version: 66.04
glider: 108
mission: 11
dive: 352
start: 11 23 108 9 1 47
data:
$ID,108
$MISSION,11
$DIVE,352
$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,4.80
$_SM_ANGLEo,-1.2
$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,-0.195,-0.128
$KALMAN_X,316172.6,2483.5,-260.0,-270787.4,9272.4
$KALMAN_Y,-210450.7,-5136.5,447.9,229356.3,16289.7
$MHEAD_RNG_PITCHd_Wd,274.5,115509,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.99,-146.0,0.0,0.0,0,24,0.00,0.00,-6.18,0.000,2,0.000,0.000,2691,3160,2510
$GC,28,-0.99,-146.0,4.9,-0.0,1,64,0.65,3.88,-26.73,0.000,4,0.081,0.072,2466,804,3250
$GC,211,-0.79,-146.0,23.3,-11.5,33,218,0.17,2.38,0.00,0.000,6,0.145,0.071,2506,2241,3255
$GC,556,-0.79,-146.0,56.1,-8.7,94,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2241,3255
$GC,899,-0.79,-146.0,84.7,-9.7,155,905,0.00,2.35,0.00,0.000,4,0.000,0.071,2510,807,3255
$GC,979,-0.79,-146.0,94.5,-12.2,169,985,0.00,2.35,0.00,0.000,6,0.000,0.071,2503,2231,3254
$GC,1314,-0.79,-146.0,126.1,-7.8,191,1318,0.00,2.25,0.00,0.000,4,0.000,0.084,2492,3602,3254
$GC,1399,-0.79,-146.0,133.1,-8.1,194,1405,0.00,2.20,0.00,0.000,6,0.000,0.057,2492,2215,3254
$GC,1715,-0.79,-146.0,159.0,-8.6,210,1718,0.00,2.25,0.00,0.000,4,0.000,0.071,2491,813,3254
$GC,1748,-0.71,-146.0,162.0,-9.3,211,1753,0.15,2.35,0.00,0.000,6,0.141,0.071,2523,2236,3254
$GC,2064,-0.81,-146.0,186.7,-7.9,226,2068,0.00,2.25,0.00,0.000,4,0.000,0.084,2515,3600,3254
$GC,2133,-0.92,-146.0,192.3,-8.7,229,2137,0.12,2.20,0.00,0.000,6,0.087,0.056,2461,2212,3254
$GC,2465,-0.80,-146.0,223.5,-8.9,245,2467,0.17,0.00,0.00,0.000,6,0.143,0.000,2511,2212,3254
$GC,2775,-0.87,-146.0,243.5,-6.0,260,2779,0.00,2.22,0.00,0.000,4,0.000,0.071,2512,823,3254
$GC,2826,-0.87,-146.0,246.7,-6.2,262,2830,0.00,2.35,0.00,0.000,6,0.000,0.072,2504,2240,3254
$GC,3153,-0.92,-146.0,267.4,-7.1,278,3158,0.10,2.33,0.00,0.000,4,0.095,0.069,2458,820,3254
$GC,3187,-0.76,-146.0,270.4,-9.6,279,3192,0.25,2.35,0.00,0.000,6,0.141,0.071,2520,2241,3254
$GC,3503,-0.89,-146.0,288.6,-5.2,294,3505,0.12,0.00,0.00,0.000,6,0.091,0.000,2469,2241,3254
$GC,3812,-0.83,-146.0,310.6,-7.2,309,3814,0.12,0.00,0.00,0.000,6,0.155,0.000,2502,2241,3254
$GC,4124,-0.90,-146.0,331.5,-7.0,324,4127,0.00,2.25,0.00,0.000,4,0.000,0.086,2493,3599,3254
$GC,4237,-0.97,-146.0,339.9,-6.9,329,4242,0.10,2.20,0.00,0.000,6,0.091,0.057,2450,2217,3254
$GC,4570,-0.86,-146.0,367.1,-8.2,345,4575,0.15,2.25,0.00,0.000,4,0.147,0.069,2500,821,3254
$GC,4610,-0.92,-146.0,369.8,-6.5,346,4616,0.00,2.35,0.00,0.000,6,0.000,0.071,2493,2241,3254
$GC,4926,-0.97,-146.0,390.3,-6.8,362,4931,0.08,2.22,0.00,0.000,4,0.104,0.084,2444,3597,3254
$GC,4994,-0.86,-146.0,396.4,-8.8,365,4999,0.17,2.17,0.00,0.000,6,0.153,0.057,2492,2226,3254
$GC,5343,-0.92,-146.0,424.0,-8.0,375,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2225,3254
$GC,5669,-1.02,-146.0,442.1,-4.1,383,5671,0.12,0.00,0.00,0.000,6,0.087,0.000,2442,2225,3253
$STATE,5950,end dive,NO_VERTICAL_VELOCITY
$STATE,5950,begin apogee
$GC,5956,-0.31,0.0,444.1,0.0,390,6084,0.55,0.00,124.75,1.184,6,0.117,0.000,2618,1735,2650
$STATE,6085,end apogee,CONTROL_FINISHED_OK
$STATE,6085,begin climb
