version: 66.04
glider: 108
mission: 11
dive: 372
start: 11 26 108 3 22 7
data:
$ID,108
$MISSION,11
$DIVE,372
$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,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,2
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,3.46
$_SM_ANGLEo,-1.7
$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,-0.022,0.232
$KALMAN_X,170826.2,-1507.9,-200.6,-268184.8,36.9
$KALMAN_Y,-335466.2,2824.8,-2878.4,216637.0,-3868.1
$MHEAD_RNG_PITCHd_Wd,31.9,190132,-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,12,begin dive
$GC,16,-0.99,-146.0,0.0,0.0,0,62,0.00,0.00,-42.97,0.000,6,0.000,0.000,2687,3153,3247
$GC,65,-0.99,-146.0,2.9,-1.0,8,73,0.62,3.80,0.00,0.000,4,0.077,0.060,2456,808,3249
$GC,130,-0.73,-146.0,8.6,-9.2,19,137,0.28,2.35,0.00,0.000,6,0.150,0.067,2523,2245,3251
$GC,475,-0.78,-146.0,35.5,-7.5,80,482,0.00,2.20,0.00,0.000,4,0.000,0.082,2515,3596,3252
$GC,540,-0.84,-146.0,40.8,-8.4,91,546,0.00,2.17,0.00,0.000,6,0.000,0.055,2515,2215,3252
$GC,883,-0.84,-146.0,67.7,-7.6,152,890,0.00,2.22,0.00,0.000,4,0.000,0.068,2515,821,3252
$GC,970,-0.84,-146.0,74.9,-8.4,167,976,0.00,2.33,0.00,0.000,6,0.000,0.069,2505,2236,3252
$GC,1318,-0.84,-146.0,103.8,-8.3,223,1319,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2236,3252
$GC,1626,-0.84,-146.0,126.8,-7.1,238,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2236,3251
$GC,1935,-0.84,-146.0,147.2,-6.5,253,1939,0.00,2.22,0.00,0.000,4,0.000,0.083,2495,3598,3251
$GC,2008,-0.88,-146.0,152.5,-7.8,256,2012,0.00,2.17,0.00,0.000,6,0.000,0.055,2495,2217,3251
$GC,2336,-0.88,-146.0,175.9,-7.1,272,2340,0.00,2.22,0.00,0.000,4,0.000,0.067,2495,821,3251
$GC,2431,-0.83,-146.0,183.2,-7.7,276,2435,0.00,2.33,0.00,0.000,6,0.000,0.069,2485,2232,3251
$GC,2758,-0.83,-146.0,207.1,-7.3,292,2759,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2232,3251
$GC,3067,-0.83,-146.0,229.5,-6.8,307,3071,0.00,2.22,0.00,0.000,4,0.000,0.084,2474,3598,3250
$GC,3157,-0.83,-146.0,236.1,-7.5,311,3161,0.10,2.17,0.00,0.000,6,0.160,0.055,2499,2216,3250
$GC,3489,-0.89,-146.0,255.8,-6.0,327,3493,0.00,2.25,0.00,0.000,4,0.000,0.068,2499,810,3250
$GC,3590,-0.89,-146.0,263.0,-6.8,331,3594,0.00,2.35,0.00,0.000,6,0.000,0.068,2491,2235,3250
$GC,3912,-0.89,-146.0,284.0,-6.6,347,3916,0.00,2.30,0.00,0.000,4,0.000,0.067,2491,822,3250
$GC,4024,-0.89,-146.0,292.1,-7.0,352,4028,0.00,2.33,0.00,0.000,6,0.000,0.070,2482,2232,3249
$GC,4345,-0.89,-146.0,313.9,-6.5,368,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2232,3249
$GC,4655,-0.89,-146.0,332.8,-5.8,383,4659,0.00,2.25,0.00,0.000,4,0.000,0.083,2471,3606,3249
$GC,4711,-0.89,-146.0,336.3,-6.2,385,4715,0.00,2.17,0.00,0.000,6,0.000,0.054,2471,2227,3249
$GC,5032,-0.89,-146.0,354.4,-5.8,401,5036,0.00,2.25,0.00,0.000,4,0.000,0.067,2470,815,3250
