version: 66.04
glider: 108
mission: 11
dive: 369
start: 11 25 108 15 14 58
data:
$ID,108
$MISSION,11
$DIVE,369
$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,23
$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,4.35
$_SM_ANGLEo,-4.0
$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,0.166,0.164
$KALMAN_X,167625.5,648.2,-117.6,-276076.2,259.8
$KALMAN_Y,-320568.8,-3613.5,-2319.8,211019.4,100.4
$MHEAD_RNG_PITCHd_Wd,82.8,194150,-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,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,-41.80,0.000,6,0.000,0.000,2700,1733,3247
$GC,65,-0.99,-146.0,3.2,-1.3,8,71,0.65,1.50,0.00,0.000,4,0.062,0.071,2448,806,3250
$GC,185,-0.73,-146.0,16.1,-11.4,29,192,0.30,2.38,0.00,0.000,6,0.150,0.068,2522,2244,3252
$GC,530,-0.73,-146.0,44.1,-7.6,90,536,0.00,2.22,0.00,0.000,4,0.000,0.084,2514,3602,3252
$GC,582,-0.73,-146.0,48.3,-8.4,99,589,0.00,2.20,0.00,0.000,6,0.000,0.055,2514,2209,3253
$GC,926,-0.73,-146.0,76.3,-8.0,160,932,0.00,2.33,0.00,0.000,4,0.000,0.081,2503,3604,3252
$GC,1007,-0.73,-146.0,83.0,-8.5,174,1013,0.00,2.17,0.00,0.000,6,0.000,0.056,2504,2227,3252
$GC,1340,-0.73,-146.0,111.6,-8.9,217,1343,0.00,2.25,0.00,0.000,4,0.000,0.070,2504,824,3252
$GC,1413,-0.65,-146.0,118.4,-8.8,220,1418,0.17,2.33,0.00,0.000,6,0.140,0.071,2542,2234,3252
$GC,1740,-0.82,-146.0,136.7,-5.1,236,1742,0.15,0.00,0.00,0.000,6,0.079,0.000,2482,2234,3252
$GC,2051,-0.77,-146.0,159.8,-8.0,251,2056,0.12,2.25,0.00,0.000,4,0.155,0.089,2506,3597,3252
$GC,2135,-0.84,-146.0,166.6,-7.4,255,2139,0.00,2.17,0.00,0.000,6,0.000,0.056,2506,2215,3251
$GC,2469,-0.89,-146.0,190.0,-6.6,271,2472,0.00,2.22,0.00,0.000,4,0.000,0.070,2506,823,3251
$GC,2530,-0.89,-146.0,194.7,-7.9,273,2537,0.00,2.33,0.00,0.000,6,0.000,0.071,2496,2231,3251
$GC,2846,-0.89,-146.0,218.1,-7.5,289,2849,0.00,2.33,0.00,0.000,4,0.000,0.069,2496,810,3251
$GC,2884,-0.89,-146.0,221.3,-8.3,290,2891,0.00,2.35,0.00,0.000,6,0.000,0.069,2487,2238,3251
$GC,3200,-0.89,-146.0,245.4,-7.9,306,3204,0.00,2.33,0.00,0.000,4,0.000,0.069,2487,814,3251
$GC,3233,-0.89,-146.0,248.2,-8.3,307,3240,0.00,2.35,0.00,0.000,6,0.000,0.070,2477,2238,3251
$GC,3550,-0.89,-146.0,273.3,-7.5,323,3554,0.00,2.33,0.00,0.000,4,0.000,0.068,2476,814,3251
$GC,3591,-0.82,-146.0,276.5,-8.0,325,3596,0.12,2.35,0.00,0.000,6,0.141,0.070,2500,2239,3251
$GC,3921,-0.90,-146.0,296.4,-5.6,341,3923,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2239,3251
$GC,4227,-1.00,-146.0,313.0,-5.2,356,4229,0.15,0.00,0.00,0.000,6,0.084,0.000,2441,2239,3250
$GC,4538,-0.87,-146.0,336.3,-8.2,371,4543,0.17,2.25,0.00,0.000,4,0.158,0.097,2481,3602,3250
