version: 66.04
glider: 108
mission: 11
dive: 382
start: 11 27 108 22 51 41
data:
$ID,108
$MISSION,11
$DIVE,382
$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,25
$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
$GPS1,202640,6549.236,-5929.427,0,2119.0,0,-36.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.01
$_SM_ANGLEo,-6.6
$GPS2,202640,6549.236,-5929.427,0,2119.0,0,-36.5
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6552.930,-5904.592
$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,573
$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,16,-0.99,-146.0,0.0,0.0,0,24,0.00,0.00,-5.35,0.000,2,0.000,0.000,2693,327,2547
$GC,27,-0.99,-146.0,3.5,-0.0,1,67,0.65,0.82,-33.00,0.000,4,0.077,0.100,2450,819,3247
$GC,243,-0.74,-146.0,20.7,-11.1,39,250,0.28,2.28,0.00,0.000,6,0.145,0.068,2517,2231,3252
$GC,587,-0.74,-146.0,49.0,-7.8,100,594,0.00,2.22,0.00,0.000,4,0.000,0.081,2509,3598,3252
$GC,618,-0.74,-146.0,51.4,-7.9,105,624,0.00,2.17,0.00,0.000,6,0.000,0.053,2509,2215,3252
$GC,962,-0.74,-146.0,78.1,-7.2,166,968,0.00,2.22,0.00,0.000,4,0.000,0.067,2509,818,3252
$GC,986,-0.74,-146.0,80.1,-7.8,170,992,0.00,2.35,0.00,0.000,6,0.000,0.068,2499,2244,3252
$GC,1338,-0.74,-146.0,107.7,-7.3,219,1342,0.00,2.22,0.00,0.000,4,0.000,0.084,2488,3611,3251
$GC,1366,-0.74,-146.0,109.9,-8.0,220,1370,0.12,2.20,0.00,0.000,6,0.147,0.054,2521,2216,3251
$GC,1687,-0.84,-146.0,130.4,-6.9,236,1692,0.10,2.25,0.00,0.000,4,0.097,0.066,2479,810,3251
$GC,1737,-0.73,-146.0,134.7,-8.7,238,1742,0.20,2.35,0.00,0.000,6,0.140,0.068,2525,2238,3251
$GC,2054,-0.85,-146.0,154.9,-6.3,253,2059,0.12,2.33,0.00,0.000,4,0.088,0.067,2475,815,3251
$GC,2087,-0.71,-146.0,157.6,-8.6,254,2094,0.22,2.35,0.00,0.000,6,0.140,0.068,2528,2243,3251
$GC,2404,-0.86,-146.0,175.0,-5.0,270,2409,0.12,2.33,0.00,0.000,4,0.087,0.067,2478,823,3251
$GC,2437,-0.76,-146.0,177.3,-7.3,271,2442,0.17,2.33,0.00,0.000,6,0.140,0.068,2516,2237,3251
$GC,2755,-0.86,-146.0,191.8,-4.5,286,2760,0.10,2.33,0.00,0.000,4,0.097,0.067,2475,814,3250
$GC,2800,-0.77,-146.0,194.8,-6.8,288,2804,0.17,2.35,0.00,0.000,6,0.140,0.068,2514,2241,3250
$GC,3123,-0.87,-146.0,211.6,-5.5,304,3127,0.10,2.33,0.00,0.000,4,0.098,0.067,2473,820,3250
$GC,3158,-0.75,-146.0,214.1,-7.2,305,3165,0.20,2.33,0.00,0.000,6,0.139,0.068,2519,2232,3250
$GC,3474,-0.88,-146.0,232.9,-6.2,321,3479,0.12,2.22,0.00,0.000,4,0.089,0.081,2458,3601,3250
$GC,3531,-0.79,-146.0,237.5,-8.6,323,3535,0.20,2.17,0.00,0.000,6,0.148,0.054,2513,2221,3249
$GC,3847,-0.91,-146.0,259.6,-6.9,338,3851,0.12,2.25,0.00,0.000,4,0.090,0.067,2461,811,3249
$GC,3897,-0.78,-146.0,264.0,-8.8,340,3902,0.22,2.35,0.00,0.000,6,0.139,0.068,2514,2239,3249
