version: 66.04
glider: 108
mission: 11
dive: 374
start: 11 26 108 11 58 43
data:
$ID,108
$MISSION,11
$DIVE,374
$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,3.20
$_SM_ANGLEo,-61.0
$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,-0.022,0.232
$KALMAN_X,170822.2,0.0,0.0,-269215.2,1040.2
$KALMAN_Y,-341864.7,0.0,0.0,223727.4,-2853.0
$MHEAD_RNG_PITCHd_Wd,32.0,190132,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.99,-146.0,0.0,0.0,0,23,0.00,0.00,-6.47,0.000,2,0.000,0.000,340,2237,1711
$GC,27,-0.99,-146.0,3.3,-0.0,1,120,8.60,2.38,-75.85,0.000,4,0.240,0.079,2463,817,3248
$GC,233,-0.77,-146.0,16.1,-11.7,37,240,0.20,2.38,0.00,0.000,6,0.144,0.068,2511,2232,3251
$GC,578,-0.77,-146.0,47.0,-8.2,98,585,0.00,2.25,0.00,0.000,4,0.000,0.081,2503,3600,3252
$GC,687,-0.77,-146.0,56.4,-9.0,117,694,0.00,2.20,0.00,0.000,6,0.000,0.054,2503,2210,3252
$GC,1031,-0.77,-146.0,87.3,-9.2,178,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2210,3252
$GC,1368,-0.77,-146.0,116.1,-8.2,213,1369,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2210,3252
$GC,1675,-0.77,-146.0,138.4,-6.7,228,1678,0.00,2.25,0.00,0.000,4,0.000,0.068,2502,814,3251
$GC,1753,-0.77,-146.0,144.4,-8.0,231,1757,0.00,2.38,0.00,0.000,6,0.000,0.069,2493,2241,3251
$GC,2069,-0.77,-146.0,166.1,-7.2,246,2073,0.00,2.25,0.00,0.000,4,0.000,0.084,2482,3600,3251
$GC,2169,-0.77,-146.0,174.4,-8.1,250,2174,0.12,2.20,0.00,0.000,6,0.150,0.054,2515,2216,3251
$GC,2493,-0.87,-146.0,195.4,-6.7,266,2497,0.10,2.25,0.00,0.000,4,0.097,0.067,2473,816,3251
$GC,2611,-0.75,-146.0,205.9,-8.6,271,2615,0.20,2.35,0.00,0.000,6,0.140,0.071,2520,2235,3251
$GC,2927,-0.86,-146.0,227.1,-6.4,286,2929,0.12,0.00,0.00,0.000,6,0.088,0.000,2469,2234,3251
$GC,3237,-0.81,-146.0,250.4,-6.9,301,3241,0.15,2.33,0.00,0.000,4,0.151,0.066,2510,816,3251
$GC,3344,-0.86,-146.0,256.6,-5.1,306,3348,0.00,2.35,0.00,0.000,6,0.000,0.071,2503,2239,3251
$GC,3672,-0.93,-146.0,274.1,-5.1,322,3677,0.10,2.22,0.00,0.000,4,0.091,0.083,2448,3595,3251
$GC,3820,-0.83,-146.0,284.8,-7.5,328,3825,0.20,2.17,0.00,0.000,6,0.149,0.054,2506,2216,3250
$GC,4137,-0.93,-146.0,303.4,-6.1,343,4139,0.12,0.00,0.00,0.000,6,0.089,0.000,2454,2216,3251
$GC,4445,-0.84,-146.0,326.4,-7.2,358,4449,0.17,2.25,0.00,0.000,4,0.148,0.067,2510,813,3250
$GC,4518,-0.93,-146.0,331.0,-6.2,361,4523,0.10,2.35,0.00,0.000,6,0.088,0.068,2459,2241,3250
$GC,4840,-0.87,-146.0,355.1,-7.8,377,4845,0.12,2.33,0.00,0.000,4,0.150,0.065,2497,822,3250
$GC,4907,-0.92,-146.0,359.9,-6.9,380,4911,0.00,2.33,0.00,0.000,6,0.000,0.067,2490,2231,3250
$GC,5235,-0.98,-146.0,379.1,-5.6,396,5237,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2231,3251
