version: 66.04
glider: 108
mission: 11
dive: 341
start: 11 21 108 20 17 45
data:
$ID,108
$MISSION,11
$DIVE,341
$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,-118820.94
$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,24
$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
$GPS1,124109,6627.732,-6019.889,35,1.2,35,-37.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.19
$_SM_ANGLEo,-7.9
$GPS2,124109,6627.732,-6019.889,35,1.2,35,-37.7
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,8000.000
$KALMAN_CONTROL,-0.230,-0.041
$KALMAN_X,235978.8,-2840.4,-437.8,-269208.3,8051.2
$KALMAN_Y,-233123.5,11335.7,2095.9,222721.5,-6589.7
$MHEAD_RNG_PITCHd_Wd,297.7,31382,-13.0,-7.021
$D_GRID,481
$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,-146.0,0.0,0.0,0,23,0.00,0.00,-5.95,0.000,2,0.000,0.000,2698,333,2490
$GC,27,-0.99,-146.0,4.5,-0.0,1,73,0.62,5.43,-32.83,0.000,4,0.058,0.077,2426,3604,3249
$GC,327,-0.71,-146.0,38.8,-11.9,54,334,0.32,2.20,0.00,0.000,6,0.160,0.057,2525,2220,3253
$GC,672,-0.71,-146.0,64.4,-8.9,115,678,0.00,2.33,0.00,0.000,4,0.000,0.087,2517,3598,3253
$GC,813,-0.71,-146.0,81.1,-10.2,140,819,0.00,2.17,0.00,0.000,6,0.000,0.056,2518,2226,3254
$GC,1158,-0.71,-146.0,107.7,-6.1,185,1162,0.00,2.28,0.00,0.000,4,0.000,0.071,2517,809,3253
$GC,1311,-0.77,-146.0,122.7,-10.3,191,1317,0.00,2.35,0.00,0.000,6,0.000,0.071,2508,2232,3254
$GC,1627,-0.77,-146.0,151.8,-8.6,207,1631,0.00,2.25,0.00,0.000,4,0.000,0.091,2498,3603,3253
$GC,1699,-0.77,-146.0,158.0,-8.3,210,1703,0.00,2.20,0.00,0.000,6,0.000,0.057,2498,2216,3253
$GC,2026,-0.77,-146.0,181.9,-7.2,226,2027,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2215,3253
$GC,2336,-0.77,-146.0,204.6,-7.8,241,2339,0.00,2.33,0.00,0.000,4,0.000,0.085,2487,3599,3253
$GC,2391,-0.77,-146.0,209.5,-8.5,243,2396,0.10,2.17,0.00,0.000,6,0.156,0.057,2512,2226,3253
$GC,2713,-0.85,-146.0,230.8,-6.5,259,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2226,3253
$GC,3023,-0.92,-146.0,250.1,-6.0,274,3028,0.12,2.28,0.00,0.000,4,0.091,0.070,2462,812,3253
$GC,3130,-0.76,-146.0,259.1,-8.5,279,3135,0.22,2.35,0.00,0.000,6,0.141,0.070,2513,2238,3252
$GC,3457,-0.87,-146.0,280.9,-6.8,295,3462,0.10,2.33,0.00,0.000,4,0.097,0.069,2473,821,3253
$GC,3513,-0.78,-146.0,286.1,-9.1,297,3519,0.17,2.35,0.00,0.000,6,0.143,0.071,2511,2244,3252
$GC,3829,-0.89,-146.0,309.2,-6.9,313,3831,0.10,0.00,0.00,0.000,6,0.098,0.000,2471,2244,3253
$GC,4137,-0.89,-146.0,332.9,-7.3,328,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2244,3252
$GC,4447,-0.89,-146.0,354.8,-7.0,343,4448,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2244,3253
$GC,4757,-0.89,-146.0,375.4,-6.4,358,4760,0.00,2.22,0.00,0.000,4,0.000,0.085,2461,3598,3252
$GC,4825,-0.89,-146.0,380.2,-6.6,361,4829,0.10,2.17,0.00,0.000,6,0.156,0.057,2486,2223,3252
$GC,5157,-0.94,-146.0,398.6,-5.4,377,5161,0.00,2.25,0.00,0.000,4,0.000,0.071,2486,820,3252
$GC,5308,-0.94,-146.0,407.8,-6.3,381,5313,0.00,2.35,0.00,0.000,6,0.000,0.071,2478,2241,3252
$GC,5657,-0.94,-146.0,428.5,-6.0,390,5660,0.00,2.33,0.00,0.000,4,0.000,0.070,2477,821,3252
$GC,5774,-0.94,-146.0,436.6,-7.5,392,5779,0.00,2.35,0.00,0.000,6,0.000,0.071,2468,2243,3252
$GC,6111,-0.94,-146.0,456.5,-5.8,401,6115,0.00,2.22,0.00,0.000,4,0.000,0.082,2458,3598,3252
$STATE,6316,end dive,NO_VERTICAL_VELOCITY
$STATE,6316,begin apogee
$GC,6326,-0.31,0.0,460.6,0.0,405,6453,0.45,0.00,124.50,1.182,6,0.087,0.000,2620,1735,2650
$STATE,6454,end apogee,CONTROL_FINISHED_OK
$STATE,6454,begin climb
$GC,6457,0.99,146.0,460.4,0.0,408,6591,0.85,0.00,130.32,1.097,6,0.100,0.000,2892,1735,2054
$GC,6906,0.80,146.0,418.1,9.9,419,6911,0.15,2.42,0.00,0.000,4,0.133,0.072,2860,332,2047
