version: 66.04
glider: 108
mission: 11
dive: 381
start: 11 27 108 18 39 30
data:
$ID,108
$MISSION,11
$DIVE,381
$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,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,70
$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,-119599.05
$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,24
$R_STBD_OVSHOOT,24
$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
$GPS1,162640,6549.406,-5915.515,0,2097.5,0,-36.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.43
$_SM_ANGLEo,-5.4
$GPS2,162640,6549.406,-5915.515,0,2097.5,0,-36.5
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6553.100,-5850.677
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.155,0.175
$KALMAN_X,170654.5,-869.2,266.8,-260885.9,-589.8
$KALMAN_Y,-355053.3,2216.7,1768.4,233643.6,-9091.2
$MHEAD_RNG_PITCHd_Wd,106.5,20000,-13.0,-7.021
$D_GRID,549
$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,-146.0,0.0,0.0,0,61,0.00,0.00,-41.97,0.000,6,0.000,0.000,2692,313,3248
$GC,65,-0.99,-146.0,2.9,-1.9,8,71,0.62,0.85,0.00,0.000,4,0.061,0.058,2447,829,3249
$GC,90,-1.13,-146.0,5.2,-6.7,12,96,0.00,2.28,0.00,0.000,6,0.000,0.067,2436,2240,3250
$GC,435,-0.87,-146.0,43.0,-11.1,73,441,0.20,2.22,0.00,0.000,4,0.149,0.081,2489,3596,3253
$GC,454,-0.67,-146.0,44.9,-10.9,76,461,0.17,2.17,0.00,0.000,6,0.145,0.054,2537,2215,3253
$GC,800,-0.77,-146.0,68.3,-6.8,137,807,0.10,2.22,0.00,0.000,4,0.091,0.065,2494,821,3252
$GC,836,-0.77,-146.0,71.4,-8.4,143,843,0.10,2.33,0.00,0.000,6,0.148,0.068,2512,2234,3252
$GC,1181,-0.77,-146.0,96.7,-7.0,204,1187,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2234,3252
$GC,1502,-0.83,-146.0,117.7,-6.3,226,1503,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2234,3252
$GC,1811,-0.89,-146.0,138.7,-6.8,241,1813,0.10,0.00,0.00,0.000,6,0.090,0.000,2470,2234,3251
$GC,2120,-0.81,-146.0,166.8,-9.0,256,2122,0.12,0.00,0.00,0.000,6,0.153,0.000,2503,2234,3251
$GC,2429,-0.86,-146.0,188.7,-6.7,271,2433,0.00,2.28,0.00,0.000,4,0.000,0.083,2494,3602,3251
$GC,2456,-0.86,-146.0,190.7,-7.4,272,2460,0.00,2.20,0.00,0.000,6,0.000,0.054,2495,2215,3251
$GC,2783,-0.86,-146.0,211.6,-6.6,288,2787,0.00,2.25,0.00,0.000,4,0.000,0.067,2495,809,3251
$GC,2839,-0.86,-146.0,215.5,-7.3,290,2843,0.00,2.35,0.00,0.000,6,0.000,0.067,2487,2238,3251
$GC,3156,-0.86,-146.0,237.0,-6.6,305,3160,0.00,2.33,0.00,0.000,4,0.000,0.067,2487,813,3251
$GC,3191,-0.82,-146.0,239.7,-7.2,306,3195,0.10,2.33,0.00,0.000,6,0.145,0.067,2503,2233,3251
$GC,3512,-0.90,-146.0,259.1,-6.0,322,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2233,3250
$GC,3821,-0.98,-146.0,277.6,-5.7,337,3826,0.15,2.30,0.00,0.000,4,0.080,0.065,2443,818,3250
$GC,3849,-0.83,-146.0,279.6,-7.8,338,3854,0.25,2.35,0.00,0.000,6,0.141,0.069,2505,2241,3250
$GC,4171,-0.93,-146.0,295.0,-4.4,354,4173,0.12,0.00,0.00,0.000,6,0.084,0.000,2455,2241,3250
$GC,4481,-0.85,-146.0,314.1,-6.3,369,4483,0.15,0.00,0.00,0.000,6,0.154,0.000,2495,2241,3250
