version: 66.04
glider: 108
mission: 11
dive: 394
start: 11 29 108 19 52 15
data:
$ID,108
$MISSION,11
$DIVE,394
$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,21
$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
$GPS1,085509,6541.520,-5844.323,13,1.3,13,-36.2
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,3.20
$_SM_ANGLEo,-4.3
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.99,-146.0,0.0,0.0,0,67,0.00,0.00,-46.55,0.000,6,0.000,0.000,2693,1734,3247
$GC,70,-0.99,-146.0,1.5,0.9,9,77,0.65,3.10,0.00,0.000,4,0.084,0.074,2458,3596,3249
$GC,90,-1.64,-146.0,1.5,-0.1,12,97,0.40,2.17,0.00,0.000,6,0.063,0.050,2304,2208,3250
$GC,436,-0.94,-146.0,57.9,-19.1,73,443,0.57,2.22,0.00,0.000,4,0.179,0.064,2478,816,3250
$GC,495,-0.84,-146.0,65.0,-10.3,83,502,0.12,2.35,0.00,0.000,6,0.145,0.067,2503,2237,3250
$GC,839,-0.84,-146.0,92.7,-7.4,144,845,0.00,2.30,0.00,0.000,4,0.000,0.066,2503,821,3249
$GC,863,-0.84,-146.0,94.6,-7.7,148,870,0.00,2.33,0.00,0.000,6,0.000,0.067,2495,2233,3249
$GC,1186,-0.84,-146.0,117.2,-6.6,173,1190,0.00,2.30,0.00,0.000,4,0.000,0.065,2495,816,3249
$GC,1265,-0.84,-146.0,122.8,-7.4,176,1269,0.00,2.35,0.00,0.000,6,0.000,0.068,2486,2243,3249
$GC,1581,-0.84,-146.0,143.4,-6.4,191,1585,0.00,2.33,0.00,0.000,4,0.000,0.067,2486,814,3249
$GC,1599,-0.79,-146.0,144.5,-6.1,192,1603,0.12,2.35,0.00,0.000,6,0.142,0.067,2509,2244,3249
$GC,1931,-0.87,-146.0,161.1,-4.9,208,1933,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2243,3248
$GC,2235,-0.96,-146.0,178.2,-5.9,223,2237,0.15,0.00,0.00,0.000,6,0.081,0.000,2450,2243,3248
$GC,2544,-0.83,-146.0,203.0,-7.9,238,2549,0.17,2.35,0.00,0.000,4,0.155,0.067,2500,810,3248
$GC,2578,-0.83,-146.0,205.4,-6.4,239,2584,0.00,2.35,0.00,0.000,6,0.000,0.067,2492,2240,3247
$GC,2895,-0.83,-146.0,227.3,-6.8,255,2899,0.00,2.22,0.00,0.000,4,0.000,0.082,2482,3596,3248
$GC,2923,-0.83,-146.0,229.4,-7.0,256,2927,0.00,2.17,0.00,0.000,6,0.000,0.054,2482,2212,3247
$GC,3251,-0.83,-146.0,251.9,-6.7,272,3252,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2212,3247
$GC,3559,-0.83,-146.0,273.0,-6.6,287,3563,0.00,2.22,0.00,0.000,4,0.000,0.066,2483,816,3247
$GC,3599,-0.83,-146.0,275.6,-7.0,288,3606,0.10,2.33,0.00,0.000,6,0.142,0.067,2501,2233,3247
$GC,3916,-0.93,-146.0,292.1,-4.7,304,3921,0.10,2.30,0.00,0.000,4,0.091,0.064,2459,814,3247
$GC,4006,-0.82,-146.0,297.8,-6.5,308,4011,0.20,2.35,0.00,0.000,6,0.137,0.067,2505,2245,3247
$GC,4328,-0.94,-146.0,311.7,-4.2,324,4333,0.12,2.33,0.00,0.000,4,0.084,0.070,2455,824,3247
$GC,4384,-0.82,-146.0,315.2,-6.5,326,4391,0.20,2.33,0.00,0.000,6,0.139,0.067,2502,2236,3247
$GC,4701,-0.94,-146.0,329.9,-4.7,342,4703,0.10,0.00,0.00,0.000,6,0.094,0.000,2461,2236,3248
