version: 66.04
glider: 108
mission: 11
dive: 351
start: 11 23 108 5 29 17
data:
$ID,108
$MISSION,11
$DIVE,351
$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,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
$GPS1,043056,6703.883,-5927.936,0,4075.8,0,-37.7
$_CALLS,3
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,4.19
$_SM_ANGLEo,-4.1
$GPS2,043056,6703.883,-5927.936,0,4075.8,0,-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,-0.230,0.041
$KALMAN_X,301875.5,3066.2,-2213.7,-264308.7,15668.2
$KALMAN_Y,-214492.8,-11874.2,8469.3,228206.7,2758.4
$MHEAD_RNG_PITCHd_Wd,317.8,115509,-13.0,-7.021
$D_GRID,1121
$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,-146.0,0.0,0.0,0,67,0.00,0.00,-46.58,0.000,6,0.000,0.000,2697,1732,3248
$GC,71,-0.99,-146.0,3.1,-2.5,9,77,0.68,0.00,0.00,0.000,6,0.088,0.000,2455,1732,3248
$GC,415,-0.78,-146.0,41.8,-12.1,70,422,0.20,3.15,0.00,0.000,4,0.146,0.080,2504,3607,3251
$GC,676,-0.78,-146.0,66.5,-8.6,116,682,0.00,2.22,0.00,0.000,6,0.000,0.058,2512,2210,3252
$GC,1020,-0.78,-146.0,92.8,-7.8,177,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2210,3252
$GC,1355,-0.78,-146.0,114.7,-6.3,207,1358,0.00,2.22,0.00,0.000,4,0.000,0.071,2512,816,3252
$GC,1460,-0.78,-146.0,121.7,-6.7,211,1467,0.00,2.35,0.00,0.000,6,0.000,0.071,2504,2235,3251
$GC,1777,-0.78,-146.0,142.9,-7.0,227,1781,0.00,2.25,0.00,0.000,4,0.000,0.084,2493,3604,3251
$GC,1929,-0.78,-146.0,155.4,-8.3,233,1936,0.00,2.20,0.00,0.000,6,0.000,0.058,2493,2218,3251
$GC,2245,-0.78,-146.0,181.0,-7.9,249,2248,0.00,2.25,0.00,0.000,4,0.000,0.071,2493,817,3251
$GC,2301,-0.73,-146.0,185.6,-8.2,251,2306,0.15,2.35,0.00,0.000,6,0.137,0.071,2525,2240,3251
$GC,2622,-0.84,-146.0,204.6,-5.6,267,2627,0.10,2.25,0.00,0.000,4,0.094,0.084,2473,3607,3251
$GC,2707,-0.78,-146.0,211.2,-8.0,270,2714,0.15,2.20,0.00,0.000,6,0.153,0.058,2513,2224,3251
$GC,3025,-0.86,-146.0,231.2,-6.4,286,3029,0.00,2.28,0.00,0.000,4,0.000,0.072,2513,810,3251
$GC,3081,-0.86,-146.0,235.3,-6.9,288,3084,0.00,2.35,0.00,0.000,6,0.000,0.071,2505,2233,3251
$GC,3404,-0.86,-146.0,258.8,-7.3,304,3407,0.00,2.25,0.00,0.000,4,0.000,0.087,2495,3596,3251
$GC,3471,-0.86,-146.0,264.0,-7.4,307,3475,0.00,2.17,0.00,0.000,6,0.000,0.058,2495,2225,3251
$GC,3804,-0.86,-146.0,287.0,-6.6,323,3805,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2225,3251
$GC,4114,-0.86,-146.0,306.8,-5.5,338,4118,0.00,2.28,0.00,0.000,4,0.000,0.071,2495,810,3251
$GC,4175,-0.86,-146.0,310.0,-5.6,340,4182,0.00,2.35,0.00,0.000,6,0.000,0.071,2485,2233,3251
$GC,4491,-0.86,-146.0,328.1,-6.4,356,4495,0.00,2.25,0.00,0.000,4,0.000,0.084,2475,3606,3251
