version: 66.04
glider: 108
mission: 11
dive: 646
start: 1 9 109 7 55 55
data:
$ID,108
$MISSION,11
$DIVE,646
$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,-3
$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,-128979.77
$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,30
$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
$GPS1,073938,6603.016,-5838.565,25,1.1,25,-36.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-36.6
$GPS2,073938,6603.016,-5838.565,25,1.1,25,-36.7
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6603.958,-5812.047
$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,121.7,20000,-13.0,-7.021
$D_GRID,516
$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,-146.0,0.0,0.0,0,125,0.00,0.00,-105.93,0.000,6,0.000,0.000,337,2246,3246
$GC,130,-0.99,-146.0,2.8,0.1,19,143,7.57,2.50,0.00,0.000,4,0.182,0.092,2466,810,3248
$GC,400,-0.14,-146.0,2.8,-0.2,66,407,0.68,2.42,0.00,0.000,6,0.172,0.078,2645,2239,3251
$GC,748,-0.65,-146.0,28.5,-9.6,127,755,0.30,2.33,0.00,0.000,4,0.066,0.061,2523,818,3252
$GC,779,-0.90,-146.0,31.2,-7.9,132,786,0.12,2.33,0.00,0.000,6,0.075,0.061,2459,2232,3252
$GC,1127,-0.72,-146.0,64.3,-10.7,193,1134,0.20,2.30,0.00,0.000,4,0.144,0.060,2524,818,3251
$GC,1153,-0.61,-146.0,66.9,-10.6,197,1160,0.12,2.33,0.00,0.000,6,0.125,0.060,2551,2240,3252
$GC,1501,-0.81,-146.0,86.3,-4.2,258,1508,0.17,2.33,0.00,0.000,4,0.067,0.061,2477,811,3251
$GC,1551,-0.69,-146.0,89.4,-7.2,266,1558,0.22,2.33,0.00,0.000,6,0.133,0.060,2531,2243,3251
$GC,1892,-0.84,-146.0,112.7,-6.7,302,1894,0.12,0.00,0.00,0.000,6,0.079,0.000,2478,2243,3250
$GC,2203,-0.84,-146.0,137.4,-7.7,317,2207,0.00,2.22,0.00,0.000,4,0.000,0.071,2467,3606,3250
$GC,2272,-0.84,-146.0,143.1,-8.2,320,2276,0.12,2.17,0.00,0.000,6,0.140,0.050,2500,2219,3250
$GC,2611,-0.90,-146.0,161.2,-4.6,336,2615,0.00,2.22,0.00,0.000,4,0.000,0.061,2500,824,3250
$GC,2659,-0.90,-146.0,163.9,-5.2,338,2663,0.00,2.30,0.00,0.000,6,0.000,0.059,2492,2241,3250
$GC,2993,-0.90,-146.0,179.6,-3.7,354,2994,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2241,3250
$GC,3305,-0.95,-146.0,192.9,-5.6,369,3306,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2241,3250
$GC,3611,-0.95,-146.0,215.2,-7.9,384,3615,0.00,2.33,0.00,0.000,4,0.000,0.059,2492,818,3251
$GC,3640,-0.95,-146.0,217.5,-8.3,385,3643,0.00,2.33,0.00,0.000,6,0.000,0.057,2483,2240,3251
$GC,3968,-0.95,-146.0,245.0,-8.3,401,3972,0.00,2.33,0.00,0.000,4,0.000,0.058,2483,812,3253
$GC,3979,-0.95,-146.0,246.0,-8.3,401,3983,0.00,2.33,0.00,0.000,6,0.000,0.055,2473,2243,3253
$GC,4301,-0.95,-146.0,271.5,-7.3,417,4305,0.00,2.30,0.00,0.000,4,0.000,0.058,2473,822,3253
$GC,4335,-0.88,-146.0,274.3,-8.0,418,4340,0.10,2.30,0.00,0.000,6,0.136,0.057,2489,2238,3253
$GC,4659,-0.92,-146.0,295.8,-6.4,434,4660,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2237,3254
$GC,4967,-0.97,-146.0,315.6,-6.4,449,4971,0.00,2.30,0.00,0.000,4,0.000,0.058,2490,814,3254
$GC,4979,-0.97,-146.0,316.5,-6.4,449,4982,0.00,2.30,0.00,0.000,6,0.000,0.056,2483,2238,3254
