version: 66.04
glider: 108
mission: 11
dive: 386
start: 11 28 108 14 7 56
data:
$ID,108
$MISSION,11
$DIVE,386
$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,22
$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,4.29
$_SM_ANGLEo,-3.1
$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,12,begin dive
$GC,16,-0.99,-146.0,0.0,0.0,0,23,0.00,0.00,-5.45,0.000,2,0.000,0.000,2684,3157,2555
$GC,27,-0.99,-146.0,3.8,-0.0,1,62,0.60,0.75,-29.30,0.000,4,0.065,0.127,2448,3600,3248
$GC,109,-0.69,-146.0,10.3,-12.6,15,116,0.28,2.17,0.00,0.000,6,0.151,0.054,2531,2221,3252
$GC,454,-0.76,-146.0,35.3,-7.3,76,460,0.00,2.25,0.00,0.000,4,0.000,0.067,2533,819,3253
$GC,490,-0.82,-146.0,38.1,-8.0,82,497,0.10,2.33,0.00,0.000,6,0.087,0.067,2482,2236,3253
$GC,835,-0.73,-146.0,72.5,-9.0,143,842,0.15,2.22,0.00,0.000,4,0.153,0.080,2514,3598,3253
$GC,906,-0.79,-146.0,78.2,-7.7,155,912,0.00,2.17,0.00,0.000,6,0.000,0.054,2514,2214,3253
$GC,1251,-0.85,-146.0,100.3,-6.3,216,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2214,3253
$GC,1560,-0.92,-146.0,121.0,-6.3,231,1565,0.12,2.25,0.00,0.000,4,0.089,0.067,2461,810,3252
$GC,1593,-0.72,-146.0,123.7,-8.7,232,1600,0.25,2.35,0.00,0.000,6,0.143,0.067,2522,2239,3253
$GC,1910,-0.84,-146.0,143.1,-6.3,248,1915,0.10,2.33,0.00,0.000,4,0.097,0.067,2481,817,3252
$GC,1931,-0.84,-146.0,144.8,-7.1,249,1936,0.10,2.33,0.00,0.000,6,0.149,0.067,2496,2237,3252
$GC,2258,-0.84,-146.0,167.1,-6.1,265,2262,0.00,2.30,0.00,0.000,4,0.000,0.067,2497,824,3251
$GC,2275,-0.84,-146.0,168.2,-6.1,265,2281,0.00,2.33,0.00,0.000,6,0.000,0.067,2490,2237,3252
$GC,2591,-0.84,-146.0,189.1,-6.8,281,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2237,3252
$GC,2900,-0.84,-146.0,209.3,-6.4,296,2904,0.00,2.22,0.00,0.000,4,0.000,0.082,2480,3599,3252
$GC,2990,-0.84,-146.0,216.0,-7.8,300,2994,0.00,2.17,0.00,0.000,6,0.000,0.054,2479,2214,3252
$GC,3324,-0.84,-146.0,240.9,-7.3,316,3328,0.00,2.22,0.00,0.000,4,0.000,0.067,2480,819,3251
$GC,3365,-0.78,-146.0,244.2,-8.3,317,3372,0.15,2.33,0.00,0.000,6,0.139,0.068,2511,2231,3251
$GC,3682,-0.89,-146.0,263.1,-5.7,333,3686,0.10,2.30,0.00,0.000,4,0.097,0.064,2469,819,3251
$GC,3810,-0.81,-146.0,272.7,-7.5,338,3817,0.15,2.33,0.00,0.000,6,0.138,0.067,2502,2231,3251
$GC,4129,-0.91,-146.0,291.7,-5.7,354,4133,0.00,2.30,0.00,0.000,4,0.000,0.067,2503,823,3251
$GC,4146,-1.00,-146.0,292.9,-5.7,354,4153,0.12,2.33,0.00,0.000,6,0.083,0.067,2445,2238,3251
$GC,4462,-0.89,-146.0,315.3,-7.1,370,4464,0.15,0.00,0.00,0.000,6,0.156,0.000,2485,2238,3251
$GC,4771,-0.94,-146.0,333.5,-5.8,385,4775,0.00,2.30,0.00,0.000,4,0.000,0.065,2485,822,3251
