version: 66.04
glider: 108
mission: 11
dive: 342
start: 11 21 108 23 42 13
data:
$ID,108
$MISSION,11
$DIVE,342
$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,22
$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,2.63
$_SM_ANGLEo,-1.6
$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,-0.226,-0.059
$KALMAN_X,242932.4,-5371.1,3190.5,-272356.3,4365.1
$KALMAN_Y,-231157.5,16661.1,-11785.1,222164.4,10018.1
$MHEAD_RNG_PITCHd_Wd,293.0,31382,-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,-146.0,0.0,0.0,0,34,0.00,0.00,-16.42,0.000,2,0.000,0.000,2700,324,2692
$GC,38,-0.99,-146.0,3.1,-4.8,3,67,0.70,0.82,-22.88,0.000,4,0.112,0.100,2462,837,3247
$GC,80,-0.90,-146.0,6.4,-7.5,10,87,0.12,2.30,0.00,0.000,6,0.151,0.076,2483,2230,3250
$GC,425,-0.81,-146.0,45.0,-18.7,71,431,0.08,2.28,0.00,0.000,4,0.176,0.083,2494,3611,3253
$GC,685,-0.73,-146.0,68.1,-8.4,117,692,0.10,2.22,0.00,0.000,6,0.158,0.056,2523,2209,3253
$GC,1029,-0.73,-146.0,94.2,-7.7,178,1036,0.00,2.35,0.00,0.000,4,0.000,0.083,2516,3609,3253
$GC,1288,-0.81,-146.0,117.5,-8.3,199,1292,0.00,2.20,0.00,0.000,6,0.000,0.058,2516,2226,3252
$GC,1610,-0.85,-146.0,143.1,-8.2,215,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2226,3252
$GC,1920,-0.92,-146.0,169.0,-8.1,230,1922,0.12,0.00,0.00,0.000,6,0.090,0.000,2463,2226,3252
$GC,2230,-0.80,-146.0,196.6,-8.1,245,2234,0.17,2.33,0.00,0.000,4,0.157,0.084,2503,3609,3252
$GC,2287,-0.86,-146.0,200.5,-6.2,247,2293,0.00,2.20,0.00,0.000,6,0.000,0.058,2503,2225,3252
$GC,2603,-0.86,-146.0,216.3,-4.5,263,2604,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2224,3252
$GC,2911,-0.86,-146.0,234.2,-6.7,278,2916,0.00,2.33,0.00,0.000,4,0.000,0.090,2492,3610,3252
$GC,2967,-0.86,-146.0,238.4,-7.8,280,2971,0.00,2.20,0.00,0.000,6,0.000,0.058,2492,2218,3252
$GC,3288,-0.86,-146.0,263.0,-7.5,296,3292,0.00,2.25,0.00,0.000,4,0.000,0.070,2492,811,3252
$GC,3406,-0.86,-146.0,273.5,-9.5,301,3410,0.00,2.35,0.00,0.000,6,0.000,0.071,2483,2238,3252
$GC,3732,-0.86,-146.0,301.0,-8.4,317,3736,0.00,2.33,0.00,0.000,4,0.000,0.070,2483,816,3252
$GC,3851,-0.80,-146.0,311.8,-9.0,322,3855,0.12,2.35,0.00,0.000,6,0.143,0.071,2506,2239,3252
$GC,4167,-0.90,-146.0,332.7,-6.2,337,4170,0.00,2.33,0.00,0.000,4,0.000,0.070,2506,819,3252
$GC,4240,-0.97,-146.0,337.7,-7.0,340,4245,0.12,2.35,0.00,0.000,6,0.082,0.071,2448,2241,3252
$GC,4561,-0.86,-146.0,364.1,-8.5,356,4565,0.17,2.25,0.00,0.000,4,0.160,0.084,2487,3605,3252
$GC,4629,-0.93,-146.0,369.3,-7.7,359,4633,0.00,2.20,0.00,0.000,6,0.000,0.058,2487,2217,3252
$GC,4962,-0.93,-146.0,391.6,-6.5,375,4966,0.00,2.33,0.00,0.000,4,0.000,0.087,2477,3600,3251
$GC,5052,-0.97,-146.0,398.0,-7.3,379,5056,0.00,2.17,0.00,0.000,6,0.000,0.056,2477,2224,3251
$GC,5381,-0.97,-146.0,419.1,-6.3,388,5385,0.00,2.25,0.00,0.000,4,0.000,0.070,2477,823,3251
$GC,5427,-0.97,-146.0,421.7,-5.4,389,5431,0.00,2.33,0.00,0.000,6,0.000,0.071,2467,2232,3251
$GC,5757,-0.97,-146.0,442.3,-6.2,397,5761,0.00,2.25,0.00,0.000,4,0.000,0.081,2456,3610,3251
$STATE,5922,end dive,NO_VERTICAL_VELOCITY
$STATE,5924,begin apogee
$GC,5933,-0.31,0.0,443.6,0.0,400,6065,0.45,0.00,124.25,1.177,6,0.096,0.000,2615,1729,2650
$STATE,6065,end apogee,CONTROL_FINISHED_OK
$STATE,6065,begin climb
$GC,6068,0.99,146.0,442.6,0.0,404,6206,0.88,2.70,129.57,1.091,4,0.095,0.072,2897,3145,2053
$GC,6287,0.64,146.0,422.5,13.2,409,6292,0.32,2.45,0.00,0.000,6,0.135,0.055,2820,1740,2048
