version: 66.04
glider: 108
mission: 11
dive: 358
start: 11 24 108 4 11 32
data:
$ID,108
$MISSION,11
$DIVE,358
$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
$GPS1,154059,6613.136,-6022.036,8,3.3,27,-37.3
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,5.52
$_SM_ANGLEo,-6.0
$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,0.174,-0.155
$KALMAN_X,179949.1,1993.2,1993.2,-304335.2,-18013.9
$KALMAN_Y,-286326.1,1483.9,1483.9,207260.9,-7672.7
$MHEAD_RNG_PITCHd_Wd,169.0,180052,-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,-146.0,0.0,0.0,0,25,0.00,0.00,-6.12,0.000,2,0.000,0.000,2699,1751,2558
$GC,29,-0.99,-146.0,5.2,-0.0,1,59,0.65,1.65,-24.08,0.000,4,0.070,0.102,2452,813,3249
$GC,257,-0.75,-146.0,25.1,-10.5,41,263,0.28,2.35,0.00,0.000,6,0.157,0.071,2517,2235,3254
$GC,601,-0.75,-146.0,55.5,-7.7,102,608,0.00,2.33,0.00,0.000,4,0.000,0.069,2519,811,3255
$GC,670,-0.75,-146.0,61.0,-7.3,114,677,0.00,2.35,0.00,0.000,6,0.000,0.071,2511,2234,3255
$GC,1014,-0.75,-146.0,86.5,-5.9,175,1020,0.00,2.33,0.00,0.000,4,0.000,0.070,2510,816,3254
$GC,1038,-0.75,-146.0,88.2,-6.9,179,1045,0.00,2.35,0.00,0.000,6,0.000,0.071,2502,2238,3254
$GC,1373,-0.75,-146.0,108.0,-5.5,219,1377,0.00,2.22,0.00,0.000,4,0.000,0.084,2492,3594,3254
$GC,1401,-0.75,-146.0,109.8,-6.2,220,1406,0.10,2.17,0.00,0.000,6,0.156,0.057,2516,2217,3254
$GC,1728,-0.82,-146.0,133.7,-8.2,236,1731,0.00,2.25,0.00,0.000,4,0.000,0.071,2516,816,3254
$GC,1741,-0.87,-146.0,134.7,-8.0,236,1745,0.00,2.35,0.00,0.000,6,0.000,0.070,2508,2238,3254
$GC,2062,-0.87,-146.0,160.2,-7.4,252,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2238,3254
$GC,2372,-0.92,-146.0,181.0,-6.8,267,2377,0.10,2.35,0.00,0.000,4,0.092,0.070,2464,811,3254
$GC,2383,-0.92,-146.0,181.9,-6.9,267,2390,0.10,2.35,0.00,0.000,6,0.153,0.071,2478,2231,3254
$GC,2699,-0.87,-146.0,208.0,-8.5,283,2704,0.00,2.33,0.00,0.000,4,0.000,0.070,2478,811,3254
$GC,2710,-0.81,-146.0,209.0,-8.5,283,2715,0.12,2.35,0.00,0.000,6,0.146,0.070,2503,2233,3254
$GC,3028,-0.81,-146.0,233.8,-7.2,298,3032,0.00,2.33,0.00,0.000,4,0.000,0.070,2503,816,3253
$GC,3039,-0.81,-146.0,234.7,-6.9,298,3043,0.00,2.35,0.00,0.000,6,0.000,0.070,2495,2237,3253
$GC,3360,-0.81,-146.0,256.7,-6.8,314,3364,0.00,2.25,0.00,0.000,4,0.000,0.084,2485,3604,3254
$GC,3421,-0.81,-146.0,261.3,-7.4,316,3428,0.00,2.20,0.00,0.000,6,0.000,0.057,2485,2216,3254
$GC,3737,-0.81,-146.0,284.9,-6.9,332,3741,0.00,2.33,0.00,0.000,4,0.000,0.083,2475,3601,3253
$GC,3843,-0.81,-146.0,292.2,-6.3,336,3850,0.12,2.20,0.00,0.000,6,0.150,0.057,2508,2213,3253
$GC,4160,-0.90,-146.0,306.6,-4.4,352,4165,0.10,2.22,0.00,0.000,4,0.098,0.068,2465,821,3254
$GC,4244,-0.78,-146.0,312.3,-7.1,355,4251,0.20,2.35,0.00,0.000,6,0.143,0.085,2510,2233,3253
$GC,4560,-0.89,-146.0,328.8,-5.4,371,4565,0.10,2.25,0.00,0.000,4,0.093,0.084,2458,3597,3253
$GC,4701,-0.83,-146.0,340.2,-8.3,377,4705,0.15,2.17,0.00,0.000,6,0.150,0.056,2498,2224,3253
$GC,5028,-0.89,-146.0,359.9,-5.2,393,5032,0.00,2.28,0.00,0.000,4,0.000,0.070,2498,811,3254
$GC,5051,-0.89,-146.0,361.4,-6.3,394,5056,0.00,2.38,0.00,0.000,6,0.000,0.070,2491,2247,3254
$GC,5385,-0.94,-146.0,383.2,-6.3,410,5389,0.00,2.33,0.00,0.000,4,0.000,0.068,2491,814,3253
$GC,5408,-0.94,-146.0,384.8,-6.5,411,5413,0.00,2.35,0.00,0.000,6,0.000,0.070,2481,2236,3254
$GC,5761,-0.94,-146.0,404.3,-5.3,426,5764,0.00,2.33,0.00,0.000,4,0.000,0.067,2481,810,3253
$GC,5823,-0.88,-146.0,407.4,-7.0,427,5827,0.00,2.35,0.00,0.000,6,0.000,0.070,2471,2233,3253
$STATE,5889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5889,begin apogee
$GC,5897,-0.31,0.0,412.5,7.6,429,6025,0.47,0.00,125.32,1.157,6,0.135,0.000,2616,1736,2650
