version: 66.04
glider: 108
mission: 11
dive: 849
start: 2 26 109 1 35 32
data:
$ID,108
$MISSION,11
$DIVE,849
$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,-145749.22
$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,29
$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
$GPS1,011222,6400.375,-5448.673,8,4.6,27,-33.4
$_CALLS,3
$_XMS_NAKs,15
$_XMS_TOUTs,3
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-68.8
$GPS2,013507,6400.592,-5448.904,43,1.2,43,-33.4
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$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,207.6,1319,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-1.31,-146.0,0.0,0.0,0,66,0.00,0.00,-46.83,0.000,2,0.000,0.000,324,2247,2770
$GC,71,-1.31,-146.0,3.1,-1.6,7,105,8.43,2.28,-20.08,0.000,4,0.235,0.078,2385,3599,3248
$GC,363,-1.12,-146.0,36.5,-12.4,57,372,0.17,2.17,0.00,0.000,6,0.154,0.042,2440,2206,3252
$GC,715,-1.12,-146.0,70.4,-9.7,118,721,0.00,2.33,0.00,0.000,4,0.000,0.064,2432,3595,3252
$GC,730,-1.12,-146.0,71.9,-9.8,120,736,0.00,2.15,0.00,0.000,6,0.000,0.041,2432,2221,3252
$GC,1084,-1.12,-146.0,106.8,-10.3,174,1088,0.00,2.30,0.00,0.000,4,0.000,0.064,2423,3598,3251
$GC,1096,-1.12,-146.0,108.2,-10.2,174,1100,0.00,2.17,0.00,0.000,6,0.000,0.042,2429,2217,3251
$GC,1419,-1.12,-146.0,141.1,-10.4,190,1423,0.00,2.25,0.00,0.000,4,0.000,0.054,2431,824,3250
$GC,1534,-1.12,-146.0,153.7,-11.1,195,1538,0.00,2.33,0.00,0.000,6,0.000,0.054,2423,2231,3250
$GC,1869,-1.12,-146.0,185.7,-8.9,211,1873,0.00,2.33,0.00,0.000,4,0.000,0.052,2426,817,3250
$GC,1932,-1.12,-146.0,191.1,-7.7,213,1940,0.00,2.35,0.00,0.000,6,0.000,0.052,2418,2236,3250
$GC,2251,-1.12,-146.0,213.9,-6.9,229,2252,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2237,3250
$GC,2561,-1.12,-146.0,234.7,-6.8,244,2562,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2236,3250
$GC,2868,-1.12,-146.0,256.1,-6.9,259,2870,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2236,3250
$GC,3179,-1.12,-146.0,277.7,-7.1,274,3183,0.00,2.33,0.00,0.000,4,0.000,0.051,2419,818,3251
$GC,3227,-1.12,-146.0,281.4,-7.6,276,3231,0.10,2.35,0.00,0.000,6,0.143,0.051,2435,2242,3251
$GC,3561,-1.20,-146.0,304.4,-6.9,292,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2242,3251
$GC,3871,-1.29,-146.0,326.4,-7.3,307,3873,0.12,0.00,0.00,0.000,6,0.074,0.000,2383,2242,3252
$GC,4180,-1.17,-146.0,353.3,-8.4,322,4185,0.17,2.35,0.00,0.000,4,0.154,0.049,2432,825,3253
$GC,4193,-1.08,-146.0,354.5,-8.3,322,4197,0.00,2.33,0.00,0.000,6,0.000,0.049,2424,2241,3253
$STATE,4285,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4285,begin apogee
$GC,4297,-0.31,0.0,360.9,6.7,327,4431,0.60,0.00,124.35,0.999,6,0.117,0.000,2611,1728,2648
$STATE,4432,end apogee,CONTROL_FINISHED_OK
$STATE,4432,begin climb
$GC,4437,1.31,146.0,361.5,0.0,334,4566,1.05,0.00,124.40,0.935,6,0.085,0.000,2962,1728,2054
