version: 66.04
glider: 108
mission: 11
dive: 543
start: 12 31 108 14 0 5
data:
$ID,108
$MISSION,11
$DIVE,543
$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,23
$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,4.86
$_SM_ANGLEo,-6.9
$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,-5.40,0.000,2,0.000,0.000,2701,320,2452
$GC,28,-0.99,-146.0,4.1,-0.0,1,63,0.62,0.00,-31.27,0.000,6,0.052,0.000,2446,320,3247
$GC,403,-0.68,-146.0,53.8,-14.2,67,409,0.28,0.85,0.00,0.000,4,0.155,0.060,2527,832,3253
$GC,630,-0.68,-146.0,77.0,-10.1,107,636,0.00,2.28,0.00,0.000,6,0.000,0.067,2517,2232,3253
$GC,981,-0.68,-146.0,111.9,-9.4,153,985,0.00,2.25,0.00,0.000,4,0.000,0.079,2506,3608,3253
$GC,1139,-0.68,-146.0,127.9,-10.9,160,1144,0.10,2.20,0.00,0.000,6,0.159,0.055,2530,2217,3253
$GC,1472,-0.73,-146.0,156.3,-8.1,176,1476,0.00,2.28,0.00,0.000,4,0.000,0.067,2531,813,3253
$GC,1586,-0.73,-146.0,166.3,-8.7,181,1590,0.00,2.35,0.00,0.000,6,0.000,0.066,2523,2232,3253
$GC,1919,-0.81,-146.0,189.3,-7.8,197,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2231,3253
$GC,2228,-0.91,-146.0,210.8,-7.2,212,2233,0.15,2.35,0.00,0.000,4,0.081,0.066,2461,813,3252
$GC,2431,-0.75,-146.0,228.6,-8.1,221,2436,0.22,2.38,0.00,0.000,6,0.140,0.067,2514,2241,3252
$GC,2759,-0.86,-146.0,247.0,-5.8,237,2763,0.00,2.22,0.00,0.000,4,0.000,0.078,2505,3597,3252
$GC,2829,-0.97,-146.0,251.4,-6.6,240,2834,0.12,2.17,0.00,0.000,6,0.088,0.054,2452,2216,3253
$GC,3162,-0.84,-146.0,278.7,-8.2,256,3167,0.17,2.28,0.00,0.000,4,0.147,0.067,2501,818,3252
$STATE,3360,end dive,NO_VERTICAL_VELOCITY
$STATE,3360,begin apogee
$GC,3370,-0.31,0.0,282.7,0.0,265,3497,0.32,0.00,124.15,1.065,6,0.109,0.000,2611,1748,2650
$STATE,3497,end apogee,CONTROL_FINISHED_OK
$STATE,3497,begin climb
$GC,3501,0.99,146.0,282.5,0.0,271,3637,0.90,2.67,128.62,0.982,4,0.106,0.068,2905,341,2053
$GC,3805,0.87,146.0,260.0,8.3,285,3810,0.15,2.40,0.00,0.000,6,0.137,0.058,2868,1721,2048
$GC,4139,0.91,177.7,239.3,6.0,301,4171,0.00,2.38,26.95,0.976,4,0.000,0.071,2868,3146,1924
$GC,4183,0.96,217.8,236.7,5.7,303,4224,0.00,2.30,35.83,0.965,6,0.000,0.055,2876,1741,1761
$GC,4555,0.96,217.8,212.7,7.1,321,4559,0.00,2.33,0.00,0.000,4,0.000,0.069,2876,3145,1753
$GC,4579,0.96,217.8,210.7,7.9,322,4583,0.00,2.28,0.00,0.000,6,0.000,0.055,2885,1729,1751
$GC,4912,0.96,223.8,187.4,6.8,338,4921,0.00,2.33,4.50,0.716,4,0.000,0.071,2896,327,1737
$GC,4958,1.04,223.8,183.8,8.2,340,4962,0.00,2.33,0.00,0.000,6,0.000,0.058,2896,1745,1739
$GC,5292,1.14,238.1,162.4,6.6,356,5314,0.12,2.33,14.52,0.943,4,0.081,0.074,2954,3162,1679
$GC,5349,0.91,238.1,157.0,10.7,358,5354,0.30,2.30,0.00,0.000,6,0.140,0.056,2877,1733,1678
$GC,5666,1.29,266.7,138.1,6.1,373,5698,0.22,2.35,26.65,0.960,4,0.077,0.071,2977,330,1562
$GC,5781,1.17,266.7,128.5,9.4,378,5786,0.17,2.35,0.00,0.000,6,0.140,0.058,2929,1750,1560
