version: 66.04
glider: 108
mission: 11
dive: 603
start: 1 3 109 9 47 3
data:
$ID,108
$MISSION,11
$DIVE,603
$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,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,4.40
$_SM_ANGLEo,-5.4
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-5.38,0.000,2,0.000,0.000,2702,331,2433
$GC,28,-0.99,-146.0,3.4,-0.0,1,69,0.62,0.80,-33.90,0.000,4,0.050,0.099,2440,832,3248
$GC,303,-0.60,-146.0,40.0,-14.7,49,310,0.43,2.28,0.00,0.000,6,0.146,0.066,2552,2244,3253
$GC,650,-0.70,-146.0,67.3,-7.6,110,657,0.10,2.20,0.00,0.000,4,0.087,0.077,2499,3595,3253
$GC,681,-0.70,-146.0,70.4,-9.2,115,688,0.12,2.17,0.00,0.000,6,0.154,0.053,2531,2213,3253
$GC,1036,-0.75,-146.0,104.3,-9.3,172,1039,0.00,2.25,0.00,0.000,4,0.000,0.067,2531,810,3253
$GC,1047,-0.75,-146.0,105.5,-9.1,172,1051,0.00,2.35,0.00,0.000,6,0.000,0.063,2522,2244,3253
$GC,1368,-0.75,-146.0,131.9,-7.5,188,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2244,3253
$GC,1678,-0.75,-146.0,158.6,-8.7,203,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2244,3253
$GC,1989,-0.79,-146.0,186.1,-8.9,218,1993,0.00,2.35,0.00,0.000,4,0.000,0.067,2522,811,3252
$GC,2024,-0.79,-146.0,189.4,-9.1,219,2028,0.00,2.35,0.00,0.000,6,0.000,0.064,2513,2241,3252
$GC,2348,-0.84,-146.0,212.7,-6.2,235,2352,0.00,2.22,0.00,0.000,4,0.000,0.081,2503,3597,3252
$GC,2360,-0.91,-146.0,213.6,-6.4,235,2363,0.00,2.17,0.00,0.000,6,0.000,0.054,2503,2218,3252
$GC,2681,-0.91,-146.0,237.9,-7.8,251,2685,0.00,2.25,0.00,0.000,4,0.000,0.067,2503,817,3252
$GC,2721,-0.91,-146.0,241.3,-8.8,252,2728,0.00,2.35,0.00,0.000,6,0.000,0.067,2493,2241,3252
$GC,3038,-0.91,-146.0,266.8,-7.6,268,3042,0.00,2.35,0.00,0.000,4,0.000,0.067,2492,811,3252
$GC,3100,-0.91,-146.0,272.1,-8.3,270,3107,0.00,2.35,0.00,0.000,6,0.000,0.065,2483,2231,3252
$GC,3417,-0.91,-146.0,295.4,-7.1,286,3421,0.00,2.25,0.00,0.000,4,0.000,0.079,2472,3605,3252
$GC,3430,-0.91,-146.0,296.3,-6.9,286,3433,0.00,2.20,0.00,0.000,6,0.000,0.053,2472,2212,3252
$GC,3751,-0.91,-146.0,320.2,-7.3,302,3756,0.00,2.33,0.00,0.000,4,0.000,0.077,2462,3604,3251
$GC,3769,-0.91,-146.0,321.5,-7.4,302,3775,0.00,2.17,0.00,0.000,6,0.000,0.052,2462,2222,3252
$GC,4086,-0.86,-146.0,345.7,-7.8,318,4091,0.12,2.33,0.00,0.000,4,0.153,0.077,2487,3605,3251
$GC,4252,-0.93,-146.0,357.5,-6.9,325,4256,0.00,2.17,0.00,0.000,6,0.000,0.052,2487,2223,3251
$GC,4576,-0.98,-146.0,377.8,-6.2,341,4580,0.00,2.25,0.00,0.000,4,0.000,0.065,2487,818,3252
$GC,4669,-0.98,-146.0,383.9,-6.6,345,4673,0.00,2.35,0.00,0.000,6,0.000,0.064,2477,2244,3252
$STATE,4710,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4710,begin apogee
$GC,4719,-0.31,0.0,386.9,6.5,347,4853,0.45,0.00,126.10,1.121,6,0.130,0.000,2616,1744,2650
$STATE,4853,end apogee,CONTROL_FINISHED_OK
$STATE,4853,begin climb
$GC,4858,0.99,146.0,390.0,0.0,354,4997,0.88,2.67,131.07,1.039,4,0.100,0.066,2905,335,2054
$GC,5046,0.83,146.0,377.6,9.0,362,5053,0.17,2.55,0.00,0.000,6,0.137,0.054,2862,1749,2051
$GC,5364,0.84,155.1,356.2,6.7,378,5378,0.00,2.38,8.00,0.890,4,0.000,0.070,2862,3154,2017
$GC,5414,0.70,155.1,352.4,7.8,380,5418,0.15,2.30,0.00,0.000,6,0.139,0.053,2828,1733,2017
$GC,5736,0.89,228.4,336.7,4.7,396,5804,0.15,0.00,64.65,1.042,6,0.073,0.000,2894,1733,1718
$GC,6113,0.82,228.4,305.9,9.1,414,6118,0.15,2.38,0.00,0.000,4,0.132,0.067,2851,3167,1709
$GC,6158,0.82,228.4,302.1,7.9,416,6161,0.00,2.30,0.00,0.000,6,0.000,0.052,2858,1724,1708
$GC,6486,0.97,275.6,281.8,5.5,432,6534,0.12,2.45,41.33,1.015,4,0.079,0.068,2917,3152,1526
