version: 66.04
glider: 108
mission: 11
dive: 359
start: 11 24 108 7 20 19
data:
$ID,108
$MISSION,11
$DIVE,359
$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,3.65
$_SM_ANGLEo,-5.0
$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,0.203,0.116
$KALMAN_X,177725.4,1929.6,1929.6,-301977.9,-12377.0
$KALMAN_Y,-283997.1,1149.9,1149.9,205633.3,-3721.4
$MHEAD_RNG_PITCHd_Wd,97.5,180052,-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,12,begin dive
$GC,16,-0.99,-146.0,0.0,0.0,0,23,0.00,0.00,-5.90,0.000,2,0.000,0.000,2690,3153,2552
$GC,27,-0.99,-146.0,4.5,-0.0,1,56,0.60,0.00,-24.62,0.000,6,0.056,0.000,2449,3154,3249
$GC,395,-0.75,-146.0,44.9,-14.4,66,402,0.22,3.83,0.00,0.000,4,0.176,0.062,2530,811,3255
$GC,521,-0.75,-146.0,54.7,-8.3,88,527,0.00,2.38,0.00,0.000,6,0.000,0.072,2521,2243,3255
$GC,865,-0.81,-146.0,78.8,-9.2,149,871,0.00,2.22,0.00,0.000,4,0.000,0.084,2511,3600,3255
$GC,980,-0.88,-146.0,88.9,-8.0,169,987,0.10,2.20,0.00,0.000,6,0.096,0.057,2468,2213,3255
$GC,1323,-0.77,-146.0,117.3,-9.2,203,1328,0.17,2.25,0.00,0.000,4,0.145,0.069,2526,813,3255
$GC,1373,-0.84,-146.0,121.2,-7.2,205,1377,0.00,2.35,0.00,0.000,6,0.000,0.070,2518,2238,3255
$GC,1701,-0.91,-146.0,143.7,-7.3,221,1703,0.12,0.00,0.00,0.000,6,0.086,0.000,2463,2238,3255
$GC,2010,-0.79,-146.0,174.6,-9.8,236,2012,0.17,0.00,0.00,0.000,6,0.155,0.000,2511,2238,3255
$GC,2320,-0.85,-146.0,193.1,-4.4,251,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2238,3255
$GC,2630,-0.92,-146.0,210.6,-6.5,266,2635,0.12,2.33,0.00,0.000,4,0.093,0.068,2462,814,3254
$GC,2702,-0.78,-146.0,217.0,-9.5,269,2707,0.22,2.35,0.00,0.000,6,0.141,0.071,2515,2235,3254
$GC,3024,-0.87,-146.0,238.7,-7.5,285,3028,0.10,2.25,0.00,0.000,4,0.098,0.083,2465,3606,3254
$GC,3116,-0.80,-146.0,247.1,-9.7,289,3120,0.15,2.20,0.00,0.000,6,0.155,0.058,2504,2218,3254
$GC,3449,-0.86,-146.0,271.3,-7.0,305,3452,0.00,2.25,0.00,0.000,4,0.000,0.069,2506,811,3254
$GC,3555,-0.90,-146.0,279.6,-7.7,309,3561,0.00,2.35,0.00,0.000,6,0.000,0.071,2499,2233,3254
$GC,3871,-0.90,-146.0,302.5,-6.8,325,3875,0.00,2.25,0.00,0.000,4,0.000,0.091,2488,3597,3254
$GC,3888,-0.90,-146.0,303.7,-6.8,325,3894,0.00,2.17,0.00,0.000,6,0.000,0.055,2488,2217,3254
$GC,4204,-0.90,-146.0,327.7,-8.2,341,4208,0.00,2.22,0.00,0.000,4,0.000,0.069,2488,814,3254
$GC,4322,-0.90,-146.0,338.1,-9.0,346,4326,0.00,2.35,0.00,0.000,6,0.000,0.071,2478,2236,3254
$GC,4648,-0.90,-146.0,363.7,-7.1,362,4652,0.00,2.33,0.00,0.000,4,0.000,0.069,2479,814,3254
$GC,4704,-0.84,-146.0,367.7,-7.0,364,4711,0.12,2.35,0.00,0.000,6,0.143,0.071,2502,2239,3253
$GC,5020,-0.93,-146.0,382.7,-4.4,380,5026,0.10,2.25,0.00,0.000,4,0.097,0.083,2451,3610,3253
$GC,5091,-0.87,-146.0,387.2,-6.7,383,5096,0.15,2.20,0.00,0.000,6,0.157,0.056,2490,2217,3253
$GC,5418,-0.93,-146.0,404.5,-5.5,397,5422,0.00,2.33,0.00,0.000,4,0.000,0.081,2483,3608,3253
$GC,5480,-1.01,-146.0,408.4,-6.1,398,5485,0.00,2.20,0.00,0.000,6,0.000,0.056,2483,2216,3253
$STATE,5547,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5547,begin apogee
$GC,5554,-0.31,0.0,412.4,5.6,400,5682,0.43,0.00,124.85,1.155,6,0.127,0.000,2615,1737,2650
$STATE,5682,end apogee,CONTROL_FINISHED_OK
$STATE,5683,begin climb
$GC,5686,0.99,146.0,414.2,0.0,403,5820,0.88,0.00,130.25,1.072,6,0.096,0.000,2896,1737,2054
$GC,6117,0.82,146.0,373.3,10.3,419,6122,0.15,2.50,0.00,0.000,4,0.133,0.075,2856,3164,2046
