version: 66.04
glider: 108
mission: 11
dive: 518
start: 12 27 108 20 51 36
data:
$ID,108
$MISSION,11
$DIVE,518
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,-1
$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,-126385.23
$T_RSLEEP,60
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$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,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
$GPS1,162952,6630.986,-5937.381,0,3098.7,0,-37.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.44
$_SM_ANGLEo,-6.0
$GPS2,162952,6630.986,-5937.381,0,3098.7,0,-37.3
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,15000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,330.3,52218,-13.0,-7.021
$D_GRID,749
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-6.05,0.000,2,0.000,0.000,2698,1750,2520
$GC,28,-0.99,-146.0,4.4,-0.0,1,64,0.62,3.12,-28.98,0.000,4,0.051,0.083,2427,3605,3249
$GC,203,-0.66,-146.0,21.7,-13.9,31,210,0.35,2.20,0.00,0.000,6,0.160,0.053,2535,2213,3253
$GC,549,-0.71,-146.0,50.2,-10.4,92,555,0.00,2.22,0.00,0.000,4,0.000,0.064,2538,821,3254
$GC,613,-0.71,-146.0,55.9,-8.3,103,619,0.00,2.33,0.00,0.000,6,0.000,0.064,2530,2239,3254
$GC,959,-0.71,-146.0,82.2,-6.6,164,965,0.00,2.22,0.00,0.000,4,0.000,0.078,2519,3595,3254
$GC,1090,-0.71,-146.0,90.4,-5.9,187,1096,0.00,2.17,0.00,0.000,6,0.000,0.051,2520,2217,3254
$GC,1421,-0.71,-146.0,115.8,-10.8,224,1424,0.00,2.25,0.00,0.000,4,0.000,0.064,2520,811,3254
$GC,1561,-0.71,-146.0,130.9,-10.1,230,1565,0.00,2.35,0.00,0.000,6,0.000,0.064,2509,2240,3254
$GC,1888,-0.71,-146.0,156.7,-8.4,246,1889,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2240,3253
$GC,2199,-0.71,-146.0,178.7,-6.3,261,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2240,3253
$GC,2506,-0.71,-146.0,201.8,-6.5,276,2508,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2240,3253
$GC,2816,-0.71,-146.0,217.5,-5.7,291,2817,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2240,3253
$GC,3126,-0.76,-146.0,237.3,-6.9,306,3127,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2240,3253
$GC,3435,-0.81,-146.0,257.4,-7.0,321,3436,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2240,3253
$GC,3744,-0.87,-146.0,282.0,-7.4,336,3745,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2240,3253
$GC,4054,-0.95,-146.0,298.5,-4.3,351,4059,0.12,2.35,0.00,0.000,4,0.086,0.064,2455,813,3253
$GC,4187,-0.78,-146.0,307.3,-7.8,357,4192,0.22,2.35,0.00,0.000,6,0.137,0.066,2508,2235,3253
$GC,4515,-0.87,-146.0,325.3,-5.3,373,4519,0.00,2.25,0.00,0.000,4,0.000,0.079,2500,3600,3252
$GC,4629,-0.97,-146.0,331.9,-6.2,378,4634,0.12,2.17,0.00,0.000,6,0.084,0.052,2446,2224,3252
$GC,4962,-0.83,-146.0,359.7,-8.8,394,4967,0.20,2.28,0.00,0.000,4,0.142,0.064,2514,817,3252
$GC,5075,-0.92,-146.0,367.6,-6.4,399,5080,0.10,2.35,0.00,0.000,6,0.087,0.064,2464,2243,3252
$GC,5398,-0.86,-146.0,389.3,-6.1,415,5402,0.12,2.25,0.00,0.000,4,0.150,0.077,2489,3605,3252
$GC,5524,-0.93,-146.0,395.9,-5.2,420,5530,0.00,2.17,0.00,0.000,6,0.000,0.051,2488,2228,3252
$GC,5858,-0.93,-146.0,412.0,-5.1,431,5861,0.00,2.25,0.00,0.000,4,0.000,0.064,2488,821,3252
$GC,5982,-0.93,-146.0,419.7,-6.2,433,5986,0.00,2.33,0.00,0.000,6,0.000,0.063,2479,2235,3252
