version: 66.04
glider: 108
mission: 11
dive: 542
start: 12 31 108 11 37 56
data:
$ID,108
$MISSION,11
$DIVE,542
$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,25
$R_STBD_OVSHOOT,23
$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,5.14
$_SM_ANGLEo,-4.8
$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,-5.43,0.000,2,0.000,0.000,2704,325,2466
$GC,28,-0.99,-146.0,5.0,-0.0,1,63,0.65,0.82,-28.10,0.000,4,0.058,0.099,2445,835,3247
$GC,127,-0.65,-146.0,14.7,-13.6,18,134,0.38,2.28,0.00,0.000,6,0.151,0.066,2540,2236,3251
$GC,474,-0.70,-146.0,42.6,-7.5,79,480,0.00,2.22,0.00,0.000,4,0.000,0.078,2532,3601,3253
$GC,544,-0.76,-146.0,48.5,-8.7,91,551,0.00,2.20,0.00,0.000,6,0.000,0.054,2532,2211,3253
$GC,889,-0.76,-146.0,77.6,-8.0,152,896,0.00,2.25,0.00,0.000,4,0.000,0.067,2532,820,3252
$GC,971,-0.76,-146.0,84.7,-8.8,166,977,0.00,2.35,0.00,0.000,6,0.000,0.066,2522,2238,3253
$GC,1318,-0.76,-146.0,114.9,-9.1,206,1322,0.00,2.25,0.00,0.000,4,0.000,0.079,2511,3610,3252
$GC,1419,-0.76,-146.0,125.0,-10.3,210,1424,0.00,2.20,0.00,0.000,6,0.000,0.056,2511,2220,3252
$GC,1741,-0.76,-146.0,156.3,-9.4,226,1745,0.00,2.28,0.00,0.000,4,0.000,0.069,2511,822,3252
$GC,1810,-0.70,-146.0,163.2,-9.9,229,1815,0.12,2.35,0.00,0.000,6,0.144,0.064,2534,2242,3252
$GC,2138,-0.78,-146.0,187.8,-7.8,245,2142,0.10,2.22,0.00,0.000,4,0.090,0.075,2482,3604,3252
$GC,2315,-0.71,-146.0,206.1,-10.9,252,2321,0.17,2.20,0.00,0.000,6,0.154,0.055,2527,2222,3252
$GC,2634,-0.78,-146.0,226.5,-4.6,268,2638,0.00,2.28,0.00,0.000,4,0.000,0.069,2528,822,3252
$GC,2788,-0.90,-146.0,234.1,-4.9,274,2795,0.12,2.35,0.00,0.000,6,0.082,0.069,2470,2231,3251
$GC,3105,-0.84,-146.0,257.9,-8.8,290,3110,0.12,2.25,0.00,0.000,4,0.153,0.077,2494,3602,3251
$GC,3173,-0.88,-146.0,262.9,-6.6,293,3177,0.00,2.20,0.00,0.000,6,0.000,0.054,2494,2217,3252
$GC,3501,-0.88,-146.0,285.1,-6.5,309,3505,0.00,2.28,0.00,0.000,4,0.000,0.067,2494,812,3252
$GC,3616,-0.88,-146.0,293.5,-7.4,314,3621,0.00,2.38,0.00,0.000,6,0.000,0.064,2484,2244,3252
$GC,3945,-1.36,-146.0,306.5,-0.0,330,3950,0.28,2.38,0.00,0.000,4,0.069,0.065,2368,811,3252
$STATE,3998,end dive,NO_VERTICAL_VELOCITY
$STATE,3998,begin apogee
$GC,4007,-0.31,0.0,306.4,0.0,332,4139,0.75,0.00,124.90,1.079,6,0.112,0.000,2610,1746,2649
$STATE,4140,end apogee,CONTROL_FINISHED_OK
$STATE,4140,begin climb
$GC,4143,0.99,146.0,306.4,0.0,339,4282,0.90,2.75,129.25,0.997,4,0.103,0.068,2906,334,2053
$GC,4303,0.85,146.0,297.0,8.5,346,4308,0.17,2.55,0.00,0.000,6,0.137,0.054,2863,1736,2052
$GC,4621,0.85,146.0,274.2,7.7,361,4625,0.00,2.45,0.00,0.000,4,0.000,0.069,2872,326,2046
$GC,4711,0.85,146.0,267.1,7.6,365,4715,0.00,2.38,0.00,0.000,6,0.000,0.057,2871,1750,2046
$GC,5038,0.85,146.0,244.0,7.4,381,5042,0.00,2.30,0.00,0.000,4,0.000,0.071,2872,3162,2046
$GC,5079,0.69,146.0,240.8,8.1,382,5086,0.20,2.30,0.00,0.000,6,0.136,0.056,2824,1730,2045