$GC,4565,-0.87,-146.0,338.6,-7.3,372,4569,0.00,2.17,0.00,0.000,6,0.000,0.054,2481,2224,3250
$GC,4894,-0.87,-146.0,360.0,-6.7,388,4898,0.00,2.25,0.00,0.000,4,0.000,0.069,2480,817,3250
$GC,4995,-0.87,-146.0,367.3,-7.2,392,4999,0.00,2.35,0.00,0.000,6,0.000,0.068,2471,2245,3250
$GC,5311,-0.87,-146.0,388.5,-6.7,407,5312,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2245,3250
$GC,5619,-0.87,-146.0,409.0,-6.7,419,5620,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2245,3251
$GC,5943,-0.87,-146.0,429.7,-6.2,427,5947,0.00,2.33,0.00,0.000,4,0.000,0.066,2470,813,3251
$GC,5994,-0.82,-146.0,433.0,-6.7,428,5999,0.15,2.35,0.00,0.000,6,0.136,0.067,2502,2244,3251
$GC,6313,-0.95,-146.0,449.6,-5.2,436,6318,0.12,2.33,0.00,0.000,4,0.087,0.064,2451,815,3252
$GC,6375,-0.84,-146.0,454.0,-7.5,437,6379,0.20,2.33,0.00,0.000,6,0.137,0.067,2498,2240,3252
$STATE,6638,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6638,begin apogee
$GC,6646,-0.31,0.0,468.4,5.3,444,6774,0.38,0.00,125.00,1.169,6,0.119,0.000,2619,1741,2650
$STATE,6774,end apogee,CONTROL_FINISHED_OK
$STATE,6774,begin climb
$GC,6778,0.99,146.0,470.6,0.0,447,6916,0.85,2.65,130.80,1.088,4,0.093,0.071,2894,3154,2053
$GC,6946,0.68,146.0,457.5,11.1,451,6951,0.30,2.50,0.00,0.000,6,0.136,0.053,2825,1737,2049
$GC,7266,0.75,163.4,435.8,6.5,459,7283,0.00,0.00,15.20,1.018,6,0.000,0.000,2825,1736,1983
$GC,7590,0.86,190.9,415.6,6.1,467,7619,0.15,0.00,25.77,1.068,6,0.073,0.000,2889,1737,1871
$GC,7896,0.71,190.9,386.4,9.8,477,7901,0.20,2.38,0.00,0.000,4,0.127,0.071,2825,3163,1867
$GC,7924,0.71,190.9,383.9,8.1,478,7928,0.00,2.30,0.00,0.000,6,0.000,0.055,2832,1734,1866
$GC,8247,0.79,200.8,362.6,6.7,494,8258,0.00,0.00,8.93,0.960,6,0.000,0.000,2832,1734,1831
$GC,8555,0.87,200.8,341.4,7.2,509,8560,0.12,2.35,0.00,0.000,4,0.078,0.071,2888,3159,1830
$GC,8577,0.78,200.8,339.2,9.5,510,8582,0.17,2.28,0.00,0.000,6,0.139,0.054,2849,1729,1829
$GC,8903,0.78,200.8,312.4,8.1,526,8904,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1729,1829
$GC,9215,0.78,200.8,287.0,8.3,541,9218,0.00,2.33,0.00,0.000,4,0.000,0.070,2849,3157,1829
$GC,9238,0.78,200.8,284.8,8.9,542,9242,0.00,2.25,0.00,0.000,6,0.000,0.054,2856,1731,1829
$GC,9570,0.78,200.8,257.1,8.2,558,9571,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1731,1829
$GC,9880,0.84,200.8,232.7,7.9,573,9884,0.00,2.33,0.00,0.000,4,0.000,0.072,2856,3157,1829
$GC,9914,0.78,200.8,229.6,9.5,574,9918,0.00,2.25,0.00,0.000,6,0.000,0.055,2865,1734,1828
$GC,10235,0.78,200.8,201.1,8.9,590,10239,0.00,2.28,0.00,0.000,4,0.000,0.070,2875,330,1829
$GC,10281,0.83,200.8,197.0,9.5,592,10285,0.00,2.30,0.00,0.000,6,0.000,0.059,2875,1749,1829
