version: 66.04
glider: 108
mission: 11
dive: 539
start: 12 30 108 23 16 23
data:
$ID,108
$MISSION,11
$DIVE,539
$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,-127123.23
$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,24
$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,2.26
$_SM_ANGLEo,-15.4
$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,16,-0.99,-146.0,0.0,0.0,0,95,0.00,0.00,-76.88,0.000,6,0.000,0.000,334,2227,3246
$GC,100,-0.99,-146.0,2.3,0.0,14,113,6.82,2.30,0.00,0.000,4,0.133,0.083,2451,3597,3249
$GC,368,-0.93,-146.0,2.2,-0.0,61,375,0.12,2.20,0.00,0.000,6,0.153,0.055,2483,2212,3251
$GC,715,-0.93,-146.0,2.3,-0.1,122,721,0.00,2.35,0.00,0.000,4,0.000,0.080,2475,3606,3251
$GC,976,-0.98,-146.0,2.2,0.6,168,982,0.00,2.20,0.00,0.000,6,0.000,0.054,2474,2221,3251
$GC,1322,-0.98,-146.0,2.3,0.0,229,1328,0.00,2.33,0.00,0.000,4,0.000,0.081,2465,3597,3251
$GC,1583,-0.98,-146.0,2.3,-0.1,275,1589,0.00,2.17,0.00,0.000,6,0.000,0.054,2465,2225,3252
$GC,1930,-0.98,-146.0,2.4,-0.3,336,1936,0.00,2.33,0.00,0.000,4,0.000,0.081,2455,3601,3252
$GC,2192,-0.91,-146.0,2.2,0.1,382,2199,0.10,2.20,0.00,0.000,6,0.156,0.054,2479,2212,3251
$GC,2538,-0.91,-146.0,2.4,-0.0,443,2544,0.00,2.35,0.00,0.000,4,0.000,0.081,2471,3605,3251
$GC,2800,-0.83,-146.0,2.2,0.2,489,2807,0.12,2.17,0.00,0.000,6,0.158,0.051,2503,2220,3252
$GC,3147,-0.75,-146.0,2.3,0.0,550,3153,0.00,2.35,0.00,0.000,4,0.000,0.081,2494,3607,3252
$GC,3409,-0.69,-146.0,2.3,0.0,596,3416,0.12,2.20,0.00,0.000,6,0.160,0.054,2529,2219,3252
$GC,3756,-0.59,-146.0,2.3,0.1,657,3763,0.10,2.35,0.00,0.000,4,0.178,0.079,2546,3607,3252
$GC,4019,-0.50,-146.0,2.3,-0.1,703,4026,0.10,2.20,0.00,0.000,6,0.168,0.053,2569,2213,3252
$GC,4366,-0.41,-146.0,2.4,-0.2,764,4372,0.08,2.35,0.00,0.000,4,0.186,0.080,2581,3599,3251
$GC,4628,-0.32,-146.0,2.3,-0.3,810,4635,0.12,2.17,0.00,0.000,6,0.160,0.053,2612,2223,3251
$GC,4975,-0.22,-146.0,2.2,0.1,871,4981,0.00,2.33,0.00,0.000,4,0.000,0.081,2604,3592,3251
$GC,5237,-0.14,-146.0,2.3,-0.1,917,5244,0.15,2.17,0.00,0.000,6,0.153,0.054,2649,2223,3251
$GC,5583,-0.14,-146.0,2.4,-0.2,978,5590,0.00,2.35,0.00,0.000,4,0.000,0.081,2640,3607,3251
$GC,5845,-0.06,-146.0,2.3,0.0,1024,5852,0.10,2.20,0.00,0.000,6,0.160,0.054,2665,2220,3251
$GC,6193,0.02,-146.0,2.2,0.0,1085,6199,0.00,2.35,0.00,0.000,4,0.000,0.081,2657,3604,3251
$GC,6455,0.10,-146.0,2.2,-0.0,1131,6461,0.17,2.20,0.00,0.000,6,0.153,0.054,2704,2219,3251
$GC,6801,0.10,-146.0,2.4,-0.1,1192,6808,0.00,2.33,0.00,0.000,4,0.000,0.080,2696,3593,3251
$GC,7062,0.10,-146.0,2.3,0.1,1238,7069,0.00,2.17,0.00,0.000,6,0.000,0.053,2696,2220,3252
$GC,7408,0.10,-146.0,2.3,-0.0,1299,7415,0.00,2.35,0.00,0.000,4,0.000,0.081,2686,3605,3252
$GC,7671,0.17,-146.0,2.3,-0.1,1345,7677,0.12,2.20,0.00,0.000,6,0.156,0.053,2717,2218,3252
$GC,8018,0.26,-146.0,2.3,-0.1,1406,8024,0.00,2.35,0.00,0.000,4,0.000,0.081,2709,3600,3251
$GC,8279,0.26,-146.0,2.3,0.2,1452,8286,0.12,2.20,0.00,0.000,6,0.150,0.054,2741,2216,3252
$GC,8626,0.35,-146.0,2.2,0.1,1513,8632,0.00,2.35,0.00,0.000,4,0.000,0.081,2733,3600,3251
$GC,8888,0.35,-146.0,2.3,-0.0,1559,8895,0.10,2.20,0.00,0.000,6,0.152,0.054,2757,2214,3252
$GC,9234,0.35,-146.0,2.3,0.3,1620,9241,0.00,2.35,0.00,0.000,4,0.000,0.080,2749,3600,3252
$GC,9496,0.35,-146.0,2.3,0.4,1666,9502,0.00,2.20,0.00,0.000,6,0.000,0.053,2749,2212,3252
$GC,9841,0.35,-146.0,2.3,-0.0,1727,9847,0.00,2.35,0.00,0.000,4,0.000,0.080,2739,3595,3252
$GC,10103,0.30,-146.0,2.3,0.1,1773,10109,0.00,2.20,0.00,0.000,6,0.000,0.054,2739,2213,3252