$GC,5396,0.92,201.9,224.1,5.2,398,5449,0.17,2.42,46.92,1.010,4,0.068,0.069,2902,3158,1825
$GC,5472,0.74,201.9,218.1,9.3,401,5479,0.25,2.33,0.00,0.000,6,0.127,0.056,2840,1740,1821
$GC,5790,1.09,213.9,199.7,6.6,417,5802,0.25,0.00,10.35,0.908,6,0.076,0.000,2934,1740,1777
$GC,6099,0.99,213.9,173.4,8.9,432,6103,0.15,2.35,0.00,0.000,4,0.127,0.068,2890,3161,1775
$GC,6150,0.99,213.9,169.3,7.6,434,6154,0.00,2.30,0.00,0.000,6,0.000,0.057,2897,1730,1774
$GC,6472,1.09,243.3,150.4,6.1,450,6504,0.00,2.38,26.75,0.968,4,0.000,0.069,2897,3152,1658
$GC,6538,1.09,243.3,145.5,7.9,453,6542,0.00,2.30,0.00,0.000,6,0.000,0.056,2906,1730,1655
$GC,6866,1.17,243.3,121.4,7.3,469,6868,0.10,0.00,0.00,0.000,6,0.090,0.000,2952,1730,1652
$GC,7181,1.09,243.3,92.9,8.3,493,7187,0.15,2.38,0.00,0.000,4,0.136,0.070,2909,3164,1651
$GC,7207,1.04,243.3,90.9,8.0,497,7214,0.00,2.28,0.00,0.000,6,0.000,0.057,2916,1740,1650
$GC,7554,1.11,257.0,67.5,6.6,558,7572,0.00,2.35,12.02,0.901,4,0.000,0.070,2916,3161,1602
$GC,7581,1.18,269.1,65.7,6.6,562,7600,0.00,2.30,13.00,0.885,6,0.000,0.057,2926,1728,1552
$GC,7940,1.23,271.5,40.1,6.9,625,7945,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,1728,1548
$GC,8285,1.29,271.5,15.3,7.8,686,8291,0.12,2.38,0.00,0.000,4,0.081,0.072,2978,3158,1546
$GC,8316,1.19,271.5,12.2,9.0,691,8323,0.20,2.30,0.00,0.000,6,0.149,0.058,2933,1727,1546
$FREEZE,6.63,-1.790,-1.769
$STATE,8378,end climb,FINISH_DEPTH_REACHED
$STATE,8378,begin subsurface finish
$FINISH1,6.6,1.025920,85
$GC,8387,0.10,85.0,6.6,-8.0,702,8418,0.70,2.40,-24.88,0.000,4,0.114,0.083,2701,320,2307
$FINISH2,5.5
$STATE,8419,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8419,begin surface
$RAFOS_CLK,401
$RAFOS,4,1230727441,12.750000,12.733611,65,61,57,51,50,48,213,133,179,118,148,157
$RAFOS,3,1230726849,12.583333,12.569167,60,58,58,57,52,51,118,139,191,171,204,221
$RAFOS,2,1230726242,12.416667,12.400556,75,67,66,56,53,51,209,178,232,190,123,222
$RAFOS,1,1230725645,12.250000,12.234722,58,57,56,56,54,52,191,212,142,154,166,121
$RAFOS,0,1230725049,12.083333,12.069167,58,55,53,52,51,51,178,160,196,205,135,214
$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,1824
$INTERNAL_PRESSURE,9.88319
$TCM_TEMP,14.90
$XPDR_PINGS,205
$24V_AH,21.7,87.194
$10V_AH,10.4,40.141
$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,6.075,88.475,363.200,0.000,0.000,0.000,0.000,0.000,51.250,0.000,0.000,0.000,1242.205,5316.497,422.179,1308.203,184.778,0.000,1136.078,0.000,1297.569,1800.000,0.528,0.000
$DEVICE_MAMPS,154.167,98.943,1079.169,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,494.888,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22109,707
$CAP_FILE_SIZE,81441,0
$CFSIZE,260165632,216248320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1440.8
$GPS,291208,202120,6633.087,-6012.624,0,2098.0,0,-37.3