version: 66.04
glider: 108
mission: 11
dive: 598
start: 1 2 109 19 32 6
data:
$ID,108
$MISSION,11
$DIVE,598
$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,25
$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,4.56
$_SM_ANGLEo,-4.8
$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,-146.0,0.0,0.0,0,67,0.00,0.00,-46.20,0.000,6,0.000,0.000,2697,3160,3247
$GC,71,-0.99,-146.0,3.3,-2.5,9,79,0.68,3.83,0.00,0.000,4,0.093,0.059,2458,810,3249
$GC,148,-0.66,-146.0,12.3,-12.0,22,155,0.30,2.35,0.00,0.000,6,0.143,0.065,2534,2243,3251
$GC,495,-0.66,-146.0,42.5,-8.4,83,501,0.00,2.33,0.00,0.000,4,0.000,0.065,2535,817,3252
$GC,514,-0.66,-146.0,44.1,-8.2,86,520,0.00,2.33,0.00,0.000,6,0.000,0.064,2526,2238,3251
$GC,860,-0.66,-146.0,75.2,-8.9,147,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2238,3251
$GC,1201,-0.66,-146.0,103.5,-7.6,202,1205,0.00,2.22,0.00,0.000,4,0.000,0.081,2516,3604,3251
$GC,1212,-0.66,-146.0,104.4,-7.4,202,1216,0.00,2.20,0.00,0.000,6,0.000,0.053,2516,2206,3251
$GC,1534,-0.66,-146.0,130.3,-8.6,218,1538,0.00,2.22,0.00,0.000,4,0.000,0.067,2516,820,3251
$GC,1574,-0.66,-146.0,134.3,-9.7,219,1581,0.12,2.33,0.00,0.000,6,0.141,0.066,2540,2232,3251
$GC,1890,-0.78,-146.0,159.3,-7.3,235,1892,0.12,0.00,0.00,0.000,6,0.087,0.000,2488,2232,3251
$GC,2200,-0.78,-146.0,185.8,-8.3,250,2205,0.10,2.25,0.00,0.000,4,0.153,0.079,2505,3606,3251
$GC,2245,-0.86,-146.0,189.7,-8.1,252,2249,0.00,2.20,0.00,0.000,6,0.000,0.054,2505,2212,3250
$GC,2573,-0.92,-146.0,215.1,-7.3,268,2577,0.10,2.30,0.00,0.000,4,0.098,0.077,2451,3595,3250
$GC,2630,-0.78,-146.0,220.4,-10.1,270,2635,0.22,2.17,0.00,0.000,6,0.153,0.054,2513,2214,3250
$GC,2947,-0.87,-146.0,239.7,-6.3,285,2951,0.10,2.25,0.00,0.000,4,0.099,0.065,2472,813,3250
$GC,2970,-0.87,-146.0,241.6,-7.6,286,2975,0.12,2.35,0.00,0.000,6,0.143,0.065,2495,2241,3250
$GC,3299,-0.87,-146.0,267.1,-8.2,302,3300,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2241,3250
$GC,3607,-0.93,-146.0,288.2,-6.3,317,3608,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2241,3250
$GC,3917,-0.99,-146.0,308.5,-6.7,332,3922,0.12,2.22,0.00,0.000,4,0.091,0.079,2435,3598,3250
$GC,4013,-0.85,-146.0,317.2,-9.2,336,4018,0.22,2.17,0.00,0.000,6,0.148,0.053,2498,2217,3250
$GC,4336,-0.94,-146.0,336.9,-6.1,351,4341,0.10,2.30,0.00,0.000,4,0.097,0.077,2446,3596,3250
$GC,4381,-0.85,-146.0,340.7,-8.0,353,4386,0.17,2.15,0.00,0.000,6,0.148,0.052,2493,2228,3250
