version: 66.04
glider: 108
mission: 11
dive: 354
start: 11 23 108 15 41 53
data:
$ID,108
$MISSION,11
$DIVE,354
$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,-119219.47
$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
$GPS1,152444,6613.524,-6022.065,29,1.7,36,-37.3
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-34.2
$GPS2,154059,6613.136,-6022.036,8,3.3,27,-37.3
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.218,0.083
$KALMAN_X,216123.2,-30808.9,-33889.4,-270413.8,100975.4
$KALMAN_Y,-272749.2,-28538.7,-4745.4,230747.1,71318.7
$MHEAD_RNG_PITCHd_Wd,106.4,180052,-13.0,-7.021
$D_GRID,411
$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,-146.0,0.0,0.0,0,113,0.00,0.00,-92.43,0.000,6,0.000,0.000,333,2238,3247
$GC,117,-0.99,-146.0,2.5,0.2,17,130,7.57,2.35,0.00,0.000,4,0.186,0.064,2466,814,3250
$GC,384,-0.40,-146.0,33.2,-14.2,64,391,0.47,2.38,0.00,0.000,6,0.163,0.072,2591,2234,3253
$GC,729,-0.46,-146.0,63.7,-7.9,125,736,0.00,2.35,0.00,0.000,4,0.000,0.071,2592,810,3253
$GC,765,-0.51,-146.0,66.7,-8.4,131,771,0.00,2.38,0.00,0.000,6,0.000,0.071,2584,2239,3253
$GC,1110,-0.62,-146.0,91.6,-5.9,192,1116,0.15,2.25,0.00,0.000,4,0.076,0.084,2511,3602,3253
$GC,1146,-0.56,-146.0,94.6,-7.8,198,1153,0.17,2.20,0.00,0.000,6,0.156,0.058,2562,2223,3253
$GC,1491,-0.67,-146.0,113.4,-5.5,226,1495,0.12,2.28,0.00,0.000,4,0.084,0.070,2511,812,3253
$GC,1535,-0.54,-146.0,117.1,-8.0,228,1540,0.22,2.38,0.00,0.000,6,0.145,0.071,2565,2245,3253
$GC,1858,-0.67,-146.0,138.4,-7.2,244,1863,0.12,2.35,0.00,0.000,4,0.082,0.069,2515,819,3253
$GC,1903,-0.56,-146.0,142.7,-9.8,246,1907,0.20,2.35,0.00,0.000,6,0.143,0.072,2561,2235,3253
$GC,2226,-0.71,-146.0,164.6,-5.5,262,2228,0.12,0.00,0.00,0.000,6,0.081,0.000,2509,2235,3253
$GC,2535,-0.71,-146.0,181.5,-4.9,277,2536,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2235,3253
$GC,2842,-0.71,-146.0,199.3,-6.6,292,2846,0.00,2.25,0.00,0.000,4,0.000,0.086,2499,3601,3252
$GC,2869,-0.71,-146.0,201.4,-7.7,293,2874,0.10,2.20,0.00,0.000,6,0.155,0.057,2523,2216,3252
$GC,3193,-0.77,-146.0,223.6,-7.2,309,3194,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2216,3253
$GC,3500,-0.83,-146.0,243.2,-6.3,324,3505,0.10,2.33,0.00,0.000,4,0.098,0.083,2473,3600,3253
$GC,3573,-0.73,-146.0,249.4,-9.6,327,3577,0.17,2.17,0.00,0.000,6,0.153,0.057,2521,2229,3252
$GC,3896,-0.81,-146.0,268.2,-5.0,343,3900,0.00,2.28,0.00,0.000,4,0.000,0.070,2524,814,3252
$GC,3913,-0.86,-146.0,269.3,-5.1,343,3920,0.10,2.35,0.00,0.000,6,0.089,0.071,2475,2235,3252
$GC,4229,-0.78,-146.0,293.4,-8.3,359,4234,0.15,2.25,0.00,0.000,4,0.152,0.083,2507,3602,3252
$GC,4307,-0.85,-146.0,300.1,-8.7,362,4314,0.00,2.17,0.00,0.000,6,0.000,0.057,2508,2229,3253
$GC,4623,-0.85,-146.0,326.7,-8.3,378,4627,0.00,2.30,0.00,0.000,4,0.000,0.084,2498,3598,3253
$GC,4685,-0.85,-146.0,331.8,-8.0,380,4691,0.00,2.17,0.00,0.000,6,0.000,0.057,2497,2226,3253
$GC,5001,-0.85,-146.0,350.0,-4.7,396,5002,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2225,3252
$GC,5310,-0.85,-146.0,364.5,-4.6,411,5312,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2226,3253
$GC,5619,-0.90,-146.0,378.9,-4.3,426,5621,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2226,3253
$GC,5930,-0.90,-146.0,396.7,-5.8,441,5934,0.00,2.25,0.00,0.000,4,0.000,0.070,2498,823,3252
$GC,6099,-0.90,-146.0,404.6,-5.2,446,6103,0.00,2.35,0.00,0.000,6,0.000,0.071,2488,2239,3252
$STATE,6224,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6224,begin apogee
$GC,6232,-0.31,0.0,413.0,6.5,449,6359,0.40,0.00,124.40,1.166,6,0.123,0.000,2614,1732,2650
$STATE,6360,end apogee,CONTROL_FINISHED_OK
$STATE,6360,begin climb
$GC,6363,0.99,146.0,415.9,0.0,452,6501,0.88,2.65,129.57,1.079,4,0.097,0.072,2905,334,2054
