version: 66.04
glider: 108
mission: 11
dive: 375
start: 11 26 108 15 58 53
data:
$ID,108
$MISSION,11
$DIVE,375
$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,-119587.97
$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,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
$GPS1,162640,6549.961,-5953.022,0,2106.0,0,-37.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.50
$_SM_ANGLEo,-5.6
$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,0.160,0.170
$KALMAN_X,170780.9,706.4,375.1,-269546.0,-955.7
$KALMAN_Y,-345114.5,-1924.5,2321.3,227294.3,-8282.2
$MHEAD_RNG_PITCHd_Wd,80.6,190132,-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,-33.03,0.000,2,0.000,0.000,2700,332,3077
$GC,55,-0.99,-146.0,3.1,-0.8,6,74,0.65,5.40,-7.30,0.000,4,0.076,0.074,2434,3601,3249
$GC,159,-0.72,-146.0,14.8,-12.7,24,167,0.28,2.17,0.00,0.000,6,0.160,0.052,2520,2213,3252
$GC,505,-0.72,-146.0,40.8,-7.2,85,510,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2213,3253
$GC,848,-0.72,-146.0,66.9,-7.8,146,854,0.00,2.22,0.00,0.000,4,0.000,0.066,2521,812,3252
$GC,945,-0.72,-146.0,74.8,-8.5,163,951,0.00,2.35,0.00,0.000,6,0.000,0.067,2513,2239,3252
$GC,1302,-0.72,-146.0,103.3,-8.0,221,1306,0.00,2.22,0.00,0.000,4,0.000,0.082,2502,3595,3252
$GC,1402,-0.72,-146.0,111.9,-8.5,225,1406,0.00,2.17,0.00,0.000,6,0.000,0.054,2502,2214,3252
$GC,1724,-0.72,-146.0,132.9,-6.5,241,1727,0.00,2.22,0.00,0.000,4,0.000,0.066,2502,814,3252
$GC,1774,-0.67,-146.0,136.5,-6.7,243,1779,0.15,2.35,0.00,0.000,6,0.139,0.068,2533,2241,3252
$GC,2096,-0.82,-146.0,156.4,-6.7,259,2098,0.12,0.00,0.00,0.000,6,0.083,0.000,2482,2240,3251
$GC,2406,-0.82,-146.0,181.5,-7.9,274,2410,0.00,2.33,0.00,0.000,4,0.000,0.067,2482,814,3251
$GC,2496,-0.74,-146.0,189.1,-8.2,278,2501,0.17,2.33,0.00,0.000,6,0.143,0.068,2522,2232,3251
$GC,2823,-0.85,-146.0,207.8,-5.4,294,2828,0.12,2.30,0.00,0.000,4,0.085,0.065,2470,820,3251
$GC,2867,-0.73,-146.0,210.9,-7.3,296,2872,0.22,2.35,0.00,0.000,6,0.143,0.069,2524,2244,3251
$GC,3191,-0.87,-146.0,227.2,-5.1,312,3193,0.12,0.00,0.00,0.000,6,0.083,0.000,2473,2244,3250
$GC,3498,-0.82,-146.0,250.5,-7.8,327,3499,0.12,0.00,0.00,0.000,6,0.156,0.000,2505,2244,3250
$GC,3808,-0.91,-146.0,271.0,-6.4,342,3813,0.10,2.35,0.00,0.000,4,0.096,0.067,2464,810,3250
$GC,3998,-0.80,-146.0,287.0,-7.9,350,4005,0.20,2.35,0.00,0.000,6,0.140,0.070,2511,2231,3249
$GC,4315,-0.92,-146.0,306.5,-6.1,366,4317,0.12,0.00,0.00,0.000,6,0.085,0.000,2460,2231,3249
$GC,4623,-0.87,-146.0,329.4,-7.2,381,4628,0.12,2.33,0.00,0.000,4,0.158,0.065,2500,810,3249
$GC,4657,-0.91,-146.0,331.6,-6.2,382,4664,0.00,2.35,0.00,0.000,6,0.000,0.067,2492,2237,3249
$GC,4974,-0.97,-146.0,350.0,-5.6,398,4978,0.10,2.33,0.00,0.000,4,0.088,0.065,2448,814,3249
$GC,5023,-0.83,-146.0,353.5,-7.2,400,5028,0.22,2.35,0.00,0.000,6,0.140,0.067,2501,2237,3249
$GC,5342,-0.93,-146.0,369.9,-5.2,415,5344,0.10,0.00,0.00,0.000,6,0.091,0.000,2460,2237,3249
$GC,5649,-0.93,-146.0,389.9,-6.8,430,5650,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2236,3250
