version: 66.04
glider: 108
mission: 11
dive: 538
start: 12 30 108 18 12 44
data:
$ID,108
$MISSION,11
$DIVE,538
$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,27
$R_STBD_OVSHOOT,27
$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,2.06
$_SM_ANGLEo,1.5
$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,-146.0,0.0,0.0,0,72,0.00,0.00,-50.12,0.000,6,0.000,0.000,2706,1734,3246
$GC,77,-0.99,-146.0,2.4,-1.1,10,84,0.68,3.15,0.00,0.000,4,0.058,0.075,2430,3591,3248
$GC,339,-0.90,-146.0,2.4,-0.0,56,346,0.20,2.17,0.00,0.000,6,0.149,0.051,2489,2211,3251
$GC,686,-0.81,-146.0,2.3,-0.0,117,692,0.00,2.33,0.00,0.000,4,0.000,0.078,2481,3600,3251
$GC,947,-0.72,-146.0,2.4,-0.1,163,954,0.15,2.15,0.00,0.000,6,0.165,0.050,2523,2224,3251
$GC,1294,-0.64,-146.0,2.4,-0.4,224,1300,0.00,2.30,0.00,0.000,4,0.000,0.080,2516,3597,3251
$GC,1556,-0.68,-146.0,2.4,0.1,270,1562,0.00,2.15,0.00,0.000,6,0.000,0.054,2515,2231,3251
$GC,1902,-0.68,-146.0,2.4,-0.2,331,1908,0.00,2.28,0.00,0.000,4,0.000,0.078,2506,3594,3251
$GC,2163,-0.68,-146.0,2.3,-0.0,377,2170,0.10,2.15,0.00,0.000,6,0.152,0.053,2531,2224,3251
$GC,2510,-0.60,-146.0,2.4,-0.2,438,2516,0.00,2.30,0.00,0.000,4,0.000,0.080,2523,3595,3251
$GC,2771,-0.53,-146.0,2.4,-0.2,484,2778,0.15,2.15,0.00,0.000,6,0.163,0.053,2566,2228,3251
$GC,3118,-0.42,-146.0,2.4,-0.0,545,3125,0.08,2.30,0.00,0.000,4,0.188,0.078,2579,3598,3251
$GC,3380,-0.42,-146.0,2.4,-0.0,591,3386,0.00,2.15,0.00,0.000,6,0.000,0.052,2579,2227,3251
$GC,3726,-0.32,-146.0,2.4,-0.1,652,3733,0.12,2.30,0.00,0.000,4,0.163,0.078,2605,3595,3250
$GC,3988,-0.24,-146.0,2.4,-0.2,698,3994,0.00,2.15,0.00,0.000,6,0.000,0.052,2608,2225,3250
$GC,4334,-0.15,-146.0,2.4,-0.1,759,4341,0.15,2.30,0.00,0.000,4,0.158,0.079,2643,3591,3250
$GC,4596,-0.08,-146.0,2.3,-0.1,805,4603,0.00,2.15,0.00,0.000,6,0.000,0.054,2643,2231,3250
$GC,4942,-0.08,-146.0,2.4,0.2,866,4948,0.00,2.30,0.00,0.000,4,0.000,0.079,2634,3603,3251
$GC,5203,-0.13,-146.0,2.4,-0.1,912,5210,0.00,2.17,0.00,0.000,6,0.000,0.053,2634,2224,3250
$GC,5548,-0.13,-146.0,2.3,0.3,973,5555,0.00,2.30,0.00,0.000,4,0.000,0.079,2624,3592,3250
$GC,5810,-0.13,-146.0,2.4,-1.8,1019,5817,0.12,2.15,0.00,0.000,6,0.151,0.051,2656,2223,3250
$GC,6158,-0.13,-146.0,2.4,0.0,1080,6164,0.00,2.30,0.00,0.000,4,0.000,0.080,2648,3590,3250
$GC,6419,-0.19,-146.0,2.3,-0.1,1126,6426,0.00,2.15,0.00,0.000,6,0.000,0.053,2648,2228,3250
