version: 66.04
glider: 108
mission: 11
dive: 848
start: 2 25 109 23 6 58
data:
$ID,108
$MISSION,11
$DIVE,848
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$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,120
$T_MISSION,160
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-5
$USE_ICE,0
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,-1
$ESCAPE_HEADING,150
$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,-145703.69
$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,34
$R_STBD_OVSHOOT,31
$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
$GPS1,224406,6359.442,-5446.543,33,0.9,33,-33.4
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-67.6
$GPS2,230638,6359.498,-5446.817,12,1.2,12,-33.4
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5450.000
$TGT_RADIUS,2000.000
$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,308.4,2746,-18.1,-10.000
$D_GRID,1135
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,22,-1.31,-146.0,0.0,0.0,0,85,0.00,0.00,-60.88,0.000,2,0.000,0.000,333,2236,2664
$GC,90,-1.31,-146.0,3.0,-1.8,10,131,8.30,0.00,-27.48,0.000,6,0.232,0.000,2394,2236,3247
$GC,473,-1.16,-146.0,47.7,-12.7,76,480,0.12,2.25,0.00,0.000,4,0.168,0.064,2420,3599,3251
$GC,645,-1.10,-146.0,69.5,-11.8,105,652,0.00,2.17,0.00,0.000,6,0.000,0.042,2420,2210,3251
$GC,1004,-1.05,-146.0,108.9,-10.7,157,1008,0.12,2.25,0.00,0.000,4,0.142,0.052,2457,823,3250
$GC,1243,-1.12,-146.0,130.9,-9.3,167,1251,0.00,2.33,0.00,0.000,6,0.000,0.052,2450,2233,3249
$GC,1562,-1.20,-146.0,159.2,-8.1,183,1566,0.12,2.25,0.00,0.000,4,0.074,0.063,2386,3602,3249
$GC,1760,-1.07,-146.0,180.5,-11.2,191,1769,0.20,2.17,0.00,0.000,6,0.143,0.041,2448,2215,3249
$GC,2079,-1.16,-146.0,204.0,-7.2,207,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2214,3249
$GC,2388,-1.26,-146.0,227.2,-7.9,222,2393,0.15,2.25,0.00,0.000,4,0.072,0.051,2389,823,3249
$GC,2480,-1.11,-146.0,236.5,-11.2,226,2485,0.22,2.33,0.00,0.000,6,0.149,0.051,2440,2234,3249
$GC,2804,-1.19,-146.0,263.5,-8.4,242,2807,0.00,2.30,0.00,0.000,4,0.000,0.051,2442,826,3249
$GC,2969,-1.24,-146.0,276.9,-8.4,249,2974,0.10,2.33,0.00,0.000,6,0.077,0.051,2392,2241,3250
$GC,3298,-1.15,-146.0,307.5,-9.1,265,3300,0.15,0.00,0.00,0.000,6,0.150,0.000,2432,2241,3250
$GC,3608,-1.23,-146.0,330.5,-7.0,280,3610,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2241,3251
$GC,3916,-1.30,-146.0,350.9,-6.5,295,3921,0.12,2.33,0.00,0.000,4,0.081,0.049,2380,828,3251
$GC,3980,-1.13,-146.0,356.3,-8.4,297,3987,0.25,2.33,0.00,0.000,6,0.149,0.049,2437,2240,3251
$STATE,4046,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4046,begin apogee
$GC,4058,-0.31,0.0,361.0,6.7,301,4183,0.55,0.00,122.47,1.009,6,0.114,0.000,2611,1743,2650
$STATE,4184,end apogee,CONTROL_FINISHED_OK
$STATE,4184,begin climb
$GC,4189,1.31,146.0,362.6,0.0,307,4320,1.08,0.00,124.80,0.941,6,0.094,0.000,2963,1743,2053
$GC,4640,1.17,146.0,306.1,13.7,329,4645,0.12,2.28,0.00,0.000,4,0.136,0.054,2937,327,2048
$GC,4708,1.17,146.0,296.4,12.1,332,4712,0.00,2.25,0.00,0.000,6,0.000,0.043,2937,1745,2048
