version: 66.04
glider: 108
mission: 11
dive: 367
start: 11 25 108 8 18 15
data:
$ID,108
$MISSION,11
$DIVE,367
$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,25
$R_STBD_OVSHOOT,24
$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,3.86
$_SM_ANGLEo,-6.9
$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,160985.9,-11.3,-11.3,-281162.5,-2664.7
$KALMAN_Y,-285777.3,-6.7,-6.7,209842.3,-361.6
$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,-145.9,0.0,0.0,0,51,0.00,0.00,-33.00,0.000,2,0.000,0.000,2696,325,3076
$GC,54,-0.99,-146.0,3.0,-1.0,6,67,0.62,0.88,-7.55,0.000,4,0.056,0.100,2444,831,3247
$GC,212,-0.72,-146.0,19.6,-11.7,33,219,0.32,2.28,0.00,0.000,6,0.146,0.070,2525,2240,3253
$GC,556,-0.72,-146.0,46.6,-7.6,94,562,0.00,2.22,0.00,0.000,4,0.000,0.084,2518,3599,3253
$GC,620,-0.77,-146.0,51.6,-8.1,105,626,0.00,2.17,0.00,0.000,6,0.000,0.056,2518,2222,3253
$GC,965,-0.77,-146.0,77.7,-6.8,166,971,0.00,2.30,0.00,0.000,4,0.000,0.082,2508,3599,3253
$GC,1000,-0.77,-146.0,80.6,-7.9,172,1006,0.00,2.17,0.00,0.000,6,0.000,0.056,2508,2221,3253
$GC,1345,-0.77,-146.0,103.8,-6.1,225,1349,0.00,2.25,0.00,0.000,4,0.000,0.071,2513,819,3253
$GC,1391,-0.77,-146.0,106.8,-6.2,227,1394,0.00,2.35,0.00,0.000,6,0.000,0.070,2505,2245,3252
$GC,1724,-0.77,-146.0,129.7,-7.4,243,1728,0.00,2.33,0.00,0.000,4,0.000,0.069,2513,824,3252
$GC,1765,-0.77,-146.0,132.8,-7.4,245,1769,0.00,2.33,0.00,0.000,6,0.000,0.072,2505,2231,3252
$GC,2093,-0.77,-146.0,154.7,-6.4,261,2097,0.00,2.33,0.00,0.000,4,0.000,0.070,2513,812,3252
$GC,2143,-0.77,-146.0,158.1,-6.3,263,2147,0.00,2.35,0.00,0.000,6,0.000,0.070,2505,2238,3252
$GC,2472,-0.82,-146.0,182.1,-7.6,279,2476,0.00,2.25,0.00,0.000,4,0.000,0.084,2494,3605,3251
$GC,2489,-0.82,-146.0,183.6,-7.7,279,2495,0.00,2.20,0.00,0.000,6,0.000,0.057,2494,2217,3251
$GC,2805,-0.82,-146.0,206.0,-6.8,295,2806,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2216,3251
$GC,3114,-0.82,-146.0,226.8,-7.0,310,3118,0.00,2.25,0.00,0.000,4,0.000,0.071,2495,813,3251
$GC,3142,-0.82,-146.0,228.9,-7.6,311,3146,0.00,2.35,0.00,0.000,6,0.000,0.070,2487,2242,3251
$GC,3469,-0.82,-146.0,253.3,-7.0,327,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2242,3251
$GC,3779,-0.82,-146.0,274.3,-6.7,342,3783,0.00,2.22,0.00,0.000,4,0.000,0.084,2476,3598,3251
$GC,3790,-0.82,-146.0,275.2,-6.6,342,3795,0.10,2.17,0.00,0.000,6,0.160,0.056,2501,2227,3251
$GC,4111,-0.90,-146.0,293.5,-5.3,358,4115,0.00,2.28,0.00,0.000,4,0.000,0.071,2501,816,3251
