version: 66.04
glider: 108
mission: 11
dive: 643
start: 1 8 109 18 1 38
data:
$ID,108
$MISSION,11
$DIVE,643
$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,1
$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,-128427.43
$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,29
$R_STBD_OVSHOOT,29
$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
$GPS1,002640,6617.756,-5909.148,0,2099.0,0,-37.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,10.3
$GPS2,002640,6617.756,-5909.148,0,2099.0,0,-37.1
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6618.697,-5842.371
$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,122.1,20000,-13.0,-7.021
$D_GRID,671
$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,-146.0,0.0,0.0,0,118,0.00,0.00,-95.12,0.000,6,0.000,0.000,3048,1747,3247
$GC,123,-0.99,-146.0,2.1,-1.3,18,130,1.90,3.05,0.00,0.000,4,0.146,0.067,2463,3591,3247
$GC,274,-0.86,-146.0,20.6,-15.4,44,281,0.12,2.17,0.00,0.000,6,0.140,0.048,2496,2206,3248
$GC,621,-0.80,-146.0,51.9,-8.4,105,627,0.00,2.25,0.00,0.000,4,0.000,0.061,2497,816,3248
$GC,675,-0.70,-146.0,57.6,-10.9,114,682,0.15,2.33,0.00,0.000,6,0.130,0.061,2531,2241,3248
$GC,1022,-0.77,-146.0,85.8,-8.9,175,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2240,3248
$GC,1370,-0.90,-146.0,111.3,-6.5,215,1374,0.17,2.25,0.00,0.000,4,0.072,0.074,2448,3606,3247
$GC,1412,-0.72,-146.0,114.7,-8.7,217,1417,0.28,2.20,0.00,0.000,6,0.143,0.049,2527,2216,3247
$GC,1740,-0.82,-146.0,131.2,-4.8,233,1745,0.10,2.25,0.00,0.000,4,0.092,0.061,2483,814,3246
$GC,1753,-0.89,-146.0,131.9,-4.7,233,1759,0.00,2.33,0.00,0.000,6,0.000,0.060,2474,2238,3246
$GC,2070,-0.82,-146.0,157.3,-9.4,249,2074,0.12,2.33,0.00,0.000,4,0.146,0.061,2513,825,3246
$GC,2178,-0.87,-146.0,165.9,-7.3,254,2182,0.00,2.33,0.00,0.000,6,0.000,0.061,2506,2244,3246
$GC,2513,-0.93,-146.0,186.6,-5.9,270,2518,0.10,2.25,0.00,0.000,4,0.085,0.074,2448,3605,3245
$GC,2531,-0.93,-146.0,187.9,-6.3,271,2536,0.12,2.17,0.00,0.000,6,0.152,0.050,2480,2225,3245
$GC,2865,-0.93,-146.0,209.5,-6.3,287,2869,0.00,2.30,0.00,0.000,4,0.000,0.073,2473,3595,3245
$GC,2899,-0.93,-146.0,212.0,-7.5,288,2903,0.00,2.15,0.00,0.000,6,0.000,0.048,2473,2222,3244
$GC,3221,-0.93,-146.0,231.9,-6.0,304,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2222,3245
$GC,3531,-0.93,-146.0,246.4,-4.0,319,3535,0.00,2.22,0.00,0.000,4,0.000,0.061,2473,820,3244
$GC,3579,-0.87,-146.0,249.0,-5.9,321,3584,0.12,2.33,0.00,0.000,6,0.130,0.060,2496,2238,3244
$GC,3907,-0.94,-146.0,268.2,-6.8,337,3911,0.00,2.30,0.00,0.000,4,0.000,0.059,2497,815,3244
