version: 66.04
glider: 108
mission: 11
dive: 349
start: 11 22 108 22 50 57
data:
$ID,108
$MISSION,11
$DIVE,349
$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,24
$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
$GPS1,162120,6618.403,-6021.352,0,2074.5,0,-37.7
$_CALLS,3
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-1.1
$GPS2,162120,6618.403,-6021.352,0,2074.5,0,-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,0.222,-0.071
$KALMAN_X,289138.1,-5047.3,2964.1,-265761.5,4849.5
$KALMAN_Y,-218094.0,14658.3,-11060.0,226491.2,7311.6
$MHEAD_RNG_PITCHd_Wd,145.3,174814,-13.0,-7.021
$D_GRID,439
$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,-146.0,0.0,0.0,0,112,0.00,0.00,-92.85,0.000,6,0.000,0.000,2946,1748,3247
$GC,115,-0.99,-146.0,3.2,-3.1,17,122,1.42,1.55,0.00,0.000,4,0.099,0.070,2456,808,3248
$GC,191,-0.69,-146.0,10.5,-10.8,30,199,0.28,2.35,0.00,0.000,6,0.148,0.071,2526,2231,3251
$GC,536,-0.74,-146.0,37.6,-8.5,91,542,0.00,2.33,0.00,0.000,4,0.000,0.068,2528,807,3252
$GC,549,-0.74,-146.0,38.6,-8.2,93,555,0.00,2.35,0.00,0.000,6,0.000,0.070,2519,2234,3251
$GC,893,-0.74,-146.0,69.6,-9.0,154,899,0.00,2.33,0.00,0.000,4,0.000,0.070,2520,812,3251
$GC,906,-0.74,-146.0,70.8,-8.8,156,912,0.00,2.35,0.00,0.000,6,0.000,0.071,2512,2238,3251
$GC,1250,-0.74,-146.0,99.0,-7.4,217,1256,0.00,2.33,0.00,0.000,4,0.000,0.070,2512,817,3251
$GC,1369,-0.74,-146.0,107.3,-6.9,225,1373,0.00,2.35,0.00,0.000,6,0.000,0.071,2503,2243,3251
$GC,1696,-0.74,-146.0,130.6,-6.8,241,1697,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2242,3251
$GC,2007,-0.74,-146.0,150.4,-6.6,256,2011,0.00,2.35,0.00,0.000,4,0.000,0.071,2502,810,3250
$GC,2018,-0.74,-146.0,151.4,-7.0,256,2023,0.10,2.35,0.00,0.000,6,0.146,0.071,2519,2233,3250
$GC,2334,-0.83,-146.0,172.8,-6.9,271,2335,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2233,3250
$GC,2643,-0.91,-146.0,194.3,-7.1,286,2645,0.15,0.00,0.00,0.000,6,0.084,0.000,2460,2233,3250
$GC,2952,-0.79,-146.0,225.5,-10.0,301,2957,0.17,2.28,0.00,0.000,4,0.156,0.098,2499,3604,3250
$GC,2999,-0.84,-146.0,229.6,-8.9,303,3003,0.00,2.20,0.00,0.000,6,0.000,0.058,2498,2216,3250
$GC,3333,-0.84,-146.0,256.7,-8.6,319,3337,0.00,2.35,0.00,0.000,4,0.000,0.089,2490,3607,3250
$GC,3343,-0.84,-146.0,257.7,-8.5,319,3347,0.00,2.20,0.00,0.000,6,0.000,0.058,2489,2217,3249
$GC,3665,-0.84,-146.0,283.8,-8.1,335,3668,0.00,2.33,0.00,0.000,4,0.000,0.090,2480,3597,3249
$GC,3743,-0.84,-146.0,290.6,-8.7,338,3747,0.00,2.17,0.00,0.000,6,0.000,0.058,2480,2222,3250
$GC,4063,-0.84,-146.0,316.0,-7.5,354,4067,0.00,2.25,0.00,0.000,4,0.000,0.071,2479,820,3249
