version: 66.04
glider: 108
mission: 11
dive: 597
start: 1 2 109 16 51 55
data:
$ID,108
$MISSION,11
$DIVE,597
$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,27
$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
$GPS1,161144,6636.426,-6052.079,0,2069.0,0,-37.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.16
$_SM_ANGLEo,-5.8
$GPS2,161144,6636.426,-6052.079,0,2069.0,0,-37.3
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6637.367,-6024.965
$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,386
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-6.05,0.000,2,0.000,0.000,2694,3152,2451
$GC,29,-0.99,-146.0,3.0,-0.0,1,76,0.62,3.85,-37.17,0.000,4,0.067,0.069,2467,808,3248
$GC,157,-0.76,-146.0,14.4,-12.7,23,164,0.20,2.35,0.00,0.000,6,0.146,0.064,2513,2242,3252
$GC,503,-0.76,-146.0,47.7,-9.3,84,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2242,3253
$GC,848,-0.76,-146.0,80.2,-9.2,145,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2241,3253
$GC,1192,-0.76,-146.0,111.3,-8.8,190,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2242,3253
$GC,1501,-0.76,-146.0,138.8,-9.2,205,1505,0.00,2.35,0.00,0.000,4,0.000,0.067,2514,810,3252
$GC,1512,-0.76,-146.0,139.9,-9.2,205,1516,0.00,2.35,0.00,0.000,6,0.000,0.064,2506,2241,3252
$GC,1831,-0.76,-146.0,169.7,-8.6,220,1835,0.00,2.22,0.00,0.000,4,0.000,0.081,2496,3607,3252
$GC,1870,-0.76,-146.0,173.4,-8.7,221,1877,0.00,2.20,0.00,0.000,6,0.000,0.054,2495,2211,3252
$GC,2187,-0.76,-146.0,197.6,-7.6,237,2191,0.00,2.33,0.00,0.000,4,0.000,0.079,2486,3607,3251
$GC,2266,-0.76,-146.0,203.8,-7.4,240,2271,0.12,2.20,0.00,0.000,6,0.150,0.054,2518,2212,3252
$GC,2589,-0.87,-146.0,223.4,-6.3,256,2594,0.12,2.25,0.00,0.000,4,0.092,0.065,2467,810,3251
$GC,2640,-0.75,-146.0,227.7,-8.7,258,2645,0.22,2.35,0.00,0.000,6,0.139,0.064,2520,2242,3251
$GC,2957,-0.86,-146.0,247.0,-5.8,273,2962,0.12,2.22,0.00,0.000,4,0.091,0.080,2460,3602,3251
$GC,2969,-0.94,-146.0,247.8,-5.8,273,2975,0.00,2.17,0.00,0.000,6,0.000,0.053,2460,2220,3251
$GC,3286,-0.85,-146.0,273.8,-8.5,289,3291,0.12,2.25,0.00,0.000,4,0.160,0.066,2497,821,3251
$GC,3417,-0.85,-146.0,283.5,-8.0,295,3420,0.00,2.33,0.00,0.000,6,0.000,0.067,2489,2233,3251
$GC,3750,-0.85,-146.0,306.1,-6.6,311,3754,0.00,2.22,0.00,0.000,4,0.000,0.079,2479,3601,3251
$GC,3807,-0.85,-146.0,310.4,-8.4,313,3811,0.00,2.17,0.00,0.000,6,0.000,0.053,2479,2215,3251
$GC,4129,-0.85,-146.0,332.9,-6.9,329,4133,0.00,2.30,0.00,0.000,4,0.000,0.077,2469,3604,3251
$GC,4163,-0.85,-146.0,335.6,-8.5,330,4167,0.10,2.17,0.00,0.000,6,0.156,0.052,2493,2219,3251
$GC,4486,-0.99,-146.0,355.9,-6.3,346,4488,0.12,0.00,0.00,0.000,6,0.085,0.000,2444,2219,3252
$STATE,4666,end dive,NO_VERTICAL_VELOCITY
$STATE,4666,begin apogee
$GC,4675,-0.31,0.0,355.9,0.0,355,4803,0.52,0.00,125.12,1.101,6,0.097,0.000,2621,1742,2650
$STATE,4804,end apogee,CONTROL_FINISHED_OK
$STATE,4804,begin climb
$GC,4808,0.99,146.0,355.9,0.0,361,4947,0.85,2.67,130.35,1.019,4,0.097,0.067,2895,3149,2054
