version: 66.04
glider: 108
mission: 11
dive: 376
start: 11 26 108 20 14 19
data:
$ID,108
$MISSION,11
$DIVE,376
$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,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
$GPS1,162640,6549.961,-5953.022,0,2106.0,0,-37.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.37
$_SM_ANGLEo,-6.0
$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,0.219,0.081
$KALMAN_X,170739.5,812.7,-645.6,-267088.8,-5.2
$KALMAN_Y,-348364.2,-1903.0,-2732.7,229901.2,2325.4
$MHEAD_RNG_PITCHd_Wd,107.1,190132,-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,-146.0,0.0,0.0,0,63,0.00,0.00,-42.40,0.000,6,0.000,0.000,2699,331,3248
$GC,67,-0.99,-146.0,3.2,-1.8,8,73,0.65,0.00,0.00,0.000,6,0.076,0.000,2459,331,3249
$GC,411,-0.76,-146.0,41.2,-10.8,69,417,0.20,0.82,0.00,0.000,4,0.153,0.062,2518,830,3252
$GC,626,-0.76,-146.0,59.1,-8.2,107,632,0.00,2.28,0.00,0.000,6,0.000,0.070,2507,2236,3252
$GC,970,-0.76,-146.0,86.2,-7.6,168,976,0.00,2.22,0.00,0.000,4,0.000,0.083,2497,3598,3252
$GC,989,-0.76,-146.0,87.7,-7.5,171,995,0.00,2.17,0.00,0.000,6,0.000,0.054,2497,2214,3252
$GC,1333,-0.76,-146.0,114.8,-8.1,208,1336,0.00,2.22,0.00,0.000,4,0.000,0.067,2496,817,3252
$GC,1360,-0.76,-146.0,117.2,-8.8,209,1364,0.10,2.33,0.00,0.000,6,0.146,0.068,2515,2241,3251
$GC,1687,-0.84,-146.0,140.1,-6.9,225,1691,0.00,2.25,0.00,0.000,4,0.000,0.085,2507,3601,3251
$GC,1743,-0.92,-146.0,144.1,-7.2,227,1748,0.12,2.17,0.00,0.000,6,0.088,0.054,2456,2222,3251
$GC,2065,-0.80,-146.0,171.6,-8.6,243,2070,0.17,2.25,0.00,0.000,4,0.143,0.067,2511,816,3251
$GC,2082,-0.73,-146.0,173.0,-8.5,243,2088,0.00,2.35,0.00,0.000,6,0.000,0.068,2503,2244,3251
$GC,2398,-0.78,-146.0,193.8,-6.6,259,2401,0.00,2.33,0.00,0.000,4,0.000,0.067,2502,818,3251
$GC,2448,-0.78,-146.0,197.5,-7.1,261,2452,0.00,2.35,0.00,0.000,6,0.000,0.069,2493,2243,3251
$GC,2771,-0.78,-146.0,220.7,-7.2,277,2774,0.00,2.33,0.00,0.000,4,0.000,0.067,2493,818,3251
$GC,2804,-0.78,-146.0,223.3,-7.1,278,2809,0.12,2.35,0.00,0.000,6,0.141,0.070,2516,2239,3251
$GC,3126,-0.90,-146.0,243.2,-5.9,294,3131,0.12,2.33,0.00,0.000,4,0.087,0.067,2465,820,3251
$GC,3159,-0.76,-146.0,245.7,-7.4,295,3166,0.20,2.35,0.00,0.000,6,0.143,0.070,2512,2238,3250
$GC,3475,-0.88,-146.0,262.4,-4.9,311,3480,0.10,2.33,0.00,0.000,4,0.092,0.066,2471,815,3250
$GC,3497,-0.88,-146.0,263.8,-5.9,312,3502,0.12,2.33,0.00,0.000,6,0.145,0.069,2494,2231,3250
$GC,3824,-0.93,-146.0,282.9,-5.9,328,3828,0.00,2.30,0.00,0.000,4,0.000,0.066,2493,820,3250
$GC,3916,-0.93,-146.0,288.8,-6.6,332,3920,0.00,2.35,0.00,0.000,6,0.000,0.082,2486,2241,3250
$GC,4242,-0.93,-146.0,308.9,-5.9,348,4243,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2241,3250
$GC,4552,-0.93,-146.0,327.3,-5.9,363,4553,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2241,3250
$GC,4861,-0.93,-146.0,346.4,-5.9,378,4865,0.00,2.33,0.00,0.000,4,0.000,0.067,2486,815,3250
$GC,4889,-0.93,-146.0,348.0,-6.2,379,4893,0.00,2.35,0.00,0.000,6,0.000,0.068,2476,2241,3250
