version: 66.04
glider: 108
mission: 11
dive: 593
start: 1 2 109 8 46 53
data:
$ID,108
$MISSION,11
$DIVE,593
$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,85
$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,-127860.21
$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,25
$R_STBD_OVSHOOT,23
$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,5.60
$_SM_ANGLEo,-9.9
$GPS2,202120,6633.087,-6012.624,0,2098.0,0,-37.3
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6634.029,-5945.571
$TGT_RADIUS,1852.000
$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,122.3,20000,-13.0,-7.021
$D_GRID,522
$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,16,-0.99,-146.0,0.0,0.0,0,24,0.00,0.00,-5.30,0.000,2,0.000,0.000,2690,3152,2454
$GC,28,-0.99,-146.0,5.6,-0.0,1,63,0.62,3.83,-27.10,0.000,4,0.061,0.069,2454,816,3248
$GC,181,-0.73,-146.0,22.6,-14.0,27,188,0.28,2.35,0.00,0.000,6,0.147,0.066,2523,2241,3252
$GC,527,-0.73,-146.0,55.6,-9.6,88,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2241,3253
$GC,872,-0.73,-146.0,86.8,-8.9,149,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2241,3253
$GC,1206,-0.73,-146.0,116.2,-8.5,184,1209,0.00,2.35,0.00,0.000,4,0.000,0.067,2524,807,3253
$GC,1217,-0.73,-146.0,117.2,-8.1,184,1221,0.00,2.33,0.00,0.000,6,0.000,0.065,2516,2230,3253
$GC,1539,-0.73,-146.0,142.2,-7.7,200,1542,0.00,2.22,0.00,0.000,4,0.000,0.080,2506,3598,3253
$GC,1635,-0.73,-146.0,149.2,-7.2,204,1639,0.00,2.17,0.00,0.000,6,0.000,0.054,2506,2218,3253
$GC,1962,-0.73,-146.0,175.7,-8.5,220,1966,0.00,2.30,0.00,0.000,4,0.000,0.079,2496,3602,3253
$GC,1973,-0.73,-146.0,176.8,-8.5,220,1978,0.10,2.17,0.00,0.000,6,0.154,0.054,2521,2211,3253
$GC,2296,-0.83,-146.0,197.5,-5.9,236,2300,0.00,2.22,0.00,0.000,4,0.000,0.067,2521,820,3253
$GC,2325,-0.90,-146.0,199.4,-5.9,237,2330,0.10,2.33,0.00,0.000,6,0.091,0.066,2471,2233,3252
$GC,2647,-1.14,-146.0,219.9,-3.1,253,2652,0.12,2.33,0.00,0.000,4,0.081,0.067,2413,816,3252
$STATE,2778,end dive,NO_VERTICAL_VELOCITY
$STATE,2782,begin apogee
$GC,2792,-0.31,0.0,220.0,0.0,259,2918,0.60,0.00,123.07,1.030,6,0.101,0.000,2616,1743,2650
$STATE,2919,end apogee,CONTROL_FINISHED_OK
$STATE,2919,begin climb
$GC,2922,0.99,146.0,219.8,0.0,265,3057,0.88,2.60,127.20,0.945,4,0.112,0.070,2891,3157,2054
$GC,3314,0.80,146.0,186.5,9.5,282,3321,0.17,2.38,0.00,0.000,6,0.140,0.057,2854,1740,2046
$GC,3631,0.89,163.5,164.8,6.5,298,3651,0.00,2.42,14.40,0.910,4,0.000,0.071,2862,324,1983
$GC,3676,1.01,183.7,161.9,6.4,300,3701,0.15,2.38,19.15,0.916,6,0.075,0.058,2927,1753,1901
$GC,4033,0.89,183.7,133.8,7.3,317,4038,0.20,2.30,0.00,0.000,4,0.133,0.074,2863,3159,1897
$GC,4177,1.02,214.8,125.1,6.0,323,4210,0.12,2.30,26.67,0.938,6,0.079,0.058,2927,1725,1774