$GC,4219,-0.91,-146.0,284.7,-6.2,356,4224,0.12,2.33,0.00,0.000,4,0.090,0.067,2463,811,3249
$GC,4253,-0.79,-146.0,287.4,-8.2,357,4257,0.20,2.35,0.00,0.000,6,0.139,0.068,2509,2238,3249
$GC,4569,-0.91,-146.0,305.8,-5.2,372,4571,0.10,0.00,0.00,0.000,6,0.097,0.000,2468,2237,3249
$GC,4878,-0.91,-146.0,324.7,-6.1,387,4879,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2237,3249
$GC,5187,-0.91,-146.0,345.3,-6.9,402,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2237,3249
$GC,5497,-0.91,-146.0,366.9,-6.9,417,5498,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2237,3249
$GC,5806,-0.91,-146.0,387.6,-6.8,432,5807,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2237,3250
$GC,6134,-0.91,-146.0,408.5,-6.2,445,6135,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2237,3250
$GC,6459,-0.91,-146.0,428.1,-5.9,453,6463,0.00,2.30,0.00,0.000,4,0.000,0.066,2469,813,3250
$GC,6476,-0.91,-146.0,429.2,-5.9,453,6481,0.10,2.33,0.00,0.000,6,0.140,0.064,2485,2236,3250
$GC,6824,-0.97,-146.0,446.4,-4.9,462,6825,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2236,3250
$GC,7151,-1.03,-146.0,462.6,-4.9,470,7155,0.12,2.22,0.00,0.000,4,0.085,0.077,2424,3603,3251
$GC,7162,-1.03,-146.0,463.4,-4.9,470,7166,0.10,2.17,0.00,0.000,6,0.162,0.051,2455,2213,3251
$GC,7480,-1.03,-146.0,482.8,-6.2,478,7484,0.00,2.22,0.00,0.000,4,0.000,0.064,2457,814,3251
$GC,7492,-0.98,-146.0,483.5,-6.1,478,7496,0.00,2.33,0.00,0.000,6,0.000,0.064,2449,2237,3251
$STATE,7808,end dive,NO_VERTICAL_VELOCITY
$STATE,7808,begin apogee
$GC,7815,-0.31,0.0,487.5,0.0,486,7943,0.50,0.00,125.22,1.168,6,0.090,0.000,2621,1737,2650
$STATE,7944,end apogee,CONTROL_FINISHED_OK
$STATE,7944,begin climb
$GC,7947,0.99,146.0,487.1,0.0,489,8085,0.82,2.65,130.38,1.086,4,0.086,0.069,2894,3157,2053
$GC,8173,0.66,146.0,465.8,12.6,494,8178,0.30,2.45,0.00,0.000,6,0.135,0.053,2824,1736,2048
$GC,8486,0.72,153.0,444.1,6.8,502,8494,0.00,0.00,5.95,0.849,6,0.000,0.000,2824,1736,2026
$GC,8811,0.77,153.0,421.0,7.2,510,8813,0.10,0.00,0.00,0.000,6,0.084,0.000,2869,1736,2026
$GC,9116,0.66,153.0,391.5,9.7,519,9118,0.17,0.00,0.00,0.000,6,0.128,0.000,2818,1736,2026
$GC,9426,0.79,175.2,370.8,6.3,534,9452,0.12,2.42,20.73,1.058,4,0.076,0.069,2873,3161,1934
$GC,9476,0.59,175.2,366.6,9.7,536,9481,0.28,2.33,0.00,0.000,6,0.133,0.052,2803,1731,1933
$GC,9794,0.85,240.4,349.9,4.9,551,9859,0.20,2.40,56.67,1.066,4,0.063,0.068,2897,327,1670
$GC,9871,1.03,240.4,343.9,7.6,554,9875,0.00,2.42,0.00,0.000,6,0.000,0.055,2897,1744,1669
$GC,10187,0.88,240.4,309.8,11.4,569,10192,0.12,2.33,0.00,0.000,4,0.138,0.069,2863,3152,1660
$GC,10266,0.75,240.4,301.2,11.6,572,10273,0.12,2.28,0.00,0.000,6,0.136,0.052,2835,1733,1659
$GC,10584,0.91,240.4,277.6,7.2,588,10588,0.15,2.30,0.00,0.000,4,0.070,0.067,2910,324,1657