$GC,5977,-0.93,-146.0,411.9,-6.7,442,5980,0.00,2.22,0.00,0.000,4,0.000,0.081,2450,3597,3250
$GC,6033,-0.87,-146.0,416.3,-7.6,443,6037,0.15,2.15,0.00,0.000,6,0.153,0.051,2490,2224,3250
$GC,6351,-0.95,-146.0,435.1,-5.7,451,6355,0.00,2.22,0.00,0.000,4,0.000,0.065,2490,822,3251
$GC,6397,-0.95,-146.0,438.0,-7.2,452,6401,0.00,2.33,0.00,0.000,6,0.000,0.066,2482,2239,3251
$GC,6721,-0.95,-146.0,457.8,-6.2,460,6725,0.00,2.30,0.00,0.000,4,0.000,0.064,2482,821,3251
$GC,6761,-0.95,-146.0,460.3,-6.4,460,6767,0.00,2.33,0.00,0.000,6,0.000,0.065,2472,2239,3251
$GC,7092,-0.95,-146.0,479.9,-5.8,469,7093,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2239,3252
$GC,7418,-0.95,-146.0,498.1,-5.4,477,7421,0.00,2.30,0.00,0.000,4,0.000,0.063,2472,817,3252
$GC,7457,-0.95,-146.0,500.4,-6.0,477,7463,0.00,2.33,0.00,0.000,6,0.000,0.065,2462,2236,3252
$GC,7789,-0.95,-146.0,518.8,-5.4,486,7790,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2236,3252
$GC,8114,-0.95,-146.0,537.3,-5.8,494,8115,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2236,3253
$STATE,8152,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8153,begin apogee
$GC,8160,-0.31,0.0,539.6,5.8,495,8289,0.47,0.00,126.45,1.200,6,0.123,0.000,2613,1737,2650
$STATE,8290,end apogee,CONTROL_FINISHED_OK
$STATE,8290,begin climb
$GC,8293,0.99,146.0,541.1,0.0,498,8429,0.90,0.00,132.25,1.120,6,0.092,0.000,2899,1737,2055
$GC,8720,0.76,146.0,497.5,11.1,509,8725,0.20,2.50,0.00,0.000,4,0.126,0.070,2842,3156,2047
$GC,8749,0.64,146.0,494.6,10.0,509,8753,0.12,2.38,0.00,0.000,6,0.136,0.052,2817,1738,2046
$GC,9080,0.72,147.4,471.1,7.0,517,9082,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1737,2045
$GC,9405,0.81,161.0,449.4,6.6,525,9425,0.15,2.42,12.55,1.043,4,0.073,0.070,2882,3156,1993
$GC,9443,0.57,161.0,445.7,10.6,525,9450,0.30,2.30,0.00,0.000,6,0.134,0.052,2804,1728,1992
$GC,9775,0.76,187.6,424.6,6.2,534,9802,0.15,0.00,24.58,1.091,6,0.069,0.000,2871,1728,1885
$GC,10080,0.65,187.6,396.3,9.4,542,10085,0.17,2.40,0.00,0.000,4,0.121,0.067,2819,3163,1881
$GC,10113,0.65,187.6,393.4,7.8,543,10119,0.00,2.28,0.00,0.000,6,0.000,0.052,2827,1736,1880
$GC,10429,0.74,190.1,371.9,6.9,559,10433,0.00,2.35,0.00,0.000,4,0.000,0.070,2827,3163,1880
$GC,10462,0.74,190.1,369.2,8.0,560,10466,0.00,2.25,0.00,0.000,6,0.000,0.052,2836,1734,1879
$GC,10785,0.80,190.1,346.1,7.0,576,10788,0.00,2.33,0.00,0.000,4,0.000,0.070,2836,3154,1880
$GC,10807,0.80,190.1,344.2,8.0,577,10811,0.00,2.25,0.00,0.000,6,0.000,0.052,2846,1728,1879
$GC,11139,0.80,190.1,318.9,7.5,593,11140,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1728,1879
$GC,11450,0.84,190.1,296.4,7.2,608,11453,0.00,2.33,0.00,0.000,4,0.000,0.069,2846,3154,1879
$GC,11506,0.77,190.1,291.5,9.0,610,11509,0.00,2.22,0.00,0.000,6,0.000,0.053,2856,1738,1879
$GC,11827,0.77,190.1,267.1,7.4,626,11831,0.00,2.28,0.00,0.000,4,0.000,0.067,2866,324,1879
$GC,11855,0.77,190.1,264.8,8.2,627,11859,0.00,2.30,0.00,0.000,6,0.000,0.057,2866,1745,1879