$GC,5037,1.17,146.0,256.9,12.1,348,5038,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1745,2047
$GC,5346,1.17,146.0,219.6,12.0,363,5350,0.00,2.33,0.00,0.000,4,0.000,0.054,2947,320,2047
$GC,5393,1.17,146.0,213.7,12.5,365,5397,0.00,2.28,0.00,0.000,6,0.000,0.041,2947,1746,2048
$GC,5716,1.17,146.0,173.5,12.3,381,5717,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1746,2048
$GC,6026,1.17,146.0,137.4,11.3,396,6028,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1746,2049
$GC,6334,1.17,146.0,103.0,11.4,411,6339,0.00,2.22,0.00,0.000,4,0.000,0.056,2947,3154,2049
$GC,6353,1.11,146.0,100.8,11.0,411,6361,0.15,2.22,0.00,0.000,6,0.140,0.041,2917,1730,2049
$GC,6705,1.28,209.4,70.9,7.1,472,6762,0.15,2.35,51.92,0.822,4,0.064,0.054,2995,327,1796
$GC,6838,1.22,209.4,56.7,11.7,493,6845,0.20,2.28,0.00,0.000,6,0.135,0.044,2938,1748,1791
$GC,7189,1.34,218.3,22.8,9.6,554,7204,0.12,2.30,7.55,0.691,4,0.073,0.058,2992,3156,1759
$GC,7253,1.19,218.3,14.6,14.4,564,7260,0.25,2.22,0.00,0.000,6,0.136,0.043,2932,1731,1758
$FREEZE,6.96,-0.593,-1.838
$FREEZE,6.46,-0.598,-1.838
$FREEZE,6.00,-0.598,-1.837
$FREEZE,5.50,-0.604,-1.837
$FREEZE,5.00,-0.620,-1.837
$FREEZE,4.60,-0.615,-1.836
$FREEZE,4.15,-0.619,-1.836
$FREEZE,3.59,-0.614,-1.835
$FREEZE,2.99,-0.602,-1.835
$STATE,7372,end climb,SURFACE_DEPTH_REACHED
$STATE,7372,begin surface coast
$FREEZE,2.01,-0.608,-1.834
$FREEZE,1.70,-0.748,-1.841
$FREEZE,1.55,-0.803,-1.839
$FREEZE,1.62,-0.703,-1.838
$FREEZE,1.58,-0.748,-0.235
$FREEZE,1.56,-1.233,-1.841
$FINISH,1.6,1.027001
$STATE,7406,end surface coast,CONTROL_FINISHED_OK
$STATE,7406,begin surface
$SM_CCo,7431,5.45,0.635,0,0,1732,225.19
$SM_GC,3.10,0.00,0.00,5.45,0.000,0.000,0.635,324,2247,1732,-10.84,0.48,225.19
$RAFOS_CLK,303
$RAFOS,4,1235609053,0.750000,0.736944,63,58,53,53,53,50,190,221,126,204,137,159
$RAFOS,3,1235608456,0.583333,0.571111,65,59,56,55,54,53,215,133,204,191,228,170
$RAFOS,2,1235607845,0.416667,0.401389,61,58,57,54,54,49,158,225,213,124,204,237
$RAFOS,1,1235607243,0.250000,0.234167,65,58,57,55,54,53,199,219,168,236,157,120
$RAFOS,0,1235606655,0.083333,0.070833,55,51,49,49,49,48,204,146,182,134,221,160
$RAFOS_FIX,6614.886719,-5648.581055,290109,161652,2,86,0.18
$IRIDIUM_FIX,6337.14,-5441.99,220598,232331
$TT8_MAMPS,0.026845
$HUMID,1831
$INTERNAL_PRESSURE,9.93202
$TCM_TEMP,16.00
$XPDR_PINGS,176
$24V_AH,22.5,129.750
$10V_AH,10.3,59.499
$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,19.525,51.600,306.750,5.450,0.000,75.846,146.645,720.810,44.000,0.000,0.000,13.781,1123.587,4796.172,421.082,1061.641,1367.962,0.000,981.261,0.000,1052.826,1800.000,0.532,0.000
$DEVICE_MAMPS,231.634,64.428,1009.372,635.076,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,409.447,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19006,590
$CAP_FILE_SIZE,85059,0
$CFSIZE,260165632,198291456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.0
$CURRENT,0.186,  7.6,1
$GPS,260209,011222,6400.375,-5448.673,8,4.6,27,-33.4