$STATE,6026,end apogee,CONTROL_FINISHED_OK
$STATE,6026,begin climb
$GC,6029,0.99,146.0,413.8,0.0,432,6163,0.88,0.00,130.15,1.071,6,0.103,0.000,2892,1736,2054
$GC,6463,0.81,146.0,373.6,9.4,448,6468,0.15,2.45,0.00,0.000,4,0.134,0.072,2862,324,2046
$GC,6548,0.82,149.2,367.3,6.9,452,6552,0.00,2.42,0.00,0.000,6,0.000,0.062,2862,1748,2046
$GC,6880,0.77,149.2,343.5,7.6,468,6884,0.00,2.33,0.00,0.000,4,0.000,0.076,2862,3155,2046
$GC,6994,0.59,149.2,333.8,8.9,473,6999,0.22,2.30,0.00,0.000,6,0.131,0.058,2806,1735,2045
$GC,7321,0.90,154.8,311.8,6.8,489,7336,0.20,2.42,7.30,0.919,4,0.070,0.074,2894,3157,2018
$GC,7505,0.64,154.8,293.2,10.5,497,7510,0.30,2.28,0.00,0.000,6,0.134,0.058,2816,1738,2018
$GC,7832,0.96,202.3,275.7,5.5,513,7879,0.20,2.42,41.75,1.057,4,0.074,0.074,2903,3165,1825
$GC,7931,0.69,202.3,268.6,7.8,517,7937,0.30,2.35,0.00,0.000,6,0.136,0.057,2826,1730,1821
$GC,8247,1.11,231.9,250.9,6.1,533,8279,0.28,2.35,26.12,1.021,4,0.074,0.071,2944,328,1704
$GC,8414,0.94,231.9,233.4,11.8,540,8421,0.22,2.38,0.00,0.000,6,0.140,0.063,2879,1751,1701
$GC,8729,0.94,231.9,208.5,7.3,556,8733,0.00,2.30,0.00,0.000,4,0.000,0.077,2879,3156,1698
$GC,8791,0.86,231.9,203.4,8.4,558,8797,0.00,2.30,0.00,0.000,6,0.000,0.058,2886,1727,1697
$GC,9106,0.86,231.9,179.1,8.3,574,9110,0.00,2.30,0.00,0.000,4,0.000,0.073,2897,324,1696
$GC,9151,0.86,231.9,175.1,9.6,576,9156,0.12,2.35,0.00,0.000,6,0.130,0.062,2862,1755,1696
$GC,9480,0.99,231.9,150.1,7.6,592,9484,0.12,2.30,0.00,0.000,4,0.078,0.077,2916,3163,1695
$GC,9564,0.77,231.9,141.1,11.1,596,9569,0.28,2.30,0.00,0.000,6,0.134,0.060,2845,1729,1694
$GC,9898,1.21,262.9,121.2,6.0,612,9933,0.28,2.45,26.80,0.985,4,0.077,0.076,2951,3154,1577
$GC,10075,0.92,262.9,101.6,13.7,620,10080,0.30,2.30,0.00,0.000,6,0.139,0.061,2874,1738,1573
$GC,10419,1.12,314.4,79.1,5.4,679,10472,0.17,0.00,45.92,0.951,6,0.068,0.000,2947,1738,1367
$GC,10812,1.03,314.4,41.6,11.5,748,10819,0.17,2.35,0.00,0.000,4,0.130,0.072,2903,318,1358
$GC,10917,1.23,331.5,33.7,6.5,766,10936,0.15,2.38,14.60,0.887,6,0.074,0.064,2964,1753,1298
$FREEZE,6.95,-1.772,-1.799
$STATE,11104,end climb,FINISH_DEPTH_REACHED
$STATE,11104,begin subsurface finish
$FINISH1,6.9,1.026347,64
$GC,11112,0.08,64.0,6.9,-14.9,799,11160,0.82,2.35,-37.97,0.000,4,0.123,0.090,2690,3153,2394
$FINISH2,4.8
$STATE,11160,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11160,begin surface
$RAFOS_CLK,525
$RAFOS,4,1227501848,4.750000,4.735556,72,64,57,56,54,53,204,169,214,119,149,191
$RAFOS,3,1227501259,4.583333,4.571944,128,63,62,57,56,51,642,151,202,219,126,185
$RAFOS,2,1227500645,4.416667,4.401389,58,57,53,52,50,47,206,177,134,163,119,149
$RAFOS,1,1227500045,4.250000,4.234722,65,56,55,52,52,52,195,206,170,160,120,223
$RAFOS,0,1227499446,4.083333,4.068333,64,60,58,56,51,50,196,170,221,160,238,129
$RAFOS_FIX,6625.852539,-5458.709473,241108,040432,2,100,5.14
$IRIDIUM_FIX,6548.42,-6024.58,170298,151529
$TT8_MAMPS,0.026845
$HUMID,1803
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,14.90
$XPDR_PINGS,37
$24V_AH,22.0,61.386
$10V_AH,10.5,27.941
$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,7.675,118.550,417.975,0.000,0.000,0.000,0.000,0.000,9.250,0.000,0.000,0.000,1492.818,7477.256,488.990,1577.069,203.868,32.349,1352.476,0.000,1567.484,1440.000,0.528,0.000
$DEVICE_MAMPS,157.235,102.011,1157.403,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,565.101,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25284,807
$CAP_FILE_SIZE,102561,0
$CFSIZE,260165632,227602432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.7
$GPS,231108,154059,6613.136,-6022.036,8,3.3,27,-37.3