2.30,9.98,0.917,4,0.078,0.071,2921,332,1588
$GC,10192,0.96,260.3,165.1,9.0,596,10197,0.12,2.33,0.00,0.000,6,0.141,0.059,2887,1756,1588
$GC,10514,0.96,260.3,137.9,7.7,612,10518,0.00,2.28,0.00,0.000,4,0.000,0.077,2887,3160,1586
$GC,10553,0.88,260.3,134.3,9.1,613,10560,0.10,2.28,0.00,0.000,6,0.143,0.058,2869,1734,1585
$GC,10869,1.03,269.0,112.5,6.7,629,10880,0.12,0.00,8.75,0.888,6,0.078,0.000,2925,1734,1553
$GC,11192,0.95,269.0,84.1,8.5,668,11199,0.15,2.33,0.00,0.000,4,0.135,0.073,2890,319,1552
$GC,11206,0.89,269.0,83.2,8.0,670,11213,0.00,2.35,0.00,0.000,6,0.000,0.061,2890,1754,1552
$GC,11552,1.03,274.2,60.9,6.9,731,11564,0.00,2.28,6.05,0.807,4,0.000,0.077,2890,3152,1532
$GC,11583,1.12,277.7,58.7,6.9,736,11596,0.10,2.28,5.00,0.742,6,0.088,0.058,2943,1732,1517
$GC,11936,1.05,277.7,25.6,9.7,798,11943,0.15,2.38,0.00,0.000,4,0.134,0.077,2899,3164,1516
$GC,11966,1.05,277.7,22.6,9.1,803,11972,0.00,2.30,0.00,0.000,6,0.000,0.059,2907,1732,1515
$FREEZE,6.95,-1.755,-1.774
$STATE,12173,end climb,FINISH_DEPTH_REACHED
$STATE,12173,begin subsurface finish
$FINISH1,6.9,1.025991,81
$GC,12181,0.10,81.5,6.9,-8.4,840,12210,0.62,0.00,-25.65,0.000,6,0.114,0.000,2700,1732,2320
$FINISH2,5.7
$STATE,12211,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12211,begin surface
$RAFOS_CLK,565
$RAFOS_FIX,6657.400391,-6008.229004,191108,121240,2,86,4.43
$IRIDIUM_FIX,6614.97,-5912.45,100298,030321
$TT8_MAMPS,0.029146
$HUMID,1805
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,14.90
$XPDR_PINGS,38
$24V_AH,22.2,57.439
$10V_AH,10.5,26.322
$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,6.500,94.375,373.425,0.000,0.000,0.000,0.000,0.000,9.500,0.000,0.000,0.000,1486.650,8630.003,477.146,1498.828,174.713,33.339,1274.517,0.000,1496.733,360.000,0.528,0.000
$DEVICE_MAMPS,175.643,84.370,1148.966,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,591.976,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28416,845
$CAP_FILE_SIZE,98505,0
$CFSIZE,260165632,229445632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1445.6
$GPS,191108,082120,6625.746,-6030.967,0,2075.0,0,-37.9