version: 66.04
glider: 108
mission: 11
dive: 609
start: 1 4 109 5 9 32
data:
$ID,108
$MISSION,11
$DIVE,609
$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,27
$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
$GPS1,124944,6637.667,-6039.743,13,0.9,13,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-1.7
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.99,-146.0,0.0,0.0,0,52,0.00,0.00,-33.20,0.000,2,0.000,0.000,2702,1744,3010
$GC,56,-0.99,-146.0,3.3,-2.4,6,70,0.65,1.62,-8.93,0.000,4,0.059,0.087,2453,816,3248
$GC,180,-0.71,-146.0,18.3,-13.1,27,187,0.28,2.35,0.00,0.000,6,0.142,0.064,2523,2244,3253
$GC,526,-0.71,-146.0,56.4,-11.6,88,533,0.00,2.35,0.00,0.000,4,0.000,0.065,2523,807,3254
$GC,546,-0.71,-146.0,58.7,-11.8,91,553,0.00,2.35,0.00,0.000,6,0.000,0.061,2515,2247,3254
$GC,892,-0.71,-146.0,92.8,-10.5,152,898,0.00,2.35,0.00,0.000,4,0.000,0.064,2515,809,3254
$GC,929,-0.66,-146.0,96.3,-10.1,158,936,0.12,2.35,0.00,0.000,6,0.141,0.063,2538,2245,3254
$GC,1262,-0.72,-146.0,120.1,-8.9,179,1266,0.00,2.33,0.00,0.000,4,0.000,0.064,2538,819,3254
$GC,1377,-0.72,-146.0,127.3,-4.6,184,1381,0.00,2.33,0.00,0.000,6,0.000,0.063,2530,2240,3253
$GC,1710,-0.80,-146.0,148.1,-8.3,200,1712,0.10,0.00,0.00,0.000,6,0.090,0.000,2485,2240,3253
$GC,2021,-0.73,-146.0,174.7,-9.1,215,2026,0.15,2.22,0.00,0.000,4,0.149,0.076,2517,3604,3253
$GC,2046,-0.73,-146.0,176.9,-8.4,216,2050,0.00,2.20,0.00,0.000,6,0.000,0.053,2517,2209,3253
$GC,2379,-0.79,-146.0,205.7,-8.2,232,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2209,3253
$GC,2689,-0.87,-146.0,223.7,-5.6,247,2693,0.10,2.22,0.00,0.000,4,0.094,0.066,2474,821,3252
$GC,2758,-0.75,-146.0,229.6,-9.5,250,2763,0.20,2.33,0.00,0.000,6,0.140,0.064,2519,2236,3252
$GC,3086,-0.85,-146.0,252.5,-6.7,266,3091,0.10,2.22,0.00,0.000,4,0.094,0.076,2468,3602,3252
$GC,3101,-0.92,-146.0,253.3,-6.8,266,3105,0.00,2.17,0.00,0.000,6,0.000,0.053,2467,2223,3252
$GC,3424,-0.84,-146.0,281.4,-8.5,282,3428,0.12,2.28,0.00,0.000,4,0.155,0.074,2494,3595,3252
$GC,3486,-0.90,-146.0,285.8,-6.7,284,3493,0.00,2.17,0.00,0.000,6,0.000,0.053,2494,2214,3252
$GC,3805,-0.90,-146.0,304.4,-5.8,300,3809,0.00,2.25,0.00,0.000,4,0.000,0.065,2494,816,3252
$GC,3823,-0.90,-146.0,305.8,-6.1,300,3829,0.00,2.35,0.00,0.000,6,0.000,0.062,2484,2240,3252
$GC,4140,-0.90,-146.0,326.9,-6.9,316,4141,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2240,3252
$GC,4449,-0.90,-146.0,350.4,-7.6,331,4453,0.00,2.22,0.00,0.000,4,0.000,0.076,2474,3602,3252
$GC,4466,-0.90,-146.0,351.8,-7.6,331,4473,0.00,2.17,0.00,0.000,6,0.000,0.052,2473,2225,3252
$GC,4783,-0.90,-146.0,373.3,-6.5,347,4787,0.00,2.25,0.00,0.000,4,0.000,0.065,2474,815,3252
$GC,4795,-0.90,-146.0,374.1,-6.7,347,4800,0.10,2.33,0.00,0.000,6,0.142,0.061,2489,2237,3251
$GC,5118,-0.95,-146.0,395.3,-6.9,363,5119,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2236,3252
$GC,5444,-1.02,-146.0,417.4,-6.4,373,5448,0.12,2.22,0.00,0.000,4,0.085,0.074,2428,3606,3252
$GC,5461,-1.02,-146.0,418.7,-6.3,373,5465,0.12,2.17,0.00,0.000,6,0.158,0.051,2460,2222,3252
$GC,5775,-1.02,-146.0,440.7,-7.2,381,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2221,3252
$STATE,5973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5973,begin apogee
$GC,5982,-0.31,0.0,455.5,7.3,386,6112,0.50,0.00,127.30,1.148,6,0.128,0.000,2617,1743,2650
$STATE,6113,end apogee,CONTROL_FINISHED_OK
$STATE,6113,begin climb
$GC,6117,0.99,146.0,459.3,0.0,389,6253,0.88,0.00,132.12,1.068,6,0.096,0.000,2897,1743,2054
$GC,6567,0.83,146.0,423.9,8.6,400,6569,0.15,0.00,0.00,0.000,6,0.131,0.000,2856,1743,2048