$GC,5010,-0.89,-146.0,347.3,-5.6,357,5014,0.10,2.30,0.00,0.000,4,0.153,0.063,2487,818,3248
$GC,5054,-0.89,-146.0,350.0,-5.2,359,5058,0.00,2.33,0.00,0.000,6,0.000,0.066,2479,2236,3248
$GC,5375,-0.89,-146.0,366.9,-5.1,375,5377,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2236,3248
$GC,5684,-0.89,-146.0,382.1,-5.1,390,5688,0.00,2.30,0.00,0.000,4,0.000,0.062,2479,821,3249
$GC,5712,-0.89,-146.0,383.8,-6.0,391,5716,0.00,2.35,0.00,0.000,6,0.000,0.065,2469,2241,3249
$GC,6054,-0.89,-146.0,403.1,-5.6,407,6057,0.00,2.30,0.00,0.000,4,0.000,0.064,2469,823,3250
$GC,6065,-0.89,-146.0,403.9,-5.6,407,6069,0.12,2.33,0.00,0.000,6,0.135,0.064,2493,2232,3249
$GC,6378,-0.98,-146.0,417.7,-4.3,415,6383,0.10,2.30,0.00,0.000,4,0.088,0.062,2450,808,3250
$GC,6429,-0.86,-146.0,420.6,-5.9,416,6434,0.20,2.35,0.00,0.000,6,0.133,0.064,2497,2237,3250
$GC,6743,-0.97,-146.0,433.6,-4.0,424,6747,0.12,2.33,0.00,0.000,4,0.083,0.061,2446,811,3250
$GC,6777,-0.82,-146.0,435.5,-6.2,424,6784,0.22,2.35,0.00,0.000,6,0.134,0.063,2501,2236,3250
$GC,7109,-0.93,-146.0,449.5,-4.1,433,7113,0.10,2.30,0.00,0.000,4,0.092,0.061,2458,820,3250
$GC,7153,-0.82,-146.0,452.0,-5.3,434,7158,0.20,2.35,0.00,0.000,6,0.133,0.064,2506,2245,3250
$GC,7473,-0.97,-146.0,466.0,-4.3,442,7478,0.15,2.33,0.00,0.000,4,0.077,0.061,2444,812,3251
$GC,7501,-0.87,-146.0,467.7,-6.6,442,7506,0.20,2.35,0.00,0.000,6,0.140,0.063,2490,2245,3251
$STATE,7626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7626,begin apogee
$GC,7635,-0.31,0.0,474.0,4.9,445,7763,0.40,0.00,124.88,1.150,6,0.121,0.000,2619,1729,2650
$STATE,7763,end apogee,CONTROL_FINISHED_OK
$STATE,7763,begin climb
$GC,7766,0.99,146.0,476.1,0.0,448,7900,0.85,0.00,130.25,1.071,6,0.094,0.000,2894,1729,2054
$GC,8213,0.78,146.0,431.0,11.1,459,8218,0.17,2.38,0.00,0.000,4,0.129,0.066,2855,330,2047
$GC,8247,0.78,146.0,427.7,9.6,459,8253,0.00,2.40,0.00,0.000,6,0.000,0.056,2855,1743,2047
$GC,8578,0.73,146.0,400.1,8.3,468,8582,0.00,2.33,0.00,0.000,4,0.000,0.070,2855,3162,2045
$GC,8629,0.53,146.0,395.3,9.2,469,8634,0.25,2.30,0.00,0.000,6,0.130,0.053,2793,1725,2044
$GC,8951,0.76,192.6,377.2,5.5,485,8993,0.17,0.00,39.53,1.068,6,0.063,0.000,2870,1725,1864
$GC,9300,0.67,192.6,344.8,9.5,502,9304,0.17,2.40,0.00,0.000,4,0.121,0.067,2818,3152,1857
$GC,9349,0.67,192.6,340.5,8.3,504,9353,0.00,2.28,0.00,0.000,6,0.000,0.051,2825,1735,1856
$GC,9674,0.78,204.6,318.9,6.6,520,9691,0.08,0.00,10.38,0.956,6,0.094,0.000,2867,1735,1815
$GC,10000,0.72,204.6,289.1,8.9,536,10002,0.12,0.00,0.00,0.000,6,0.127,0.000,2831,1735,1813
$GC,10311,0.83,205.8,267.0,7.0,551,10312,0.10,0.00,0.00,0.000,6,0.082,0.000,2878,1735,1813
$GC,10620,0.76,205.8,239.2,8.7,566,10625,0.12,2.35,0.00,0.000,4,0.124,0.068,2842,3156,1812
