version: 66.04
glider: 108
mission: 11
dive: 364
start: 11 24 108 22 55 40
data:
$ID,108
$MISSION,11
$DIVE,364
$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,4.82
$_SM_ANGLEo,-5.6
$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,169127.9,-25.2,-25.2,-289275.4,-2458.0
$KALMAN_Y,-284604.5,-14.9,-14.9,208686.8,-238.9
$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,-145.9,0.0,0.0,0,23,0.00,0.00,-5.50,0.000,2,0.000,0.000,2696,328,2520
$GC,27,-0.99,-146.0,4.0,-0.0,1,68,0.62,5.45,-30.12,0.000,4,0.058,0.081,2425,3598,3249
$GC,92,-0.59,-146.0,8.7,-11.0,12,99,0.40,2.17,0.00,0.000,6,0.166,0.054,2547,2219,3251
$GC,437,-0.74,-146.0,32.1,-5.3,73,443,0.12,0.00,0.00,0.000,6,0.081,0.000,2494,2219,3254
$GC,781,-0.68,-146.0,63.1,-9.6,134,788,0.15,2.33,0.00,0.000,4,0.158,0.082,2526,3605,3253
$GC,845,-0.78,-146.0,68.8,-8.8,145,852,0.00,2.20,0.00,0.000,6,0.000,0.058,2525,2217,3253
$GC,1190,-0.84,-146.0,95.4,-7.6,206,1196,0.12,2.25,0.00,0.000,4,0.090,0.069,2473,817,3253
$GC,1209,-0.84,-146.0,97.0,-7.8,209,1216,0.12,2.35,0.00,0.000,6,0.147,0.070,2496,2244,3253
$GC,1534,-0.84,-146.0,123.7,-8.9,229,1537,0.00,2.35,0.00,0.000,4,0.000,0.071,2495,810,3253
$GC,1544,-0.84,-146.0,124.5,-8.8,229,1549,0.00,2.35,0.00,0.000,6,0.000,0.070,2488,2237,3253
$GC,1860,-0.84,-146.0,152.7,-8.2,244,1864,0.00,2.25,0.00,0.000,4,0.000,0.088,2478,3598,3252
$GC,1984,-0.79,-146.0,162.8,-7.9,249,1988,0.12,2.17,0.00,0.000,6,0.156,0.056,2509,2220,3252
$GC,2305,-0.86,-146.0,180.9,-5.3,265,2309,0.00,2.25,0.00,0.000,4,0.000,0.071,2510,817,3252
$GC,2328,-0.86,-146.0,182.3,-5.6,266,2332,0.00,2.35,0.00,0.000,6,0.000,0.071,2502,2243,3253
$GC,2655,-0.86,-146.0,203.3,-6.9,282,2659,0.00,2.33,0.00,0.000,4,0.000,0.071,2501,825,3253
$GC,2711,-0.86,-146.0,207.4,-7.5,284,2715,0.00,2.33,0.00,0.000,6,0.000,0.072,2492,2232,3252
$GC,3027,-0.86,-146.0,228.8,-6.9,299,3031,0.00,2.25,0.00,0.000,4,0.000,0.085,2482,3602,3252
$GC,3049,-0.86,-146.0,230.5,-7.0,300,3053,0.00,2.17,0.00,0.000,6,0.000,0.057,2482,2220,3253
$GC,3382,-0.86,-146.0,254.5,-7.5,316,3385,0.00,2.25,0.00,0.000,4,0.000,0.071,2481,819,3252
$GC,3428,-0.81,-146.0,258.2,-8.4,318,3433,0.12,2.35,0.00,0.000,6,0.143,0.074,2505,2233,3252
$GC,3755,-0.89,-146.0,277.2,-5.9,334,3759,0.00,2.33,0.00,0.000,4,0.000,0.069,2506,811,3252
$GC,3766,-0.97,-146.0,277.9,-6.0,334,3771,0.12,2.35,0.00,0.000,6,0.083,0.069,2448,2237,3251
$GC,4088,-0.83,-146.0,304.8,-8.8,350,4092,0.20,2.28,0.00,0.000,4,0.153,0.089,2500,3609,3251
$GC,4099,-0.74,-146.0,305.8,-8.7,350,4104,0.00,2.20,0.00,0.000,6,0.000,0.056,2500,2217,3252
$GC,4420,-0.83,-146.0,326.5,-6.3,366,4424,0.00,2.33,0.00,0.000,4,0.000,0.082,2490,3606,3252
$GC,4450,-0.91,-146.0,328.4,-7.0,367,4453,0.00,2.20,0.00,0.000,6,0.000,0.057,2490,2217,3252
$GC,4777,-0.96,-146.0,348.7,-6.0,383,4778,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2217,3251
$GC,5088,-1.01,-146.0,366.1,-5.2,398,5090,0.12,0.00,0.00,0.000,6,0.090,0.000,2438,2218,3251
$GC,5395,-0.88,-146.0,388.8,-7.2,413,5400,0.17,2.25,0.00,0.000,4,0.160,0.068,2487,820,3251
$GC,5439,-0.88,-146.0,391.8,-7.1,415,5443,0.00,2.33,0.00,0.000,6,0.000,0.069,2480,2231,3251
$STATE,5781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5781,begin apogee
$GC,5788,-0.31,0.0,412.5,6.1,427,5916,0.43,0.00,124.40,1.147,6,0.124,0.000,2613,1735,2650
$STATE,5916,end apogee,CONTROL_FINISHED_OK
$STATE,5916,begin climb
$GC,5919,0.99,146.0,415.0,0.0,430,6058,0.90,2.72,130.02,1.065,4,0.094,0.071,2899,3156,2053
$GC,6083,0.69,146.0,402.8,10.7,434,6089,0.30,2.53,0.00,0.000,6,0.137,0.056,2830,1737,2050