$GC,10449,0.30,-146.0,2.2,0.3,1834,10455,0.00,2.35,0.00,0.000,4,0.000,0.080,2728,3598,3252
$GC,10711,0.30,-146.0,2.3,0.1,1880,10717,0.00,2.17,0.00,0.000,6,0.000,0.054,2728,2228,3252
$GC,11057,0.38,-146.0,2.2,0.0,1941,11064,0.12,2.33,0.00,0.000,4,0.162,0.078,2753,3594,3252
$GC,11320,0.34,-146.0,2.2,-0.0,1987,11326,0.00,2.17,0.00,0.000,6,0.000,0.054,2753,2228,3252
$GC,11665,0.34,-146.0,2.2,0.2,2048,11671,0.00,2.33,0.00,0.000,4,0.000,0.078,2743,3601,3251
$GC,11927,0.34,-146.0,2.2,0.1,2094,11933,0.00,2.20,0.00,0.000,6,0.000,0.054,2743,2219,3252
$GC,12273,0.34,-146.0,2.3,-0.2,2155,12279,0.00,2.35,0.00,0.000,4,0.000,0.080,2733,3595,3252
$GC,12535,0.34,-146.0,2.3,-0.1,2201,12541,0.00,2.20,0.00,0.000,6,0.000,0.054,2733,2215,3252
$GC,12881,0.34,-146.0,2.3,0.0,2262,12887,0.00,2.38,0.00,0.000,4,0.000,0.079,2723,3605,3252
$GC,13142,0.34,-146.0,2.3,-0.1,2308,13149,0.12,2.20,0.00,0.000,6,0.152,0.054,2754,2227,3252
$GC,13489,0.34,-146.0,2.3,-0.3,2369,13495,0.00,2.33,0.00,0.000,4,0.000,0.078,2746,3594,3252
$GC,13750,0.34,-146.0,2.3,0.1,2415,13757,0.00,2.17,0.00,0.000,6,0.000,0.053,2746,2224,3252
$GC,14096,0.34,-146.0,2.3,-0.2,2476,14103,0.00,2.35,0.00,0.000,4,0.000,0.080,2736,3601,3252
$GC,14359,0.29,-146.0,2.3,-0.2,2522,14365,0.00,2.20,0.00,0.000,6,0.000,0.055,2737,2227,3252
$GC,14704,0.29,-146.0,2.2,-0.0,2583,14710,0.00,2.33,0.00,0.000,4,0.000,0.079,2726,3595,3252
$GC,14966,0.29,-146.0,2.3,0.0,2629,14972,0.00,2.20,0.00,0.000,6,0.000,0.054,2726,2214,3252
$GC,15312,0.29,-146.0,2.4,-0.0,2690,15318,0.00,2.35,0.00,0.000,4,0.000,0.079,2716,3597,3252
$GC,15575,0.29,-146.0,2.2,-0.0,2736,15581,0.10,2.20,0.00,0.000,6,0.154,0.054,2740,2213,3252
$GC,15921,0.29,-146.0,2.3,-0.1,2797,15928,0.00,2.35,0.00,0.000,4,0.000,0.080,2732,3597,3252
$GC,16183,0.24,-146.0,2.2,0.1,2843,16189,0.00,2.17,0.00,0.000,6,0.000,0.053,2732,2228,3252
$STATE,16508,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,16509,begin apogee
$FREEZE,2.25,-1.797,-1.767
$GC,16517,-0.31,0.0,2.3,0.0,2901,16528,0.32,0.00,8.82,0.852,2,0.071,0.000,2601,1742,3214
$STATE,16529,end apogee,FINISH_DEPTH_REACHED
$STATE,16529,begin subsurface finish
$FINISH1,2.2,1.025946,0
$GC,16539,0.00,0.0,2.2,-0.1,2902,16547,0.25,0.00,5.47,0.737,2,0.137,0.000,2679,1742,3189
$FINISH2,2.2
$STATE,16548,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,16548,begin surface
$RAFOS_CLK,787
$RAFOS,4,1230684242,0.750000,0.733889,57,55,54,52,51,49,211,195,164,224,121,148
$RAFOS,3,1230683644,0.583333,0.567778,61,60,59,56,51,45,212,223,150,124,167,81
$RAFOS,2,1230683046,0.416667,0.401667,59,58,57,57,51,49,142,215,190,169,654,202
$RAFOS,1,1230682442,0.250000,0.233889,60,59,59,58,52,50,181,136,197,208,162,941
$RAFOS,0,1230681845,0.083333,0.068056,67,59,59,57,53,49,204,123,226,170,187,133
$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,1845
$INTERNAL_PRESSURE,9.94179
$TCM_TEMP,14.60
$XPDR_PINGS,415
$24V_AH,26.2,86.838
$10V_AH,10.4,39.934
$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,9.400,123.150,14.300,0.000,0.000,99.305,85.467,0.000,103.750,0.000,0.000,185.217,4439.649,7383.884,260.945,4385.396,1023.681,0.000,2179.802,0.000,4191.226,1800.000,0.529,0.000
$DEVICE_MAMPS,185.614,82.836,852.137,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,2042.885,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,84777,2903
$CAP_FILE_SIZE,189662,0
$CFSIZE,260165632,216289280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1437.0
$GPS,291208,202120,6633.087,-6012.624,0,2098.0,0,-37.3