version: 66.04
glider: 108
mission: 11
dive: 343
start: 11 22 108 2 53 33
data:
$ID,108
$MISSION,11
$DIVE,343
$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,26
$R_STBD_OVSHOOT,22
$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,2.13
$_SM_ANGLEo,2.8
$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,-0.232,-0.029
$KALMAN_X,249886.0,-2942.2,-1827.0,-275448.5,11973.7
$KALMAN_Y,-229191.5,6669.7,6258.4,221352.9,-12851.9
$MHEAD_RNG_PITCHd_Wd,300.5,31382,-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,-5.62,0.000,2,0.000,0.000,2701,1730,2477
$GC,27,-0.99,-146.0,3.4,-0.0,1,68,0.65,1.50,-34.28,0.000,4,0.071,0.094,2455,807,3247
$GC,311,-0.72,-146.0,38.6,-15.0,51,318,0.28,2.35,0.00,0.000,6,0.153,0.070,2522,2236,3252
$GC,656,-0.72,-146.0,70.9,-10.4,112,662,0.00,2.22,0.00,0.000,4,0.000,0.083,2514,3598,3252
$GC,850,-0.72,-146.0,90.6,-10.2,146,856,0.00,2.17,0.00,0.000,6,0.000,0.057,2514,2223,3253
$GC,1191,-0.72,-146.0,125.4,-8.5,174,1194,0.00,2.25,0.00,0.000,4,0.000,0.070,2514,816,3252
$GC,1251,-0.72,-146.0,129.6,-6.5,176,1258,0.00,2.35,0.00,0.000,6,0.000,0.071,2504,2241,3252
$GC,1567,-0.72,-146.0,150.1,-6.8,192,1571,0.00,2.22,0.00,0.000,4,0.000,0.085,2493,3598,3252
$GC,1680,-0.72,-146.0,158.7,-7.4,197,1684,0.12,2.17,0.00,0.000,6,0.151,0.057,2526,2223,3252
$GC,2012,-0.82,-146.0,177.1,-5.3,213,2016,0.10,2.28,0.00,0.000,4,0.096,0.070,2484,809,3252
$GC,2107,-0.74,-146.0,184.5,-8.3,217,2112,0.17,2.35,0.00,0.000,6,0.146,0.071,2524,2235,3252
$GC,2428,-0.85,-146.0,204.9,-6.8,233,2433,0.12,2.25,0.00,0.000,4,0.084,0.084,2463,3601,3251
$GC,2593,-0.75,-146.0,219.6,-9.1,240,2598,0.20,2.20,0.00,0.000,6,0.147,0.057,2519,2212,3251
$GC,2920,-0.86,-146.0,242.2,-7.1,256,2925,0.10,2.25,0.00,0.000,4,0.094,0.069,2477,812,3251
$GC,3044,-0.75,-146.0,253.2,-9.1,261,3049,0.17,2.35,0.00,0.000,6,0.146,0.071,2514,2236,3251
$GC,3360,-0.85,-146.0,274.1,-6.1,276,3364,0.00,2.25,0.00,0.000,4,0.000,0.084,2506,3606,3251
$GC,3433,-0.96,-146.0,278.8,-6.0,279,3438,0.15,2.20,0.00,0.000,6,0.081,0.058,2448,2220,3251
$GC,3761,-0.82,-146.0,305.5,-8.8,295,3765,0.20,2.28,0.00,0.000,4,0.153,0.070,2510,810,3251
$GC,3834,-0.89,-146.0,311.3,-7.2,298,3838,0.00,2.35,0.00,0.000,6,0.000,0.070,2503,2236,3251
$GC,4162,-0.96,-146.0,332.4,-5.6,314,4164,0.12,0.00,0.00,0.000,6,0.084,0.000,2449,2236,3252
$GC,4470,-0.86,-146.0,355.7,-7.7,329,4475,0.17,2.35,0.00,0.000,4,0.153,0.069,2500,810,3251
$GC,4578,-0.91,-146.0,362.7,-6.8,334,4583,0.00,2.38,0.00,0.000,6,0.000,0.079,2492,2241,3251
$GC,4906,-0.97,-146.0,383.8,-6.5,350,4910,0.10,2.25,0.00,0.000,4,0.088,0.085,2437,3601,3251