$GC,4678,-0.86,-146.0,341.8,-8.2,364,4683,0.00,2.20,0.00,0.000,6,0.000,0.058,2474,2218,3251
$GC,5005,-0.86,-146.0,365.3,-7.0,380,5007,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2218,3250
$GC,5317,-0.86,-146.0,383.6,-5.3,395,5321,0.00,2.28,0.00,0.000,4,0.000,0.074,2474,812,3250
$GC,5401,-0.86,-146.0,388.9,-5.9,398,5408,0.12,2.35,0.00,0.000,6,0.140,0.071,2499,2238,3250
$GC,5717,-0.97,-146.0,403.0,-4.9,413,5721,0.12,2.25,0.00,0.000,4,0.088,0.084,2439,3603,3251
$GC,5899,-0.87,-146.0,416.4,-7.8,417,5904,0.20,2.20,0.00,0.000,6,0.146,0.056,2495,2212,3250
$GC,6230,-0.97,-146.0,434.2,-5.3,425,6234,0.10,2.22,0.00,0.000,4,0.099,0.069,2453,814,3251
$STATE,6456,end dive,NO_VERTICAL_VELOCITY
$STATE,6457,begin apogee
$GC,6464,-0.31,0.0,440.1,0.0,430,6592,0.45,0.00,124.22,1.170,6,0.093,0.000,2613,1754,2650
$STATE,6592,end apogee,CONTROL_FINISHED_OK
$STATE,6593,begin climb
$GC,6596,0.99,146.0,439.8,0.0,433,6734,0.88,2.62,129.82,1.085,4,0.095,0.074,2896,3149,2053
$GC,6843,0.66,146.0,415.3,11.9,438,6848,0.30,2.45,0.00,0.000,6,0.140,0.057,2826,1739,2047
$GC,7155,0.72,146.0,394.3,8.0,447,7159,0.00,2.45,0.00,0.000,4,0.000,0.074,2826,3163,2046
$GC,7188,0.72,146.0,391.7,7.2,448,7193,0.00,2.38,0.00,0.000,6,0.000,0.056,2833,1728,2046
$GC,7510,0.72,146.0,368.9,7.1,464,7511,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1728,2046
$GC,7820,0.79,157.5,348.5,6.7,479,7834,0.00,2.38,9.23,0.981,4,0.000,0.074,2833,3154,2008
$GC,7874,0.75,157.5,344.5,7.6,481,7878,0.00,2.30,0.00,0.000,6,0.000,0.057,2843,1726,2009
$GC,8195,0.75,157.5,321.5,7.3,497,8199,0.00,2.38,0.00,0.000,4,0.000,0.073,2843,3161,2008
$GC,8212,0.76,169.0,320.3,6.6,497,8229,0.00,2.30,11.65,1.008,6,0.000,0.056,2853,1724,1960
$GC,8545,0.77,176.3,299.6,6.8,514,8559,0.00,2.40,7.75,0.936,4,0.000,0.072,2853,3150,1931
$GC,8589,0.70,176.3,296.3,7.6,516,8594,0.12,2.28,0.00,0.000,6,0.133,0.058,2827,1735,1931
$GC,8922,1.07,176.3,272.5,8.5,532,8927,0.22,2.30,0.00,0.000,4,0.074,0.071,2923,319,1931
$GC,8972,0.91,176.3,267.2,10.8,534,8977,0.17,2.35,0.00,0.000,6,0.142,0.062,2874,1752,1932
$GC,9289,0.91,176.3,241.5,7.6,549,9293,0.00,2.30,0.00,0.000,4,0.000,0.076,2874,3163,1931
$GC,9329,0.79,176.3,238.0,9.0,551,9333,0.12,2.30,0.00,0.000,6,0.137,0.058,2847,1726,1930
$GC,9659,0.93,200.0,216.8,6.3,567,9686,0.12,2.38,21.65,1.028,4,0.080,0.074,2902,3151,1833
$GC,9709,0.76,200.0,212.3,9.1,569,9714,0.25,2.30,0.00,0.000,6,0.133,0.058,2840,1731,1831
$GC,10025,1.13,210.7,192.4,6.7,584,10040,0.25,2.30,9.93,0.946,4,0.073,0.073,2951,327,1790
$GC,10167,0.93,210.7,179.3,9.6,590,10172,0.25,2.35,0.00,0.000,6,0.140,0.064,2879,1747,1790