$GC,6415,0.70,159.6,380.2,6.6,449,6436,0.00,2.50,11.75,0.973,4,0.000,0.071,2840,323,2000
$GC,6483,0.80,173.9,375.7,6.6,452,6507,0.00,2.42,14.23,0.988,6,0.000,0.061,2840,1740,1941
$GC,6814,0.82,196.0,353.7,6.3,468,6839,0.00,2.38,20.48,1.029,4,0.000,0.074,2840,3158,1851
$GC,6918,0.77,196.0,346.2,7.8,472,6925,0.00,2.35,0.00,0.000,6,0.000,0.056,2850,1723,1848
$GC,7234,0.77,196.0,324.1,7.4,488,7238,0.00,2.30,0.00,0.000,4,0.000,0.070,2860,323,1847
$GC,7262,0.82,196.0,321.8,7.4,489,7266,0.00,2.35,0.00,0.000,6,0.000,0.060,2860,1751,1848
$GC,7589,0.82,196.0,296.2,7.5,505,7593,0.00,2.28,0.00,0.000,4,0.000,0.074,2860,3152,1847
$GC,7658,0.68,196.0,290.2,9.6,508,7663,0.17,2.28,0.00,0.000,6,0.131,0.057,2819,1728,1846
$GC,7990,0.91,237.8,270.2,5.7,524,8031,0.20,0.00,37.12,1.041,6,0.065,0.000,2906,1728,1680
$GC,8340,0.82,237.8,234.4,10.3,541,8342,0.17,0.00,0.00,0.000,6,0.127,0.000,2854,1728,1674
$GC,8649,0.96,248.2,213.1,6.7,556,8664,0.12,2.38,8.93,0.915,4,0.079,0.073,2909,3152,1638
$GC,8693,0.76,248.2,209.0,10.0,558,8698,0.28,2.30,0.00,0.000,6,0.133,0.057,2838,1727,1638
$GC,9021,1.34,266.2,188.8,6.4,574,9044,0.38,2.45,17.65,0.982,4,0.082,0.073,2973,3157,1564
$GC,9147,1.00,266.2,174.1,12.8,579,9152,0.30,2.33,0.00,0.000,6,0.146,0.058,2897,1728,1561
$GC,9463,1.00,266.2,150.1,8.0,594,9467,0.00,2.30,0.00,0.000,4,0.000,0.074,2905,332,1560
$GC,9509,1.00,266.2,146.6,7.8,596,9513,0.00,2.33,0.00,0.000,6,0.000,0.061,2905,1754,1560
$GC,9843,1.00,266.2,121.0,7.8,612,9847,0.00,2.30,0.00,0.000,4,0.000,0.078,2906,3160,1558
$GC,9949,0.89,266.2,111.1,9.1,616,9956,0.15,2.30,0.00,0.000,6,0.135,0.059,2873,1726,1557
$GC,10278,1.06,271.6,91.0,6.8,650,10291,0.15,2.30,5.03,0.772,4,0.073,0.075,2950,328,1542
$GC,10320,1.06,271.6,87.0,9.0,657,10327,0.15,2.33,0.00,0.000,6,0.140,0.063,2908,1750,1543
$GC,10665,1.06,271.6,61.3,7.1,718,10671,0.00,2.30,0.00,0.000,4,0.000,0.079,2908,3157,1542
$GC,10740,0.98,271.6,54.8,9.0,731,10747,0.10,2.28,0.00,0.000,6,0.150,0.061,2890,1740,1542
$GC,11085,1.09,271.6,29.3,7.4,792,11092,0.10,2.33,0.00,0.000,4,0.085,0.075,2946,326,1541
$GC,11138,1.02,271.6,24.4,10.1,801,11145,0.17,2.35,0.00,0.000,6,0.135,0.066,2896,1753,1541
$FREEZE,6.73,-1.820,-1.797
$STATE,11364,end climb,FINISH_DEPTH_REACHED
$STATE,11364,begin subsurface finish
$FINISH1,6.7,1.026320,65
$GC,11371,0.08,65.3,6.7,-7.1,841,11407,0.60,2.33,-27.25,0.000,4,0.114,0.094,2687,3159,2388
$FINISH2,5.6
$STATE,11408,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11408,begin surface
$RAFOS_CLK,533
$RAFOS,4,1227573842,0.750000,0.733889,66,62,56,54,51,50,152,199,120,212,133,180
$RAFOS,3,1227573241,0.583333,0.566944,63,59,52,52,50,49,193,206,137,158,222,176
$RAFOS,2,1227572650,0.416667,0.402778,67,57,57,56,54,52,191,137,223,157,148,206
$RAFOS,1,1227572052,0.250000,0.236667,60,59,56,52,51,50,181,921,198,141,165,153
$RAFOS,0,1227571443,0.083333,0.067500,69,60,58,55,52,50,206,136,194,153,173,112
$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,1808
$INTERNAL_PRESSURE,9.88319
$TCM_TEMP,14.80
$XPDR_PINGS,52
$24V_AH,22.1,62.103
$10V_AH,10.5,28.227
$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,7.100,122.175,369.600,0.000,0.000,0.000,0.000,0.000,13.000,0.000,0.000,0.000,1502.479,7780.726,475.690,1516.086,186.648,32.359,1297.068,0.000,1501.521,1800.000,0.528,0.000
$DEVICE_MAMPS,165.672,93.574,1146.665,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,593.716,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28410,847
$CAP_FILE_SIZE,101569,0
$CFSIZE,260165632,227295232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.6
$GPS,231108,154059,6613.136,-6022.036,8,3.3,27,-37.3