version: 66.04
glider: 108
mission: 11
dive: 533
start: 12 30 108 1 36 5
data:
$ID,108
$MISSION,11
$DIVE,533
$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,-126752.72
$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
$GPS1,202120,6633.087,-6012.624,0,2098.0,0,-37.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.75
$_SM_ANGLEo,-0.6
$GPS2,202120,6633.087,-6012.624,0,2098.0,0,-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,343.9,27705,-13.0,-7.021
$D_GRID,516
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.99,-146.0,0.0,0.0,0,69,0.00,0.00,-47.00,0.000,6,0.000,0.000,2702,3153,3247
$GC,73,-0.99,-146.0,2.9,-1.3,9,79,0.65,0.73,0.00,0.000,4,0.054,0.084,2446,3595,3248
$GC,335,-0.71,-146.0,37.4,-11.7,55,342,0.28,2.20,0.00,0.000,6,0.153,0.052,2523,2212,3252
$GC,681,-0.71,-146.0,68.0,-10.3,116,687,0.00,2.38,0.00,0.000,4,0.000,0.077,2515,3604,3252
$GC,728,-0.71,-146.0,74.0,-13.6,124,734,0.00,2.20,0.00,0.000,6,0.000,0.053,2516,2217,3252
$GC,1074,-0.71,-146.0,106.4,-9.8,177,1078,0.00,2.33,0.00,0.000,4,0.000,0.077,2505,3592,3252
$GC,1142,-0.71,-146.0,113.7,-11.0,180,1146,0.00,2.15,0.00,0.000,6,0.000,0.053,2505,2220,3252
$GC,1475,-0.71,-146.0,147.8,-10.3,196,1478,0.00,2.25,0.00,0.000,4,0.000,0.066,2505,820,3252
$GC,1594,-0.63,-146.0,159.8,-9.3,201,1599,0.17,2.35,0.00,0.000,6,0.142,0.066,2543,2241,3252
$GC,1922,-0.74,-146.0,180.5,-5.6,217,1924,0.10,0.00,0.00,0.000,6,0.092,0.000,2502,2241,3252
$GC,2230,-0.74,-146.0,207.9,-9.0,232,2234,0.00,2.35,0.00,0.000,4,0.000,0.065,2501,814,3251
$GC,2315,-0.74,-146.0,216.2,-9.2,235,2322,0.12,2.40,0.00,0.000,6,0.146,0.066,2524,2241,3251
$GC,2632,-0.85,-146.0,239.0,-6.5,251,2634,0.12,0.00,0.00,0.000,6,0.087,0.000,2473,2241,3251
$GC,2943,-0.78,-146.0,263.6,-8.5,266,2948,0.15,2.25,0.00,0.000,4,0.153,0.079,2505,3602,3251
$GC,3040,-0.89,-146.0,271.0,-7.1,270,3044,0.00,2.17,0.00,0.000,6,0.000,0.054,2505,2226,3251
$GC,3370,-0.97,-146.0,292.7,-6.4,286,3374,0.12,2.28,0.00,0.000,4,0.089,0.066,2451,820,3251
$GC,3472,-0.80,-146.0,301.5,-9.0,290,3477,0.22,2.38,0.00,0.000,6,0.139,0.067,2504,2246,3251
$GC,3788,-0.89,-146.0,322.1,-7.1,305,3793,0.00,2.33,0.00,0.000,4,0.000,0.065,2506,823,3250
$GC,3863,-0.94,-146.0,328.1,-8.6,308,3867,0.00,2.35,0.00,0.000,6,0.000,0.065,2498,2235,3250
$GC,4190,-1.00,-146.0,355.1,-7.2,324,4195,0.12,2.25,0.00,0.000,4,0.087,0.078,2434,3596,3250
$GC,4347,-0.87,-146.0,369.4,-9.6,330,4354,0.20,2.17,0.00,0.000,6,0.146,0.052,2490,2215,3250
$GC,4666,-0.93,-146.0,388.1,-5.3,346,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2215,3250
$GC,4993,-1.00,-146.0,405.6,-5.6,360,4997,0.10,2.25,0.00,0.000,4,0.097,0.064,2448,821,3251
$GC,5072,-0.87,-146.0,411.8,-8.5,361,5077,0.20,2.33,0.00,0.000,6,0.133,0.064,2495,2232,3251
$GC,5410,-0.96,-146.0,431.8,-5.8,370,5412,0.10,0.00,0.00,0.000,6,0.097,0.000,2454,2232,3251
$GC,5735,-0.91,-146.0,451.7,-6.3,378,5740,0.12,2.33,0.00,0.000,4,0.152,0.062,2486,818,3251
$GC,5853,-0.91,-146.0,458.8,-6.2,380,5857,0.00,2.35,0.00,0.000,6,0.000,0.064,2479,2239,3251
$GC,6197,-0.91,-146.0,479.6,-6.4,389,6200,0.00,2.22,0.00,0.000,4,0.000,0.075,2468,3606,3252
$STATE,6401,end dive,NO_VERTICAL_VELOCITY
$STATE,6401,begin apogee
$GC,6412,-0.31,0.0,483.7,0.0,393,6541,0.43,0.00,126.75,1.157,6,0.109,0.000,2611,1730,2651
$STATE,6542,end apogee,CONTROL_FINISHED_OK
$STATE,6542,begin climb
$GC,6546,0.99,146.0,483.6,0.0,396,6682,0.88,0.00,132.27,1.081,6,0.091,0.000,2895,1730,2054
$GC,7003,0.79,146.0,442.4,10.2,408,7005,0.17,0.00,0.00,0.000,6,0.136,0.000,2847,1730,2049
