version: 66.04
glider: 108
mission: 11
dive: 595
start: 1 2 109 12 16 56
data:
$ID,108
$MISSION,11
$DIVE,595
$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,21
$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,5.08
$_SM_ANGLEo,-5.7
$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,-5.30,0.000,2,0.000,0.000,2703,330,2449
$GC,28,-0.99,-146.0,4.8,-0.0,1,69,0.65,5.43,-29.10,0.000,4,0.061,0.074,2423,3610,3249
$GC,170,-0.67,-146.0,21.3,-15.1,25,177,0.35,2.20,0.00,0.000,6,0.153,0.054,2533,2209,3252
$GC,516,-0.74,-146.0,52.8,-8.5,86,522,0.00,2.22,0.00,0.000,4,0.000,0.065,2533,815,3253
$GC,542,-0.74,-146.0,55.1,-8.9,90,548,0.00,2.33,0.00,0.000,6,0.000,0.064,2525,2235,3253
$GC,887,-0.74,-146.0,88.3,-9.9,151,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2235,3253
$GC,1219,-0.74,-146.0,119.4,-9.1,183,1222,0.00,2.33,0.00,0.000,4,0.000,0.066,2525,811,3253
$GC,1235,-0.74,-146.0,121.2,-9.0,183,1241,0.00,2.35,0.00,0.000,6,0.000,0.065,2515,2244,3253
$GC,1551,-0.74,-146.0,149.2,-8.5,199,1555,0.00,2.20,0.00,0.000,4,0.000,0.078,2505,3601,3253
$GC,1653,-0.74,-146.0,157.5,-7.8,203,1657,0.00,2.17,0.00,0.000,6,0.000,0.054,2505,2218,3253
$GC,1975,-0.74,-146.0,180.8,-6.6,219,1979,0.00,2.30,0.00,0.000,4,0.000,0.079,2495,3604,3253
$GC,2010,-0.74,-146.0,183.2,-7.6,220,2014,0.10,2.17,0.00,0.000,6,0.153,0.054,2519,2224,3253
$GC,2332,-0.85,-146.0,204.1,-6.6,236,2334,0.10,0.00,0.00,0.000,6,0.097,0.000,2479,2224,3252
$GC,2640,-0.85,-146.0,230.2,-8.5,251,2644,0.00,2.30,0.00,0.000,4,0.000,0.080,2468,3607,3253
$GC,2715,-0.85,-146.0,236.5,-9.1,254,2719,0.10,2.20,0.00,0.000,6,0.156,0.055,2492,2214,3252
$GC,3042,-0.91,-146.0,260.7,-7.3,270,3046,0.00,2.22,0.00,0.000,4,0.000,0.066,2493,817,3252
$GC,3070,-0.91,-146.0,262.7,-7.3,271,3074,0.00,2.33,0.00,0.000,6,0.000,0.066,2485,2230,3252
$GC,3400,-1.23,-146.0,273.8,-0.1,287,3404,0.20,2.33,0.00,0.000,4,0.067,0.064,2391,811,3252
$STATE,3414,end dive,NO_VERTICAL_VELOCITY
$STATE,3414,begin apogee
$GC,3424,-0.31,0.0,273.7,0.0,288,3551,0.70,0.00,123.93,1.062,6,0.108,0.000,2616,1751,2650
$STATE,3552,end apogee,CONTROL_FINISHED_OK
$STATE,3552,begin climb
$GC,3556,0.99,146.0,273.7,0.0,294,3693,0.88,2.58,128.77,0.979,4,0.098,0.071,2898,3146,2053
$GC,3786,0.73,146.0,257.2,10.3,304,3793,0.28,2.42,0.00,0.000,6,0.136,0.054,2834,1745,2048
$GC,4104,0.90,199.5,239.4,5.3,320,4155,0.15,2.45,45.42,0.979,4,0.073,0.070,2909,317,1836
$GC,4196,0.82,199.5,231.9,8.9,324,4201,0.20,2.42,0.00,0.000,6,0.133,0.058,2853,1749,1834
$GC,4519,0.96,221.8,210.8,6.3,340,4544,0.12,2.35,19.48,0.950,4,0.079,0.072,2907,3153,1745
