version: 66.04
glider: 108
mission: 11
dive: 631
start: 1 6 109 4 19 32
data:
$ID,108
$MISSION,11
$DIVE,631
$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,28
$R_STBD_OVSHOOT,25
$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
$GPS1,001954,6626.905,-5948.732,0,3102.3,0,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.04
$_SM_ANGLEo,-11.3
$GPS2,001954,6626.905,-5948.732,0,3102.3,0,-38.0
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6627.846,-5921.791
$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,675
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.99,-146.0,0.0,0.0,0,25,0.00,0.00,-5.35,0.000,2,0.000,0.000,2686,3172,2589
$GC,29,-0.99,-146.0,10.3,-0.0,1,49,0.62,0.75,-15.77,0.000,4,0.084,0.120,2458,3603,3248
$GC,68,-0.82,-146.0,13.7,-7.8,7,75,0.17,2.17,0.00,0.000,6,0.148,0.050,2505,2211,3252
$GC,415,-0.82,-146.0,47.1,-8.5,68,421,0.00,2.22,0.00,0.000,4,0.000,0.064,2511,820,3255
$GC,474,-0.77,-146.0,52.4,-9.4,78,481,0.00,2.33,0.00,0.000,6,0.000,0.064,2503,2236,3255
$GC,821,-0.73,-146.0,88.3,-10.6,139,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2235,3255
$GC,1156,-0.73,-146.0,123.4,-10.2,169,1160,0.00,2.25,0.00,0.000,4,0.000,0.080,2492,3606,3254
$GC,1173,-0.73,-146.0,125.4,-10.6,169,1180,0.12,2.17,0.00,0.000,6,0.148,0.052,2524,2226,3254
$GC,1492,-0.81,-146.0,151.4,-6.6,185,1496,0.00,2.25,0.00,0.000,4,0.000,0.064,2524,822,3254
$GC,1567,-0.86,-146.0,155.5,-4.9,188,1572,0.10,2.33,0.00,0.000,6,0.087,0.065,2474,2232,3254
$GC,1889,-0.77,-146.0,176.5,-8.0,204,1894,0.15,2.33,0.00,0.000,4,0.151,0.064,2514,815,3254
$GC,1901,-0.69,-146.0,177.6,-8.4,204,1906,0.10,2.35,0.00,0.000,6,0.140,0.064,2533,2245,3254
$GC,2220,-0.83,-146.0,203.3,-8.8,219,2224,0.12,2.22,0.00,0.000,4,0.085,0.077,2470,3599,3253
$GC,2231,-0.94,-146.0,204.6,-9.1,219,2235,0.00,2.17,0.00,0.000,6,0.000,0.051,2470,2217,3253
$GC,2555,-0.87,-146.0,237.7,-9.0,235,2556,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2216,3253
$GC,2863,-0.80,-146.0,259.7,-6.9,250,2868,0.15,2.25,0.00,0.000,4,0.149,0.064,2513,822,3253
$GC,2881,-0.80,-146.0,261.0,-7.1,250,2887,0.00,2.33,0.00,0.000,6,0.000,0.064,2506,2237,3253
$GC,3199,-0.87,-146.0,281.8,-6.6,266,3203,0.00,2.22,0.00,0.000,4,0.000,0.079,2495,3594,3253
$GC,3228,-0.94,-146.0,284.1,-8.0,267,3231,0.00,2.15,0.00,0.000,6,0.000,0.051,2495,2228,3253
$GC,3556,-0.94,-146.0,307.9,-7.0,283,3557,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2228,3253
$GC,3868,-0.99,-146.0,327.2,-5.3,298,3872,0.12,2.28,0.00,0.000,4,0.091,0.064,2443,813,3253
$GC,3879,-0.99,-146.0,328.1,-5.1,298,3884,0.12,2.35,0.00,0.000,6,0.142,0.064,2466,2236,3253
$GC,4196,-0.99,-146.0,350.0,-7.2,313,4200,0.00,2.22,0.00,0.000,4,0.000,0.078,2458,3596,3252
$GC,4248,-0.94,-146.0,354.1,-8.5,315,4252,0.00,2.17,0.00,0.000,6,0.000,0.051,2458,2214,3252
$GC,4576,-0.87,-146.0,381.3,-8.2,331,4581,0.12,2.33,0.00,0.000,4,0.151,0.074,2484,3604,3252