$GC,6923,0.68,146.0,416.3,9.8,419,6928,0.12,2.42,0.00,0.000,6,0.125,0.059,2827,1749,2047
$GC,7246,0.77,161.7,394.7,6.5,429,7268,0.00,2.38,13.10,1.029,4,0.000,0.074,2827,3153,1990
$GC,7285,0.79,178.3,391.9,6.5,430,7305,0.00,2.33,15.98,1.031,6,0.000,0.056,2833,1732,1924
$GC,7617,0.88,181.3,368.3,6.9,446,7627,0.12,2.40,4.03,0.714,4,0.077,0.073,2888,3162,1910
$GC,7644,0.74,181.3,365.8,9.2,447,7649,0.22,2.33,0.00,0.000,6,0.134,0.057,2834,1726,1910
$GC,7967,0.87,210.1,344.6,6.1,463,7996,0.12,0.00,25.95,1.066,6,0.077,0.000,2888,1726,1793
$GC,8294,0.79,210.1,318.2,7.9,479,8296,0.15,0.00,0.00,0.000,6,0.127,0.000,2845,1726,1789
$GC,8604,0.94,235.7,299.6,6.2,494,8630,0.12,0.00,23.05,1.048,6,0.080,0.000,2897,1726,1689
$GC,8933,0.86,235.7,270.2,8.7,510,8937,0.12,2.30,0.00,0.000,4,0.130,0.072,2870,329,1685
$GC,8954,0.86,235.7,268.3,8.5,511,8958,0.00,2.33,0.00,0.000,6,0.000,0.060,2870,1756,1685
$GC,9281,0.99,280.6,247.9,5.6,527,9327,0.08,2.38,40.10,1.046,4,0.097,0.077,2912,3152,1505
$GC,9346,0.88,280.6,243.0,8.5,530,9350,0.20,2.33,0.00,0.000,6,0.133,0.058,2865,1734,1503
$GC,9673,1.09,332.1,224.9,5.4,546,9721,0.17,0.00,44.95,1.023,6,0.068,0.000,2938,1734,1296
$GC,10026,0.99,332.1,187.2,11.2,563,10031,0.17,2.35,0.00,0.000,4,0.133,0.072,2896,330,1287
$GC,10055,1.05,332.1,184.3,9.6,564,10059,0.00,2.38,0.00,0.000,6,0.000,0.062,2896,1748,1287
$GC,10370,1.11,332.1,160.4,7.2,579,10375,0.10,2.33,0.00,0.000,4,0.087,0.077,2942,3155,1284
$GC,10432,0.91,332.1,153.6,12.0,582,10437,0.28,2.28,0.00,0.000,6,0.135,0.060,2871,1738,1283
$GC,10765,1.12,332.1,128.9,8.9,598,10767,0.17,0.00,0.00,0.000,6,0.071,0.000,2946,1738,1282
$GC,11083,1.07,332.1,88.5,10.7,625,11091,0.15,2.33,0.00,0.000,4,0.139,0.074,2912,324,1281
$GC,11120,1.07,332.1,85.5,7.4,631,11126,0.00,2.35,0.00,0.000,6,0.000,0.064,2912,1754,1280
$GC,11465,1.14,332.1,59.0,7.4,692,11471,0.00,2.28,0.00,0.000,4,0.000,0.077,2912,3152,1279
$GC,11495,1.14,332.1,56.4,7.8,697,11501,0.00,2.28,0.00,0.000,6,0.000,0.061,2922,1735,1279
$GC,11840,1.22,402.9,30.9,4.7,758,11904,0.10,2.50,58.38,0.949,4,0.087,0.075,2966,3164,1007
$GC,11911,1.10,402.9,24.7,8.1,770,11918,0.22,2.38,0.00,0.000,6,0.138,0.061,2912,1736,1005
$FREEZE,6.95,-1.712,-1.781
$STATE,12073,end climb,FINISH_DEPTH_REACHED
$STATE,12074,begin subsurface finish
$FINISH1,7.0,1.026091,77
$GC,12081,0.09,76.6,7.0,-11.3,798,12128,0.62,2.42,-41.55,0.000,4,0.104,0.087,2700,324,2341
$FINISH2,6.2
$STATE,12129,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12129,begin surface
$RAFOS_CLK,569
$RAFOS,4,1227300248,20.750000,20.735556,59,56,52,51,50,48,199,160,119,222,175,135
$RAFOS,3,1227299645,20.583334,20.568056,67,63,59,56,49,47,212,184,156,130,221,142
$RAFOS,2,1227299042,20.416666,20.400555,71,63,61,53,52,51,208,155,194,127,139,181
$RAFOS,1,1227298441,20.250000,20.233612,60,55,52,51,51,51,166,131,226,117,199,213
$RAFOS_FIX,6232.697266,-5331.492188,211108,000026,3,81,38.68
$IRIDIUM_FIX,6553.70,-5721.04,150298,121201
$TT8_MAMPS,0.026845
$HUMID,1802
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,14.90
$XPDR_PINGS,37
$24V_AH,22.1,59.242
$10V_AH,10.5,27.085
$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,6.600,103.325,480.350,0.000,0.000,0.000,0.000,0.000,9.250,0.000,0.000,0.000,1417.182,8519.161,551.393,1516.790,180.212,33.360,1380.564,0.000,1509.713,1080.000,0.528,0.000
$DEVICE_MAMPS,160.303,91.273,1181.947,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,564.086,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25267,806
$CAP_FILE_SIZE,99334,0
$CFSIZE,260165632,228585472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.4
$GPS,211108,124109,6627.732,-6019.889,35,1.2,35,-37.7