version: 66.04
glider: 108
mission: 11
dive: 377
start: 11 27 108 0 22 9
data:
$ID,108
$MISSION,11
$DIVE,377
$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,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
$GPS1,203720,6547.468,-5925.922,0,3077.7,0,-37.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.65
$_SM_ANGLEo,-3.7
$GPS2,203720,6547.468,-5925.922,0,3077.7,0,-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,0.175,0.154
$KALMAN_X,170698.2,-150.0,353.2,-263726.5,-849.4
$KALMAN_Y,-351614.0,434.7,504.7,231137.5,-393.6
$MHEAD_RNG_PITCHd_Wd,85.9,180482,-13.0,-7.021
$D_GRID,570
$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,-145.9,0.0,0.0,0,58,0.00,0.00,-40.03,0.000,2,0.000,0.000,2683,3160,3204
$GC,62,-0.99,-146.0,3.0,-1.6,7,69,0.62,0.75,-1.77,0.000,4,0.093,0.130,2462,3601,3247
$GC,99,-1.19,-146.0,6.2,-7.6,13,106,0.15,2.17,0.00,0.000,6,0.084,0.054,2406,2219,3249
$GC,444,-0.82,-146.0,50.8,-13.4,74,451,0.30,2.25,0.00,0.000,4,0.156,0.066,2501,814,3250
$GC,526,-0.74,-146.0,58.6,-8.8,88,533,0.10,2.35,0.00,0.000,6,0.150,0.069,2518,2240,3251
$GC,871,-0.74,-146.0,84.9,-7.9,149,877,0.00,2.33,0.00,0.000,4,0.000,0.067,2520,812,3251
$GC,900,-0.74,-146.0,87.4,-8.1,154,906,0.00,2.35,0.00,0.000,6,0.000,0.074,2512,2234,3251
$GC,1245,-0.74,-146.0,112.6,-6.4,191,1249,0.00,2.30,0.00,0.000,4,0.000,0.066,2512,818,3250
$GC,1336,-0.74,-146.0,118.9,-7.2,195,1340,0.00,2.35,0.00,0.000,6,0.000,0.070,2502,2245,3250
$GC,1669,-0.74,-146.0,139.9,-6.0,211,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2245,3251
$GC,1980,-0.74,-146.0,157.3,-5.4,226,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2245,3250
$GC,2288,-0.74,-146.0,174.8,-6.1,241,2291,0.00,2.33,0.00,0.000,4,0.000,0.067,2502,818,3250
$GC,2311,-0.74,-146.0,176.3,-6.2,242,2316,0.10,2.35,0.00,0.000,6,0.143,0.070,2518,2242,3250
$GC,2640,-0.85,-146.0,194.4,-5.8,258,2642,0.10,0.00,0.00,0.000,6,0.091,0.000,2477,2242,3250
$GC,2946,-0.85,-146.0,217.1,-7.4,273,2950,0.00,2.22,0.00,0.000,4,0.000,0.084,2466,3597,3249
$GC,3008,-0.80,-146.0,222.1,-7.9,275,3015,0.15,2.17,0.00,0.000,6,0.153,0.055,2506,2218,3250
$GC,3325,-0.89,-146.0,241.3,-5.9,291,3329,0.00,2.22,0.00,0.000,4,0.000,0.067,2506,823,3250
$GC,3375,-0.89,-146.0,244.5,-6.5,293,3379,0.00,2.33,0.00,0.000,6,0.000,0.068,2498,2235,3249
$GC,3703,-0.94,-146.0,265.5,-6.4,309,3705,0.10,0.00,0.00,0.000,6,0.089,0.000,2453,2235,3249
$GC,4012,-0.84,-146.0,289.8,-7.6,324,4017,0.17,2.33,0.00,0.000,4,0.150,0.067,2501,817,3249
$GC,4052,-0.89,-146.0,292.5,-6.1,326,4056,0.00,2.35,0.00,0.000,6,0.000,0.069,2493,2244,3249
$GC,4386,-0.95,-146.0,312.0,-5.9,342,4387,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2244,3249
$GC,4695,-1.01,-146.0,331.3,-6.5,357,4697,0.12,0.00,0.00,0.000,6,0.083,0.000,2440,2244,3249
$GC,5005,-0.88,-146.0,354.9,-7.4,372,5010,0.17,2.35,0.00,0.000,4,0.152,0.065,2488,816,3249
$GC,5033,-0.88,-146.0,356.9,-6.3,373,5037,0.00,2.35,0.00,0.000,6,0.000,0.067,2480,2240,3249
$GC,5354,-0.88,-146.0,374.4,-5.2,389,5355,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2240,3250
