version: 66.04
glider: 108
mission: 11
dive: 649
start: 1 9 109 20 30 36
data:
$ID,108
$MISSION,11
$DIVE,649
$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,-129348.27
$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,28
$R_STBD_OVSHOOT,27
$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,3.71
$_SM_ANGLEo,4.6
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-6.07,0.000,2,0.000,0.000,2694,1752,947
$GC,30,-0.99,-146.0,3.6,-0.0,1,121,0.62,1.60,-84.90,0.000,4,0.049,0.084,2432,811,3248
$GC,378,-0.66,-146.0,32.1,-10.5,62,385,0.40,2.30,0.00,0.000,6,0.135,0.057,2541,2241,3251
$GC,726,-0.77,-146.0,54.8,-6.6,123,732,0.12,2.30,0.00,0.000,4,0.076,0.058,2486,811,3251
$GC,769,-0.71,-146.0,58.4,-8.7,130,775,0.17,2.30,0.00,0.000,6,0.134,0.058,2526,2239,3251
$GC,1117,-0.77,-146.0,82.0,-7.0,191,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2239,3250
$GC,1466,-0.86,-146.0,112.3,-6.9,234,1470,0.12,2.17,0.00,0.000,4,0.083,0.070,2462,3594,3250
$GC,1483,-0.86,-146.0,113.3,-5.3,234,1490,0.12,2.15,0.00,0.000,6,0.147,0.047,2495,2205,3250
$GC,1800,-0.86,-146.0,128.5,-6.5,250,1804,0.00,2.28,0.00,0.000,4,0.000,0.071,2487,3601,3249
$GC,1829,-0.86,-146.0,131.0,-8.6,251,1833,0.00,2.12,0.00,0.000,6,0.000,0.047,2487,2228,3249
$GC,2157,-0.86,-146.0,163.0,-8.5,267,2161,0.00,2.25,0.00,0.000,4,0.000,0.070,2477,3604,3248
$GC,2181,-0.86,-146.0,164.9,-7.8,268,2185,0.00,2.12,0.00,0.000,6,0.000,0.046,2477,2227,3248
$GC,2515,-0.86,-146.0,185.7,-7.0,284,2519,0.00,2.20,0.00,0.000,4,0.000,0.058,2477,828,3248
$GC,2584,-0.81,-146.0,191.4,-8.0,287,2589,0.15,2.28,0.00,0.000,6,0.128,0.058,2509,2238,3248
$GC,2912,-0.93,-146.0,207.8,-3.8,303,2914,0.12,0.00,0.00,0.000,6,0.080,0.000,2456,2238,3248
$GC,3222,-0.85,-146.0,227.2,-7.6,318,3224,0.15,0.00,0.00,0.000,6,0.140,0.000,2497,2238,3248
$GC,3531,-0.93,-146.0,248.3,-6.3,333,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2238,3248
$GC,3841,-1.02,-146.0,265.8,-5.4,348,3843,0.15,0.00,0.00,0.000,6,0.076,0.000,2435,2238,3248
$GC,4149,-0.89,-146.0,286.6,-6.9,363,4151,0.20,0.00,0.00,0.000,6,0.138,0.000,2492,2238,3248
$GC,4458,-0.96,-146.0,299.4,-3.3,378,4462,0.00,2.25,0.00,0.000,4,0.000,0.054,2494,820,3250
$GC,4488,-0.96,-146.0,300.3,-3.5,379,4492,0.00,2.28,0.00,0.000,6,0.000,0.052,2487,2246,3249
$GC,4817,-1.01,-146.0,308.7,-2.6,395,4821,0.10,2.15,0.00,0.000,4,0.081,0.064,2426,3609,3250
$GC,4841,-0.93,-146.0,309.5,-3.6,396,4846,0.17,2.10,0.00,0.000,6,0.137,0.041,2477,2217,3250
$GC,5175,-0.93,-146.0,324.3,-5.7,412,5176,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2217,3251
$GC,5484,-0.93,-146.0,342.2,-5.7,427,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2217,3252
$GC,5794,-0.93,-146.0,357.6,-4.6,442,5797,0.00,2.15,0.00,0.000,4,0.000,0.052,2477,828,3253
$GC,5851,-0.93,-146.0,360.5,-5.1,444,5855,0.00,2.25,0.00,0.000,6,0.000,0.052,2469,2244,3253
$GC,6173,-0.93,-146.0,375.9,-4.9,460,6177,0.00,2.25,0.00,0.000,4,0.000,0.051,2469,818,3253
$GC,6214,-0.87,-146.0,378.3,-5.8,461,6221,0.12,2.25,0.00,0.000,6,0.127,0.051,2494,2237,3254