$GC,6765,-0.19,-146.0,2.4,-0.1,1187,6771,0.00,2.30,0.00,0.000,4,0.000,0.078,2638,3599,3250
$GC,7026,-0.10,-146.0,2.4,-0.2,1233,7033,0.00,2.17,0.00,0.000,6,0.000,0.052,2638,2217,3251
$GC,7371,-0.10,-146.0,2.3,-0.0,1294,7378,0.00,2.33,0.00,0.000,4,0.000,0.080,2629,3598,3250
$GC,7633,-0.15,-146.0,2.4,0.0,1340,7640,0.00,2.17,0.00,0.000,6,0.000,0.053,2629,2219,3250
$GC,7979,-0.15,-146.0,2.3,-0.0,1401,7985,0.00,2.33,0.00,0.000,4,0.000,0.079,2619,3600,3250
$GC,8240,-0.15,-146.0,2.3,-0.0,1447,8248,0.12,2.17,0.00,0.000,6,0.151,0.053,2651,2226,3250
$GC,8586,-0.15,-146.0,2.3,0.1,1508,8592,0.00,2.30,0.00,0.000,4,0.000,0.079,2642,3591,3250
$GC,8848,-0.21,-146.0,2.3,-0.1,1554,8854,0.00,2.17,0.00,0.000,6,0.000,0.052,2642,2213,3250
$GC,9193,-0.21,-146.0,2.4,-2.6,1615,9199,0.00,2.33,0.00,0.000,4,0.000,0.079,2633,3589,3250
$GC,9454,-0.21,-146.0,2.3,-0.0,1661,9461,0.00,2.17,0.00,0.000,6,0.000,0.054,2633,2213,3250
$GC,9801,-0.15,-146.0,2.4,-0.2,1722,9807,0.00,2.33,0.00,0.000,4,0.000,0.080,2623,3590,3250
$GC,10061,-0.15,-146.0,2.2,0.1,1768,10068,0.10,2.17,0.00,0.000,6,0.150,0.052,2648,2211,3250
$GC,10408,-0.06,-146.0,2.2,-0.0,1829,10415,0.00,2.35,0.00,0.000,4,0.000,0.079,2639,3600,3250
$GC,10670,-0.11,-146.0,2.3,-1.4,1875,10676,0.00,2.17,0.00,0.000,6,0.000,0.053,2639,2224,3251
$GC,11016,-0.01,-146.0,2.4,-0.1,1936,11023,0.15,2.33,0.00,0.000,4,0.163,0.079,2672,3592,3250
$GC,11279,0.06,-146.0,2.3,-0.1,1982,11285,0.00,2.17,0.00,0.000,6,0.000,0.052,2672,2213,3250
$GC,11624,0.06,-146.0,2.3,-0.0,2043,11630,0.00,2.35,0.00,0.000,4,0.000,0.078,2663,3591,3250
$GC,11885,0.13,-146.0,2.2,0.1,2089,11892,0.17,2.17,0.00,0.000,6,0.153,0.051,2710,2216,3250
$GC,12232,0.21,-146.0,2.3,0.1,2150,12238,0.00,2.35,0.00,0.000,4,0.000,0.080,2702,3597,3250
$GC,12493,0.21,-146.0,2.3,-0.0,2196,12499,0.00,2.17,0.00,0.000,6,0.000,0.053,2704,2226,3250
$GC,12839,0.31,-146.0,2.2,-0.0,2257,12846,0.15,2.35,0.00,0.000,4,0.160,0.079,2737,3599,3250
$GC,13101,0.38,-146.0,2.4,-0.0,2303,13108,0.10,2.20,0.00,0.000,6,0.170,0.053,2760,2212,3250
$GC,13448,0.38,-146.0,2.3,0.1,2364,13454,0.00,2.35,0.00,0.000,4,0.000,0.080,2752,3595,3250
$GC,13709,0.38,-146.0,2.3,-0.1,2410,13715,0.00,2.17,0.00,0.000,6,0.000,0.052,2752,2222,3250
$GC,14055,0.47,-146.0,2.3,0.0,2471,14062,0.12,2.35,0.00,0.000,4,0.169,0.078,2776,3601,3250
$GC,14317,0.47,-146.0,2.3,0.0,2517,14323,0.00,2.20,0.00,0.000,6,0.000,0.054,2775,2218,3250
$GC,14663,0.57,-146.0,2.3,-0.1,2578,14670,0.12,2.35,0.00,0.000,4,0.169,0.080,2798,3595,3250