$GC,5106,-0.83,-146.0,359.2,-7.1,404,5111,0.15,2.35,0.00,0.000,6,0.140,0.068,2502,2244,3249
$GC,5427,-0.94,-146.0,375.1,-4.8,420,5432,0.10,2.22,0.00,0.000,4,0.091,0.081,2450,3609,3250
$GC,5478,-0.87,-146.0,378.4,-7.2,422,5483,0.15,2.20,0.00,0.000,6,0.154,0.054,2490,2212,3250
$GC,5805,-0.94,-146.0,395.7,-5.1,438,5809,0.00,2.22,0.00,0.000,4,0.000,0.066,2490,811,3251
$GC,5919,-0.94,-146.0,402.4,-6.1,442,5923,0.00,2.35,0.00,0.000,6,0.000,0.066,2482,2245,3251
$GC,6267,-0.94,-146.0,422.1,-5.6,451,6271,0.00,2.22,0.00,0.000,4,0.000,0.084,2472,3609,3251
$GC,6334,-0.94,-146.0,426.3,-6.5,452,6338,0.00,2.17,0.00,0.000,6,0.000,0.052,2471,2222,3251
$GC,6683,-0.94,-146.0,446.3,-5.7,461,6687,0.00,2.25,0.00,0.000,4,0.000,0.064,2471,810,3252
$GC,6767,-0.94,-146.0,451.6,-5.9,462,6774,0.00,2.33,0.00,0.000,6,0.000,0.064,2461,2235,3252
$GC,7099,-0.94,-146.0,471.7,-6.1,471,7100,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2235,3252
$GC,7424,-0.94,-146.0,491.1,-5.9,479,7428,0.00,2.28,0.00,0.000,4,0.000,0.063,2461,823,3253
$GC,7508,-0.87,-146.0,496.3,-6.5,480,7515,0.15,2.33,0.00,0.000,6,0.137,0.065,2493,2239,3253
$GC,7840,-0.98,-146.0,512.0,-4.8,489,7842,0.10,0.00,0.00,0.000,6,0.087,0.000,2451,2239,3253
$GC,8165,-0.91,-146.0,533.1,-6.6,497,8167,0.12,0.00,0.00,0.000,6,0.154,0.000,2483,2239,3253
$STATE,8283,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8284,begin apogee
$GC,8291,-0.31,0.0,540.0,5.8,500,8420,0.40,0.00,126.43,1.199,6,0.118,0.000,2613,1737,2650
$STATE,8421,end apogee,CONTROL_FINISHED_OK
$STATE,8421,begin climb
$GC,8424,0.99,146.0,541.1,0.0,503,8563,0.88,2.60,131.32,1.120,4,0.094,0.067,2905,332,2054
$GC,8634,0.77,146.0,521.1,11.1,508,8639,0.22,2.50,0.00,0.000,6,0.133,0.056,2846,1747,2051
$GC,8958,0.77,146.0,494.2,8.2,516,8962,0.00,2.35,0.00,0.000,4,0.000,0.069,2846,3157,2048
$GC,8997,0.60,146.0,490.4,9.8,516,9004,0.17,2.33,0.00,0.000,6,0.133,0.052,2806,1732,2047
$GC,9330,0.73,155.9,467.8,6.7,525,9341,0.12,0.00,8.45,0.981,6,0.074,0.000,2862,1732,2014
$GC,9654,0.64,155.9,437.0,9.6,533,9659,0.17,2.35,0.00,0.000,4,0.124,0.068,2810,3162,2014
$GC,9675,0.64,155.9,435.1,8.5,533,9679,0.00,2.28,0.00,0.000,6,0.000,0.052,2817,1724,2014
$GC,10019,0.75,171.2,411.5,6.5,542,10039,0.10,2.38,14.43,1.052,4,0.082,0.069,2866,3155,1952
$GC,10056,0.60,171.2,408.3,8.9,542,10063,0.25,2.28,0.00,0.000,6,0.132,0.051,2804,1725,1952
$GC,10371,0.81,205.7,390.0,5.9,554,10406,0.17,0.00,31.10,1.084,6,0.065,0.000,2881,1725,1811
$GC,10725,0.69,205.7,354.0,10.5,571,10730,0.17,2.42,0.00,0.000,4,0.123,0.068,2829,3159,1805
$GC,10747,0.69,205.7,351.6,9.8,572,10751,0.00,2.28,0.00,0.000,6,0.000,0.052,2836,1738,1804
$GC,11077,0.77,210.2,327.8,6.9,588,11086,0.00,2.38,3.83,0.683,4,0.000,0.069,2836,3147,1793
$GC,11093,0.84,214.6,326.5,6.9,588,11103,0.00,2.25,5.78,0.843,6,0.000,0.051,2845,1737,1775
