version: 66.04
glider: 108
mission: 11
dive: 388
start: 11 28 108 21 28 34
data:
$ID,108
$MISSION,11
$DIVE,388
$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,26
$R_STBD_OVSHOOT,23
$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,5.88
$_SM_ANGLEo,-5.3
$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,-5.45,0.000,2,0.000,0.000,2695,330,2577
$GC,27,-0.99,-146.0,5.8,-0.0,1,56,0.62,0.80,-22.55,0.000,4,0.064,0.100,2450,826,3249
$GC,102,-0.66,-146.0,11.3,-10.0,14,109,0.35,2.30,0.00,0.000,6,0.146,0.071,2539,2238,3253
$GC,448,-0.76,-146.0,36.5,-7.0,75,455,0.10,2.22,0.00,0.000,4,0.088,0.081,2486,3600,3254
$GC,463,-0.85,-146.0,37.4,-6.2,77,469,0.00,2.17,0.00,0.000,6,0.000,0.053,2486,2217,3254
$GC,807,-0.78,-146.0,68.9,-10.0,138,813,0.10,0.00,0.00,0.000,6,0.162,0.000,2512,2217,3254
$GC,1151,-0.84,-146.0,96.6,-7.8,199,1157,0.00,2.22,0.00,0.000,4,0.000,0.067,2513,823,3253
$GC,1176,-0.88,-146.0,98.7,-8.1,203,1182,0.00,2.33,0.00,0.000,6,0.000,0.068,2505,2235,3253
$GC,1504,-0.88,-146.0,123.8,-7.5,221,1507,0.00,2.30,0.00,0.000,4,0.000,0.067,2504,824,3253
$GC,1554,-0.88,-146.0,127.7,-8.1,223,1558,0.00,2.33,0.00,0.000,6,0.000,0.070,2495,2232,3253
$GC,1875,-0.88,-146.0,152.1,-8.1,239,1879,0.00,2.30,0.00,0.000,4,0.000,0.067,2495,824,3253
$GC,1886,-0.88,-146.0,153.2,-8.2,239,1890,0.00,2.33,0.00,0.000,6,0.000,0.067,2487,2241,3252
$GC,2207,-0.88,-146.0,178.0,-7.3,255,2211,0.00,2.33,0.00,0.000,4,0.000,0.067,2487,821,3252
$GC,2235,-0.88,-146.0,180.1,-7.6,256,2239,0.00,2.35,0.00,0.000,6,0.000,0.069,2477,2243,3252
$GC,2556,-0.88,-146.0,203.6,-7.5,272,2560,0.00,2.33,0.00,0.000,4,0.000,0.068,2477,814,3252
$GC,2612,-0.82,-146.0,208.2,-8.7,274,2617,0.15,2.35,0.00,0.000,6,0.138,0.068,2508,2238,3252
$GC,2928,-0.92,-146.0,228.0,-5.8,289,2930,0.10,0.00,0.00,0.000,6,0.095,0.000,2466,2238,3252
$GC,3239,-0.92,-146.0,250.2,-7.0,304,3243,0.00,2.22,0.00,0.000,4,0.000,0.082,2456,3597,3252
$GC,3295,-0.86,-146.0,254.6,-7.5,306,3299,0.15,2.17,0.00,0.000,6,0.154,0.054,2496,2218,3251
$GC,3618,-0.93,-146.0,272.3,-5.7,322,3622,0.00,2.25,0.00,0.000,4,0.000,0.067,2496,818,3251
$GC,3641,-0.93,-146.0,274.0,-6.6,323,3645,0.00,2.35,0.00,0.000,6,0.000,0.067,2488,2245,3251
$GC,3969,-0.98,-146.0,295.2,-6.6,339,3972,0.00,2.33,0.00,0.000,4,0.000,0.066,2487,820,3251
$GC,3997,-0.98,-146.0,297.1,-6.4,340,4001,0.00,2.33,0.00,0.000,6,0.000,0.067,2478,2233,3251
$GC,4319,-0.98,-146.0,316.6,-5.5,356,4323,0.00,2.22,0.00,0.000,4,0.000,0.080,2467,3597,3251
$GC,4365,-0.98,-146.0,319.5,-6.3,358,4368,0.00,2.15,0.00,0.000,6,0.000,0.052,2467,2226,3251
$GC,4698,-0.98,-146.0,338.4,-5.6,374,4701,0.00,2.25,0.00,0.000,4,0.000,0.071,2467,824,3251
