version: 66.04
glider: 108
mission: 11
dive: 361
start: 11 24 108 13 33 12
data:
$ID,108
$MISSION,11
$DIVE,361
$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,24
$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,4.93
$_SM_ANGLEo,-1.5
$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,0.231,-0.034
$KALMAN_X,175892.9,609.4,609.4,-297373.0,-4325.3
$KALMAN_Y,-284233.7,-23.2,-23.2,208333.4,-563.8
$MHEAD_RNG_PITCHd_Wd,135.7,180052,-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,16,-0.99,-146.0,0.0,0.0,0,24,0.00,0.00,-5.38,0.000,2,0.000,0.000,2692,3165,2537
$GC,27,-0.99,-146.0,4.0,-0.0,1,68,0.62,3.90,-30.50,0.000,4,0.072,0.073,2458,819,3249
$GC,206,-0.76,-146.0,17.7,-7.9,32,212,0.22,2.35,0.00,0.000,6,0.147,0.072,2512,2236,3252
$GC,550,-0.76,-146.0,45.2,-8.5,93,556,0.00,2.33,0.00,0.000,4,0.000,0.070,2514,816,3253
$GC,563,-0.76,-146.0,46.2,-7.3,95,569,0.00,2.35,0.00,0.000,6,0.000,0.077,2506,2231,3253
$GC,907,-0.76,-146.0,75.9,-8.7,156,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2231,3253
$GC,1248,-0.76,-146.0,101.7,-6.7,214,1252,0.00,2.25,0.00,0.000,4,0.000,0.084,2495,3602,3253
$GC,1384,-0.76,-146.0,111.9,-6.5,220,1388,0.00,2.20,0.00,0.000,6,0.000,0.058,2495,2216,3253
$GC,1716,-0.76,-146.0,134.2,-7.6,236,1720,0.00,2.25,0.00,0.000,4,0.000,0.071,2495,813,3252
$GC,1726,-0.76,-146.0,135.1,-7.7,236,1731,0.12,2.35,0.00,0.000,6,0.142,0.070,2519,2232,3252
$GC,2048,-0.85,-146.0,154.7,-5.8,252,2053,0.10,2.25,0.00,0.000,4,0.097,0.084,2468,3601,3253
$GC,2060,-0.89,-146.0,155.4,-5.5,252,2064,0.00,2.17,0.00,0.000,6,0.000,0.056,2468,2226,3253
$GC,2382,-0.79,-146.0,185.6,-10.0,268,2386,0.15,2.28,0.00,0.000,4,0.153,0.069,2514,811,3253
$GC,2393,-0.71,-146.0,186.8,-9.9,268,2399,0.00,2.35,0.00,0.000,6,0.000,0.070,2506,2235,3253
$GC,2708,-0.71,-146.0,212.8,-8.1,284,2712,0.00,2.33,0.00,0.000,4,0.000,0.070,2505,813,3253
$GC,2732,-0.71,-146.0,214.8,-8.9,285,2737,0.12,2.35,0.00,0.000,6,0.140,0.071,2531,2237,3253
$GC,3060,-0.85,-146.0,238.1,-6.2,301,3064,0.12,2.33,0.00,0.000,4,0.089,0.069,2479,819,3253
$GC,3109,-0.76,-146.0,242.1,-8.3,303,3114,0.17,2.35,0.00,0.000,6,0.140,0.071,2518,2240,3253
$GC,3427,-0.86,-146.0,259.2,-5.5,318,3432,0.10,2.33,0.00,0.000,4,0.098,0.070,2478,818,3253
$GC,3455,-0.79,-146.0,261.4,-8.1,319,3460,0.15,2.35,0.00,0.000,6,0.141,0.072,2508,2242,3252
$GC,3776,-0.87,-146.0,283.1,-7.1,335,3777,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2241,3252
$GC,4086,-0.96,-146.0,303.8,-6.7,350,4091,0.15,2.35,0.00,0.000,4,0.086,0.069,2449,811,3252
$GC,4119,-0.77,-146.0,306.5,-8.8,351,4124,0.28,2.35,0.00,0.000,6,0.141,0.071,2518,2231,3252
$GC,4435,-0.91,-146.0,323.1,-4.8,366,4440,0.15,2.25,0.00,0.000,4,0.087,0.097,2449,3595,3252
$GC,4469,-0.80,-146.0,325.6,-8.4,367,4476,0.20,2.17,0.00,0.000,6,0.155,0.056,2504,2217,3252
$GC,4785,-0.88,-146.0,344.8,-6.0,383,4789,0.00,2.33,0.00,0.000,4,0.000,0.095,2496,3604,3252
$GC,4813,-0.97,-146.0,346.7,-6.7,384,4818,0.10,2.17,0.00,0.000,6,0.094,0.055,2452,2227,3252
$GC,5141,-0.88,-146.0,372.8,-8.3,400,5146,0.15,2.30,0.00,0.000,4,0.146,0.083,2486,3595,3252
$GC,5236,-0.96,-146.0,380.2,-7.5,404,5240,0.00,2.17,0.00,0.000,6,0.000,0.056,2485,2219,3252
$GC,5578,-0.96,-146.0,403.2,-6.4,420,5582,0.00,2.25,0.00,0.000,4,0.000,0.069,2486,814,3252
$STATE,5687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5687,begin apogee
$GC,5695,-0.31,0.0,411.1,6.9,422,5823,0.40,0.00,124.65,1.159,6,0.128,0.000,2609,1751,2650
