version: 66.04
glider: 108
mission: 11
dive: 329
start: 11 19 108 16 11 1
data:
$ID,108
$MISSION,11
$DIVE,329
$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,-118268.59
$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,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
$GPS1,082120,6625.746,-6030.967,0,2075.0,0,-37.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.22
$_SM_ANGLEo,-3.2
$GPS2,082120,6625.746,-6030.967,0,2075.0,0,-37.9
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,8000.000
$KALMAN_CONTROL,0.227,0.052
$KALMAN_X,126014.8,-75.0,-20771.5,-231992.8,-36378.4
$KALMAN_Y,-278440.5,-7293.3,15390.8,217951.9,23568.6
$MHEAD_RNG_PITCHd_Wd,115.1,31367,-13.0,-7.021
$D_GRID,440
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-6.53,0.000,2,0.000,0.000,2700,1732,2503
$GC,27,-0.99,-146.0,4.6,-0.0,1,63,0.62,1.50,-28.33,0.000,4,0.054,0.090,2451,805,3248
$GC,318,-0.72,-146.0,39.1,-12.6,52,324,0.30,2.38,0.00,0.000,6,0.153,0.083,2526,2237,3253
$GC,662,-0.72,-146.0,68.9,-7.7,113,668,0.00,2.33,0.00,0.000,4,0.000,0.068,2526,813,3254
$GC,708,-0.72,-146.0,72.7,-8.2,121,714,0.00,2.35,0.00,0.000,6,0.000,0.070,2518,2239,3253
$GC,1052,-0.72,-146.0,99.4,-6.6,182,1058,0.00,2.25,0.00,0.000,4,0.000,0.084,2508,3609,3253
$GC,1065,-0.72,-146.0,100.4,-6.4,184,1069,0.00,2.20,0.00,0.000,6,0.000,0.055,2508,2216,3253
$GC,1388,-0.72,-146.0,122.6,-7.0,200,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2216,3253
$GC,1697,-0.72,-146.0,144.0,-7.3,215,1701,0.00,2.25,0.00,0.000,4,0.000,0.068,2507,808,3253
$GC,1798,-0.72,-146.0,151.5,-6.8,219,1803,0.10,2.35,0.00,0.000,6,0.143,0.070,2524,2232,3252
$GC,2115,-0.82,-146.0,168.9,-5.4,234,2116,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2232,3253
$GC,2424,-0.93,-146.0,187.6,-6.4,249,2428,0.17,2.33,0.00,0.000,4,0.079,0.067,2455,812,3252
$GC,2486,-0.75,-146.0,193.4,-9.5,252,2491,0.25,2.38,0.00,0.000,6,0.143,0.084,2517,2239,3252
$GC,2813,-0.85,-146.0,214.1,-5.8,268,2815,0.10,0.00,0.00,0.000,6,0.099,0.000,2478,2239,3252
$GC,3121,-0.85,-146.0,235.2,-6.5,283,3125,0.00,2.33,0.00,0.000,4,0.000,0.069,2478,814,3252
$GC,3133,-0.80,-146.0,236.0,-6.3,283,3138,0.15,2.35,0.00,0.000,6,0.144,0.070,2510,2236,3252
$GC,3451,-0.90,-146.0,253.3,-5.6,298,3455,0.10,2.33,0.00,0.000,4,0.097,0.067,2468,820,3251
$GC,3472,-0.85,-146.0,254.9,-6.7,299,3477,0.15,2.35,0.00,0.000,6,0.146,0.071,2499,2237,3252
$GC,3794,-0.91,-146.0,274.3,-6.1,315,3798,0.00,2.33,0.00,0.000,4,0.000,0.068,2500,816,3251
$GC,3826,-0.91,-146.0,276.7,-7.2,316,3830,0.00,2.35,0.00,0.000,6,0.000,0.071,2492,2236,3251