$GC,5544,-1.03,-146.0,396.0,-5.7,411,5549,0.12,2.25,0.00,0.000,4,0.084,0.080,2425,3604,3251
$GC,5617,-0.87,-146.0,401.8,-8.6,414,5622,0.20,2.17,0.00,0.000,6,0.146,0.052,2490,2217,3251
$GC,5949,-0.95,-146.0,421.8,-6.0,422,5950,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2218,3252
$GC,6274,-1.02,-146.0,440.7,-5.7,430,6279,0.12,2.22,0.00,0.000,4,0.087,0.063,2439,824,3252
$GC,6359,-0.86,-146.0,446.8,-7.1,432,6364,0.22,2.33,0.00,0.000,6,0.137,0.066,2494,2245,3252
$GC,6684,-0.95,-146.0,462.9,-4.8,440,6685,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2245,3253
$GC,7009,-1.05,-146.0,478.0,-4.5,448,7011,0.15,0.00,0.00,0.000,6,0.082,0.000,2435,2244,3253
$GC,7335,-0.93,-146.0,499.7,-6.8,456,7339,0.15,2.22,0.00,0.000,4,0.156,0.080,2468,3604,3254
$GC,7447,-0.93,-146.0,506.9,-6.2,458,7450,0.00,2.17,0.00,0.000,6,0.000,0.051,2468,2211,3254
$GC,7796,-0.93,-146.0,527.3,-5.8,467,7800,0.00,2.20,0.00,0.000,4,0.000,0.063,2468,818,3254
$GC,7908,-0.93,-146.0,534.4,-6.5,469,7912,0.00,2.33,0.00,0.000,6,0.000,0.064,2459,2238,3254
$STATE,8009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8010,begin apogee
$GC,8017,-0.31,0.0,541.1,6.4,472,8146,0.50,0.00,126.88,1.200,6,0.123,0.000,2617,1734,2650
$STATE,8147,end apogee,CONTROL_FINISHED_OK
$STATE,8147,begin climb
$GC,8151,0.99,146.0,542.6,0.0,475,8290,0.85,2.60,131.60,1.124,4,0.091,0.065,2903,326,2053
$GC,8331,0.78,146.0,527.0,11.3,479,8337,0.22,2.55,0.00,0.000,6,0.130,0.056,2844,1749,2051
$GC,8680,0.78,146.0,499.3,7.7,488,8684,0.00,2.38,0.00,0.000,4,0.000,0.070,2844,3166,2046
$GC,8730,0.60,146.0,495.0,9.5,489,8735,0.17,2.35,0.00,0.000,6,0.130,0.052,2804,1731,2045
$GC,9043,0.78,188.9,477.1,5.6,497,9087,0.15,2.50,36.88,1.120,4,0.071,0.069,2869,3158,1879
$GC,9104,0.63,188.9,471.7,9.4,498,9109,0.22,2.33,0.00,0.000,6,0.130,0.052,2815,1734,1877
$GC,9453,0.77,201.5,448.1,6.6,507,9466,0.12,0.00,11.07,1.021,6,0.074,0.000,2871,1734,1829
$GC,9778,0.68,201.5,416.3,10.1,515,9783,0.17,2.38,0.00,0.000,4,0.124,0.070,2819,3165,1826
$GC,9799,0.68,201.5,414.3,8.6,515,9803,0.00,2.28,0.00,0.000,6,0.000,0.051,2827,1730,1825
$GC,10124,0.76,201.5,389.3,7.9,526,10127,0.00,2.35,0.00,0.000,4,0.000,0.069,2827,3162,1825
$GC,10157,0.76,201.5,386.2,9.9,527,10161,0.00,2.25,0.00,0.000,6,0.000,0.052,2836,1733,1824
$GC,10480,0.82,201.5,359.2,8.4,543,10482,0.08,0.00,0.00,0.000,6,0.096,0.000,2877,1733,1825
$GC,10788,0.73,201.5,325.9,10.6,558,10790,0.15,0.00,0.00,0.000,6,0.125,0.000,2831,1733,1824
$GC,11098,0.86,209.6,303.6,6.8,573,11112,0.12,2.42,8.07,0.932,4,0.077,0.069,2886,3159,1795
$GC,11130,0.70,209.6,300.5,10.0,574,11135,0.22,2.28,0.00,0.000,6,0.131,0.051,2830,1739,1795
$GC,11446,0.84,211.6,278.5,7.0,589,11448,0.12,0.00,0.00,0.000,6,0.074,0.000,2887,1739,1794