$GC,4875,1.17,146.0,298.4,15.9,355,4879,0.12,2.25,0.00,0.000,4,0.135,0.055,2936,330,2048
$GC,4938,1.17,146.0,289.1,13.8,357,4946,0.00,2.28,0.00,0.000,6,0.000,0.044,2937,1755,2048
$GC,5256,1.12,146.0,246.1,13.0,373,5260,0.00,2.33,0.00,0.000,4,0.000,0.054,2947,324,2047
$GC,5292,1.12,146.0,241.5,12.4,374,5297,0.10,2.28,0.00,0.000,6,0.146,0.042,2922,1755,2048
$GC,5615,1.12,146.0,206.6,10.1,390,5619,0.00,2.22,0.00,0.000,4,0.000,0.055,2922,3162,2048
$GC,5690,1.05,146.0,198.3,11.6,393,5694,0.10,2.22,0.00,0.000,6,0.149,0.040,2904,1723,2047
$GC,6019,1.16,158.6,168.5,9.4,409,6036,0.10,2.22,10.98,0.792,4,0.077,0.052,2966,335,2002
$GC,6149,1.10,158.6,152.0,13.9,413,6157,0.17,2.25,0.00,0.000,6,0.136,0.042,2917,1753,2002
$GC,6468,1.20,158.6,116.5,10.2,429,6472,0.10,2.22,0.00,0.000,4,0.078,0.054,2966,3152,2001
$GC,6570,1.01,158.6,102.2,14.4,433,6575,0.28,2.22,0.00,0.000,6,0.136,0.041,2898,1724,2001
$GC,6917,1.25,210.2,72.4,7.6,490,6969,0.17,2.33,43.72,0.817,4,0.058,0.054,2988,337,1792
$GC,6996,1.25,210.2,63.6,13.0,502,7003,0.15,2.28,0.00,0.000,6,0.141,0.042,2949,1748,1788
$GC,7345,1.35,220.3,26.8,9.5,563,7359,0.10,2.30,8.68,0.706,4,0.081,0.057,2994,3154,1751
$GC,7419,1.16,220.3,16.5,14.9,575,7426,0.28,2.22,0.00,0.000,6,0.140,0.042,2927,1727,1748
$FREEZE,6.87,-0.676,-1.838
$FREEZE,6.44,-0.676,-1.837
$FREEZE,5.88,-0.675,-1.837
$FREEZE,5.36,-0.687,-1.837
$FREEZE,4.82,-0.693,-1.836
$FREEZE,4.32,-0.680,-1.836
$FREEZE,3.88,-0.684,-1.835
$FREEZE,3.05,-0.679,-1.835
$FREEZE,2.54,-0.679,-1.834
$STATE,7559,end climb,SURFACE_DEPTH_REACHED
$STATE,7559,begin surface coast
$FREEZE,2.07,-0.677,-1.834
$FREEZE,1.54,-0.565,-0.931
$FREEZE,1.65,-1.189,-1.798
$FREEZE,1.49,-0.804,-1.802
$FREEZE,1.66,-0.696,-1.739
$FREEZE,1.53,-1.364,-1.827
$FINISH,1.5,1.026793
$STATE,7592,end surface coast,CONTROL_FINISHED_OK
$STATE,7592,begin surface
$SM_CCo,7617,4.20,0.563,0,0,1732,225.19
$SM_GC,2.97,0.00,0.00,4.20,0.000,0.000,0.563,330,2237,1732,-10.81,0.20,225.19
$RAFOS_CLK,318
$RAFOS_FIX,6614.886719,-5648.581055,290109,161652,2,86,0.18
$IRIDIUM_FIX,6337.14,-5604.95,230598,010157
$TT8_MAMPS,0.026845
$HUMID,1835
$INTERNAL_PRESSURE,9.94179
$TCM_TEMP,16.20
$XPDR_PINGS,153
$24V_AH,22.5,129.887
$10V_AH,10.3,59.551
$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,19.350,65.250,312.125,4.200,0.000,67.974,176.473,647.491,38.250,0.000,0.000,44.910,1152.724,4962.273,397.668,1099.607,1379.155,0.000,981.463,0.000,1058.755,0.000,0.532,0.000
$DEVICE_MAMPS,235.469,78.234,999.401,562.978,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,419.939,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19015,605
$CAP_FILE_SIZE,84702,0
$CFSIZE,260165632,198258688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.8
$CURRENT,0.182, 12.9,1
$GPS,260209,034407,6400.527,-5448.280,37,1.4,38,-33.4