version: 66.04
glider: 108
mission: 11
dive: 370
start: 11 25 108 18 52 53
data:
$ID,108
$MISSION,11
$DIVE,370
$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
$GPS1,162640,6549.961,-5953.022,0,2106.0,0,-37.3
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-3.5
$GPS2,162640,6549.961,-5953.022,0,2106.0,0,-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,0.169,0.160
$KALMAN_X,170928.0,910.1,1863.2,-272907.8,-2594.7
$KALMAN_Y,-326104.5,-1576.1,-3459.9,212348.9,5307.5
$MHEAD_RNG_PITCHd_Wd,83.8,190132,-13.0,-7.021
$D_GRID,539
$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,13,begin dive
$GC,16,-0.99,-146.0,0.0,0.0,0,57,0.00,0.00,-38.35,0.000,2,0.000,0.000,2686,3160,3198
$GC,60,-0.99,-146.0,3.3,-2.2,7,67,0.65,0.00,-1.98,0.000,6,0.085,0.000,2456,3160,3247
$GC,405,-0.83,-146.0,41.7,-10.3,68,412,0.17,3.85,0.00,0.000,4,0.159,0.063,2511,810,3252
$GC,666,-0.83,-146.0,61.1,-7.8,114,672,0.00,2.38,0.00,0.000,6,0.000,0.074,2503,2244,3252
$GC,1010,-0.83,-146.0,91.3,-8.8,175,1016,0.00,2.22,0.00,0.000,4,0.000,0.083,2493,3598,3251
$GC,1062,-0.83,-146.0,96.2,-9.6,184,1068,0.00,2.17,0.00,0.000,6,0.000,0.055,2494,2222,3252
$GC,1392,-0.83,-146.0,124.0,-7.8,205,1396,0.00,2.25,0.00,0.000,4,0.000,0.069,2494,816,3252
$GC,1438,-0.79,-146.0,127.5,-7.7,207,1442,0.00,2.35,0.00,0.000,6,0.000,0.070,2487,2241,3251
$GC,1765,-0.79,-146.0,152.9,-7.1,223,1768,0.00,2.22,0.00,0.000,4,0.000,0.084,2476,3598,3251
$GC,1798,-0.79,-146.0,155.3,-7.5,224,1803,0.12,2.17,0.00,0.000,6,0.155,0.055,2508,2221,3251
$GC,2119,-0.85,-146.0,172.1,-5.2,240,2123,0.00,2.25,0.00,0.000,4,0.000,0.070,2508,814,3251
$GC,2166,-0.85,-146.0,174.8,-5.6,242,2170,0.00,2.35,0.00,0.000,6,0.000,0.069,2500,2245,3251
$GC,2492,-0.85,-146.0,194.5,-6.5,258,2496,0.00,2.33,0.00,0.000,4,0.000,0.068,2500,817,3251
$GC,2547,-0.85,-146.0,198.4,-7.5,260,2551,0.00,2.35,0.00,0.000,6,0.000,0.070,2490,2244,3251
$GC,2864,-0.85,-146.0,219.2,-6.7,275,2867,0.00,2.22,0.00,0.000,4,0.000,0.084,2480,3604,3250
$GC,2886,-0.85,-146.0,220.8,-7.0,276,2891,0.00,2.17,0.00,0.000,6,0.000,0.056,2481,2213,3251
$GC,3219,-0.85,-146.0,245.8,-7.4,292,3220,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2213,3251
$GC,3529,-0.85,-146.0,267.4,-6.8,307,3533,0.00,2.33,0.00,0.000,4,0.000,0.082,2470,3608,3250
$GC,3574,-0.85,-146.0,270.7,-7.1,309,3579,0.10,2.20,0.00,0.000,6,0.160,0.056,2494,2214,3250
$GC,3908,-0.91,-146.0,290.9,-6.0,325,3911,0.00,2.22,0.00,0.000,4,0.000,0.067,2497,815,3250
$GC,3958,-0.91,-146.0,294.2,-6.5,327,3963,0.00,2.35,0.00,0.000,6,0.000,0.069,2489,2244,3250
$GC,4283,-0.91,-146.0,315.1,-6.6,343,4287,0.00,2.30,0.00,0.000,4,0.000,0.067,2489,819,3250
$GC,4322,-0.91,-146.0,318.0,-7.5,345,4326,0.00,2.33,0.00,0.000,6,0.000,0.070,2478,2232,3250
$GC,4650,-0.91,-146.0,341.0,-7.0,361,4651,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2233,3250
$GC,4958,-0.91,-146.0,361.2,-6.2,376,4961,0.00,2.25,0.00,0.000,4,0.000,0.083,2468,3608,3250
