version: 66.04
glider: 108
mission: 11
dive: 356
start: 11 23 108 22 2 3
data:
$ID,108
$MISSION,11
$DIVE,356
$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,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
$GPS1,154059,6613.136,-6022.036,8,3.3,27,-37.3
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,3.70
$_SM_ANGLEo,-5.6
$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,0.190,0.136
$KALMAN_X,210582.2,-11869.8,-10687.8,-307681.8,46543.1
$KALMAN_Y,-277798.8,7136.0,-8409.0,203447.3,14478.9
$MHEAD_RNG_PITCHd_Wd,91.7,180052,-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,17,-0.99,-146.0,0.0,0.0,0,73,0.00,0.00,-53.28,0.000,6,0.000,0.000,2696,3152,3246
$GC,77,-0.99,-146.0,1.6,-0.0,10,83,0.65,0.73,0.00,0.000,4,0.073,0.086,2454,3601,3248
$GC,163,-0.81,-146.0,13.0,-15.3,25,170,0.17,2.22,0.00,0.000,6,0.146,0.059,2504,2213,3250
$GC,508,-0.73,-146.0,41.3,-13.6,86,515,0.00,2.25,0.00,0.000,4,0.000,0.069,2514,807,3251
$GC,578,-0.73,-146.0,48.3,-9.2,98,584,0.00,2.38,0.00,0.000,6,0.000,0.071,2506,2239,3250
$GC,922,-0.67,-146.0,77.5,-6.4,159,928,0.12,0.00,0.00,0.000,6,0.158,0.000,2539,2239,3251
$GC,1266,-0.80,-146.0,98.6,-5.2,220,1273,0.12,2.35,0.00,0.000,4,0.085,0.068,2488,808,3250
$GC,1347,-0.69,-146.0,104.5,-8.0,226,1352,0.20,2.38,0.00,0.000,6,0.143,0.071,2533,2245,3250
$GC,1663,-0.80,-146.0,123.9,-6.1,241,1665,0.12,0.00,0.00,0.000,6,0.088,0.000,2483,2245,3251
$GC,1973,-0.74,-146.0,149.1,-9.4,256,1978,0.15,2.25,0.00,0.000,4,0.153,0.084,2515,3610,3250
$GC,2006,-0.83,-146.0,152.2,-9.4,257,2012,0.00,2.20,0.00,0.000,6,0.000,0.057,2515,2223,3250
$GC,2322,-0.88,-146.0,176.5,-6.6,273,2324,0.10,0.00,0.00,0.000,6,0.097,0.000,2471,2223,3250
$GC,2633,-0.79,-146.0,200.1,-7.4,288,2635,0.15,0.00,0.00,0.000,6,0.154,0.000,2511,2223,3250
$GC,2941,-0.85,-146.0,221.3,-7.2,303,2942,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2223,3250
$GC,3250,-0.92,-146.0,244.9,-7.0,318,3255,0.12,2.28,0.00,0.000,4,0.094,0.069,2461,807,3250
$GC,3387,-0.76,-146.0,258.1,-11.2,324,3392,0.22,2.38,0.00,0.000,6,0.140,0.071,2516,2243,3250
$GC,3710,-0.85,-146.0,280.0,-5.9,340,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2243,3250
$GC,4018,-0.96,-146.0,296.0,-5.0,355,4023,0.15,2.35,0.00,0.000,4,0.087,0.069,2457,813,3250
$GC,4045,-0.85,-146.0,298.2,-8.5,356,4050,0.17,2.35,0.00,0.000,6,0.144,0.071,2495,2233,3250
$GC,4363,-0.85,-146.0,320.8,-6.7,371,4367,0.00,2.25,0.00,0.000,4,0.000,0.084,2486,3604,3250
$GC,4418,-0.85,-146.0,325.4,-7.9,373,4422,0.00,2.20,0.00,0.000,6,0.000,0.057,2486,2213,3250
$GC,4740,-0.85,-146.0,350.9,-8.8,389,4744,0.00,2.35,0.00,0.000,4,0.000,0.096,2477,3603,3250
$GC,4779,-0.85,-146.0,355.1,-11.3,391,4783,0.00,2.20,0.00,0.000,6,0.000,0.057,2477,2216,3250
$GC,5114,-0.85,-146.0,386.5,-6.2,407,5118,0.00,2.25,0.00,0.000,4,0.000,0.069,2477,813,3250
$GC,5170,-0.79,-146.0,389.7,-5.4,409,5175,0.15,2.35,0.00,0.000,6,0.137,0.070,2508,2234,3250
$GC,5506,-0.93,-146.0,406.9,-5.1,422,5508,0.12,0.00,0.00,0.000,6,0.088,0.000,2458,2234,3250
$STATE,5583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5583,begin apogee
$GC,5590,-0.31,0.0,411.2,4.8,424,5717,0.50,0.00,124.00,1.163,6,0.133,0.000,2614,1744,2650
$STATE,5718,end apogee,CONTROL_FINISHED_OK
$STATE,5718,begin climb
$GC,5720,0.99,146.0,413.2,0.0,427,5855,0.88,0.00,129.88,1.078,6,0.100,0.000,2892,1743,2054
$GC,6153,0.83,146.0,374.9,9.9,444,6158,0.12,2.47,0.00,0.000,4,0.134,0.073,2869,319,2047
$GC,6215,0.84,150.1,370.3,6.9,447,6224,0.00,2.45,3.55,0.630,6,0.000,0.063,2869,1741,2038