$GC,6103,1.18,278.1,106.5,6.7,394,6118,0.00,2.30,10.68,0.887,4,0.000,0.074,2930,3158,1515
$GC,6147,1.13,278.1,103.1,7.8,395,6151,0.00,2.30,0.00,0.000,6,0.000,0.058,2937,1730,1515
$GC,6488,1.13,278.1,78.3,7.4,448,6494,0.00,2.33,0.00,0.000,4,0.000,0.073,2948,324,1513
$GC,6501,1.13,278.1,77.2,7.5,450,6508,0.10,2.35,0.00,0.000,6,0.137,0.058,2922,1755,1513
$GC,6848,1.22,287.2,54.5,6.7,511,6862,0.10,2.35,8.80,0.858,4,0.086,0.074,2967,3164,1479
$GC,6881,1.22,287.2,51.6,8.0,516,6887,0.12,2.30,0.00,0.000,6,0.156,0.058,2945,1729,1479
$GC,7227,1.22,287.2,23.7,8.1,577,7233,0.00,2.33,0.00,0.000,4,0.000,0.074,2953,324,1477
$GC,7251,1.22,287.2,21.6,8.5,581,7257,0.00,2.33,0.00,0.000,6,0.000,0.058,2954,1741,1477
$FREEZE,6.62,-1.791,-1.768
$FREEZE,6.14,-1.790,-1.768
$FREEZE,5.72,-1.791,-1.767
$FREEZE,4.91,-1.791,-1.767
$FREEZE,4.51,-1.791,-1.766
$FREEZE,4.02,-1.789,-1.766
$FREEZE,3.76,-1.790,-1.766
$FREEZE,3.68,-1.791,-1.766
$FREEZE,3.42,-1.791,-1.766
$FREEZE,3.27,-1.791,-1.765
$FREEZE,3.15,-1.791,-1.765
$FREEZE,3.20,-1.791,-1.765
$FREEZE,3.27,-1.791,-1.765
$FREEZE,3.19,-1.791,-1.765
$FREEZE,3.16,-1.791,-1.765
$FREEZE,3.23,-1.791,-1.765
$FREEZE,3.14,-1.791,-1.765
$FREEZE,3.30,-1.791,-1.765
$FREEZE,3.26,-1.791,-1.765
$FREEZE,3.18,-1.791,-1.765
$FREEZE,3.29,-1.791,-1.765
$FREEZE,3.19,-1.791,-1.765
$FREEZE,3.20,-1.791,-1.765
$FREEZE,3.24,-1.791,-1.765
$FREEZE,3.17,-1.791,-1.765
$FREEZE,3.26,-1.791,-1.765
$FREEZE,3.18,-1.791,-1.765
$FREEZE,3.26,-1.790,-1.765
$FREEZE,3.23,-1.790,-1.765
$FREEZE,3.17,-1.790,-1.765
$FREEZE,3.24,-1.791,-1.765
$FREEZE,3.18,-1.802,-1.766
$FREEZE,3.22,-1.800,-1.766
$FREEZE,3.19,-1.803,-1.766
$FREEZE,3.20,-1.799,-1.766
$GC,7602,1.75,505.7,3.2,-0.0,642,7637,0.28,0.00,32.17,0.910,2,0.070,0.000,3069,1742,1338
$STATE,7638,end climb,NO_VERTICAL_VELOCITY
$STATE,7638,begin subsurface finish
$FINISH1,3.2,1.025920,85
$GC,7646,0.10,85.0,3.2,-0.1,646,7654,1.10,0.00,-4.45,0.000,2,0.100,0.000,2702,1742,1446
$FINISH2,3.2
$STATE,7655,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,7655,begin surface
$RAFOS_CLK,370
$RAFOS_FIX,6633.087402,-6012.624023,291208,202020,2,98,0.15
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.029146
$HUMID,1840
$INTERNAL_PRESSURE,9.81483
$TCM_TEMP,14.80
$XPDR_PINGS,178
$24V_AH,21.8,87.314
$10V_AH,10.4,40.179
$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,5.575,72.075,412.875,0.000,0.000,0.000,0.000,0.000,44.500,0.000,0.000,0.000,1167.234,4678.131,413.080,1277.406,172.901,0.000,1103.676,0.000,1264.260,360.000,0.529,0.000
$DEVICE_MAMPS,158.769,79.001,1065.363,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,453.458,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18997,647
$CAP_FILE_SIZE,75437,0
$CFSIZE,260165632,216215552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1440.6
$GPS,291208,202120,6633.087,-6012.624,0,2098.0,0,-37.3