version: 66.04
glider: 108
mission: 11
dive: 521
start: 12 28 108 2 45 14
data:
$ID,108
$MISSION,11
$DIVE,521
$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,30
$R_STBD_OVSHOOT,19
$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
$GPS1,202141,6630.376,-5946.291,0,3090.0,0,-37.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.44
$_SM_ANGLEo,-7.3
$GPS2,202141,6630.376,-5946.291,0,3090.0,0,-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,334.7,46789,-13.0,-7.021
$D_GRID,678
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,16,-0.99,-146.0,0.0,0.0,0,23,0.00,0.00,-5.43,0.000,2,0.000,0.000,2683,1746,961
$GC,27,-0.99,-146.0,7.5,-0.0,1,98,0.60,3.17,-63.80,0.000,4,0.050,0.083,2431,3613,3249
$GC,246,-0.68,-146.0,29.9,-14.1,39,253,0.32,2.22,0.00,0.000,6,0.157,0.052,2532,2217,3257
$GC,592,-0.68,-146.0,60.4,-8.8,100,598,0.00,2.22,0.00,0.000,4,0.000,0.064,2532,817,3259
$GC,690,-0.68,-146.0,69.4,-9.2,117,696,0.00,2.33,0.00,0.000,6,0.000,0.065,2523,2237,3259
$GC,1050,-0.68,-146.0,101.9,-8.4,178,1055,0.00,2.22,0.00,0.000,4,0.000,0.079,2514,3598,3259
$GC,1219,-0.68,-146.0,117.4,-9.0,185,1223,0.00,2.17,0.00,0.000,6,0.000,0.052,2513,2216,3259
$GC,1540,-0.68,-146.0,143.6,-7.7,201,1544,0.00,2.22,0.00,0.000,4,0.000,0.064,2513,813,3259
$GC,1625,-0.68,-146.0,150.5,-7.7,204,1632,0.12,2.33,0.00,0.000,6,0.140,0.064,2537,2235,3259
$GC,1942,-0.81,-146.0,169.7,-6.1,220,1946,0.12,2.22,0.00,0.000,4,0.084,0.078,2475,3598,3258
$GC,2044,-0.73,-146.0,178.8,-9.5,224,2048,0.17,2.17,0.00,0.000,6,0.150,0.053,2523,2217,3259
$GC,2365,-0.81,-146.0,200.6,-6.5,240,2369,0.00,2.22,0.00,0.000,4,0.000,0.064,2525,817,3259
$GC,2450,-0.88,-146.0,206.6,-7.0,243,2457,0.12,2.33,0.00,0.000,6,0.082,0.066,2466,2233,3259
$GC,2767,-0.76,-146.0,234.7,-9.3,259,2772,0.17,2.25,0.00,0.000,4,0.151,0.078,2505,3601,3258
$GC,2869,-0.83,-146.0,243.1,-8.1,263,2873,0.00,2.17,0.00,0.000,6,0.000,0.051,2505,2217,3258
$GC,3191,-0.83,-146.0,267.0,-7.2,279,3195,0.00,2.22,0.00,0.000,4,0.000,0.064,2505,820,3258
$GC,3286,-0.83,-146.0,274.4,-7.6,283,3290,0.00,2.35,0.00,0.000,6,0.000,0.066,2495,2245,3258
$GC,3613,-0.83,-146.0,298.2,-6.9,299,3617,0.00,2.22,0.00,0.000,4,0.000,0.080,2485,3604,3258
$GC,3704,-0.83,-146.0,304.5,-7.1,303,3708,0.00,2.17,0.00,0.000,6,0.000,0.053,2485,2225,3258
$GC,4037,-0.83,-146.0,331.1,-8.3,319,4041,0.00,2.30,0.00,0.000,4,0.000,0.078,2475,3598,3258
$GC,4093,-0.83,-146.0,336.2,-9.0,321,4097,0.10,2.17,0.00,0.000,6,0.151,0.052,2499,2216,3258
$GC,4415,-0.88,-146.0,359.0,-6.4,337,4417,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2216,3258
$GC,4724,-0.95,-146.0,377.2,-5.9,352,4726,0.10,0.00,0.00,0.000,6,0.097,0.000,2457,2216,3257
$GC,5034,-0.86,-146.0,400.3,-7.6,367,5036,0.15,0.00,0.00,0.000,6,0.147,0.000,2498,2216,3257
$GC,5361,-0.94,-146.0,419.5,-5.9,375,5362,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2216,3257
$GC,5683,-1.02,-146.0,438.9,-6.0,383,5685,0.15,0.00,0.00,0.000,6,0.084,0.000,2439,2216,3257
$GC,6010,-0.89,-146.0,463.3,-7.3,391,6015,0.17,2.33,0.00,0.000,4,0.151,0.075,2479,3598,3257