$GC,6891,0.83,146.0,401.1,7.2,408,6895,0.00,2.33,0.00,0.000,4,0.000,0.065,2856,3162,2047
$GC,6927,0.70,146.0,398.4,8.0,408,6931,0.12,2.28,0.00,0.000,6,0.140,0.053,2830,1733,2046
$GC,7249,0.82,170.9,379.1,6.2,424,7275,0.10,2.35,20.88,1.044,4,0.083,0.064,2877,3154,1953
$GC,7316,0.62,170.9,373.4,10.0,427,7321,0.25,2.28,0.00,0.000,6,0.132,0.051,2814,1729,1951
$GC,7645,0.99,188.3,354.0,6.5,443,7668,0.22,2.42,16.33,1.016,4,0.072,0.065,2907,3161,1882
$GC,7820,0.72,188.3,335.9,11.0,450,7827,0.30,2.28,0.00,0.000,6,0.135,0.051,2829,1729,1880
$GC,8138,0.94,254.1,319.4,4.9,466,8199,0.17,0.00,58.30,1.039,6,0.066,0.000,2909,1729,1613
$GC,8511,0.87,254.1,280.0,10.8,484,8515,0.15,2.30,0.00,0.000,4,0.130,0.066,2874,324,1605
$GC,8545,0.99,254.1,276.5,8.6,485,8549,0.00,2.33,0.00,0.000,6,0.000,0.052,2874,1755,1605
$GC,8868,1.08,254.1,248.1,8.3,501,8872,0.15,2.25,0.00,0.000,4,0.071,0.066,2944,3160,1603
$GC,8942,0.82,254.1,239.3,12.6,504,8947,0.35,2.25,0.00,0.000,6,0.137,0.052,2850,1737,1601
$GC,9264,1.33,257.2,217.7,6.9,520,9269,0.35,2.30,0.00,0.000,4,0.086,0.066,2976,327,1600
$GC,9309,1.26,257.2,213.8,9.2,522,9314,0.10,2.30,0.00,0.000,6,0.160,0.054,2953,1747,1600
$GC,9637,1.12,257.2,180.6,9.3,538,9642,0.12,2.30,0.00,0.000,4,0.144,0.069,2916,3162,1600
$GC,9694,0.99,257.2,175.1,9.4,540,9699,0.12,2.28,0.00,0.000,6,0.143,0.054,2889,1731,1599
$GC,10017,1.11,257.2,147.8,7.8,556,10021,0.12,2.30,0.00,0.000,4,0.076,0.067,2957,323,1599
$GC,10051,1.03,257.2,144.6,9.5,557,10056,0.20,2.33,0.00,0.000,6,0.132,0.055,2899,1748,1599
$GC,10368,1.15,272.7,126.9,6.5,572,10391,0.12,2.30,15.40,0.940,4,0.077,0.069,2955,3157,1538
$GC,10440,0.92,272.7,121.3,8.1,575,10445,0.30,2.28,0.00,0.000,6,0.134,0.055,2877,1735,1537
$GC,10768,1.20,344.1,105.6,4.7,591,10839,0.20,2.42,64.57,0.942,4,0.067,0.070,2978,332,1247
$GC,10955,1.13,344.1,86.6,10.3,613,10962,0.20,2.33,0.00,0.000,6,0.130,0.054,2921,1745,1242
$GC,11302,1.25,344.1,54.0,9.8,674,11309,0.12,2.30,0.00,0.000,4,0.078,0.070,2977,3162,1237
$GC,11345,1.15,344.1,48.7,12.6,681,11352,0.20,2.28,0.00,0.000,6,0.136,0.056,2930,1740,1235
$GC,11691,1.20,344.1,28.2,8.5,742,11697,0.00,2.33,0.00,0.000,4,0.000,0.071,2938,324,1234
$GC,11762,1.38,344.1,22.6,7.6,754,11769,0.15,2.33,0.00,0.000,6,0.075,0.058,2998,1749,1233
$FREEZE,6.61,-1.803,-1.773
$STATE,11913,end climb,FINISH_DEPTH_REACHED
$STATE,11913,begin subsurface finish
$FINISH1,6.6,1.025987,82
$GC,11922,0.10,81.7,6.6,-9.0,780,11963,0.93,2.42,-31.20,0.000,4,0.125,0.083,2702,334,2322
$FINISH2,9.5
$STATE,11964,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11964,begin surface
$RAFOS_CLK,557
$RAFOS,1,1231056844,8.250000,8.234445,70,59,59,56,54,49,213,204,127,151,179,222
$RAFOS,0,1231056247,8.083333,8.068611,99,65,59,55,55,53,588,203,156,169,190,214
$RAFOS_FIX,6636.425781,-6052.078613,020109,161644,2,69,0.09
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.029146
$HUMID,1855
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,14.80
$XPDR_PINGS,150
$24V_AH,21.5,93.943
$10V_AH,10.4,41.907
$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,8.775,112.375,434.900,0.000,0.000,0.000,0.000,0.000,37.500,0.000,0.000,0.000,1421.490,8386.409,503.273,1439.064,269.766,0.000,1313.401,0.000,1431.534,1080.000,0.529,0.000
$DEVICE_MAMPS,159.536,86.671,1148.199,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,551.145,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25292,787
$CAP_FILE_SIZE,101532,0
$CFSIZE,260165632,214257664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.1
$GPS,030109,124944,6637.667,-6039.743,13,0.9,13,-38.0
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581