version: 66.04
glider: 108
mission: 11
dive: 399
start: 11 30 108 16 11 47
data:
$ID,108
$MISSION,11
$DIVE,399
$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,-3
$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,-119696.22
$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,26
$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
$GPS1,155428,6541.285,-5816.878,38,2.8,57,-36.1
$_CALLS,1
$_XMS_NAKs,39
$_XMS_TOUTs,4
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-61.5
$GPS2,161129,6541.206,-5817.280,33,3.0,52,-36.1
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6544.900,-5752.574
$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,106.1,20000,-13.0,-7.021
$D_GRID,503
$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,-146.0,0.0,0.0,0,80,0.00,0.00,-61.50,0.000,2,0.000,0.000,335,2260,2757
$GC,83,-0.99,-146.0,3.1,-1.6,11,115,8.88,2.42,-17.73,0.000,4,0.249,0.074,2469,810,3248
$GC,263,-0.81,-146.0,23.6,-10.9,42,270,0.17,2.35,0.00,0.000,6,0.134,0.064,2510,2240,3253
$GC,608,-0.81,-146.0,50.0,-8.2,103,614,0.00,2.33,0.00,0.000,4,0.000,0.064,2514,806,3253
$GC,654,-0.81,-146.0,53.6,-7.9,111,661,0.00,2.33,0.00,0.000,6,0.000,0.064,2506,2233,3253
$GC,998,-0.81,-146.0,76.4,-6.4,172,1004,0.00,2.22,0.00,0.000,4,0.000,0.077,2495,3605,3253
$GC,1017,-0.81,-146.0,77.6,-6.5,175,1023,0.00,2.17,0.00,0.000,6,0.000,0.050,2495,2211,3253
$GC,1377,-0.81,-146.0,101.4,-6.9,236,1381,0.00,2.20,0.00,0.000,4,0.000,0.064,2495,822,3253
$GC,1446,-0.75,-146.0,106.4,-7.4,239,1451,0.12,2.30,0.00,0.000,6,0.136,0.065,2519,2237,3254
$GC,1781,-0.85,-146.0,127.6,-6.1,255,1783,0.10,0.00,0.00,0.000,6,0.091,0.000,2478,2237,3253
$GC,2087,-0.80,-146.0,151.2,-7.6,270,2092,0.12,2.30,0.00,0.000,4,0.149,0.064,2514,822,3253
$GC,2128,-0.80,-146.0,153.9,-6.7,272,2132,0.00,2.33,0.00,0.000,6,0.000,0.067,2506,2242,3253
$GC,2455,-0.86,-146.0,174.8,-6.4,288,2459,0.00,2.30,0.00,0.000,4,0.000,0.065,2506,824,3252
$GC,2511,-0.86,-146.0,178.7,-6.8,290,2515,0.00,2.33,0.00,0.000,6,0.000,0.067,2496,2240,3252
$GC,2833,-0.91,-146.0,199.4,-6.2,306,2837,0.00,2.30,0.00,0.000,4,0.000,0.065,2496,822,3252
$GC,2946,-0.91,-146.0,206.8,-6.9,311,2950,0.00,2.33,0.00,0.000,6,0.000,0.067,2486,2240,3252
$GC,3280,-0.91,-146.0,229.3,-7.0,327,3284,0.00,2.22,0.00,0.000,4,0.000,0.080,2476,3607,3251
$GC,3326,-0.91,-146.0,232.6,-7.0,329,3330,0.00,2.17,0.00,0.000,6,0.000,0.053,2476,2221,3251
$GC,3659,-0.91,-146.0,255.8,-6.9,345,3662,0.00,2.25,0.00,0.000,4,0.000,0.065,2476,812,3251
$GC,3670,-0.91,-146.0,256.7,-6.9,345,3674,0.00,2.33,0.00,0.000,6,0.000,0.064,2466,2237,3251
$GC,3991,-0.91,-146.0,277.5,-6.2,361,3995,0.00,2.33,0.00,0.000,4,0.000,0.063,2465,810,3250
$GC,4009,-0.85,-146.0,278.6,-6.1,361,4016,0.15,2.35,0.00,0.000,6,0.137,0.064,2497,2239,3250
$GC,4325,-0.94,-146.0,293.2,-4.2,377,4326,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2239,3251
$GC,4634,-1.03,-146.0,305.8,-4.1,392,4636,0.15,0.00,0.00,0.000,6,0.078,0.000,2436,2239,3251
$GC,4944,-0.90,-146.0,325.6,-6.7,407,4948,0.17,2.33,0.00,0.000,4,0.147,0.061,2487,810,3252
