version: 66.04
glider: 108
mission: 11
dive: 383
start: 11 28 108 2 37 48
data:
$ID,108
$MISSION,11
$DIVE,383
$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,25
$R_STBD_OVSHOOT,20
$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,3.76
$_SM_ANGLEo,-1.5
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.99,-146.0,0.0,0.0,0,62,0.00,0.00,-42.95,0.000,6,0.000,0.000,2684,3160,3247
$GC,66,-0.99,-146.0,2.7,-1.1,8,73,0.57,3.80,0.00,0.000,4,0.050,0.059,2442,816,3249
$GC,251,-0.69,-146.0,22.2,-10.9,40,258,0.35,2.35,0.00,0.000,6,0.140,0.067,2534,2240,3251
$GC,596,-0.79,-146.0,48.9,-7.4,101,603,0.10,2.35,0.00,0.000,4,0.094,0.067,2493,810,3252
$GC,611,-0.86,-146.0,50.0,-7.4,103,617,0.00,2.38,0.00,0.000,6,0.000,0.067,2483,2239,3252
$GC,955,-0.77,-146.0,80.7,-8.7,164,961,0.12,0.00,0.00,0.000,6,0.156,0.000,2516,2239,3252
$GC,1299,-0.85,-146.0,104.6,-7.2,217,1303,0.00,2.25,0.00,0.000,4,0.000,0.083,2507,3597,3252
$GC,1361,-0.94,-146.0,109.2,-8.1,219,1368,0.12,2.17,0.00,0.000,6,0.087,0.054,2453,2224,3252
$GC,1677,-0.79,-146.0,139.9,-10.3,235,1682,0.20,2.33,0.00,0.000,4,0.143,0.080,2507,3603,3251
$GC,1710,-0.86,-146.0,142.9,-7.9,236,1716,0.00,2.17,0.00,0.000,6,0.000,0.054,2506,2225,3251
$GC,2027,-0.93,-146.0,165.4,-6.4,252,2029,0.10,0.00,0.00,0.000,6,0.096,0.000,2463,2225,3250
$GC,2335,-0.83,-146.0,188.5,-7.1,267,2337,0.15,0.00,0.00,0.000,6,0.151,0.000,2503,2225,3250
$GC,2647,-0.90,-146.0,206.0,-5.7,282,2651,0.00,2.30,0.00,0.000,4,0.000,0.081,2495,3598,3250
$GC,2664,-0.97,-146.0,207.2,-6.1,282,2671,0.10,2.17,0.00,0.000,6,0.093,0.054,2451,2216,3250
$GC,2980,-0.84,-146.0,231.2,-7.8,298,2982,0.17,0.00,0.00,0.000,6,0.141,0.000,2501,2216,3249
$GC,3290,-0.91,-146.0,249.6,-5.7,313,3294,0.00,2.25,0.00,0.000,4,0.000,0.068,2501,814,3249
$GC,3314,-0.91,-146.0,251.1,-6.0,314,3318,0.00,2.35,0.00,0.000,6,0.000,0.074,2493,2235,3250
$GC,3646,-0.91,-146.0,272.0,-6.4,330,3650,0.00,2.33,0.00,0.000,4,0.000,0.067,2493,810,3249
$GC,3658,-0.91,-146.0,272.8,-6.3,330,3662,0.00,2.35,0.00,0.000,6,0.000,0.067,2483,2239,3249
$GC,3979,-0.91,-146.0,292.9,-5.6,346,3980,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2239,3249
$GC,4288,-0.91,-146.0,310.5,-5.9,361,4292,0.00,2.22,0.00,0.000,4,0.000,0.082,2473,3597,3249
$GC,4361,-0.91,-146.0,315.3,-6.8,364,4365,0.00,2.17,0.00,0.000,6,0.000,0.054,2473,2216,3249
$GC,4690,-0.91,-146.0,336.1,-6.4,380,4694,0.00,2.22,0.00,0.000,4,0.000,0.067,2473,821,3249
$GC,4707,-0.91,-146.0,337.4,-6.3,380,4713,0.00,2.33,0.00,0.000,6,0.000,0.067,2463,2234,3249
$GC,5023,-0.91,-146.0,357.6,-6.2,396,5027,0.00,2.30,0.00,0.000,4,0.000,0.065,2462,821,3249
$GC,5074,-0.82,-146.0,361.0,-7.0,398,5079,0.17,2.33,0.00,0.000,6,0.135,0.066,2501,2239,3249
