version: 66.04
glider: 108
mission: 11
dive: 345
start: 11 22 108 9 55 24
data:
$ID,108
$MISSION,11
$DIVE,345
$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,-119189.44
$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,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
$GPS1,082640,6617.213,-6024.225,0,2075.5,0,-37.7
$_CALLS,3
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-0.5
$GPS2,082640,6617.213,-6024.225,0,2075.5,0,-37.7
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.185,0.142
$KALMAN_X,263858.2,5312.2,3176.8,-276540.5,2036.3
$KALMAN_Y,-225241.2,-16882.4,-11487.7,223407.8,17867.3
$MHEAD_RNG_PITCHd_Wd,90.2,177685,-13.0,-7.021
$D_GRID,426
$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,-5.57,0.000,2,0.000,0.000,2701,3159,2481
$GC,27,-0.99,-146.0,4.0,-0.0,1,68,0.68,3.90,-29.62,0.000,4,0.084,0.072,2458,811,3250
$GC,322,-0.76,-146.0,41.4,-17.8,53,329,0.22,2.33,0.00,0.000,6,0.155,0.067,2512,2232,3254
$GC,667,-0.76,-146.0,71.0,-8.3,114,673,0.00,2.30,0.00,0.000,4,0.000,0.069,2514,814,3254
$GC,735,-0.76,-146.0,76.8,-8.7,126,742,0.00,2.35,0.00,0.000,6,0.000,0.071,2506,2239,3254
$GC,1089,-0.76,-146.0,107.1,-8.3,178,1093,0.00,2.22,0.00,0.000,4,0.000,0.084,2496,3597,3254
$GC,1116,-0.76,-146.0,109.5,-8.7,179,1120,0.00,2.20,0.00,0.000,6,0.000,0.058,2496,2214,3253
$GC,1443,-0.69,-146.0,137.5,-7.5,195,1447,0.12,2.25,0.00,0.000,4,0.156,0.071,2533,810,3254
$GC,1515,-0.76,-146.0,143.7,-8.5,198,1519,0.00,2.35,0.00,0.000,6,0.000,0.071,2525,2233,3254
$GC,1842,-0.85,-146.0,170.8,-7.9,214,1847,0.12,2.25,0.00,0.000,4,0.087,0.090,2461,3596,3254
$GC,1911,-0.72,-146.0,177.2,-9.4,217,1916,0.22,2.17,0.00,0.000,6,0.153,0.058,2525,2226,3253
$GC,2238,-0.82,-146.0,197.4,-5.7,233,2240,0.10,0.00,0.00,0.000,6,0.100,0.000,2485,2226,3254
$GC,2546,-0.82,-146.0,220.0,-7.4,248,2550,0.00,2.30,0.00,0.000,4,0.000,0.084,2475,3599,3254
$GC,2602,-0.82,-146.0,224.4,-7.4,250,2607,0.10,2.17,0.00,0.000,6,0.156,0.058,2500,2228,3254
$GC,2923,-0.82,-146.0,247.5,-7.8,266,2924,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2228,3254
$GC,3233,-0.82,-146.0,271.5,-7.8,281,3237,0.00,2.33,0.00,0.000,4,0.000,0.091,2492,3606,3253
$GC,3257,-0.82,-146.0,273.3,-8.0,282,3261,0.00,2.17,0.00,0.000,6,0.000,0.058,2492,2228,3253
$GC,3589,-0.82,-146.0,298.2,-7.7,298,3593,0.00,2.33,0.00,0.000,4,0.000,0.085,2482,3608,3253
$GC,3612,-0.82,-146.0,300.1,-8.3,299,3616,0.00,2.20,0.00,0.000,6,0.000,0.058,2482,2221,3253
$GC,3944,-0.82,-146.0,325.7,-7.6,315,3948,0.00,2.28,0.00,0.000,4,0.000,0.071,2482,810,3254
$GC,4028,-0.82,-146.0,332.7,-7.9,318,4035,0.12,2.38,0.00,0.000,6,0.142,0.071,2506,2245,3253
$GC,4344,-0.92,-146.0,352.8,-6.2,334,4346,0.10,0.00,0.00,0.000,6,0.099,0.000,2465,2245,3253
$GC,4653,-0.92,-146.0,375.8,-7.5,349,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2245,3253
$GC,4962,-0.92,-146.0,398.9,-7.6,364,4966,0.00,2.22,0.00,0.000,4,0.000,0.085,2455,3598,3253
$GC,5001,-0.86,-146.0,402.3,-8.8,365,5008,0.15,2.17,0.00,0.000,6,0.155,0.058,2495,2228,3253
$GC,5334,-0.97,-146.0,423.3,-6.1,374,5338,0.10,2.30,0.00,0.000,4,0.097,0.084,2444,3598,3253
$STATE,5369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5370,begin apogee
$GC,5379,-0.31,0.0,426.1,8.0,374,5507,0.52,0.00,124.75,1.170,6,0.137,0.000,2609,1731,2650
$STATE,5507,end apogee,CONTROL_FINISHED_OK
$STATE,5507,begin climb
$GC,5510,0.99,146.0,429.0,0.0,378,5648,0.90,2.65,129.65,1.085,4,0.100,0.072,2908,333,2053
$GC,5707,0.77,146.0,413.7,9.6,382,5712,0.25,2.55,0.00,0.000,6,0.135,0.061,2842,1747,2051
$GC,6025,0.78,158.2,392.5,6.6,393,6040,0.00,2.42,10.45,0.977,4,0.000,0.074,2842,3165,2005
$GC,6125,0.70,158.2,384.8,7.8,396,6131,0.00,2.40,0.00,0.000,6,0.000,0.058,2850,1729,2004
