version: 66.04
glider: 108
mission: 11
dive: 610
start: 1 4 109 8 30 52
data:
$ID,108
$MISSION,11
$DIVE,610
$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,23
$R_STBD_OVSHOOT,26
$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,12.68
$_SM_ANGLEo,-5.7
$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,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,-6.07,0.000,2,0.000,0.000,2702,334,2603
$GC,29,-0.99,-146.0,12.6,-0.0,1,48,0.68,0.85,-14.02,0.000,4,0.077,0.094,2451,829,3250
$GC,183,-0.70,-146.0,25.5,-9.3,27,190,0.30,2.25,0.00,0.000,6,0.150,0.064,2524,2232,3255
$GC,530,-0.70,-146.0,49.3,-11.5,88,536,0.00,2.33,0.00,0.000,4,0.000,0.064,2524,812,3255
$GC,549,-0.70,-146.0,52.1,-12.9,91,556,0.00,2.33,0.00,0.000,6,0.000,0.061,2517,2236,3255
$GC,895,-0.70,-146.0,97.3,-10.9,152,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2235,3255
$GC,1227,-0.70,-146.0,122.5,-6.1,173,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2236,3255
$GC,1534,-0.70,-146.0,146.8,-8.1,188,1536,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2236,3255
$GC,1846,-0.70,-146.0,169.0,-7.0,203,1849,0.00,2.35,0.00,0.000,4,0.000,0.067,2517,803,3255
$GC,1857,-0.70,-146.0,169.9,-6.1,203,1861,0.00,2.35,0.00,0.000,6,0.000,0.063,2507,2235,3255
$GC,2179,-0.70,-146.0,193.4,-7.9,219,2181,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2235,3254
$GC,2489,-0.70,-146.0,220.0,-9.6,234,2493,0.00,2.33,0.00,0.000,4,0.000,0.066,2507,816,3254
$GC,2501,-0.70,-146.0,221.3,-9.5,234,2506,0.12,2.33,0.00,0.000,6,0.140,0.063,2531,2231,3254
$GC,2819,-0.83,-146.0,242.1,-5.4,249,2821,0.12,0.00,0.00,0.000,6,0.083,0.000,2479,2231,3254
$GC,3127,-0.83,-146.0,265.1,-7.5,264,3131,0.00,2.22,0.00,0.000,4,0.000,0.077,2468,3598,3254
$GC,3145,-0.78,-146.0,266.6,-7.8,264,3152,0.15,2.17,0.00,0.000,6,0.150,0.052,2507,2217,3254
$GC,3462,-0.86,-146.0,288.5,-6.8,280,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2217,3255
$GC,3771,-0.93,-146.0,306.8,-5.3,295,3773,0.12,0.00,0.00,0.000,6,0.090,0.000,2456,2217,3254
$GC,4081,-0.83,-146.0,330.7,-8.4,310,4085,0.17,2.28,0.00,0.000,4,0.152,0.066,2513,811,3254
$GC,4160,-0.91,-146.0,336.0,-5.7,313,4165,0.10,2.33,0.00,0.000,6,0.086,0.064,2462,2232,3254
$GC,4483,-0.86,-146.0,356.1,-6.5,329,4488,0.12,2.22,0.00,0.000,4,0.151,0.075,2487,3597,3254
$GC,4512,-0.86,-146.0,357.9,-6.3,330,4516,0.00,2.17,0.00,0.000,6,0.000,0.052,2487,2214,3254
$GC,4840,-0.90,-146.0,379.9,-7.4,346,4841,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2214,3254
$GC,5149,-0.96,-146.0,403.3,-7.6,360,5153,0.00,2.25,0.00,0.000,4,0.000,0.065,2487,812,3254
$GC,5217,-0.96,-146.0,408.7,-7.6,361,5221,0.00,2.33,0.00,0.000,6,0.000,0.062,2477,2232,3254
$GC,5566,-0.96,-146.0,432.7,-6.6,370,5570,0.00,2.30,0.00,0.000,4,0.000,0.063,2477,821,3254
$GC,5589,-0.96,-146.0,434.4,-7.2,370,5593,0.00,2.33,0.00,0.000,6,0.000,0.061,2467,2238,3254
$STATE,5935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5935,begin apogee
$GC,5944,-0.31,0.0,457.3,6.6,379,6075,0.47,0.00,127.82,1.150,6,0.128,0.000,2614,1740,2650
$STATE,6076,end apogee,CONTROL_FINISHED_OK
$STATE,6076,begin climb
$GC,6079,0.99,146.0,460.4,0.0,382,6216,0.88,0.00,132.25,1.067,6,0.099,0.000,2893,1740,2054
$GC,6529,0.83,146.0,423.5,9.2,393,6534,0.12,2.40,0.00,0.000,4,0.130,0.067,2868,327,2047
$GC,6563,0.83,146.0,420.5,8.4,393,6569,0.00,2.38,0.00,0.000,6,0.000,0.054,2868,1752,2048