$GC,6606,0.76,172.6,401.2,6.2,417,6636,0.10,2.50,22.75,1.053,4,0.082,0.074,2863,3150,1946
$GC,6659,0.61,172.6,396.7,9.4,418,6664,0.22,2.40,0.00,0.000,6,0.130,0.056,2811,1726,1945
$GC,6977,0.82,221.6,378.8,5.4,433,7028,0.17,2.55,43.70,1.078,4,0.067,0.072,2883,3173,1745
$GC,7051,0.67,221.6,372.1,9.9,436,7057,0.25,2.40,0.00,0.000,6,0.128,0.055,2822,1734,1743
$GC,7369,0.85,227.5,350.7,6.8,451,7377,0.15,0.00,5.35,0.824,6,0.071,0.000,2886,1734,1722
$GC,7677,0.79,227.5,322.6,8.6,466,7678,0.15,0.00,0.00,0.000,6,0.123,0.000,2843,1734,1722
$GC,7987,1.00,283.1,305.2,5.2,481,8042,0.17,0.00,50.33,1.062,6,0.072,0.000,2915,1734,1495
$GC,8361,0.91,283.1,270.4,8.8,499,8366,0.15,2.33,0.00,0.000,4,0.131,0.071,2880,329,1488
$GC,8412,1.07,324.8,266.9,5.7,501,8454,0.12,2.35,36.42,1.026,6,0.079,0.060,2935,1756,1326
$GC,8772,0.96,324.8,229.9,10.8,519,8776,0.17,2.30,0.00,0.000,4,0.134,0.075,2884,3157,1318
$GC,8821,0.96,324.8,224.8,9.4,521,8825,0.00,2.30,0.00,0.000,6,0.000,0.059,2891,1735,1317
$GC,9149,1.01,324.8,198.8,8.3,537,9150,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1735,1315
$GC,9458,1.08,324.8,172.7,8.5,552,9462,0.08,2.38,0.00,0.000,4,0.097,0.076,2931,3165,1313
$GC,9475,1.08,324.8,171.0,9.1,553,9479,0.12,2.30,0.00,0.000,6,0.146,0.059,2908,1733,1313
$GC,9807,1.08,324.8,140.3,9.4,569,9810,0.00,2.30,0.00,0.000,4,0.000,0.075,2916,330,1312
$GC,9830,1.13,324.8,138.1,9.5,570,9834,0.00,2.33,0.00,0.000,6,0.000,0.063,2916,1753,1312
$GC,10162,1.13,324.8,104.0,9.6,586,10166,0.00,2.30,0.00,0.000,4,0.000,0.080,2917,3159,1312
$GC,10196,1.08,324.8,99.9,13.0,587,10200,0.00,2.28,0.00,0.000,6,0.000,0.058,2926,1732,1311
$GC,10539,1.08,324.8,65.2,8.0,647,10544,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,1732,1311
$GC,10882,1.08,324.8,35.2,9.7,708,10888,0.00,2.38,0.00,0.000,4,0.000,0.081,2926,3155,1310
$GC,10912,1.01,324.8,31.6,11.0,713,10920,0.15,2.28,0.00,0.000,6,0.138,0.061,2894,1734,1309
$GC,11258,1.15,324.8,9.8,12.2,774,11264,0.12,2.38,0.00,0.000,4,0.084,0.078,2951,3162,1309
$FREEZE,6.20,-1.724,-1.780
$STATE,11286,end climb,FINISH_DEPTH_REACHED
$STATE,11287,begin subsurface finish
$FINISH1,6.2,1.026094,76
$GC,11296,0.09,76.4,6.2,-11.3,779,11338,0.85,0.00,-37.10,0.000,6,0.152,0.000,2701,1730,2341
$FINISH2,4.2
$STATE,11339,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11339,begin surface
$RAFOS_CLK,525
$RAFOS,4,1227314642,0.750000,0.733889,65,63,59,58,53,51,193,202,183,151,115,171
$RAFOS,3,1227314053,0.583333,0.570278,64,52,51,51,50,48,209,121,147,131,176,219
$RAFOS,2,1227313450,0.416667,0.402778,59,58,52,50,49,47,202,222,180,162,116,147
$RAFOS,1,1227312848,0.250000,0.235556,67,56,56,55,52,52,209,195,121,178,161,221
$RAFOS,0,1227312251,0.083333,0.069722,91,62,62,60,58,49,668,202,190,170,217,131
$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,1814
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,14.90
$XPDR_PINGS,47
$24V_AH,22.1,59.372
$10V_AH,10.5,27.133
$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,6.375,101.450,412.375,0.000,0.000,0.000,0.000,0.000,11.750,0.000,0.000,0.000,1435.003,7768.398,469.934,1553.093,166.428,33.367,1313.414,0.000,1535.866,1800.000,0.529,0.000
$DEVICE_MAMPS,176.410,99.710,1177.345,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,551.307,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25259,786
$CAP_FILE_SIZE,98075,0
$CFSIZE,260165632,228536320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.1
$GPS,211108,124109,6627.732,-6019.889,35,1.2,35,-37.7