version: 66.04
glider: 108
mission: 11
dive: 378
start: 11 27 108 4 48 13
data:
$ID,108
$MISSION,11
$DIVE,378
$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,1
$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,-119587.97
$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,28
$R_STBD_OVSHOOT,20
$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
$GPS1,002328,6548.960,-5935.562,0,3100.3,0,-37.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-1.0
$GPS2,002328,6548.960,-5935.562,0,3100.3,0,-37.3
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$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,78.9,182878,-13.0,-7.021
$D_GRID,578
$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,-146.0,0.0,0.0,0,56,0.00,0.00,-38.28,0.000,2,0.000,0.000,2682,3160,3219
$GC,60,-0.99,-146.0,3.1,-1.7,7,68,0.62,3.88,-1.08,0.000,4,0.091,0.067,2461,816,3247
$GC,131,-0.74,-146.0,9.6,-9.5,19,138,0.25,2.35,0.00,0.000,6,0.146,0.067,2521,2241,3249
$GC,477,-0.78,-146.0,38.0,-7.6,80,482,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2241,3250
$GC,820,-0.78,-146.0,63.9,-7.8,141,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2241,3250
$GC,1164,-0.84,-146.0,91.1,-7.5,202,1170,0.10,0.00,0.00,0.000,6,0.096,0.000,2480,2241,3250
$GC,1497,-0.77,-146.0,119.1,-8.2,231,1501,0.12,2.22,0.00,0.000,4,0.150,0.084,2505,3594,3250
$GC,1531,-0.83,-146.0,122.1,-8.3,232,1535,0.00,2.17,0.00,0.000,6,0.000,0.054,2505,2211,3250
$GC,1852,-0.83,-146.0,146.1,-7.1,248,1856,0.00,2.22,0.00,0.000,4,0.000,0.067,2505,809,3250
$GC,1920,-0.83,-146.0,151.2,-7.2,251,1924,0.00,2.35,0.00,0.000,6,0.000,0.068,2494,2242,3250
$GC,2254,-0.83,-146.0,174.4,-7.0,267,2255,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2242,3249
$GC,2562,-0.83,-146.0,195.2,-6.5,282,2566,0.00,2.33,0.00,0.000,4,0.000,0.067,2494,818,3249
$GC,2596,-0.83,-146.0,197.6,-7.0,283,2600,0.00,2.35,0.00,0.000,6,0.000,0.070,2484,2243,3249
$GC,2918,-0.83,-146.0,218.5,-6.5,299,2922,0.00,2.33,0.00,0.000,4,0.000,0.067,2484,814,3249
$GC,2997,-0.77,-146.0,224.0,-6.9,302,3002,0.15,2.35,0.00,0.000,6,0.139,0.070,2516,2241,3249
$GC,3314,-0.89,-146.0,240.8,-5.5,317,3316,0.12,0.00,0.00,0.000,6,0.088,0.000,2465,2240,3249
$GC,3622,-0.83,-146.0,263.7,-7.6,332,3627,0.12,2.33,0.00,0.000,4,0.154,0.067,2501,819,3249
$GC,3662,-0.83,-146.0,266.5,-6.6,334,3666,0.00,2.35,0.00,0.000,6,0.000,0.084,2492,2238,3249
$GC,3995,-0.88,-146.0,288.7,-6.8,350,3999,0.00,2.30,0.00,0.000,4,0.000,0.067,2493,823,3248
$GC,4051,-0.88,-146.0,292.7,-7.4,352,4055,0.00,2.33,0.00,0.000,6,0.000,0.069,2483,2235,3248
$GC,4372,-0.88,-146.0,314.0,-6.7,368,4374,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2235,3248
$GC,4682,-0.88,-146.0,333.9,-6.3,383,4683,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2235,3248
$GC,4993,-0.88,-146.0,352.0,-5.7,398,4996,0.00,2.30,0.00,0.000,4,0.000,0.065,2484,817,3248
$GC,5054,-0.88,-146.0,355.9,-6.3,400,5060,0.00,2.35,0.00,0.000,6,0.000,0.067,2473,2247,3248
$GC,5370,-0.88,-146.0,375.4,-6.1,416,5372,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2247,3249
$GC,5679,-0.88,-146.0,393.6,-5.7,431,5680,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2247,3249