$GC,5076,-0.90,-146.0,333.2,-5.7,413,5080,0.00,2.33,0.00,0.000,6,0.000,0.062,2479,2240,3252
$GC,5403,-0.90,-146.0,351.7,-5.6,429,5407,0.00,2.28,0.00,0.000,4,0.000,0.061,2479,820,3253
$GC,5454,-0.90,-146.0,354.8,-5.9,431,5458,0.00,2.33,0.00,0.000,6,0.000,0.063,2469,2241,3253
$GC,5782,-0.90,-146.0,374.0,-5.8,447,5786,0.00,2.30,0.00,0.000,4,0.000,0.062,2469,809,3254
$GC,5844,-0.84,-146.0,378.0,-6.5,449,5851,0.15,2.33,0.00,0.000,6,0.133,0.062,2501,2238,3254
$GC,6161,-0.95,-146.0,393.6,-4.8,465,6163,0.12,0.00,0.00,0.000,6,0.082,0.000,2449,2238,3254
$GC,6487,-0.87,-146.0,413.7,-6.2,476,6489,0.15,0.00,0.00,0.000,6,0.146,0.000,2490,2238,3254
$GC,6812,-0.95,-146.0,429.5,-4.9,484,6816,0.00,2.30,0.00,0.000,4,0.000,0.061,2491,810,3255
$GC,6835,-0.95,-146.0,430.7,-5.1,484,6839,0.00,2.33,0.00,0.000,6,0.000,0.061,2483,2244,3254
$GC,7183,-0.95,-146.0,448.6,-5.2,493,7187,0.00,2.30,0.00,0.000,4,0.000,0.061,2483,816,3255
$GC,7251,-0.95,-146.0,452.5,-5.6,494,7255,0.00,2.30,0.00,0.000,6,0.000,0.062,2473,2238,3255
$GC,7600,-0.95,-146.0,471.9,-5.9,503,7604,0.00,2.30,0.00,0.000,4,0.000,0.061,2473,810,3255
$GC,7667,-0.95,-146.0,476.2,-6.4,504,7671,0.00,2.33,0.00,0.000,6,0.000,0.061,2463,2243,3255
$GC,8016,-0.95,-146.0,495.1,-5.4,513,8020,0.00,2.30,0.00,0.000,4,0.000,0.061,2463,816,3255
$GC,8039,-0.88,-146.0,496.5,-5.8,513,8044,0.15,2.30,0.00,0.000,6,0.132,0.062,2495,2233,3255
$STATE,8175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8175,begin apogee
$GC,8183,-0.31,0.0,503.5,4.9,517,8312,0.38,0.00,126.32,1.163,6,0.115,0.000,2618,1726,2650
$STATE,8313,end apogee,CONTROL_FINISHED_OK
$STATE,8313,begin climb
$GC,8316,0.99,146.0,505.3,0.0,520,8450,0.85,0.00,130.80,1.085,6,0.090,0.000,2895,1726,2054
$GC,8764,0.78,146.0,461.0,10.7,531,8765,0.17,0.00,0.00,0.000,6,0.132,0.000,2847,1726,2047
$GC,9088,0.78,146.0,434.6,8.0,539,9089,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1726,2046
$GC,9412,0.78,146.0,408.7,8.0,547,9416,0.00,2.35,0.00,0.000,4,0.000,0.068,2847,3160,2045
$GC,9464,0.63,146.0,404.1,9.5,548,9469,0.15,2.25,0.00,0.000,6,0.132,0.051,2812,1735,2045
$GC,9788,0.75,156.4,382.5,6.7,562,9799,0.12,0.00,8.60,0.957,6,0.074,0.000,2870,1735,2012
$GC,10096,0.66,156.4,354.0,9.1,577,10098,0.17,0.00,0.00,0.000,6,0.123,0.000,2817,1735,2011
$GC,10406,0.81,187.2,335.1,6.0,592,10442,0.12,2.42,27.88,1.049,4,0.076,0.068,2873,3163,1886
$GC,10472,0.61,187.2,329.3,10.4,595,10477,0.25,2.28,0.00,0.000,6,0.127,0.051,2811,1740,1882
$GC,10800,0.81,207.8,308.3,6.4,611,10823,0.15,2.38,18.05,1.002,4,0.067,0.065,2889,320,1802
$GC,10852,0.73,207.8,303.3,10.4,613,10857,0.17,2.33,0.00,0.000,6,0.123,0.056,2838,1739,1801
$GC,11174,0.79,207.8,278.5,7.5,629,11178,0.00,2.28,0.00,0.000,4,0.000,0.068,2838,3160,1798
$GC,11258,0.74,207.8,270.9,8.7,632,11265,0.00,2.25,0.00,0.000,6,0.000,0.051,2845,1726,1796
$GC,11574,0.74,207.8,246.8,7.6,648,11578,0.00,2.35,0.00,0.000,4,0.000,0.067,2845,3154,1796
$GC,11614,0.68,207.8,243.3,9.3,649,11621,0.12,2.25,0.00,0.000,6,0.132,0.051,2819,1724,1795
$GC,11930,0.89,228.1,222.4,6.4,665,11950,0.17,0.00,17.92,0.962,6,0.065,0.000,2898,1724,1720
