version: 66.04
glider: 108
mission: 11
dive: 385
start: 11 28 108 10 21 3
data:
$ID,108
$MISSION,11
$DIVE,385
$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
$GPS1,202640,6549.236,-5929.427,0,2119.0,0,-36.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,0.2
$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,-43.45,0.000,6,0.000,0.000,2686,3161,3246
$GC,66,-0.99,-146.0,2.7,-1.7,8,73,0.60,3.83,0.00,0.000,4,0.063,0.061,2453,810,3248
$GC,114,-0.81,-146.0,5.9,-6.8,16,121,0.22,2.35,0.00,0.000,6,0.147,0.067,2505,2241,3250
$GC,459,-0.81,-146.0,35.6,-8.8,77,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2241,3251
$GC,803,-0.81,-146.0,63.4,-9.0,138,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2241,3251
$GC,1147,-0.81,-146.0,91.5,-7.4,199,1154,0.00,2.22,0.00,0.000,4,0.000,0.083,2497,3602,3250
$GC,1160,-0.81,-146.0,92.5,-7.6,201,1167,0.00,2.17,0.00,0.000,6,0.000,0.054,2497,2221,3250
$GC,1500,-0.81,-146.0,118.1,-7.3,229,1504,0.00,2.30,0.00,0.000,4,0.000,0.081,2487,3602,3250
$GC,1551,-0.81,-146.0,122.0,-7.3,231,1555,0.00,2.17,0.00,0.000,6,0.000,0.054,2487,2223,3250
$GC,1877,-0.81,-146.0,146.5,-7.8,247,1881,0.00,2.25,0.00,0.000,4,0.000,0.069,2487,819,3250
$GC,1900,-0.81,-146.0,148.4,-8.4,248,1905,0.10,2.33,0.00,0.000,6,0.147,0.068,2503,2234,3250
$GC,2233,-0.87,-146.0,172.2,-7.1,264,2237,0.00,2.30,0.00,0.000,4,0.000,0.067,2504,825,3250
$GC,2279,-0.87,-146.0,175.7,-6.9,266,2283,0.00,2.33,0.00,0.000,6,0.000,0.069,2496,2238,3250
$GC,2612,-0.87,-146.0,196.7,-5.5,282,2615,0.00,2.33,0.00,0.000,4,0.000,0.068,2496,814,3250
$GC,2681,-0.87,-146.0,200.7,-5.7,285,2685,0.00,2.33,0.00,0.000,6,0.000,0.068,2486,2234,3249
$GC,3013,-0.87,-146.0,219.2,-6.0,301,3017,0.00,2.30,0.00,0.000,4,0.000,0.068,2486,821,3249
$GC,3052,-0.87,-146.0,221.9,-7.2,302,3058,0.00,2.33,0.00,0.000,6,0.000,0.068,2476,2233,3250
$GC,3369,-0.87,-146.0,243.5,-6.6,318,3372,0.00,2.30,0.00,0.000,4,0.000,0.067,2477,824,3249
$GC,3385,-0.87,-146.0,244.8,-6.7,318,3392,0.10,2.33,0.00,0.000,6,0.146,0.068,2492,2234,3249
$GC,3702,-0.92,-146.0,262.5,-5.5,334,3705,0.00,2.22,0.00,0.000,4,0.000,0.081,2485,3598,3249
$GC,3730,-0.92,-146.0,264.2,-6.5,335,3734,0.00,2.17,0.00,0.000,6,0.000,0.054,2485,2216,3249
$GC,4057,-0.92,-146.0,283.7,-6.3,351,4061,0.00,2.25,0.00,0.000,4,0.000,0.068,2485,810,3249
$GC,4157,-0.92,-146.0,290.7,-7.1,355,4161,0.00,2.35,0.00,0.000,6,0.000,0.067,2475,2237,3249
$GC,4479,-0.92,-146.0,310.1,-5.7,371,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2237,3249
$GC,4788,-0.92,-146.0,327.5,-5.8,386,4792,0.00,2.33,0.00,0.000,4,0.000,0.067,2474,812,3249
