version: 66.04
glider: 108
mission: 11
dive: 353
start: 11 23 108 12 7 53
data:
$ID,108
$MISSION,11
$DIVE,353
$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,23
$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,2.35
$_SM_ANGLEo,20.4
$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,-0.225,-0.060
$KALMAN_X,330469.7,-5371.2,2570.1,-276294.8,16336.2
$KALMAN_Y,-206408.6,16642.1,-9083.1,225755.7,-1820.5
$MHEAD_RNG_PITCHd_Wd,292.7,115509,-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,13,begin dive
$GC,16,-0.99,-146.0,0.0,0.0,0,23,0.00,0.00,-5.40,0.000,2,0.000,0.000,2697,327,2448
$GC,27,-0.99,-146.0,3.0,-0.0,1,68,0.65,0.88,-36.35,0.000,4,0.083,0.102,2458,830,3248
$GC,114,-0.65,-146.0,9.8,-11.8,16,121,0.32,2.28,0.00,0.000,6,0.153,0.071,2538,2240,3252
$GC,459,-0.70,-146.0,38.1,-7.1,77,466,0.00,2.22,0.00,0.000,4,0.000,0.085,2530,3597,3254
$GC,719,-0.77,-146.0,58.6,-8.5,123,726,0.00,2.20,0.00,0.000,6,0.000,0.058,2530,2208,3253
$GC,1063,-0.85,-146.0,85.9,-7.9,184,1070,0.12,2.33,0.00,0.000,4,0.088,0.084,2467,3593,3254
$GC,1324,-0.76,-146.0,111.7,-10.1,215,1328,0.17,2.17,0.00,0.000,6,0.152,0.058,2518,2222,3253
$GC,1640,-0.83,-146.0,134.1,-7.3,230,1644,0.00,2.30,0.00,0.000,4,0.000,0.084,2510,3597,3253
$GC,1735,-0.89,-146.0,141.6,-7.7,234,1740,0.10,2.17,0.00,0.000,6,0.097,0.058,2466,2227,3254
$GC,2057,-0.78,-146.0,172.5,-9.6,250,2059,0.17,0.00,0.00,0.000,6,0.145,0.000,2515,2227,3253
$GC,2366,-0.85,-146.0,195.9,-7.6,265,2370,0.00,2.33,0.00,0.000,4,0.000,0.091,2507,3608,3253
$GC,2406,-0.92,-146.0,199.2,-8.3,266,2412,0.10,2.20,0.00,0.000,6,0.096,0.058,2464,2221,3253
$GC,2721,-0.81,-146.0,229.3,-9.4,282,2726,0.15,2.25,0.00,0.000,4,0.146,0.071,2510,817,3253
$GC,2834,-0.81,-146.0,238.5,-7.8,287,2838,0.00,2.35,0.00,0.000,6,0.000,0.072,2502,2241,3253
$GC,3168,-0.81,-146.0,263.6,-7.3,303,3169,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2241,3253
$GC,3476,-0.81,-146.0,285.1,-6.6,318,3480,0.00,2.35,0.00,0.000,4,0.000,0.072,2502,810,3253
$GC,3545,-0.81,-146.0,289.5,-6.4,321,3549,0.00,2.35,0.00,0.000,6,0.000,0.071,2492,2234,3253
$GC,3877,-0.81,-146.0,311.1,-7.0,337,3878,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2233,3253
$GC,4188,-0.81,-146.0,335.0,-8.1,352,4189,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2233,3253
$GC,4496,-0.81,-146.0,357.7,-6.7,367,4500,0.00,2.25,0.00,0.000,4,0.000,0.086,2482,3601,3252
$GC,4726,-0.81,-146.0,374.1,-6.9,377,4731,0.10,2.20,0.00,0.000,6,0.153,0.058,2507,2215,3252
$GC,5054,-0.92,-146.0,389.5,-4.6,393,5059,0.10,2.25,0.00,0.000,4,0.097,0.070,2464,817,3253
$GC,5110,-0.82,-146.0,393.0,-6.2,395,5117,0.17,2.35,0.00,0.000,6,0.141,0.071,2502,2240,3252
$GC,5424,-0.92,-146.0,409.2,-5.5,407,5428,0.00,2.22,0.00,0.000,4,0.000,0.084,2494,3595,3252
$GC,5492,-1.04,-146.0,413.2,-6.7,408,5496,0.15,2.17,0.00,0.000,6,0.082,0.057,2434,2216,3252
$GC,5840,-1.13,-146.0,435.6,-4.8,417,5844,0.00,2.33,0.00,0.000,4,0.000,0.083,2424,3606,3253
$STATE,5973,end dive,NO_VERTICAL_VELOCITY
$STATE,5973,begin apogee
$GC,5982,-0.31,0.0,435.7,0.0,420,6110,0.57,0.00,125.07,1.168,6,0.097,0.000,2620,1738,2650
$STATE,6111,end apogee,CONTROL_FINISHED_OK
$STATE,6111,begin climb
$GC,6114,0.99,146.0,435.5,0.0,423,6252,0.85,2.65,129.85,1.085,4,0.098,0.074,2904,327,2054
$GC,6338,0.81,146.0,417.2,9.6,428,6344,0.20,2.55,0.00,0.000,6,0.137,0.062,2853,1750,2050
$GC,6652,0.82,147.1,394.3,7.0,437,6656,0.00,2.38,0.00,0.000,4,0.000,0.075,2852,3155,2046
$GC,6722,0.68,147.1,389.0,7.7,440,6727,0.15,2.35,0.00,0.000,6,0.135,0.058,2819,1734,2045
$GC,7049,0.90,186.4,370.2,5.8,456,7092,0.17,2.47,34.20,1.081,4,0.070,0.074,2894,3156,1889