$GC,4795,-0.94,-146.0,335.0,-6.4,386,4799,0.00,2.33,0.00,0.000,6,0.000,0.067,2477,2236,3251
$GC,5128,-0.94,-146.0,356.0,-6.4,402,5129,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2236,3252
$GC,5437,-0.94,-146.0,375.4,-6.2,417,5441,0.00,2.30,0.00,0.000,4,0.000,0.064,2477,820,3252
$GC,5470,-0.94,-146.0,377.6,-6.5,418,5474,0.00,2.33,0.00,0.000,6,0.000,0.065,2467,2238,3252
$GC,5794,-0.94,-146.0,397.5,-6.1,434,5798,0.00,2.22,0.00,0.000,4,0.000,0.078,2457,3608,3252
$GC,5805,-0.94,-146.0,398.5,-6.1,434,5809,0.00,2.17,0.00,0.000,6,0.000,0.051,2457,2219,3252
$GC,6122,-0.89,-146.0,418.8,-6.3,443,6127,0.12,2.22,0.00,0.000,4,0.150,0.064,2497,822,3252
$GC,6150,-0.89,-146.0,420.4,-5.3,443,6154,0.00,2.33,0.00,0.000,6,0.000,0.064,2489,2236,3252
$GC,6494,-0.97,-146.0,437.6,-4.9,452,6495,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2236,3253
$GC,6818,-1.04,-146.0,453.6,-5.5,460,6820,0.12,0.00,0.00,0.000,6,0.085,0.000,2436,2236,3253
$GC,7143,-0.91,-146.0,475.5,-7.2,468,7144,0.17,0.00,0.00,0.000,6,0.153,0.000,2484,2236,3253
$STATE,7465,end dive,NO_VERTICAL_VELOCITY
$STATE,7465,begin apogee
$GC,7472,-0.31,0.0,479.2,0.0,476,7601,0.40,0.00,125.53,1.160,6,0.094,0.000,2623,1732,2650
$STATE,7601,end apogee,CONTROL_FINISHED_OK
$STATE,7602,begin climb
$GC,7604,0.99,146.0,478.9,0.0,479,7739,0.85,0.00,130.73,1.081,6,0.097,0.000,2896,1732,2054
$GC,8052,0.77,146.0,434.9,10.4,490,8057,0.20,2.45,0.00,0.000,4,0.130,0.070,2840,3155,2047
$GC,8092,0.66,146.0,431.2,8.9,491,8097,0.12,2.35,0.00,0.000,6,0.137,0.053,2816,1731,2045
$GC,8417,0.78,171.7,410.6,6.2,499,8446,0.12,2.40,21.83,1.055,4,0.075,0.067,2882,324,1949
$GC,8475,0.69,171.7,405.7,9.2,500,8480,0.20,2.38,0.00,0.000,6,0.125,0.057,2824,1752,1949
$GC,8806,0.81,196.0,383.8,6.2,514,8836,0.12,2.30,21.98,1.050,4,0.075,0.069,2879,3161,1850
$GC,8900,0.57,196.0,374.2,11.4,518,8905,0.30,2.30,0.00,0.000,6,0.131,0.052,2802,1731,1847
$GC,9221,0.82,224.3,354.1,6.1,534,9249,0.17,0.00,25.23,1.046,6,0.064,0.000,2880,1730,1735
$GC,9552,0.72,224.3,322.3,9.7,550,9556,0.17,2.30,0.00,0.000,4,0.121,0.067,2837,323,1731
$GC,9573,0.72,224.3,320.4,7.9,551,9577,0.00,2.33,0.00,0.000,6,0.000,0.057,2837,1751,1731
$GC,9900,0.82,224.3,296.9,7.5,567,9903,0.00,2.28,0.00,0.000,4,0.000,0.070,2837,3166,1729
$GC,9970,0.82,224.3,291.1,8.9,570,9974,0.00,2.28,0.00,0.000,6,0.000,0.053,2846,1728,1728
$GC,10304,0.89,224.3,265.3,7.4,586,10306,0.10,0.00,0.00,0.000,6,0.085,0.000,2894,1728,1728
$GC,10613,0.78,224.3,234.4,10.2,601,10617,0.17,2.28,0.00,0.000,4,0.123,0.066,2850,323,1728
$GC,10679,0.92,224.3,229.0,7.1,604,10684,0.10,2.30,0.00,0.000,6,0.085,0.058,2898,1752,1728