$GC,6088,0.99,146.0,443.2,0.0,393,6226,0.82,2.65,130.07,1.089,4,0.077,0.072,2908,331,2053
$GC,6464,0.79,146.0,406.8,10.2,401,6469,0.22,2.47,0.00,0.000,6,0.134,0.062,2847,1749,2048
$GC,6785,0.85,194.0,386.5,5.5,414,6832,0.00,2.40,41.42,1.080,4,0.000,0.073,2847,3152,1859
$GC,6883,0.79,205.5,380.6,6.6,418,6899,0.00,2.38,11.07,0.968,6,0.000,0.056,2855,1733,1812
$GC,7215,0.86,256.3,361.3,5.4,435,7263,0.00,0.00,45.92,1.072,6,0.000,0.000,2855,1732,1605
$GC,7565,1.03,308.7,343.2,5.3,452,7618,0.17,2.47,47.45,1.057,4,0.074,0.074,2928,3150,1391
$GC,7657,0.80,308.7,334.2,11.9,456,7662,0.30,2.38,0.00,0.000,6,0.134,0.057,2852,1730,1387
$GC,7974,1.08,384.8,317.9,4.6,471,8044,0.20,0.00,66.82,1.049,6,0.067,0.000,2935,1730,1081
$GC,8343,0.98,384.8,277.8,11.1,489,8347,0.17,2.35,0.00,0.000,4,0.132,0.072,2894,325,1070
$GC,8399,1.14,384.8,272.6,8.5,491,8406,0.12,2.38,0.00,0.000,6,0.075,0.062,2952,1750,1069
$GC,8715,1.01,384.8,233.8,12.2,507,8719,0.20,2.40,0.00,0.000,4,0.133,0.072,2897,318,1067
$GC,8748,1.14,384.8,230.7,7.8,508,8755,0.10,2.35,0.00,0.000,6,0.086,0.062,2944,1745,1066
$GC,9064,1.05,384.8,194.8,11.7,524,9066,0.15,0.00,0.00,0.000,6,0.137,0.000,2902,1745,1065
$GC,9373,1.13,384.8,168.4,8.5,539,9378,0.10,2.30,0.00,0.000,4,0.085,0.078,2947,3152,1063
$GC,9395,1.13,384.8,165.9,11.0,540,9400,0.12,2.28,0.00,0.000,6,0.150,0.060,2924,1730,1063
$GC,9721,1.13,384.8,130.3,10.8,556,9725,0.00,2.30,0.00,0.000,4,0.000,0.074,2933,326,1062
$GC,9790,1.13,384.8,122.8,11.1,559,9795,0.00,2.33,0.00,0.000,6,0.000,0.065,2933,1742,1062
$GC,10117,1.13,384.8,88.1,10.3,587,10123,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,1742,1061
$GC,10461,1.13,384.8,56.2,8.9,648,10467,0.00,2.33,0.00,0.000,4,0.000,0.082,2933,3159,1060
$GC,10484,1.13,384.8,53.8,9.3,652,10491,0.00,2.30,0.00,0.000,6,0.000,0.061,2943,1726,1060
$GC,10829,1.13,384.8,20.4,10.3,713,10836,0.00,2.30,0.00,0.000,4,0.000,0.076,2953,324,1059
$GC,10870,1.21,384.8,16.1,10.7,720,10877,0.00,2.33,0.00,0.000,6,0.000,0.064,2954,1747,1059
$FREEZE,6.93,-1.768,-1.775
$STATE,10966,end climb,FINISH_DEPTH_REACHED
$STATE,10966,begin subsurface finish
$FINISH1,6.9,1.026009,81
$GC,10974,0.10,80.6,6.9,-9.7,737,11027,0.77,2.38,-44.90,0.000,4,0.116,0.087,2697,327,2325
$FINISH2,3.8
$STATE,11028,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11028,begin surface
$RAFOS_CLK,522
$RAFOS_FIX,1712.373413,-589031.750000,231108,080816,2,86,44983.59
$IRIDIUM_FIX,6548.42,-6029.22,160298,060607
$TT8_MAMPS,0.029146
$HUMID,1817
$INTERNAL_PRESSURE,9.88319
$TCM_TEMP,14.90
$XPDR_PINGS,43
$24V_AH,22.0,60.634
$10V_AH,10.5,27.640
$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,6.525,92.950,467.525,0.000,0.000,0.000,0.000,0.000,10.750,0.000,0.000,0.000,1330.062,7661.058,536.884,1396.893,157.295,33.367,1303.865,0.000,1384.456,360.000,0.529,0.000
$DEVICE_MAMPS,154.934,86.671,1184.248,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,522.577,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25272,746
$CAP_FILE_SIZE,90435,0
$CFSIZE,260165632,227909632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.3
$GPS,231108,043056,6703.883,-5927.936,0,4075.8,0,-37.7