version: 66.04
glider: 108
mission: 11
dive: 604
start: 1 3 109 12 50 10
data:
$ID,108
$MISSION,11
$DIVE,604
$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,-127876.09
$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,24
$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
$GPS1,123701,6637.797,-6039.605,37,1.2,37,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-65.4
$GPS2,124944,6637.667,-6039.743,13,0.9,13,-38.0
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6638.608,-6012.607
$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,123.0,20000,-13.0,-7.021
$D_GRID,455
$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,16,-0.99,-146.0,0.0,0.0,0,63,0.00,0.00,-44.97,0.000,2,0.000,0.000,335,2251,2328
$GC,68,-0.99,-146.0,3.1,-1.1,8,122,8.80,2.42,-35.90,0.000,4,0.241,0.079,2464,817,3249
$GC,378,-0.66,-146.0,46.3,-15.5,62,385,0.30,2.35,0.00,0.000,6,0.146,0.067,2541,2234,3252
$GC,724,-0.66,-146.0,77.0,-8.2,123,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2234,3252
$GC,1061,-0.66,-146.0,107.8,-8.8,172,1065,0.00,2.25,0.00,0.000,4,0.000,0.081,2533,3607,3252
$GC,1073,-0.66,-146.0,109.0,-8.8,172,1077,0.00,2.20,0.00,0.000,6,0.000,0.053,2533,2213,3252
$GC,1396,-0.66,-146.0,136.9,-8.4,188,1399,0.00,2.33,0.00,0.000,4,0.000,0.078,2522,3608,3252
$GC,1406,-0.66,-146.0,138.1,-8.5,188,1411,0.00,2.17,0.00,0.000,6,0.000,0.052,2522,2225,3252
$GC,1728,-0.66,-146.0,168.8,-9.3,204,1732,0.00,2.30,0.00,0.000,4,0.000,0.079,2513,3603,3252
$GC,1785,-0.66,-146.0,174.2,-9.5,206,1790,0.10,2.17,0.00,0.000,6,0.153,0.053,2537,2213,3252
$GC,2108,-0.74,-146.0,196.5,-6.0,222,2112,0.00,2.25,0.00,0.000,4,0.000,0.066,2537,811,3252
$GC,2121,-0.82,-146.0,197.3,-5.6,222,2125,0.10,2.35,0.00,0.000,6,0.084,0.064,2486,2241,3252
$GC,2438,-0.82,-146.0,222.8,-9.1,237,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2241,3252
$GC,2746,-0.82,-146.0,251.0,-8.5,252,2750,0.00,2.22,0.00,0.000,4,0.000,0.081,2475,3600,3252
$GC,2786,-0.82,-146.0,254.5,-8.9,253,2793,0.10,2.17,0.00,0.000,6,0.152,0.053,2500,2220,3252
$GC,3103,-0.82,-146.0,274.6,-6.8,269,3107,0.00,2.30,0.00,0.000,4,0.000,0.079,2491,3607,3252
$GC,3132,-0.82,-146.0,277.0,-8.7,270,3135,0.00,2.17,0.00,0.000,6,0.000,0.053,2492,2227,3252
$GC,3459,-0.82,-146.0,303.5,-8.2,286,3463,0.00,2.25,0.00,0.000,4,0.000,0.065,2492,822,3252
$GC,3506,-0.82,-146.0,307.3,-8.5,288,3510,0.00,2.33,0.00,0.000,6,0.000,0.066,2482,2230,3252
$GC,3840,-0.82,-146.0,332.4,-7.1,304,3843,0.00,2.22,0.00,0.000,4,0.000,0.078,2471,3595,3252
$GC,3853,-0.82,-146.0,333.4,-7.1,304,3857,0.12,2.17,0.00,0.000,6,0.146,0.052,2504,2212,3252
$GC,4175,-0.91,-146.0,353.4,-6.0,320,4180,0.10,2.22,0.00,0.000,4,0.094,0.064,2460,820,3252
$GC,4255,-0.80,-146.0,359.8,-8.7,323,4260,0.20,2.35,0.00,0.000,6,0.133,0.066,2507,2243,3252
$GC,4572,-0.91,-146.0,380.2,-6.4,338,4577,0.10,2.35,0.00,0.000,4,0.087,0.063,2463,808,3252
$GC,4585,-0.97,-146.0,381.1,-6.5,338,4591,0.00,2.35,0.00,0.000,6,0.000,0.064,2454,2236,3252
$GC,4900,-0.89,-146.0,406.9,-8.0,352,4902,0.12,0.00,0.00,0.000,6,0.151,0.000,2487,2236,3252
$GC,5225,-0.94,-146.0,428.3,-6.5,360,5227,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2236,3252
$GC,5551,-1.00,-146.0,447.5,-5.7,368,5556,0.10,2.22,0.00,0.000,4,0.088,0.078,2433,3599,3253
$GC,5613,-0.89,-146.0,452.1,-8.0,369,5618,0.20,2.17,0.00,0.000,6,0.142,0.051,2489,2209,3253
$STATE,5674,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5674,begin apogee
$GC,5683,-0.31,0.0,455.7,5.4,371,5813,0.40,0.00,127.60,1.154,6,0.123,0.000,2616,1743,2650
$STATE,5814,end apogee,CONTROL_FINISHED_OK
$STATE,5814,begin climb
$GC,5818,0.99,146.0,457.8,0.0,374,5961,0.88,2.70,132.57,1.072,4,0.097,0.066,2905,334,2054
