version: 66.04
glider: 108
mission: 11
dive: 350
start: 11 23 108 2 12 28
data:
$ID,108
$MISSION,11
$DIVE,350
$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,23
$R_STBD_OVSHOOT,20
$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,3.72
$_SM_ANGLEo,-6.2
$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,-0.106,0.208
$KALMAN_X,295506.8,-1625.5,-1976.9,-262980.3,10823.6
$KALMAN_Y,-216293.4,2283.7,6825.6,225608.8,-10713.6
$MHEAD_RNG_PITCHd_Wd,10.6,174814,-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,13,begin dive
$GC,16,-0.99,-146.0,0.0,0.0,0,68,0.00,0.00,-48.83,0.000,6,0.000,0.000,2701,324,3246
$GC,71,-0.99,-146.0,2.8,-2.2,9,78,0.68,0.82,0.00,0.000,4,0.086,0.062,2458,824,3248
$GC,320,-0.76,-146.0,29.7,-10.9,53,327,0.25,2.30,0.00,0.000,6,0.146,0.072,2518,2237,3251
$GC,665,-0.76,-146.0,53.9,-7.5,114,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2237,3252
$GC,1008,-0.82,-146.0,76.6,-7.4,175,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2237,3252
$GC,1354,-0.86,-146.0,103.8,-8.4,231,1358,0.10,2.25,0.00,0.000,4,0.097,0.084,2467,3596,3251
$GC,1471,-0.75,-146.0,116.6,-10.9,236,1476,0.17,2.20,0.00,0.000,6,0.155,0.058,2519,2222,3251
$GC,1798,-0.83,-146.0,145.2,-8.7,252,1802,0.00,2.28,0.00,0.000,4,0.000,0.071,2520,812,3251
$GC,1871,-0.89,-146.0,151.5,-8.0,255,1875,0.10,2.38,0.00,0.000,6,0.088,0.071,2469,2245,3251
$GC,2192,-0.79,-146.0,181.0,-9.1,271,2197,0.15,2.25,0.00,0.000,4,0.158,0.085,2501,3608,3251
$GC,2327,-0.84,-146.0,191.7,-7.9,277,2331,0.00,2.20,0.00,0.000,6,0.000,0.058,2501,2225,3251
$GC,2660,-0.84,-146.0,213.8,-6.1,293,2661,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2224,3251
$GC,2968,-0.84,-146.0,231.8,-5.7,308,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2224,3251
$GC,3279,-0.84,-146.0,250.0,-6.3,323,3283,0.00,2.33,0.00,0.000,4,0.000,0.085,2492,3607,3251
$GC,3363,-0.84,-146.0,256.4,-7.9,326,3370,0.00,2.20,0.00,0.000,6,0.000,0.058,2492,2225,3251
$GC,3679,-0.84,-146.0,278.1,-6.8,342,3683,0.00,2.28,0.00,0.000,4,0.000,0.072,2492,816,3251
$GC,3877,-0.84,-146.0,293.0,-7.2,350,3883,0.00,2.35,0.00,0.000,6,0.000,0.071,2483,2233,3251
$GC,4192,-0.84,-146.0,316.8,-7.7,366,4196,0.00,2.25,0.00,0.000,4,0.000,0.084,2472,3611,3251
$GC,4450,-0.84,-146.0,337.9,-8.0,377,4454,0.10,2.22,0.00,0.000,6,0.156,0.058,2497,2212,3251
$GC,4771,-0.89,-146.0,358.3,-5.5,393,4775,0.00,2.25,0.00,0.000,4,0.000,0.071,2497,813,3251
$GC,4867,-0.94,-146.0,363.7,-5.0,397,4871,0.00,2.35,0.00,0.000,6,0.000,0.071,2489,2232,3250
$GC,5194,-0.94,-146.0,379.2,-4.5,413,5198,0.00,2.25,0.00,0.000,4,0.000,0.084,2479,3604,3250
$GC,5287,-0.99,-146.0,384.4,-6.2,417,5291,0.00,2.20,0.00,0.000,6,0.000,0.057,2479,2217,3250
$GC,5619,-0.99,-146.0,405.0,-5.3,431,5623,0.00,2.25,0.00,0.000,4,0.000,0.071,2479,818,3250
$GC,5675,-0.93,-146.0,408.7,-5.9,432,5679,0.00,2.35,0.00,0.000,6,0.000,0.069,2469,2242,3250
$GC,5993,-0.93,-146.0,427.6,-6.5,440,5997,0.00,2.22,0.00,0.000,4,0.000,0.083,2459,3601,3250
$STATE,6153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6153,begin apogee
$GC,6164,-0.31,0.0,439.1,7.8,443,6291,0.47,0.00,124.53,1.174,6,0.130,0.000,2611,1731,2650
$STATE,6292,end apogee,CONTROL_FINISHED_OK
$STATE,6292,begin climb
$GC,6295,0.99,146.0,442.1,0.0,446,6429,0.90,0.00,130.77,1.088,6,0.100,0.000,2897,1731,2054
$GC,6749,0.77,146.0,398.7,11.3,458,6754,0.20,2.50,0.00,0.000,4,0.130,0.074,2841,3162,2047