$GC,5210,-0.93,-146.0,367.1,-6.1,395,5213,0.00,2.22,0.00,0.000,4,0.000,0.081,2466,3603,3250
$GC,5233,-0.93,-146.0,368.5,-6.1,396,5237,0.00,2.17,0.00,0.000,6,0.000,0.053,2466,2211,3250
$GC,5566,-0.93,-146.0,391.0,-6.8,412,5570,0.00,2.22,0.00,0.000,4,0.000,0.065,2466,811,3250
$GC,5605,-0.86,-146.0,393.9,-7.2,413,5612,0.15,2.35,0.00,0.000,6,0.135,0.066,2497,2245,3250
$GC,5919,-0.97,-146.0,412.0,-5.8,424,5924,0.10,2.33,0.00,0.000,4,0.091,0.063,2456,813,3251
$GC,5941,-0.97,-146.0,413.5,-6.4,424,5946,0.10,2.35,0.00,0.000,6,0.143,0.066,2474,2245,3251
$GC,6277,-0.97,-146.0,434.4,-6.3,433,6279,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2245,3251
$GC,6603,-0.97,-146.0,453.7,-5.9,441,6607,0.00,2.33,0.00,0.000,4,0.000,0.064,2474,812,3252
$GC,6619,-0.97,-146.0,454.8,-5.8,441,6623,0.00,2.35,0.00,0.000,6,0.000,0.065,2466,2244,3252
$GC,6967,-0.97,-146.0,476.1,-6.1,450,6968,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2244,3252
$GC,7292,-0.97,-146.0,496.8,-6.5,458,7295,0.00,2.33,0.00,0.000,4,0.000,0.064,2466,808,3252
$GC,7309,-0.97,-146.0,498.0,-6.5,458,7313,0.00,2.33,0.00,0.000,6,0.000,0.064,2456,2235,3252
$GC,7622,-0.92,-146.0,518.4,-6.3,466,7627,0.10,2.30,0.00,0.000,4,0.152,0.063,2483,809,3253
$GC,7638,-0.92,-146.0,519.6,-6.2,466,7642,0.00,2.35,0.00,0.000,6,0.000,0.063,2475,2243,3253
$GC,7987,-0.92,-146.0,537.9,-4.9,475,7988,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2243,3253
$STATE,8024,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8024,begin apogee
$GC,8032,-0.31,0.0,540.0,4.8,476,8161,0.45,0.00,126.50,1.198,6,0.121,0.000,2618,1728,2650
$STATE,8162,end apogee,CONTROL_FINISHED_OK
$STATE,8162,begin climb
$GC,8165,0.99,146.0,541.4,0.0,479,8308,0.88,2.72,132.30,1.120,4,0.091,0.068,2897,3151,2053
$GC,8332,0.67,146.0,525.9,12.1,483,8337,0.32,2.47,0.00,0.000,6,0.135,0.051,2821,1744,2050
$GC,8674,0.67,148.5,501.7,6.9,492,8678,0.00,2.40,0.00,0.000,4,0.000,0.067,2830,319,2046
$GC,8702,0.74,148.5,499.5,7.6,492,8706,0.00,2.40,0.00,0.000,6,0.000,0.056,2830,1744,2046
$GC,9034,0.75,160.8,476.7,6.6,500,9053,0.00,2.38,12.45,1.048,4,0.000,0.070,2830,3157,1994
$GC,9123,0.64,160.8,469.8,8.2,502,9128,0.00,2.30,0.00,0.000,6,0.000,0.053,2841,1724,1993
$GC,9448,0.64,161.0,446.7,7.0,510,9449,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1723,1993
$GC,9773,0.66,175.7,425.1,6.6,518,9793,0.00,2.38,14.38,1.062,4,0.000,0.069,2841,3158,1933
$GC,9833,0.54,175.7,420.7,7.7,519,9838,0.20,2.28,0.00,0.000,6,0.129,0.052,2793,1728,1932
$GC,10181,1.01,202.4,401.3,6.2,528,10211,0.30,2.38,23.95,1.082,4,0.071,0.069,2911,3152,1825
$GC,10426,0.68,202.4,372.4,13.0,538,10431,0.32,2.25,0.00,0.000,6,0.137,0.052,2825,1738,1820
$GC,10753,0.83,226.9,351.4,6.2,554,10783,0.12,2.38,22.23,1.050,4,0.072,0.066,2894,326,1724
$GC,10800,0.72,226.9,347.0,9.9,556,10805,0.20,2.35,0.00,0.000,6,0.125,0.058,2836,1751,1724
$GC,11124,0.85,240.1,325.1,6.6,572,11146,0.10,2.38,12.48,0.989,4,0.079,0.071,2883,3162,1671
$GC,11203,0.65,240.1,316.9,11.4,575,11208,0.25,2.28,0.00,0.000,6,0.127,0.053,2819,1729,1669
