version: 66.04
glider: 108
mission: 11
dive: 347
start: 11 22 108 16 16 20
data:
$ID,108
$MISSION,11
$DIVE,347
$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,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
$GPS1,122224,6619.368,-6023.639,0,2081.0,0,-37.7
$_CALLS,3
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,4.85
$_SM_ANGLEo,-3.7
$GPS2,122224,6619.368,-6023.639,0,2081.0,0,-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,0.225,0.060
$KALMAN_X,276400.7,-482.6,-3291.4,-271375.8,6449.4
$KALMAN_Y,-221695.1,4373.5,12070.2,224856.5,-1633.1
$MHEAD_RNG_PITCHd_Wd,112.7,175440,-13.0,-7.021
$D_GRID,441
$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,-5.93,0.000,2,0.000,0.000,2686,3149,2490
$GC,27,-0.99,-146.0,3.2,-0.0,1,69,0.62,3.90,-34.55,0.000,4,0.074,0.072,2454,813,3249
$GC,312,-0.75,-146.0,33.1,-10.2,51,318,0.25,2.35,0.00,0.000,6,0.150,0.072,2514,2232,3253
$GC,656,-0.75,-146.0,58.1,-8.0,112,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2232,3254
$GC,999,-0.75,-146.0,89.9,-9.0,173,1005,0.00,2.25,0.00,0.000,4,0.000,0.085,2506,3601,3253
$GC,1029,-0.75,-146.0,92.9,-9.7,178,1035,0.00,2.20,0.00,0.000,6,0.000,0.058,2506,2217,3253
$GC,1351,-0.75,-146.0,121.3,-8.9,203,1355,0.00,2.33,0.00,0.000,4,0.000,0.084,2496,3603,3253
$GC,1372,-0.75,-146.0,123.4,-9.1,204,1376,0.00,2.20,0.00,0.000,6,0.000,0.057,2496,2215,3253
$GC,1700,-0.75,-146.0,153.8,-9.1,220,1703,0.00,2.22,0.00,0.000,4,0.000,0.069,2495,814,3253
$GC,1723,-0.70,-146.0,156.1,-9.5,221,1728,0.15,2.35,0.00,0.000,6,0.143,0.071,2527,2237,3253
$GC,2050,-0.79,-146.0,182.3,-7.6,237,2051,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2237,3253
$GC,2359,-0.90,-146.0,201.9,-5.8,252,2361,0.15,0.00,0.00,0.000,6,0.087,0.000,2468,2237,3253
$GC,2668,-0.81,-146.0,225.1,-7.6,267,2670,0.15,0.00,0.00,0.000,6,0.157,0.000,2507,2237,3253
$GC,2978,-0.86,-146.0,245.3,-7.0,282,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2237,3253
$GC,3286,-0.93,-146.0,268.0,-7.2,297,3291,0.12,2.33,0.00,0.000,4,0.094,0.069,2458,814,3253
$GC,3297,-0.93,-146.0,268.7,-6.7,297,3301,0.12,2.35,0.00,0.000,6,0.149,0.071,2481,2236,3252
$GC,3614,-0.93,-146.0,292.1,-7.3,312,3618,0.00,2.25,0.00,0.000,4,0.000,0.087,2472,3598,3253
$GC,3686,-0.93,-146.0,298.0,-8.3,315,3690,0.00,2.17,0.00,0.000,6,0.000,0.057,2472,2226,3253
$GC,4013,-0.93,-146.0,321.8,-6.8,331,4017,0.00,2.33,0.00,0.000,4,0.000,0.084,2462,3608,3252
$GC,4063,-0.88,-146.0,325.5,-7.5,333,4068,0.10,2.20,0.00,0.000,6,0.158,0.058,2486,2223,3252
