version: 66.04
glider: 108
mission: 11
dive: 391
start: 11 29 108 8 55 28
data:
$ID,108
$MISSION,11
$DIVE,391
$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,-119614.86
$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,29
$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
$GPS1,083956,6541.609,-5844.096,40,0.9,40,-36.2
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-64.9
$GPS2,085509,6541.520,-5844.323,13,1.3,13,-36.2
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6545.213,-5819.612
$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,106.2,20000,-13.0,-7.021
$D_GRID,474
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-0.99,-146.0,0.0,0.0,0,89,0.00,0.00,-67.95,0.000,2,0.000,0.000,332,2212,2876
$GC,93,-0.99,-146.0,3.1,-1.4,12,123,8.90,2.33,-13.75,0.000,4,0.250,0.083,2460,812,3249
$GC,198,-0.75,-146.0,15.7,-11.8,30,205,0.22,2.38,0.00,0.000,6,0.137,0.068,2516,2238,3252
$GC,543,-0.75,-146.0,46.3,-7.4,91,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2238,3253
$GC,886,-0.75,-146.0,71.6,-7.7,152,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2238,3253
$GC,1230,-0.81,-146.0,92.2,-6.4,213,1236,0.00,2.33,0.00,0.000,4,0.000,0.067,2516,813,3253
$GC,1305,-0.81,-146.0,97.5,-7.3,226,1311,0.00,2.35,0.00,0.000,6,0.000,0.069,2509,2238,3253
$GC,1636,-0.81,-146.0,117.2,-5.4,247,1640,0.00,2.33,0.00,0.000,4,0.000,0.067,2508,814,3253
$GC,1664,-0.81,-146.0,119.1,-6.3,248,1668,0.00,2.35,0.00,0.000,6,0.000,0.069,2498,2240,3253
$GC,1992,-0.81,-146.0,143.8,-7.1,264,1996,0.00,2.22,0.00,0.000,4,0.000,0.083,2488,3596,3253
$GC,2031,-0.81,-146.0,146.9,-7.6,265,2037,0.00,2.17,0.00,0.000,6,0.000,0.054,2488,2218,3253
$GC,2347,-0.81,-146.0,170.7,-7.3,281,2350,0.00,2.25,0.00,0.000,4,0.000,0.067,2489,814,3252
$GC,2363,-0.81,-146.0,172.0,-7.2,281,2370,0.10,2.35,0.00,0.000,6,0.143,0.081,2502,2233,3252
$GC,2681,-0.87,-146.0,192.2,-6.2,297,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2232,3252
$GC,2989,-0.94,-146.0,211.2,-6.0,312,2991,0.10,0.00,0.00,0.000,6,0.093,0.000,2461,2232,3252
$GC,3298,-0.86,-146.0,234.2,-7.8,327,3302,0.12,2.30,0.00,0.000,4,0.154,0.066,2498,816,3251
$GC,3331,-0.86,-146.0,236.6,-6.9,328,3335,0.00,2.35,0.00,0.000,6,0.000,0.069,2490,2241,3251
$GC,3653,-0.86,-146.0,256.8,-6.0,344,3654,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2241,3251
$GC,3962,-0.86,-146.0,273.7,-5.4,359,3963,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2241,3252
$GC,4272,-0.86,-146.0,291.7,-6.1,374,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2241,3252
$GC,4581,-0.90,-146.0,310.8,-6.2,389,4582,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2241,3252
$GC,4891,-0.95,-146.0,329.1,-5.8,404,4894,0.00,2.35,0.00,0.000,4,0.000,0.065,2489,812,3252
$GC,4982,-0.95,-146.0,334.8,-6.1,408,4986,0.00,2.35,0.00,0.000,6,0.000,0.067,2480,2234,3252
$GC,5315,-0.95,-146.0,354.6,-5.8,424,5319,0.00,2.33,0.00,0.000,4,0.000,0.064,2480,809,3253
$GC,5343,-0.95,-146.0,356.4,-6.2,425,5347,0.00,2.33,0.00,0.000,6,0.000,0.065,2470,2233,3253
$GC,5670,-0.95,-146.0,376.2,-6.0,441,5674,0.00,2.30,0.00,0.000,4,0.000,0.063,2470,818,3253
$GC,5687,-0.95,-146.0,377.3,-5.9,441,5693,0.00,2.33,0.00,0.000,6,0.000,0.065,2460,2239,3253
$GC,6003,-0.95,-146.0,396.4,-6.0,457,6007,0.00,2.25,0.00,0.000,4,0.000,0.079,2450,3602,3253
$GC,6043,-0.88,-146.0,398.9,-6.4,458,6050,0.15,2.17,0.00,0.000,6,0.146,0.051,2490,2214,3254
$GC,6355,-0.96,-146.0,415.8,-5.5,467,6356,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2214,3255
$GC,6680,-1.04,-146.0,434.0,-5.7,475,6684,0.12,2.22,0.00,0.000,4,0.085,0.062,2438,816,3255
$GC,6764,-0.87,-146.0,440.4,-7.9,476,6771,0.22,2.35,0.00,0.000,6,0.135,0.065,2495,2244,3254
$GC,7096,-0.98,-146.0,457.7,-5.1,485,7101,0.12,2.33,0.00,0.000,4,0.085,0.062,2444,810,3255
$GC,7120,-0.92,-146.0,459.2,-6.2,485,7125,0.17,2.35,0.00,0.000,6,0.138,0.064,2482,2241,3255
