version: 66.04
glider: 108
mission: 11
dive: 363
start: 11 24 108 19 49 42
data:
$ID,108
$MISSION,11
$DIVE,363
$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,22
$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,3.43
$_SM_ANGLEo,-3.9
$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,0.231,0.033
$KALMAN_X,171719.6,28.8,28.8,-291980.4,-2493.6
$KALMAN_Y,-284286.2,17.1,17.1,208301.3,-259.9
$MHEAD_RNG_PITCHd_Wd,119.2,180052,-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,-146.0,0.0,0.0,0,61,0.00,0.00,-42.53,0.000,6,0.000,0.000,2697,328,3247
$GC,65,-0.99,-146.0,3.2,-1.9,8,71,0.62,0.82,0.00,0.000,4,0.057,0.062,2449,822,3248
$GC,232,-0.71,-146.0,20.3,-12.7,37,239,0.30,2.33,0.00,0.000,6,0.137,0.073,2526,2243,3252
$GC,578,-0.77,-146.0,48.9,-8.0,98,584,0.00,2.22,0.00,0.000,4,0.000,0.084,2517,3598,3253
$GC,591,-0.83,-146.0,50.0,-8.3,100,598,0.00,2.20,0.00,0.000,6,0.000,0.057,2517,2213,3253
$GC,935,-0.83,-146.0,80.4,-8.1,161,941,0.00,2.33,0.00,0.000,4,0.000,0.082,2507,3604,3252
$GC,959,-0.83,-146.0,82.6,-8.9,165,965,0.00,2.20,0.00,0.000,6,0.000,0.057,2507,2216,3252
$GC,1293,-0.83,-146.0,108.1,-7.8,211,1297,0.00,2.25,0.00,0.000,4,0.000,0.069,2507,811,3252
$GC,1310,-0.83,-146.0,109.5,-8.0,211,1316,0.00,2.35,0.00,0.000,6,0.000,0.069,2497,2237,3252
$GC,1627,-0.83,-146.0,136.7,-8.9,227,1628,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2237,3252
$GC,1935,-0.83,-146.0,161.7,-7.8,242,1939,0.00,2.25,0.00,0.000,4,0.000,0.085,2487,3609,3252
$GC,1968,-0.83,-146.0,164.4,-8.4,243,1972,0.00,2.20,0.00,0.000,6,0.000,0.057,2487,2220,3252
$GC,2290,-0.83,-146.0,186.9,-6.8,259,2293,0.00,2.25,0.00,0.000,4,0.000,0.070,2486,814,3252
$GC,2368,-0.78,-146.0,192.8,-8.0,262,2373,0.12,2.35,0.00,0.000,6,0.140,0.071,2511,2239,3251
$GC,2687,-0.85,-146.0,211.7,-6.3,277,2688,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2239,3252
$GC,2994,-0.94,-146.0,231.3,-6.5,292,2998,0.12,2.33,0.00,0.000,4,0.091,0.069,2460,822,3251
$GC,3027,-0.78,-146.0,234.1,-8.6,293,3034,0.22,2.35,0.00,0.000,6,0.140,0.072,2514,2243,3251
$GC,3343,-0.88,-146.0,254.5,-6.2,309,3348,0.10,2.35,0.00,0.000,4,0.100,0.070,2474,813,3251
$GC,3383,-0.77,-146.0,257.6,-8.4,311,3388,0.17,2.35,0.00,0.000,6,0.139,0.071,2513,2237,3251
$GC,3713,-0.89,-146.0,279.5,-6.6,327,3715,0.10,0.00,0.00,0.000,6,0.099,0.000,2474,2237,3251
$GC,4019,-0.89,-146.0,303.7,-8.0,342,4023,0.00,2.33,0.00,0.000,4,0.000,0.071,2473,815,3251
$GC,4120,-0.81,-146.0,312.2,-8.1,346,4125,0.15,2.35,0.00,0.000,6,0.140,0.071,2506,2240,3251
$GC,4441,-0.92,-146.0,332.4,-5.9,362,4446,0.10,2.33,0.00,0.000,4,0.099,0.070,2465,822,3251
$GC,4486,-0.81,-146.0,335.9,-8.3,364,4490,0.17,2.35,0.00,0.000,6,0.139,0.071,2504,2240,3251
$GC,4808,-0.91,-146.0,355.3,-5.9,380,4809,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2240,3251
$GC,5116,-1.03,-146.0,371.0,-4.8,395,5121,0.17,2.25,0.00,0.000,4,0.083,0.084,2426,3605,3250
$GC,5253,-0.87,-146.0,380.9,-7.5,401,5258,0.22,2.20,0.00,0.000,6,0.150,0.057,2494,2216,3250
$GC,5574,-0.95,-146.0,396.1,-4.8,417,5576,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2215,3251
$STATE,5897,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5897,begin apogee
$GC,5905,-0.31,0.0,411.2,4.6,427,6032,0.38,0.00,124.30,1.146,6,0.122,0.000,2615,1738,2650
$STATE,6033,end apogee,CONTROL_FINISHED_OK
$STATE,6033,begin climb
$GC,6036,0.99,146.0,413.1,0.0,430,6173,0.88,2.70,129.32,1.068,4,0.097,0.074,2896,3149,2054
$GC,6205,0.67,146.0,399.6,11.8,434,6210,0.30,2.50,0.00,0.000,6,0.135,0.055,2827,1735,2050