$GC,11756,0.76,211.6,249.0,9.2,604,11761,0.15,2.30,0.00,0.000,4,0.124,0.065,2851,334,1794
$GC,11778,0.81,211.6,247.2,7.4,605,11782,0.00,2.33,0.00,0.000,6,0.000,0.056,2851,1749,1794
$GC,12105,0.91,211.6,223.6,7.0,621,12110,0.10,2.33,0.00,0.000,4,0.084,0.071,2899,3163,1794
$GC,12132,0.77,211.6,220.9,10.0,622,12137,0.22,2.28,0.00,0.000,6,0.133,0.053,2843,1737,1793
$GC,12450,0.94,237.9,200.7,6.2,637,12479,0.15,0.00,26.30,1.000,6,0.073,0.000,2910,1736,1680
$GC,12778,0.83,237.9,168.2,9.9,653,12783,0.17,2.33,0.00,0.000,4,0.129,0.067,2867,327,1675
$GC,12795,0.83,237.9,166.6,9.6,654,12799,0.00,2.33,0.00,0.000,6,0.000,0.058,2867,1750,1676
$GC,13128,0.95,248.3,143.1,6.7,670,13140,0.00,0.00,9.68,0.906,6,0.000,0.000,2867,1750,1637
$GC,13438,1.09,263.8,123.4,6.5,685,13461,0.17,2.28,15.40,0.940,4,0.069,0.074,2941,3154,1573
$GC,13512,0.80,263.8,115.2,13.2,688,13517,0.35,2.30,0.00,0.000,6,0.136,0.056,2848,1727,1571
$GC,13837,1.46,263.8,90.8,8.2,718,13844,0.43,2.40,0.00,0.000,4,0.099,0.073,2990,3164,1568
$GC,13850,2.05,263.8,89.6,8.3,720,13858,0.38,2.30,0.00,0.000,6,0.066,0.054,3141,1725,1568
$GC,14196,1.28,263.8,11.2,24.0,781,14203,0.62,2.30,0.00,0.000,4,0.171,0.074,2966,332,1568
$FREEZE,6.58,-1.768,-1.792
$STATE,14219,end climb,FINISH_DEPTH_REACHED
$STATE,14219,begin subsurface finish
$FINISH1,6.6,1.026262,68
$GC,14230,0.08,68.1,6.6,-21.2,785,14266,0.82,2.35,-28.02,0.000,4,0.123,0.081,2700,332,2376
$FINISH2,4.6
$STATE,14267,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14267,begin surface
$RAFOS_CLK,677
$RAFOS,4,1227703461,12.750000,12.739166,69,60,53,53,51,48,199,126,209,220,143,159
$RAFOS,3,1227702846,12.583333,12.568334,72,68,64,54,51,51,737,210,222,231,122,165
$RAFOS,2,1227702249,12.416667,12.402500,62,53,51,51,51,50,139,181,158,196,209,220
$RAFOS,1,1227701645,12.250000,12.234722,65,60,59,56,54,53,209,192,182,969,166,218
$RAFOS,0,1227701046,12.083333,12.068334,66,60,58,55,53,52,197,156,220,173,119,131
$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,1808
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,14.90
$XPDR_PINGS,33
$24V_AH,22.0,63.305
$10V_AH,10.5,28.754
$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,18.000,118.700,365.875,0.000,0.000,101.462,85.533,0.000,8.250,0.000,0.000,183.218,1486.332,10689.231,492.363,1755.369,637.429,32.629,1356.119,0.000,1554.285,1800.000,0.529,0.000
$DEVICE_MAMPS,240.071,83.603,1200.355,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,553.775,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25249,791
$CAP_FILE_SIZE,119436,0
$CFSIZE,260165632,226742272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.5
$GPS,251108,162640,6549.961,-5953.022,0,2106.0,0,-37.3