version: 66.04
glider: 108
mission: 11
dive: 357
start: 11 24 108 1 4 44
data:
$ID,108
$MISSION,11
$DIVE,357
$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,25
$R_STBD_OVSHOOT,18
$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,6.17
$_SM_ANGLEo,-5.3
$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,0.199,0.123
$KALMAN_X,181129.6,-348.1,9019.8,-309544.7,-31323.5
$KALMAN_Y,-291185.1,16538.9,-4829.3,203678.4,-22835.0
$MHEAD_RNG_PITCHd_Wd,95.6,180052,-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,12,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,-5.53,0.000,2,0.000,0.000,2696,323,2487
$GC,27,-0.99,-146.0,3.1,-0.0,1,68,0.65,0.85,-32.85,0.000,4,0.086,0.103,2459,821,3249
$GC,232,-0.76,-146.0,25.8,-14.2,37,239,0.22,2.33,0.00,0.000,6,0.145,0.073,2511,2246,3253
$GC,577,-0.76,-146.0,53.2,-8.3,98,583,0.00,2.35,0.00,0.000,4,0.000,0.069,2514,811,3254
$GC,607,-0.76,-146.0,55.1,-7.0,103,613,0.00,2.35,0.00,0.000,6,0.000,0.070,2506,2235,3254
$GC,951,-0.76,-146.0,80.4,-7.5,164,957,0.00,2.25,0.00,0.000,4,0.000,0.084,2495,3604,3253
$GC,1021,-0.72,-146.0,85.6,-7.6,176,1028,0.12,2.20,0.00,0.000,6,0.156,0.057,2529,2217,3253
$GC,1369,-0.80,-146.0,105.9,-5.6,224,1374,0.10,2.25,0.00,0.000,4,0.096,0.070,2488,813,3253
$GC,1425,-0.69,-146.0,110.4,-8.5,226,1429,0.17,2.35,0.00,0.000,6,0.145,0.071,2527,2235,3253
$GC,1741,-0.79,-146.0,133.2,-7.8,241,1745,0.00,2.22,0.00,0.000,4,0.000,0.084,2519,3595,3253
$GC,1814,-0.88,-146.0,138.9,-7.2,244,1818,0.12,2.17,0.00,0.000,6,0.089,0.057,2465,2224,3253
$GC,2140,-0.76,-146.0,169.4,-10.4,260,2145,0.17,2.28,0.00,0.000,4,0.144,0.071,2524,814,3253
$GC,2197,-0.83,-146.0,174.6,-9.0,262,2200,0.00,2.35,0.00,0.000,6,0.000,0.070,2517,2237,3253
$GC,2518,-0.89,-146.0,201.3,-7.6,278,2520,0.12,0.00,0.00,0.000,6,0.086,0.000,2462,2237,3253
$GC,2827,-0.78,-146.0,230.5,-9.3,293,2829,0.17,0.00,0.00,0.000,6,0.153,0.000,2511,2237,3253
$GC,3139,-0.84,-146.0,252.3,-7.3,308,3143,0.00,2.25,0.00,0.000,4,0.000,0.085,2503,3605,3253
$GC,3174,-0.91,-146.0,255.1,-7.9,309,3178,0.00,2.20,0.00,0.000,6,0.000,0.058,2502,2218,3253
$GC,3495,-0.91,-146.0,276.9,-6.2,325,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2217,3253
$GC,3807,-0.96,-146.0,294.4,-5.3,340,3811,0.12,2.33,0.00,0.000,4,0.090,0.082,2440,3597,3253
$GC,3920,-0.80,-146.0,303.5,-8.1,345,3924,0.22,2.17,0.00,0.000,6,0.150,0.057,2504,2225,3252
$GC,4253,-0.88,-146.0,322.1,-5.8,361,4257,0.00,2.28,0.00,0.000,4,0.000,0.072,2507,813,3253
$GC,4270,-0.93,-146.0,323.3,-6.2,361,4276,0.00,2.35,0.00,0.000,6,0.000,0.070,2499,2236,3253
$GC,4587,-0.98,-146.0,342.3,-5.6,377,4589,0.12,0.00,0.00,0.000,6,0.087,0.000,2446,2236,3253
$GC,4898,-0.85,-146.0,363.4,-6.9,392,4902,0.20,2.35,0.00,0.000,4,0.151,0.070,2510,813,3253
$GC,4942,-0.92,-146.0,366.1,-5.1,394,4947,0.08,2.35,0.00,0.000,6,0.100,0.071,2466,2234,3253
$GC,5270,-0.86,-146.0,385.3,-5.9,410,5275,0.10,2.33,0.00,0.000,4,0.151,0.068,2495,820,3253
$GC,5314,-0.86,-146.0,387.8,-4.9,412,5318,0.00,2.35,0.00,0.000,6,0.000,0.071,2487,2240,3253
$GC,5640,-0.86,-146.0,406.3,-7.4,426,5644,0.00,2.33,0.00,0.000,4,0.000,0.070,2487,820,3252
$STATE,5715,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5715,begin apogee
$GC,5723,-0.31,0.0,411.2,6.2,427,5855,0.40,0.00,124.62,1.170,6,0.127,0.000,2610,1751,2649
$STATE,5856,end apogee,CONTROL_FINISHED_OK
$STATE,5856,begin climb