$GC,6006,-0.88,-146.0,413.0,-6.0,442,6007,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2247,3250
$GC,6332,-0.88,-146.0,432.3,-5.9,450,6336,0.00,2.30,0.00,0.000,4,0.000,0.064,2473,815,3250
$GC,6388,-0.88,-146.0,436.1,-6.5,451,6393,0.10,2.33,0.00,0.000,6,0.140,0.065,2489,2237,3250
$GC,6702,-0.96,-146.0,452.7,-5.3,459,6705,0.00,2.30,0.00,0.000,4,0.000,0.063,2489,814,3250
$GC,6741,-0.96,-146.0,455.0,-5.5,459,6747,0.00,2.33,0.00,0.000,6,0.000,0.064,2482,2235,3250
$GC,7073,-0.96,-146.0,473.1,-5.4,468,7074,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2235,3251
$GC,7398,-1.01,-146.0,490.6,-5.3,476,7402,0.00,2.30,0.00,0.000,4,0.000,0.063,2482,810,3251
$GC,7476,-1.01,-146.0,495.1,-5.8,477,7480,0.00,2.33,0.00,0.000,6,0.000,0.064,2472,2232,3251
$GC,7814,-1.01,-146.0,513.0,-5.3,486,7815,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2232,3251
$GC,8138,-1.01,-146.0,529.5,-5.0,494,8142,0.00,2.30,0.00,0.000,4,0.000,0.062,2472,810,3251
$GC,8205,-1.01,-146.0,533.3,-5.8,495,8209,0.00,2.35,0.00,0.000,6,0.000,0.064,2462,2245,3252
$GC,8554,-1.01,-146.0,551.7,-5.3,504,8556,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2245,3252
$GC,8879,-1.01,-146.0,569.5,-5.4,512,8880,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2245,3252
$GC,9204,-1.24,-146.0,575.9,-0.0,520,9206,0.17,0.00,0.00,0.000,6,0.073,0.000,2390,2245,3252
$STATE,9241,end dive,NO_VERTICAL_VELOCITY
$STATE,9241,begin apogee
$GC,9249,-0.31,0.0,575.9,0.0,521,9379,0.70,0.00,126.93,1.216,6,0.107,0.000,2620,1740,2650
$STATE,9380,end apogee,CONTROL_FINISHED_OK
$STATE,9380,begin climb
$GC,9383,0.99,146.0,575.2,0.0,524,9522,0.82,2.60,131.57,1.137,4,0.070,0.064,2914,331,2053
$GC,9603,0.73,146.0,553.2,12.5,529,9609,0.28,2.50,0.00,0.000,6,0.133,0.056,2839,1749,2050
$GC,9916,0.73,146.0,527.7,7.8,537,9920,0.00,2.35,0.00,0.000,4,0.000,0.070,2840,3159,2046
$GC,9989,0.58,146.0,521.0,9.2,538,9994,0.17,2.33,0.00,0.000,6,0.130,0.052,2799,1729,2045
$GC,10333,0.77,185.0,500.9,5.8,547,10371,0.17,0.00,33.65,1.132,6,0.064,0.000,2874,1729,1895
$GC,10696,0.64,185.0,465.3,10.0,556,10701,0.20,2.35,0.00,0.000,4,0.123,0.068,2810,3152,1889
$GC,10724,0.64,185.0,463.0,8.3,556,10728,0.00,2.25,0.00,0.000,6,0.000,0.051,2816,1734,1888
$GC,11062,0.79,212.1,441.7,6.2,565,11087,0.12,0.00,23.38,1.096,6,0.075,0.000,2874,1734,1785
$GC,11386,0.68,212.1,411.4,9.5,573,11390,0.17,2.35,0.00,0.000,4,0.120,0.068,2822,3162,1781
$GC,11430,0.68,212.1,407.7,8.0,574,11434,0.00,2.28,0.00,0.000,6,0.000,0.052,2828,1727,1780
$GC,11760,0.78,220.7,385.9,6.7,587,11771,0.08,0.00,8.32,0.963,6,0.095,0.000,2870,1727,1750
$GC,12067,0.71,220.7,358.0,9.3,602,12071,0.15,2.35,0.00,0.000,4,0.122,0.068,2824,3161,1748
$GC,12111,0.71,220.7,354.3,7.9,604,12115,0.00,2.25,0.00,0.000,6,0.000,0.051,2831,1735,1747
$GC,12438,0.81,220.7,331.4,7.1,620,12440,0.08,0.00,0.00,0.000,6,0.095,0.000,2873,1735,1747
$GC,12748,0.73,220.7,301.6,9.6,635,12752,0.12,2.30,0.00,0.000,4,0.125,0.069,2837,3150,1747
$GC,12775,0.73,220.7,299.0,9.1,636,12779,0.00,2.22,0.00,0.000,6,0.000,0.051,2845,1734,1747
$GC,13102,0.82,237.3,275.9,6.5,652,13121,0.00,0.00,15.90,1.002,6,0.000,0.000,2845,1734,1682
