version: 66.04
glider: 108
mission: 11
dive: 379
start: 11 27 108 9 41 17
data:
$ID,108
$MISSION,11
$DIVE,379
$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,25
$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
$GPS1,092703,6546.201,-5928.345,40,1.2,40,-36.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-67.6
$GPS2,094057,6546.217,-5928.284,9,1.8,9,-36.5
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6549.911,-5903.498
$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,562
$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,-146.0,0.0,0.0,0,97,0.00,0.00,-78.60,0.000,2,0.000,0.000,332,2244,3037
$GC,101,-0.99,-146.0,3.0,-0.7,14,126,8.95,2.28,-9.12,0.000,4,0.252,0.094,2453,3601,3247
$GC,279,-0.43,-146.0,25.9,-15.6,45,286,0.45,2.22,0.00,0.000,6,0.169,0.055,2586,2210,3251
$GC,625,-0.50,-146.0,50.0,-5.9,106,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2210,3252
$GC,969,-0.64,-146.0,70.7,-5.7,167,976,0.17,2.25,0.00,0.000,4,0.074,0.067,2516,812,3251
$GC,1039,-0.50,-146.0,76.6,-9.1,179,1046,0.22,2.35,0.00,0.000,6,0.143,0.068,2568,2235,3251
$GC,1385,-0.63,-146.0,93.8,-4.3,240,1392,0.10,2.33,0.00,0.000,4,0.088,0.066,2527,814,3251
$GC,1411,-0.69,-146.0,95.3,-5.3,244,1417,0.00,2.35,0.00,0.000,6,0.000,0.068,2518,2241,3251
$GC,1733,-0.69,-146.0,116.5,-6.4,269,1737,0.00,2.25,0.00,0.000,4,0.000,0.083,2508,3610,3251
$GC,1761,-0.69,-146.0,118.4,-7.4,270,1765,0.10,2.20,0.00,0.000,6,0.161,0.055,2532,2218,3251
$GC,2089,-0.75,-146.0,138.3,-6.6,286,2093,0.00,2.22,0.00,0.000,4,0.000,0.068,2532,815,3251
$GC,2134,-0.75,-146.0,141.6,-7.7,288,2138,0.00,2.33,0.00,0.000,6,0.000,0.069,2524,2232,3251
$GC,2466,-0.80,-146.0,165.8,-7.4,304,2470,0.00,2.30,0.00,0.000,4,0.000,0.067,2524,812,3251
$GC,2518,-0.80,-146.0,169.9,-7.6,306,2522,0.00,2.35,0.00,0.000,6,0.000,0.068,2514,2239,3251
$GC,2845,-0.80,-146.0,195.3,-7.6,322,2847,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2239,3251
$GC,3155,-0.80,-146.0,215.7,-6.0,337,3159,0.00,2.33,0.00,0.000,4,0.000,0.068,2514,817,3251
$GC,3212,-0.80,-146.0,219.3,-5.8,339,3215,0.00,2.35,0.00,0.000,6,0.000,0.070,2504,2239,3251
$GC,3533,-0.80,-146.0,236.2,-5.3,355,3537,0.00,2.25,0.00,0.000,4,0.000,0.084,2494,3609,3251
$GC,3568,-0.80,-146.0,238.2,-6.2,356,3572,0.00,2.20,0.00,0.000,6,0.000,0.055,2493,2217,3251
$GC,3890,-0.80,-146.0,257.0,-6.1,372,3894,0.00,2.25,0.00,0.000,4,0.000,0.067,2493,809,3250
$GC,3946,-0.75,-146.0,260.7,-6.6,374,3951,0.12,2.35,0.00,0.000,6,0.141,0.067,2518,2239,3250
$GC,4268,-0.85,-146.0,276.6,-4.9,390,4273,0.10,2.33,0.00,0.000,4,0.091,0.067,2477,818,3250
$GC,4286,-0.85,-146.0,277.7,-5.2,391,4291,0.12,2.35,0.00,0.000,6,0.139,0.076,2498,2242,3250
$GC,4613,-0.85,-146.0,296.1,-5.7,407,4616,0.00,2.22,0.00,0.000,4,0.000,0.082,2489,3601,3250
$GC,4629,-0.85,-146.0,297.2,-5.7,407,4636,0.00,2.17,0.00,0.000,6,0.000,0.054,2489,2221,3250
$GC,4946,-0.85,-146.0,316.4,-5.9,423,4950,0.00,2.25,0.00,0.000,4,0.000,0.067,2489,814,3250
$GC,4981,-0.85,-146.0,318.4,-6.1,424,4985,0.00,2.35,0.00,0.000,6,0.000,0.067,2480,2240,3250
$GC,5302,-0.85,-146.0,338.0,-6.1,440,5303,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2240,3250