$GC,4708,-0.93,-146.0,360.3,-5.9,369,4712,0.00,2.25,0.00,0.000,4,0.000,0.064,2497,818,3251
$GC,4720,-1.00,-146.0,361.5,-6.0,369,4725,0.10,2.33,0.00,0.000,6,0.089,0.064,2447,2238,3250
$GC,5042,-0.88,-146.0,385.5,-7.7,385,5047,0.17,2.33,0.00,0.000,4,0.151,0.062,2497,814,3251
$STATE,5050,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5050,begin apogee
$GC,5060,-0.31,0.0,386.3,7.9,385,5189,0.35,0.00,125.55,1.115,6,0.108,0.000,2615,1743,2650
$STATE,5189,end apogee,CONTROL_FINISHED_OK
$STATE,5190,begin climb
$GC,5193,0.99,146.0,385.8,0.0,392,5332,0.88,2.62,131.10,1.030,4,0.100,0.067,2894,3146,2053
$GC,5393,0.71,146.0,370.1,11.2,401,5399,0.28,2.45,0.00,0.000,6,0.137,0.051,2832,1738,2049
$GC,5716,0.82,180.4,349.6,5.9,417,5751,0.10,2.40,29.85,1.012,4,0.082,0.067,2888,324,1914
$GC,5787,0.76,180.4,344.0,8.4,420,5792,0.17,2.38,0.00,0.000,6,0.128,0.054,2839,1744,1913
$GC,6109,0.89,209.1,323.3,6.1,436,6140,0.12,2.33,25.50,1.009,4,0.077,0.067,2894,3162,1796
$GC,6235,0.67,209.1,311.4,10.0,441,6242,0.28,2.30,0.00,0.000,6,0.135,0.052,2824,1727,1793
$GC,6552,1.11,241.8,293.7,6.0,457,6587,0.28,2.42,29.15,1.008,4,0.074,0.067,2933,3147,1664
$GC,6718,0.81,241.8,274.8,14.0,464,6723,0.30,2.25,0.00,0.000,6,0.137,0.051,2856,1738,1660
$GC,7037,0.96,247.8,252.0,6.8,479,7048,0.12,2.30,5.88,0.805,4,0.077,0.065,2927,330,1639
$GC,7100,0.88,247.8,245.6,11.3,482,7105,0.20,2.30,0.00,0.000,6,0.137,0.055,2870,1744,1639
$GC,7434,0.98,247.8,220.0,7.4,498,7439,0.10,2.25,0.00,0.000,4,0.084,0.069,2918,3153,1638
$GC,7566,0.80,247.8,207.4,9.5,504,7571,0.28,2.25,0.00,0.000,6,0.130,0.053,2847,1728,1636
$GC,7896,1.33,283.2,189.6,5.9,520,7939,0.35,2.42,33.00,0.983,4,0.083,0.067,2975,3154,1495
$GC,8092,1.02,283.2,165.7,13.7,528,8099,0.30,2.28,0.00,0.000,6,0.142,0.054,2899,1729,1490
$GC,8409,1.16,305.3,143.5,6.3,544,8435,0.12,2.33,20.08,0.941,4,0.075,0.069,2966,322,1405
$GC,8476,1.09,305.3,137.6,9.8,547,8481,0.20,2.35,0.00,0.000,6,0.130,0.057,2909,1751,1404
$GC,8805,1.31,355.6,118.8,5.4,563,8856,0.17,2.35,45.40,0.946,4,0.067,0.071,2981,3162,1200
$GC,8914,1.10,355.6,107.6,12.0,568,8919,0.28,2.30,0.00,0.000,6,0.137,0.054,2914,1734,1195
$GC,9250,1.30,366.8,85.1,6.7,611,9269,0.17,2.38,9.70,0.852,4,0.069,0.071,2999,325,1154
$GC,9317,1.18,366.8,78.0,12.3,622,9324,0.22,2.35,0.00,0.000,6,0.139,0.058,2935,1751,1154
$GC,9664,1.29,366.8,50.3,7.7,683,9671,0.10,2.30,0.00,0.000,4,0.084,0.073,2981,3156,1151
$GC,9729,1.08,366.8,44.1,10.3,694,9736,0.28,2.28,0.00,0.000,6,0.135,0.057,2911,1732,1150