$GC,4390,-0.88,-146.0,346.8,-6.5,349,4394,0.00,2.28,0.00,0.000,4,0.000,0.071,2486,811,3253
$GC,4408,-0.88,-146.0,347.9,-6.7,349,4415,0.00,2.35,0.00,0.000,6,0.000,0.071,2479,2232,3253
$GC,4725,-0.88,-146.0,368.1,-6.0,365,4728,0.00,2.33,0.00,0.000,4,0.000,0.069,2478,811,3252
$GC,4757,-0.88,-146.0,370.5,-7.3,366,4761,0.00,2.35,0.00,0.000,6,0.000,0.070,2469,2236,3252
$GC,5079,-0.88,-146.0,391.9,-6.9,382,5080,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2236,3252
$GC,5386,-0.88,-146.0,411.2,-6.5,393,5390,0.00,2.33,0.00,0.000,4,0.000,0.068,2469,820,3252
$GC,5426,-0.82,-146.0,414.1,-7.7,393,5432,0.17,2.35,0.00,0.000,6,0.137,0.071,2508,2237,3252
$GC,5758,-0.94,-146.0,430.3,-4.4,402,5762,0.12,2.25,0.00,0.000,4,0.089,0.082,2447,3601,3252
$GC,5774,-1.00,-146.0,431.2,-4.5,402,5778,0.00,2.20,0.00,0.000,6,0.000,0.054,2447,2214,3252
$STATE,5917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5917,begin apogee
$GC,5923,-0.31,0.0,441.5,7.1,406,6051,0.55,0.00,124.85,1.175,6,0.137,0.000,2615,1737,2650
$STATE,6052,end apogee,CONTROL_FINISHED_OK
$STATE,6052,begin climb
$GC,6055,0.99,146.0,444.7,0.0,409,6192,0.88,2.67,130.75,1.092,4,0.094,0.072,2897,3148,2053
$GC,6221,0.67,146.0,431.9,11.2,413,6227,0.32,2.53,0.00,0.000,6,0.140,0.056,2822,1733,2050
$GC,6540,0.68,156.4,410.9,6.7,421,6554,0.00,2.45,8.85,0.951,4,0.000,0.072,2831,334,2012
$GC,6590,0.81,179.1,407.6,6.3,422,6619,0.10,2.42,22.20,1.047,6,0.086,0.060,2874,1749,1919
$GC,6937,0.73,179.1,378.9,8.5,436,6941,0.15,2.35,0.00,0.000,4,0.130,0.074,2831,3156,1915
$GC,6969,0.73,179.1,376.0,8.0,437,6976,0.00,2.33,0.00,0.000,6,0.000,0.055,2839,1730,1914
$GC,7286,0.81,191.3,354.4,6.6,453,7302,0.00,2.33,11.25,1.002,4,0.000,0.071,2849,326,1870
$GC,7336,0.91,202.3,351.0,6.7,454,7352,0.10,2.38,10.90,0.985,6,0.088,0.061,2894,1755,1825
$GC,7676,0.81,202.3,321.9,8.3,471,7681,0.15,2.30,0.00,0.000,4,0.135,0.075,2850,3157,1824
$GC,7761,0.81,202.3,315.6,7.3,475,7764,0.00,2.28,0.00,0.000,6,0.000,0.057,2856,1739,1822
$GC,8093,0.82,204.2,294.0,7.0,491,8097,0.00,2.30,0.00,0.000,4,0.000,0.072,2865,332,1822
$GC,8128,0.88,204.2,291.7,7.3,492,8132,0.00,2.33,0.00,0.000,6,0.000,0.061,2865,1754,1822
$GC,8449,0.88,204.2,268.9,7.7,508,8453,0.00,2.25,0.00,0.000,4,0.000,0.076,2865,3153,1822
$GC,8488,0.80,204.2,265.2,9.8,509,8494,0.00,2.28,0.00,0.000,6,0.000,0.057,2875,1729,1821
$GC,8804,0.80,204.2,238.4,7.9,525,8807,0.00,2.28,0.00,0.000,4,0.000,0.071,2886,330,1821
$GC,8876,0.80,204.2,232.4,8.0,528,8880,0.12,2.33,0.00,0.000,6,0.124,0.063,2850,1753,1821
