version: 66.04
glider: 108
mission: 11
dive: 371
start: 11 25 108 23 4 26
data:
$ID,108
$MISSION,11
$DIVE,371
$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,26
$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
$GPS1,162640,6549.961,-5953.022,0,2106.0,0,-37.3
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,2.76
$_SM_ANGLEo,0.4
$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,0.161,0.169
$KALMAN_X,172088.4,-673.5,-237.8,-270298.4,1543.7
$KALMAN_Y,-332420.0,1474.3,-1808.9,213952.5,-3716.1
$MHEAD_RNG_PITCHd_Wd,81.0,190132,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.99,-146.0,0.0,0.0,0,52,0.00,0.00,-33.03,0.000,2,0.000,0.000,2696,1725,3113
$GC,55,-0.99,-146.0,3.1,-1.8,6,68,0.65,1.48,-5.65,0.000,4,0.077,0.091,2455,811,3247
$GC,171,-0.74,-146.0,14.2,-10.6,26,178,0.25,2.35,0.00,0.000,6,0.146,0.068,2517,2241,3251
$GC,516,-0.74,-146.0,42.3,-7.7,87,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2241,3252
$GC,859,-0.74,-146.0,69.0,-7.9,148,865,0.00,2.33,0.00,0.000,4,0.000,0.068,2521,815,3251
$GC,894,-0.74,-146.0,72.0,-8.2,154,900,0.00,2.33,0.00,0.000,6,0.000,0.068,2513,2233,3251
$GC,1247,-0.74,-146.0,102.3,-8.9,214,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2233,3251
$GC,1556,-0.74,-146.0,128.5,-7.7,229,1560,0.00,2.33,0.00,0.000,4,0.000,0.068,2512,809,3251
$GC,1602,-0.74,-146.0,132.0,-7.5,231,1606,0.00,2.35,0.00,0.000,6,0.000,0.068,2503,2236,3251
$GC,1931,-0.74,-146.0,154.2,-6.6,247,1935,0.00,2.33,0.00,0.000,4,0.000,0.069,2502,815,3251
$GC,1987,-0.74,-146.0,158.2,-6.8,249,1992,0.10,2.35,0.00,0.000,6,0.143,0.070,2519,2241,3250
$GC,2305,-0.84,-146.0,175.0,-5.2,264,2309,0.00,2.33,0.00,0.000,4,0.000,0.068,2519,817,3251
$GC,2345,-0.89,-146.0,177.5,-6.3,265,2352,0.10,2.35,0.00,0.000,6,0.088,0.070,2469,2242,3250
$GC,2662,-0.82,-146.0,200.2,-7.1,281,2666,0.12,2.22,0.00,0.000,4,0.156,0.082,2493,3596,3250
$GC,2769,-0.88,-146.0,207.4,-6.4,286,2773,0.00,2.17,0.00,0.000,6,0.000,0.055,2494,2216,3250
$GC,3102,-0.88,-146.0,228.7,-6.6,302,3106,0.00,2.25,0.00,0.000,4,0.000,0.070,2494,814,3249
$GC,3175,-0.88,-146.0,233.8,-7.2,305,3179,0.00,2.35,0.00,0.000,6,0.000,0.069,2486,2240,3249
$GC,3497,-0.88,-146.0,255.5,-6.3,321,3501,0.00,2.33,0.00,0.000,4,0.000,0.069,2486,812,3249
$GC,3547,-0.88,-146.0,258.9,-6.8,323,3551,0.00,2.35,0.00,0.000,6,0.000,0.069,2476,2239,3249
$GC,3876,-0.88,-146.0,279.1,-6.0,339,3879,0.00,2.25,0.00,0.000,4,0.000,0.084,2465,3608,3249
$GC,3955,-0.88,-146.0,284.6,-6.7,342,3960,0.10,2.20,0.00,0.000,6,0.156,0.056,2490,2216,3249
$GC,4277,-0.88,-146.0,303.7,-6.3,358,4281,0.00,2.25,0.00,0.000,4,0.000,0.068,2491,811,3249
$GC,4305,-0.88,-146.0,305.8,-7.7,359,4309,0.00,2.35,0.00,0.000,6,0.000,0.067,2484,2243,3249
$GC,4628,-0.88,-146.0,326.6,-6.3,375,4632,0.00,2.33,0.00,0.000,4,0.000,0.067,2484,817,3249
$GC,4707,-0.88,-146.0,332.0,-6.8,378,4711,0.00,2.35,0.00,0.000,6,0.000,0.068,2474,2242,3249
$GC,5028,-0.88,-146.0,351.7,-6.1,394,5029,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2242,3249