$GC,5302,-0.97,-146.0,339.1,-7.6,465,5303,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2238,3254
$GC,5610,-0.97,-146.0,363.6,-7.9,480,5614,0.00,2.30,0.00,0.000,4,0.000,0.058,2483,813,3254
$GC,5644,-0.97,-146.0,366.4,-8.0,481,5648,0.00,2.30,0.00,0.000,6,0.000,0.057,2473,2238,3254
$GC,5966,-0.97,-146.0,390.9,-7.2,497,5970,0.00,2.28,0.00,0.000,4,0.000,0.058,2473,823,3254
$GC,5995,-0.92,-146.0,393.3,-7.9,498,6000,0.00,2.28,0.00,0.000,6,0.000,0.057,2462,2242,3254
$GC,6341,-0.92,-146.0,417.6,-6.9,509,6344,0.00,2.30,0.00,0.000,4,0.000,0.058,2462,814,3254
$GC,6367,-0.85,-146.0,419.3,-7.0,509,6371,0.15,2.30,0.00,0.000,6,0.128,0.056,2494,2242,3254
$GC,6710,-0.94,-146.0,436.9,-4.8,518,6712,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2242,3254
$GC,7035,-1.03,-146.0,451.9,-4.5,526,7040,0.15,2.30,0.00,0.000,4,0.077,0.057,2433,816,3254
$GC,7072,-0.83,-146.0,454.3,-7.4,526,7079,0.28,2.30,0.00,0.000,6,0.129,0.057,2504,2243,3254
$GC,7405,-0.94,-146.0,470.7,-4.8,535,7407,0.12,0.00,0.00,0.000,6,0.081,0.000,2451,2243,3254
$GC,7730,-0.87,-146.0,492.4,-6.9,543,7732,0.15,0.00,0.00,0.000,6,0.140,0.000,2493,2243,3254
$GC,8055,-0.96,-146.0,509.9,-5.3,551,8056,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2243,3254
$STATE,8172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8172,begin apogee
$GC,8181,-0.31,0.0,516.6,5.5,554,8311,0.38,0.00,127.15,1.142,6,0.116,0.000,2614,1736,2650
$STATE,8312,end apogee,CONTROL_FINISHED_OK
$STATE,8312,begin climb
$GC,8316,0.99,146.0,519.1,0.0,557,8452,0.85,0.00,131.30,1.069,6,0.094,0.000,2892,1736,2054
$GC,8766,0.84,146.0,480.8,9.1,568,8768,0.12,0.00,0.00,0.000,6,0.124,0.000,2857,1736,2047
$GC,9091,0.84,148.2,458.1,6.9,576,9095,0.00,2.30,0.00,0.000,4,0.000,0.063,2857,3156,2047
$GC,9137,0.70,148.2,454.3,8.6,577,9142,0.15,2.25,0.00,0.000,6,0.133,0.052,2822,1732,2046
$GC,9469,0.81,159.7,432.4,6.7,585,9486,0.12,2.33,11.32,0.989,4,0.072,0.064,2892,332,1998
$GC,9521,0.69,159.7,427.6,10.2,586,9526,0.22,2.28,0.00,0.000,6,0.127,0.049,2826,1753,1999
$GC,9836,0.80,172.4,406.1,6.6,594,9856,0.10,2.30,12.12,0.990,4,0.080,0.063,2874,3157,1947
$GC,9941,0.61,172.4,395.6,9.9,596,9948,0.25,2.25,0.00,0.000,6,0.128,0.051,2810,1734,1946
$GC,10259,0.85,225.0,377.7,5.3,612,10309,0.17,0.00,46.53,1.048,6,0.062,0.000,2890,1734,1732
$GC,10608,0.76,225.0,345.9,8.7,629,10613,0.17,2.28,0.00,0.000,4,0.122,0.062,2847,327,1725
$GC,10654,0.93,245.1,342.7,6.4,631,10679,0.12,2.28,17.67,0.980,6,0.074,0.050,2907,1748,1650
$GC,11006,0.82,245.1,309.9,9.4,648,11010,0.17,2.25,0.00,0.000,4,0.129,0.062,2855,3161,1646
$GC,11068,0.82,245.1,304.2,8.1,650,11075,0.00,2.25,0.00,0.000,6,0.000,0.050,2861,1730,1644
$GC,11386,0.82,245.1,280.9,7.7,666,11387,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1730,1644
$GC,11696,0.86,278.1,260.5,6.0,681,11731,0.00,2.38,29.38,0.973,4,0.000,0.062,2861,3152,1516
$GC,11778,0.86,278.1,255.0,7.7,684,11784,0.00,2.25,0.00,0.000,6,0.000,0.050,2871,1733,1514
