version: 66.04
glider: 108
mission: 11
dive: 368
start: 11 25 108 11 31 5
data:
$ID,108
$MISSION,11
$DIVE,368
$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,19
$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
$GPS1,083200,6551.716,-6005.131,0,2101.5,0,-37.3
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,4.25
$_SM_ANGLEo,-4.3
$GPS2,083200,6551.716,-6005.131,0,2101.5,0,-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,0.177,0.152
$KALMAN_X,167432.0,1479.6,1479.6,-278457.3,-2351.5
$KALMAN_Y,-315766.0,-4797.6,-4797.6,210223.4,6805.8
$MHEAD_RNG_PITCHd_Wd,86.7,194150,-13.0,-7.021
$D_GRID,468
$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,-146.0,0.0,0.0,0,67,0.00,0.00,-46.80,0.000,6,0.000,0.000,2685,3162,3247
$GC,71,-0.99,-146.0,2.9,-2.9,9,78,0.62,3.88,0.00,0.000,4,0.081,0.063,2460,805,3248
$GC,147,-0.68,-146.0,10.9,-11.2,22,154,0.30,2.38,0.00,0.000,6,0.150,0.068,2534,2239,3251
$GC,493,-0.76,-146.0,35.2,-6.8,83,499,0.00,2.22,0.00,0.000,4,0.000,0.084,2526,3596,3252
$GC,529,-0.83,-146.0,37.8,-7.0,89,536,0.10,2.20,0.00,0.000,6,0.092,0.056,2484,2209,3252
$GC,874,-0.75,-146.0,71.6,-9.5,150,881,0.12,2.35,0.00,0.000,4,0.146,0.087,2509,3608,3252
$GC,912,-0.75,-146.0,75.0,-9.1,156,918,0.00,2.20,0.00,0.000,6,0.000,0.056,2509,2219,3252
$GC,1270,-0.75,-146.0,103.6,-7.9,214,1274,0.00,2.25,0.00,0.000,4,0.000,0.071,2509,817,3251
$GC,1286,-0.75,-146.0,104.9,-7.5,214,1292,0.00,2.33,0.00,0.000,6,0.000,0.068,2499,2234,3251
$GC,1602,-0.75,-146.0,132.0,-8.5,230,1606,0.00,2.22,0.00,0.000,4,0.000,0.082,2489,3604,3251
$GC,1640,-0.75,-146.0,135.5,-8.7,231,1647,0.12,2.17,0.00,0.000,6,0.155,0.057,2521,2227,3251
$GC,1957,-0.83,-146.0,156.0,-6.1,247,1959,0.10,0.00,0.00,0.000,6,0.096,0.000,2480,2226,3251
$GC,2266,-0.78,-146.0,179.9,-8.1,262,2267,0.12,0.00,0.00,0.000,6,0.154,0.000,2512,2226,3251
$GC,2576,-0.86,-146.0,200.7,-6.6,277,2581,0.00,2.28,0.00,0.000,4,0.000,0.072,2512,816,3251
$GC,2649,-0.93,-146.0,205.9,-6.7,280,2654,0.10,2.35,0.00,0.000,6,0.089,0.071,2462,2243,3251
$GC,2976,-0.84,-146.0,232.8,-8.2,296,2981,0.12,2.22,0.00,0.000,4,0.157,0.087,2486,3599,3250
$GC,3084,-0.84,-146.0,241.0,-7.2,300,3090,0.00,2.17,0.00,0.000,6,0.000,0.058,2487,2228,3250
$GC,3400,-0.84,-146.0,261.5,-6.2,316,3403,0.00,2.28,0.00,0.000,4,0.000,0.071,2486,810,3250
$GC,3451,-0.84,-146.0,264.9,-6.4,318,3455,0.00,2.35,0.00,0.000,6,0.000,0.069,2476,2237,3250
$GC,3772,-0.84,-146.0,284.4,-6.0,334,3773,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2237,3250
$GC,4083,-0.84,-146.0,304.3,-6.8,349,4084,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2237,3250