$GC,6218,0.67,146.0,363.6,9.6,423,6225,0.15,2.38,0.00,0.000,6,0.134,0.058,2823,1742,2045
$GC,6534,0.82,184.4,344.7,5.8,439,6574,0.12,0.00,32.85,1.061,6,0.077,0.000,2877,1742,1898
$GC,6884,0.76,184.4,316.4,7.6,456,6889,0.12,2.35,0.00,0.000,4,0.127,0.071,2851,324,1894
$GC,6939,0.92,219.2,312.8,5.9,458,6976,0.10,2.35,30.52,1.045,6,0.087,0.061,2897,1746,1756
$GC,7300,0.83,219.2,284.3,8.0,476,7305,0.15,2.33,0.00,0.000,4,0.132,0.074,2853,3164,1750
$GC,7389,0.83,219.2,277.7,7.2,480,7393,0.00,2.30,0.00,0.000,6,0.000,0.058,2859,1735,1749
$GC,7717,0.97,257.4,258.9,5.8,496,7760,0.12,2.40,33.58,1.039,4,0.083,0.077,2924,332,1600
$GC,7788,0.90,257.4,252.2,10.5,499,7794,0.20,2.38,0.00,0.000,6,0.130,0.061,2868,1753,1598
$GC,8110,1.02,257.4,229.1,7.0,515,8115,0.12,2.30,0.00,0.000,4,0.077,0.075,2922,3158,1593
$GC,8132,0.96,257.4,227.1,9.2,516,8137,0.17,2.28,0.00,0.000,6,0.142,0.058,2883,1739,1592
$GC,8458,0.96,257.4,203.5,7.6,532,8462,0.00,2.33,0.00,0.000,4,0.000,0.074,2890,325,1591
$GC,8514,1.05,257.4,198.9,8.7,534,8517,0.00,2.35,0.00,0.000,6,0.000,0.064,2890,1753,1591
$GC,8835,1.05,257.4,171.8,8.7,550,8839,0.00,2.30,0.00,0.000,4,0.000,0.079,2890,3160,1590
$GC,8891,0.92,257.4,166.4,10.3,552,8894,0.00,2.28,0.00,0.000,6,0.000,0.059,2899,1739,1589
$GC,9212,0.92,257.4,141.4,7.0,568,9213,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1739,1589
$GC,9522,0.92,258.4,118.4,7.0,583,9525,0.00,2.30,0.00,0.000,4,0.000,0.074,2910,331,1589
$GC,9545,0.92,258.4,116.7,7.4,584,9549,0.12,2.33,0.00,0.000,6,0.131,0.064,2875,1753,1589
$GC,9866,1.08,284.4,97.8,6.2,604,9896,0.15,2.33,23.55,0.973,4,0.074,0.077,2939,3164,1489
$GC,9921,0.91,284.4,92.5,10.3,613,9928,0.25,2.33,0.00,0.000,6,0.140,0.060,2878,1732,1488
$GC,10266,1.10,336.4,69.7,5.4,674,10319,0.15,0.00,46.22,0.950,6,0.073,0.000,2942,1732,1277
$GC,10660,1.06,336.4,26.0,13.7,743,10666,0.12,2.42,0.00,0.000,4,0.142,0.077,2907,3164,1269
$GC,10690,1.06,336.4,23.1,9.9,748,10696,0.00,2.33,0.00,0.000,6,0.000,0.061,2914,1733,1268
$FREEZE,6.75,-1.746,-1.798
$STATE,10841,end climb,FINISH_DEPTH_REACHED
$STATE,10844,begin subsurface finish
$FINISH1,6.8,1.026333,65
$GC,10851,0.08,64.7,6.8,-9.0,775,10899,0.68,2.33,-39.80,0.000,4,0.118,0.087,2693,330,2390
$FINISH2,4.5
$STATE,10900,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10900,begin surface
$RAFOS_CLK,515
$RAFOS,4,1227516243,8.750000,8.734167,58,55,55,51,50,48,215,206,189,133,163,109
$RAFOS,3,1227515658,8.583333,8.571667,123,60,58,58,54,52,643,226,146,191,134,200
$RAFOS,2,1227515045,8.416667,8.401389,61,58,57,56,51,51,191,216,157,203,232,1219
$RAFOS,1,1227514457,8.250000,8.238055,58,58,57,57,55,54,200,224,123,152,164,190
$RAFOS,0,1227513844,8.083333,8.067778,61,56,54,51,51,51,199,182,149,116,211,226
$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,1826
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,14.90
$XPDR_PINGS,37
$24V_AH,22.1,61.514
$10V_AH,10.5,27.987
$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,6.575,101.475,421.825,0.000,0.000,0.000,0.000,0.000,9.250,0.000,0.000,0.000,1391.156,7447.881,501.964,1441.519,172.834,32.348,1285.795,0.000,1430.438,1800.000,0.528,0.000
$DEVICE_MAMPS,176.410,91.273,1155.102,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,548.022,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25257,783
$CAP_FILE_SIZE,95120,0
$CFSIZE,260165632,227557376
$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