$GC,5395,-0.94,-146.0,376.4,-5.1,414,5397,0.10,0.00,0.00,0.000,6,0.095,0.000,2461,2238,3250
$GC,5705,-0.89,-146.0,394.7,-5.9,429,5710,0.10,2.33,0.00,0.000,4,0.155,0.064,2487,812,3250
$GC,5738,-0.89,-146.0,396.8,-6.0,430,5744,0.00,2.35,0.00,0.000,6,0.000,0.065,2479,2245,3250
$GC,6051,-0.89,-146.0,414.6,-5.8,440,6055,0.00,2.33,0.00,0.000,4,0.000,0.064,2479,812,3250
$GC,6090,-0.89,-146.0,417.0,-6.5,441,6095,0.00,2.35,0.00,0.000,6,0.000,0.065,2469,2246,3250
$GC,6418,-0.89,-146.0,435.8,-5.6,449,6422,0.00,2.20,0.00,0.000,4,0.000,0.077,2458,3601,3251
$GC,6451,-0.89,-146.0,438.0,-6.2,449,6456,0.12,2.15,0.00,0.000,6,0.149,0.051,2491,2225,3251
$GC,6790,-0.99,-146.0,454.4,-4.7,458,6795,0.10,2.22,0.00,0.000,4,0.094,0.064,2449,822,3251
$GC,6806,-0.99,-146.0,455.4,-4.9,458,6811,0.12,2.33,0.00,0.000,6,0.140,0.064,2472,2241,3251
$GC,7155,-0.99,-146.0,474.0,-5.3,467,7159,0.00,2.30,0.00,0.000,4,0.000,0.064,2472,820,3252
$GC,7182,-0.99,-146.0,475.8,-7.1,467,7186,0.00,2.33,0.00,0.000,6,0.000,0.067,2464,2236,3252
$GC,7514,-1.39,-146.0,482.0,-0.1,475,7518,0.22,2.30,0.00,0.000,4,0.059,0.062,2354,820,3252
$STATE,7551,end dive,NO_VERTICAL_VELOCITY
$STATE,7551,begin apogee
$GC,7560,-0.31,0.0,482.0,0.0,476,7688,0.82,0.00,125.30,1.167,6,0.104,0.000,2623,1750,2650
$STATE,7689,end apogee,CONTROL_FINISHED_OK
$STATE,7689,begin climb
$GC,7692,0.99,146.0,481.6,0.0,479,7829,0.82,2.58,130.27,1.085,4,0.090,0.070,2893,3147,2053
$GC,7954,0.66,146.0,454.6,12.1,485,7959,0.25,2.40,0.00,0.000,6,0.131,0.051,2828,1740,2047
$GC,8278,0.66,146.0,430.4,7.1,493,8282,0.00,2.38,0.00,0.000,4,0.000,0.067,2837,324,2046
$GC,8312,0.71,146.0,427.8,7.6,493,8316,0.00,2.38,0.00,0.000,6,0.000,0.056,2837,1747,2046
$GC,8650,0.71,146.6,404.4,7.0,502,8653,0.00,2.28,0.00,0.000,4,0.000,0.070,2837,3150,2045
$GC,8734,0.59,146.6,397.6,7.8,503,8741,0.15,2.28,0.00,0.000,6,0.133,0.053,2805,1723,2044
$GC,9050,0.82,216.4,382.7,4.8,519,9113,0.17,0.00,59.72,1.086,6,0.067,0.000,2880,1723,1767
$GC,9419,0.71,216.4,347.1,10.2,537,9423,0.17,2.28,0.00,0.000,4,0.123,0.066,2837,334,1758
$GC,9454,0.83,216.4,344.1,7.8,538,9458,0.08,2.30,0.00,0.000,6,0.094,0.054,2879,1747,1758
$GC,9770,0.73,216.4,313.2,9.6,553,9774,0.15,2.28,0.00,0.000,4,0.130,0.067,2834,3161,1757
$GC,9825,0.73,216.4,308.3,8.3,555,9829,0.00,2.28,0.00,0.000,6,0.000,0.052,2842,1725,1755
$GC,10146,0.80,216.4,284.1,7.8,571,10147,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1725,1755
$GC,10456,0.89,216.4,259.4,7.7,586,10460,0.10,2.33,0.00,0.000,4,0.084,0.067,2890,3150,1755
$GC,10477,0.82,216.4,257.3,9.6,587,10482,0.17,2.22,0.00,0.000,6,0.135,0.053,2850,1739,1754
$GC,10806,0.90,216.8,232.2,7.0,603,10811,0.10,2.28,0.00,0.000,4,0.084,0.067,2907,334,1755