$GC,6313,-0.93,-146.0,440.1,-6.2,441,6317,0.00,2.25,0.00,0.000,4,0.000,0.076,2468,3605,3253
$GC,6421,-0.93,-146.0,447.3,-6.5,443,6425,0.00,2.17,0.00,0.000,6,0.000,0.050,2468,2222,3252
$GC,6734,-0.93,-146.0,466.9,-6.2,451,6738,0.00,2.25,0.00,0.000,4,0.000,0.063,2468,814,3253
$GC,6890,-0.86,-146.0,476.8,-6.4,454,6895,0.12,2.35,0.00,0.000,6,0.135,0.063,2492,2245,3254
$GC,7239,-0.92,-146.0,495.6,-5.4,463,7240,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2244,3254
$GC,7564,-1.00,-146.0,512.7,-5.1,471,7566,0.12,0.00,0.00,0.000,6,0.087,0.000,2441,2244,3255
$GC,7889,-0.89,-146.0,533.9,-6.6,479,7891,0.17,0.00,0.00,0.000,6,0.152,0.000,2489,2245,3255
$GC,8214,-0.96,-146.0,551.9,-5.6,487,8215,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2244,3255
$GC,8539,-1.03,-146.0,569.3,-5.3,495,8543,0.12,2.22,0.00,0.000,4,0.087,0.074,2428,3597,3255
$GC,8612,-0.89,-146.0,574.5,-7.4,496,8617,0.22,2.15,0.00,0.000,6,0.146,0.048,2491,2224,3256
$GC,8950,-0.98,-146.0,590.6,-4.5,505,8954,0.10,2.25,0.00,0.000,4,0.093,0.060,2448,814,3255
$GC,9052,-0.84,-146.0,596.6,-6.6,507,9057,0.22,2.33,0.00,0.000,6,0.130,0.061,2501,2235,3255
$GC,9400,-0.97,-146.0,610.7,-4.1,516,9405,0.12,2.22,0.00,0.000,4,0.086,0.072,2440,3597,3256
$GC,9521,-0.88,-146.0,618.1,-6.4,518,9526,0.17,2.15,0.00,0.000,6,0.143,0.047,2487,2211,3256
$GC,9860,-0.98,-146.0,633.6,-4.5,527,9864,0.00,2.20,0.00,0.000,4,0.000,0.060,2487,823,3257
$GC,9984,-0.98,-146.0,640.3,-5.3,529,9988,0.00,2.33,0.00,0.000,6,0.000,0.060,2480,2244,3257
$GC,10317,-0.98,-146.0,656.9,-5.3,537,10321,0.00,2.22,0.00,0.000,4,0.000,0.074,2469,3607,3256
$GC,10402,-1.03,-146.0,661.8,-5.7,538,10408,0.00,2.17,0.00,0.000,6,0.000,0.048,2469,2215,3257
$STATE,10690,end dive,NO_VERTICAL_VELOCITY
$STATE,10690,begin apogee
$GC,10698,-0.31,0.0,663.0,0.0,546,10833,0.45,0.00,131.70,1.246,6,0.097,0.000,2620,1742,2650
$STATE,10833,end apogee,CONTROL_FINISHED_OK
$STATE,10833,begin climb
$GC,10837,0.99,146.0,662.6,0.0,549,10981,0.85,2.65,136.07,1.167,4,0.093,0.063,2893,3158,2054
$GC,11041,0.66,146.0,644.0,10.8,553,11046,0.30,2.45,0.00,0.000,6,0.137,0.048,2825,1738,2050
$GC,11374,0.74,165.9,621.6,6.4,561,11393,0.00,0.00,17.65,1.108,6,0.000,0.000,2825,1738,1973
$GC,11698,0.83,173.4,599.8,6.8,569,11713,0.12,2.38,7.97,0.997,4,0.075,0.066,2882,3155,1942
$GC,11732,0.62,173.4,596.6,9.8,569,11737,0.28,2.28,0.00,0.000,6,0.135,0.049,2812,1723,1942
$GC,12064,0.81,202.5,575.4,6.1,577,12093,0.15,0.00,26.88,1.154,6,0.067,0.000,2880,1723,1824
$GC,12389,0.68,202.5,543.6,10.0,585,12393,0.20,2.35,0.00,0.000,4,0.124,0.064,2816,3162,1821
$GC,12406,0.61,202.5,542.0,9.7,585,12410,0.00,2.25,0.00,0.000,6,0.000,0.049,2823,1736,1819
$GC,12720,0.76,215.8,521.1,6.6,593,12740,0.08,2.38,12.23,1.069,4,0.095,0.064,2868,3155,1770
$GC,12753,0.69,215.8,518.6,8.3,593,12758,0.17,2.25,0.00,0.000,6,0.133,0.049,2828,1732,1769
$GC,13087,0.86,248.2,497.7,6.0,601,13125,0.15,0.00,30.88,1.127,6,0.070,0.000,2895,1731,1637
$GC,13451,0.72,248.2,456.9,11.5,610,13456,0.20,2.28,0.00,0.000,4,0.128,0.064,2840,325,1632
$GC,13468,0.66,248.2,455.0,10.8,610,13472,0.00,2.30,0.00,0.000,6,0.000,0.051,2840,1754,1632
$GC,13813,0.80,252.3,431.1,6.9,619,13822,0.00,2.28,3.55,0.653,4,0.000,0.067,2840,3146,1621
$GC,13846,0.86,252.3,428.5,7.5,619,13850,0.00,2.22,0.00,0.000,6,0.000,0.049,2849,1730,1621