$GC,13432,0.93,253.5,254.0,6.5,668,13451,0.12,0.00,15.48,0.984,6,0.075,0.000,2901,1734,1616
$GC,13760,0.83,253.5,221.9,10.0,684,13765,0.15,2.35,0.00,0.000,4,0.127,0.070,2857,3162,1613
$GC,13793,0.83,253.5,218.7,9.0,685,13799,0.00,2.28,0.00,0.000,6,0.000,0.053,2864,1729,1612
$GC,14111,0.91,253.5,194.4,7.7,701,14112,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1729,1612
$GC,14418,0.98,253.5,171.5,7.0,716,14420,0.10,0.00,0.00,0.000,6,0.085,0.000,2910,1729,1611
$GC,14730,0.89,253.5,141.5,9.4,731,14732,0.15,0.00,0.00,0.000,6,0.130,0.000,2866,1729,1611
$GC,15037,1.02,257.2,120.3,6.9,746,15047,0.12,2.40,3.70,0.638,4,0.079,0.071,2919,3152,1601
$GC,15070,0.84,257.2,117.1,9.8,747,15075,0.25,2.25,0.00,0.000,6,0.135,0.055,2856,1735,1601
$GC,15390,1.04,284.8,97.6,6.1,765,15420,0.17,0.00,26.58,0.953,6,0.070,0.000,2932,1735,1489
$GC,15759,0.95,284.8,62.4,9.5,830,15766,0.17,2.33,0.00,0.000,4,0.129,0.070,2888,327,1483
$GC,15789,0.95,284.8,59.9,8.6,835,15795,0.00,2.35,0.00,0.000,6,0.000,0.060,2888,1746,1483
$GC,16134,1.09,301.3,36.7,6.5,896,16159,0.10,2.35,14.98,0.901,4,0.084,0.075,2937,3152,1421
$GC,16211,0.89,301.3,28.5,12.0,909,16218,0.28,2.30,0.00,0.000,6,0.132,0.058,2866,1728,1420
$FREEZE,6.75,-1.809,-1.806
$FREEZE,6.14,-1.809,-1.806
$FREEZE,5.61,-1.809,-1.806
$FREEZE,5.07,-1.809,-1.805
$FREEZE,4.44,-1.811,-1.805
$FREEZE,3.96,-1.810,-1.804
$FREEZE,3.41,-1.810,-1.804
$FREEZE,2.85,-1.811,-1.804
$STATE,16515,end climb,SURFACE_DEPTH_REACHED
$STATE,16515,begin surface coast
$FREEZE,2.45,-1.810,-1.803
$FREEZE,1.86,-1.811,-1.803
$FREEZE,1.73,-1.818,-0.879
$FREEZE,1.72,-1.834,-0.073
$FREEZE,1.80,-1.877,-0.062
$FREEZE,1.72,-1.903,-0.055
$FINISH,1.7,1.000479
$STATE,16551,end surface coast,CONTROL_FINISHED_OK
$STATE,16551,begin surface
$SM_CCo,16636,0.00,0.000,0,0,1413,303.19
$SM_GC,2.66,6.95,0.00,0.00,0.060,0.000,0.000,332,2244,1413,-10.70,0.37,303.19
$RAFOS_CLK,749
$RAFOS,4,1227775461,8.750000,8.739166,56,55,55,53,51,50,209,196,130,187,221,158
$RAFOS,3,1227774844,8.583333,8.567778,98,58,57,54,53,49,744,143,220,187,171,876
$RAFOS,2,1227774247,8.416667,8.401944,67,56,56,55,53,51,1080,196,141,216,164,228
$RAFOS,1,1227773646,8.250000,8.235000,83,75,57,54,51,49,957,221,199,125,170,96
$RAFOS,0,1227773048,8.083333,8.068889,61,59,56,54,52,51,215,198,141,157,240,121
$RAFOS,4,1227761045,4.750000,4.734722,63,59,56,55,53,51,182,224,127,161,215,700
$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,1825
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,14.80
$XPDR_PINGS,34
$24V_AH,22.0,63.816
$10V_AH,10.5,28.977
$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,13.425,105.400,400.475,0.000,0.000,0.000,0.000,0.000,8.500,0.000,0.000,0.000,1768.032,12493.443,483.404,1720.352,238.375,33.365,1401.591,0.000,1711.565,1800.000,0.529,0.000
$DEVICE_MAMPS,154.167,83.603,1215.695,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,679.335,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31544,969
$CAP_FILE_SIZE,120534,0
$CFSIZE,260165632,226508800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.3
$GPS,271108,092703,6546.201,-5928.345,40,1.2,40,-36.5