$GC,5612,-0.85,-146.0,356.5,-6.0,455,5616,0.00,2.33,0.00,0.000,4,0.000,0.066,2480,814,3250
$GC,5636,-0.80,-146.0,358.0,-6.0,456,5641,0.15,2.35,0.00,0.000,6,0.138,0.067,2511,2245,3250
$GC,5969,-0.91,-146.0,373.4,-4.6,472,5971,0.12,0.00,0.00,0.000,6,0.086,0.000,2460,2245,3251
$GC,6278,-0.83,-146.0,392.7,-6.5,487,6282,0.15,2.22,0.00,0.000,4,0.150,0.079,2492,3602,3251
$GC,6312,-0.91,-146.0,394.7,-5.9,488,6316,0.00,2.17,0.00,0.000,6,0.000,0.051,2492,2214,3252
$GC,6651,-0.96,-146.0,413.1,-5.3,499,6655,0.00,2.22,0.00,0.000,4,0.000,0.064,2492,813,3252
$GC,6662,-0.96,-146.0,413.9,-5.3,499,6666,0.00,2.35,0.00,0.000,6,0.000,0.067,2482,2242,3252
$GC,6981,-0.96,-146.0,432.0,-5.6,507,6985,0.00,2.33,0.00,0.000,4,0.000,0.064,2482,810,3252
$GC,7009,-0.96,-146.0,433.8,-6.8,507,7013,0.00,2.35,0.00,0.000,6,0.000,0.064,2472,2244,3252
$GC,7353,-0.96,-146.0,453.8,-5.8,516,7354,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2244,3253
$GC,7677,-0.96,-146.0,471.9,-5.5,524,7678,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2244,3253
$GC,8002,-0.96,-146.0,489.3,-5.3,532,8003,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2244,3254
$GC,8328,-0.96,-146.0,506.5,-5.1,540,8329,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2244,3254
$GC,8652,-0.96,-146.0,524.3,-5.7,548,8653,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2244,3254
$GC,8977,-0.96,-146.0,541.9,-5.5,556,8978,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2244,3254
$GC,9302,-0.96,-146.0,559.8,-5.6,564,9303,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2244,3254
$STATE,9339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9339,begin apogee
$GC,9347,-0.31,0.0,562.2,5.7,565,9477,0.45,0.00,127.20,1.209,6,0.122,0.000,2614,1743,2650
$STATE,9478,end apogee,CONTROL_FINISHED_OK
$STATE,9478,begin climb
$GC,9481,0.99,146.0,563.7,0.0,568,9618,0.88,0.00,131.62,1.131,6,0.092,0.000,2898,1742,2054
$GC,9933,0.75,146.0,518.5,10.9,579,9935,0.20,0.00,0.00,0.000,6,0.130,0.000,2841,1742,2046
$GC,10257,0.75,146.0,494.0,7.4,587,10261,0.00,2.38,0.00,0.000,4,0.000,0.071,2842,3164,2046
$GC,10307,0.59,146.0,489.5,9.4,588,10312,0.15,2.30,0.00,0.000,6,0.133,0.054,2808,1731,2045
$GC,10627,0.77,181.7,470.1,5.9,596,10660,0.15,0.00,30.45,1.118,6,0.069,0.000,2874,1731,1909
$GC,10952,0.65,181.7,438.3,10.0,604,10957,0.20,2.38,0.00,0.000,4,0.123,0.070,2814,3166,1905
$GC,11002,0.65,181.7,434.0,7.5,605,11006,0.00,2.28,0.00,0.000,6,0.000,0.052,2821,1734,1903
$GC,11316,0.77,188.1,412.1,6.8,613,11324,0.10,0.00,6.12,0.900,6,0.081,0.000,2869,1734,1883
$GC,11622,0.68,188.1,383.5,9.4,624,11623,0.15,0.00,0.00,0.000,6,0.124,0.000,2825,1734,1884
$GC,11932,0.83,217.3,363.6,6.1,639,11964,0.12,2.38,26.30,1.069,4,0.075,0.069,2880,3164,1764
$GC,12016,0.62,217.3,355.4,11.6,643,12021,0.28,2.28,0.00,0.000,6,0.130,0.053,2809,1734,1762
$GC,12349,1.13,218.6,333.6,7.0,659,12354,0.32,2.35,0.00,0.000,4,0.078,0.070,2930,3159,1758
$GC,12444,0.76,218.6,322.9,13.9,663,12449,0.32,2.28,0.00,0.000,6,0.139,0.053,2844,1725,1757
$GC,12761,0.83,219.4,300.9,7.0,678,12765,0.00,2.25,0.00,0.000,4,0.000,0.067,2851,332,1757
$GC,12797,0.94,219.4,298.3,7.1,679,12802,0.12,2.30,0.00,0.000,6,0.077,0.054,2909,1760,1757