$GC,4393,-0.84,-146.0,324.7,-6.5,364,4397,0.00,2.30,0.00,0.000,4,0.000,0.070,2476,823,3250
$GC,4426,-0.78,-146.0,327.1,-6.6,365,4431,0.17,2.33,0.00,0.000,6,0.137,0.070,2515,2234,3250
$GC,4743,-0.93,-146.0,342.5,-5.0,380,4744,0.15,0.00,0.00,0.000,6,0.083,0.000,2456,2234,3250
$GC,5052,-0.86,-146.0,364.2,-7.3,395,5057,0.15,2.33,0.00,0.000,4,0.154,0.067,2501,813,3250
$GC,5097,-0.93,-146.0,367.0,-6.1,397,5101,0.00,2.35,0.00,0.000,6,0.000,0.067,2493,2244,3250
$GC,5419,-1.01,-146.0,384.7,-5.2,413,5423,0.12,2.22,0.00,0.000,4,0.084,0.081,2428,3604,3250
$GC,5464,-0.85,-146.0,387.9,-7.8,415,5469,0.22,2.17,0.00,0.000,6,0.150,0.054,2497,2222,3250
$GC,5811,-0.95,-146.0,404.9,-4.9,430,5813,0.10,0.00,0.00,0.000,6,0.096,0.000,2456,2222,3251
$GC,6136,-0.90,-146.0,425.0,-6.3,438,6138,0.12,0.00,0.00,0.000,6,0.152,0.000,2489,2222,3251
$GC,6461,-0.97,-146.0,441.6,-5.1,446,6464,0.00,2.25,0.00,0.000,4,0.000,0.068,2490,811,3252
$GC,6533,-0.97,-146.0,445.3,-4.8,447,6537,0.00,2.33,0.00,0.000,6,0.000,0.066,2481,2234,3252
$GC,6877,-0.97,-146.0,463.3,-5.3,456,6878,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2234,3252
$STATE,6995,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6995,begin apogee
$GC,7002,-0.31,0.0,469.6,5.2,459,7129,0.43,0.00,124.80,1.174,6,0.123,0.000,2615,1733,2650
$STATE,7130,end apogee,CONTROL_FINISHED_OK
$STATE,7130,begin climb
$GC,7133,0.99,146.0,471.1,0.0,462,7268,0.88,0.00,131.02,1.088,6,0.093,0.000,2899,1733,2054
$GC,7581,0.78,146.0,428.8,9.9,473,7582,0.20,0.00,0.00,0.000,6,0.128,0.000,2843,1733,2047
$GC,7905,0.80,161.2,407.1,6.5,481,7920,0.00,0.00,12.98,1.015,6,0.000,0.000,2843,1733,1992
$GC,8212,0.80,163.0,386.5,7.0,493,8216,0.00,2.40,0.00,0.000,4,0.000,0.072,2842,3166,1991
$GC,8259,0.69,163.0,383.0,8.4,495,8263,0.00,2.30,0.00,0.000,6,0.000,0.054,2849,1731,1990
$GC,8590,0.69,163.0,358.9,7.1,511,8592,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1731,1990
$GC,8901,0.69,163.0,336.8,7.0,526,8902,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1731,1990
$GC,9209,0.69,163.0,314.6,7.1,541,9213,0.00,2.33,0.00,0.000,4,0.000,0.072,2850,3154,1990
$GC,9248,0.57,163.0,311.5,8.4,542,9256,0.20,2.25,0.00,0.000,6,0.127,0.054,2800,1737,1990
$GC,9565,0.98,183.4,293.0,6.4,558,9590,0.25,2.33,20.27,1.037,4,0.071,0.070,2913,321,1902
$GC,9677,0.82,183.4,282.9,9.8,563,9682,0.20,2.35,0.00,0.000,6,0.134,0.060,2856,1746,1902
$GC,10003,0.82,183.4,256.5,8.0,579,10007,0.00,2.28,0.00,0.000,4,0.000,0.071,2856,3155,1899
$GC,10053,0.72,183.4,252.1,9.2,581,10058,0.10,2.28,0.00,0.000,6,0.140,0.055,2835,1725,1899