$GC,10494,0.99,217.3,157.4,6.8,606,10507,0.00,2.38,7.03,0.881,4,0.000,0.077,2879,3162,1763
$GC,10531,0.99,217.3,154.0,8.2,607,10537,0.00,2.30,0.00,0.000,6,0.000,0.060,2886,1734,1763
$GC,10848,0.99,217.3,129.0,8.4,623,10849,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1734,1762
$GC,11157,1.00,222.9,104.8,6.8,638,11167,0.00,2.33,6.10,0.836,4,0.000,0.075,2897,323,1741
$GC,11185,1.06,235.8,102.9,6.6,639,11205,0.00,2.35,13.48,0.939,6,0.000,0.064,2897,1744,1687
$GC,11542,1.10,267.5,79.0,6.0,696,11578,0.08,2.35,28.80,0.958,4,0.098,0.078,2936,3152,1559
$GC,11636,0.91,267.5,71.4,8.8,712,11643,0.25,2.33,0.00,0.000,6,0.133,0.061,2874,1732,1555
$GC,11982,1.35,282.7,53.5,6.5,773,12001,0.28,2.40,13.60,0.910,4,0.077,0.075,2988,322,1497
$GC,12036,1.21,282.7,48.7,9.1,782,12043,0.17,2.38,0.00,0.000,6,0.153,0.065,2942,1746,1498
$GC,12381,1.21,282.7,19.5,8.3,843,12387,0.00,2.33,0.00,0.000,4,0.000,0.082,2942,3155,1494
$GC,12405,1.14,282.7,17.3,8.9,847,12412,0.10,2.30,0.00,0.000,6,0.151,0.061,2925,1733,1493
$FREEZE,6.86,-1.755,-1.779
$STATE,12530,end climb,FINISH_DEPTH_REACHED
$STATE,12530,begin subsurface finish
$FINISH1,6.9,1.026063,78
$GC,12539,0.10,77.9,6.9,-7.9,869,12576,0.68,2.40,-28.25,0.000,4,0.118,0.093,2691,3160,2336
$FINISH2,4.9
$STATE,12576,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12576,begin surface
$RAFOS_CLK,582
$RAFOS,4,1227429843,8.750000,8.734167,62,58,55,54,48,48,222,166,199,182,120,1279
$RAFOS,3,1227429248,8.583333,8.568889,76,55,53,53,51,49,208,182,131,171,700,219
$RAFOS,2,1227428642,8.416667,8.400556,61,60,56,54,52,51,171,181,140,153,119,192
$RAFOS,1,1227428055,8.250000,8.237500,63,59,59,56,56,53,220,195,908,153,142,177
$RAFOS,0,1227427441,8.083333,8.066944,97,62,62,59,56,56,745,184,144,195,219,157
$RAFOS_FIX,1712.373413,-589031.750000,231108,080816,2,86,44983.59
$IRIDIUM_FIX,6548.42,-6029.22,160298,060607
$TT8_MAMPS,0.026845
$HUMID,1808
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,14.90
$XPDR_PINGS,40
$24V_AH,22.0,60.488
$10V_AH,10.5,27.595
$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,6.525,122.775,383.250,0.000,0.000,0.000,0.000,0.000,10.000,0.000,0.000,0.000,1633.243,8593.475,461.080,1771.705,203.057,33.368,1414.246,0.000,1753.311,1800.000,0.529,0.000
$DEVICE_MAMPS,152.633,92.807,1169.675,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,613.151,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28470,875
$CAP_FILE_SIZE,110990,0
$CFSIZE,260165632,227946496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.6
$GPS,231108,043056,6703.883,-5927.936,0,4075.8,0,-37.7