$GC,6116,-0.89,-146.0,470.4,-6.5,393,6120,0.00,2.17,0.00,0.000,6,0.000,0.051,2479,2212,3257
$GC,6466,-0.89,-146.0,491.9,-6.4,402,6470,0.00,2.22,0.00,0.000,4,0.000,0.062,2479,813,3257
$GC,6602,-0.89,-146.0,501.2,-7.0,405,6606,0.00,2.35,0.00,0.000,6,0.000,0.065,2469,2242,3257
$GC,6928,-0.89,-146.0,522.6,-6.5,413,6932,0.00,2.22,0.00,0.000,4,0.000,0.076,2458,3601,3257
$GC,7001,-0.89,-146.0,527.8,-7.2,414,7006,0.12,2.17,0.00,0.000,6,0.143,0.048,2491,2209,3257
$GC,7345,-0.96,-146.0,546.2,-5.3,423,7348,0.00,2.20,0.00,0.000,4,0.000,0.061,2492,816,3258
$GC,7412,-0.96,-146.0,550.1,-5.7,424,7416,0.00,2.33,0.00,0.000,6,0.000,0.062,2484,2244,3258
$GC,7762,-1.01,-146.0,568.8,-5.4,433,7767,0.10,2.22,0.00,0.000,4,0.088,0.074,2427,3606,3258
$GC,7886,-0.86,-146.0,577.9,-8.0,435,7890,0.22,2.17,0.00,0.000,6,0.140,0.048,2491,2214,3257
$GC,8224,-1.21,-146.0,587.4,-0.2,444,8229,0.22,2.30,0.00,0.000,4,0.067,0.072,2395,3598,3259
$STATE,8339,end dive,NO_VERTICAL_VELOCITY
$STATE,8339,begin apogee
$GC,8349,-0.31,0.0,587.5,0.0,446,8481,0.62,0.00,125.97,1.226,6,0.094,0.000,2612,1736,2651
$STATE,8482,end apogee,CONTROL_FINISHED_OK
$STATE,8482,begin climb
$GC,8486,0.99,146.0,586.7,0.0,450,8636,0.88,2.60,137.23,1.128,4,0.097,0.064,2903,329,2054
$GC,8707,0.79,146.0,568.4,11.2,455,8712,0.20,2.50,0.00,0.000,6,0.139,0.052,2852,1748,2053
$GC,9021,0.79,146.0,543.7,7.8,463,9024,0.00,2.30,0.00,0.000,4,0.000,0.067,2852,3154,2051
$GC,9067,0.64,146.0,539.5,10.0,464,9072,0.17,2.28,0.00,0.000,6,0.136,0.050,2812,1735,2049
$GC,9392,0.79,163.8,518.6,6.4,472,9413,0.15,2.35,15.02,1.084,4,0.070,0.065,2877,3156,1982
$GC,9432,0.60,163.8,515.1,9.3,473,9437,0.28,2.28,0.00,0.000,6,0.135,0.050,2808,1727,1982
$GC,9757,0.80,194.5,494.3,6.0,481,9787,0.15,0.00,27.95,1.124,6,0.067,0.000,2876,1726,1858
$GC,10082,0.71,194.5,463.8,9.5,489,10087,0.15,2.35,0.00,0.000,4,0.125,0.064,2833,3162,1856
$GC,10104,0.71,194.5,461.5,9.9,489,10108,0.00,2.25,0.00,0.000,6,0.000,0.049,2841,1736,1855
$GC,10448,0.78,194.5,433.3,8.2,498,10451,0.00,2.33,0.00,0.000,4,0.000,0.065,2841,3165,1856
$GC,10471,0.78,194.5,431.2,9.4,498,10475,0.00,2.25,0.00,0.000,6,0.000,0.050,2850,1735,1855
$GC,10821,0.78,194.5,404.5,7.2,507,10825,0.00,2.33,0.00,0.000,4,0.000,0.066,2850,3166,1855
$GC,10843,0.78,194.5,402.7,7.7,507,10847,0.00,2.25,0.00,0.000,6,0.000,0.050,2860,1735,1855
$GC,11175,0.78,194.5,376.2,8.2,522,11179,0.00,2.33,0.00,0.000,4,0.000,0.066,2860,3167,1854
$GC,11209,0.69,194.5,373.0,9.0,523,11214,0.15,2.25,0.00,0.000,6,0.133,0.050,2827,1735,1854
$GC,11532,0.87,209.0,349.9,6.6,539,11554,0.15,2.38,12.98,1.018,4,0.071,0.066,2896,3161,1797
$GC,11572,0.70,209.0,346.1,10.3,540,11579,0.28,2.25,0.00,0.000,6,0.134,0.050,2826,1736,1797
$GC,11890,1.14,221.6,325.1,6.6,556,11913,0.28,2.35,12.23,0.995,4,0.074,0.065,2945,324,1747
$GC,11977,0.94,221.6,317.3,10.0,559,11984,0.22,2.33,0.00,0.000,6,0.139,0.054,2881,1756,1747
$GC,12294,0.94,221.9,295.5,7.0,575,12298,0.00,2.25,0.00,0.000,4,0.000,0.068,2880,3164,1747
$GC,12317,0.94,221.9,293.6,7.9,576,12321,0.00,2.25,0.00,0.000,6,0.000,0.051,2889,1738,1747