$GC,14184,0.95,252.3,403.0,7.6,628,14189,0.12,2.33,0.00,0.000,4,0.079,0.064,2907,3159,1622
$GC,14200,0.95,252.3,401.4,7.7,628,14205,0.12,2.25,0.00,0.000,6,0.150,0.050,2884,1728,1621
$GC,14527,0.91,252.3,370.7,9.2,644,14531,0.00,2.33,0.00,0.000,4,0.000,0.064,2884,3162,1621
$GC,14540,0.85,252.3,369.5,9.3,644,14544,0.12,2.25,0.00,0.000,6,0.134,0.049,2857,1728,1621
$GC,14861,0.95,252.3,344.9,7.9,660,14863,0.10,0.00,0.00,0.000,6,0.086,0.000,2906,1728,1621
$GC,15171,0.85,252.3,313.1,10.1,675,15172,0.15,0.00,0.00,0.000,6,0.131,0.000,2862,1728,1621
$GC,15481,0.99,269.7,293.2,6.5,690,15504,0.12,2.40,17.62,1.009,4,0.078,0.065,2919,3155,1550
$GC,15516,0.88,269.7,290.0,9.4,691,15521,0.22,2.25,0.00,0.000,6,0.136,0.051,2865,1736,1550
$GC,15834,1.06,298.1,268.9,6.1,706,15863,0.15,0.00,27.02,1.011,6,0.071,0.000,2932,1736,1434
$GC,16162,0.93,298.1,233.0,10.9,722,16164,0.17,0.00,0.00,0.000,6,0.135,0.000,2881,1736,1430
$GC,16471,1.05,298.1,211.1,7.0,737,16476,0.10,2.30,0.00,0.000,4,0.085,0.068,2938,326,1428
$GC,16484,1.16,298.1,210.2,7.3,737,16488,0.00,2.30,0.00,0.000,6,0.000,0.054,2939,1750,1428
$GC,16805,1.05,298.1,176.3,10.5,753,16807,0.12,0.00,0.00,0.000,6,0.142,0.000,2904,1750,1427
$GC,17115,1.11,298.1,151.3,7.9,768,17119,0.00,2.28,0.00,0.000,4,0.000,0.071,2904,3155,1426
$GC,17127,1.18,298.1,150.2,7.9,768,17132,0.08,2.25,0.00,0.000,6,0.097,0.053,2949,1736,1425
$GC,17448,1.06,298.1,115.4,9.9,784,17450,0.15,0.00,0.00,0.000,6,0.136,0.000,2906,1736,1425
$GC,17769,1.17,298.1,93.3,7.6,811,17775,0.10,0.00,0.00,0.000,6,0.085,0.000,2951,1736,1424
$GC,18114,1.11,298.1,61.4,8.3,872,18120,0.12,0.00,0.00,0.000,6,0.139,0.000,2916,1736,1424
$GC,18462,1.24,313.8,38.6,6.5,933,18480,0.12,0.00,13.52,0.894,6,0.079,0.000,2969,1736,1370
$GC,18820,0.97,497.0,7.8,1.1,996,18948,0.25,0.00,124.55,0.874,2,0.162,0.000,2895,1735,783
$STATE,18949,end climb,NO_VERTICAL_VELOCITY
$STATE,18949,begin surface
$RAFOS_CLK,852
$RAFOS,4,1230425073,0.750000,0.742500,65,61,59,56,56,51,221,189,209,178,120,111
$RAFOS,3,1230424461,0.583333,0.572500,67,65,65,62,58,57,563,225,194,212,185,166
$RAFOS,2,1230423845,0.416667,0.401389,64,63,57,57,56,55,213,150,199,162,117,182
$RAFOS,1,1230423278,0.250000,0.243889,104,62,61,61,56,54,549,161,219,187,119,137
$RAFOS,0,1230422668,0.083333,0.074444,75,59,58,54,54,52,515,139,218,192,206,148
$RAFOS,4,1230410644,20.750000,20.734444,63,62,59,58,53,50,229,178,885,200,215,163
$RAFOS_FIX,6630.375977,-5946.291016,271208,202041,3,90,0.48
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.026845
$HUMID,1799
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,14.90
$XPDR_PINGS,213
$24V_AH,21.5,84.112
$10V_AH,10.4,38.782
$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,8.575,124.575,549.650,0.000,0.000,0.000,0.000,0.000,53.250,0.000,0.000,0.000,1885.480,14250.710,591.027,1981.835,317.853,0.000,1659.481,0.000,1964.224,1800.000,0.528,0.000
$DEVICE_MAMPS,161.837,82.836,1246.375,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,712.831,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31601,1018
$CAP_FILE_SIZE,141678,0
$CFSIZE,260165632,217493504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.3
$GPS,271208,202141,6630.376,-5946.291,0,3090.0,0,-37.3