$GC,4986,-0.91,-146.0,363.1,-6.5,377,4990,0.00,2.20,0.00,0.000,6,0.000,0.054,2468,2211,3250
$GC,5313,-0.91,-146.0,383.9,-6.2,393,5314,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2212,3250
$GC,5621,-0.91,-146.0,402.4,-5.9,407,5625,0.00,2.30,0.00,0.000,4,0.000,0.079,2458,3602,3251
$GC,5668,-0.87,-146.0,405.2,-6.2,408,5672,0.12,2.15,0.00,0.000,6,0.153,0.053,2490,2225,3251
$GC,5998,-0.94,-146.0,421.1,-4.8,416,6002,0.00,2.25,0.00,0.000,4,0.000,0.067,2490,810,3251
$GC,6054,-0.94,-146.0,424.0,-4.8,417,6058,0.00,2.33,0.00,0.000,6,0.000,0.065,2483,2236,3252
$GC,6368,-0.94,-146.0,440.3,-5.3,425,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2236,3251
$GC,6694,-0.99,-146.0,457.1,-5.1,433,6695,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2236,3252
$GC,7017,-1.04,-146.0,473.7,-5.0,441,7019,0.10,0.00,0.00,0.000,6,0.090,0.000,2439,2236,3252
$GC,7343,-0.93,-146.0,494.0,-6.2,449,7347,0.15,2.30,0.00,0.000,4,0.149,0.063,2483,818,3252
$GC,7398,-0.93,-146.0,497.2,-5.0,450,7402,0.00,2.33,0.00,0.000,6,0.000,0.065,2475,2239,3253
$GC,7747,-0.93,-146.0,517.0,-6.1,459,7748,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2239,3253
$GC,8072,-0.93,-146.0,535.9,-5.6,467,8073,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2239,3253
$STATE,8150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8150,begin apogee
$GC,8157,-0.31,0.0,540.8,5.8,469,8286,0.45,0.00,126.40,1.203,6,0.127,0.000,2616,1738,2650
$STATE,8287,end apogee,CONTROL_FINISHED_OK
$STATE,8287,begin climb
$GC,8290,0.99,146.0,541.9,0.0,472,8426,0.88,0.00,132.00,1.126,6,0.092,0.000,2898,1738,2054
$GC,8737,0.75,146.0,491.2,11.7,483,8742,0.20,2.45,0.00,0.000,4,0.130,0.071,2837,3156,2047
$GC,8782,0.63,146.0,486.8,9.1,484,8787,0.12,2.35,0.00,0.000,6,0.137,0.053,2813,1734,2046
$GC,9101,0.75,164.2,466.1,6.4,492,9122,0.12,2.35,15.68,1.064,4,0.074,0.067,2878,323,1980
$GC,9141,0.64,164.2,462.7,9.1,493,9146,0.22,2.38,0.00,0.000,6,0.124,0.057,2813,1753,1980
$GC,9465,0.78,182.7,441.1,6.4,501,9490,0.12,2.35,17.08,1.074,4,0.074,0.070,2869,3155,1905
$GC,9541,0.55,182.7,433.8,11.3,502,9546,0.28,2.28,0.00,0.000,6,0.131,0.052,2799,1738,1904
$GC,9873,1.00,185.3,412.2,6.9,510,9883,0.28,2.33,3.45,0.640,4,0.071,0.067,2917,334,1894
$GC,9973,0.79,185.3,402.4,10.8,512,9978,0.25,2.30,0.00,0.000,6,0.136,0.057,2843,1749,1896
$GC,10291,0.79,185.3,377.8,7.8,527,10294,0.00,2.28,0.00,0.000,4,0.000,0.084,2843,3159,1895
$GC,10352,0.68,185.3,372.3,9.5,529,10359,0.10,2.25,0.00,0.000,6,0.141,0.053,2824,1734,1894
$GC,10669,0.83,208.8,351.2,6.3,545,10693,0.12,0.00,21.55,1.062,6,0.075,0.000,2881,1735,1799
$GC,10997,0.73,208.8,318.5,10.6,561,10999,0.15,0.00,0.00,0.000,6,0.123,0.000,2837,1734,1795
$GC,11307,0.84,208.8,294.2,7.8,576,11308,0.10,0.00,0.00,0.000,6,0.082,0.000,2883,1734,1794
$GC,11618,0.76,208.8,263.9,9.5,591,11620,0.15,0.00,0.00,0.000,6,0.125,0.000,2839,1734,1794
$GC,11925,0.88,208.8,242.0,7.0,606,11930,0.12,2.33,0.00,0.000,4,0.076,0.070,2893,3156,1793
