version: 66.04
glider: 108
mission: 11
dive: 594
start: 1 2 109 10 28 24
data:
$ID,108
$MISSION,11
$DIVE,594
$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,4.55
$_SM_ANGLEo,-5.6
$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,17,-0.99,-146.0,0.0,0.0,0,24,0.00,0.00,-5.43,0.000,2,0.000,0.000,2718,1730,1794
$GC,29,-0.99,-146.0,4.5,-0.0,1,93,0.68,3.15,-53.45,0.000,4,0.052,0.085,2434,3599,3249
$GC,101,-0.59,-146.0,7.0,-5.5,13,108,0.40,2.17,0.00,0.000,6,0.173,0.053,2553,2218,3250
$GC,448,-0.69,-146.0,34.9,-7.8,74,455,0.10,2.25,0.00,0.000,4,0.094,0.065,2513,817,3253
$GC,480,-0.69,-146.0,37.9,-9.0,79,487,0.10,2.33,0.00,0.000,6,0.149,0.064,2530,2234,3252
$GC,826,-0.69,-146.0,68.8,-8.9,140,832,0.00,2.33,0.00,0.000,4,0.000,0.066,2531,811,3253
$GC,845,-0.69,-146.0,70.6,-9.0,143,852,0.00,2.33,0.00,0.000,6,0.000,0.064,2523,2233,3252
$GC,1191,-0.69,-146.0,102.4,-9.8,201,1194,0.00,2.30,0.00,0.000,4,0.000,0.066,2523,822,3252
$GC,1208,-0.69,-146.0,104.5,-10.1,201,1215,0.00,2.33,0.00,0.000,6,0.000,0.065,2514,2238,3252
$GC,1525,-0.69,-146.0,134.4,-8.9,217,1529,0.00,2.22,0.00,0.000,4,0.000,0.081,2503,3601,3252
$GC,1687,-0.69,-146.0,148.4,-7.6,224,1692,0.10,2.17,0.00,0.000,6,0.158,0.054,2527,2214,3252
$GC,2016,-0.81,-146.0,166.5,-5.2,240,2018,0.10,0.00,0.00,0.000,6,0.099,0.000,2488,2214,3252
$GC,2324,-0.81,-146.0,189.0,-8.0,255,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2214,3252
$GC,2634,-0.81,-146.0,214.3,-7.9,270,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2215,3252
$GC,2942,-0.81,-146.0,237.2,-7.3,285,2946,0.00,2.22,0.00,0.000,4,0.000,0.065,2488,816,3252
$STATE,3098,end dive,NO_VERTICAL_VELOCITY
$STATE,3098,begin apogee
$GC,3108,-0.31,0.0,238.3,0.0,292,3234,0.40,0.00,123.43,1.038,6,0.100,0.000,2624,1752,2650
$STATE,3235,end apogee,CONTROL_FINISHED_OK
$STATE,3235,begin climb
$GC,3239,0.99,146.0,238.3,0.0,298,3375,0.85,2.60,127.95,0.955,4,0.106,0.072,2893,3158,2054
$GC,3492,0.79,146.0,220.0,10.1,309,3499,0.20,2.42,0.00,0.000,6,0.135,0.054,2850,1748,2048
$GC,3809,0.89,191.3,201.2,5.6,325,3853,0.10,2.50,38.45,0.957,4,0.091,0.071,2893,3159,1869
$GC,3906,0.72,191.3,193.9,8.9,329,3910,0.25,2.33,0.00,0.000,6,0.133,0.055,2830,1736,1866
$GC,4233,1.16,218.7,175.9,6.1,345,4264,0.28,2.42,23.58,0.950,4,0.074,0.071,2939,3152,1758
$GC,4381,0.87,218.7,161.5,11.1,351,4386,0.30,2.28,0.00,0.000,6,0.140,0.055,2862,1736,1754
$GC,4703,1.08,255.2,142.4,5.8,367,4746,0.17,2.45,32.35,0.950,4,0.071,0.070,2941,3160,1609
$GC,4865,0.90,255.2,127.5,10.6,374,4870,0.28,2.30,0.00,0.000,6,0.131,0.055,2870,1730,1604
$GC,5187,1.35,273.7,105.0,6.4,390,5210,0.30,2.42,16.65,0.913,4,0.081,0.071,2982,3156,1534
$GC,5416,1.08,273.7,80.7,11.5,421,5423,0.28,2.28,0.00,0.000,6,0.143,0.057,2914,1734,1531
$GC,5763,1.17,276.6,57.3,6.9,482,5769,0.00,2.30,0.00,0.000,4,0.000,0.072,2920,330,1528
$GC,5816,1.28,276.6,53.6,7.2,491,5823,0.12,2.33,0.00,0.000,6,0.080,0.060,2975,1752,1528
$GC,6163,1.16,276.6,21.7,9.3,552,6170,0.17,2.30,0.00,0.000,4,0.137,0.076,2925,3164,1528
$GC,6211,1.16,276.6,17.6,8.4,560,6217,0.00,2.30,0.00,0.000,6,0.000,0.058,2931,1725,1527
$FREEZE,6.68,-1.786,-1.765
$STATE,6357,end climb,FINISH_DEPTH_REACHED
$STATE,6357,begin subsurface finish
$FINISH1,6.7,1.025864,88
$GC,6370,0.11,87.7,6.7,-7.0,586,6405,0.70,2.35,-25.02,0.000,4,0.119,0.083,2703,330,2297
$FINISH2,5.6
$STATE,6406,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6406,begin surface
$RAFOS_CLK,307
$RAFOS,0,1230897845,12.083333,12.068055,136,59,57,57,51,49,674,201,221,182,143,235
$RAFOS_FIX,6633.087402,-6012.624023,291208,202020,2,98,0.15
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.029146
$HUMID,1863
$INTERNAL_PRESSURE,9.88319
$TCM_TEMP,14.80
$XPDR_PINGS,119
$24V_AH,21.8,91.911
$10V_AH,10.4,41.227
$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,5.875,62.950,362.400,0.000,0.000,0.000,0.000,0.000,29.750,0.000,0.000,0.000,1014.768,3767.983,422.211,1087.474,166.959,0.000,1026.808,0.000,1087.633,720.000,0.528,0.000
$DEVICE_MAMPS,173.342,85.137,1037.751,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,413.822,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18956,592
$CAP_FILE_SIZE,62990,0
$CFSIZE,260165632,215007232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1439.1
$GPS,291208,202120,6633.087,-6012.624,0,2098.0,0,-37.3
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581