$GC,5858,0.99,146.0,413.6,0.0,431,5996,0.90,2.65,129.90,1.078,4,0.103,0.077,2895,3145,2053
$GC,6022,0.66,146.0,401.1,9.5,434,6029,0.32,2.53,0.00,0.000,6,0.140,0.058,2820,1738,2049
$GC,6339,0.77,174.7,380.3,6.1,449,6369,0.10,2.50,25.05,1.045,4,0.084,0.073,2872,317,1937
$GC,6404,0.77,174.7,374.7,9.7,452,6409,0.12,2.47,0.00,0.000,6,0.128,0.061,2840,1740,1936
$GC,6732,0.87,200.8,351.6,6.2,468,6762,0.12,2.42,23.33,1.051,4,0.079,0.074,2890,3152,1831
$GC,6830,0.64,200.8,341.8,10.9,472,6835,0.30,2.35,0.00,0.000,6,0.133,0.057,2815,1729,1828
$GC,7147,1.06,205.7,321.6,6.9,487,7158,0.28,2.40,5.15,0.815,4,0.076,0.073,2921,3166,1811
$GC,7345,0.76,205.7,299.1,12.1,496,7350,0.30,2.33,0.00,0.000,6,0.138,0.058,2843,1727,1811
$GC,7673,0.86,205.7,274.9,7.3,512,7675,0.10,0.00,0.00,0.000,6,0.083,0.000,2891,1726,1811
$GC,7981,0.80,205.7,243.7,10.6,527,7986,0.15,2.38,0.00,0.000,4,0.128,0.075,2847,3157,1810
$GC,8043,0.80,205.7,237.9,9.1,530,8047,0.00,2.28,0.00,0.000,6,0.000,0.058,2855,1729,1810
$GC,8375,0.91,222.0,214.1,6.5,546,8396,0.08,0.00,15.80,1.007,6,0.104,0.000,2895,1729,1744
$GC,8705,0.91,222.0,188.3,8.0,562,8706,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1729,1741
$GC,9013,0.91,222.0,164.1,8.2,577,9017,0.00,2.30,0.00,0.000,4,0.000,0.075,2903,327,1740
$GC,9036,0.91,222.0,162.1,8.5,578,9041,0.10,2.35,0.00,0.000,6,0.141,0.064,2876,1753,1741
$GC,9365,0.98,222.0,138.0,7.3,594,9369,0.00,2.30,0.00,0.000,4,0.000,0.079,2876,3160,1740
$GC,9415,0.93,222.0,133.5,9.2,596,9419,0.00,2.30,0.00,0.000,6,0.000,0.060,2884,1728,1739
$GC,9743,0.93,222.0,108.9,7.8,612,9747,0.00,2.30,0.00,0.000,4,0.000,0.075,2893,325,1738
$GC,9771,0.98,222.0,106.5,7.9,613,9776,0.00,2.33,0.00,0.000,6,0.000,0.064,2893,1749,1739
$GC,10107,0.98,222.0,82.7,8.4,660,10113,0.00,2.30,0.00,0.000,4,0.000,0.079,2893,3158,1738
$GC,10199,0.89,222.0,73.3,9.8,676,10206,0.12,2.30,0.00,0.000,6,0.141,0.061,2868,1725,1738
$GC,10545,1.02,222.0,52.9,7.3,737,10551,0.12,0.00,0.00,0.000,6,0.084,0.000,2925,1724,1738
$GC,10889,0.92,222.0,19.4,9.1,798,10896,0.17,2.30,0.00,0.000,4,0.138,0.074,2882,323,1738
$GC,10982,1.08,222.0,13.5,9.2,814,10989,0.12,2.35,0.00,0.000,6,0.080,0.065,2939,1751,1738
$FREEZE,6.91,-1.781,-1.794
$STATE,11033,end climb,FINISH_DEPTH_REACHED
$STATE,11033,begin subsurface finish
$FINISH1,6.9,1.026288,67
$GC,11041,0.08,66.9,6.9,-12.6,823,11070,0.75,0.00,-22.27,0.000,6,0.130,0.000,2699,1751,2380
$FINISH2,4.6
$STATE,11071,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11071,begin surface
$RAFOS_CLK,526
$RAFOS_FIX,81944.054688,-2374344.750000,231108,202050,3,100,27164.20
$IRIDIUM_FIX,6548.42,-6024.58,170298,151529
$TT8_MAMPS,0.029146
$HUMID,1825
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,14.90
$XPDR_PINGS,32
$24V_AH,22.0,61.258
$10V_AH,10.5,27.891
$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,7.300,100.225,323.850,0.000,0.000,0.000,0.000,0.000,8.000,0.000,0.000,0.000,1490.386,7540.624,405.306,1503.899,184.004,33.065,1217.117,0.000,1497.471,360.000,0.529,0.000
$DEVICE_MAMPS,156.468,102.778,1169.675,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,581.251,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28450,828
$CAP_FILE_SIZE,97551,0
$CFSIZE,260165632,227663872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.1
$GPS,231108,154059,6613.136,-6022.036,8,3.3,27,-37.3