$GC,4148,-0.91,-146.0,297.7,-6.3,332,4152,0.00,2.33,0.00,0.000,4,0.000,0.067,2492,813,3251
$GC,4209,-0.91,-146.0,301.7,-6.8,334,4215,0.00,2.35,0.00,0.000,6,0.000,0.070,2483,2232,3251
$GC,4525,-0.91,-146.0,322.3,-6.4,350,4529,0.00,2.33,0.00,0.000,4,0.000,0.067,2483,810,3251
$GC,4541,-0.91,-146.0,323.6,-6.6,350,4547,0.00,2.38,0.00,0.000,6,0.000,0.069,2473,2246,3250
$GC,4857,-0.91,-146.0,343.3,-5.9,366,4861,0.00,2.33,0.00,0.000,4,0.000,0.066,2472,822,3251
$GC,4930,-0.84,-146.0,347.9,-5.9,369,4935,0.15,2.35,0.00,0.000,6,0.139,0.070,2502,2237,3251
$GC,5251,-0.94,-146.0,362.1,-4.5,385,5256,0.10,2.33,0.00,0.000,4,0.096,0.065,2461,814,3251
$GC,5302,-0.83,-146.0,365.1,-6.3,387,5307,0.17,2.35,0.00,0.000,6,0.140,0.069,2499,2236,3251
$GC,5618,-0.93,-146.0,380.4,-4.9,402,5621,0.00,2.33,0.00,0.000,4,0.000,0.066,2499,810,3251
$GC,5664,-0.93,-146.0,382.8,-5.2,404,5668,0.00,2.35,0.00,0.000,6,0.000,0.067,2492,2239,3251
$GC,5992,-1.00,-146.0,400.2,-5.3,420,5994,0.10,0.00,0.00,0.000,6,0.089,0.000,2446,2240,3252
$GC,6315,-0.90,-146.0,422.2,-6.8,428,6317,0.15,0.00,0.00,0.000,6,0.151,0.000,2487,2239,3252
$GC,6641,-0.96,-146.0,439.8,-5.3,436,6645,0.00,2.33,0.00,0.000,4,0.000,0.064,2487,812,3252
$STATE,6650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6651,begin apogee
$GC,6658,-0.31,0.0,440.4,5.3,436,6785,0.40,0.00,123.90,1.151,6,0.126,0.000,2612,1754,2650
$STATE,6786,end apogee,CONTROL_FINISHED_OK
$STATE,6786,begin climb
$GC,6788,0.99,146.0,442.6,0.0,439,6922,0.88,0.00,129.57,1.071,6,0.097,0.000,2894,1754,2054
$GC,7236,0.77,146.0,402.1,9.7,450,7241,0.17,2.40,0.00,0.000,4,0.129,0.071,2846,3162,2047
$GC,7275,0.63,146.0,398.6,8.2,451,7280,0.15,2.38,0.00,0.000,6,0.136,0.055,2814,1737,2046
$GC,7603,0.79,189.2,379.5,5.6,467,7647,0.12,2.45,36.95,1.062,4,0.074,0.069,2880,326,1877
$GC,7680,0.71,189.2,372.9,9.5,470,7685,0.17,2.40,0.00,0.000,6,0.126,0.059,2830,1748,1876
$GC,7997,0.79,189.7,350.9,7.0,485,8001,0.08,2.30,0.00,0.000,4,0.094,0.071,2869,3155,1872
$GC,8063,0.59,189.7,343.6,12.0,488,8068,0.25,2.28,0.00,0.000,6,0.131,0.054,2806,1737,1870
$GC,8384,1.00,189.7,319.2,8.4,504,8389,0.25,2.35,0.00,0.000,4,0.071,0.071,2907,3158,1870
$GC,8492,0.65,189.7,305.9,13.8,509,8497,0.32,2.28,0.00,0.000,6,0.140,0.054,2822,1733,1870
$GC,8819,0.81,195.7,280.5,6.8,525,8829,0.12,2.28,5.43,0.819,4,0.073,0.069,2890,333,1852
$GC,8875,0.73,195.7,275.5,9.5,527,8882,0.20,2.30,0.00,0.000,6,0.125,0.058,2830,1748,1853
$GC,9191,0.94,255.1,257.6,5.1,543,9250,0.17,2.33,52.50,1.022,4,0.068,0.071,2903,3150,1610
$GC,9303,0.69,255.1,246.6,12.3,547,9307,0.30,2.30,0.00,0.000,6,0.133,0.054,2826,1733,1605