$GC,4617,-0.94,-146.0,384.5,-7.7,333,4621,0.00,2.17,0.00,0.000,6,0.000,0.051,2484,2219,3252
$GC,4949,-0.94,-146.0,410.8,-7.9,346,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2219,3252
$GC,5273,-0.94,-146.0,436.2,-7.6,354,5274,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2219,3253
$GC,5599,-1.00,-146.0,459.6,-7.0,362,5600,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2219,3253
$GC,5924,-1.05,-146.0,480.9,-6.4,370,5926,0.12,0.00,0.00,0.000,6,0.085,0.000,2431,2219,3254
$GC,6248,-0.90,-146.0,506.7,-8.1,378,6250,0.20,0.00,0.00,0.000,6,0.146,0.000,2487,2219,3254
$GC,6573,-0.98,-146.0,524.8,-5.2,386,6575,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2219,3255
$GC,6899,-1.05,-146.0,539.8,-4.4,394,6901,0.15,0.00,0.00,0.000,6,0.081,0.000,2428,2219,3255
$GC,7223,-0.91,-146.0,559.8,-6.1,402,7225,0.20,0.00,0.00,0.000,6,0.146,0.000,2485,2219,3255
$GC,7548,-0.99,-146.0,575.9,-5.1,410,7552,0.00,2.22,0.00,0.000,4,0.000,0.061,2485,816,3256
$GC,7561,-1.05,-146.0,576.6,-5.0,410,7566,0.10,2.33,0.00,0.000,6,0.084,0.059,2434,2243,3256
$GC,7875,-0.92,-146.0,598.7,-7.0,418,7880,0.17,2.33,0.00,0.000,4,0.143,0.058,2485,817,3256
$GC,7904,-0.92,-146.0,600.6,-6.6,418,7908,0.00,2.33,0.00,0.000,6,0.000,0.059,2477,2238,3256
$GC,8243,-0.92,-146.0,622.2,-6.4,427,8244,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2238,3256
$GC,8567,-0.92,-146.0,641.4,-5.7,435,8571,0.00,2.22,0.00,0.000,4,0.000,0.074,2466,3596,3256
$GC,8584,-0.92,-146.0,642.5,-5.9,435,8588,0.00,2.15,0.00,0.000,6,0.000,0.047,2466,2215,3256
$GC,8898,-1.25,-146.0,655.8,-2.3,443,8903,0.20,2.30,0.00,0.000,4,0.072,0.071,2382,3600,3257
$STATE,9024,end dive,NO_VERTICAL_VELOCITY
$STATE,9024,begin apogee
$GC,9036,-0.31,0.0,655.8,0.0,445,9171,0.68,0.00,131.30,1.243,6,0.094,0.000,2616,1732,2650
$STATE,9172,end apogee,CONTROL_FINISHED_OK
$STATE,9172,begin climb
$GC,9175,0.99,146.0,655.4,0.0,449,9320,0.88,2.62,136.68,1.164,4,0.097,0.062,2904,338,2053
$GC,9415,0.80,146.0,634.5,10.3,454,9420,0.20,2.50,0.00,0.000,6,0.136,0.051,2852,1746,2049
$GC,9752,0.80,146.0,607.4,7.8,463,9756,0.00,2.30,0.00,0.000,4,0.000,0.066,2852,3157,2046
$GC,9860,0.65,146.0,598.0,9.0,465,9865,0.15,2.28,0.00,0.000,6,0.138,0.050,2818,1726,2045
$GC,10175,0.77,172.2,578.2,6.2,473,10204,0.10,2.35,22.35,1.137,4,0.079,0.063,2878,330,1947
$GC,10229,0.70,172.2,573.7,8.7,474,10234,0.17,2.33,0.00,0.000,6,0.123,0.051,2828,1759,1947
$GC,10543,0.82,187.2,552.7,6.5,482,10563,0.10,2.28,14.45,1.089,4,0.078,0.067,2876,3160,1886
$GC,10639,0.62,187.2,543.3,11.2,484,10644,0.25,2.25,0.00,0.000,6,0.131,0.049,2813,1739,1884
$GC,10959,0.82,226.1,524.1,5.8,492,11001,0.15,0.00,35.03,1.137,6,0.066,0.000,2883,1739,1728
$GC,11327,0.73,226.1,488.6,10.0,501,11329,0.17,0.00,0.00,0.000,6,0.127,0.000,2831,1739,1721
$GC,11653,0.89,235.0,466.4,6.7,509,11663,0.15,0.00,8.05,0.966,6,0.068,0.000,2901,1739,1692
$GC,11977,0.76,235.0,429.5,11.7,517,11979,0.20,0.00,0.00,0.000,6,0.128,0.000,2841,1738,1691