$GC,6532,0.78,175.3,376.5,6.1,450,6564,0.08,2.45,25.85,1.032,4,0.095,0.071,2873,327,1934
$GC,6587,0.73,175.3,372.0,8.6,452,6593,0.15,2.47,0.00,0.000,6,0.123,0.060,2833,1754,1934
$GC,6905,0.85,202.3,351.2,6.2,468,6935,0.12,2.40,24.02,1.035,4,0.077,0.074,2885,3155,1825
$GC,6999,0.65,202.3,342.1,11.2,472,7004,0.28,2.35,0.00,0.000,6,0.130,0.056,2816,1727,1822
$GC,7321,0.88,242.4,323.0,5.7,488,7364,0.17,2.35,35.95,1.044,4,0.067,0.069,2902,331,1661
$GC,7393,0.82,242.4,316.0,10.4,491,7398,0.17,2.38,0.00,0.000,6,0.130,0.058,2853,1749,1659
$GC,7714,0.92,242.4,290.8,7.4,507,7719,0.10,2.30,0.00,0.000,4,0.084,0.072,2897,3158,1655
$GC,7770,0.70,242.4,284.8,11.6,509,7777,0.28,2.30,0.00,0.000,6,0.131,0.057,2826,1728,1654
$GC,8086,1.37,253.9,264.6,6.7,525,8099,0.47,0.00,10.07,0.949,6,0.090,0.000,2988,1728,1614
$GC,8395,1.03,253.9,224.9,13.6,540,8400,0.28,2.30,0.00,0.000,4,0.141,0.075,2912,327,1613
$GC,8467,0.98,253.9,217.9,8.5,543,8472,0.00,2.33,0.00,0.000,6,0.000,0.061,2912,1748,1613
$GC,8784,0.91,253.9,187.9,9.6,558,8788,0.12,2.30,0.00,0.000,4,0.137,0.074,2876,3162,1612
$GC,8839,0.86,253.9,182.5,9.9,560,8845,0.00,2.30,0.00,0.000,6,0.000,0.059,2884,1727,1611
$GC,9155,0.86,253.9,157.6,7.7,576,9159,0.00,2.30,0.00,0.000,4,0.000,0.074,2893,323,1611
$GC,9205,0.86,253.9,152.8,9.1,578,9210,0.12,2.33,0.00,0.000,6,0.122,0.062,2858,1746,1611
$GC,9528,1.03,259.0,131.1,6.9,594,9539,0.15,2.30,5.35,0.798,4,0.072,0.076,2924,3161,1594
$GC,9630,0.81,259.0,119.8,11.5,598,9636,0.28,2.30,0.00,0.000,6,0.134,0.059,2853,1725,1594
$GC,9946,1.10,287.7,100.4,6.1,614,9980,0.20,2.33,27.33,0.970,4,0.080,0.073,2943,327,1477
$GC,10021,1.20,287.7,94.0,8.8,624,10027,0.00,2.38,0.00,0.000,6,0.000,0.063,2943,1751,1476
$GC,10366,1.10,287.7,58.7,10.4,685,10373,0.10,2.33,0.00,0.000,4,0.145,0.079,2916,3158,1472
$GC,10425,1.00,287.7,52.6,10.3,695,10432,0.12,2.30,0.00,0.000,6,0.140,0.060,2889,1731,1471
$GC,10771,1.13,287.7,26.8,8.2,756,10777,0.12,0.00,0.00,0.000,6,0.077,0.000,2945,1731,1469
$FREEZE,6.87,-1.812,-1.794
$STATE,10972,end climb,FINISH_DEPTH_REACHED
$STATE,10972,begin subsurface finish
$FINISH1,6.9,1.026288,67
$GC,10980,0.08,66.9,6.9,-8.3,792,11016,0.77,2.38,-28.83,0.000,4,0.127,0.087,2696,328,2382
$FINISH2,6.2
$STATE,11017,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11017,begin surface
$RAFOS_CLK,516
$RAFOS,4,1227559460,20.750000,20.738890,59,58,53,51,48,47,202,219,175,141,70,191
$RAFOS,3,1227558842,20.583334,20.567223,67,60,57,57,51,51,766,161,217,195,236,414
$RAFOS,2,1227558242,20.416666,20.400555,65,65,58,55,54,54,190,214,150,162,204,135
$RAFOS,1,1227557661,20.250000,20.239166,64,60,59,57,55,52,222,158,870,187,169,196
$RAFOS,0,1227557041,20.083334,20.066944,67,62,59,53,51,51,194,209,147,173,157,117
$RAFOS_FIX,109057.250000,-2411061.000000,241108,161636,2,93,29484.27
$IRIDIUM_FIX,6548.42,-6024.58,170298,151529
$TT8_MAMPS,0.026845
$HUMID,1816
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,14.80
$XPDR_PINGS,32
$24V_AH,22.1,61.989
$10V_AH,10.5,28.178
$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,8.250,104.000,382.200,0.000,0.000,0.000,0.000,0.000,8.000,0.000,0.000,0.000,1411.575,7568.305,462.534,1445.079,187.041,32.358,1260.358,0.000,1439.917,1800.000,0.528,0.000
$DEVICE_MAMPS,149.565,86.671,1145.898,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,559.026,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25235,798
$CAP_FILE_SIZE,98400,0
$CFSIZE,260165632,227344384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.8
$GPS,231108,154059,6613.136,-6022.036,8,3.3,27,-37.3