$GC,11524,0.91,280.9,297.5,5.7,591,11565,0.20,0.00,37.62,1.037,6,0.063,0.000,2904,1729,1505
$GC,11874,0.79,280.9,258.9,11.3,608,11876,0.20,0.00,0.00,0.000,6,0.125,0.000,2844,1730,1497
$GC,12183,1.00,292.3,236.4,6.7,623,12198,0.17,2.35,9.95,0.923,4,0.067,0.071,2919,3157,1458
$GC,12228,0.77,292.3,231.6,12.6,625,12233,0.30,2.28,0.00,0.000,6,0.133,0.054,2840,1731,1458
$GC,12555,1.39,292.3,206.6,8.7,641,12560,0.43,2.28,0.00,0.000,4,0.100,0.066,2985,330,1454
$GC,12599,1.39,292.3,202.0,10.3,643,12604,0.00,2.33,0.00,0.000,6,0.000,0.058,2985,1756,1454
$GC,12921,1.06,292.3,151.9,15.6,659,12926,0.25,2.28,0.00,0.000,4,0.141,0.074,2906,3156,1454
$GC,12971,0.91,292.3,145.4,11.2,661,12976,0.15,2.25,0.00,0.000,6,0.135,0.054,2871,1736,1453
$GC,13288,1.06,292.3,121.9,7.3,676,13293,0.12,2.30,0.00,0.000,4,0.074,0.069,2939,322,1452
$GC,13315,1.06,292.3,119.2,9.6,677,13320,0.12,2.33,0.00,0.000,6,0.135,0.060,2905,1755,1452
$GC,13640,1.06,292.3,91.7,8.0,704,13646,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1754,1452
$GC,13983,1.06,292.3,64.6,7.7,765,13989,0.00,2.33,0.00,0.000,4,0.000,0.077,2905,3158,1451
$GC,14007,1.06,292.3,62.5,8.3,769,14014,0.00,2.28,0.00,0.000,6,0.000,0.057,2913,1738,1451
$GC,14351,1.06,292.3,34.4,7.4,830,14357,0.00,2.30,0.00,0.000,4,0.000,0.071,2924,332,1450
$GC,14381,1.06,292.3,31.9,8.1,835,14389,0.00,2.33,0.00,0.000,6,0.000,0.060,2924,1748,1451
$FREEZE,6.80,-1.762,-1.798
$STATE,14663,end climb,FINISH_DEPTH_REACHED
$STATE,14663,begin subsurface finish
$FINISH1,6.8,1.026345,64
$GC,14671,0.08,64.1,6.8,-8.8,885,14712,0.70,2.40,-30.52,0.000,4,0.116,0.091,2683,3160,2393
$FINISH2,5.5
$STATE,14713,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14713,begin surface
$RAFOS_CLK,669
$RAFOS,0,1227744243,0.083333,0.067500,120,58,55,55,51,51,938,181,217,162,226,135
$RAFOS,4,1227732253,20.750000,20.736944,75,55,54,53,53,51,1090,137,125,213,172,224
$RAFOS,3,1227731645,20.583334,20.568056,83,64,59,58,52,52,745,192,213,149,162,126
$RAFOS,2,1227731043,20.416666,20.400833,75,67,60,59,58,57,1120,130,169,185,115,144
$RAFOS,1,1227730480,20.250000,20.244444,59,56,52,52,51,50,218,187,143,152,200,237
$RAFOS_FIX,6547.467773,-5925.922363,261108,202020,3,78,0.21
$IRIDIUM_FIX,6548.42,-6024.58,170298,151550
$TT8_MAMPS,0.029146
$HUMID,1815
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,15.00
$XPDR_PINGS,39
$24V_AH,22.0,63.542
$10V_AH,10.5,28.865
$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,8.175,140.850,391.850,0.000,0.000,0.000,0.000,0.000,9.750,0.000,0.000,0.000,1626.939,10745.977,521.544,1652.576,232.470,33.361,1430.791,0.000,1637.034,2160.000,0.529,0.000
$DEVICE_MAMPS,152.633,90.506,1198.054,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,624.988,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28409,892
$CAP_FILE_SIZE,119191,0
$CFSIZE,260165632,226631680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.0
$GPS,261108,203720,6547.468,-5925.922,0,3077.7,0,-37.3