$GC,4790,-0.93,-146.0,330.6,-5.5,384,4793,0.00,2.33,0.00,0.000,4,0.000,0.067,2496,821,3250
$GC,4807,-0.98,-146.0,331.7,-5.3,384,4813,0.00,2.33,0.00,0.000,6,0.000,0.067,2487,2233,3249
$GC,5123,-0.98,-146.0,349.9,-5.8,400,5127,0.00,2.30,0.00,0.000,4,0.000,0.064,2488,818,3250
$GC,5174,-0.98,-146.0,353.1,-6.0,402,5178,0.00,2.35,0.00,0.000,6,0.000,0.081,2478,2232,3250
$GC,5489,-0.98,-146.0,372.4,-6.2,417,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2232,3250
$GC,5799,-0.98,-146.0,391.2,-6.0,432,5801,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2232,3251
$GC,6126,-0.98,-146.0,409.3,-5.3,444,6127,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2232,3251
$GC,6451,-0.98,-146.0,428.3,-6.0,452,6455,0.00,2.33,0.00,0.000,4,0.000,0.064,2477,820,3251
$GC,6468,-0.98,-146.0,429.3,-5.7,452,6472,0.00,2.35,0.00,0.000,6,0.000,0.065,2467,2248,3251
$GC,6816,-0.98,-146.0,449.2,-5.8,461,6819,0.00,2.33,0.00,0.000,4,0.000,0.062,2467,818,3252
$GC,6838,-0.93,-146.0,450.6,-6.2,461,6843,0.00,2.35,0.00,0.000,6,0.000,0.064,2458,2233,3251
$GC,7182,-0.93,-146.0,473.2,-6.5,470,7185,0.00,2.30,0.00,0.000,4,0.000,0.062,2457,815,3251
$GC,7206,-0.86,-146.0,474.6,-6.3,470,7211,0.17,2.35,0.00,0.000,6,0.136,0.064,2497,2241,3252
$GC,7549,-0.97,-146.0,492.1,-5.1,479,7551,0.12,0.00,0.00,0.000,6,0.082,0.000,2447,2241,3253
$GC,7876,-0.90,-146.0,513.4,-6.5,487,7877,0.15,0.00,0.00,0.000,6,0.155,0.000,2487,2241,3253
$GC,8199,-0.98,-146.0,530.3,-5.1,495,8200,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2241,3253
$GC,8524,-1.05,-146.0,545.1,-4.7,503,8528,0.12,2.33,0.00,0.000,4,0.086,0.063,2436,812,3253
$STATE,8686,end dive,NO_VERTICAL_VELOCITY
$STATE,8686,begin apogee
$GC,8694,-0.31,0.0,546.4,0.0,506,8824,0.52,0.00,126.88,1.197,6,0.095,0.000,2616,1754,2650
$STATE,8825,end apogee,CONTROL_FINISHED_OK
$STATE,8825,begin climb
$GC,8828,0.99,146.0,546.2,0.0,509,8967,0.85,2.55,131.65,1.120,4,0.091,0.067,2893,3150,2053
$GC,9178,0.66,146.0,508.6,12.0,517,9183,0.30,2.38,0.00,0.000,6,0.133,0.052,2821,1746,2046
$GC,9498,0.73,158.2,486.9,6.6,525,9512,0.00,2.38,10.02,1.002,4,0.000,0.067,2829,319,2006
$GC,9530,0.81,165.6,484.6,6.8,525,9545,0.10,2.38,8.57,0.960,6,0.081,0.056,2876,1744,1975
$GC,9870,0.67,165.6,451.8,9.7,534,9875,0.20,2.30,0.00,0.000,4,0.130,0.069,2812,3160,1973
$GC,9948,0.67,165.6,445.8,7.4,535,9952,0.00,2.28,0.00,0.000,6,0.000,0.052,2819,1729,1972
$GC,10285,0.79,188.3,424.3,6.3,544,10309,0.12,0.00,21.10,1.081,6,0.076,0.000,2875,1729,1882
$GC,10590,0.65,188.3,395.5,9.8,552,10592,0.20,0.00,0.00,0.000,6,0.122,0.000,2815,1729,1878
$GC,10901,0.85,223.6,375.9,5.9,567,10938,0.17,2.42,31.10,1.075,4,0.068,0.068,2889,3153,1738
$GC,10962,0.64,223.6,369.8,11.6,569,10967,0.28,2.33,0.00,0.000,6,0.130,0.052,2819,1730,1735
$GC,11290,0.84,236.5,347.8,6.6,585,11309,0.15,0.00,12.12,0.994,6,0.067,0.000,2886,1730,1685
$GC,11618,0.72,236.5,312.6,10.8,601,11623,0.17,2.30,0.00,0.000,4,0.126,0.066,2843,332,1682
$GC,11647,0.79,236.5,310.0,8.5,602,11651,0.00,2.33,0.00,0.000,6,0.000,0.056,2843,1749,1682