$GC,4990,-0.85,-146.0,391.1,-8.9,354,4995,0.20,2.20,0.00,0.000,6,0.153,0.057,2493,2214,3251
$GC,5315,-0.93,-146.0,410.3,-5.7,366,5316,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2214,3251
$GC,5639,-1.03,-146.0,428.2,-5.4,374,5644,0.15,2.25,0.00,0.000,4,0.082,0.068,2434,813,3251
$STATE,5796,end dive,NO_VERTICAL_VELOCITY
$STATE,5796,begin apogee
$GC,5803,-0.31,0.0,429.3,0.0,377,5931,0.55,0.00,124.40,1.164,6,0.110,0.000,2614,1752,2650
$STATE,5932,end apogee,CONTROL_FINISHED_OK
$STATE,5932,begin climb
$GC,5934,0.99,146.0,429.2,0.0,380,6072,0.90,2.60,129.98,1.081,4,0.097,0.074,2898,3152,2054
$GC,6091,0.70,146.0,416.7,11.4,384,6096,0.30,2.53,0.00,0.000,6,0.140,0.058,2830,1746,2050
$GC,6409,0.71,156.2,394.2,6.7,394,6424,0.00,2.47,8.73,0.940,4,0.000,0.073,2830,3149,2013
$GC,6435,0.71,157.7,392.3,7.0,395,6439,0.00,2.40,0.00,0.000,6,0.000,0.056,2838,1721,2013
$GC,6762,0.71,157.7,368.2,7.7,411,6766,0.00,2.42,0.00,0.000,4,0.000,0.072,2838,3165,2014
$GC,6789,0.71,157.7,365.7,8.6,412,6793,0.00,2.33,0.00,0.000,6,0.000,0.055,2847,1733,2012
$GC,7113,0.72,159.4,342.9,7.0,428,7119,0.00,0.00,4.18,0.738,6,0.000,0.000,2847,1733,2000
$GC,7420,0.73,170.6,322.2,6.7,443,7441,0.00,2.42,11.52,1.004,4,0.000,0.074,2847,3154,1954
$GC,7447,0.74,182.7,320.4,6.6,444,7464,0.00,2.30,12.30,0.992,6,0.000,0.057,2856,1729,1905
$GC,7773,0.76,195.5,298.2,6.6,460,7794,0.00,2.45,12.18,0.998,4,0.000,0.073,2856,3160,1852
$GC,7805,0.78,210.8,296.0,6.5,461,7826,0.00,2.33,14.57,0.996,6,0.000,0.057,2865,1723,1790
$GC,8148,0.79,222.8,274.0,6.6,478,8164,0.00,2.40,11.35,0.978,4,0.000,0.085,2866,3159,1741
$GC,8182,0.81,234.3,271.6,6.6,478,8198,0.00,2.30,12.15,0.967,6,0.000,0.057,2875,1736,1694
$GC,8514,0.81,237.7,247.1,6.9,495,8523,0.00,2.40,3.58,0.643,4,0.000,0.076,2875,3150,1681
$GC,8565,0.75,237.7,243.2,7.8,497,8569,0.17,2.28,0.00,0.000,6,0.124,0.058,2833,1739,1681
$GC,8886,1.23,237.7,222.6,7.3,513,8890,0.32,2.35,0.00,0.000,4,0.078,0.074,2955,3158,1680
$GC,8952,0.82,237.7,215.3,12.3,516,8957,0.38,2.30,0.00,0.000,6,0.144,0.059,2855,1727,1680
$GC,9274,1.18,237.7,191.9,7.3,532,9279,0.22,2.38,0.00,0.000,4,0.076,0.075,2947,3161,1680
$GC,9363,0.83,237.7,183.1,11.6,536,9368,0.35,2.30,0.00,0.000,6,0.140,0.059,2853,1726,1679
$GC,9686,1.23,266.4,166.4,6.1,552,9719,0.25,2.33,26.50,1.010,4,0.074,0.074,2967,330,1564
$GC,9848,1.04,266.4,151.3,10.1,559,9853,0.22,2.35,0.00,0.000,6,0.141,0.066,2902,1741,1561
$GC,10164,1.09,266.4,128.8,7.5,574,10168,0.00,2.33,0.00,0.000,4,0.000,0.079,2902,3162,1558
$GC,10226,1.04,266.4,123.0,9.6,576,10232,0.00,2.30,0.00,0.000,6,0.000,0.061,2911,1739,1557