$GC,6577,0.76,146.0,400.5,10.4,457,6582,0.25,2.53,0.00,0.000,6,0.132,0.062,2839,1741,2050
$GC,6906,0.76,146.0,372.1,8.8,472,6908,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1741,2046
$GC,7216,0.83,169.0,349.6,6.3,487,7241,0.10,2.40,19.23,1.045,4,0.088,0.076,2881,3152,1961
$GC,7327,0.64,169.0,340.6,8.4,492,7332,0.25,2.33,0.00,0.000,6,0.133,0.057,2819,1727,1959
$GC,7654,0.90,252.0,325.4,4.3,508,7733,0.17,2.50,72.62,1.065,4,0.067,0.073,2892,3156,1622
$GC,7775,0.73,252.0,315.4,10.6,512,7783,0.25,2.38,0.00,0.000,6,0.128,0.055,2832,1733,1617
$GC,8091,1.36,252.0,288.9,9.2,528,8096,0.43,2.40,0.00,0.000,4,0.084,0.074,2981,3158,1609
$GC,8136,1.01,252.0,284.0,11.9,530,8141,0.35,2.33,0.00,0.000,6,0.160,0.058,2895,1728,1609
$GC,8458,1.01,252.2,258.8,7.0,546,8461,0.00,2.30,0.00,0.000,4,0.000,0.072,2904,330,1608
$GC,8508,1.01,252.2,254.9,7.8,548,8512,0.00,2.33,0.00,0.000,6,0.000,0.061,2904,1748,1608
$GC,8836,1.01,252.2,228.1,8.7,564,8840,0.00,2.30,0.00,0.000,4,0.000,0.077,2904,3158,1608
$GC,8905,0.83,252.2,220.9,11.4,567,8910,0.20,2.28,0.00,0.000,6,0.133,0.058,2855,1735,1606
$GC,9232,1.25,252.2,196.2,7.9,583,9236,0.28,2.30,0.00,0.000,4,0.075,0.073,2965,335,1605
$GC,9350,1.06,252.2,183.7,11.9,588,9354,0.20,2.33,0.00,0.000,6,0.143,0.064,2908,1748,1605
$GC,9670,1.06,252.2,157.0,8.1,604,9674,0.00,2.30,0.00,0.000,4,0.000,0.078,2908,3157,1605
$GC,9732,0.90,252.2,151.1,9.9,606,9739,0.17,2.28,0.00,0.000,6,0.134,0.060,2865,1735,1604
$GC,10048,1.05,252.2,129.9,7.1,622,10053,0.15,2.30,0.00,0.000,4,0.073,0.074,2941,332,1604
$GC,10088,0.94,252.2,125.9,10.8,624,10093,0.20,2.33,0.00,0.000,6,0.133,0.064,2883,1752,1604
$GC,10406,1.05,252.2,98.2,8.3,641,10413,0.10,2.30,0.00,0.000,4,0.084,0.078,2930,3159,1604
$GC,10454,0.90,252.2,93.4,10.6,649,10461,0.22,2.28,0.00,0.000,6,0.137,0.061,2874,1740,1604
$GC,10799,1.29,252.2,71.8,8.9,710,10807,0.22,2.35,0.00,0.000,4,0.073,0.077,2968,3162,1603
$GC,10842,1.19,252.2,67.9,9.3,717,10849,0.17,2.30,0.00,0.000,6,0.156,0.061,2931,1730,1603
$GC,11187,1.19,252.2,40.7,8.0,778,11193,0.00,2.30,0.00,0.000,4,0.000,0.074,2940,327,1603
$GC,11318,1.19,252.2,29.5,10.2,801,11324,0.00,2.35,0.00,0.000,6,0.000,0.066,2940,1753,1603
$FREEZE,6.90,-1.769,-1.781
$STATE,11570,end climb,FINISH_DEPTH_REACHED
$STATE,11570,begin subsurface finish
$FINISH1,6.9,1.026098,76
$GC,11578,0.09,76.2,6.9,-11.4,846,11609,0.75,2.47,-24.27,0.000,4,0.131,0.091,2701,332,2344
$FINISH2,5.4
$STATE,11610,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11610,begin surface
$RAFOS_CLK,527
$RAFOS,4,1227458659,16.750000,16.738611,71,65,60,59,55,51,193,142,118,218,108,658
$RAFOS,3,1227458059,16.583334,16.571945,63,59,53,53,51,48,204,188,149,230,160,113
$RAFOS,2,1227457443,16.416666,16.400833,58,56,56,55,50,48,188,154,206,171,221,131
$RAFOS,1,1227456845,16.250000,16.234722,61,60,59,54,51,49,177,214,200,144,562,115
$RAFOS,0,1227456252,16.083334,16.070000,123,66,63,58,50,48,711,153,179,211,233,77
$RAFOS_FIX,12939.953125,381537.750000,231108,161636,2,97,102846.13
$IRIDIUM_FIX,6548.42,-6024.58,170298,151529
$TT8_MAMPS,0.026845
$HUMID,1832
$INTERNAL_PRESSURE,9.88319
$TCM_TEMP,14.80
$XPDR_PINGS,92
$24V_AH,22.1,60.902
$10V_AH,10.5,27.751
$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,15.550,110.025,345.825,0.000,0.000,45.560,80.292,524.861,23.000,0.000,0.000,29.405,1533.332,7995.236,473.164,1587.870,1023.469,33.352,1325.708,0.000,1551.389,1800.000,0.531,0.000
$DEVICE_MAMPS,185.614,90.506,1165.840,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,596.242,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28376,851
$CAP_FILE_SIZE,118847,0
$CFSIZE,260165632,227803136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.0
$GPS,231108,154059,6613.136,-6022.036,8,3.3,27,-37.3