$GC,4129,-0.95,-146.0,294.5,-5.2,358,4135,0.00,2.35,0.00,0.000,6,0.000,0.069,2493,2241,3251
$GC,4445,-1.01,-146.0,311.8,-6.0,374,4450,0.12,2.33,0.00,0.000,4,0.082,0.069,2439,822,3250
$GC,4478,-0.80,-146.0,314.3,-7.7,375,4483,0.28,2.35,0.00,0.000,6,0.142,0.071,2509,2237,3250
$GC,4795,-0.93,-146.0,330.9,-4.6,390,4799,0.12,2.25,0.00,0.000,4,0.087,0.083,2449,3602,3251
$GC,4806,-1.02,-146.0,331.4,-4.6,390,4810,0.00,2.17,0.00,0.000,6,0.000,0.055,2449,2224,3250
$GC,5127,-0.93,-146.0,354.1,-7.4,406,5132,0.12,2.28,0.00,0.000,4,0.156,0.068,2487,810,3250
$GC,5160,-0.93,-146.0,356.5,-6.7,407,5167,0.00,2.35,0.00,0.000,6,0.000,0.067,2480,2239,3250
$GC,5476,-0.93,-146.0,375.8,-5.9,423,5480,0.00,2.22,0.00,0.000,4,0.000,0.082,2469,3600,3250
$GC,5532,-0.93,-146.0,379.6,-6.9,425,5536,0.00,2.17,0.00,0.000,6,0.000,0.054,2469,2216,3251
$GC,5856,-0.93,-146.0,398.2,-5.6,441,5857,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2216,3251
$STATE,6095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6095,begin apogee
$GC,6102,-0.31,0.0,412.2,5.7,448,6229,0.47,0.00,124.20,1.147,6,0.128,0.000,2620,1739,2650
$STATE,6230,end apogee,CONTROL_FINISHED_OK
$STATE,6230,begin climb
$GC,6233,0.99,146.0,413.7,0.0,451,6369,0.88,2.65,129.73,1.062,4,0.094,0.071,2897,3152,2054
$GC,6400,0.68,146.0,400.1,10.9,455,6405,0.30,2.50,0.00,0.000,6,0.133,0.054,2827,1739,2050
$GC,6728,0.77,184.9,379.2,5.8,471,6770,0.00,2.50,34.03,1.039,4,0.000,0.070,2835,333,1896
$GC,6799,0.90,184.9,374.5,7.2,474,6804,0.15,2.45,0.00,0.000,6,0.072,0.058,2896,1748,1895
$GC,7120,0.74,184.9,341.4,10.3,490,7125,0.20,2.35,0.00,0.000,4,0.131,0.072,2834,3160,1891
$GC,7198,0.68,184.9,334.3,8.8,493,7205,0.00,2.33,0.00,0.000,6,0.000,0.054,2843,1728,1890
$GC,7515,0.76,201.7,312.0,6.5,509,7534,0.00,0.00,14.77,1.002,6,0.000,0.000,2842,1728,1827
$GC,7844,0.82,201.7,289.5,7.7,525,7848,0.00,2.35,0.00,0.000,4,0.000,0.070,2842,3157,1825
$GC,7878,0.82,201.7,286.6,8.8,526,7882,0.00,2.28,0.00,0.000,6,0.000,0.056,2850,1734,1824
$GC,8199,0.90,209.1,263.0,6.8,542,8214,0.08,2.35,7.45,0.901,4,0.097,0.071,2901,334,1798
$GC,8248,0.82,209.1,258.6,9.0,544,8253,0.17,2.30,0.00,0.000,6,0.130,0.058,2850,1745,1798
$GC,8570,0.91,209.1,235.9,7.1,560,8574,0.10,2.28,0.00,0.000,4,0.084,0.071,2896,3152,1797
$GC,8648,0.69,209.1,227.9,10.5,563,8653,0.28,2.28,0.00,0.000,6,0.131,0.057,2824,1728,1796
$GC,8964,1.07,258.2,210.2,5.4,578,9016,0.25,2.45,44.08,1.015,4,0.077,0.071,2923,3151,1597
$GC,9073,0.76,258.2,200.8,11.0,583,9078,0.32,2.30,0.00,0.000,6,0.133,0.057,2837,1729,1592
