version: 66.04
glider: 108
mission: 11
dive: 536
start: 12 30 108 11 47 10
data:
$ID,108
$MISSION,11
$DIVE,536
$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,25
$R_STBD_OVSHOOT,22
$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,3.27
$_SM_ANGLEo,1.6
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-0.99,-146.0,0.0,0.0,0,24,0.00,0.00,-5.38,0.000,2,0.000,0.000,2690,3161,2436
$GC,28,-0.99,-146.0,3.1,-0.0,1,75,0.65,3.90,-37.60,0.000,4,0.084,0.073,2456,815,3249
$GC,122,-1.10,-146.0,6.5,-7.0,17,129,0.00,2.35,0.00,0.000,6,0.000,0.065,2445,2232,3251
$GC,468,-0.80,-146.0,52.8,-12.5,78,475,0.20,2.25,0.00,0.000,4,0.152,0.077,2497,3603,3252
$GC,617,-0.80,-146.0,70.6,-10.0,104,624,0.00,2.20,0.00,0.000,6,0.000,0.052,2500,2207,3253
$GC,957,-0.72,-146.0,107.0,-11.1,156,959,0.08,0.00,0.00,0.000,6,0.176,0.000,2521,2207,3252
$GC,1267,-0.72,-146.0,137.4,-10.2,171,1270,0.00,2.22,0.00,0.000,4,0.000,0.067,2525,822,3252
$GC,1350,-0.72,-146.0,146.4,-10.1,174,1356,0.00,2.35,0.00,0.000,6,0.000,0.065,2517,2244,3252
$GC,1667,-0.72,-146.0,171.4,-7.3,190,1671,0.00,2.20,0.00,0.000,4,0.000,0.079,2507,3594,3252
$GC,1746,-0.72,-146.0,178.4,-9.1,193,1750,0.00,2.17,0.00,0.000,6,0.000,0.053,2507,2215,3252
$GC,2067,-0.72,-146.0,206.0,-8.7,209,2071,0.00,2.25,0.00,0.000,4,0.000,0.066,2507,816,3252
$GC,2152,-0.72,-146.0,214.6,-10.9,212,2159,0.10,2.35,0.00,0.000,6,0.143,0.066,2523,2232,3252
$GC,2469,-0.82,-146.0,240.5,-6.3,228,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2231,3252
$GC,2778,-0.95,-146.0,257.0,-5.2,243,2783,0.17,2.25,0.00,0.000,4,0.081,0.080,2444,3594,3252
$GC,2903,-0.80,-146.0,266.7,-7.6,248,2908,0.22,2.17,0.00,0.000,6,0.150,0.054,2506,2217,3252
$GC,3222,-0.86,-146.0,282.9,-5.5,263,3226,0.00,2.25,0.00,0.000,4,0.000,0.067,2507,819,3252
$GC,3337,-0.86,-146.0,289.5,-5.6,268,3340,0.00,2.35,0.00,0.000,6,0.000,0.067,2499,2233,3252
$GC,3670,-0.86,-146.0,309.8,-6.4,284,3674,0.00,2.25,0.00,0.000,4,0.000,0.080,2488,3605,3251
$GC,3762,-0.92,-146.0,316.6,-8.0,288,3766,0.00,2.17,0.00,0.000,6,0.000,0.053,2488,2226,3252
$GC,4095,-0.92,-146.0,338.9,-6.4,304,4099,0.00,2.28,0.00,0.000,4,0.000,0.065,2488,812,3251
$GC,4302,-0.92,-146.0,354.3,-7.4,313,4306,0.00,2.35,0.00,0.000,6,0.000,0.064,2478,2232,3251
$GC,4631,-0.92,-146.0,378.5,-7.4,329,4634,0.00,2.25,0.00,0.000,4,0.000,0.079,2467,3602,3251
$GC,4799,-0.92,-146.0,391.3,-7.1,336,4803,0.00,2.17,0.00,0.000,6,0.000,0.052,2468,2221,3251
$GC,5140,-0.92,-146.0,413.8,-6.7,348,5141,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2221,3251
$GC,5464,-0.92,-146.0,434.7,-6.5,356,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2221,3251
$GC,5789,-1.22,-146.0,448.5,-1.6,364,5794,0.17,2.28,0.00,0.000,4,0.069,0.066,2389,817,3252
$STATE,5916,end dive,NO_VERTICAL_VELOCITY
$STATE,5916,begin apogee
$GC,5929,-0.31,0.0,448.4,0.0,367,6058,0.70,0.00,126.75,1.141,6,0.100,0.000,2619,1755,2650
$STATE,6059,end apogee,CONTROL_FINISHED_OK
$STATE,6059,begin climb
$GC,6063,0.99,146.0,447.8,0.0,370,6202,0.85,2.55,131.35,1.061,4,0.091,0.067,2895,3148,2053
$GC,6341,0.68,146.0,423.1,10.3,376,6346,0.30,2.40,0.00,0.000,6,0.136,0.051,2824,1735,2048
$GC,6685,0.82,187.8,402.8,5.7,385,6724,0.12,0.00,36.33,1.052,6,0.075,0.000,2880,1735,1884