$GC,4524,1.02,214.8,97.2,7.1,343,4531,0.12,2.30,0.00,0.000,4,0.139,0.071,2900,327,1769
$GC,4589,1.18,242.2,93.0,6.1,354,4620,0.12,2.33,24.58,0.920,6,0.077,0.060,2957,1743,1662
$GC,4960,1.08,242.2,62.4,8.3,419,4967,0.17,2.30,0.00,0.000,4,0.137,0.072,2907,3157,1657
$GC,5014,1.08,242.2,58.3,7.5,428,5020,0.00,2.28,0.00,0.000,6,0.000,0.058,2913,1737,1655
$GC,5360,1.16,255.0,35.1,6.6,489,5378,0.00,0.00,11.27,0.865,6,0.000,0.000,2914,1737,1610
$GC,5718,1.28,282.0,13.2,6.2,552,5750,0.15,2.45,25.55,0.894,4,0.078,0.073,2976,3162,1501
$GC,5781,1.09,282.0,7.5,9.6,562,5787,0.25,2.33,0.00,0.000,6,0.142,0.058,2916,1730,1498
$FREEZE,5.70,-1.786,-1.763
$FREEZE,5.26,-1.787,-1.763
$FREEZE,4.86,-1.787,-1.762
$FREEZE,4.62,-1.787,-1.762
$FREEZE,4.54,-1.769,-1.663
$FREEZE,4.51,-1.786,-1.664
$FREEZE,4.55,-1.786,-1.664
$FREEZE,4.53,-1.787,-1.664
$FREEZE,4.46,-1.787,-1.664
$FREEZE,4.42,-1.787,-1.664
$FREEZE,4.55,-1.787,-1.665
$FREEZE,4.55,-1.787,-1.665
$FREEZE,4.50,-1.787,-1.665
$FREEZE,4.48,-1.786,-1.664
$FREEZE,4.52,-1.787,-1.664
$FREEZE,4.52,-1.787,-1.665
$FREEZE,4.54,-1.787,-1.665
$FREEZE,4.48,-1.787,-1.665
$FREEZE,4.50,-1.787,-1.664
$FREEZE,4.59,-1.787,-1.665
$FREEZE,4.41,-1.787,-1.664
$FREEZE,4.59,-1.786,-1.664
$FREEZE,4.56,-1.786,-1.664
$FREEZE,4.53,-1.787,-1.664
$FREEZE,4.50,-1.787,-1.664
$FREEZE,4.50,-1.787,-1.664
$FREEZE,4.54,-1.787,-1.664
$FREEZE,4.56,-1.787,-1.664
$FREEZE,4.44,-1.787,-1.664
$FREEZE,4.52,-1.787,-1.664
$FREEZE,4.54,-1.787,-1.664
$FREEZE,4.56,-1.785,-1.664
$STATE,5967,end climb,NO_VERTICAL_VELOCITY
$STATE,5967,begin subsurface finish
$FINISH1,4.6,1.024447,158
$GC,5977,0.19,157.5,4.6,0.1,595,5985,0.57,0.00,-5.07,0.000,2,0.102,0.000,2718,1730,1632
$FINISH2,4.5
$STATE,5985,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,5986,begin surface
$RAFOS_CLK,288
$RAFOS,4,1230885843,8.750000,8.734167,59,58,57,55,52,50,206,221,164,179,188,136
$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,1864
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,14.80
$XPDR_PINGS,155
$24V_AH,21.9,91.807
$10V_AH,10.4,41.193
$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,4.750,56.500,371.900,0.000,0.000,0.000,0.000,0.000,38.750,0.000,0.000,0.000,1039.533,3389.770,382.898,1069.449,158.267,0.000,963.459,0.000,1066.099,0.000,0.529,0.000
$DEVICE_MAMPS,154.167,79.768,1030.081,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,416.872,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18998,596
$CAP_FILE_SIZE,62092,0
$CFSIZE,260165632,215040000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1439.0
$GPS,291208,202120,6633.087,-6012.624,0,2098.0,0,-37.3
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581