$GC,9406,1.45,258.2,178.2,8.3,599,9411,0.45,2.30,0.00,0.000,4,0.086,0.071,2996,329,1588
$GC,9439,1.39,258.2,174.8,9.8,600,9445,0.00,2.33,0.00,0.000,6,0.000,0.061,2996,1743,1588
$GC,9755,1.06,258.2,130.0,13.9,616,9757,0.30,0.00,0.00,0.000,6,0.143,0.000,2908,1743,1587
$GC,10064,1.06,258.2,103.2,8.3,631,10068,0.00,2.38,0.00,0.000,4,0.000,0.074,2916,323,1586
$GC,10102,1.06,258.2,99.8,8.5,632,10109,0.00,2.35,0.00,0.000,6,0.000,0.063,2916,1753,1586
$GC,10446,1.06,258.2,71.5,8.4,693,10453,0.00,2.30,0.00,0.000,4,0.000,0.078,2916,3161,1585
$GC,10499,0.92,258.2,66.6,9.6,702,10506,0.17,2.28,0.00,0.000,6,0.135,0.059,2875,1741,1584
$GC,10845,1.11,296.6,45.2,5.8,763,10886,0.17,2.40,33.10,0.944,4,0.069,0.076,2950,3145,1440
$GC,10911,0.95,296.6,38.8,10.5,774,10918,0.28,2.30,0.00,0.000,6,0.133,0.059,2880,1733,1438
$GC,11256,1.17,327.9,16.6,6.0,835,11293,0.17,2.40,27.55,0.911,4,0.067,0.075,2965,327,1313
$GC,11333,1.11,327.9,8.9,12.2,848,11341,0.17,2.35,0.00,0.000,6,0.130,0.063,2916,1738,1312
$FREEZE,6.92,-1.812,-1.794
$STATE,11351,end climb,FINISH_DEPTH_REACHED
$STATE,11351,begin subsurface finish
$FINISH1,6.9,1.026286,67
$GC,11359,0.08,67.0,6.9,-10.3,851,11401,0.68,2.38,-34.05,0.000,4,0.117,0.104,2685,3162,2380
$FINISH2,6.0
$STATE,11402,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11402,begin surface
$RAFOS_CLK,529
$RAFOS,4,1227602650,8.750000,8.736111,67,60,58,58,55,51,186,145,169,219,125,199
$RAFOS,3,1227602045,8.583333,8.568055,115,75,57,55,53,51,783,174,188,206,120,215
$RAFOS,2,1227601441,8.416667,8.400278,88,64,60,56,53,49,1179,211,186,164,120,232
$RAFOS,1,1227600844,8.250000,8.234445,59,59,59,58,56,55,190,213,994,166,115,143
$RAFOS_FIX,6551.716309,-6005.130859,251108,080800,2,102,0.28
$IRIDIUM_FIX,6548.42,-6024.58,170298,151529
$TT8_MAMPS,0.026845
$HUMID,1805
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,14.80
$XPDR_PINGS,26
$24V_AH,22.1,62.455
$10V_AH,10.5,28.367
$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,7.300,121.975,414.900,0.000,0.000,0.000,0.000,0.000,6.500,0.000,0.000,0.000,1527.174,7757.952,519.944,1491.943,186.806,32.375,1345.377,0.000,1482.575,1080.000,0.530,0.000
$DEVICE_MAMPS,159.536,104.312,1146.665,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,600.308,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28426,858
$CAP_FILE_SIZE,102502,0
$CFSIZE,260165632,227139584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.0
$GPS,251108,083200,6551.716,-6005.131,0,2101.5,0,-37.3