$GC,4102,-0.77,-146.0,319.0,-7.8,355,4109,0.15,2.35,0.00,0.000,6,0.140,0.071,2511,2241,3250
$GC,4419,-0.86,-146.0,337.2,-5.9,371,4423,0.00,2.33,0.00,0.000,4,0.000,0.071,2511,813,3250
$GC,4469,-0.91,-146.0,340.6,-6.8,373,4474,0.08,2.35,0.00,0.000,6,0.101,0.071,2466,2231,3250
$GC,4785,-0.86,-146.0,365.4,-7.4,388,4789,0.10,2.25,0.00,0.000,4,0.156,0.084,2483,3601,3250
$GC,4795,-0.86,-146.0,366.0,-7.1,388,4799,0.00,2.17,0.00,0.000,6,0.000,0.056,2482,2229,3249
$GC,5117,-0.86,-146.0,384.5,-5.5,404,5120,0.00,2.33,0.00,0.000,4,0.000,0.084,2473,3609,3250
$GC,5128,-0.86,-146.0,384.9,-5.2,404,5132,0.00,2.20,0.00,0.000,6,0.000,0.057,2473,2222,3249
$GC,5449,-0.86,-146.0,403.6,-5.9,419,5453,0.00,2.28,0.00,0.000,4,0.000,0.071,2473,810,3249
$GC,5460,-0.86,-146.0,404.4,-6.0,419,5465,0.12,2.35,0.00,0.000,6,0.142,0.070,2496,2232,3249
$GC,5773,-0.95,-146.0,421.2,-5.3,427,5775,0.10,0.00,0.00,0.000,6,0.094,0.000,2454,2232,3249
$STATE,6054,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6054,begin apogee
$GC,6061,-0.31,0.0,440.8,7.0,434,6188,0.52,0.00,124.40,1.178,6,0.133,0.000,2616,1740,2650
$STATE,6189,end apogee,CONTROL_FINISHED_OK
$STATE,6189,begin climb
$GC,6192,0.99,146.0,443.7,0.0,437,6330,0.88,2.65,130.07,1.091,4,0.101,0.074,2904,324,2054
$GC,6445,0.77,146.0,421.2,10.8,442,6452,0.22,2.55,0.00,0.000,6,0.135,0.063,2844,1753,2049
$GC,6756,0.77,146.0,396.9,7.7,451,6760,0.00,2.38,0.00,0.000,4,0.000,0.076,2844,3155,2046
$GC,6840,0.65,146.0,390.0,7.8,454,6847,0.12,2.35,0.00,0.000,6,0.134,0.058,2819,1732,2045
$GC,7157,0.76,146.0,367.9,7.2,470,7159,0.10,0.00,0.00,0.000,6,0.082,0.000,2865,1732,2046
$GC,7465,0.71,146.0,341.2,8.5,485,7467,0.12,0.00,0.00,0.000,6,0.127,0.000,2829,1732,2046
$GC,7775,0.89,212.9,323.5,4.9,500,7840,0.15,2.40,56.30,1.079,4,0.075,0.073,2902,324,1781
$GC,7879,0.83,212.9,315.4,8.8,504,7886,0.17,2.40,0.00,0.000,6,0.130,0.061,2853,1743,1779
$GC,8195,0.93,212.9,293.8,7.4,520,8200,0.10,2.33,0.00,0.000,4,0.084,0.074,2897,3160,1772
$GC,8286,0.74,212.9,283.6,12.3,524,8291,0.25,2.30,0.00,0.000,6,0.131,0.058,2834,1737,1771
$GC,8608,0.94,223.8,259.6,6.7,540,8619,0.17,0.00,9.00,0.954,6,0.069,0.000,2911,1736,1737
$GC,8916,0.85,223.8,232.5,8.5,555,8918,0.17,0.00,0.00,0.000,6,0.128,0.000,2859,1736,1737
$GC,9226,0.99,249.1,213.2,6.2,570,9252,0.12,0.00,23.52,1.025,6,0.080,0.000,2911,1736,1634
$GC,9555,0.91,249.1,183.3,9.1,586,9557,0.12,0.00,0.00,0.000,6,0.135,0.000,2876,1736,1629
$GC,9864,1.01,259.3,161.8,6.7,601,9880,0.10,2.38,9.27,0.930,4,0.087,0.077,2930,330,1593