$GC,6442,0.70,158.2,362.6,7.3,412,6443,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1729,2004
$GC,6750,0.70,158.2,339.5,7.1,427,6751,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1729,2004
$GC,7060,0.70,158.2,317.5,7.3,442,7063,0.00,2.30,0.00,0.000,4,0.000,0.073,2859,330,2004
$GC,7110,0.75,158.2,313.5,8.1,444,7114,0.00,2.35,0.00,0.000,6,0.000,0.062,2859,1759,2005
$GC,7436,0.77,174.8,290.2,6.5,460,7458,0.00,2.30,15.60,1.033,4,0.000,0.076,2859,3161,1937
$GC,7543,0.66,174.8,282.6,7.9,464,7550,0.17,2.33,0.00,0.000,6,0.126,0.058,2818,1725,1936
$GC,7859,1.08,210.7,264.9,5.9,480,7897,0.28,2.45,31.60,1.058,4,0.074,0.074,2929,3163,1791
$GC,7972,0.77,210.7,255.0,10.7,484,7977,0.32,2.35,0.00,0.000,6,0.139,0.059,2845,1727,1786
$GC,8295,1.01,284.7,238.6,4.6,500,8367,0.17,2.53,64.95,1.040,4,0.071,0.075,2918,3153,1489
$GC,8390,0.85,284.7,230.4,10.7,504,8395,0.25,2.38,0.00,0.000,6,0.132,0.058,2858,1734,1485
$GC,8709,1.06,301.5,209.9,6.5,519,8731,0.17,2.38,14.05,0.961,4,0.070,0.074,2942,319,1420
$GC,8765,0.97,301.5,204.0,11.7,521,8770,0.20,2.40,0.00,0.000,6,0.135,0.064,2885,1752,1420
$GC,9081,1.07,301.5,179.4,7.4,536,9086,0.10,2.33,0.00,0.000,4,0.087,0.078,2929,3161,1415
$GC,9103,1.02,301.5,177.3,9.3,537,9108,0.15,2.33,0.00,0.000,6,0.143,0.060,2898,1727,1415
$GC,9425,1.02,301.5,146.4,10.2,553,9429,0.00,2.30,0.00,0.000,4,0.000,0.075,2908,325,1414
$GC,9453,1.10,301.5,143.7,9.2,554,9457,0.00,2.35,0.00,0.000,6,0.000,0.063,2907,1756,1413
$GC,9779,1.10,301.5,118.5,8.1,570,9783,0.00,2.30,0.00,0.000,4,0.000,0.080,2907,3160,1412
$GC,9841,1.05,301.5,112.3,10.7,572,9847,0.00,2.30,0.00,0.000,6,0.000,0.061,2916,1733,1411
$GC,10170,1.05,301.5,86.4,7.8,609,10176,0.00,2.33,0.00,0.000,4,0.000,0.076,2926,318,1411
$GC,10189,1.05,301.5,85.1,7.1,612,10195,0.00,2.35,0.00,0.000,6,0.000,0.064,2926,1752,1411
$GC,10534,1.05,301.5,54.3,8.8,673,10540,0.00,2.30,0.00,0.000,4,0.000,0.081,2926,3156,1410
$GC,10597,0.97,301.5,48.5,9.4,684,10604,0.17,2.30,0.00,0.000,6,0.134,0.062,2885,1728,1409
$GC,10943,1.17,322.1,27.5,6.4,745,10968,0.17,2.30,17.55,0.933,4,0.073,0.075,2967,325,1336
$GC,11014,1.06,322.1,19.6,12.8,757,11021,0.20,2.38,0.00,0.000,6,0.133,0.067,2909,1751,1335
$FREEZE,6.57,-1.752,-1.781
$STATE,11180,end climb,FINISH_DEPTH_REACHED
$STATE,11180,begin subsurface finish
$FINISH1,6.6,1.026095,76
$GC,11187,0.09,76.4,6.6,-7.3,786,11229,0.62,2.33,-33.90,0.000,4,0.109,0.093,2689,3157,2340
$FINISH2,5.0
$STATE,11230,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11230,begin surface
$RAFOS_CLK,530
$RAFOS,4,1227357846,12.750000,12.735000,65,60,53,53,51,49,213,194,118,184,137,148
$RAFOS,3,1227357253,12.583333,12.570278,90,59,55,54,53,51,688,208,194,138,218,178
$RAFOS,2,1227356658,12.416667,12.405000,60,60,59,59,57,51,157,231,193,183,208,219
$RAFOS,1,1227356044,12.250000,12.234445,64,61,56,54,52,50,121,212,186,153,143,200
$RAFOS,0,1227355456,12.083333,12.071111,72,59,58,56,53,53,650,177,211,144,155,198
$RAFOS_FIX,6619.368164,-6023.639160,221108,121224,2,81,0.28
$IRIDIUM_FIX,6548.42,-6029.22,160298,060607
$TT8_MAMPS,0.026845
$HUMID,1815
$INTERNAL_PRESSURE,9.88319
$TCM_TEMP,14.80
$XPDR_PINGS,31
$24V_AH,22.1,59.777
$10V_AH,10.5,27.300
$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,6.725,116.125,408.600,0.000,0.000,0.000,0.000,0.000,7.750,0.000,0.000,0.000,1416.627,7749.284,477.320,1469.858,178.235,33.367,1296.827,0.000,1459.217,1800.000,0.528,0.000
$DEVICE_MAMPS,156.468,92.807,1169.675,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,555.699,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25311,793
$CAP_FILE_SIZE,96305,0
$CFSIZE,260165632,228278272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1442.8
$GPS,221108,122224,6619.368,-6023.639,0,2081.0,0,-37.7