$GC,6021,0.83,146.0,440.2,11.1,378,6026,0.17,2.53,0.00,0.000,6,0.134,0.054,2862,1751,2051
$GC,6354,0.83,146.0,412.1,8.1,386,6358,0.00,2.30,0.00,0.000,4,0.000,0.068,2862,3159,2048
$GC,6467,0.68,146.0,402.1,9.1,388,6472,0.17,2.28,0.00,0.000,6,0.133,0.052,2820,1740,2046
$GC,6800,0.82,160.8,382.3,6.5,403,6822,0.12,2.40,12.45,0.999,4,0.074,0.067,2879,3161,1994
$GC,6852,0.61,160.8,377.2,10.7,405,6857,0.28,2.28,0.00,0.000,6,0.132,0.052,2809,1732,1994
$GC,7174,0.90,166.8,355.6,6.8,421,7188,0.20,2.35,6.53,0.881,4,0.074,0.067,2899,331,1970
$GC,7201,1.01,166.8,353.1,9.3,422,7205,0.00,2.30,0.00,0.000,6,0.000,0.054,2899,1748,1971
$GC,7531,0.89,166.8,321.5,9.2,438,7536,0.12,2.28,0.00,0.000,4,0.137,0.069,2863,3157,1971
$GC,7565,0.81,166.8,318.4,8.5,439,7572,0.00,2.25,0.00,0.000,6,0.000,0.052,2871,1732,1970
$GC,7883,0.84,195.6,298.3,6.1,455,7914,0.00,2.38,26.67,1.032,4,0.000,0.067,2871,3159,1851
$GC,7945,0.77,196.3,294.3,7.0,458,7950,0.15,2.28,0.00,0.000,6,0.129,0.051,2838,1734,1849
$GC,8273,0.99,250.6,278.0,5.3,474,8325,0.17,0.00,48.80,1.024,6,0.065,0.000,2918,1734,1628
$GC,8621,0.92,250.6,247.1,8.6,491,8623,0.15,0.00,0.00,0.000,6,0.133,0.000,2875,1734,1620
$GC,8931,1.03,250.6,227.4,8.1,506,8936,0.12,2.35,0.00,0.000,4,0.077,0.069,2932,3160,1618
$GC,8982,0.80,250.6,220.8,13.8,508,8987,0.30,2.28,0.00,0.000,6,0.133,0.054,2853,1727,1617
$GC,9299,1.36,328.3,202.4,4.5,523,9376,0.35,2.50,68.53,0.991,4,0.079,0.068,2983,3158,1311
$GC,9496,1.09,328.3,179.4,14.6,532,9501,0.28,2.30,0.00,0.000,6,0.139,0.054,2916,1734,1304
$GC,9825,1.17,328.3,152.5,7.5,548,9828,0.00,2.30,0.00,0.000,4,0.000,0.068,2924,332,1299
$GC,9871,1.28,328.3,149.1,7.7,550,9876,0.12,2.30,0.00,0.000,6,0.079,0.056,2978,1743,1299
$GC,10199,1.16,328.3,115.2,10.2,566,10204,0.17,2.30,0.00,0.000,4,0.133,0.071,2927,3160,1297
$GC,10256,1.16,328.3,109.4,10.0,568,10263,0.00,2.28,0.00,0.000,6,0.000,0.054,2935,1728,1296
$GC,10592,1.22,328.3,81.5,7.7,614,10598,0.00,2.30,0.00,0.000,4,0.000,0.071,2945,324,1295
$GC,10629,1.30,328.3,78.6,8.1,620,10636,0.00,2.33,0.00,0.000,6,0.000,0.057,2945,1750,1294
$GC,10975,1.30,328.3,49.9,10.3,681,10981,0.00,2.28,0.00,0.000,4,0.000,0.072,2945,3156,1294
$GC,11046,1.23,328.3,41.7,12.2,693,11052,0.00,2.28,0.00,0.000,6,0.000,0.057,2954,1728,1293
$GC,11392,1.23,328.3,10.2,8.5,754,11398,0.00,2.30,0.00,0.000,4,0.000,0.072,2964,330,1292
$FREEZE,6.62,-1.795,-1.765
$STATE,11431,end climb,FINISH_DEPTH_REACHED
$STATE,11431,begin subsurface finish
$FINISH1,6.6,1.025872,87
$GC,11443,0.11,87.3,6.6,-8.4,761,11485,0.80,2.45,-35.38,0.000,4,0.126,0.079,2707,327,2297
$FINISH2,4.3
$STATE,11486,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11486,begin surface
$RAFOS_CLK,508
$RAFOS,3,1230986042,12.583333,12.567223,66,59,57,53,52,49,208,195,154,170,224,129
$RAFOS_FIX,6636.425781,-6052.078613,020109,161644,2,69,0.09
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.026845
$HUMID,1846
$INTERNAL_PRESSURE,9.88319
$TCM_TEMP,14.80
$XPDR_PINGS,176
$24V_AH,21.4,93.252
$10V_AH,10.4,41.671
$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,15.325,118.200,423.150,0.000,0.000,22.749,36.836,356.610,44.000,0.000,0.000,15.259,1373.849,7951.604,537.088,1448.674,938.094,0.000,1351.976,0.000,1421.444,0.000,0.530,0.000
$DEVICE_MAMPS,240.838,81.302,1153.568,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,537.493,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25265,768
$CAP_FILE_SIZE,109064,0
$CFSIZE,260165632,214507520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.7
$GPS,030109,124944,6637.667,-6039.743,13,0.9,13,-38.0
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581