$GC,5663,-0.88,-146.0,391.3,-5.4,404,5668,0.00,2.33,0.00,0.000,4,0.000,0.066,2480,814,3250
$GC,5726,-0.88,-146.0,394.9,-5.7,406,5732,0.00,2.35,0.00,0.000,6,0.000,0.067,2470,2236,3250
$GC,6058,-0.88,-146.0,413.4,-5.4,417,6060,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2236,3251
$GC,6383,-0.88,-146.0,430.3,-5.1,425,6385,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2236,3251
$GC,6708,-0.88,-146.0,447.3,-5.4,433,6710,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2236,3251
$GC,7034,-0.88,-146.0,465.4,-5.7,441,7038,0.00,2.30,0.00,0.000,4,0.000,0.064,2470,818,3252
$GC,7080,-0.83,-146.0,468.3,-6.4,442,7085,0.15,2.35,0.00,0.000,6,0.134,0.066,2502,2247,3252
$GC,7405,-0.96,-146.0,483.9,-4.7,450,7407,0.12,0.00,0.00,0.000,6,0.084,0.000,2451,2246,3252
$GC,7730,-0.89,-146.0,504.0,-6.3,458,7732,0.12,0.00,0.00,0.000,6,0.152,0.000,2484,2246,3252
$GC,8055,-0.96,-146.0,521.4,-5.2,466,8058,0.00,2.20,0.00,0.000,4,0.000,0.078,2475,3599,3253
$GC,8111,-1.02,-146.0,524.6,-5.9,467,8115,0.00,2.15,0.00,0.000,6,0.000,0.049,2476,2216,3253
$GC,8430,-1.02,-146.0,542.0,-5.4,475,8434,0.00,2.22,0.00,0.000,4,0.000,0.063,2475,812,3253
$GC,8469,-1.02,-146.0,544.3,-5.1,475,8476,0.00,2.33,0.00,0.000,6,0.000,0.064,2466,2238,3253
$GC,8801,-1.02,-146.0,563.0,-5.9,484,8802,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2239,3253
$STATE,8920,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8920,begin apogee
$GC,8927,-0.31,0.0,570.4,6.1,487,9057,0.47,0.00,127.20,1.213,6,0.122,0.000,2616,1734,2650
$STATE,9058,end apogee,CONTROL_FINISHED_OK
$STATE,9058,begin climb
$GC,9061,0.99,146.0,572.2,0.0,490,9197,0.90,0.00,132.32,1.137,6,0.091,0.000,2902,1734,2055
$GC,9492,0.73,146.0,528.1,11.4,501,9494,0.22,0.00,0.00,0.000,6,0.131,0.000,2839,1734,2047
$GC,9814,0.73,146.0,502.0,7.9,509,9818,0.00,2.38,0.00,0.000,4,0.000,0.071,2839,3158,2046
$GC,9860,0.58,146.0,497.8,9.7,510,9865,0.17,2.30,0.00,0.000,6,0.129,0.054,2797,1725,2045
$GC,10185,0.75,174.8,477.5,6.1,518,10215,0.15,2.40,24.27,1.115,4,0.067,0.069,2866,3159,1937
$GC,10238,0.57,174.8,472.6,10.6,519,10243,0.25,2.30,0.00,0.000,6,0.131,0.051,2805,1730,1936
$GC,10552,0.77,202.8,452.5,6.1,527,10579,0.15,0.00,25.17,1.104,6,0.067,0.000,2871,1730,1823
$GC,10877,0.67,202.8,420.9,9.9,535,10882,0.17,2.35,0.00,0.000,4,0.123,0.068,2819,3159,1818
$GC,10904,0.67,202.8,418.4,8.1,535,10908,0.00,2.28,0.00,0.000,6,0.000,0.052,2826,1724,1817
$GC,11221,0.76,205.5,396.2,6.9,544,11225,0.00,2.35,0.00,0.000,4,0.000,0.068,2826,3166,1817
$GC,11245,0.80,205.5,394.5,7.6,545,11249,0.00,2.25,0.00,0.000,6,0.000,0.051,2835,1733,1817
$GC,11578,0.86,211.3,370.8,6.8,561,11588,0.12,0.00,7.93,0.953,6,0.077,0.000,2893,1733,1788
$GC,11887,0.71,211.3,339.6,10.4,576,11892,0.20,2.33,0.00,0.000,4,0.123,0.068,2827,3156,1787
$GC,11931,0.71,211.3,335.8,7.6,578,11935,0.00,2.25,0.00,0.000,6,0.000,0.052,2834,1730,1786
$GC,12260,0.80,222.9,313.7,6.6,594,12278,0.00,0.00,11.52,0.989,6,0.000,0.000,2834,1729,1741