$GC,12650,0.94,221.9,265.0,8.8,592,12651,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1738,1746
$GC,12959,0.94,221.9,241.0,7.3,607,12963,0.00,2.33,0.00,0.000,4,0.000,0.069,2888,3160,1747
$GC,12983,0.88,221.9,239.2,7.2,608,12988,0.12,2.25,0.00,0.000,6,0.141,0.053,2865,1736,1746
$GC,13317,1.01,235.4,217.2,6.6,624,13335,0.12,0.00,13.45,0.978,6,0.076,0.000,2923,1736,1690
$GC,13646,0.92,235.4,185.7,9.6,640,13648,0.17,0.00,0.00,0.000,6,0.131,0.000,2871,1736,1690
$GC,13955,1.06,254.7,164.3,6.4,655,13978,0.15,2.42,17.85,0.975,4,0.072,0.071,2937,3162,1611
$GC,13991,0.90,254.7,161.2,8.9,656,13996,0.28,2.30,0.00,0.000,6,0.138,0.054,2868,1726,1611
$GC,14308,1.19,290.2,141.2,5.9,671,14344,0.20,0.00,32.90,0.976,6,0.081,0.000,2947,1726,1467
$GC,14640,1.30,290.2,115.6,7.6,687,14644,0.00,2.30,0.00,0.000,4,0.000,0.068,2955,327,1463
$GC,14697,1.17,290.2,110.8,8.5,689,14701,0.00,2.33,0.00,0.000,6,0.000,0.058,2955,1739,1463
$GC,15030,1.09,290.2,78.8,10.5,731,15037,0.15,2.35,0.00,0.000,4,0.133,0.071,2912,3161,1462
$GC,15072,1.09,290.2,74.5,9.9,738,15079,0.00,2.30,0.00,0.000,6,0.000,0.055,2919,1734,1460
$GC,15419,1.16,290.2,49.3,7.2,799,15425,0.00,2.30,0.00,0.000,4,0.000,0.070,2929,328,1460
$GC,15432,1.24,291.6,48.4,7.0,801,15439,0.00,2.30,0.00,0.000,6,0.000,0.056,2929,1751,1460
$GC,15778,1.29,291.6,21.8,8.0,862,15785,0.12,2.28,0.00,0.000,4,0.077,0.072,2982,3148,1459
$GC,15792,1.29,291.6,20.4,7.9,864,15799,0.15,2.28,0.00,0.000,6,0.155,0.054,2954,1726,1458
$FREEZE,6.81,-1.768,-1.781
$STATE,15931,end climb,FINISH_DEPTH_REACHED
$STATE,15931,begin subsurface finish
$FINISH1,6.8,1.026090,77
$GC,15940,0.09,76.6,6.8,-9.9,888,15975,0.77,0.00,-29.83,0.000,6,0.123,0.000,2702,1726,2341
$FINISH2,5.2
$STATE,15976,end subsurface finish,CONTROL_FINISHED_OK
$STATE,15976,begin surface
$RAFOS_CLK,723
$RAFOS,4,1230439451,4.750000,4.736389,66,60,59,59,58,51,203,125,194,215,185,228
$RAFOS,3,1230438845,4.583333,4.568056,65,64,55,55,53,52,197,161,170,209,122,658
$RAFOS,2,1230438277,4.416667,4.410278,67,56,52,51,49,48,217,189,138,180,118,158
$RAFOS,1,1230437668,4.250000,4.241111,99,59,55,55,54,51,611,168,214,201,136,178
$RAFOS,0,1230437055,4.083333,4.070833,82,58,58,56,54,53,597,193,147,119,178,211
$RAFOS_FIX,6628.664551,-5952.582031,281208,040440,2,90,0.20
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.026845
$HUMID,1846
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,14.90
$XPDR_PINGS,160
$24V_AH,21.6,84.478
$10V_AH,10.4,38.859
$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,8.925,147.525,395.575,0.000,0.000,0.000,0.000,0.000,40.000,0.000,0.000,0.000,1712.474,11650.326,528.337,1862.377,285.615,0.000,1543.567,0.000,1839.747,1800.000,0.529,0.000
$DEVICE_MAMPS,157.235,82.836,1226.433,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,626.405,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28395,894
$CAP_FILE_SIZE,128385,0
$CFSIZE,260165632,217411584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1445.9
$GPS,281208,041040,6628.665,-5952.582,0,2090.5,0,-37.3