version: 66.04
glider: 108
mission: 11
dive: 380
start: 11 27 108 14 16 59
data:
$ID,108
$MISSION,11
$DIVE,380
$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,24
$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
$GPS1,094057,6546.217,-5928.284,9,1.8,9,-36.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,0.7
$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,-146.0,0.0,0.0,0,61,0.00,0.00,-41.20,0.000,6,0.000,0.000,2698,324,3248
$GC,65,-0.99,-146.0,3.1,-2.1,8,72,0.65,0.82,0.00,0.000,4,0.077,0.058,2460,825,3249
$GC,90,-1.33,-146.0,5.4,-6.5,12,97,0.20,2.28,0.00,0.000,6,0.078,0.067,2376,2229,3250
$GC,436,-0.85,-146.0,56.5,-15.1,73,442,0.40,2.25,0.00,0.000,4,0.170,0.078,2483,3603,3252
$GC,489,-0.78,-146.0,62.9,-11.2,82,496,0.10,2.20,0.00,0.000,6,0.153,0.054,2508,2209,3252
$GC,834,-0.78,-146.0,89.1,-7.1,143,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2209,3252
$GC,1167,-0.78,-146.0,113.8,-7.4,178,1171,0.00,2.22,0.00,0.000,4,0.000,0.068,2510,817,3252
$GC,1194,-0.78,-146.0,116.0,-8.5,179,1198,0.00,2.33,0.00,0.000,6,0.000,0.067,2503,2232,3252
$GC,1521,-0.78,-146.0,140.5,-6.9,195,1525,0.00,2.30,0.00,0.000,4,0.000,0.067,2503,819,3251
$GC,1532,-0.78,-146.0,141.4,-6.7,195,1536,0.00,2.33,0.00,0.000,6,0.000,0.067,2493,2237,3251
$GC,1854,-0.78,-146.0,163.5,-6.9,211,1858,0.00,2.22,0.00,0.000,4,0.000,0.081,2482,3601,3251
$GC,1871,-0.78,-146.0,164.8,-7.0,211,1877,0.12,2.17,0.00,0.000,6,0.151,0.054,2515,2221,3251
$GC,2188,-0.88,-146.0,183.0,-5.4,227,2189,0.10,0.00,0.00,0.000,6,0.097,0.000,2473,2221,3251
$GC,2497,-0.88,-146.0,203.4,-6.5,242,2499,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2221,3251
$GC,2806,-0.83,-146.0,222.1,-6.0,257,2808,0.10,0.00,0.00,0.000,6,0.155,0.000,2498,2221,3251
$GC,3115,-0.89,-146.0,239.9,-6.3,272,3119,0.00,2.28,0.00,0.000,4,0.000,0.068,2499,812,3250
$GC,3148,-0.89,-146.0,242.2,-6.6,273,3152,0.00,2.40,0.00,0.000,6,0.000,0.067,2491,2237,3251
$GC,3464,-0.89,-146.0,264.7,-7.4,288,3465,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2237,3250
$GC,3773,-0.89,-146.0,286.9,-7.1,303,3776,0.00,2.35,0.00,0.000,4,0.000,0.067,2490,812,3250
$GC,3800,-0.89,-146.0,288.9,-7.4,304,3804,0.00,2.35,0.00,0.000,6,0.000,0.067,2481,2240,3249
$GC,4128,-0.89,-146.0,311.0,-6.5,320,4132,0.00,2.33,0.00,0.000,4,0.000,0.067,2481,820,3250
$GC,4146,-0.89,-146.0,312.3,-6.6,320,4152,0.00,2.35,0.00,0.000,6,0.000,0.067,2471,2233,3250
$GC,4462,-0.89,-146.0,332.9,-6.2,336,4465,0.00,2.25,0.00,0.000,4,0.000,0.080,2460,3602,3250
$GC,4508,-0.89,-146.0,335.9,-6.6,338,4512,0.10,2.17,0.00,0.000,6,0.157,0.053,2486,2222,3250
$GC,4843,-0.94,-146.0,351.8,-4.6,354,4846,0.00,2.25,0.00,0.000,4,0.000,0.067,2486,814,3250
$GC,4882,-0.94,-146.0,354.0,-4.8,355,4889,0.00,2.35,0.00,0.000,6,0.000,0.080,2478,2233,3250
$GC,5198,-0.94,-146.0,369.7,-5.0,371,5200,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2233,3250
$GC,5507,-0.94,-146.0,386.4,-5.8,386,5509,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2233,3250
$GC,5836,-0.94,-146.0,405.1,-5.7,400,5840,0.00,2.30,0.00,0.000,4,0.000,0.064,2478,819,3250