$GC,3919,-1.01,-146.0,269.1,-7.1,337,3924,0.12,2.30,0.00,0.000,6,0.075,0.058,2436,2237,3244
$GC,4242,-0.88,-146.0,299.1,-9.5,353,4246,0.20,2.30,0.00,0.000,4,0.140,0.057,2501,820,3245
$GC,4311,-0.94,-146.0,304.9,-8.2,356,4315,0.00,2.33,0.00,0.000,6,0.000,0.057,2492,2241,3245
$GC,4642,-1.00,-146.0,328.4,-6.9,372,4644,0.12,0.00,0.00,0.000,6,0.076,0.000,2435,2241,3246
$GC,4948,-0.86,-146.0,354.3,-8.3,387,4953,0.20,2.30,0.00,0.000,4,0.140,0.056,2500,818,3247
$GC,4960,-0.75,-146.0,355.2,-8.0,387,4967,0.10,2.33,0.00,0.000,6,0.128,0.056,2520,2243,3248
$GC,5278,-0.93,-146.0,372.5,-5.4,403,5283,0.15,2.30,0.00,0.000,4,0.073,0.054,2455,821,3248
$GC,5290,-1.04,-146.0,373.5,-5.7,403,5294,0.00,2.30,0.00,0.000,6,0.000,0.055,2445,2244,3248
$GC,5616,-0.93,-146.0,397.8,-7.0,419,5620,0.12,2.22,0.00,0.000,4,0.137,0.067,2471,3598,3248
$GC,5627,-0.85,-146.0,398.9,-6.9,419,5632,0.10,2.15,0.00,0.000,6,0.139,0.043,2497,2213,3248
$GC,5946,-0.93,-146.0,415.2,-5.0,428,5949,0.00,2.22,0.00,0.000,4,0.000,0.055,2497,822,3249
$GC,5970,-0.99,-146.0,416.5,-5.6,428,5975,0.10,2.35,0.00,0.000,6,0.079,0.055,2443,2235,3249
$GC,6314,-0.89,-146.0,439.5,-6.7,437,6316,0.17,0.00,0.00,0.000,6,0.140,0.000,2493,2235,3249
$GC,6639,-0.98,-146.0,455.8,-4.9,445,6641,0.10,0.00,0.00,0.000,6,0.086,0.000,2447,2235,3250
$GC,6964,-0.89,-146.0,476.4,-6.4,453,6969,0.15,2.28,0.00,0.000,4,0.142,0.068,2481,3594,3250
$GC,6981,-0.89,-146.0,477.7,-6.6,453,6985,0.00,2.15,0.00,0.000,6,0.000,0.042,2480,2217,3250
$GC,7331,-0.89,-146.0,496.3,-5.2,462,7335,0.00,2.25,0.00,0.000,4,0.000,0.054,2480,818,3250
$GC,7343,-0.89,-146.0,497.1,-5.2,462,7348,0.00,2.38,0.00,0.000,6,0.000,0.054,2470,2242,3249
$GC,7663,-0.89,-146.0,515.3,-5.7,470,7668,0.00,2.35,0.00,0.000,4,0.000,0.054,2470,816,3250
$GC,7692,-0.89,-146.0,517.0,-6.1,470,7697,0.10,2.38,0.00,0.000,6,0.133,0.055,2487,2240,3250
$GC,8025,-0.96,-146.0,533.1,-4.8,478,8029,0.00,2.30,0.00,0.000,4,0.000,0.055,2488,818,3250
$GC,8039,-1.02,-146.0,533.8,-4.7,478,8043,0.08,2.35,0.00,0.000,6,0.089,0.054,2439,2235,3249
$GC,8354,-0.91,-146.0,553.5,-6.3,486,8356,0.15,0.00,0.00,0.000,6,0.140,0.000,2480,2235,3250
$GC,8679,-0.96,-146.0,570.1,-5.2,494,8680,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2235,3250
$GC,9003,-1.01,-146.0,588.0,-5.3,502,9004,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2235,3250
$GC,9328,-1.06,-146.0,606.0,-5.6,510,9330,0.12,0.00,0.00,0.000,6,0.080,0.000,2427,2235,3249
$GC,9654,-1.34,-146.0,618.1,-0.3,518,9658,0.12,2.30,0.00,0.000,4,0.076,0.054,2366,820,3250