$GC,13113,0.78,219.4,262.9,12.0,694,13117,0.20,2.22,0.00,0.000,4,0.131,0.068,2845,3150,1757
$GC,13175,0.78,219.4,256.9,8.4,697,13179,0.00,2.22,0.00,0.000,6,0.000,0.053,2852,1728,1756
$GC,13508,0.86,219.4,230.9,7.6,713,13512,0.00,2.33,0.00,0.000,4,0.000,0.070,2852,3155,1756
$GC,13535,0.86,219.4,228.6,7.7,714,13539,0.00,2.22,0.00,0.000,6,0.000,0.053,2860,1740,1756
$GC,13862,0.92,219.4,203.0,7.6,730,13866,0.00,2.28,0.00,0.000,4,0.000,0.067,2870,330,1757
$GC,13897,0.99,219.4,200.3,7.6,731,13902,0.10,2.28,0.00,0.000,6,0.086,0.057,2917,1741,1757
$GC,14214,0.86,219.4,168.8,9.9,746,14218,0.17,2.28,0.00,0.000,4,0.133,0.071,2864,3154,1757
$GC,14270,0.78,219.4,164.1,8.1,748,14276,0.00,2.25,0.00,0.000,6,0.000,0.054,2871,1732,1755
$GC,14586,0.83,219.4,141.7,7.3,764,14590,0.00,2.28,0.00,0.000,4,0.000,0.069,2882,329,1755
$GC,14625,0.90,219.4,138.6,7.8,765,14632,0.00,2.30,0.00,0.000,6,0.000,0.058,2882,1746,1756
$GC,14941,0.90,219.4,113.4,8.1,781,14945,0.00,2.28,0.00,0.000,4,0.000,0.073,2882,3154,1755
$GC,15010,0.79,219.4,107.0,9.5,784,15015,0.15,2.25,0.00,0.000,6,0.130,0.055,2848,1732,1755
$GC,15344,1.16,219.4,84.0,7.1,828,15351,0.22,2.35,0.00,0.000,4,0.075,0.072,2941,3156,1755
$GC,15534,0.86,219.4,64.2,11.3,861,15541,0.30,2.25,0.00,0.000,6,0.138,0.057,2863,1738,1754
$GC,15880,1.07,265.9,43.3,5.5,922,15928,0.17,2.40,42.25,0.930,4,0.068,0.071,2950,331,1566
$GC,15958,0.97,265.9,36.4,9.9,935,15965,0.22,2.35,0.00,0.000,6,0.131,0.060,2885,1746,1564
$GC,16304,1.13,283.9,13.6,6.4,996,16328,0.15,2.35,16.25,0.876,4,0.072,0.075,2948,3152,1492
$FREEZE,6.29,-1.819,-1.807
$STATE,16373,end climb,FINISH_DEPTH_REACHED
$STATE,16373,begin subsurface finish
$FINISH1,6.3,1.026471,58
$GC,16384,0.07,57.9,6.3,-10.8,1008,16425,0.82,2.33,-33.95,0.000,4,0.129,0.083,2698,324,2417
$FINISH2,4.1
$STATE,16426,end subsurface finish,CONTROL_FINISHED_OK
$STATE,16426,begin surface
$RAFOS_CLK,716
$RAFOS,4,1227789843,12.750000,12.734167,67,66,59,59,59,48,1125,147,183,212,166,223
$RAFOS,3,1227789256,12.583333,12.571111,170,70,57,54,52,50,668,204,175,150,784,121
$RAFOS,2,1227788644,12.416667,12.401111,59,58,53,52,51,48,208,1084,171,124,223,233
$RAFOS,1,1227788054,12.250000,12.237223,62,60,59,57,56,51,215,151,909,118,176,232
$RAFOS,0,1227787445,12.083333,12.068055,55,54,52,51,50,50,236,208,122,113,217,172
$RAFOS_FIX,6550.063477,-5938.705566,271108,080840,2,90,0.11
$IRIDIUM_FIX,6548.42,-6024.58,170298,151550
$TT8_MAMPS,0.026845
$HUMID,1792
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,14.90
$XPDR_PINGS,58
$24V_AH,22.0,63.970
$10V_AH,10.5,29.047
$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,16.750,140.625,380.200,0.000,0.000,24.318,33.350,462.728,14.500,0.000,0.000,10.456,1815.515,12075.266,527.323,1820.487,1014.395,0.000,1525.906,0.000,1798.657,1800.000,0.530,0.000
$DEVICE_MAMPS,252.343,93.574,1208.792,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,710.199,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31544,1015
$CAP_FILE_SIZE,143517,0
$CFSIZE,260165632,226426880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.0
$GPS,271108,094057,6546.217,-5928.284,9,1.8,9,-36.5