$GC,5859,-0.94,-146.0,406.5,-6.1,400,5863,0.00,2.35,0.00,0.000,6,0.000,0.066,2468,2243,3250
$GC,6209,-0.94,-146.0,427.5,-6.1,409,6210,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2242,3251
$GC,6533,-0.94,-146.0,447.8,-6.2,417,6534,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2242,3251
$GC,6858,-0.94,-146.0,468.0,-6.3,425,6862,0.00,2.30,0.00,0.000,4,0.000,0.064,2468,821,3252
$GC,6892,-0.88,-146.0,470.3,-6.5,425,6897,0.12,2.33,0.00,0.000,6,0.133,0.065,2493,2238,3252
$GC,7224,-0.97,-146.0,487.7,-5.0,433,7228,0.10,2.22,0.00,0.000,4,0.091,0.077,2440,3607,3252
$GC,7252,-0.92,-146.0,489.5,-6.9,433,7256,0.15,2.17,0.00,0.000,6,0.149,0.051,2480,2216,3252
$GC,7590,-0.97,-146.0,506.7,-5.0,442,7591,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2216,3252
$GC,7914,-1.03,-146.0,522.8,-5.0,450,7919,0.10,2.22,0.00,0.000,4,0.094,0.063,2438,810,3252
$GC,7938,-0.95,-146.0,524.3,-6.6,450,7943,0.17,2.33,0.00,0.000,6,0.137,0.063,2479,2241,3253
$GC,8275,-0.95,-146.0,541.5,-5.0,459,8279,0.00,2.30,0.00,0.000,4,0.000,0.063,2479,810,3253
$GC,8286,-0.95,-146.0,542.1,-5.0,459,8290,0.00,2.33,0.00,0.000,6,0.000,0.061,2471,2242,3253
$GC,8601,-0.95,-146.0,559.8,-5.7,467,8605,0.00,2.30,0.00,0.000,4,0.000,0.063,2470,818,3253
$GC,8619,-0.95,-146.0,560.9,-5.6,467,8623,0.00,2.33,0.00,0.000,6,0.000,0.064,2461,2241,3253
$STATE,8638,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8638,begin apogee
$GC,8646,-0.31,0.0,562.2,6.1,467,8776,0.45,0.00,127.18,1.207,6,0.122,0.000,2609,1738,2650
$STATE,8777,end apogee,CONTROL_FINISHED_OK
$STATE,8777,begin climb
$GC,8780,0.99,146.0,563.6,0.0,471,8916,0.93,0.00,132.68,1.128,6,0.091,0.000,2903,1738,2054
$GC,9220,0.72,146.0,518.2,11.1,482,9225,0.22,2.40,0.00,0.000,4,0.132,0.067,2845,330,2047
$GC,9253,0.72,146.0,514.9,8.4,482,9260,0.00,2.40,0.00,0.000,6,0.000,0.056,2845,1748,2047
$GC,9584,0.72,146.0,490.2,7.4,491,9588,0.00,2.30,0.00,0.000,4,0.000,0.069,2845,3160,2045
$GC,9647,0.54,146.0,485.0,8.3,492,9652,0.22,2.28,0.00,0.000,6,0.129,0.052,2790,1737,2045
$GC,9995,0.79,212.0,467.6,4.9,501,10055,0.20,0.00,56.72,1.128,6,0.062,0.000,2876,1736,1785
$GC,10360,0.67,212.0,432.3,10.0,510,10365,0.17,2.35,0.00,0.000,4,0.124,0.068,2824,3154,1776
$GC,10405,0.67,212.0,428.5,7.5,511,10409,0.00,2.28,0.00,0.000,6,0.000,0.052,2832,1728,1775
$GC,10730,0.76,231.5,406.9,6.4,519,10753,0.00,2.42,16.67,1.055,4,0.000,0.067,2832,3156,1706
$GC,10777,0.76,231.5,403.7,7.6,520,10781,0.00,2.28,0.00,0.000,6,0.000,0.051,2841,1729,1704
$GC,11106,0.76,234.8,381.4,6.9,534,11111,0.00,0.00,3.78,0.684,6,0.000,0.000,2841,1729,1692
$GC,11416,0.77,245.9,360.6,6.7,549,11436,0.00,2.45,11.65,1.004,4,0.000,0.067,2841,3154,1647
$GC,11460,0.77,245.9,357.3,7.8,551,11464,0.00,2.28,0.00,0.000,6,0.000,0.052,2851,1733,1647
$GC,11793,0.77,245.9,332.6,8.0,567,11794,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1733,1644
$GC,12102,0.77,245.9,306.8,8.2,582,12103,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1733,1644
$GC,12412,0.83,245.9,282.1,7.5,597,12417,0.00,2.35,0.00,0.000,4,0.000,0.070,2851,3155,1643