$GC,5339,-0.88,-146.0,370.1,-5.9,409,5340,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2242,3249
$GC,5648,-0.88,-146.0,387.8,-5.7,424,5649,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2241,3250
$GC,5955,-0.88,-146.0,405.2,-5.4,437,5956,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2242,3250
$GC,6280,-0.88,-146.0,422.1,-5.1,445,6284,0.00,2.35,0.00,0.000,4,0.000,0.066,2474,811,3251
$GC,6341,-0.88,-146.0,425.3,-5.6,446,6346,0.10,2.35,0.00,0.000,6,0.143,0.065,2489,2244,3251
$GC,6690,-0.96,-146.0,441.2,-4.6,455,6693,0.00,2.33,0.00,0.000,4,0.000,0.064,2490,811,3251
$GC,6780,-0.96,-146.0,445.8,-5.1,457,6784,0.00,2.35,0.00,0.000,6,0.000,0.065,2482,2242,3251
$GC,7112,-1.01,-146.0,462.3,-5.0,465,7116,0.00,2.33,0.00,0.000,4,0.000,0.064,2482,810,3252
$GC,7158,-1.01,-146.0,464.9,-5.8,466,7161,0.00,2.35,0.00,0.000,6,0.000,0.064,2472,2236,3252
$GC,7488,-1.01,-146.0,482.9,-5.5,474,7492,0.00,2.22,0.00,0.000,4,0.000,0.078,2462,3598,3252
$GC,7527,-1.01,-146.0,485.2,-5.7,474,7534,0.00,2.15,0.00,0.000,6,0.000,0.051,2461,2224,3252
$GC,7859,-1.01,-146.0,505.0,-6.0,483,7860,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2224,3253
$GC,8184,-1.01,-146.0,523.9,-5.8,491,8185,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2223,3253
$STATE,8465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8465,begin apogee
$GC,8473,-0.31,0.0,540.2,5.7,498,8602,0.50,0.00,126.38,1.200,6,0.126,0.000,2618,1743,2650
$STATE,8603,end apogee,CONTROL_FINISHED_OK
$STATE,8603,begin climb
$GC,8606,0.99,146.0,541.5,0.0,501,8749,0.90,2.65,132.30,1.122,4,0.094,0.067,2903,3158,2052
$GC,8761,0.68,146.0,527.4,11.2,505,8766,0.32,2.50,0.00,0.000,6,0.135,0.051,2828,1743,2051
$GC,9074,0.68,146.0,503.6,7.4,513,9078,0.00,2.42,0.00,0.000,4,0.000,0.068,2829,3157,2047
$GC,9108,0.60,146.0,500.8,8.3,513,9113,0.12,2.35,0.00,0.000,6,0.134,0.052,2804,1731,2046
$GC,9440,0.75,164.2,479.5,6.4,521,9458,0.15,0.00,15.55,1.072,6,0.070,0.000,2870,1731,1980
$GC,9765,0.63,164.2,448.8,9.6,529,9770,0.20,2.38,0.00,0.000,4,0.123,0.069,2805,3153,1978
$GC,9798,0.63,164.2,445.9,7.6,529,9804,0.00,2.28,0.00,0.000,6,0.000,0.052,2813,1727,1978
$GC,10129,0.75,170.4,423.4,6.8,538,10138,0.12,0.00,6.47,0.921,6,0.074,0.000,2870,1727,1955
$GC,10435,0.65,170.4,394.5,9.4,546,10440,0.17,2.35,0.00,0.000,4,0.123,0.067,2818,3155,1955
$GC,10484,0.65,170.4,390.2,7.9,548,10488,0.00,2.25,0.00,0.000,6,0.000,0.052,2826,1729,1955
$GC,10806,0.76,198.2,369.8,6.1,564,10837,0.00,2.40,25.25,1.076,4,0.000,0.069,2826,3161,1841
$GC,10855,0.82,208.6,366.7,6.7,566,10873,0.08,2.30,10.62,0.970,6,0.096,0.052,2873,1728,1799
$GC,11181,0.74,208.6,337.5,9.2,582,11186,0.12,2.30,0.00,0.000,4,0.127,0.066,2846,325,1795
$GC,11199,0.74,208.6,336.0,9.0,583,11203,0.00,2.35,0.00,0.000,6,0.000,0.055,2846,1743,1795
$GC,11531,0.80,208.6,308.6,8.3,599,11535,0.00,2.30,0.00,0.000,4,0.000,0.070,2846,3155,1794
$GC,11577,0.73,208.6,304.2,10.6,601,11581,0.00,2.25,0.00,0.000,6,0.000,0.053,2856,1737,1792
$GC,11910,0.73,208.6,275.2,8.3,617,11914,0.00,2.33,0.00,0.000,4,0.000,0.069,2856,3153,1792