$GC,10618,0.85,240.4,274.3,10.2,589,10623,0.17,2.35,0.00,0.000,6,0.134,0.057,2860,1752,1657
$GC,10935,0.85,240.4,247.5,8.3,604,10939,0.00,2.33,0.00,0.000,4,0.000,0.072,2860,3165,1657
$GC,10991,0.76,240.4,242.2,9.5,606,10995,0.10,2.28,0.00,0.000,6,0.143,0.053,2842,1735,1656
$GC,11313,0.94,259.8,220.7,6.4,622,11332,0.15,0.00,16.17,0.977,6,0.074,0.000,2907,1735,1590
$GC,11641,0.83,259.8,188.9,9.7,638,11646,0.17,2.30,0.00,0.000,4,0.130,0.067,2864,335,1588
$GC,11671,0.91,259.8,186.4,8.0,639,11675,0.00,2.30,0.00,0.000,6,0.000,0.056,2864,1752,1588
$GC,11998,1.02,259.8,162.3,7.3,655,12003,0.12,2.28,0.00,0.000,4,0.076,0.071,2921,3157,1587
$GC,12060,0.74,259.8,155.3,12.5,657,12067,0.32,2.28,0.00,0.000,6,0.133,0.055,2834,1738,1585
$GC,12378,1.39,259.8,130.8,9.0,673,12383,0.43,2.33,0.00,0.000,4,0.094,0.069,2983,320,1584
$GC,12400,1.75,259.8,128.3,9.3,674,12405,0.25,2.35,0.00,0.000,6,0.068,0.060,3081,1744,1584
$GC,12731,1.16,259.8,64.8,18.2,712,12737,0.50,0.00,0.00,0.000,6,0.160,0.000,2932,1744,1584
$GC,13075,1.06,259.8,32.8,8.7,773,13082,0.00,2.35,0.00,0.000,4,0.000,0.071,2941,328,1584
$GC,13106,0.97,259.8,29.9,9.4,778,13113,0.17,2.35,0.00,0.000,6,0.127,0.061,2889,1750,1584
$FREEZE,6.63,-1.807,-1.805
$STATE,13410,end climb,FINISH_DEPTH_REACHED
$STATE,13410,begin subsurface finish
$FINISH1,6.6,1.026443,59
$GC,13418,0.07,59.3,6.6,-6.9,832,13454,0.57,2.40,-26.62,0.000,4,0.108,0.104,2684,3160,2413
$FINISH2,5.8
$STATE,13455,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13455,begin surface
$RAFOS_CLK,610
$RAFOS,4,1227833081,0.750000,0.744722,60,60,56,53,53,50,185,219,200,162,138,232
$RAFOS,3,1227832472,0.583333,0.575556,93,64,60,59,58,54,597,219,199,165,174,210
$RAFOS,2,1227831856,0.416667,0.404444,64,63,55,51,49,48,199,148,214,1013,120,1024
$RAFOS,1,1227831258,0.250000,0.238333,59,59,58,56,52,51,193,218,182,159,136,897
$RAFOS,0,1227830660,0.083333,0.072222,59,57,57,54,54,54,174,183,871,165,198,219
$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,1797
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,14.80
$XPDR_PINGS,118
$24V_AH,22.0,64.331
$10V_AH,10.5,29.205
$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,9.875,117.250,355.125,0.000,0.000,0.000,0.000,0.000,29.500,0.000,0.000,0.000,1533.973,9813.181,442.452,1494.718,225.731,0.000,1277.460,0.000,1492.015,1800.000,0.528,0.000
$DEVICE_MAMPS,161.837,104.312,1168.141,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,587.144,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28403,838
$CAP_FILE_SIZE,111337,0
$CFSIZE,260165632,226287616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.7
$GPS,271108,202640,6549.236,-5929.427,0,2119.0,0,-36.5