$GC,10834,0.90,216.8,229.7,9.0,604,10839,0.12,2.28,0.00,0.000,6,0.140,0.057,2873,1751,1754
$GC,11160,0.90,216.8,203.3,8.0,620,11164,0.00,2.25,0.00,0.000,4,0.000,0.073,2873,3156,1754
$GC,11217,0.78,216.8,198.1,9.6,622,11222,0.12,2.25,0.00,0.000,6,0.133,0.054,2846,1728,1753
$GC,11538,0.92,223.9,176.1,6.8,638,11546,0.12,0.00,5.40,0.793,6,0.076,0.000,2905,1728,1737
$GC,11848,0.83,223.9,145.7,10.2,653,11853,0.17,2.33,0.00,0.000,4,0.127,0.071,2853,3156,1737
$GC,11881,0.83,223.9,142.5,8.5,654,11888,0.00,2.25,0.00,0.000,6,0.000,0.055,2859,1734,1737
$GC,12198,0.98,255.3,121.4,6.0,670,12230,0.12,0.00,29.15,0.963,6,0.080,0.000,2916,1734,1609
$GC,12549,0.98,255.3,89.8,8.9,701,12556,0.10,2.30,0.00,0.000,4,0.139,0.069,2897,334,1603
$GC,12602,1.08,255.3,85.7,7.8,710,12609,0.00,2.30,0.00,0.000,6,0.000,0.058,2897,1742,1602
$GC,12947,1.13,255.3,58.7,7.4,771,12954,0.10,2.30,0.00,0.000,4,0.086,0.074,2943,3157,1600
$GC,13006,0.88,255.3,52.7,10.5,781,13013,0.30,2.28,0.00,0.000,6,0.136,0.058,2864,1734,1599
$GC,13352,1.14,324.7,33.7,4.8,842,13423,0.20,2.42,60.53,0.922,4,0.066,0.071,2964,331,1326
$GC,13453,1.03,324.7,21.6,14.4,859,13460,0.22,2.38,0.00,0.000,6,0.132,0.060,2900,1749,1322
$FREEZE,6.80,-1.806,-1.805
$STATE,13640,end climb,FINISH_DEPTH_REACHED
$STATE,13640,begin subsurface finish
$FINISH1,6.8,1.026446,59
$GC,13648,0.07,59.1,6.8,-9.2,892,13690,0.62,0.00,-36.72,0.000,6,0.110,0.000,2692,1749,2412
$FINISH2,5.0
$STATE,13691,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13691,begin surface
$RAFOS_CLK,623
$RAFOS,4,1227847459,4.750000,4.738611,59,59,57,57,57,50,166,215,175,198,154,1898
$RAFOS,3,1227846857,4.583333,4.571389,74,61,60,60,56,52,687,175,200,189,218,142
$RAFOS,2,1227846280,4.416667,4.411111,62,60,58,56,53,52,215,154,894,905,241,192
$RAFOS,1,1227845651,4.250000,4.236389,59,58,57,53,50,49,179,942,201,153,110,224
$RAFOS,0,1227845053,4.083333,4.070278,59,57,56,53,52,51,158,181,217,167,198,231
$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,1809
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,14.90
$XPDR_PINGS,54
$24V_AH,22.0,64.457
$10V_AH,10.5,29.257
$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,8.175,129.400,410.375,0.000,0.000,0.000,0.000,0.000,13.500,0.000,0.000,0.000,1622.189,9769.767,515.860,1621.256,218.382,0.000,1412.620,0.000,1610.098,1800.000,0.529,0.000
$DEVICE_MAMPS,156.468,82.836,1167.374,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,628.686,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28384,899
$CAP_FILE_SIZE,115473,0
$CFSIZE,260165632,226226176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.3
$GPS,271108,202640,6549.236,-5929.427,0,2119.0,0,-36.5