$GC,10376,0.88,208.9,230.9,6.2,597,10401,0.12,0.00,22.48,1.010,6,0.077,0.000,2890,1725,1798
$GC,10704,0.81,208.9,203.6,8.6,613,10706,0.15,0.00,0.00,0.000,6,0.123,0.000,2846,1725,1795
$GC,11013,0.97,231.2,183.6,6.3,628,11039,0.15,2.42,20.15,0.985,4,0.074,0.071,2910,3159,1707
$GC,11080,0.75,231.2,177.0,11.0,631,11085,0.28,2.30,0.00,0.000,6,0.131,0.056,2838,1739,1705
$GC,11408,1.17,231.2,154.2,7.5,647,11413,0.28,2.35,0.00,0.000,4,0.073,0.073,2948,3154,1701
$GC,11550,0.88,231.2,136.7,14.0,653,11555,0.30,2.28,0.00,0.000,6,0.139,0.058,2870,1733,1701
$GC,11866,1.01,231.2,110.9,7.2,668,11868,0.12,0.00,0.00,0.000,6,0.079,0.000,2927,1733,1700
$GC,12191,0.92,231.2,84.3,8.2,707,12198,0.17,2.30,0.00,0.000,4,0.132,0.072,2884,327,1700
$GC,12233,1.01,233.8,81.3,6.9,714,12240,0.00,2.33,0.00,0.000,6,0.000,0.061,2884,1753,1700
$GC,12578,1.09,233.8,57.4,7.2,775,12585,0.12,2.28,0.00,0.000,4,0.078,0.077,2940,3155,1699
$GC,12620,0.93,233.8,53.3,9.8,782,12627,0.25,2.28,0.00,0.000,6,0.139,0.060,2877,1732,1699
$GC,12965,1.10,270.7,32.7,5.8,843,13006,0.15,0.00,34.60,0.941,6,0.072,0.000,2943,1732,1546
$FREEZE,6.99,-1.808,-1.795
$STATE,13247,end climb,FINISH_DEPTH_REACHED
$STATE,13247,begin subsurface finish
$FINISH1,7.0,1.026289,67
$GC,13255,0.08,66.8,7.0,-9.8,893,13290,0.75,0.00,-27.55,0.000,6,0.120,0.000,2699,1732,2382
$FINISH2,5.4
$STATE,13290,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13291,begin surface
$RAFOS_CLK,616
$RAFOS,4,1227617052,12.750000,12.736667,68,58,51,50,47,45,212,191,229,137,176,148
$RAFOS,3,1227616454,12.583333,12.570556,107,61,59,56,51,51,710,197,163,150,183,119
$RAFOS,2,1227615855,12.416667,12.404166,59,57,57,53,52,51,193,215,1067,152,171,142
$RAFOS,1,1227615245,12.250000,12.234722,65,64,60,60,54,48,171,969,214,123,148,180
$RAFOS,0,1227614659,12.083333,12.071944,60,59,56,54,51,51,166,210,147,156,220,841
$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,1811
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,14.90
$XPDR_PINGS,26
$24V_AH,22.1,62.569
$10V_AH,10.5,28.418
$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,7.875,93.950,366.300,0.000,0.000,0.000,0.000,0.000,6.500,0.000,0.000,0.000,1577.468,9544.331,478.308,1540.555,203.742,32.665,1299.260,0.000,1537.119,1800.000,0.529,0.000
$DEVICE_MAMPS,157.235,87.438,1173.510,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,629.678,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28432,899
$CAP_FILE_SIZE,104609,0
$CFSIZE,260165632,227086336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1445.0
$GPS,251108,083200,6551.716,-6005.131,0,2101.5,0,-37.3