$GC,4839,-0.92,-146.0,330.8,-6.5,388,4843,0.00,2.35,0.00,0.000,6,0.000,0.067,2465,2243,3249
$GC,5167,-0.92,-146.0,353.3,-7.0,404,5170,0.00,2.30,0.00,0.000,4,0.000,0.067,2465,821,3249
$GC,5212,-0.84,-146.0,356.8,-7.3,406,5217,0.15,2.33,0.00,0.000,6,0.137,0.067,2496,2234,3249
$GC,5540,-0.94,-146.0,376.1,-5.7,422,5544,0.00,2.22,0.00,0.000,4,0.000,0.078,2488,3603,3249
$GC,5569,-1.03,-146.0,378.0,-6.6,423,5573,0.12,2.17,0.00,0.000,6,0.085,0.052,2435,2214,3249
$GC,5915,-0.89,-146.0,403.5,-7.2,439,5920,0.17,2.22,0.00,0.000,4,0.139,0.064,2487,823,3250
$GC,5944,-0.89,-146.0,405.5,-7.0,439,5948,0.00,2.30,0.00,0.000,6,0.000,0.065,2480,2232,3250
$GC,6287,-0.89,-146.0,424.8,-5.5,448,6290,0.00,2.30,0.00,0.000,4,0.000,0.064,2479,815,3250
$GC,6337,-0.89,-146.0,427.8,-5.4,449,6341,0.00,2.33,0.00,0.000,6,0.000,0.064,2470,2235,3251
$GC,6656,-0.89,-146.0,445.9,-5.6,457,6660,0.00,2.30,0.00,0.000,4,0.000,0.064,2469,816,3251
$GC,6695,-0.83,-146.0,448.3,-6.2,457,6702,0.15,2.33,0.00,0.000,6,0.135,0.064,2501,2238,3251
$GC,7027,-0.95,-146.0,463.7,-4.6,466,7032,0.12,2.30,0.00,0.000,4,0.087,0.063,2450,820,3251
$GC,7061,-0.81,-146.0,465.9,-7.0,466,7066,0.22,2.33,0.00,0.000,6,0.135,0.064,2504,2243,3251
$GC,7396,-0.93,-146.0,482.5,-5.2,474,7400,0.10,2.20,0.00,0.000,4,0.095,0.077,2454,3600,3251
$STATE,7564,end dive,NO_VERTICAL_VELOCITY
$STATE,7564,begin apogee
$GC,7574,-0.31,0.0,484.0,0.0,477,7705,0.45,0.00,125.35,1.165,6,0.094,0.000,2613,1734,2650
$STATE,7706,end apogee,CONTROL_FINISHED_OK
$STATE,7706,begin climb
$GC,7709,0.99,146.0,483.5,0.0,481,7847,0.88,2.60,129.95,1.085,4,0.097,0.068,2906,332,2054
$GC,7917,0.79,146.0,463.3,10.8,485,7924,0.22,2.50,0.00,0.000,6,0.130,0.055,2846,1744,2050
$GC,8249,0.79,146.0,437.0,7.8,494,8253,0.00,2.35,0.00,0.000,4,0.000,0.069,2846,3158,2047
$GC,8334,0.63,146.0,429.5,9.1,496,8339,0.15,2.30,0.00,0.000,6,0.133,0.054,2813,1737,2045
$GC,8664,0.79,177.0,409.3,6.0,504,8698,0.15,2.40,26.38,1.075,4,0.071,0.068,2888,331,1927
$GC,8738,0.66,177.0,402.7,10.0,505,8743,0.22,2.35,0.00,0.000,6,0.125,0.055,2822,1753,1926
$GC,9056,0.78,192.0,381.6,6.5,519,9078,0.10,2.33,13.75,1.018,4,0.080,0.069,2869,3160,1867
$GC,9134,0.56,192.0,373.7,10.9,522,9139,0.28,2.30,0.00,0.000,6,0.131,0.053,2799,1727,1865
$GC,9456,1.03,192.0,352.1,7.3,538,9461,0.30,2.35,0.00,0.000,4,0.076,0.067,2914,3159,1863
$GC,9592,0.70,192.0,335.6,13.4,544,9597,0.32,2.28,0.00,0.000,6,0.137,0.054,2827,1729,1863
$GC,9917,0.81,200.0,312.4,6.8,560,9927,0.10,0.00,7.72,0.918,6,0.081,0.000,2876,1728,1834
$GC,10224,0.73,200.0,283.9,9.1,575,10226,0.15,0.00,0.00,0.000,6,0.125,0.000,2832,1728,1833
$GC,10534,0.90,236.1,264.0,5.9,590,10573,0.15,0.00,33.15,1.024,6,0.070,0.000,2897,1728,1687