$GC,4656,0.77,221.8,197.6,10.7,346,4661,0.25,2.28,0.00,0.000,6,0.132,0.055,2845,1731,1742
$GC,4990,1.02,277.7,179.0,5.2,362,5047,0.17,2.40,49.90,0.971,4,0.072,0.071,2929,335,1517
$GC,5070,1.13,277.7,172.7,7.9,365,5076,0.00,2.35,0.00,0.000,6,0.000,0.055,2929,1749,1515
$GC,5387,1.13,277.7,145.8,8.0,381,5391,0.00,2.28,0.00,0.000,4,0.000,0.072,2929,3152,1509
$GC,5505,1.01,277.7,134.2,10.0,386,5510,0.15,2.28,0.00,0.000,6,0.139,0.056,2897,1729,1506
$GC,5827,1.21,319.7,113.9,5.7,402,5871,0.15,2.33,36.45,0.946,4,0.072,0.071,2972,333,1345
$GC,5923,1.16,319.7,105.4,10.0,406,5928,0.15,2.33,0.00,0.000,6,0.136,0.057,2930,1740,1343
$GC,6262,1.24,319.7,80.1,7.6,456,6268,0.00,2.30,0.00,0.000,4,0.000,0.073,2930,3161,1339
$GC,6315,1.24,319.7,75.5,9.0,465,6321,0.00,2.28,0.00,0.000,6,0.000,0.056,2939,1735,1337
$GC,6661,1.24,319.7,48.9,7.2,526,6667,0.00,2.33,0.00,0.000,4,0.000,0.072,2948,321,1335
$GC,6692,1.29,319.7,46.6,7.6,531,6698,0.00,2.33,0.00,0.000,6,0.000,0.058,2948,1746,1335
$GC,7037,1.29,319.7,18.1,8.7,592,7043,0.00,2.30,0.00,0.000,4,0.000,0.075,2949,3160,1334
$GC,7096,1.19,319.7,12.5,10.0,602,7102,0.00,2.28,0.00,0.000,6,0.000,0.058,2958,1735,1334
$FREEZE,6.71,-1.788,-1.767
$STATE,7157,end climb,FINISH_DEPTH_REACHED
$STATE,7158,begin subsurface finish
$FINISH1,6.7,1.025892,86
$GC,7167,0.11,86.3,6.7,-9.1,613,7209,0.77,2.35,-31.77,0.000,4,0.122,0.084,2706,334,2303
$FINISH2,5.5
$STATE,7210,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7210,begin surface
$RAFOS_CLK,341
$RAFOS,4,1230900244,12.750000,12.734445,60,58,55,55,52,50,187,158,202,219,142,124
$RAFOS,3,1230899645,12.583333,12.568055,67,65,61,55,55,55,208,182,171,156,199,121
$RAFOS,2,1230899044,12.416667,12.401111,63,61,50,50,48,46,227,201,210,119,170,150
$RAFOS,1,1230898443,12.250000,12.234167,64,61,59,59,58,55,205,215,163,175,194,138
$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,1861
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,14.80
$XPDR_PINGS,144
$24V_AH,21.7,92.029
$10V_AH,10.4,41.263
$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,5.475,83.250,403.950,0.000,0.000,0.000,0.000,0.000,36.000,0.000,0.000,0.000,1073.631,4431.250,446.695,1142.797,170.979,0.000,1091.665,0.000,1134.233,1080.000,0.529,0.000
$DEVICE_MAMPS,156.468,83.603,1062.295,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,433.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18987,620
$CAP_FILE_SIZE,69997,0
$CFSIZE,260165632,214958080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1441.1
$GPS,291208,202120,6633.087,-6012.624,0,2098.0,0,-37.3
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581