$STATE,5823,end apogee,CONTROL_FINISHED_OK
$STATE,5823,begin climb
$GC,5827,0.99,146.0,414.3,0.0,425,5966,0.93,2.67,130.50,1.075,4,0.098,0.075,2899,3159,2052
$GC,6001,0.66,146.0,402.2,10.5,430,6006,0.32,2.53,0.00,0.000,6,0.137,0.057,2824,1738,2049
$GC,6333,0.80,199.8,384.0,5.3,445,6386,0.12,2.50,47.00,1.063,4,0.077,0.071,2886,317,1835
$GC,6450,0.74,199.8,374.1,9.2,450,6455,0.17,2.50,0.00,0.000,6,0.125,0.061,2839,1743,1832
$GC,6766,0.84,199.8,350.0,7.4,465,6771,0.10,2.35,0.00,0.000,4,0.084,0.074,2882,3152,1828
$GC,6845,0.63,199.8,341.4,12.2,468,6850,0.28,2.33,0.00,0.000,6,0.127,0.058,2812,1732,1826
$GC,7161,0.90,199.8,319.1,7.1,483,7165,0.20,2.33,0.00,0.000,4,0.080,0.071,2890,322,1826
$GC,7189,1.11,199.8,316.7,9.0,484,7193,0.12,2.35,0.00,0.000,6,0.077,0.061,2944,1754,1826
$GC,7510,0.87,199.8,279.4,11.7,500,7514,0.22,2.30,0.00,0.000,4,0.140,0.076,2873,3158,1826
$GC,7599,0.75,199.8,270.9,8.9,504,7604,0.15,2.28,0.00,0.000,6,0.134,0.058,2838,1738,1825
$GC,7921,0.92,234.6,251.7,5.9,520,7956,0.15,2.38,29.95,1.043,4,0.074,0.072,2914,321,1693
$GC,7979,0.84,234.6,246.5,9.8,522,7986,0.20,2.38,0.00,0.000,6,0.133,0.062,2858,1742,1692
$GC,8297,1.01,286.2,226.6,5.4,538,8349,0.15,2.40,46.10,1.026,4,0.074,0.076,2920,3165,1483
$GC,8425,0.79,286.2,213.4,12.6,544,8430,0.28,2.35,0.00,0.000,6,0.134,0.058,2851,1734,1478
$GC,8753,1.42,286.2,186.3,9.7,560,8758,0.40,2.33,0.00,0.000,4,0.091,0.073,2991,331,1472
$GC,8803,1.21,286.2,180.2,12.0,562,8808,0.20,2.35,0.00,0.000,6,0.158,0.063,2938,1750,1472
$GC,9119,1.08,286.2,141.6,11.2,577,9124,0.10,2.33,0.00,0.000,4,0.152,0.079,2909,3162,1471
$GC,9197,0.93,286.2,133.2,10.6,580,9204,0.15,2.30,0.00,0.000,6,0.137,0.060,2874,1734,1470
$GC,9514,1.10,286.2,108.7,7.8,596,9518,0.15,2.33,0.00,0.000,4,0.073,0.074,2949,317,1468
$GC,9570,1.00,286.2,102.5,11.7,598,9575,0.20,2.35,0.00,0.000,6,0.132,0.064,2891,1749,1469
$GC,9912,1.12,286.2,76.1,7.2,655,9918,0.12,2.30,0.00,0.000,4,0.077,0.078,2946,3158,1468
$GC,9993,0.89,286.2,66.9,11.6,669,10000,0.30,2.28,0.00,0.000,6,0.140,0.061,2868,1739,1467
$GC,10338,1.36,286.2,43.0,8.1,730,10344,0.30,0.00,0.00,0.000,6,0.083,0.000,2980,1739,1466
$FREEZE,6.50,-1.797,-1.802
$STATE,10641,end climb,FINISH_DEPTH_REACHED
$STATE,10642,begin subsurface finish
$FINISH1,6.5,1.026396,62
$GC,10649,0.08,61.5,6.5,-13.8,784,10691,0.90,2.40,-34.12,0.000,4,0.133,0.095,2687,3160,2402
$FINISH2,4.2
$STATE,10692,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10692,begin surface
$RAFOS_CLK,500
$RAFOS,2,1227543843,16.416666,16.400833,60,59,58,54,52,51,208,229,140,165,109,218
$RAFOS,1,1227543242,16.250000,16.233889,71,60,55,52,50,50,187,217,243,234,196,133
$RAFOS,0,1227542646,16.083334,16.068333,59,57,53,53,51,51,206,139,178,167,194,226
$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,1818
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,14.90
$XPDR_PINGS,60
$24V_AH,22.0,61.752
$10V_AH,10.5,28.082
$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,9.550,119.550,378.200,0.000,0.000,0.000,0.000,0.000,15.000,0.000,0.000,0.000,1430.744,7177.287,469.292,1485.797,183.782,32.354,1280.500,0.000,1476.479,1080.000,0.528,0.000
$DEVICE_MAMPS,158.002,96.642,1158.937,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,554.839,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25307,791
$CAP_FILE_SIZE,101200,0
$CFSIZE,260165632,227450880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.2
$GPS,231108,154059,6613.136,-6022.036,8,3.3,27,-37.3