$STATE,9768,end dive,NO_VERTICAL_VELOCITY
$STATE,9768,begin apogee
$GC,9782,-0.31,0.0,618.1,0.0,520,9914,0.73,0.00,128.48,1.202,6,0.094,0.000,2612,1752,2650
$STATE,9914,end apogee,CONTROL_FINISHED_OK
$STATE,9915,begin climb
$GC,9919,0.99,146.0,617.6,0.0,524,10061,0.88,2.60,134.02,1.129,4,0.095,0.061,2893,3149,2054
$GC,10319,0.71,146.0,578.0,11.8,533,10324,0.25,2.30,0.00,0.000,6,0.130,0.046,2832,1736,2047
$GC,10640,0.78,157.1,555.8,6.7,541,10651,0.00,0.00,9.48,1.001,6,0.000,0.000,2831,1736,2009
$GC,10965,0.84,165.5,533.8,6.8,549,10980,0.12,2.40,8.77,0.991,4,0.072,0.063,2891,3157,1975
$GC,11011,0.57,165.5,529.4,10.7,550,11017,0.35,2.25,0.00,0.000,6,0.130,0.048,2797,1726,1974
$GC,11337,0.93,195.1,509.3,6.1,558,11372,0.22,2.47,27.10,1.112,4,0.070,0.061,2891,3154,1854
$GC,11515,0.69,195.1,490.2,11.8,562,11520,0.25,2.28,0.00,0.000,6,0.127,0.047,2827,1733,1850
$GC,11840,0.81,195.1,466.3,7.1,570,11842,0.10,0.00,0.00,0.000,6,0.076,0.000,2882,1733,1849
$GC,12166,0.70,195.1,435.2,9.6,578,12168,0.17,0.00,0.00,0.000,6,0.121,0.000,2829,1733,1848
$GC,12491,0.83,217.1,414.7,6.3,586,12512,0.12,0.00,19.40,1.051,6,0.070,0.000,2890,1733,1765
$GC,12797,0.73,217.1,384.6,9.8,597,12802,0.20,2.40,0.00,0.000,4,0.120,0.062,2824,3157,1761
$GC,12832,0.79,217.1,381.7,7.2,598,12838,0.00,2.28,0.00,0.000,6,0.000,0.047,2831,1731,1760
$GC,13149,0.92,217.1,360.3,7.2,614,13151,0.17,0.00,0.00,0.000,6,0.064,0.000,2914,1731,1760
$GC,13458,0.75,217.1,323.3,12.1,629,13460,0.25,0.00,0.00,0.000,6,0.123,0.000,2837,1731,1760
$GC,13770,0.87,217.1,299.0,7.4,644,13774,0.12,2.38,0.00,0.000,4,0.071,0.061,2897,3153,1758
$GC,13798,0.73,217.1,295.9,11.1,645,13803,0.25,2.25,0.00,0.000,6,0.127,0.046,2833,1725,1758
$GC,14121,0.93,269.3,275.6,5.3,661,14174,0.15,2.35,46.83,0.991,4,0.064,0.059,2917,331,1551
$GC,14230,0.86,269.3,265.7,10.4,666,14234,0.20,2.30,0.00,0.000,6,0.124,0.049,2859,1751,1548
$GC,14564,0.92,269.3,237.4,8.7,682,14567,0.00,2.28,0.00,0.000,4,0.000,0.063,2859,3158,1543
$GC,14649,0.86,269.3,229.4,9.1,685,14655,0.00,2.28,0.00,0.000,6,0.000,0.046,2866,1727,1541
$GC,14965,0.86,269.3,205.8,7.2,701,14969,0.00,2.25,0.00,0.000,4,0.000,0.060,2876,334,1541
$GC,15000,0.95,269.3,203.3,7.8,702,15004,0.00,2.30,0.00,0.000,6,0.000,0.047,2876,1751,1541
$GC,15323,0.95,269.3,175.8,9.1,718,15326,0.00,2.25,0.00,0.000,4,0.000,0.060,2876,3152,1541
$GC,15380,0.88,269.3,169.9,10.3,720,15383,0.00,2.22,0.00,0.000,6,0.000,0.044,2885,1735,1540
$GC,15703,0.96,283.9,144.6,6.6,736,15725,0.00,2.35,12.35,0.838,4,0.000,0.059,2896,324,1492