$GC,10882,0.80,236.1,230.2,9.6,607,10884,0.17,0.00,0.00,0.000,6,0.123,0.000,2845,1728,1680
$GC,11192,0.95,241.9,210.2,6.8,622,11203,0.15,2.42,5.35,0.784,4,0.071,0.068,2910,3164,1662
$GC,11243,0.71,241.9,204.6,12.5,624,11248,0.30,2.30,0.00,0.000,6,0.131,0.054,2829,1735,1662
$GC,11559,0.92,243.4,181.7,7.0,639,11564,0.17,2.30,0.00,0.000,4,0.069,0.069,2912,332,1661
$GC,11587,0.92,243.4,179.2,9.4,640,11592,0.12,2.30,0.00,0.000,6,0.137,0.056,2878,1754,1661
$GC,11902,0.92,243.4,152.1,8.2,655,11906,0.00,2.25,0.00,0.000,4,0.000,0.072,2878,3153,1661
$GC,11953,0.85,243.4,147.3,9.4,657,11957,0.00,2.28,0.00,0.000,6,0.000,0.055,2886,1726,1659
$GC,12280,0.85,243.4,120.6,7.8,673,12284,0.00,2.28,0.00,0.000,4,0.000,0.070,2896,327,1659
$GC,12313,0.85,243.4,117.8,8.3,674,12318,0.12,2.30,0.00,0.000,6,0.128,0.058,2861,1744,1660
$GC,12632,1.06,291.7,97.8,5.5,692,12684,0.17,2.35,45.08,0.953,4,0.067,0.072,2935,3161,1460
$GC,12732,0.87,291.7,88.3,11.5,709,12739,0.28,2.33,0.00,0.000,6,0.131,0.057,2866,1734,1455
$GC,13077,1.53,291.7,59.7,11.0,770,13084,0.43,2.33,0.00,0.000,4,0.099,0.071,3011,325,1449
$GC,13130,1.41,291.7,53.2,12.4,779,13137,0.12,2.33,0.00,0.000,6,0.165,0.060,2982,1741,1449
$FREEZE,6.53,-1.806,-1.808
$STATE,13451,end climb,FINISH_DEPTH_REACHED
$STATE,13451,begin subsurface finish
$FINISH1,6.5,1.026479,57
$GC,13459,0.07,57.5,6.5,-14.8,836,13501,0.90,2.38,-36.17,0.000,4,0.129,0.087,2684,3157,2418
$FINISH2,3.6
$STATE,13502,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13502,begin surface
$RAFOS_CLK,614
$RAFOS,4,1227876242,12.750000,12.733889,65,61,56,55,53,49,204,219,176,187,155,122
$RAFOS,3,1227875665,12.583333,12.573611,65,60,54,54,53,52,208,633,218,192,158,130
$RAFOS,2,1227875053,12.416667,12.403611,78,63,56,50,50,50,211,191,200,134,149,182
$RAFOS,1,1227874443,12.250000,12.234167,61,59,57,52,50,50,212,173,201,136,150,121
$RAFOS,0,1227873865,12.083333,12.073611,65,63,61,58,58,56,198,211,119,140,172,153
$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,1822
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,14.90
$XPDR_PINGS,38
$24V_AH,22.1,64.703
$10V_AH,10.5,29.363
$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,8.500,138.275,386.725,0.000,0.000,0.000,0.000,0.000,9.500,0.000,0.000,0.000,1549.379,9650.377,490.840,1651.058,216.259,0.000,1401.406,0.000,1632.655,1800.000,0.529,0.000
$DEVICE_MAMPS,164.905,87.438,1165.073,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,589.764,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28364,843
$CAP_FILE_SIZE,113678,0
$CFSIZE,260165632,226115584
$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