$GC,10547,1.06,279.1,92.8,6.6,601,10566,0.00,2.35,11.40,0.927,4,0.000,0.077,2921,323,1512
$GC,10584,1.06,283.6,90.1,6.9,607,10597,0.00,2.35,6.05,0.820,6,0.000,0.062,2921,1752,1493
$GC,10935,1.06,283.6,62.5,8.4,669,10941,0.00,2.30,0.00,0.000,4,0.000,0.078,2921,3158,1490
$GC,10948,1.06,283.6,61.3,8.3,671,10954,0.00,2.30,0.00,0.000,6,0.000,0.061,2931,1735,1490
$GC,11292,0.98,283.6,24.5,16.1,732,11299,0.15,2.33,0.00,0.000,4,0.134,0.077,2894,328,1489
$GC,11305,0.98,283.6,22.6,16.3,734,11311,0.00,2.33,0.00,0.000,6,0.000,0.064,2894,1740,1489
$GC,11650,1.21,307.6,13.2,6.2,795,11680,0.15,2.38,21.75,0.936,4,0.077,0.080,2957,3152,1395
$FREEZE,6.49,-1.754,-1.779
$FREEZE,5.81,-1.758,-1.779
$FREEZE,5.21,-1.754,-1.778
$FREEZE,4.98,-1.763,-1.778
$FREEZE,4.74,-1.766,-1.778
$FREEZE,4.47,-1.758,-1.778
$GC,11735,1.05,307.6,4.5,10.0,809,11742,0.22,2.33,0.00,0.000,6,0.149,0.065,2905,1734,1393
$FREEZE,2.75,-1.761,-1.776
$STATE,11746,end climb,SURFACE_DEPTH_REACHED
$STATE,11746,begin surface coast
$FREEZE,2.36,-1.779,-1.777
$FREEZE,2.30,-1.771,-1.731
$FREEZE,2.17,-1.764,-1.752
$FREEZE,2.16,-1.791,-1.778
$FREEZE,2.17,-1.784,-1.777
$FREEZE,2.11,-1.780,-1.731
$FREEZE,2.21,-1.770,-1.753
$FREEZE,2.19,-1.769,-1.739
$FINISH,2.2,1.025546
$STATE,11793,end surface coast,CONTROL_FINISHED_OK
$STATE,11793,begin surface
$SM_CCo,11992,0.00,0.000,0,0,1387,309.81
$SM_GC,2.35,7.30,0.00,0.00,0.077,0.000,0.000,335,2240,1387,-10.70,0.28,309.81
$RAFOS_CLK,566
$RAFOS,4,1227329048,4.750000,4.735556,58,57,55,52,51,51,213,124,204,172,147,190
$RAFOS,3,1227328442,4.583333,4.567222,58,55,53,52,52,52,216,157,201,191,131,181
$RAFOS,2,1227327846,4.416667,4.401667,67,59,55,55,53,53,193,210,136,184,119,219
$RAFOS,1,1227327254,4.250000,4.237222,56,55,54,54,53,52,197,142,122,226,171,186
$RAFOS,0,1227326654,4.083333,4.070556,71,61,60,58,55,53,198,170,131,207,226,159
$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,9.81483
$TCM_TEMP,14.90
$XPDR_PINGS,57
$24V_AH,22.1,59.497
$10V_AH,10.5,27.184
$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,14.525,124.750,410.625,0.000,0.000,0.000,0.000,0.000,14.250,0.000,0.000,0.000,1549.160,8217.264,481.938,1617.631,185.727,33.362,1366.953,0.000,1599.737,1800.000,0.529,0.000
$DEVICE_MAMPS,153.400,93.574,1164.306,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,574.271,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28382,819
$CAP_FILE_SIZE,111456,0
$CFSIZE,260165632,228466688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.0
$GPS,211108,124109,6627.732,-6019.889,35,1.2,35,-37.7