version: 66.04
glider: 108
mission: 11
dive: 596
start: 1 2 109 14 18 56
data:
$ID,108
$MISSION,11
$DIVE,596
$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,26
$R_STBD_OVSHOOT,24
$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,4.91
$_SM_ANGLEo,-6.9
$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,17,-0.99,-146.0,0.0,0.0,0,24,0.00,0.00,-5.38,0.000,2,0.000,0.000,2706,334,2445
$GC,28,-0.99,-146.0,4.1,-0.0,1,70,0.65,5.40,-32.38,0.000,4,0.060,0.073,2426,3604,3249
$GC,78,-0.51,-146.0,6.7,-6.4,9,85,0.47,2.17,0.00,0.000,6,0.165,0.052,2569,2218,3251
$GC,426,-0.66,-146.0,32.4,-6.7,70,432,0.12,2.25,0.00,0.000,4,0.083,0.065,2518,814,3253
$GC,457,-0.66,-146.0,35.1,-8.1,75,464,0.12,2.33,0.00,0.000,6,0.145,0.064,2540,2232,3253
$GC,804,-0.74,-146.0,64.2,-8.5,136,810,0.00,2.22,0.00,0.000,4,0.000,0.079,2532,3602,3253
$GC,818,-0.82,-146.0,65.3,-8.2,138,825,0.12,2.17,0.00,0.000,6,0.087,0.053,2477,2218,3253
$GC,1167,-0.67,-146.0,104.9,-11.3,194,1172,0.20,2.25,0.00,0.000,4,0.143,0.067,2539,821,3253
$GC,1201,-0.67,-146.0,108.3,-9.2,195,1208,0.00,2.33,0.00,0.000,6,0.000,0.065,2532,2235,3253
$GC,1518,-0.72,-146.0,135.7,-9.2,211,1519,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2235,3253
$GC,1828,-0.80,-146.0,162.1,-8.3,226,1830,0.10,0.00,0.00,0.000,6,0.094,0.000,2487,2235,3252
$GC,2136,-0.80,-146.0,188.5,-8.3,241,2140,0.00,2.22,0.00,0.000,4,0.000,0.081,2476,3600,3252
$GC,2290,-0.80,-146.0,201.9,-8.8,247,2297,0.12,2.17,0.00,0.000,6,0.150,0.054,2509,2221,3252
$GC,2608,-0.87,-146.0,223.1,-6.7,263,2609,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2221,3252
$GC,2916,-0.96,-146.0,243.8,-7.1,278,2918,0.15,0.00,0.00,0.000,6,0.084,0.000,2449,2221,3252
$GC,3225,-0.86,-146.0,271.7,-9.0,293,3230,0.17,2.28,0.00,0.000,4,0.154,0.068,2500,814,3252
$GC,3244,-0.80,-146.0,273.2,-8.5,294,3248,0.00,2.35,0.00,0.000,6,0.000,0.065,2492,2243,3252
$GC,3578,-0.85,-146.0,296.3,-7.0,310,3581,0.00,2.20,0.00,0.000,4,0.000,0.078,2482,3597,3252
$GC,3624,-0.85,-146.0,299.7,-7.1,312,3628,0.00,2.17,0.00,0.000,6,0.000,0.053,2482,2212,3252
$GC,3958,-0.85,-146.0,322.8,-7.4,328,3959,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2212,3252
$STATE,4242,end dive,NO_VERTICAL_VELOCITY
$STATE,4242,begin apogee
$GC,4251,-0.31,0.0,329.3,0.0,342,4379,0.43,0.00,124.78,1.092,6,0.105,0.000,2623,1732,2650
$STATE,4380,end apogee,CONTROL_FINISHED_OK
$STATE,4380,begin climb
$GC,4384,0.99,146.0,329.2,0.0,348,4518,0.85,0.00,130.30,1.006,6,0.102,0.000,2893,1732,2054
$GC,4819,0.85,146.0,297.2,8.0,369,4823,0.12,2.42,0.00,0.000,4,0.133,0.069,2861,3159,2047
$GC,4887,0.73,146.0,292.0,7.6,372,4892,0.12,2.33,0.00,0.000,6,0.140,0.054,2835,1739,2046
$GC,5215,0.85,170.9,272.3,6.2,388,5241,0.12,2.38,20.92,0.989,4,0.077,0.070,2890,3157,1952
$GC,5271,0.64,170.9,267.8,9.2,390,5278,0.30,2.30,0.00,0.000,6,0.137,0.054,2814,1728,1951
$GC,5588,1.02,177.6,247.6,6.8,406,5602,0.25,2.35,6.68,0.842,4,0.075,0.068,2924,333,1926