$GC,15760,1.07,283.9,140.9,7.0,738,15763,0.00,2.28,0.00,0.000,6,0.000,0.047,2896,1755,1492
$GC,16082,1.12,283.9,118.0,8.1,754,16087,0.10,2.28,0.00,0.000,4,0.078,0.061,2948,3163,1491
$GC,16151,0.88,283.9,110.7,11.4,757,16156,0.30,2.25,0.00,0.000,6,0.125,0.046,2868,1735,1491
$GC,16480,1.41,283.9,88.3,8.6,790,16486,0.32,2.28,0.00,0.000,4,0.077,0.061,2988,327,1489
$GC,16517,1.58,283.9,84.1,11.0,796,16524,0.12,2.28,0.00,0.000,6,0.079,0.050,3040,1753,1489
$GC,16865,1.20,283.9,27.7,15.2,857,16872,0.32,2.35,0.00,0.000,4,0.150,0.061,2950,326,1489
$GC,16918,1.20,283.9,21.5,9.2,866,16925,0.00,2.28,0.00,0.000,6,0.000,0.052,2950,1742,1489
$FREEZE,6.58,-1.198,-1.806
$FREEZE,6.24,-1.200,-1.806
$FREEZE,5.81,-1.193,-1.806
$FREEZE,5.16,-1.193,-1.805
$FREEZE,3.73,-1.180,-1.804
$FREEZE,3.28,-1.190,-1.804
$FREEZE,2.87,-1.187,-1.803
$STATE,17094,end climb,SURFACE_DEPTH_REACHED
$STATE,17094,begin surface coast
$FREEZE,2.66,-1.201,-1.803
$FREEZE,2.17,-1.205,-1.803
$FREEZE,2.20,-1.218,-1.802
$FREEZE,2.10,-1.230,-1.802
$FREEZE,2.18,-1.226,-1.801
$FINISH,2.2,1.026421
$STATE,17123,end surface coast,CONTROL_FINISHED_OK
$STATE,17123,begin surface
$SM_CCo,17325,0.00,0.000,0,0,1485,285.77
$SM_GC,3.47,7.18,0.00,0.00,0.057,0.000,0.000,329,2245,1485,-10.70,0.42,285.77
$RAFOS_CLK,752
$RAFOS,4,1231447444,20.750000,20.734444,64,63,60,53,53,50,211,222,199,178,121,140
$RAFOS,3,1231446859,20.583334,20.571945,68,62,60,59,57,57,187,525,118,211,220,151
$RAFOS,2,1231446249,20.416666,20.402500,60,58,56,53,51,51,160,197,213,173,141,877
$RAFOS,1,1231445678,20.250000,20.243889,61,59,57,56,52,51,134,206,169,217,117,143
$RAFOS,0,1231445045,20.083334,20.068056,61,59,59,53,53,51,169,148,204,192,218,135
$RAFOS_FIX,6617.756348,-5909.147949,080109,000040,2,99,0.64
$IRIDIUM_FIX,6548.42,-5913.15,030498,222244
$TT8_MAMPS,0.026845
$HUMID,1821
$INTERNAL_PRESSURE,9.86366
$TCM_TEMP,15.40
$XPDR_PINGS,193
$24V_AH,21.5,97.830
$10V_AH,10.4,43.351
$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,18.325,147.500,386.425,0.000,0.000,0.000,0.000,0.000,48.250,0.000,0.000,0.000,1723.433,13002.889,514.114,1780.072,366.763,0.000,1516.572,0.000,1758.313,1800.000,0.531,0.000
$DEVICE_MAMPS,151.866,74.399,1201.889,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,629.981,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31541,902
$CAP_FILE_SIZE,139351,0
$CFSIZE,260165632,212582400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.3
$GPS,080109,002640,6617.756,-5909.148,0,2099.0,0,-37.1
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581