$GC,12181,0.77,190.1,238.4,8.1,643,12185,0.00,2.28,0.00,0.000,4,0.000,0.071,2866,3162,1879
$GC,12232,0.62,190.1,233.8,9.2,645,12237,0.22,2.25,0.00,0.000,6,0.126,0.053,2808,1736,1878
$GC,12554,1.07,190.1,211.8,7.1,661,12559,0.30,2.33,0.00,0.000,4,0.074,0.071,2924,3161,1879
$GC,12745,0.74,190.1,189.9,12.4,669,12750,0.32,2.25,0.00,0.000,6,0.136,0.054,2837,1734,1878
$GC,13061,0.96,213.6,169.9,6.3,684,13086,0.17,0.00,22.27,0.976,6,0.076,0.000,2909,1734,1779
$GC,13390,1.03,213.6,141.8,8.3,700,13394,0.00,2.30,0.00,0.000,4,0.000,0.070,2918,324,1776
$GC,13418,1.03,213.6,139.4,8.4,701,13422,0.00,2.33,0.00,0.000,6,0.000,0.058,2918,1749,1776
$GC,13744,0.91,213.6,108.4,9.6,717,13749,0.15,2.28,0.00,0.000,4,0.133,0.074,2874,3149,1775
$GC,13817,0.91,213.6,101.9,8.5,720,13821,0.00,2.25,0.00,0.000,6,0.000,0.055,2882,1733,1774
$GC,14158,0.97,213.6,76.9,7.4,777,14164,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1733,1774
$GC,14502,1.06,227.7,53.7,6.6,838,14522,0.10,2.35,13.15,0.908,4,0.087,0.072,2939,331,1721
$GC,14546,1.01,227.7,50.2,8.3,845,14553,0.15,2.33,0.00,0.000,6,0.133,0.061,2897,1749,1721
$GC,14894,1.07,238.8,25.7,6.7,906,14911,0.00,2.33,10.77,0.877,4,0.000,0.078,2897,3164,1676
$GC,14940,1.07,238.8,22.0,7.9,914,14947,0.00,2.30,0.00,0.000,6,0.000,0.058,2904,1731,1675
$FREEZE,6.69,-1.765,-1.796
$STATE,15142,end climb,FINISH_DEPTH_REACHED
$STATE,15142,begin subsurface finish
$FINISH1,6.7,1.026310,66
$GC,15150,0.08,65.8,6.7,-7.3,950,15181,0.62,2.30,-22.50,0.000,4,0.116,0.084,2699,331,2385
$FINISH2,5.7
$STATE,15181,end subsurface finish,CONTROL_FINISHED_OK
$STATE,15181,begin surface
$RAFOS_CLK,684
$RAFOS,0,1227729844,20.083334,20.067778,61,54,52,52,48,47,159,195,181,218,120,230
$RAFOS,4,1227717849,16.750000,16.735834,67,58,55,52,52,51,193,212,150,182,228,139
$RAFOS,3,1227717246,16.583334,16.568333,83,70,60,56,55,49,735,213,133,152,173,229
$RAFOS,2,1227716647,16.416666,16.401945,65,59,59,59,53,52,221,167,139,1097,178,148
$RAFOS,1,1227716041,16.250000,16.233612,65,63,61,58,56,56,210,187,160,982,132,219
$RAFOS,0,1227715444,16.083334,16.067778,61,55,53,51,51,50,212,116,194,138,918,161
$RAFOS_FIX,48417.492188,-99720.539062,261108,000036,2,72,2605.71
$IRIDIUM_FIX,6548.42,-6024.58,170298,151550
$TT8_MAMPS,0.026845
$HUMID,1805
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,14.90
$XPDR_PINGS,74
$24V_AH,22.1,63.416
$10V_AH,10.5,28.810
$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,7.625,125.875,342.025,0.000,0.000,0.000,0.000,0.000,18.500,0.000,0.000,0.000,1710.852,11093.936,474.993,1732.774,225.025,33.356,1388.270,0.000,1719.892,2160.000,0.528,0.000
$DEVICE_MAMPS,159.536,83.603,1199.588,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,669.322,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31612,955
$CAP_FILE_SIZE,119165,0
$CFSIZE,260165632,226684928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.4
$GPS,251108,162640,6549.961,-5953.022,0,2106.0,0,-37.3