$GC,5064,0.73,146.0,336.1,10.1,372,5071,0.25,2.42,0.00,0.000,6,0.135,0.053,2839,1736,2048
$GC,5382,0.80,156.5,315.4,6.7,388,5392,0.00,0.00,8.75,0.897,6,0.000,0.000,2839,1736,2012
$GC,5690,0.87,158.5,294.6,7.0,403,5699,0.12,2.38,3.53,0.609,4,0.078,0.069,2895,3152,2003
$GC,5791,0.63,158.5,284.5,10.8,407,5796,0.30,2.28,0.00,0.000,6,0.137,0.054,2817,1723,2004
$GC,6108,0.94,160.3,263.2,7.0,422,6113,0.20,2.35,0.00,0.000,4,0.073,0.067,2902,3159,2004
$GC,6274,0.70,160.3,246.8,11.1,429,6279,0.28,2.25,0.00,0.000,6,0.135,0.053,2831,1736,2003
$GC,6593,0.90,230.0,229.0,4.8,444,6659,0.15,0.00,63.25,1.007,6,0.069,0.000,2899,1736,1712
$GC,6961,0.90,230.0,197.7,9.2,462,6966,0.10,2.35,0.00,0.000,4,0.136,0.069,2872,3161,1703
$GC,6990,0.90,230.0,195.1,8.5,463,6994,0.00,2.28,0.00,0.000,6,0.000,0.054,2879,1733,1702
$GC,7312,1.05,264.7,172.7,5.9,479,7348,0.10,2.35,29.92,0.986,4,0.087,0.070,2940,322,1570
$GC,7378,1.05,264.7,167.7,8.3,482,7383,0.12,2.35,0.00,0.000,6,0.137,0.057,2906,1746,1569
$GC,7706,1.13,269.7,145.4,6.9,498,7716,0.00,2.30,4.72,0.719,4,0.000,0.071,2906,3155,1550
$GC,7790,1.13,269.7,138.6,8.4,501,7797,0.00,2.28,0.00,0.000,6,0.000,0.055,2914,1730,1550
$GC,8108,1.19,269.7,115.2,7.3,517,8110,0.10,0.00,0.00,0.000,6,0.087,0.000,2959,1730,1549
$GC,8430,1.11,269.7,86.6,8.8,550,8437,0.15,0.00,0.00,0.000,6,0.135,0.000,2917,1730,1548
$GC,8777,1.20,269.7,62.6,7.2,611,8784,0.10,2.35,0.00,0.000,4,0.086,0.071,2962,3159,1547
$GC,8809,1.14,269.7,59.6,8.8,616,8816,0.17,2.28,0.00,0.000,6,0.144,0.057,2924,1729,1546
$GC,9156,1.20,269.7,33.2,7.4,677,9163,0.00,2.30,0.00,0.000,4,0.000,0.072,2932,324,1546
$GC,9193,1.28,269.7,30.5,7.1,683,9200,0.10,2.33,0.00,0.000,6,0.088,0.058,2976,1750,1546
$FREEZE,6.52,-1.788,-1.768
$STATE,9452,end climb,FINISH_DEPTH_REACHED
$STATE,9452,begin subsurface finish
$FINISH1,6.5,1.025915,85
$GC,9462,0.10,85.2,6.5,-9.3,729,9498,0.85,2.38,-25.23,0.000,4,0.128,0.088,2696,3161,2307
$FINISH2,5.3
$STATE,9499,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9499,begin surface
$RAFOS_CLK,444
$RAFOS,4,1230914645,16.750000,16.734722,63,63,59,52,52,51,174,193,217,145,135,122
$RAFOS_FIX,6636.425781,-6052.078613,020109,161644,2,69,0.09
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.026845
$HUMID,1852
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,14.80
$XPDR_PINGS,179
$24V_AH,21.6,92.265
$10V_AH,10.4,41.346
$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,6.250,82.900,365.650,0.000,0.000,0.000,0.000,0.000,44.750,0.000,0.000,0.000,1271.459,6313.499,438.608,1326.230,203.018,0.000,1157.063,0.000,1318.190,0.000,0.529,0.000
$DEVICE_MAMPS,159.536,88.205,1100.645,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,514.696,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22084,735
$CAP_FILE_SIZE,82466,0
$CFSIZE,260165632,214863872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1442.7
$GPS,020109,161144,6636.426,-6052.079,0,2069.0,0,-37.3
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581