$GC,4768,-0.91,-146.0,342.5,-5.7,377,4773,0.10,2.33,0.00,0.000,6,0.143,0.067,2483,2234,3251
$GC,5095,-0.96,-146.0,358.9,-4.8,393,5099,0.00,2.30,0.00,0.000,4,0.000,0.064,2485,817,3251
$GC,5118,-0.96,-146.0,360.2,-5.5,394,5122,0.00,2.33,0.00,0.000,6,0.000,0.066,2477,2236,3251
$GC,5445,-0.96,-146.0,379.4,-6.1,410,5449,0.00,2.30,0.00,0.000,4,0.000,0.064,2477,818,3252
$GC,5491,-0.96,-146.0,382.3,-6.4,412,5496,0.00,2.33,0.00,0.000,6,0.000,0.065,2467,2237,3252
$GC,5818,-0.96,-146.0,403.9,-6.7,427,5822,0.00,2.22,0.00,0.000,4,0.000,0.078,2457,3604,3252
$GC,5853,-0.96,-146.0,406.3,-7.4,427,5857,0.00,2.17,0.00,0.000,6,0.000,0.051,2457,2211,3252
$GC,6190,-0.91,-146.0,429.5,-6.7,436,6192,0.10,0.00,0.00,0.000,6,0.154,0.000,2483,2211,3253
$GC,6516,-0.96,-146.0,446.0,-5.2,444,6520,0.00,2.20,0.00,0.000,4,0.000,0.064,2483,823,3254
$GC,6566,-0.96,-146.0,449.2,-6.6,445,6570,0.00,2.33,0.00,0.000,6,0.000,0.064,2475,2244,3253
$GC,6891,-1.13,-146.0,464.7,-3.8,453,6895,0.15,2.33,0.00,0.000,4,0.074,0.062,2408,813,3254
$STATE,7030,end dive,NO_VERTICAL_VELOCITY
$STATE,7030,begin apogee
$GC,7039,-0.31,0.0,464.7,0.0,456,7167,0.62,0.00,125.18,1.150,6,0.107,0.000,2614,1746,2650
$STATE,7168,end apogee,CONTROL_FINISHED_OK
$STATE,7168,begin climb
$GC,7171,0.99,146.0,464.3,0.0,459,7308,0.85,2.60,129.52,1.074,4,0.089,0.068,2894,3143,2053
$GC,7395,0.66,146.0,442.3,13.0,464,7401,0.30,2.42,0.00,0.000,6,0.133,0.051,2823,1738,2048
$GC,7709,0.67,150.9,420.4,6.9,472,7718,0.00,2.40,4.18,0.706,4,0.000,0.067,2832,327,2034
$GC,7755,0.76,164.1,417.5,6.6,473,7774,0.00,2.40,13.45,0.993,6,0.000,0.056,2832,1741,1980
$GC,8083,0.76,164.1,394.9,7.1,482,8087,0.00,2.35,0.00,0.000,4,0.000,0.070,2831,3160,1978
$GC,8156,0.67,164.1,388.8,8.6,485,8160,0.00,2.30,0.00,0.000,6,0.000,0.053,2842,1731,1977
$GC,8472,0.67,164.1,365.7,7.1,500,8475,0.00,2.30,0.00,0.000,4,0.000,0.067,2852,327,1977
$GC,8499,0.67,164.1,363.7,7.3,501,8504,0.12,2.35,0.00,0.000,6,0.122,0.058,2817,1752,1977
$GC,8823,0.85,206.3,344.6,5.7,517,8867,0.15,2.42,36.92,1.064,4,0.071,0.071,2882,3158,1808
$GC,8931,0.62,206.3,333.9,11.8,521,8937,0.28,2.30,0.00,0.000,6,0.129,0.053,2813,1739,1804
$GC,9248,0.83,224.7,313.7,6.4,537,9270,0.15,2.40,16.30,1.003,4,0.067,0.067,2890,324,1734
$GC,9294,0.75,224.7,309.1,11.1,539,9299,0.17,2.33,0.00,0.000,6,0.127,0.056,2840,1740,1733
$GC,9622,0.84,224.7,283.5,7.6,555,9626,0.00,2.28,0.00,0.000,4,0.000,0.071,2840,3158,1729
$GC,9701,0.84,224.7,276.4,8.7,558,9705,0.00,2.28,0.00,0.000,6,0.000,0.053,2846,1730,1728
$GC,10023,0.90,224.7,248.7,8.6,574,10025,0.10,0.00,0.00,0.000,6,0.085,0.000,2894,1729,1728
$GC,10333,0.81,224.7,217.2,9.5,589,10338,0.15,2.38,0.00,0.000,4,0.126,0.069,2850,3158,1728