$GC,11968,0.87,236.5,285.8,7.5,618,11973,0.10,2.30,0.00,0.000,4,0.082,0.070,2892,3150,1680
$GC,12046,0.64,236.5,276.5,12.3,621,12053,0.30,2.28,0.00,0.000,6,0.128,0.053,2812,1732,1680
$GC,12363,1.32,236.5,252.2,8.7,637,12368,0.43,2.30,0.00,0.000,4,0.082,0.067,2968,321,1679
$GC,12390,1.47,236.5,249.3,9.6,638,12395,0.12,2.35,0.00,0.000,6,0.087,0.056,3016,1751,1679
$GC,12707,0.99,236.5,195.2,17.5,653,12709,0.43,0.00,0.00,0.000,6,0.151,0.000,2892,1750,1680
$GC,13016,0.91,236.5,167.0,8.8,668,13020,0.00,2.38,0.00,0.000,4,0.000,0.067,2899,327,1679
$GC,13049,0.91,236.5,163.8,9.1,669,13055,0.00,2.30,0.00,0.000,6,0.000,0.058,2899,1744,1679
$GC,13365,0.83,236.5,135.6,9.0,685,13367,0.15,0.00,0.00,0.000,6,0.131,0.000,2855,1744,1679
$GC,13674,1.00,258.3,115.6,6.3,700,13696,0.15,0.00,19.45,0.947,6,0.072,0.000,2921,1744,1597
$GC,14018,0.91,258.3,81.3,9.8,740,14025,0.17,2.30,0.00,0.000,4,0.127,0.073,2870,3154,1593
$GC,14044,0.91,258.3,79.1,9.2,744,14051,0.00,2.28,0.00,0.000,6,0.000,0.055,2876,1734,1593
$GC,14389,1.05,263.9,53.2,6.8,805,14402,0.12,2.30,5.85,0.785,4,0.077,0.071,2946,329,1574
$GC,14438,1.00,263.9,48.7,9.8,813,14444,0.17,2.33,0.00,0.000,6,0.130,0.061,2895,1745,1574
$GC,14783,1.09,270.1,21.5,6.8,874,14796,0.00,2.38,7.25,0.824,4,0.000,0.075,2895,3158,1548
$GC,14849,1.04,270.1,15.9,9.8,885,14855,0.00,2.30,0.00,0.000,6,0.000,0.058,2902,1729,1547
$FREEZE,6.65,-1.809,-1.806
$STATE,14967,end climb,FINISH_DEPTH_REACHED
$STATE,14967,begin subsurface finish
$FINISH1,6.7,1.026456,59
$GC,14975,0.07,58.6,6.7,-8.8,906,15010,0.62,2.30,-27.55,0.000,4,0.108,0.081,2693,327,2416
$FINISH2,5.8
$STATE,15011,end subsurface finish,CONTROL_FINISHED_OK
$STATE,15011,begin surface
$RAFOS_CLK,678
$RAFOS,4,1227818675,20.750000,20.743055,58,56,53,52,51,50,191,213,224,182,163,134
$RAFOS,3,1227818064,20.583334,20.573334,155,62,61,59,54,51,641,206,215,133,164,192
$RAFOS,2,1227817455,20.416666,20.404167,57,54,52,52,52,50,1030,207,138,225,196,186
$RAFOS,1,1227816842,20.250000,20.233889,83,63,58,57,55,54,983,224,189,215,146,163
$RAFOS,0,1227816248,20.083334,20.068890,65,59,56,55,54,51,203,214,190,143,167,1754
$RAFOS_FIX,6549.236328,-5929.427246,271108,202040,2,119,0.73
$IRIDIUM_FIX,6548.42,-6024.58,170298,151550
$TT8_MAMPS,0.026845
$HUMID,1811
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,14.90
$XPDR_PINGS,60
$24V_AH,22.0,64.216
$10V_AH,10.5,29.156
$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,8.625,111.350,374.000,0.000,0.000,0.000,0.000,0.000,15.000,0.000,0.000,0.000,1643.578,11087.421,473.260,1638.066,232.127,0.000,1365.693,0.000,1631.276,1800.000,0.529,0.000
$DEVICE_MAMPS,154.934,82.836,1196.520,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,638.751,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28410,912
$CAP_FILE_SIZE,118022,0
$CFSIZE,260165632,226340864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.1
$GPS,271108,202640,6549.236,-5929.427,0,2119.0,0,-36.5