$GC,9629,1.38,255.1,221.8,9.1,563,9634,0.45,2.30,0.00,0.000,4,0.089,0.067,2983,329,1599
$GC,9674,1.25,255.1,217.1,10.6,565,9679,0.15,2.33,0.00,0.000,6,0.161,0.060,2946,1742,1599
$GC,9995,1.02,255.1,178.1,11.8,581,9996,0.17,0.00,0.00,0.000,6,0.140,0.000,2893,1742,1599
$GC,10303,1.02,255.1,150.6,9.4,596,10307,0.00,2.30,0.00,0.000,4,0.000,0.075,2893,3155,1598
$GC,10337,0.91,255.1,147.1,10.4,597,10342,0.10,2.28,0.00,0.000,6,0.144,0.056,2874,1730,1597
$GC,10655,1.01,255.1,123.2,7.1,612,10659,0.10,2.30,0.00,0.000,4,0.087,0.071,2930,320,1597
$GC,10704,0.94,255.1,118.1,10.4,614,10709,0.17,2.33,0.00,0.000,6,0.132,0.061,2879,1743,1596
$GC,11030,1.06,264.0,93.4,6.7,641,11043,0.12,2.30,6.93,0.844,4,0.078,0.074,2934,3164,1573
$GC,11095,0.79,264.0,86.8,11.1,652,11102,0.32,2.30,0.00,0.000,6,0.137,0.058,2847,1729,1573
$GC,11440,1.44,264.0,62.7,8.4,713,11447,0.43,2.30,0.00,0.000,4,0.101,0.071,2993,320,1570
$GC,11483,1.57,264.0,58.6,9.9,720,11489,0.10,2.33,0.00,0.000,6,0.095,0.062,3032,1742,1570
$GC,11828,1.15,264.0,8.2,15.0,781,11834,0.32,2.30,0.00,0.000,4,0.152,0.076,2932,3151,1570
$FREEZE,6.24,-1.757,-1.776
$STATE,11839,end climb,FINISH_DEPTH_REACHED
$STATE,11840,begin subsurface finish
$FINISH1,6.2,1.026026,80
$GC,11849,0.10,79.8,6.2,-14.2,783,11884,0.75,2.42,-26.42,0.000,4,0.127,0.087,2690,3158,2329
$FINISH2,4.4
$STATE,11885,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11885,begin surface
$RAFOS_CLK,549
$RAFOS,4,1227113048,16.750000,16.735556,72,58,56,55,55,52,782,197,206,231,160,175
$RAFOS,3,1227112445,16.583334,16.568056,91,61,58,54,51,51,705,214,203,149,188,118
$RAFOS,2,1227111841,16.416666,16.400278,67,63,59,57,54,53,903,212,221,182,147,196
$RAFOS,1,1227111245,16.250000,16.234722,99,61,58,58,57,55,653,192,223,174,122,152
$RAFOS,0,1227110641,16.083334,16.066944,89,68,67,59,57,55,565,196,213,114,158,138
$RAFOS_FIX,6642.699707,-5950.224121,191108,161640,4,88,1.49
$IRIDIUM_FIX,6614.97,-5912.45,100298,030321
$TT8_MAMPS,0.026078
$HUMID,1810
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,14.90
$XPDR_PINGS,65
$24V_AH,22.2,57.550
$10V_AH,10.5,26.369
$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,9.425,121.725,355.275,0.000,0.000,0.000,0.000,0.000,16.250,0.000,0.000,0.000,1449.119,8457.143,451.945,1429.529,167.521,33.314,1236.331,0.000,1420.070,1440.000,0.529,0.000
$DEVICE_MAMPS,161.070,89.739,1150.500,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,552.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25262,789
$CAP_FILE_SIZE,104938,0
$CFSIZE,260165632,229388288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.3
$GPS,191108,162640,6642.700,-5950.224,0,4087.8,0,-37.9