version: 66.04
glider: 108
mission: 11
dive: 850
start: 2 26 109 3 53 53
data:
$ID,108
$MISSION,11
$DIVE,850
$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,-145763.33
$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,35
$R_STBD_OVSHOOT,26
$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
$GPS1,034407,6400.527,-5448.280,37,1.4,38,-33.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-70.2
$GPS2,035332,6400.616,-5448.218,12,1.7,12,-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,219.4,1155,-18.1,-10.000
$D_GRID,1145
$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,18,-1.31,-146.0,0.0,0.0,0,68,0.00,0.00,-48.62,0.000,2,0.000,0.000,329,2237,2846
$GC,74,-1.31,-146.0,3.0,-1.7,8,107,8.15,2.25,-15.57,0.000,4,0.225,0.077,2382,3593,3248
$GC,354,-1.11,-146.0,38.6,-15.4,56,361,0.17,2.15,0.00,0.000,6,0.151,0.041,2438,2211,3251
$GC,702,-1.11,-146.0,75.0,-8.9,117,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2211,3251
$GC,1055,-1.11,-146.0,108.7,-9.9,168,1059,0.00,2.33,0.00,0.000,4,0.000,0.063,2429,3605,3250
$GC,1103,-1.11,-146.0,113.4,-10.1,170,1107,0.00,2.17,0.00,0.000,6,0.000,0.041,2430,2215,3250
$GC,1439,-1.11,-146.0,144.5,-8.3,186,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2215,3250
$GC,1750,-1.11,-146.0,170.3,-8.1,201,1753,0.00,2.25,0.00,0.000,4,0.000,0.052,2431,817,3249
$GC,1775,-1.11,-146.0,172.6,-8.5,202,1780,0.00,2.35,0.00,0.000,6,0.000,0.052,2423,2241,3249
$GC,2112,-1.11,-146.0,200.9,-8.6,218,2116,0.00,2.22,0.00,0.000,4,0.000,0.064,2412,3595,3249
$GC,2182,-1.11,-146.0,207.9,-10.3,221,2187,0.10,2.15,0.00,0.000,6,0.143,0.041,2438,2223,3249
$GC,2521,-1.19,-146.0,235.0,-7.5,237,2525,0.00,2.25,0.00,0.000,4,0.000,0.053,2438,825,3248
$GC,2664,-1.19,-146.0,246.1,-7.2,243,2668,0.00,2.33,0.00,0.000,6,0.000,0.052,2430,2236,3248
$GC,2988,-1.24,-146.0,268.7,-6.8,259,2992,0.00,2.33,0.00,0.000,4,0.000,0.051,2430,816,3248
$GC,3029,-1.24,-146.0,271.7,-6.9,260,3035,0.00,2.33,0.00,0.000,6,0.000,0.050,2420,2235,3248
$GC,3347,-1.24,-146.0,294.3,-6.9,276,3351,0.00,2.30,0.00,0.000,4,0.000,0.050,2420,817,3249
$GC,3359,-1.24,-146.0,295.2,-7.0,276,3364,0.00,2.33,0.00,0.000,6,0.000,0.049,2410,2234,3249
$GC,3679,-1.24,-146.0,319.3,-7.7,291,3683,0.00,2.30,0.00,0.000,4,0.000,0.049,2411,824,3249
$GC,3705,-1.18,-146.0,321.4,-7.9,292,3709,0.10,2.30,0.00,0.000,6,0.154,0.049,2425,2234,3250
$GC,4040,-1.23,-146.0,345.3,-7.0,308,4044,0.00,2.22,0.00,0.000,4,0.000,0.061,2416,3600,3250
$GC,4075,-1.23,-146.0,348.0,-7.7,309,4079,0.00,2.15,0.00,0.000,6,0.000,0.038,2417,2212,3250
$STATE,4249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4249,begin apogee
$GC,4261,-0.31,0.0,360.9,7.1,318,4386,0.65,0.00,122.45,0.999,6,0.120,0.000,2616,1732,2650
$STATE,4387,end apogee,CONTROL_FINISHED_OK
$STATE,4387,begin climb
$GC,4392,1.31,146.0,362.6,0.0,324,4524,1.05,0.00,125.15,0.932,6,0.092,0.000,2962,1732,2052
$GC,4837,1.16,146.0,305.1,13.7,346,4841,0.12,2.30,0.00,0.000,4,0.138,0.054,2929,3157,2047
$GC,4878,1.04,146.0,299.1,13.5,348,4883,0.12,2.22,0.00,0.000,6,0.146,0.041,2904,1728,2046