$GC,14926,0.65,-146.0,2.3,0.2,2624,14933,0.10,2.17,0.00,0.000,6,0.173,0.052,2822,2219,3250
$GC,15274,0.65,-146.0,2.3,-0.1,2685,15280,0.00,2.35,0.00,0.000,4,0.000,0.081,2814,3601,3250
$GC,15537,0.60,-146.0,2.3,-0.0,2731,15543,0.00,2.20,0.00,0.000,6,0.000,0.054,2814,2215,3250
$GC,15882,0.60,-146.0,2.2,0.0,2792,15888,0.00,2.33,0.00,0.000,4,0.000,0.080,2804,3590,3250
$GC,16143,0.60,-146.0,2.2,0.1,2838,16150,0.00,2.17,0.00,0.000,6,0.000,0.055,2804,2228,3250
$GC,16489,0.60,-146.0,2.4,-0.1,2899,16495,0.00,2.33,0.00,0.000,4,0.000,0.079,2794,3601,3250
$STATE,16504,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,16504,begin apogee
$FREEZE,2.26,-1.782,-1.767
$GC,16515,-0.31,0.0,2.4,0.2,2902,16526,0.50,0.00,7.60,0.828,2,0.066,0.000,2600,1734,3216
$STATE,16526,end apogee,SURFACE_DEPTH_REACHED
$STATE,16526,begin surface coast
$FREEZE,2.36,-1.784,-1.767
$FREEZE,2.30,-1.784,-1.767
$FREEZE,2.29,-1.784,-1.767
$FREEZE,2.29,-1.784,-1.767
$FREEZE,2.38,-1.784,-1.767
$FINISH,2.4,1.025943
$STATE,16554,end surface coast,NO_VERTICAL_VELOCITY
$STATE,16554,begin surface
$SM_CCo,16695,301.67,0.841,0,0,1732,225.19
$SM_GC,2.35,0.00,0.00,301.67,0.000,0.000,0.841,334,2227,1732,-10.79,-0.08,225.19
$RAFOS_CLK,764
$RAFOS,4,1230669841,20.750000,20.733612,62,61,53,53,51,49,201,218,145,167,113,241
$RAFOS,3,1230669245,20.583334,20.568056,67,56,53,51,50,49,209,222,187,163,119,132
$RAFOS,2,1230668643,20.416666,20.400833,65,60,57,57,55,51,215,146,188,161,175,135
$RAFOS,1,1230668042,20.250000,20.233889,58,56,54,54,53,53,208,161,185,142,195,120
$RAFOS,0,1230667446,20.083334,20.068333,60,56,54,54,53,50,214,181,204,143,127,229
$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,1790
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,14.70
$XPDR_PINGS,503
$24V_AH,23.6,86.814
$10V_AH,10.4,39.803
$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,9.675,128.225,7.600,301.675,0.000,0.000,0.000,0.000,125.750,0.000,0.000,0.000,4410.059,7457.189,545.309,4208.280,441.195,0.000,2475.152,0.000,4198.324,1800.000,0.528,0.000
$DEVICE_MAMPS,187.915,80.535,828.360,840.632,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,2046.826,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,84930,2908
$CAP_FILE_SIZE,189676,0
$CFSIZE,260165632,216371200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1437.1
$GPS,291208,202120,6633.087,-6012.624,0,2098.0,0,-37.3