$GC,6771,0.66,146.0,396.3,9.9,459,6776,0.12,2.40,0.00,0.000,6,0.137,0.058,2816,1735,2046
$GC,7098,0.80,172.6,374.7,6.2,475,7128,0.12,2.53,22.45,1.059,4,0.077,0.074,2871,3164,1946
$GC,7141,0.66,172.6,371.2,8.7,477,7146,0.22,2.38,0.00,0.000,6,0.133,0.057,2818,1727,1945
$GC,7468,0.86,207.8,349.7,5.9,493,7505,0.17,2.45,31.35,1.064,4,0.068,0.072,2892,3158,1802
$GC,7512,0.71,207.8,346.2,8.1,494,7517,0.25,2.35,0.00,0.000,6,0.133,0.055,2831,1730,1801
$GC,7833,0.96,281.6,329.2,4.6,510,7902,0.20,0.00,66.03,1.059,6,0.066,0.000,2916,1730,1501
$GC,8203,0.86,281.6,292.0,10.9,528,8207,0.17,2.33,0.00,0.000,4,0.131,0.071,2874,333,1491
$GC,8236,0.98,281.6,289.0,7.7,529,8242,0.00,2.35,0.00,0.000,6,0.000,0.061,2874,1749,1490
$GC,8551,1.07,281.6,264.9,7.5,545,8553,0.12,0.00,0.00,0.000,6,0.078,0.000,2929,1749,1487
$GC,8861,0.96,281.6,231.6,10.9,560,8863,0.15,0.00,0.00,0.000,6,0.135,0.000,2886,1748,1486
$GC,9170,1.02,281.6,205.7,8.3,575,9174,0.00,2.38,0.00,0.000,4,0.000,0.077,2886,3160,1485
$GC,9187,1.02,281.6,204.2,8.6,576,9191,0.00,2.30,0.00,0.000,6,0.000,0.058,2894,1734,1484
$GC,9514,1.02,281.6,176.3,8.0,592,9515,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1734,1484
$GC,9822,1.02,281.6,150.5,8.7,607,9824,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1734,1483
$GC,10132,1.02,281.6,122.4,9.2,622,10136,0.00,2.40,0.00,0.000,4,0.000,0.077,2894,3158,1482
$GC,10166,0.98,281.6,119.0,10.0,623,10170,0.00,2.30,0.00,0.000,6,0.000,0.060,2903,1733,1482
$GC,10492,0.98,281.6,90.1,7.9,653,10498,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1733,1482
$GC,10836,1.05,281.6,61.2,7.6,714,10842,0.00,2.33,0.00,0.000,4,0.000,0.075,2914,324,1481
$GC,10906,1.16,294.3,56.5,6.6,726,10919,0.00,2.35,8.68,0.886,6,0.000,0.064,2914,1738,1450
$GC,11258,1.16,294.3,32.1,7.9,788,11264,0.00,2.33,0.00,0.000,4,0.000,0.079,2913,3158,1449
$GC,11299,1.16,294.3,28.6,8.6,795,11305,0.00,2.30,0.00,0.000,6,0.000,0.061,2924,1732,1449
$FREEZE,6.83,-1.760,-1.783
$STATE,11574,end climb,FINISH_DEPTH_REACHED
$STATE,11574,begin subsurface finish
$FINISH1,6.8,1.026128,75
$GC,11582,0.09,74.7,6.8,-7.4,844,11617,0.70,0.00,-29.05,0.000,6,0.124,0.000,2697,1732,2348
$FINISH2,5.8
$STATE,11618,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11618,begin surface
$RAFOS_CLK,543
$RAFOS,4,1227415453,4.750000,4.736945,70,62,58,58,52,51,188,210,172,955,141,157
$RAFOS,3,1227414855,4.583333,4.570833,83,54,52,51,49,46,656,140,157,199,225,176
$RAFOS,2,1227414258,4.416667,4.405000,75,62,57,57,54,51,973,211,221,132,199,152
$RAFOS,1,1227413648,4.250000,4.235556,75,67,64,57,55,51,838,198,213,159,176,229
$RAFOS,0,1227413051,4.083333,4.069722,58,52,51,51,51,48,189,219,198,240,701,208
$RAFOS_FIX,6703.882812,-5927.936035,231108,040456,4,76,2.12
$IRIDIUM_FIX,6548.42,-6029.22,160298,060607
$TT8_MAMPS,0.026845
$HUMID,1822
$INTERNAL_PRESSURE,9.88319
$TCM_TEMP,14.90
$XPDR_PINGS,31
$24V_AH,22.1,60.370
$10V_AH,10.5,27.541
$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,5.375,87.125,383.800,0.000,0.000,0.000,0.000,0.000,7.750,0.000,0.000,0.000,1566.033,7910.295,481.068,1593.129,172.563,33.368,1310.034,0.000,1586.190,1800.000,0.529,0.000
$DEVICE_MAMPS,158.002,85.137,1174.277,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,596.137,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28387,850
$CAP_FILE_SIZE,94510,0
$CFSIZE,260165632,228016128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.4
$GPS,231108,043056,6703.883,-5927.936,0,4075.8,0,-37.7