$GC,6876,0.76,146.0,395.6,7.8,402,6880,0.10,2.28,0.00,0.000,4,0.143,0.067,2842,3161,2047
$GC,6933,0.69,156.8,391.5,6.7,404,6947,0.00,2.28,9.38,0.962,6,0.000,0.052,2849,1731,2009
$GC,7277,0.70,161.2,370.4,6.9,421,7287,0.00,2.30,5.38,0.821,4,0.000,0.066,2858,325,1992
$GC,7311,0.70,161.2,367.9,7.7,422,7317,0.12,2.33,0.00,0.000,6,0.120,0.053,2823,1754,1993
$GC,7628,0.83,165.1,346.5,6.9,438,7638,0.12,2.28,5.20,0.806,4,0.073,0.067,2881,3162,1976
$GC,7744,0.62,165.1,334.9,10.4,443,7749,0.28,2.25,0.00,0.000,6,0.130,0.052,2810,1735,1976
$GC,8072,0.98,165.1,311.1,7.2,459,8077,0.22,2.35,0.00,0.000,4,0.072,0.066,2902,3164,1976
$GC,8252,0.75,165.1,293.3,9.7,467,8256,0.25,2.28,0.00,0.000,6,0.130,0.051,2838,1727,1976
$GC,8579,0.97,251.7,275.7,4.2,483,8663,0.17,0.00,76.53,1.025,6,0.067,0.000,2919,1726,1623
$GC,8977,0.89,251.7,244.0,10.5,502,8978,0.17,0.00,0.00,0.000,6,0.129,0.000,2868,1727,1613
$GC,9283,1.08,278.3,221.0,6.2,517,9313,0.15,2.42,22.95,0.973,4,0.071,0.067,2936,3151,1515
$GC,9365,0.88,278.3,212.8,10.3,520,9372,0.28,2.28,0.00,0.000,6,0.129,0.054,2866,1731,1512
$GC,9683,1.08,280.2,194.1,7.0,536,9685,0.17,0.00,0.00,0.000,6,0.070,0.000,2945,1731,1509
$GC,9993,0.98,280.2,161.0,10.5,551,9998,0.20,2.33,0.00,0.000,4,0.130,0.068,2889,321,1508
$GC,10045,1.18,283.5,156.7,6.9,553,10057,0.15,2.33,4.70,0.728,6,0.070,0.055,2956,1744,1494
$GC,10367,1.08,283.5,127.7,7.6,569,10371,0.17,2.30,0.00,0.000,4,0.132,0.068,2905,3162,1494
$GC,10408,1.08,283.5,124.8,7.4,571,10412,0.00,2.28,0.00,0.000,6,0.000,0.055,2912,1733,1492
$GC,10741,1.16,283.5,104.5,7.5,587,10742,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1733,1492
$GC,11074,1.40,415.3,79.6,2.8,638,11197,0.20,2.55,116.32,0.910,4,0.072,0.067,2994,3158,955
$GC,11213,1.21,415.3,60.9,15.0,661,11220,0.22,2.40,0.00,0.000,6,0.140,0.055,2944,1732,952
$GC,11562,1.33,415.3,18.8,8.9,722,11568,0.10,2.35,0.00,0.000,4,0.085,0.071,2997,320,943
$GC,11661,1.14,415.3,7.9,12.4,739,11668,0.25,2.38,0.00,0.000,6,0.127,0.060,2923,1752,942
$FREEZE,4.48,-1.791,-1.774
$STATE,11673,end climb,FINISH_DEPTH_REACHED
$STATE,11673,begin subsurface finish
$FINISH1,4.5,1.026023,80
$GC,11683,0.10,79.9,4.5,-16.7,741,11748,0.68,2.38,-57.53,0.000,4,0.112,0.084,2699,3161,2327
$FINISH2,2.6
$STATE,11748,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11748,begin surface
$RAFOS_CLK,545
$RAFOS,4,1231058642,8.750000,8.733889,61,55,55,53,52,51,152,189,206,175,119,230
$RAFOS,3,1231058046,8.583333,8.568334,58,57,56,54,52,52,181,118,194,150,131,217
$RAFOS,2,1231057443,8.416667,8.400833,66,59,58,52,51,51,216,203,190,167,100,134
$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,1829
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,14.90
$XPDR_PINGS,134
$24V_AH,21.5,94.092
$10V_AH,10.4,41.952
$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,7.400,89.575,500.525,0.000,0.000,0.000,0.000,0.000,33.500,0.000,0.000,0.000,1312.136,8344.634,546.373,1352.418,247.711,0.000,1314.877,0.000,1348.606,720.000,0.529,0.000
$DEVICE_MAMPS,151.866,93.574,1149.733,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,525.014,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25272,752
$CAP_FILE_SIZE,92547,0
$CFSIZE,260165632,214212608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.4
$GPS,030109,124944,6637.667,-6039.743,13,0.9,13,-38.0
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581