$GC,12589,0.93,241.3,291.9,6.4,610,12612,0.15,2.42,17.83,1.014,4,0.072,0.068,2900,3152,1666
$GC,12641,0.69,241.3,286.5,11.4,612,12646,0.28,2.28,0.00,0.000,6,0.132,0.051,2829,1728,1664
$GC,12962,0.91,271.1,266.0,6.1,628,12992,0.17,0.00,27.75,1.011,6,0.067,0.000,2904,1728,1544
$GC,13292,0.79,271.1,231.5,10.5,644,13297,0.20,2.38,0.00,0.000,4,0.124,0.069,2839,3164,1539
$GC,13321,0.79,271.1,228.6,8.9,645,13325,0.00,2.28,0.00,0.000,6,0.000,0.053,2845,1734,1538
$GC,13637,1.00,297.9,207.6,6.2,660,13664,0.17,0.00,24.23,0.980,6,0.068,0.000,2921,1734,1435
$GC,13966,0.88,297.9,174.8,9.9,676,13968,0.20,0.00,0.00,0.000,6,0.125,0.000,2861,1734,1430
$GC,14276,1.10,344.5,157.2,5.5,691,14320,0.20,0.00,41.53,0.973,6,0.067,0.000,2942,1734,1245
$GC,14626,0.97,344.5,115.0,13.1,708,14631,0.20,2.33,0.00,0.000,4,0.125,0.068,2885,323,1237
$GC,14659,1.12,344.5,111.1,9.4,709,14666,0.12,2.38,0.00,0.000,6,0.074,0.058,2942,1752,1236
$GC,14995,1.03,344.5,72.5,11.4,755,15002,0.15,2.30,0.00,0.000,4,0.131,0.073,2898,3160,1234
$GC,15054,1.03,344.5,66.4,10.5,765,15060,0.00,2.28,0.00,0.000,6,0.000,0.056,2905,1731,1232
$GC,15398,1.14,378.9,33.7,5.9,826,15434,0.08,2.33,28.85,0.918,4,0.097,0.070,2954,325,1105
$GC,15464,1.10,378.9,28.5,8.5,837,15471,0.15,2.35,0.00,0.000,6,0.123,0.061,2912,1743,1102
$FREEZE,6.96,-1.807,-1.810
$STATE,15745,end climb,FINISH_DEPTH_REACHED
$STATE,15745,begin subsurface finish
$FINISH1,7.0,1.026508,56
$GC,15753,0.07,56.1,7.0,-7.3,887,15806,0.65,2.33,-44.50,0.000,4,0.107,0.089,2682,3161,2423
$FINISH2,4.5
$STATE,15806,end subsurface finish,CONTROL_FINISHED_OK
$STATE,15806,begin surface
$RAFOS_CLK,715
$RAFOS,3,1227760444,4.583333,4.567778,72,66,59,57,57,56,751,186,175,210,163,228
$RAFOS,2,1227759847,4.416667,4.401945,59,59,55,55,51,51,172,213,124,163,146,223
$RAFOS,1,1227759250,4.250000,4.236111,65,60,58,54,51,50,221,210,179,188,110,152
$RAFOS,0,1227758646,4.083333,4.068333,59,56,56,54,47,45,208,164,148,123,223,133
$RAFOS,4,1227746646,0.750000,0.735000,67,59,56,55,53,53,200,141,218,169,159,121
$RAFOS,3,1227746045,0.583333,0.568056,99,74,59,57,55,52,743,183,232,121,201,152
$RAFOS,2,1227745444,0.416667,0.401111,82,67,57,56,54,51,1106,208,147,163,180,220
$RAFOS,1,1227744845,0.250000,0.234722,66,58,56,52,52,49,215,188,204,148,125,230
$RAFOS_FIX,6548.959961,-5935.561523,271108,000028,3,100,0.58
$IRIDIUM_FIX,6548.42,-6024.58,170298,151550
$TT8_MAMPS,0.029146
$HUMID,1798
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,15.00
$XPDR_PINGS,32
$24V_AH,22.0,63.688
$10V_AH,10.5,28.920
$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,8.050,107.675,468.600,0.000,0.000,0.000,0.000,0.000,8.000,0.000,0.000,0.000,1631.713,11874.452,585.151,1563.885,218.183,33.364,1439.968,0.000,1554.810,2880.000,0.529,0.000
$DEVICE_MAMPS,155.701,129.623,1213.394,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,626.877,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28417,896
$CAP_FILE_SIZE,116114,0
$CFSIZE,260165632,226578432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.9
$GPS,271108,002328,6548.960,-5935.562,0,3100.3,0,-37.3