$GC,12259,0.77,228.1,187.3,10.6,681,12264,0.20,2.25,0.00,0.000,4,0.122,0.064,2841,330,1717
$GC,12322,0.97,228.1,182.2,7.6,684,12327,0.17,2.28,0.00,0.000,6,0.068,0.054,2917,1744,1717
$GC,12649,0.82,228.1,144.2,11.6,700,12654,0.20,2.25,0.00,0.000,4,0.128,0.067,2852,3150,1717
$GC,12722,0.82,228.1,137.3,9.1,703,12726,0.00,2.22,0.00,0.000,6,0.000,0.051,2857,1734,1716
$GC,13044,0.93,238.0,114.3,6.7,719,13059,0.08,2.28,9.75,0.858,4,0.097,0.067,2910,327,1679
$GC,13089,0.93,238.0,110.5,8.7,721,13093,0.12,2.28,0.00,0.000,6,0.133,0.055,2876,1739,1679
$GC,13421,1.00,238.0,83.1,8.3,762,13428,0.08,2.28,0.00,0.000,4,0.095,0.068,2914,3158,1678
$GC,13492,0.81,238.0,75.7,10.5,774,13499,0.25,2.25,0.00,0.000,6,0.128,0.054,2849,1732,1677
$GC,13838,1.08,298.0,55.5,5.1,835,13897,0.20,2.45,53.45,0.907,4,0.064,0.070,2940,3152,1434
$GC,13941,0.89,298.0,45.0,12.1,852,13948,0.28,2.30,0.00,0.000,6,0.128,0.054,2869,1731,1429
$GC,14287,1.07,298.0,20.9,8.5,913,14294,0.15,2.30,0.00,0.000,4,0.072,0.067,2944,320,1422
$GC,14363,1.09,308.5,14.7,6.7,926,14377,0.12,2.30,8.43,0.793,6,0.146,0.055,2912,1742,1392
$FREEZE,6.88,0.026,-1.814
$FREEZE,6.46,0.026,-1.814
$FREEZE,5.65,0.026,-1.813
$FREEZE,4.93,0.026,-1.813
$FREEZE,4.56,0.025,-1.812
$FREEZE,4.34,0.023,-1.812
$FREEZE,3.87,0.024,-1.812
$FREEZE,3.48,0.023,-1.812
$FREEZE,2.66,0.025,-1.811
$STATE,14489,end climb,SURFACE_DEPTH_REACHED
$STATE,14490,begin surface coast
$FREEZE,2.18,0.026,-1.811
$FREEZE,1.47,0.024,-1.809
$FREEZE,1.67,-0.013,-1.812
$FREEZE,1.70,0.013,-1.808
$FREEZE,1.57,-0.143,-1.128
$FREEZE,1.76,0.024,-1.808
$FREEZE,2.02,0.023,-1.810
$FINISH,2.0,1.026506
$STATE,14530,end surface coast,CONTROL_FINISHED_OK
$STATE,14530,begin surface
$SM_CCo,14615,0.00,0.000,0,0,1386,310.06
$SM_GC,2.40,6.95,0.00,0.00,0.051,0.000,0.000,338,2241,1386,-10.67,0.31,310.06
$RAFOS_CLK,621
$RAFOS,0,1228075442,20.083334,20.067223,64,57,57,53,51,51,188,208,222,130,121,149
$RAFOS,4,1228063447,16.750000,16.735277,74,62,60,54,53,51,160,117,220,141,192,175
$RAFOS,3,1228062844,16.583334,16.567778,56,55,53,51,51,50,212,171,114,196,159,139
$RAFOS,2,1228062244,16.416666,16.401112,61,57,57,55,51,51,216,193,163,146,177,233
$RAFOS,1,1228061643,16.250000,16.234167,68,63,55,54,53,52,191,168,203,156,214,121
$RAFOS_FIX,-31200.181641,336923.250000,301108,080856,2,74,15226.59
$IRIDIUM_FIX,6512.01,-5836.21,240298,111152
$TT8_MAMPS,0.026845
$HUMID,1799
$INTERNAL_PRESSURE,9.86366
$TCM_TEMP,15.50
$XPDR_PINGS,49
$24V_AH,22.1,66.493
$10V_AH,10.5,30.137
$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,22.100,130.300,401.200,0.000,0.000,30.630,32.068,600.700,12.250,0.000,0.000,54.639,1725.821,10454.880,526.799,1780.619,1143.264,0.000,1457.995,0.000,1715.432,1800.000,0.530,0.000
$DEVICE_MAMPS,249.275,79.768,1162.772,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,666.622,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31546,955
$CAP_FILE_SIZE,139844,0
$CFSIZE,260165632,225316864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.9
$GPS,301108,201701,6540.992,-5812.585,50,1.2,50,-36.1