$GC,11938,0.73,208.6,272.6,9.2,618,11942,0.12,2.25,0.00,0.000,6,0.136,0.053,2830,1739,1792
$GC,12266,0.93,244.5,252.6,5.9,634,12304,0.17,0.00,31.67,1.022,6,0.068,0.000,2906,1739,1653
$GC,12615,0.82,244.5,218.5,9.3,651,12619,0.17,2.30,0.00,0.000,4,0.127,0.067,2863,333,1648
$GC,12639,0.82,244.5,216.5,8.7,652,12642,0.00,2.33,0.00,0.000,6,0.000,0.056,2863,1750,1648
$GC,12974,0.92,249.0,193.2,6.9,668,12983,0.00,2.30,4.22,0.704,4,0.000,0.072,2863,3159,1635
$GC,13018,0.92,249.0,189.7,8.3,670,13022,0.00,2.28,0.00,0.000,6,0.000,0.054,2872,1729,1634
$GC,13351,0.99,252.9,166.1,6.9,686,13358,0.08,0.00,4.97,0.767,6,0.099,0.000,2910,1728,1619
$GC,13660,0.92,252.9,138.5,9.1,701,13665,0.12,2.35,0.00,0.000,4,0.133,0.071,2874,3150,1619
$GC,13704,0.92,252.9,134.6,8.3,703,13708,0.00,2.25,0.00,0.000,6,0.000,0.055,2882,1731,1618
$GC,14034,1.01,252.9,109.3,7.1,719,14038,0.00,2.30,0.00,0.000,4,0.000,0.072,2891,321,1618
$GC,14062,1.12,252.9,106.9,7.6,720,14066,0.12,2.33,0.00,0.000,6,0.079,0.060,2946,1752,1618
$GC,14399,1.00,252.9,72.4,10.1,770,14406,0.17,2.28,0.00,0.000,4,0.135,0.075,2893,3153,1617
$GC,14447,0.92,252.9,68.0,8.9,778,14453,0.00,2.25,0.00,0.000,6,0.000,0.058,2900,1730,1617
$GC,14792,0.92,252.9,40.6,7.7,839,14798,0.00,2.28,0.00,0.000,4,0.000,0.073,2911,332,1616
$GC,14821,0.92,252.9,38.1,8.2,844,14828,0.12,2.30,0.00,0.000,6,0.129,0.061,2875,1746,1617
$GC,15167,1.27,252.9,14.2,7.7,905,15174,0.22,2.30,0.00,0.000,4,0.074,0.076,2966,3160,1615
$FREEZE,6.58,-1.812,-1.795
$STATE,15235,end climb,FINISH_DEPTH_REACHED
$STATE,15235,begin subsurface finish
$FINISH1,6.6,1.026303,66
$GC,15245,0.08,66.1,6.6,-12.4,917,15281,0.88,2.40,-26.92,0.000,4,0.130,0.089,2687,3153,2385
$FINISH2,4.6
$STATE,15282,end subsurface finish,CONTROL_FINISHED_OK
$STATE,15282,begin surface
$RAFOS_CLK,698
$RAFOS,4,1227660258,0.750000,0.738333,65,60,59,57,57,50,221,145,178,201,167,77
$RAFOS,3,1227659642,0.583333,0.567222,75,70,59,59,56,50,782,146,180,118,199,159
$RAFOS,2,1227659044,0.416667,0.401111,66,58,53,52,51,49,211,192,142,178,120,167
$RAFOS,1,1227658457,0.250000,0.238056,70,59,56,53,53,50,211,920,198,162,119,153
$RAFOS,0,1227657848,0.083333,0.068889,67,60,57,56,52,51,120,201,159,211,222,175
$RAFOS_FIX,48417.492188,-99720.539062,261108,000036,2,72,2605.71
$IRIDIUM_FIX,6548.42,-6024.58,170298,151529
$TT8_MAMPS,0.027612
$HUMID,1799
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,14.90
$XPDR_PINGS,56
$24V_AH,22.0,62.944
$10V_AH,10.5,28.580
$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,6.325,141.225,357.450,0.000,0.000,0.000,0.000,0.000,14.000,0.000,0.000,0.000,1729.525,11216.125,496.812,1692.144,235.753,33.343,1405.634,0.000,1685.179,1800.000,0.529,0.000
$DEVICE_MAMPS,156.468,90.506,1200.355,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,647.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28384,923
$CAP_FILE_SIZE,118774,0
$CFSIZE,260165632,226906112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.6
$GPS,251108,162640,6549.961,-5953.022,0,2106.0,0,-37.3