$GC,11432,0.91,229.5,303.2,6.5,605,11454,0.12,2.38,14.85,1.005,4,0.078,0.070,2901,3155,1715
$GC,11466,0.74,229.5,300.0,10.0,606,11471,0.25,2.28,0.00,0.000,6,0.136,0.052,2838,1737,1713
$GC,11782,0.88,237.5,278.7,6.8,621,11793,0.12,0.00,8.40,0.923,6,0.073,0.000,2896,1737,1681
$GC,12092,0.78,237.5,247.3,10.1,636,12094,0.17,0.00,0.00,0.000,6,0.127,0.000,2844,1737,1680
$GC,12400,0.92,237.5,223.7,7.9,651,12402,0.12,0.00,0.00,0.000,6,0.077,0.000,2899,1737,1679
$GC,12712,0.83,237.5,192.2,9.9,666,12717,0.15,2.38,0.00,0.000,4,0.130,0.071,2854,3157,1679
$GC,12745,0.83,237.5,188.7,9.0,667,12751,0.00,2.28,0.00,0.000,6,0.000,0.054,2861,1732,1678
$GC,13061,0.94,237.5,162.9,8.1,683,13062,0.08,0.00,0.00,0.000,6,0.099,0.000,2902,1732,1678
$GC,13372,0.88,237.5,134.8,8.5,698,13376,0.12,2.28,0.00,0.000,4,0.130,0.069,2874,335,1678
$GC,13395,0.93,237.5,133.0,7.1,699,13399,0.00,2.28,0.00,0.000,6,0.000,0.058,2874,1744,1678
$GC,13728,1.07,275.0,111.9,5.8,715,13771,0.12,2.35,34.08,0.968,4,0.078,0.073,2930,3149,1528
$GC,13818,0.86,275.0,103.5,11.1,719,13823,0.28,2.30,0.00,0.000,6,0.135,0.055,2860,1729,1525
$GC,14158,1.47,275.0,77.4,7.6,772,14165,0.40,2.30,0.00,0.000,4,0.084,0.071,3004,318,1520
$GC,14172,2.02,275.0,75.9,8.2,774,14179,0.35,2.35,0.00,0.000,6,0.065,0.058,3141,1747,1520
$FREEZE,6.62,-1.808,-1.805
$STATE,14470,end climb,FINISH_DEPTH_REACHED
$STATE,14470,begin subsurface finish
$FINISH1,6.6,1.026447,59
$GC,14478,0.07,59.0,6.6,-25.1,827,14520,1.50,0.00,-37.88,0.000,6,0.168,0.000,2700,1747,2411
$FINISH2,2.5
$STATE,14520,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14521,begin surface
$RAFOS_CLK,660
$RAFOS,4,1227674653,4.750000,4.736945,63,58,53,52,52,51,223,211,145,186,197,172
$RAFOS,3,1227674048,4.583333,4.568889,99,66,54,52,52,50,750,231,180,192,217,203
$RAFOS,2,1227673449,4.416667,4.402500,69,57,56,55,53,51,202,146,211,178,221,124
$RAFOS,1,1227672842,4.250000,4.233889,61,59,53,51,51,49,208,997,126,167,198,110
$RAFOS,0,1227672255,4.083333,4.070833,63,63,59,58,52,52,201,215,149,174,140,233
$RAFOS_FIX,48417.492188,-99720.539062,261108,000036,2,72,2605.71
$IRIDIUM_FIX,6548.42,-6024.58,170298,151529
$TT8_MAMPS,0.026845
$HUMID,1798
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,14.80
$XPDR_PINGS,43
$24V_AH,22.0,63.064
$10V_AH,10.5,28.633
$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,8.250,121.575,378.650,0.000,0.000,0.000,0.000,0.000,10.750,0.000,0.000,0.000,1555.081,10713.461,473.019,1625.108,208.191,33.326,1363.291,0.000,1606.496,1800.000,0.529,0.000
$DEVICE_MAMPS,167.973,84.370,1198.821,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,584.092,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28395,834
$CAP_FILE_SIZE,112811,0
$CFSIZE,260165632,226852864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.4
$GPS,251108,162640,6549.961,-5953.022,0,2106.0,0,-37.3