$GC,10076,1.28,366.8,20.7,9.3,755,10083,0.15,2.30,0.00,0.000,4,0.077,0.071,2983,333,1148
$GC,10124,1.28,366.8,15.4,11.8,763,10131,0.12,2.33,0.00,0.000,6,0.134,0.058,2950,1754,1148
$FREEZE,6.94,-1.789,-1.770
$FREEZE,6.31,-1.789,-1.770
$FREEZE,5.84,-1.789,-1.769
$FREEZE,5.47,-1.789,-1.769
$FREEZE,5.12,-1.789,-1.769
$FREEZE,4.81,-1.788,-1.768
$FREEZE,4.67,-1.789,-1.768
$FREEZE,4.43,-1.787,-1.768
$FREEZE,4.41,-1.789,-1.768
$FREEZE,4.48,-1.789,-1.768
$FREEZE,4.48,-1.789,-1.768
$FREEZE,4.44,-1.790,-1.768
$FREEZE,4.44,-1.789,-1.768
$FREEZE,4.42,-1.789,-1.768
$FREEZE,4.43,-1.789,-1.768
$FREEZE,4.44,-1.789,-1.768
$FREEZE,4.51,-1.789,-1.768
$FREEZE,4.44,-1.788,-1.768
$FREEZE,4.41,-1.789,-1.768
$FREEZE,4.52,-1.788,-1.768
$FREEZE,4.49,-1.788,-1.768
$FREEZE,4.46,-1.788,-1.768
$FREEZE,4.46,-1.789,-1.768
$FREEZE,4.43,-1.789,-1.768
$FREEZE,4.45,-1.788,-1.768
$FREEZE,4.40,-1.788,-1.768
$FREEZE,4.47,-1.789,-1.768
$FREEZE,4.45,-1.789,-1.768
$FREEZE,4.42,-1.789,-1.768
$FREEZE,4.38,-1.789,-1.768
$FREEZE,4.41,-1.789,-1.768
$FREEZE,4.39,-1.789,-1.768
$FREEZE,4.46,-1.789,-1.768
$FREEZE,4.39,-1.788,-1.768
$FREEZE,4.43,-1.789,-1.768
$STATE,10403,end climb,NO_VERTICAL_VELOCITY
$STATE,10403,begin surface
$RAFOS_CLK,480
$RAFOS,4,1230929051,20.750000,20.736389,62,59,53,49,49,49,203,191,133,170,119,151
$RAFOS,3,1230928453,20.583334,20.570278,65,52,52,52,51,50,196,147,175,121,163,209
$RAFOS,2,1230927855,20.416666,20.404167,59,58,55,53,52,51,204,218,164,119,194,149
$RAFOS,1,1230927254,20.250000,20.237223,65,58,57,55,52,47,220,169,151,193,206,229
$RAFOS,0,1230926654,20.083334,20.070555,117,59,56,55,54,51,614,213,194,152,119,225
$RAFOS_FIX,6636.425781,-6052.078613,020109,161644,2,69,0.09
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.026078
$HUMID,1836
$INTERNAL_PRESSURE,9.80506
$TCM_TEMP,14.80
$XPDR_PINGS,184
$24V_AH,21.6,92.402
$10V_AH,10.4,41.393
$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,8.700,106.825,455.200,0.000,0.000,0.000,0.000,0.000,46.000,0.000,0.000,0.000,1460.505,6755.572,479.926,1524.287,238.758,0.000,1320.785,0.000,1509.661,1800.000,0.529,0.000
$DEVICE_MAMPS,152.633,81.302,1115.218,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,568.608,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25285,812
$CAP_FILE_SIZE,101016,0
$CFSIZE,260165632,214802432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.1
$GPS,020109,161144,6636.426,-6052.079,0,2069.0,0,-37.3
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581