$GC,12463,0.77,245.9,277.5,9.2,599,12467,0.00,2.25,0.00,0.000,6,0.000,0.053,2860,1732,1642
$GC,12790,0.77,245.9,250.7,8.5,615,12794,0.00,2.25,0.00,0.000,4,0.000,0.068,2870,334,1642
$GC,12819,0.83,245.9,248.4,8.4,616,12823,0.00,2.30,0.00,0.000,6,0.000,0.055,2870,1752,1642
$GC,13145,0.83,245.9,222.2,7.5,632,13149,0.00,2.28,0.00,0.000,4,0.000,0.071,2870,3151,1642
$GC,13213,0.72,245.9,216.4,9.5,635,13218,0.17,2.25,0.00,0.000,6,0.126,0.053,2828,1730,1642
$GC,13546,1.41,245.9,194.6,8.1,651,13551,0.45,2.28,0.00,0.000,4,0.095,0.067,2985,330,1641
$GC,13574,1.62,245.9,191.9,9.3,652,13578,0.15,2.33,0.00,0.000,6,0.081,0.057,3044,1752,1641
$GC,13895,1.08,245.9,131.8,19.9,668,13900,0.43,2.30,0.00,0.000,4,0.156,0.072,2916,3157,1642
$GC,13929,0.85,245.9,126.6,12.2,669,13936,0.22,2.28,0.00,0.000,6,0.130,0.055,2857,1729,1641
$GC,14247,1.00,245.9,104.1,7.4,685,14251,0.15,2.28,0.00,0.000,4,0.070,0.069,2935,332,1641
$GC,14282,0.92,245.9,100.6,10.2,686,14289,0.20,2.30,0.00,0.000,6,0.130,0.058,2876,1743,1641
$GC,14628,1.05,258.5,76.2,6.6,747,14647,0.12,2.30,11.85,0.900,4,0.076,0.074,2933,3157,1595
$GC,14688,0.84,258.5,70.1,11.2,757,14695,0.28,2.28,0.00,0.000,6,0.131,0.057,2862,1733,1595
$GC,15034,1.07,297.0,48.2,5.8,818,15076,0.17,2.40,35.47,0.925,4,0.067,0.071,2951,327,1439
$GC,15094,0.97,297.0,42.9,9.4,828,15101,0.22,2.35,0.00,0.000,6,0.126,0.060,2886,1745,1438
$GC,15440,1.12,304.8,19.2,6.8,889,15454,0.15,2.38,7.10,0.802,4,0.070,0.075,2951,3163,1407
$GC,15501,0.88,304.8,12.5,12.7,899,15508,0.32,2.30,0.00,0.000,6,0.135,0.058,2866,1737,1406
$FREEZE,6.86,-1.813,-1.807
$STATE,15575,end climb,FINISH_DEPTH_REACHED
$STATE,15575,begin subsurface finish
$FINISH1,6.9,1.026474,58
$GC,15583,0.07,57.7,6.9,-5.8,912,15624,0.50,2.40,-31.25,0.000,4,0.099,0.084,2692,313,2419
$FINISH2,5.9
$STATE,15625,end subsurface finish,CONTROL_FINISHED_OK
$STATE,15625,begin surface
$RAFOS_CLK,708
$RAFOS,4,1227804244,16.750000,16.734444,59,58,55,53,52,51,199,208,219,120,168,148
$RAFOS,3,1227803650,16.583334,16.569445,106,64,59,58,47,47,703,162,191,209,119,147
$RAFOS,2,1227803045,16.416666,16.401388,69,67,67,59,51,50,217,166,1078,194,183,141
$RAFOS,1,1227802477,16.250000,16.243610,89,68,59,59,57,54,780,141,175,160,220,185
$RAFOS,0,1227801867,16.083334,16.074167,60,58,56,52,52,48,209,152,176,191,122,140
$RAFOS_FIX,6549.406250,-5915.514648,271108,161640,2,98,0.47
$IRIDIUM_FIX,6548.42,-6024.58,170298,151550
$TT8_MAMPS,0.026845
$HUMID,1814
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,15.00
$XPDR_PINGS,7
$24V_AH,22.0,64.097
$10V_AH,10.5,29.102
$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,8.175,139.725,403.100,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,0.000,1665.827,11619.936,537.606,1600.550,265.218,0.000,1431.950,0.000,1604.668,1800.000,0.529,0.000
$DEVICE_MAMPS,170.274,83.603,1207.258,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,642.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28414,919
$CAP_FILE_SIZE,121764,0
$CFSIZE,260165632,226390016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.8
$GPS,271108,162640,6549.406,-5915.515,0,2097.5,0,-36.5