$GC,6548,0.77,150.1,341.1,9.7,463,6552,0.00,2.35,0.00,0.000,4,0.000,0.075,2869,3161,2038
$GC,6610,0.58,150.1,334.6,10.8,466,6615,0.25,2.33,0.00,0.000,6,0.132,0.059,2807,1732,2037
$GC,6943,1.00,202.4,315.9,5.3,482,6994,0.25,2.45,45.70,1.085,4,0.070,0.076,2912,3152,1824
$GC,7164,0.74,202.4,295.7,10.6,492,7169,0.30,2.33,0.00,0.000,6,0.135,0.058,2835,1727,1818
$GC,7497,0.98,269.4,279.9,4.9,508,7562,0.20,2.47,59.05,1.060,4,0.066,0.073,2918,3158,1550
$GC,7584,0.82,269.4,271.6,11.0,512,7589,0.25,2.38,0.00,0.000,6,0.132,0.058,2858,1734,1548
$GC,7902,0.98,269.4,247.8,7.8,527,7907,0.12,2.35,0.00,0.000,4,0.076,0.073,2923,318,1540
$GC,7942,0.93,269.4,243.5,11.3,529,7947,0.17,2.38,0.00,0.000,6,0.135,0.063,2873,1750,1540
$GC,8269,1.03,269.4,217.9,7.0,545,8273,0.12,2.33,0.00,0.000,4,0.079,0.077,2927,3162,1538
$GC,8302,0.82,269.4,214.9,10.8,546,8309,0.28,2.30,0.00,0.000,6,0.139,0.060,2857,1738,1537
$GC,8618,1.06,314.5,196.9,5.6,562,8665,0.17,2.45,38.42,1.031,4,0.071,0.074,2942,318,1367
$GC,8694,1.00,314.5,189.8,11.2,565,8699,0.17,2.40,0.00,0.000,6,0.137,0.064,2894,1744,1365
$GC,9009,1.06,314.5,164.3,8.1,580,9013,0.00,2.35,0.00,0.000,4,0.000,0.079,2894,3165,1359
$GC,9060,1.01,314.5,159.2,10.6,582,9064,0.00,2.33,0.00,0.000,6,0.000,0.059,2901,1729,1358
$GC,9387,1.01,314.5,127.9,9.2,598,9391,0.00,2.33,0.00,0.000,4,0.000,0.087,2911,324,1357
$GC,9415,1.06,314.5,125.0,9.9,599,9419,0.00,2.35,0.00,0.000,6,0.000,0.064,2912,1750,1357
$GC,9736,1.06,314.5,93.0,10.1,623,9742,0.00,2.33,0.00,0.000,4,0.000,0.081,2911,3160,1355
$GC,9850,0.96,314.5,80.3,11.2,643,9857,0.12,2.30,0.00,0.000,6,0.141,0.061,2886,1732,1354
$GC,10196,1.18,355.1,59.6,5.7,704,10238,0.17,2.35,34.42,0.959,4,0.071,0.075,2969,329,1201
$GC,10262,1.09,355.1,52.5,11.6,715,10269,0.20,2.38,0.00,0.000,6,0.137,0.066,2913,1743,1200
$GC,10608,1.15,355.1,23.7,13.5,776,10614,0.00,2.33,0.00,0.000,4,0.000,0.081,2913,3154,1195
$GC,10644,1.21,355.1,19.0,13.8,782,10651,0.08,2.30,0.00,0.000,6,0.098,0.060,2958,1731,1193
$FREEZE,6.60,-1.766,-1.787
$STATE,10763,end climb,FINISH_DEPTH_REACHED
$STATE,10763,begin subsurface finish
$FINISH1,6.6,1.026186,72
$GC,10772,0.09,71.9,6.6,-12.0,803,10820,0.80,2.33,-39.22,0.000,4,0.116,0.084,2696,323,2361
$FINISH2,5.8
$STATE,10821,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10821,begin surface
$RAFOS_CLK,510
$RAFOS,4,1227487445,0.750000,0.734722,68,67,60,57,52,51,193,163,204,137,112,214
$RAFOS,3,1227486859,0.583333,0.571944,67,59,58,57,50,50,214,145,179,121,132,156
$RAFOS,2,1227486256,0.416667,0.404444,59,58,57,56,54,51,139,120,184,154,217,205
$RAFOS,1,1227485645,0.250000,0.234722,58,58,58,56,51,51,147,195,212,130,161,171
$RAFOS,0,1227485051,0.083333,0.069722,67,64,55,54,54,51,732,197,215,149,139,174
$RAFOS_FIX,81944.054688,-2374344.750000,231108,202050,3,100,27164.20
$IRIDIUM_FIX,6548.42,-6024.58,170298,151529
$TT8_MAMPS,0.026078
$HUMID,1805
$INTERNAL_PRESSURE,9.88319
$TCM_TEMP,14.90
$XPDR_PINGS,55
$24V_AH,22.1,61.156
$10V_AH,10.5,27.844
$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,7.925,99.575,435.025,0.000,0.000,0.000,0.000,0.000,13.750,0.000,0.000,0.000,1416.763,7305.333,522.082,1459.759,169.876,33.324,1323.002,0.000,1448.088,1800.000,0.529,0.000
$DEVICE_MAMPS,158.002,95.875,1162.772,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,567.988,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25282,811
$CAP_FILE_SIZE,97102,0
$CFSIZE,260165632,227717120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1442.5
$GPS,231108,154059,6613.136,-6022.036,8,3.3,27,-37.3