$GC,6558,0.81,275.6,275.1,10.7,435,6563,0.25,2.30,0.00,0.000,6,0.133,0.052,2855,1730,1523
$GC,6877,1.01,294.2,254.1,6.4,450,6900,0.15,2.30,16.80,0.961,4,0.074,0.067,2936,328,1450
$GC,6952,0.94,294.2,246.4,10.8,453,6957,0.20,2.33,0.00,0.000,6,0.133,0.056,2879,1753,1449
$GC,7280,1.08,294.2,221.5,7.2,469,7285,0.12,2.28,0.00,0.000,4,0.076,0.070,2938,3159,1446
$GC,7354,0.89,294.2,213.2,11.5,472,7358,0.28,2.28,0.00,0.000,6,0.133,0.053,2868,1727,1444
$GC,7670,1.46,294.2,191.7,7.5,487,7675,0.38,2.28,0.00,0.000,4,0.088,0.067,3002,328,1442
$GC,7740,1.15,294.2,185.3,11.4,490,7745,0.28,2.33,0.00,0.000,6,0.146,0.058,2924,1751,1442
$GC,8062,1.15,294.2,159.8,7.4,506,8066,0.00,2.28,0.00,0.000,4,0.000,0.073,2924,3157,1442
$GC,8164,1.06,294.2,150.3,9.6,510,8169,0.10,2.28,0.00,0.000,6,0.143,0.055,2905,1727,1441
$GC,8486,1.21,302.0,129.5,6.8,526,8500,0.12,2.35,6.78,0.839,4,0.077,0.068,2974,324,1418
$GC,8540,1.13,302.0,124.1,10.5,528,8545,0.17,2.33,0.00,0.000,6,0.133,0.058,2922,1749,1418
$GC,8861,1.24,320.6,100.5,6.4,543,8889,0.10,2.35,18.45,0.937,4,0.083,0.074,2967,3156,1342
$GC,8947,1.03,320.6,91.8,11.5,555,8954,0.28,2.28,0.00,0.000,6,0.135,0.055,2898,1738,1341
$GC,9294,1.52,320.6,67.5,8.0,616,9301,0.32,2.33,0.00,0.000,4,0.081,0.069,3017,324,1338
$GC,9366,1.35,320.6,60.4,10.4,628,9372,0.17,2.33,0.00,0.000,6,0.156,0.059,2972,1742,1338
$GC,9713,1.24,320.6,28.9,10.1,689,9719,0.10,2.30,0.00,0.000,4,0.158,0.074,2943,3150,1337
$GC,9800,1.16,320.6,19.6,11.9,704,9806,0.00,2.28,0.00,0.000,6,0.000,0.057,2951,1727,1337
$FREEZE,6.63,-1.794,-1.765
$FREEZE,6.12,-1.797,-1.764
$FREEZE,5.84,-1.797,-1.765
$FREEZE,5.62,-1.797,-1.765
$FREEZE,4.98,-1.797,-1.764
$FREEZE,4.66,-1.801,-1.764
$FREEZE,4.23,-1.800,-1.763
$FREEZE,3.77,-1.801,-1.762
$FREEZE,3.41,-1.804,-1.763
$FREEZE,3.13,-1.803,-1.763
$FREEZE,2.57,-1.800,-1.762
$STATE,9986,end climb,SURFACE_DEPTH_REACHED
$STATE,9987,begin surface coast
$FREEZE,2.17,-1.802,-1.762
$FREEZE,1.80,-1.800,-1.762
$FREEZE,1.75,-1.921,-0.058
$FREEZE,1.77,-1.817,-0.064
$FREEZE,1.79,-1.800,-0.052
$FREEZE,1.79,-1.850,-0.814
$FREEZE,1.83,-1.907,-0.796
$FREEZE,1.77,-1.883,-0.782
$FINISH,1.8,1.011470
$STATE,10032,end surface coast,CONTROL_FINISHED_OK
$STATE,10032,begin surface
$SM_CCo,10113,0.00,0.000,0,0,1334,322.81
$SM_GC,2.49,7.25,0.00,0.00,0.064,0.000,0.000,336,2242,1334,-10.69,0.34,322.81
$RAFOS_CLK,474
$RAFOS,2,1230985444,12.416667,12.401111,57,56,50,50,48,47,206,176,194,110,121,137
$RAFOS,1,1230984856,12.250000,12.237778,71,59,56,53,52,49,209,197,134,157,226,175
$RAFOS,0,1230984257,12.083333,12.071389,161,66,63,61,60,59,551,205,158,133,214,122
$RAFOS_FIX,6636.425781,-6052.078613,020109,161644,2,69,0.09
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.029146
$HUMID,1843
$INTERNAL_PRESSURE,9.81483
$TCM_TEMP,14.70
$XPDR_PINGS,200
$24V_AH,21.5,93.094
$10V_AH,10.3,41.615
$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,13.750,106.325,413.175,0.000,0.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000,1353.475,6747.823,458.987,1378.167,236.648,0.000,1228.416,0.000,1367.730,1440.000,0.529,0.000
$DEVICE_MAMPS,158.002,98.943,1121.354,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,521.896,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25202,745
$CAP_FILE_SIZE,93601,0
$CFSIZE,260165632,214573056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1442.8
$GPS,030109,123701,6637.797,-6039.605,37,1.2,37,-38.0
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581