version: 66.04
glider: 108
mission: 11
dive: 389
start: 11 29 108 1 7 26
data:
$ID,108
$MISSION,11
$DIVE,389
$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,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,2.58
$_SM_ANGLEo,-1.9
$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,-146.0,0.0,0.0,0,68,0.00,0.00,-47.78,0.000,6,0.000,0.000,2684,3163,3248
$GC,71,-0.99,-146.0,1.6,0.2,9,79,0.62,3.83,0.00,0.000,4,0.082,0.060,2456,809,3249
$GC,86,-1.50,-146.0,2.7,-1.6,11,93,0.30,2.35,0.00,0.000,6,0.073,0.066,2333,2242,3250
$GC,432,-0.88,-146.0,59.1,-17.1,72,439,0.52,2.35,0.00,0.000,4,0.175,0.067,2493,811,3251
$GC,491,-0.83,-146.0,65.5,-9.0,82,497,0.00,2.35,0.00,0.000,6,0.000,0.068,2485,2238,3251
$GC,835,-0.77,-146.0,95.0,-9.0,143,842,0.10,2.25,0.00,0.000,4,0.150,0.081,2503,3606,3251
$GC,894,-0.82,-146.0,100.3,-8.9,153,898,0.00,2.20,0.00,0.000,6,0.000,0.054,2504,2212,3251
$GC,1215,-0.82,-146.0,122.3,-6.2,169,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2211,3251
$GC,1525,-0.82,-146.0,141.4,-6.5,184,1529,0.00,2.22,0.00,0.000,4,0.000,0.068,2503,809,3251
$GC,1596,-0.82,-146.0,146.2,-7.0,187,1599,0.00,2.38,0.00,0.000,6,0.000,0.074,2493,2242,3251
$GC,1930,-0.82,-146.0,168.4,-6.8,203,1934,0.00,2.22,0.00,0.000,4,0.000,0.082,2483,3601,3249
$GC,1946,-0.82,-146.0,169.8,-6.9,203,1953,0.00,2.17,0.00,0.000,6,0.000,0.054,2483,2220,3250
$GC,2263,-0.82,-146.0,191.8,-7.4,219,2266,0.00,2.25,0.00,0.000,4,0.000,0.067,2483,814,3250
$GC,2331,-0.76,-146.0,196.9,-7.6,222,2336,0.15,2.35,0.00,0.000,6,0.138,0.069,2514,2238,3250
$GC,2659,-0.86,-146.0,215.0,-5.0,238,2663,0.00,2.33,0.00,0.000,4,0.000,0.067,2514,811,3249
$GC,2698,-0.92,-146.0,216.9,-4.7,239,2705,0.10,2.35,0.00,0.000,6,0.088,0.068,2465,2237,3249
$GC,3015,-0.86,-146.0,234.0,-5.7,255,3019,0.12,2.25,0.00,0.000,4,0.146,0.084,2490,3595,3249
$GC,3043,-0.86,-146.0,235.6,-6.3,256,3047,0.00,2.15,0.00,0.000,6,0.000,0.054,2490,2220,3249
$GC,3370,-0.86,-146.0,255.4,-6.1,272,3374,0.00,2.25,0.00,0.000,4,0.000,0.067,2490,814,3249
$GC,3409,-0.86,-146.0,257.9,-6.4,273,3415,0.00,2.35,0.00,0.000,6,0.000,0.068,2480,2240,3249
$GC,3725,-0.86,-146.0,277.4,-6.3,289,3729,0.00,2.33,0.00,0.000,4,0.000,0.067,2480,814,3249
$GC,3736,-0.86,-146.0,278.2,-6.2,289,3741,0.10,2.35,0.00,0.000,6,0.146,0.067,2496,2242,3249
$GC,4053,-0.94,-146.0,297.7,-6.7,304,4057,0.00,2.33,0.00,0.000,4,0.000,0.067,2497,816,3249
$GC,4077,-0.94,-146.0,299.3,-6.6,305,4081,0.00,2.33,0.00,0.000,6,0.000,0.067,2489,2241,3249
$GC,4409,-0.99,-146.0,322.7,-6.8,321,4414,0.10,2.33,0.00,0.000,4,0.088,0.064,2444,816,3249