$GC,10371,0.81,224.7,213.7,8.4,590,10378,0.00,2.28,0.00,0.000,6,0.000,0.054,2856,1728,1727
$GC,10689,0.90,232.5,192.1,6.8,606,10703,0.00,2.33,7.18,0.864,4,0.000,0.068,2866,333,1702
$GC,10727,1.00,232.5,189.2,7.8,607,10734,0.12,2.30,0.00,0.000,6,0.080,0.057,2923,1743,1702
$GC,11045,0.85,232.5,155.6,10.5,623,11049,0.20,2.30,0.00,0.000,4,0.130,0.072,2858,3157,1702
$GC,11089,0.85,232.5,151.5,7.7,625,11093,0.00,2.28,0.00,0.000,6,0.000,0.055,2865,1728,1701
$GC,11417,0.99,273.3,130.6,5.7,641,11460,0.10,2.38,37.58,0.964,4,0.087,0.070,2922,332,1535
$GC,11494,0.99,273.3,124.1,9.4,644,11499,0.12,2.35,0.00,0.000,6,0.136,0.058,2888,1746,1533
$GC,11810,0.99,273.3,101.0,8.0,659,11814,0.00,2.30,0.00,0.000,4,0.000,0.074,2889,3155,1528
$GC,11873,0.94,273.3,95.3,9.3,667,11879,0.00,2.28,0.00,0.000,6,0.000,0.056,2896,1734,1526
$GC,12217,0.94,273.3,68.3,7.8,728,12223,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1734,1525
$GC,12561,0.98,273.3,41.6,7.4,789,12567,0.00,2.35,0.00,0.000,4,0.000,0.074,2896,3152,1524
$GC,12596,0.98,273.3,38.4,8.6,795,12603,0.00,2.28,0.00,0.000,6,0.000,0.058,2906,1728,1523
$GC,12941,0.98,273.3,9.3,8.5,856,12947,0.00,2.30,0.00,0.000,4,0.000,0.074,2916,327,1523
$FREEZE,6.81,-1.763,-1.809
$STATE,12975,end climb,FINISH_DEPTH_REACHED
$STATE,12975,begin subsurface finish
$FINISH1,6.8,1.026497,57
$GC,12985,0.07,56.6,6.8,-6.5,862,13022,0.68,2.40,-31.02,0.000,4,0.111,0.091,2683,3162,2423
$FINISH2,4.6
$STATE,13023,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13023,begin surface
$RAFOS_CLK,594
$RAFOS,4,1227919459,0.750000,0.738611,59,57,57,56,54,52,140,199,210,225,173,186
$RAFOS,3,1227918859,0.583333,0.571944,65,61,59,56,53,52,142,131,199,215,185,159
$RAFOS,2,1227918253,0.416667,0.403611,61,55,55,55,54,54,164,144,193,208,153,125
$RAFOS,1,1227917651,0.250000,0.236389,63,59,56,52,50,48,189,172,118,223,133,1083
$RAFOS,0,1227917044,0.083333,0.067778,62,57,53,50,49,43,216,199,162,141,120,1819
$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,1826
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,14.80
$XPDR_PINGS,71
$24V_AH,22.1,65.038
$10V_AH,10.5,29.515
$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,6.050,143.250,370.300,0.000,0.000,0.000,0.000,0.000,17.750,0.000,0.000,0.000,1586.462,9161.020,447.496,1669.660,213.406,0.000,1371.791,0.000,1650.944,1800.000,0.529,0.000
$DEVICE_MAMPS,161.837,99.710,1149.733,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,608.203,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28406,868
$CAP_FILE_SIZE,114054,0
$CFSIZE,260165632,225943552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.0
$GPS,271108,202640,6549.236,-5929.427,0,2119.0,0,-36.5