$GC,5713,0.88,177.6,236.6,9.3,411,5718,0.20,2.30,0.00,0.000,6,0.143,0.057,2868,1744,1927
$GC,6036,0.90,194.4,214.2,6.5,427,6058,0.00,2.30,16.30,0.961,4,0.000,0.070,2868,3159,1857
$GC,6143,0.90,194.4,206.5,7.2,431,6149,0.00,2.28,0.00,0.000,6,0.000,0.054,2874,1732,1854
$GC,6462,0.92,212.5,185.4,6.4,447,6484,0.00,2.42,16.45,0.953,4,0.000,0.068,2874,3162,1783
$GC,6524,0.92,212.5,180.8,7.8,449,6530,0.00,2.30,0.00,0.000,6,0.000,0.054,2883,1728,1781
$GC,6842,1.04,238.2,161.3,6.2,465,6872,0.08,2.42,23.42,0.956,4,0.100,0.070,2925,3156,1679
$GC,6931,0.87,238.2,153.6,9.3,469,6935,0.25,2.30,0.00,0.000,6,0.130,0.055,2862,1724,1676
$GC,7258,1.30,248.0,132.7,6.7,485,7273,0.28,2.38,9.15,0.870,4,0.078,0.070,2967,3154,1639
$GC,7399,1.03,248.0,118.8,10.4,491,7404,0.28,2.28,0.00,0.000,6,0.140,0.056,2898,1729,1637
$GC,7721,1.17,271.7,98.9,6.3,509,7751,0.12,2.33,22.95,0.933,4,0.077,0.071,2965,331,1541
$GC,7787,1.10,271.7,93.3,8.9,520,7794,0.17,2.33,0.00,0.000,6,0.135,0.058,2916,1744,1540
$GC,8135,1.22,294.5,70.3,6.3,581,8164,0.10,2.35,20.92,0.910,4,0.087,0.072,2962,3151,1449
$GC,8228,1.04,294.5,61.3,10.6,597,8235,0.25,2.28,0.00,0.000,6,0.136,0.057,2899,1736,1447
$GC,8575,1.26,335.6,40.2,5.7,658,8622,0.17,2.42,37.05,0.906,4,0.070,0.071,2987,327,1281
$GC,8659,1.19,335.6,32.2,11.0,672,8666,0.20,2.35,0.00,0.000,6,0.136,0.058,2931,1746,1279
$FREEZE,6.67,-1.790,-1.769
$STATE,9003,end climb,FINISH_DEPTH_REACHED
$STATE,9003,begin subsurface finish
$FINISH1,6.7,1.025922,85
$GC,9013,0.10,84.8,6.7,-7.9,733,9054,0.68,2.30,-33.47,0.000,4,0.110,0.088,2694,3152,2308
$FINISH2,5.5
$STATE,9055,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9055,begin surface
$RAFOS_CLK,426
$RAFOS,3,1230914043,16.583334,16.567499,61,58,56,50,50,47,176,200,122,140,160,211
$RAFOS,2,1230913447,16.416666,16.401945,59,54,53,52,50,47,213,199,171,144,97,222
$RAFOS,1,1230912846,16.250000,16.235001,68,61,59,57,54,52,835,127,154,208,172,224
$RAFOS,0,1230912247,16.083334,16.068611,70,59,55,53,51,51,655,180,217,163,119,203
$RAFOS_FIX,6636.425781,-6052.078613,020109,161644,2,69,0.09
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.028379
$HUMID,1850
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,14.80
$XPDR_PINGS,119
$24V_AH,21.7,92.153
$10V_AH,10.4,41.304
$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,7.225,84.350,428.925,0.000,0.000,0.000,0.000,0.000,29.750,0.000,0.000,0.000,1270.737,5849.971,494.278,1295.752,210.025,0.000,1209.969,0.000,1295.265,1800.000,0.529,0.000
$DEVICE_MAMPS,164.905,88.205,1092.208,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,516.634,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22161,740
$CAP_FILE_SIZE,83307,0
$CFSIZE,260165632,214904832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1442.0
$GPS,020109,161144,6636.426,-6052.079,0,2069.0,0,-37.3
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581