$GC,4483,-0.83,-146.0,328.8,-8.2,324,4488,0.22,2.35,0.00,0.000,6,0.138,0.067,2498,2244,3249
$GC,4805,-0.94,-146.0,345.8,-4.8,340,4809,0.00,2.33,0.00,0.000,4,0.000,0.066,2499,813,3250
$GC,4828,-1.01,-146.0,346.9,-4.8,341,4833,0.12,2.35,0.00,0.000,6,0.078,0.067,2438,2244,3250
$GC,5156,-0.89,-146.0,368.0,-6.5,357,5160,0.17,2.22,0.00,0.000,4,0.144,0.080,2479,3601,3250
$GC,5206,-0.94,-146.0,370.9,-5.6,359,5210,0.00,2.17,0.00,0.000,6,0.000,0.052,2479,2214,3250
$GC,5533,-0.94,-146.0,387.7,-5.0,375,5536,0.00,2.20,0.00,0.000,4,0.000,0.064,2479,818,3251
$GC,5612,-0.94,-146.0,392.2,-5.6,378,5616,0.00,2.33,0.00,0.000,6,0.000,0.065,2469,2233,3251
$GC,5951,-0.94,-146.0,412.0,-5.9,390,5955,0.00,2.30,0.00,0.000,4,0.000,0.063,2469,816,3251
$GC,5979,-0.89,-146.0,413.8,-5.9,390,5984,0.12,2.33,0.00,0.000,6,0.137,0.065,2493,2233,3251
$GC,6323,-0.99,-146.0,432.0,-5.4,399,6327,0.12,2.25,0.00,0.000,4,0.081,0.081,2431,3600,3252
$GC,6339,-0.99,-146.0,433.2,-5.7,399,6343,0.12,2.15,0.00,0.000,6,0.154,0.050,2465,2225,3252
$GC,6652,-0.99,-146.0,452.7,-6.0,407,6656,0.00,2.28,0.00,0.000,4,0.000,0.077,2458,3597,3252
$GC,6663,-0.99,-146.0,453.4,-5.8,407,6668,0.00,2.15,0.00,0.000,6,0.000,0.051,2458,2215,3252
$GC,6983,-1.26,-146.0,466.6,-2.2,415,6987,0.17,2.22,0.00,0.000,4,0.072,0.061,2385,812,3252
$STATE,7109,end dive,NO_VERTICAL_VELOCITY
$STATE,7109,begin apogee
$GC,7117,-0.31,0.0,466.6,0.0,417,7246,0.68,0.00,124.97,1.154,6,0.105,0.000,2609,1742,2650
$STATE,7246,end apogee,CONTROL_FINISHED_OK
$STATE,7246,begin climb
$GC,7249,0.99,146.0,465.9,0.0,421,7387,0.88,2.60,129.57,1.073,4,0.095,0.069,2893,3141,2054
$GC,7469,0.66,146.0,445.7,11.5,426,7474,0.30,2.42,0.00,0.000,6,0.136,0.052,2823,1738,2048
$GC,7788,0.74,165.3,424.2,6.4,434,7807,0.00,0.00,16.60,1.022,6,0.000,0.000,2823,1738,1976
$GC,8113,0.83,187.4,403.5,6.3,442,8136,0.12,0.00,20.75,1.044,6,0.074,0.000,2879,1738,1886
$GC,8423,0.70,187.4,373.9,10.2,455,8425,0.17,0.00,0.00,0.000,6,0.127,0.000,2828,1738,1883
$GC,8730,0.79,187.4,350.1,7.6,470,8732,0.10,0.00,0.00,0.000,6,0.083,0.000,2874,1738,1882
$GC,9039,0.70,187.4,319.9,9.4,485,9044,0.15,2.33,0.00,0.000,4,0.124,0.070,2829,3157,1881
$GC,9079,0.70,187.4,316.5,8.1,487,9083,0.00,2.25,0.00,0.000,6,0.000,0.053,2837,1730,1881
$GC,9412,0.76,187.4,292.8,7.0,503,9416,0.00,2.25,0.00,0.000,4,0.000,0.067,2847,335,1881
$GC,9436,0.84,187.4,291.1,7.1,504,9440,0.00,2.28,0.00,0.000,6,0.000,0.055,2847,1750,1881
$GC,9770,0.87,209.5,269.4,6.3,520,9796,0.00,2.30,19.40,1.009,4,0.000,0.071,2847,3147,1795
$GC,9852,0.80,209.5,263.4,7.8,523,9859,0.00,2.25,0.00,0.000,6,0.000,0.052,2856,1732,1792