$GC,9203,0.98,244.7,213.2,5.7,544,9247,0.15,2.40,37.42,1.039,4,0.076,0.077,2914,3160,1652
$GC,9298,0.80,244.7,204.0,11.9,548,9303,0.25,2.33,0.00,0.000,6,0.133,0.058,2852,1738,1649
$GC,9624,1.22,244.7,181.0,7.6,564,9629,0.25,2.33,0.00,0.000,4,0.073,0.072,2954,330,1644
$GC,9646,1.39,244.7,179.1,8.5,565,9651,0.10,2.35,0.00,0.000,6,0.094,0.063,2992,1753,1644
$GC,9969,1.07,244.7,136.0,13.4,581,9974,0.25,2.30,0.00,0.000,4,0.147,0.078,2916,3152,1643
$GC,10047,0.90,244.7,127.3,10.6,584,10054,0.17,2.28,0.00,0.000,6,0.137,0.061,2874,1739,1642
$GC,10364,1.05,264.2,105.9,6.4,600,10387,0.12,2.40,16.62,0.960,4,0.077,0.074,2942,321,1573
$GC,10480,0.96,264.2,94.5,10.6,611,10487,0.20,2.35,0.00,0.000,6,0.134,0.064,2884,1741,1572
$GC,10825,1.12,264.2,70.3,7.2,672,10831,0.12,0.00,0.00,0.000,6,0.079,0.000,2941,1741,1569
$GC,11169,1.03,264.2,40.2,8.8,733,11175,0.15,0.00,0.00,0.000,6,0.133,0.000,2897,1740,1568
$GC,11513,1.13,264.2,17.1,7.1,794,11519,0.10,2.33,0.00,0.000,4,0.087,0.080,2942,3157,1567
$GC,11555,1.02,264.2,13.2,9.6,801,11562,0.20,2.30,0.00,0.000,6,0.137,0.062,2895,1730,1567
$FREEZE,6.74,-1.745,-1.781
$STATE,11645,end climb,FINISH_DEPTH_REACHED
$STATE,11645,begin subsurface finish
$FINISH1,6.7,1.026101,76
$GC,11653,0.09,76.0,6.7,-6.6,817,11683,0.57,2.38,-24.85,0.000,4,0.115,0.086,2701,326,2343
$FINISH2,5.6
$STATE,11684,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11684,begin surface
$RAFOS_CLK,544
$RAFOS,4,1227372256,16.750000,16.737778,56,54,53,53,51,50,224,200,150,173,121,188
$RAFOS,3,1227371642,16.583334,16.567223,75,57,57,57,54,53,745,189,212,163,119,138
$RAFOS,2,1227371043,16.416666,16.400833,63,61,54,52,51,51,204,218,175,144,155,128
$RAFOS_FIX,6618.402832,-6021.352051,221108,161620,2,74,0.17
$IRIDIUM_FIX,6548.42,-6029.22,160298,060607
$TT8_MAMPS,0.026845
$HUMID,1815
$INTERNAL_PRESSURE,9.88319
$TCM_TEMP,14.80
$XPDR_PINGS,71
$24V_AH,22.0,60.009
$10V_AH,10.5,27.395
$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,7.000,116.075,362.850,0.000,0.000,0.000,0.000,0.000,17.750,0.000,0.000,0.000,1467.465,8161.127,463.609,1474.043,178.461,33.369,1263.168,0.000,1462.667,1080.000,0.529,0.000
$DEVICE_MAMPS,158.002,87.438,1175.044,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,576.648,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25248,822
$CAP_FILE_SIZE,100598,0
$CFSIZE,260165632,228167680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.4
$GPS,221108,162120,6618.403,-6021.352,0,2074.5,0,-37.7