$GC,11953,0.76,208.8,239.3,10.4,607,11958,0.22,2.25,0.00,0.000,6,0.133,0.054,2838,1732,1793
$GC,12269,0.90,213.6,216.7,6.9,622,12277,0.15,0.00,4.68,0.757,6,0.071,0.000,2904,1732,1779
$GC,12580,0.80,213.6,185.9,9.8,637,12584,0.17,2.35,0.00,0.000,4,0.128,0.071,2852,3161,1780
$GC,12619,0.80,213.6,182.2,8.3,639,12623,0.00,2.25,0.00,0.000,6,0.000,0.054,2859,1738,1779
$GC,12953,0.90,213.6,158.1,7.1,655,12957,0.00,2.28,0.00,0.000,4,0.000,0.070,2869,334,1779
$GC,12977,1.05,241.7,156.5,6.1,656,13009,0.12,2.28,26.33,0.983,6,0.080,0.057,2924,1748,1664
$GC,13328,0.94,241.7,123.5,9.3,673,13333,0.15,2.28,0.00,0.000,4,0.137,0.071,2880,3151,1659
$GC,13355,0.94,241.7,120.9,7.6,674,13359,0.00,2.28,0.00,0.000,6,0.000,0.055,2887,1729,1658
$GC,13677,1.01,246.0,99.2,6.9,690,13689,0.00,2.33,3.90,0.661,4,0.000,0.070,2897,327,1647
$GC,13713,1.09,250.7,96.6,6.9,696,13726,0.00,2.30,6.28,0.811,6,0.000,0.060,2897,1738,1627
$GC,14064,1.09,250.7,69.6,7.6,758,14070,0.00,2.30,0.00,0.000,4,0.000,0.076,2897,3154,1625
$GC,14128,0.99,250.7,64.5,8.3,769,14134,0.00,2.28,0.00,0.000,6,0.000,0.058,2907,1730,1625
$GC,14472,0.99,250.7,39.6,7.2,830,14478,0.00,2.30,0.00,0.000,4,0.000,0.072,2916,321,1625
$GC,14502,0.99,250.7,37.4,7.3,835,14508,0.00,2.33,0.00,0.000,6,0.000,0.061,2916,1741,1624
$GC,14846,0.99,250.7,9.8,8.7,896,14852,0.00,2.28,0.00,0.000,4,0.000,0.074,2916,3151,1623
$FREEZE,6.81,-1.820,-1.806
$STATE,14874,end climb,FINISH_DEPTH_REACHED
$STATE,14874,begin subsurface finish
$FINISH1,6.8,1.026450,59
$GC,14885,0.07,58.9,6.8,-9.8,901,14915,0.73,0.00,-26.80,0.000,6,0.133,0.000,2696,1725,2412
$FINISH2,4.8
$STATE,14916,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14916,begin surface
$RAFOS_CLK,684
$RAFOS,4,1227645862,20.750000,20.739445,59,58,54,51,51,51,173,227,188,163,208,130
$RAFOS,3,1227645241,20.583334,20.566944,113,68,63,60,59,56,787,158,208,187,116,170
$RAFOS,2,1227644648,20.416666,20.402222,64,55,54,53,51,51,200,231,146,156,177,213
$RAFOS,1,1227644045,20.250000,20.234722,61,59,59,55,51,51,192,211,982,120,230,173
$RAFOS,0,1227643450,20.083334,20.069445,72,52,51,48,48,48,210,185,159,124,111,906
$RAFOS_FIX,-99026.125000,-1790531.750000,251108,202012,2,92,8481.65
$IRIDIUM_FIX,6548.42,-6024.58,170298,151529
$TT8_MAMPS,0.026845
$HUMID,1801
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,14.90
$XPDR_PINGS,35
$24V_AH,22.0,62.829
$10V_AH,10.5,28.525
$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,6.650,125.900,357.325,0.000,0.000,0.000,0.000,0.000,8.750,0.000,0.000,0.000,1660.974,11022.712,472.396,1621.577,225.839,33.374,1349.260,0.000,1617.914,1800.000,0.528,0.000
$DEVICE_MAMPS,159.536,84.370,1203.423,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,635.243,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28463,906
$CAP_FILE_SIZE,115742,0
$CFSIZE,260165632,226963456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.2
$GPS,251108,162640,6549.961,-5953.022,0,2106.0,0,-37.3