$GC,10168,0.80,209.5,241.1,7.2,539,10172,0.00,2.28,0.00,0.000,4,0.000,0.067,2867,326,1791
$GC,10202,0.85,209.5,238.6,7.7,540,10206,0.00,2.33,0.00,0.000,6,0.000,0.057,2867,1751,1791
$GC,10523,0.85,209.5,213.8,7.7,556,10527,0.00,2.28,0.00,0.000,4,0.000,0.072,2867,3162,1791
$GC,10605,0.74,209.5,206.8,9.3,559,10610,0.15,2.25,0.00,0.000,6,0.132,0.054,2832,1741,1790
$GC,10921,0.96,260.7,187.7,5.4,574,10972,0.17,2.35,45.15,0.988,4,0.066,0.067,2920,334,1587
$GC,11015,0.88,260.7,179.7,9.5,578,11020,0.20,2.33,0.00,0.000,6,0.130,0.057,2863,1738,1584
$GC,11336,1.00,263.0,156.9,6.9,594,11341,0.12,2.30,0.00,0.000,4,0.077,0.071,2919,3161,1578
$GC,11392,0.77,263.0,150.7,12.1,596,11397,0.30,2.28,0.00,0.000,6,0.133,0.055,2841,1738,1577
$GC,11708,1.43,263.0,128.1,8.0,611,11711,0.47,0.00,0.00,0.000,6,0.090,0.000,3003,1738,1575
$GC,12029,1.06,263.0,83.0,14.7,641,12035,0.30,0.00,0.00,0.000,6,0.144,0.000,2912,1738,1575
$GC,12372,1.06,263.0,51.8,9.6,702,12378,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1738,1574
$GC,12715,1.06,263.0,17.1,9.8,763,12721,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1738,1573
$FREEZE,6.94,-1.761,-1.811
$STATE,12815,end climb,FINISH_DEPTH_REACHED
$STATE,12816,begin subsurface finish
$FINISH1,6.9,1.026520,55
$GC,12824,0.07,55.5,6.9,-10.3,781,12860,0.65,2.33,-28.67,0.000,4,0.111,0.083,2693,330,2427
$FINISH2,4.7
$STATE,12861,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12861,begin surface
$RAFOS_CLK,581
$RAFOS,3,1227933244,4.583333,4.567778,55,54,53,50,49,48,193,110,143,204,181,764
$RAFOS,2,1227932654,4.416667,4.403889,66,65,57,56,55,51,199,209,147,120,157,175
$RAFOS,1,1227932055,4.250000,4.237500,59,58,57,56,56,55,198,219,134,150,178,208
$RAFOS,0,1227931445,4.083333,4.068056,63,61,57,55,51,50,205,148,226,124,187,166
$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,1802
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,14.90
$XPDR_PINGS,59
$24V_AH,22.1,65.149
$10V_AH,10.5,29.564
$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,7.975,126.800,356.450,0.000,0.000,0.000,0.000,0.000,14.750,0.000,0.000,0.000,1471.751,9270.709,454.371,1508.679,209.532,0.000,1292.590,0.000,1496.921,1440.000,0.529,0.000
$DEVICE_MAMPS,174.876,84.370,1153.568,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,550.989,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25272,787
$CAP_FILE_SIZE,107668,0
$CFSIZE,260165632,225890304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.8
$GPS,271108,202640,6549.236,-5929.427,0,2119.0,0,-36.5