$GC,5213,1.10,146.0,263.1,10.6,364,5216,0.00,2.25,0.00,0.000,4,0.000,0.054,2913,325,2046
$GC,5294,1.17,146.0,254.2,10.8,367,5298,0.00,2.28,0.00,0.000,6,0.000,0.042,2913,1753,2046
$GC,5619,1.17,146.0,220.3,10.4,383,5622,0.00,2.22,0.00,0.000,4,0.000,0.055,2913,3154,2046
$GC,5660,1.11,146.0,215.5,11.3,384,5666,0.00,2.22,0.00,0.000,6,0.000,0.039,2923,1723,2046
$GC,5978,1.11,146.0,182.6,10.4,400,5982,0.00,2.22,0.00,0.000,4,0.000,0.052,2934,334,2046
$GC,6032,1.11,146.0,176.9,10.1,402,6036,0.00,2.25,0.00,0.000,6,0.000,0.041,2934,1746,2046
$GC,6361,1.12,153.2,143.5,9.7,418,6373,0.00,2.30,6.45,0.703,4,0.000,0.054,2934,3160,2024
$GC,6488,1.04,153.2,129.3,11.8,423,6495,0.15,2.22,0.00,0.000,6,0.137,0.040,2903,1730,2023
$GC,6806,1.21,187.9,102.5,8.4,439,6842,0.15,2.28,29.88,0.822,4,0.064,0.053,2983,329,1884
$GC,6891,1.15,187.9,91.9,13.2,448,6898,0.20,2.28,0.00,0.000,6,0.137,0.042,2927,1753,1882
$GC,7240,1.25,187.9,54.3,10.7,509,7248,0.10,2.22,0.00,0.000,4,0.077,0.054,2975,3154,1878
$GC,7370,1.12,187.9,36.5,14.0,531,7376,0.22,2.22,0.00,0.000,6,0.136,0.041,2922,1730,1877
$FREEZE,6.86,-0.684,-1.836
$FREEZE,6.44,-0.681,-1.835
$FREEZE,5.97,-0.681,-1.835
$FREEZE,5.54,-0.678,-1.834
$FREEZE,5.07,-0.677,-1.834
$FREEZE,4.21,-0.630,-1.832
$FREEZE,3.33,-0.648,-1.832
$FREEZE,2.05,-0.644,-1.832
$GC,7721,1.32,226.5,5.1,8.2,592,7750,0.15,0.00,26.25,0.773,2,0.062,0.000,2990,1730,1756
$STATE,7750,end climb,SURFACE_DEPTH_REACHED
$STATE,7750,begin surface coast
$FREEZE,1.56,-0.889,-0.796
$FREEZE,1.54,-0.965,-0.348
$FREEZE,1.55,-0.705,-1.200
$FREEZE,1.63,-0.654,-0.647
$FREEZE,1.60,-0.568,-0.518
$FINISH,1.6,1.007552
$STATE,7778,end surface coast,CONTROL_FINISHED_OK
$STATE,7778,begin surface
$SM_CCo,7803,4.18,0.537,0,0,1732,225.19
$SM_GC,3.12,0.00,0.00,4.18,0.000,0.000,0.537,329,2244,1732,-10.81,0.37,225.19
$RAFOS_CLK,300
$RAFOS,4,1235623441,4.750000,4.733611,65,60,53,52,51,47,197,165,123,221,210,83
$RAFOS,3,1235622841,4.583333,4.566945,59,59,58,54,52,52,201,230,156,213,165,138
$RAFOS,2,1235622249,4.416667,4.402500,61,56,55,54,53,52,206,166,181,146,228,130
$RAFOS,1,1235621660,4.250000,4.238889,65,56,53,51,49,49,175,201,216,142,164,185
$RAFOS,0,1235621046,4.083333,4.068333,61,58,57,55,52,49,192,203,148,182,229,161
$RAFOS_FIX,6614.886719,-5648.581055,290109,161652,2,86,0.18
$IRIDIUM_FIX,6332.30,-5506.50,230598,010152
$TT8_MAMPS,0.026845
$HUMID,1830
$INTERNAL_PRESSURE,9.94179
$TCM_TEMP,16.30
$XPDR_PINGS,255
$24V_AH,22.4,130.001
$10V_AH,10.4,59.595
$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,18.725,73.725,310.175,4.175,0.000,24.083,53.869,329.553,63.750,0.000,0.000,13.478,1167.497,4990.525,392.510,1096.098,728.941,0.000,992.918,0.000,1081.391,1800.000,0.532,0.000
$DEVICE_MAMPS,225.498,77.467,998.634,536.900,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,416.451,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19045,600
$CAP_FILE_SIZE,80079,0
$CFSIZE,260165632,198262784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.9
$CURRENT,0.148, 38.9,1
$GPS,260209,060537,6400.273,-5447.349,38,1.1,39,-33.4