$GC,11006,0.82,224.3,196.0,9.9,620,11008,0.15,0.00,0.00,0.000,6,0.133,0.000,2854,1751,1728
$GC,11316,0.95,235.7,174.6,6.7,635,11332,0.12,2.30,10.40,0.918,4,0.077,0.070,2910,3149,1688
$GC,11380,0.73,235.7,168.0,12.3,637,11385,0.30,2.28,0.00,0.000,6,0.131,0.054,2829,1728,1688
$GC,11707,1.29,235.7,144.3,7.5,653,11712,0.38,2.30,0.00,0.000,4,0.100,0.068,2959,319,1685
$GC,11740,1.29,235.7,141.2,10.0,654,11746,0.00,2.35,0.00,0.000,6,0.000,0.058,2960,1749,1686
$GC,12058,1.04,235.7,102.7,11.3,670,12063,0.20,2.30,0.00,0.000,4,0.143,0.073,2897,3162,1686
$GC,12098,0.92,235.7,98.3,9.5,672,12105,0.10,2.28,0.00,0.000,6,0.146,0.057,2878,1733,1685
$GC,12443,1.04,244.6,73.6,6.7,733,12457,0.10,2.35,8.60,0.867,4,0.083,0.071,2938,330,1653
$GC,12515,0.96,244.6,66.9,9.5,745,12522,0.17,2.30,0.00,0.000,6,0.133,0.060,2887,1741,1653
$GC,12861,1.04,244.6,42.7,7.2,806,12867,0.00,2.30,0.00,0.000,4,0.000,0.074,2887,3157,1651
$GC,12913,1.04,244.6,38.6,8.1,815,12919,0.00,2.28,0.00,0.000,6,0.000,0.058,2895,1736,1651
$GC,13257,1.04,244.6,12.9,8.6,876,13263,0.00,2.30,0.00,0.000,4,0.000,0.072,2906,329,1650
$GC,13304,1.05,251.2,9.5,6.8,884,13317,0.00,2.33,6.90,0.815,6,0.000,0.061,2906,1748,1626
$FREEZE,6.75,-1.813,-1.806
$STATE,13333,end climb,FINISH_DEPTH_REACHED
$STATE,13334,begin subsurface finish
$FINISH1,6.7,1.026456,59
$GC,13341,0.07,58.6,6.7,-9.2,889,13372,0.62,2.38,-23.65,0.000,4,0.107,0.089,2685,3164,2415
$FINISH2,6.9
$STATE,13373,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13373,begin surface
$RAFOS_CLK,608
$RAFOS,4,1227890658,16.750000,16.738333,67,58,58,57,53,51,217,191,130,167,208,140
$RAFOS,3,1227890058,16.583334,16.571667,59,59,59,52,51,50,116,182,200,160,227,217
$RAFOS,2,1227889445,16.416666,16.401388,59,57,56,55,54,54,200,213,187,147,174,137
$RAFOS,1,1227888861,16.250000,16.239166,62,59,59,53,52,51,165,175,213,137,224,277
$RAFOS,0,1227888253,16.083334,16.070278,65,60,58,57,56,51,184,216,233,164,200,126
$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,1804
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,14.90
$XPDR_PINGS,27
$24V_AH,22.1,64.813
$10V_AH,10.5,29.413
$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,8.000,120.925,351.175,0.000,0.000,0.000,0.000,0.000,6.750,0.000,0.000,0.000,1606.143,9584.105,467.894,1560.704,209.747,0.000,1308.262,0.000,1552.371,1800.000,0.529,0.000
$DEVICE_MAMPS,155.701,126.555,1160.471,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,626.349,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28390,894
$CAP_FILE_SIZE,112327,0
$CFSIZE,260165632,226058240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.4
$GPS,271108,202640,6549.236,-5929.427,0,2119.0,0,-36.5