$GC,7325,0.81,160.1,419.5,6.6,416,7344,0.00,2.38,12.02,0.997,4,0.000,0.068,2856,333,1997
$GC,7356,0.84,186.5,417.5,6.2,416,7386,0.00,2.33,24.75,1.047,6,0.000,0.054,2856,1748,1889
$GC,7697,0.84,186.5,392.0,7.8,427,7701,0.00,2.28,0.00,0.000,4,0.000,0.069,2856,3163,1886
$GC,7725,0.77,186.5,389.4,8.9,428,7729,0.00,2.28,0.00,0.000,6,0.000,0.051,2866,1726,1885
$GC,8052,0.77,186.5,360.7,8.7,444,8056,0.00,2.33,0.00,0.000,4,0.000,0.066,2866,3157,1885
$GC,8076,0.70,186.5,358.6,8.9,445,8081,0.17,2.25,0.00,0.000,6,0.133,0.051,2825,1728,1884
$GC,8410,0.84,188.4,335.5,7.0,461,8414,0.12,2.35,0.00,0.000,4,0.076,0.066,2884,3165,1884
$GC,8438,0.74,188.4,333.0,9.2,462,8443,0.20,2.25,0.00,0.000,6,0.134,0.051,2836,1729,1884
$GC,8760,0.96,251.5,314.5,5.0,478,8820,0.17,0.00,56.90,1.045,6,0.069,0.000,2913,1729,1624
$GC,9130,0.87,251.5,281.4,8.7,496,9132,0.17,0.00,0.00,0.000,6,0.130,0.000,2862,1729,1616
$GC,9439,1.05,304.3,264.9,5.3,511,9489,0.15,0.00,47.03,1.009,6,0.073,0.000,2928,1729,1409
$GC,9788,0.95,304.3,225.8,11.2,528,9790,0.17,0.00,0.00,0.000,6,0.131,0.000,2877,1729,1403
$GC,10100,1.20,380.6,207.2,4.6,543,10169,0.20,0.00,66.97,0.980,6,0.065,0.000,2962,1729,1098
$GC,10471,1.09,380.6,167.2,12.3,561,10475,0.17,2.33,0.00,0.000,4,0.129,0.069,2918,326,1088
$GC,10487,1.09,380.6,164.5,12.8,561,10494,0.00,2.33,0.00,0.000,6,0.000,0.055,2919,1744,1088
$GC,10804,1.21,380.6,138.6,7.5,577,10806,0.10,0.00,0.00,0.000,6,0.084,0.000,2968,1744,1086
$GC,11113,1.14,380.6,103.5,12.0,592,11115,0.15,0.00,0.00,0.000,6,0.130,0.000,2924,1744,1084
$GC,11448,1.37,458.1,79.9,4.5,646,11516,0.17,0.00,64.47,0.930,6,0.071,0.000,2996,1744,782
$GC,11856,1.23,458.1,27.3,15.8,718,11863,0.20,2.33,0.00,0.000,4,0.132,0.076,2932,3156,772
$GC,11883,1.16,458.1,24.9,11.9,722,11889,0.00,2.30,0.00,0.000,6,0.000,0.059,2938,1731,771
$FREEZE,6.97,-1.783,-1.770
$FREEZE,6.49,-1.783,-1.770
$FREEZE,6.00,-1.783,-1.770
$FREEZE,5.48,-1.784,-1.769
$FREEZE,4.91,-1.784,-1.769
$FREEZE,3.93,-1.784,-1.768
$FREEZE,3.43,-1.784,-1.768
$FREEZE,2.98,-1.784,-1.767
$STATE,12215,end climb,SURFACE_DEPTH_REACHED
$STATE,12215,begin surface coast
$FREEZE,2.61,-1.784,-1.767
$FREEZE,2.46,-1.783,-1.767
$FREEZE,2.37,-1.784,-1.767
$FREEZE,2.39,-1.784,-1.767
$FREEZE,2.40,-1.784,-1.767
$FINISH,2.4,1.025944
$STATE,12246,end surface coast,CONTROL_FINISHED_OK
$STATE,12246,begin surface
$RAFOS_CLK,570
$RAFOS,4,1230612245,4.750000,4.734722,60,57,56,53,51,48,125,199,182,215,911,96
$RAFOS,3,1230611641,4.583333,4.566945,59,57,55,52,52,51,152,208,180,117,229,97
$RAFOS,2,1230611058,4.416667,4.405000,58,53,53,52,50,50,196,138,210,156,172,505
$RAFOS,1,1230610461,4.250000,4.239167,60,54,54,52,49,48,212,200,176,166,190,225
$RAFOS,0,1230609843,4.083333,4.067500,122,67,61,56,56,55,643,213,116,228,175,133
$RAFOS_FIX,6633.087402,-6012.624023,291208,202020,2,98,0.15
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.027612
$HUMID,1835
$INTERNAL_PRESSURE,9.77577
$TCM_TEMP,14.80
$XPDR_PINGS,96
$24V_AH,21.7,86.150
$10V_AH,10.4,39.500
$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,6.450,81.650,531.175,0.000,0.000,0.000,0.000,0.000,24.000,0.000,0.000,0.000,1447.032,8703.024,567.353,1471.342,241.185,0.000,1370.076,0.000,1470.158,1800.000,0.529,0.000
$DEVICE_MAMPS,153.400,84.370,1156.636,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,550.092,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25268,786
$CAP_FILE_SIZE,97076,0
$CFSIZE,260165632,216772608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.6
$GPS,291208,202120,6633.087,-6012.624,0,2098.0,0,-37.3