$GC,6532,-0.95,-146.0,391.6,-4.3,477,6535,0.00,2.22,0.00,0.000,4,0.000,0.051,2494,825,3254
$GC,6550,-1.02,-146.0,392.6,-4.3,477,6557,0.10,2.25,0.00,0.000,6,0.078,0.051,2439,2244,3254
$GC,6886,-0.91,-146.0,413.0,-6.2,489,6890,0.15,2.12,0.00,0.000,4,0.138,0.064,2473,3597,3255
$GC,6920,-0.91,-146.0,415.1,-5.8,489,6923,0.00,2.08,0.00,0.000,6,0.000,0.040,2473,2228,3255
$GC,7258,-0.91,-146.0,433.1,-5.3,498,7262,0.00,2.17,0.00,0.000,4,0.000,0.052,2473,826,3255
$GC,7276,-0.91,-146.0,434.2,-5.3,498,7280,0.00,2.25,0.00,0.000,6,0.000,0.051,2464,2242,3255
$GC,7591,-0.91,-146.0,451.1,-5.5,506,7592,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2242,3255
$GC,7916,-0.91,-146.0,470.4,-6.0,514,7917,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2242,3255
$GC,8241,-0.91,-146.0,491.3,-6.4,522,8245,0.00,2.15,0.00,0.000,4,0.000,0.067,2453,3600,3255
$GC,8265,-0.91,-146.0,493.0,-6.9,522,8269,0.12,2.10,0.00,0.000,6,0.142,0.041,2486,2219,3255
$GC,8614,-0.97,-146.0,512.7,-5.5,531,8618,0.00,2.17,0.00,0.000,4,0.000,0.054,2486,821,3255
$GC,8626,-1.03,-146.0,513.5,-5.3,531,8631,0.10,2.25,0.00,0.000,6,0.078,0.051,2434,2236,3255
$STATE,8692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8693,begin apogee
$GC,8703,-0.31,0.0,517.9,6.7,533,8833,0.57,0.00,126.85,1.113,6,0.126,0.000,2613,1749,2650
$STATE,8833,end apogee,CONTROL_FINISHED_OK
$STATE,8833,begin climb
$GC,8837,0.99,146.0,519.8,0.0,536,8971,0.85,0.00,129.88,1.049,6,0.088,0.000,2895,1749,2054
$GC,9289,0.82,146.0,477.5,9.9,547,9294,0.15,2.28,0.00,0.000,4,0.125,0.059,2852,3150,2047
$GC,9324,0.71,146.0,474.0,8.6,547,9331,0.12,2.22,0.00,0.000,6,0.137,0.045,2824,1732,2047
$GC,9657,0.81,159.5,452.0,6.6,556,9671,0.12,0.00,11.30,0.967,6,0.073,0.000,2882,1732,1999
$GC,9983,0.70,159.5,422.0,9.3,564,9984,0.17,0.00,0.00,0.000,6,0.121,0.000,2829,1732,1997
$GC,10307,0.82,186.4,401.5,6.2,572,10337,0.10,2.33,24.02,1.031,4,0.081,0.061,2877,3156,1890
$GC,10373,0.63,186.4,395.8,10.0,574,10378,0.25,2.22,0.00,0.000,6,0.125,0.046,2813,1734,1888
$GC,10702,0.86,221.6,376.6,5.9,590,10738,0.17,2.28,30.73,1.021,4,0.061,0.058,2905,334,1745
$GC,10774,0.77,221.6,369.0,11.9,592,10779,0.20,2.28,0.00,0.000,6,0.126,0.047,2846,1745,1744
$GC,11091,0.77,221.6,340.5,9.1,607,11095,0.00,2.22,0.00,0.000,4,0.000,0.061,2846,3158,1739
$GC,11184,0.71,221.6,330.8,11.1,611,11188,0.00,2.22,0.00,0.000,6,0.000,0.045,2854,1724,1737
$GC,11518,0.71,221.6,301.2,8.3,627,11519,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1724,1737
$GC,11827,0.71,221.6,275.9,8.7,642,11828,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1724,1736
$GC,12135,0.71,221.6,246.8,9.4,657,12139,0.00,2.30,0.00,0.000,4,0.000,0.058,2854,3166,1736
$GC,12188,0.65,221.6,241.9,9.5,659,12193,0.15,2.22,0.00,0.000,6,0.127,0.044,2819,1725,1736
$GC,12511,0.93,284.4,224.1,5.0,675,12575,0.20,2.30,54.22,0.920,4,0.058,0.057,2931,342,1490
$GC,12593,0.83,284.4,216.1,10.0,678,12600,0.25,2.28,0.00,0.000,6,0.122,0.044,2856,1750,1487