$GC,12095,0.86,278.1,229.7,9.3,700,12099,0.00,2.25,0.00,0.000,4,0.000,0.063,2882,331,1511
$GC,12123,0.92,278.1,226.8,9.6,701,12128,0.00,2.25,0.00,0.000,6,0.000,0.050,2882,1751,1511
$GC,12451,0.92,278.1,192.5,10.6,717,12455,0.00,2.20,0.00,0.000,4,0.000,0.064,2882,3148,1509
$GC,12521,0.81,278.1,184.8,11.5,720,12526,0.15,2.22,0.00,0.000,6,0.128,0.050,2848,1730,1508
$GC,12856,0.98,304.6,160.4,6.2,736,12887,0.15,2.33,23.05,0.901,4,0.067,0.062,2929,331,1408
$GC,12940,0.92,304.6,152.3,11.3,739,12946,0.20,2.28,0.00,0.000,6,0.127,0.049,2871,1751,1408
$GC,13257,1.07,348.5,132.0,5.6,755,13304,0.15,2.30,39.38,0.878,4,0.067,0.063,2939,3145,1229
$GC,13357,0.89,348.5,121.5,11.8,759,13362,0.28,2.25,0.00,0.000,6,0.128,0.050,2868,1733,1226
$GC,13679,1.12,353.0,99.0,6.9,775,13692,0.17,2.30,3.92,0.570,4,0.064,0.061,2958,334,1211
$GC,13774,1.12,353.0,87.7,13.7,791,13781,0.15,2.25,0.00,0.000,6,0.126,0.048,2915,1744,1211
$GC,14122,1.20,353.0,51.1,11.7,852,14128,0.10,2.22,0.00,0.000,4,0.079,0.060,2961,3153,1211
$GC,14181,0.99,353.0,41.8,16.0,862,14189,0.28,2.22,0.00,0.000,6,0.130,0.048,2890,1730,1211
$FREEZE,6.56,-0.750,-1.812
$FREEZE,6.11,-0.801,-1.812
$FREEZE,5.77,-0.819,-1.812
$FREEZE,4.94,-0.819,-1.811
$FREEZE,3.79,-0.773,-1.808
$FREEZE,2.79,-0.790,-1.809
$GC,14530,1.31,516.8,14.7,1.8,923,14635,0.20,0.00,102.12,0.805,2,0.061,0.000,2983,1721,725
$STATE,14636,end climb,SURFACE_DEPTH_REACHED
$STATE,14636,begin surface coast
$FREEZE,2.09,-0.884,-1.808
$FREEZE,1.93,-0.887,-1.807
$FREEZE,1.82,-0.849,-1.805
$FREEZE,1.93,-0.857,-1.806
$FREEZE,1.98,-0.916,-1.807
$FREEZE,1.97,-0.883,-1.806
$FINISH,2.0,1.026487
$STATE,14671,end surface coast,CONTROL_FINISHED_OK
$STATE,14672,begin surface
$RAFOS_CLK,620
$RAFOS,4,1231490661,8.750000,8.739166,54,54,54,54,51,50,152,168,200,240,115,209
$RAFOS,3,1231490041,8.583333,8.566944,65,63,62,55,52,51,190,148,204,220,175,131
$RAFOS,2,1231489446,8.416667,8.401667,74,57,56,52,52,51,211,117,196,158,186,220
$RAFOS,1,1231488844,8.250000,8.234445,59,57,57,54,53,45,189,171,211,198,160,134
$RAFOS,0,1231488245,8.083333,8.068055,66,59,56,55,54,53,213,222,123,153,192,176
$RAFOS_FIX,6617.756348,-5909.147949,080109,000040,2,99,0.64
$IRIDIUM_FIX,6537.93,-5836.74,050498,070722
$TT8_MAMPS,0.026845
$HUMID,1803
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,15.80
$XPDR_PINGS,127
$24V_AH,21.8,98.329
$10V_AH,10.4,43.549
$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,15.275,119.875,543.950,0.000,0.000,91.749,89.720,68.647,31.750,0.000,0.000,183.214,1692.651,10656.979,628.639,1867.690,899.719,0.000,1592.595,0.000,1675.415,1800.000,0.532,0.000
$DEVICE_MAMPS,181.779,92.040,1142.063,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,657.690,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31546,944
$CAP_FILE_SIZE,124724,0
$CFSIZE,260165632,212353024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.0
$GPS,090109,073938,6603.016,-5838.565,25,1.1,25,-36.7
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581