$GC,7033,0.74,187.8,373.4,8.6,401,7038,0.15,2.35,0.00,0.000,4,0.125,0.067,2836,3154,1880
$GC,7044,0.69,187.8,372.4,8.5,401,7051,0.00,2.28,0.00,0.000,6,0.000,0.051,2844,1725,1879
$GC,7362,0.77,187.8,348.6,8.0,417,7365,0.00,2.35,0.00,0.000,4,0.000,0.067,2844,3158,1878
$GC,7396,0.73,187.8,345.5,8.9,418,7400,0.00,2.25,0.00,0.000,6,0.000,0.051,2853,1737,1878
$GC,7718,0.82,220.5,323.8,6.0,434,7751,0.00,2.35,27.88,1.032,4,0.000,0.066,2862,323,1751
$GC,7760,0.94,249.6,321.4,6.1,436,7794,0.00,2.35,27.30,1.001,6,0.000,0.053,2862,1744,1632
$GC,8114,1.07,269.8,299.2,6.4,453,8140,0.15,2.35,18.45,0.983,4,0.074,0.069,2932,3148,1550
$GC,8153,0.87,269.8,295.4,10.8,454,8160,0.28,2.28,0.00,0.000,6,0.136,0.051,2863,1728,1549
$GC,8469,1.06,299.6,272.4,6.1,470,8500,0.15,0.00,27.67,0.996,6,0.072,0.000,2932,1728,1428
$GC,8798,0.96,299.6,238.4,12.0,486,8800,0.17,0.00,0.00,0.000,6,0.130,0.000,2880,1728,1423
$GC,9108,1.10,299.6,211.8,7.6,501,9110,0.15,0.00,0.00,0.000,6,0.072,0.000,2947,1728,1421
$GC,9419,1.00,299.6,182.9,9.3,516,9420,0.17,0.00,0.00,0.000,6,0.130,0.000,2895,1728,1420
$GC,9727,1.13,299.6,156.2,8.1,531,9729,0.12,0.00,0.00,0.000,6,0.077,0.000,2952,1728,1419
$GC,10037,1.05,299.6,126.4,9.8,546,10039,0.17,0.00,0.00,0.000,6,0.128,0.000,2900,1728,1419
$GC,10345,1.28,364.9,110.6,4.9,561,10410,0.20,2.45,57.38,0.955,4,0.068,0.071,2987,3161,1162
$GC,10435,1.07,364.9,101.7,13.2,565,10440,0.32,2.33,0.00,0.000,6,0.140,0.054,2905,1736,1159
$GC,10780,1.76,364.9,73.7,12.1,624,10787,0.45,2.33,0.00,0.000,4,0.093,0.069,3062,331,1153
$GC,10811,2.16,364.9,69.8,12.2,629,10818,0.28,2.33,0.00,0.000,6,0.077,0.057,3165,1751,1153
$FREEZE,6.90,-1.787,-1.772
$STATE,11037,end climb,FINISH_DEPTH_REACHED
$STATE,11037,begin subsurface finish
$FINISH1,6.9,1.025967,83
$GC,11046,0.10,82.6,6.9,-27.5,669,11099,1.48,2.33,-43.22,0.000,4,0.134,0.088,2691,3160,2317
$FINISH2,4.1
$STATE,11100,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11100,begin surface
$RAFOS_CLK,518
$RAFOS,4,1230641049,12.750000,12.735833,59,57,55,54,51,51,208,191,223,120,154,1665
$RAFOS,3,1230640445,12.583333,12.568055,71,70,58,54,54,51,198,222,179,210,167,145
$RAFOS,2,1230639848,12.416667,12.402223,65,59,56,56,55,52,201,217,163,173,139,116
$RAFOS,1,1230639252,12.250000,12.236667,59,57,54,53,52,48,204,217,190,147,171,89
$RAFOS,0,1230638645,12.083333,12.068055,104,75,59,57,56,55,648,198,135,124,209,176
$RAFOS_FIX,6633.087402,-6012.624023,291208,202020,2,98,0.15
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.026845
$HUMID,1844
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,14.90
$XPDR_PINGS,125
$24V_AH,21.7,86.568
$10V_AH,10.4,39.639
$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,7.825,85.850,453.100,0.000,0.000,0.000,0.000,0.000,31.250,0.000,0.000,0.000,1243.371,7834.592,519.648,1354.903,203.317,0.000,1264.502,0.000,1346.746,1800.000,0.529,0.000
$DEVICE_MAMPS,175.643,88.205,1140.529,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,474.503,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22162,678
$CAP_FILE_SIZE,87688,0
$CFSIZE,260165632,216633344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.8
$GPS,291208,202120,6633.087,-6012.624,0,2098.0,0,-37.3