$GC,7126,0.68,186.4,363.7,9.1,459,7131,0.28,2.35,0.00,0.000,6,0.140,0.058,2827,1730,1888
$GC,7442,0.83,198.8,342.8,6.6,474,7456,0.12,0.00,11.30,0.998,6,0.074,0.000,2883,1730,1840
$GC,7751,0.83,198.8,316.6,8.5,489,7756,0.10,2.38,0.00,0.000,4,0.130,0.074,2856,3155,1838
$GC,7778,0.83,198.8,314.3,8.3,490,7783,0.00,2.28,0.00,0.000,6,0.000,0.058,2863,1737,1837
$GC,8099,0.83,198.8,287.3,8.6,506,8103,0.00,2.30,0.00,0.000,4,0.000,0.073,2873,332,1836
$GC,8127,0.90,198.8,284.7,9.2,507,8131,0.00,2.33,0.00,0.000,6,0.000,0.061,2873,1753,1837
$GC,8454,0.90,198.8,255.3,8.5,523,8458,0.00,2.28,0.00,0.000,4,0.000,0.075,2873,3158,1836
$GC,8505,0.81,198.8,250.5,9.9,525,8509,0.12,2.28,0.00,0.000,6,0.137,0.059,2847,1738,1835
$GC,8827,0.95,201.9,228.5,6.9,541,8837,0.12,2.35,3.47,0.642,4,0.078,0.074,2913,329,1826
$GC,8866,0.86,201.9,225.0,9.1,542,8873,0.17,2.33,0.00,0.000,6,0.136,0.063,2863,1748,1828
$GC,9182,0.97,218.8,203.4,6.5,558,9205,0.10,2.38,16.42,1.010,4,0.087,0.077,2907,3160,1757
$GC,9222,0.82,218.8,200.0,9.1,559,9229,0.22,2.30,0.00,0.000,6,0.137,0.059,2852,1738,1756
$GC,9540,1.01,274.5,181.4,5.2,575,9593,0.15,0.00,50.10,1.020,6,0.073,0.000,2917,1738,1530
$GC,9888,0.95,274.5,153.2,8.1,592,9890,0.12,0.00,0.00,0.000,6,0.139,0.000,2882,1738,1521
$GC,10198,1.05,289.0,133.8,6.6,607,10217,0.10,0.00,12.18,0.937,6,0.086,0.000,2925,1738,1471
$GC,10526,0.97,289.0,99.6,11.3,623,10533,0.15,2.38,0.00,0.000,4,0.135,0.078,2882,3151,1468
$GC,10546,0.92,289.0,97.6,11.1,626,10553,0.00,2.30,0.00,0.000,6,0.000,0.061,2889,1729,1467
$GC,10891,1.01,289.0,66.6,7.6,687,10896,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1729,1466
$GC,11235,1.16,289.0,36.6,8.9,748,11241,0.15,2.33,0.00,0.000,4,0.075,0.077,2962,320,1465
$GC,11265,1.16,289.0,33.3,10.2,753,11272,0.12,2.35,0.00,0.000,6,0.148,0.065,2929,1747,1465
$FREEZE,6.64,-1.746,-1.779
$FREEZE,6.13,-1.748,-1.779
$FREEZE,5.64,-1.750,-1.778
$FREEZE,5.19,-1.750,-1.778
$FREEZE,4.64,-1.750,-1.778
$FREEZE,4.23,-1.748,-1.777
$FREEZE,3.63,-1.745,-1.777
$FREEZE,3.17,-1.750,-1.776
$FREEZE,2.59,-1.753,-1.776
$STATE,11602,end climb,SURFACE_DEPTH_REACHED
$STATE,11605,begin surface coast
$FREEZE,2.12,-1.755,-1.776
$FREEZE,1.87,-1.769,-1.776
$FREEZE,1.74,-2.091,-0.925
$FREEZE,1.68,-2.001,-1.789
$FREEZE,1.69,-1.849,-1.775
$FREEZE,1.75,-1.911,-1.777
$FINISH,1.8,1.026100
$STATE,11638,end surface coast,CONTROL_FINISHED_OK
$STATE,11638,begin surface
$SM_CCo,11728,0.00,0.000,0,0,1461,291.42
$SM_GC,2.47,7.10,0.00,0.00,0.061,0.000,0.000,333,2235,1461,-10.70,0.14,291.42
$RAFOS_CLK,552
$RAFOS,4,1227444250,12.750000,12.736111,62,62,55,53,52,51,191,212,221,151,141,1316
$RAFOS,3,1227443648,12.583333,12.568889,62,57,54,52,51,51,208,183,196,150,116,135
$RAFOS,2,1227443043,12.416667,12.400833,58,58,56,53,52,52,120,205,224,176,163,134
$RAFOS,1,1227442445,12.250000,12.234722,63,61,60,56,54,51,209,159,232,1083,191,842
$RAFOS,0,1227441844,12.083333,12.067778,55,52,49,47,47,47,210,139,114,188,198,176
$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,1816
$INTERNAL_PRESSURE,9.81483
$TCM_TEMP,14.90
$XPDR_PINGS,49
$24V_AH,22.0,60.753
$10V_AH,10.5,27.688
$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,13.425,97.200,382.600,0.000,0.000,0.000,0.000,0.000,12.250,0.000,0.000,0.000,1496.560,8113.956,454.418,1550.568,173.551,33.367,1274.525,0.000,1538.522,1440.000,0.529,0.000
$DEVICE_MAMPS,153.400,102.011,1168.141,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,575.121,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25297,819
$CAP_FILE_SIZE,101206,0
$CFSIZE,260165632,227856384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.0
$GPS,231108,152444,6613.524,-6022.065,29,1.7,36,-37.3