$GC,9903,0.93,259.3,158.6,8.8,602,9910,0.17,2.35,0.00,0.000,6,0.137,0.064,2880,1747,1593
$GC,10218,1.02,259.3,136.8,7.1,618,10223,0.10,2.30,0.00,0.000,4,0.086,0.077,2924,3160,1591
$GC,10285,0.81,259.3,129.5,12.1,621,10290,0.28,2.30,0.00,0.000,6,0.137,0.061,2854,1733,1590
$GC,10608,1.25,259.3,106.3,7.6,637,10612,0.28,2.33,0.00,0.000,4,0.078,0.075,2959,324,1590
$GC,10704,1.06,259.3,96.7,11.4,643,10710,0.17,2.35,0.00,0.000,6,0.143,0.065,2910,1750,1590
$GC,11048,1.06,259.3,69.1,7.2,704,11054,0.00,2.30,0.00,0.000,4,0.000,0.080,2910,3156,1589
$GC,11118,0.97,259.3,63.0,9.3,716,11125,0.12,2.30,0.00,0.000,6,0.141,0.062,2883,1730,1588
$GC,11464,1.11,260.5,40.2,7.0,777,11471,0.15,2.33,0.00,0.000,4,0.074,0.076,2956,317,1588
$GC,11506,1.06,260.5,36.6,8.7,784,11512,0.17,2.35,0.00,0.000,6,0.138,0.065,2907,1748,1588
$GC,11851,1.12,260.5,11.7,7.5,845,11857,0.00,2.30,0.00,0.000,4,0.000,0.081,2907,3155,1588
$GC,11897,1.12,260.5,7.7,8.6,853,11903,0.00,2.30,0.00,0.000,6,0.000,0.062,2915,1727,1588
$FREEZE,6.78,-1.751,-1.785
$STATE,11908,end climb,FINISH_DEPTH_REACHED
$STATE,11908,begin subsurface finish
$FINISH1,6.8,1.026153,73
$GC,11916,0.09,73.5,6.8,-8.4,855,11947,0.65,2.38,-24.42,0.000,4,0.120,0.087,2701,324,2354
$FINISH2,5.9
$STATE,11948,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11948,begin surface
$RAFOS_CLK,561
$RAFOS,4,1227401044,0.750000,0.734444,66,61,56,56,54,52,197,221,210,150,139,117
$RAFOS,3,1227400453,0.583333,0.570278,65,58,57,56,52,50,169,210,181,136,222,121
$RAFOS,2,1227399864,0.416667,0.406667,63,60,52,52,52,51,211,174,185,152,926,226
$RAFOS,1,1227399247,0.250000,0.235278,59,58,58,58,57,48,146,163,215,830,198,136
$RAFOS,0,1227398651,0.083333,0.069722,123,59,59,58,58,57,687,157,124,193,181,210
$RAFOS_FIX,6735.099121,-5752.243652,221108,202024,3,75,12.22
$IRIDIUM_FIX,6548.42,-6029.22,160298,060607
$TT8_MAMPS,0.028379
$HUMID,1836
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,14.90
$XPDR_PINGS,69
$24V_AH,22.1,60.250
$10V_AH,10.5,27.491
$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,8.125,109.400,352.575,0.000,0.000,0.000,0.000,0.000,17.250,0.000,0.000,0.000,1511.546,8308.892,485.685,1522.448,176.169,33.365,1318.912,0.000,1511.030,1800.000,0.529,0.000
$DEVICE_MAMPS,156.468,98.176,1178.112,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,602.431,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28378,860
$CAP_FILE_SIZE,102513,0
$CFSIZE,260165632,228061184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1442.9
$GPS,221108,162120,6618.403,-6021.352,0,2074.5,0,-37.7