$STATE,7414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7414,begin apogee
$GC,7422,-0.31,0.0,475.2,5.4,493,7551,0.43,0.00,126.05,1.157,6,0.122,0.000,2619,1737,2650
$STATE,7551,end apogee,CONTROL_FINISHED_OK
$STATE,7551,begin climb
$GC,7554,0.99,146.0,477.4,0.0,496,7689,0.85,0.00,130.35,1.078,6,0.094,0.000,2894,1738,2054
$GC,8005,0.79,146.0,433.9,10.6,507,8010,0.17,2.45,0.00,0.000,4,0.130,0.070,2845,3153,2047
$GC,8049,0.65,146.0,429.2,9.6,508,8054,0.12,2.35,0.00,0.000,6,0.134,0.053,2820,1732,2046
$GC,8368,0.79,187.9,409.8,5.7,516,8411,0.12,2.35,36.00,1.072,4,0.075,0.067,2886,333,1883
$GC,8440,0.69,187.9,403.9,9.0,517,8446,0.20,2.38,0.00,0.000,6,0.124,0.056,2828,1749,1881
$GC,8762,0.82,221.6,384.4,5.9,531,8798,0.10,2.38,29.25,1.055,4,0.082,0.070,2874,3160,1746
$GC,8855,0.61,221.6,376.1,10.1,535,8860,0.25,2.30,0.00,0.000,6,0.130,0.052,2812,1734,1742
$GC,9183,0.88,281.3,359.0,5.1,551,9246,0.20,2.42,53.22,1.055,4,0.061,0.067,2914,327,1503
$GC,9276,0.78,281.3,349.5,11.8,555,9281,0.25,2.40,0.00,0.000,6,0.127,0.057,2841,1755,1500
$GC,9597,0.90,281.3,325.3,7.2,571,9602,0.12,2.30,0.00,0.000,4,0.074,0.071,2897,3165,1492
$GC,9676,0.68,281.3,315.8,12.6,574,9683,0.28,2.28,0.00,0.000,6,0.130,0.054,2825,1738,1490
$GC,9992,0.90,283.9,293.6,6.9,590,9997,0.17,2.30,0.00,0.000,4,0.065,0.067,2912,323,1489
$GC,10025,0.84,283.9,290.2,10.8,591,10032,0.20,2.33,0.00,0.000,6,0.130,0.056,2853,1752,1489
$GC,10342,0.92,283.9,264.7,7.9,607,10346,0.10,2.28,0.00,0.000,4,0.082,0.071,2900,3160,1488
$GC,10414,0.71,283.9,256.1,13.0,610,10419,0.28,2.28,0.00,0.000,6,0.131,0.054,2827,1726,1487
$GC,10737,1.31,283.9,230.9,9.9,626,10742,0.38,2.25,0.00,0.000,4,0.078,0.067,2968,332,1486
$GC,10781,1.31,283.9,226.2,10.4,628,10785,0.00,2.30,0.00,0.000,6,0.000,0.057,2968,1752,1485
$GC,11108,1.03,283.9,177.8,15.0,644,11113,0.20,2.28,0.00,0.000,4,0.146,0.072,2904,3158,1485
$GC,11142,0.87,283.9,173.4,11.8,645,11149,0.17,2.25,0.00,0.000,6,0.132,0.054,2861,1734,1485
$GC,11458,1.01,283.9,149.5,7.2,661,11462,0.15,2.30,0.00,0.000,4,0.071,0.068,2940,321,1485
$GC,11491,0.91,283.9,146.1,11.0,662,11498,0.22,2.30,0.00,0.000,6,0.132,0.058,2873,1745,1485
$GC,11808,1.02,283.9,120.2,7.9,678,11812,0.10,2.28,0.00,0.000,4,0.083,0.071,2921,3158,1485
$GC,11852,0.79,283.9,115.3,12.0,680,11857,0.28,2.28,0.00,0.000,6,0.131,0.055,2849,1726,1485
$GC,12177,1.48,283.9,88.0,10.0,710,12184,0.43,2.28,0.00,0.000,4,0.086,0.068,3004,324,1484
$GC,12202,1.95,283.9,85.2,10.8,714,12209,0.30,2.33,0.00,0.000,6,0.072,0.059,3119,1748,1484
$FREEZE,6.08,-1.774,-1.810
$STATE,12545,end climb,FINISH_DEPTH_REACHED
$STATE,12545,begin subsurface finish
$FINISH1,6.1,1.026518,56
$GC,12555,0.07,55.6,6.1,-22.8,775,12607,1.45,2.33,-43.03,0.000,4,0.173,0.088,2689,3162,2426
$FINISH2,1.6
$STATE,12608,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12608,begin surface
$RAFOS_CLK,554
$RAFOS,1,1227960851,12.250000,12.236389,64,62,60,60,53,52,220,193,206,119,134,170
$RAFOS,0,1227960259,12.083333,12.071944,62,61,59,55,52,51,193,209,161,140,174,114
$RAFOS,3,1227947641,8.583333,8.566944,66,59,58,55,53,53,188,173,158,204,118,217
$RAFOS_FIX,6549.236328,-5929.427246,271108,202040,2,119,0.73
$IRIDIUM_FIX,6517.16,-5931.80,210298,090954
$TT8_MAMPS,0.029146
$HUMID,1789
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,15.10
$XPDR_PINGS,49
$24V_AH,22.1,65.424
$10V_AH,10.5,29.678
$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,17.775,114.075,374.875,0.000,0.000,24.811,32.158,533.141,12.250,0.000,0.000,15.181,1415.263,9098.213,524.168,1442.278,1033.100,0.000,1330.513,0.000,1420.640,1080.000,0.530,0.000
$DEVICE_MAMPS,250.042,88.205,1157.403,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,547.594,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25304,784
$CAP_FILE_SIZE,118122,0
$CFSIZE,260165632,225771520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.4
$GPS,291108,085509,6541.520,-5844.323,13,1.3,13,-36.2