$GC,12911,0.94,284.4,194.3,7.3,694,12916,0.10,2.22,0.00,0.000,4,0.079,0.057,2907,3162,1482
$GC,12997,0.78,284.4,183.6,13.6,698,13002,0.25,2.22,0.00,0.000,6,0.123,0.044,2841,1730,1480
$GC,13329,1.00,297.6,159.4,6.6,714,13345,0.20,2.22,11.05,0.810,4,0.060,0.057,2952,325,1435
$GC,13386,0.85,297.6,152.6,12.5,715,13393,0.30,2.25,0.00,0.000,6,0.123,0.045,2861,1748,1435
$GC,13704,1.03,320.2,132.8,6.3,731,13730,0.15,2.22,20.85,0.842,4,0.064,0.058,2934,3150,1344
$GC,13814,0.88,320.2,121.0,11.4,736,13819,0.25,2.20,0.00,0.000,6,0.123,0.044,2869,1735,1342
$GC,14140,1.11,320.2,94.5,8.7,758,14147,0.17,2.22,0.00,0.000,4,0.064,0.057,2952,335,1339
$GC,14177,1.18,320.2,90.1,10.2,764,14184,0.00,2.22,0.00,0.000,6,0.000,0.046,2952,1748,1339
$GC,14524,1.11,320.2,52.6,10.9,825,14531,0.12,2.20,0.00,0.000,4,0.134,0.058,2916,3151,1339
$GC,14578,1.11,320.2,46.6,11.1,834,14584,0.00,2.20,0.00,0.000,6,0.000,0.045,2923,1727,1338
$GC,14924,1.11,320.2,13.8,11.5,895,14931,0.00,2.20,0.00,0.000,4,0.000,0.058,2933,332,1338
$FREEZE,6.74,-1.092,-1.814
$FREEZE,5.84,-1.103,-1.814
$FREEZE,5.01,-1.102,-1.813
$FREEZE,4.70,-1.102,-1.813
$GC,15024,1.11,320.2,4.7,11.6,912,15031,0.00,2.25,0.00,0.000,6,0.000,0.049,2934,1753,1338
$FREEZE,3.62,-1.134,-1.812
$FREEZE,3.14,-1.128,-1.811
$FREEZE,2.66,-1.136,-1.811
$STATE,15046,end climb,SURFACE_DEPTH_REACHED
$STATE,15047,begin surface coast
$FREEZE,2.15,-1.146,-1.810
$FREEZE,2.10,-1.171,-1.809
$FREEZE,1.91,-1.170,-1.809
$FREEZE,1.98,-1.171,-1.809
$FREEZE,1.95,-1.180,-1.809
$FREEZE,1.90,-1.189,-1.809
$FINISH,1.9,1.026534
$STATE,15081,end surface coast,CONTROL_FINISHED_OK
$STATE,15084,begin surface
$RAFOS_CLK,641
$RAFOS,3,1231547641,0.583333,0.566944,67,57,55,54,50,44,228,184,199,165,126,142
$RAFOS,2,1231547056,0.416667,0.404444,64,57,57,54,54,50,172,131,201,117,159,142
$RAFOS,1,1231546446,0.250000,0.235000,62,57,56,55,55,54,218,184,233,111,198,162
$RAFOS,0,1231545859,0.083333,0.071944,59,58,57,55,55,53,224,200,145,213,178,158
$RAFOS,4,1231533843,20.750000,20.734167,55,54,53,53,53,48,194,224,149,214,174,114
$RAFOS,3,1231533241,20.583334,20.566944,62,61,55,51,49,48,152,191,121,213,233,222
$RAFOS,2,1231532644,20.416666,20.401112,59,57,57,57,55,52,214,180,196,171,152,139
$RAFOS_FIX,6617.756348,-5909.147949,080109,000040,2,99,0.64
$IRIDIUM_FIX,6537.93,-5836.74,050498,070722
$TT8_MAMPS,0.026078
$HUMID,1806
$INTERNAL_PRESSURE,9.88319
$TCM_TEMP,15.60
$XPDR_PINGS,259
$24V_AH,22.0,98.746
$10V_AH,10.4,43.733
$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,8.100,120.075,408.900,0.000,0.000,0.000,0.000,0.000,64.750,0.000,0.000,0.000,1675.620,11096.721,513.846,1645.169,337.892,0.000,1437.090,0.000,1634.311,2160.000,0.532,0.000
$DEVICE_MAMPS,147.264,83.603,1112.917,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,642.786,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31536,922
$CAP_FILE_SIZE,122921,0
$CFSIZE,260165632,212180992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.6
$GPS,090109,073938,6603.016,-5838.565,25,1.1,25,-36.7
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581