version: 66.04
glider: 108
mission: 11
dive: 553
start: 1 1 109 4 22 58
data:
$ID,108
$MISSION,11
$DIVE,553
$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,-127491.72
$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,20
$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,2.72
$_SM_ANGLEo,-2.5
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,16,-0.99,-146.0,0.0,0.0,0,57,0.00,0.00,-38.95,0.000,2,0.000,0.000,2705,327,3113
$GC,61,-0.99,-146.0,3.3,-1.3,7,77,0.65,5.45,-5.68,0.000,4,0.067,0.073,2430,3609,3248
$GC,332,-0.66,-146.0,43.7,-16.4,54,339,0.35,2.20,0.00,0.000,6,0.160,0.055,2533,2221,3252
$GC,678,-0.66,-146.0,73.6,-8.4,115,684,0.00,2.30,0.00,0.000,4,0.000,0.079,2525,3603,3253
$GC,938,-0.66,-146.0,98.3,-9.5,161,944,0.00,2.17,0.00,0.000,6,0.000,0.054,2525,2228,3253
$GC,1267,-0.66,-146.0,127.7,-8.6,179,1272,0.00,2.28,0.00,0.000,4,0.000,0.068,2525,814,3252
$GC,1337,-0.66,-146.0,134.1,-9.1,182,1341,0.00,2.35,0.00,0.000,6,0.000,0.067,2515,2237,3253
$GC,1665,-0.78,-146.0,161.7,-6.9,198,1669,0.00,2.22,0.00,0.000,4,0.000,0.081,2505,3593,3252
$GC,1723,-1.17,-146.0,161.8,-0.4,200,1727,0.25,2.17,0.00,0.000,6,0.074,0.057,2409,2224,3253
$STATE,1814,end dive,NO_VERTICAL_VELOCITY
$STATE,1814,begin apogee
$GC,1822,-0.31,0.0,162.1,0.0,205,1947,0.62,0.00,121.70,1.001,6,0.098,0.000,2620,1734,2650
$STATE,1948,end apogee,CONTROL_FINISHED_OK
$STATE,1948,begin climb
$GC,1952,0.99,146.0,162.1,0.0,211,2086,0.85,2.70,125.05,0.917,4,0.098,0.070,2896,3151,2053
$GC,2125,0.93,189.2,153.6,5.6,219,2172,0.10,2.50,39.58,0.874,6,0.142,0.056,2882,1735,1877
$GC,2500,1.21,230.3,131.8,5.7,237,2542,0.20,0.00,35.78,0.908,6,0.068,0.000,2969,1735,1709
$GC,2851,1.21,230.3,104.5,7.8,254,2856,0.12,2.35,0.00,0.000,4,0.133,0.074,2942,330,1702
$GC,2982,1.21,230.3,95.1,7.1,269,2988,0.00,2.35,0.00,0.000,6,0.000,0.061,2942,1752,1702
$GC,3328,1.21,230.3,69.8,7.8,330,3334,0.00,2.30,0.00,0.000,4,0.000,0.077,2942,3161,1700
$GC,3358,1.12,230.3,67.5,7.7,335,3365,0.12,2.30,0.00,0.000,6,0.145,0.059,2919,1730,1700
$GC,3705,1.12,230.3,46.0,7.4,396,3711,0.00,2.33,0.00,0.000,4,0.000,0.074,2928,323,1699
$GC,3724,1.14,248.3,45.1,6.4,399,3748,0.00,2.33,15.18,0.897,6,0.000,0.059,2928,1742,1636
$GC,4087,1.14,248.3,18.5,9.3,463,4093,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,1742,1633
$FREEZE,6.91,-1.787,-1.763
$FREEZE,6.91,-1.787,-1.763
$FREEZE,6.73,-1.787,-1.763
$FREEZE,6.66,-1.787,-1.763
$FREEZE,6.33,-1.787,-1.762
$FREEZE,6.32,-1.787,-1.762
$FREEZE,6.05,-1.787,-1.762
$FREEZE,5.87,-1.787,-1.762
$FREEZE,5.56,-1.787,-1.762
$FREEZE,5.43,-1.786,-1.762
$FREEZE,5.42,-1.777,-1.761
$FREEZE,5.08,-1.772,-1.761
$FREEZE,4.78,-1.786,-1.761
$FREEZE,4.66,-1.787,-1.761
$FREEZE,4.59,-1.787,-1.761
$FREEZE,4.56,-1.787,-1.761
$FREEZE,4.59,-1.787,-1.761
$FREEZE,4.45,-1.787,-1.761
$FREEZE,4.51,-1.787,-1.761
$FREEZE,4.59,-1.787,-1.761
$FREEZE,4.65,-1.786,-1.761
$FREEZE,4.51,-1.787,-1.761
$FREEZE,4.60,-1.787,-1.761
$FREEZE,4.63,-1.787,-1.761
$FREEZE,4.63,-1.787,-1.761
$FREEZE,4.63,-1.786,-1.761
$FREEZE,4.64,-1.786,-1.761
$FREEZE,4.65,-1.786,-1.761
$FREEZE,4.55,-1.788,-1.761
$FREEZE,4.55,-1.785,-1.761
$FREEZE,4.50,-1.787,-1.761
$FREEZE,4.59,-1.803,-1.762
$FREEZE,4.54,-1.802,-1.762
$FREEZE,4.58,-1.784,-1.761
$FREEZE,4.57,-1.783,-1.761
$FREEZE,4.49,-1.797,-1.762
$FREEZE,4.53,-1.789,-1.761
$GC,4435,1.13,471.5,4.7,-0.2,524,4512,0.00,0.00,73.95,0.901,2,0.000,0.000,2928,1743,1297
$STATE,4512,end climb,NO_VERTICAL_VELOCITY
$STATE,4512,begin subsurface finish
$FINISH1,4.5,1.025840,89
$GC,4521,0.11,88.9,4.5,-0.0,533,4529,0.75,0.00,-4.93,0.000,2,0.144,0.000,2705,1743,1433
$FINISH2,4.6
$STATE,4530,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,4530,begin surface
$RAFOS_CLK,223
$RAFOS,4,1230785049,4.750000,4.735833,69,58,57,57,50,49,121,158,175,206,111,138
$RAFOS,3,1230784446,4.583333,4.568333,58,53,52,52,50,48,218,188,154,171,130,76
$RAFOS,2,1230783843,4.416667,4.400833,69,60,58,56,55,53,212,184,169,137,193,123
$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,9.8246
$TCM_TEMP,14.80
$XPDR_PINGS,132
$24V_AH,22.1,88.327
$10V_AH,10.4,40.470
$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,4.025,41.050,411.225,0.000,0.000,0.000,0.000,0.000,33.000,0.000,0.000,0.000,894.175,2270.892,421.015,881.570,117.045,0.000,913.791,0.000,879.930,1080.000,0.528,0.000
$DEVICE_MAMPS,159.536,81.302,1000.935,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,372.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15861,534
$CAP_FILE_SIZE,49067,0
$CFSIZE,260165632,215937024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1438.1
$GPS,291208,202120,6633.087,-6012.624,0,2098.0,0,-37.3