$GC,10665,0.76,205.8,235.7,7.2,568,10668,0.00,2.25,0.00,0.000,6,0.000,0.051,2849,1738,1811
$GC,10994,0.82,214.1,214.8,6.8,584,11005,0.00,0.00,9.12,0.904,6,0.000,0.000,2849,1738,1777
$GC,11301,0.91,214.1,191.4,7.6,599,11303,0.10,0.00,0.00,0.000,6,0.084,0.000,2898,1738,1776
$GC,11611,0.82,214.1,162.2,9.7,614,11616,0.15,2.35,0.00,0.000,4,0.126,0.069,2853,3157,1776
$GC,11644,0.82,214.1,159.0,8.8,615,11650,0.00,2.25,0.00,0.000,6,0.000,0.054,2859,1737,1775
$GC,11960,0.90,216.9,136.8,6.9,631,11966,0.00,0.00,3.95,0.656,6,0.000,0.000,2860,1737,1765
$GC,12270,1.01,223.9,115.3,6.8,646,12285,0.12,2.35,8.15,0.859,4,0.083,0.071,2916,3150,1737
$GC,12319,0.76,223.9,110.3,11.0,648,12324,0.28,2.25,0.00,0.000,6,0.133,0.054,2845,1732,1735
$GC,12648,1.16,223.9,86.9,7.7,684,12655,0.25,2.35,0.00,0.000,4,0.075,0.071,2946,3159,1734
$GC,12788,0.83,223.9,71.3,12.8,708,12795,0.35,2.28,0.00,0.000,6,0.137,0.056,2852,1730,1734
$GC,13134,1.23,262.9,48.1,5.8,769,13176,0.25,2.47,34.97,0.926,4,0.071,0.071,2955,3162,1577
$GC,13340,0.96,262.9,25.4,12.5,805,13347,0.28,2.30,0.00,0.000,6,0.137,0.057,2886,1735,1571
$FREEZE,6.68,-1.794,-1.809
$STATE,13588,end climb,FINISH_DEPTH_REACHED
$STATE,13588,begin subsurface finish
$FINISH1,6.7,1.026501,56
$GC,13596,0.07,56.4,6.7,-7.4,849,13632,0.57,2.33,-27.45,0.000,4,0.111,0.082,2693,333,2425
$FINISH2,5.3
$STATE,13633,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13633,begin surface
$RAFOS_CLK,616
$RAFOS,4,1227991458,20.750000,20.738333,62,58,55,53,50,50,194,150,204,162,123,133
$RAFOS,3,1227990855,20.583334,20.570833,61,58,54,52,51,51,205,125,187,215,170,152
$RAFOS,2,1227990257,20.416666,20.404722,67,59,56,56,51,49,197,159,142,224,183,123
$RAFOS,1,1227989644,20.250000,20.234444,63,58,51,51,51,51,171,189,161,198,214,224
$RAFOS,0,1227989042,20.083334,20.067223,69,57,56,50,48,48,200,171,226,180,117,158
$RAFOS_FIX,6549.236328,-5929.427246,271108,202040,2,119,0.73
$IRIDIUM_FIX,6517.16,-5931.80,210298,090954
$TT8_MAMPS,0.026845
$HUMID,1796
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,14.90
$XPDR_PINGS,29
$24V_AH,22.1,65.783
$10V_AH,10.5,29.827
$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,9.350,119.725,361.225,0.000,0.000,0.000,0.000,0.000,7.250,0.000,0.000,0.000,1526.713,9955.416,500.992,1474.409,229.742,0.000,1302.771,0.000,1475.896,1800.000,0.529,0.000
$DEVICE_MAMPS,178.711,82.069,1149.733,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,597.955,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28445,855
$CAP_FILE_SIZE,111932,0
$CFSIZE,260165632,225607680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.6
$GPS,291108,085509,6541.520,-5844.323,13,1.3,13,-36.2