$GC,10613,0.83,200.8,169.3,8.0,608,10617,0.00,2.28,0.00,0.000,4,0.000,0.075,2875,3156,1829
$GC,10652,0.72,200.8,166.0,8.8,609,10659,0.17,2.25,0.00,0.000,6,0.127,0.056,2833,1737,1828
$GC,10969,1.08,214.0,146.0,6.6,625,10991,0.22,2.38,12.55,0.943,4,0.073,0.074,2927,3147,1777
$GC,11210,0.82,214.0,120.0,11.7,635,11218,0.28,2.25,0.00,0.000,6,0.135,0.057,2857,1739,1775
$GC,11527,1.05,281.6,101.6,4.8,651,11596,0.17,2.40,60.55,0.960,4,0.071,0.071,2940,324,1501
$GC,11626,1.00,281.6,94.1,8.0,663,11633,0.17,2.38,0.00,0.000,6,0.130,0.060,2891,1737,1498
$GC,11971,1.15,314.7,72.9,6.0,724,12007,0.15,2.35,28.55,0.922,4,0.072,0.074,2952,3156,1366
$GC,12026,0.99,314.7,67.5,10.4,733,12034,0.25,2.33,0.00,0.000,6,0.137,0.057,2891,1732,1364
$GC,12372,1.19,349.3,45.0,5.9,794,12409,0.15,2.42,30.00,0.909,4,0.070,0.074,2966,319,1225
$GC,12433,1.11,349.3,39.0,10.7,804,12440,0.17,2.40,0.00,0.000,6,0.130,0.061,2916,1754,1224
$GC,12779,1.24,414.6,13.8,4.9,865,12842,0.12,2.40,55.15,0.892,4,0.077,0.077,2966,3149,958
$FREEZE,6.23,-1.805,-1.801
$STATE,12848,end climb,FINISH_DEPTH_REACHED
$STATE,12848,begin subsurface finish
$FINISH1,6.2,1.026393,62
$GC,12858,0.08,61.7,6.2,-11.7,877,12922,0.90,2.42,-55.97,0.000,4,0.127,0.087,2686,3160,2401
$FINISH2,2.9
$STATE,12923,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12923,begin surface
$RAFOS_CLK,598
$RAFOS,4,1227631447,16.750000,16.735277,59,59,55,55,50,48,170,205,136,217,146,233
$RAFOS,3,1227630843,16.583334,16.567499,130,59,58,57,53,51,775,189,177,167,131,143
$RAFOS,2,1227630260,16.416666,16.405556,67,65,59,59,51,51,1045,216,183,201,225,154
$RAFOS,1,1227629644,16.250000,16.234444,82,60,60,55,54,53,980,210,197,174,118,1195
$RAFOS,0,1227629048,16.083334,16.068890,64,60,54,51,51,50,206,223,166,177,194,145
$RAFOS_FIX,6549.960938,-5953.021973,251108,161640,2,106,0.34
$IRIDIUM_FIX,6548.42,-6024.58,170298,151529
$TT8_MAMPS,0.026078
$HUMID,1795
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,14.70
$XPDR_PINGS,44
$24V_AH,22.0,62.715
$10V_AH,10.5,28.471
$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,7.275,118.325,492.500,0.000,0.000,0.000,0.000,0.000,11.000,0.000,0.000,0.000,1541.658,9048.123,599.500,1590.745,206.245,33.365,1478.151,0.000,1582.091,1800.000,0.529,0.000
$DEVICE_MAMPS,158.002,96.642,1168.908,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,619.772,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28351,888
$CAP_FILE_SIZE,106534,0
$CFSIZE,260165632,227028992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.9
$GPS,251108,162640,6549.961,-5953.022,0,2106.0,0,-37.3