$GC,12301,0.87,235.0,403.6,7.5,525,12306,0.10,2.35,0.00,0.000,4,0.082,0.065,2891,3159,1690
$GC,12331,0.77,235.0,400.9,10.2,525,12336,0.20,2.25,0.00,0.000,6,0.134,0.050,2843,1729,1689
$GC,12647,0.95,283.7,381.2,5.5,539,12699,0.15,2.35,45.20,1.067,4,0.069,0.064,2924,337,1493
$GC,12723,0.87,283.7,374.4,10.1,542,12728,0.20,2.30,0.00,0.000,6,0.132,0.051,2868,1741,1492
$GC,13042,0.94,283.7,348.1,9.1,557,13045,0.00,2.28,0.00,0.000,4,0.000,0.064,2868,3159,1486
$GC,13110,0.94,283.7,340.6,11.3,560,13114,0.00,2.25,0.00,0.000,6,0.000,0.049,2874,1736,1484
$GC,13445,1.00,283.7,306.1,10.6,576,13450,0.08,2.30,0.00,0.000,4,0.097,0.063,2927,330,1484
$GC,13474,1.00,283.7,302.4,12.9,577,13479,0.12,2.28,0.00,0.000,6,0.137,0.051,2893,1750,1484
$GC,13796,1.00,283.7,272.2,7.4,593,13800,0.00,2.25,0.00,0.000,4,0.000,0.067,2893,3147,1484
$GC,13848,0.90,283.7,268.0,8.4,595,13852,0.10,2.25,0.00,0.000,6,0.143,0.049,2874,1730,1482
$GC,14176,1.09,325.4,249.7,5.7,611,14219,0.15,2.33,36.85,1.000,4,0.071,0.064,2954,331,1324
$GC,14261,1.02,325.4,241.7,9.8,614,14267,0.20,2.30,0.00,0.000,6,0.130,0.053,2897,1739,1321
$GC,14578,1.11,325.4,216.4,8.4,630,14583,0.10,2.28,0.00,0.000,4,0.082,0.067,2945,3150,1317
$GC,14647,0.88,325.4,207.8,13.5,633,14652,0.30,2.28,0.00,0.000,6,0.131,0.051,2866,1725,1315
$GC,14969,1.51,325.4,179.4,9.8,649,14974,0.43,2.28,0.00,0.000,4,0.102,0.066,3011,330,1313
$GC,15033,1.20,325.4,172.5,12.5,652,15038,0.25,2.30,0.00,0.000,6,0.148,0.055,2941,1752,1313
$GC,15364,1.14,325.4,136.1,11.1,668,15368,0.00,2.28,0.00,0.000,4,0.000,0.071,2941,3158,1313
$GC,15421,0.98,325.4,129.0,12.3,670,15426,0.20,2.25,0.00,0.000,6,0.131,0.054,2890,1739,1312
$GC,15744,1.21,372.5,108.5,5.5,686,15791,0.17,2.35,41.15,0.941,4,0.067,0.067,2977,333,1131
$GC,15826,1.29,372.5,102.2,7.4,689,15832,0.00,2.35,0.00,0.000,6,0.000,0.053,2977,1745,1129
$GC,16169,1.19,372.5,65.0,10.9,747,16175,0.15,0.00,0.00,0.000,6,0.139,0.000,2934,1744,1125
$GC,16515,1.19,372.5,34.0,9.4,808,16520,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1744,1123
$FREEZE,6.81,-1.816,-1.791
$STATE,16812,end climb,FINISH_DEPTH_REACHED
$STATE,16813,begin subsurface finish
$FINISH1,6.8,1.026243,69
$GC,16822,0.08,69.1,6.8,-6.3,861,16869,0.70,0.00,-41.95,0.000,6,0.114,0.000,2700,1745,2371
$FINISH2,4.9
$STATE,16870,end subsurface finish,CONTROL_FINISHED_OK
$STATE,16870,begin surface
$RAFOS_CLK,760
$RAFOS,4,1231231444,8.750000,8.734445,72,59,59,52,51,51,884,211,125,158,116,227
$RAFOS,3,1231230846,8.583333,8.568334,84,65,59,58,57,51,609,225,183,207,165,152
$RAFOS,2,1231230248,8.416667,8.402223,66,60,60,59,59,59,169,159,214,199,190,227
$RAFOS,1,1231229661,8.250000,8.239166,59,57,56,55,55,54,222,638,137,200,212,187
$RAFOS,0,1231229042,8.083333,8.067223,144,61,60,56,52,52,663,200,184,219,147,171
$RAFOS,4,1231217058,4.750000,4.738333,60,59,56,55,55,53,221,162,234,180,192,171
$RAFOS,3,1231216441,4.583333,4.566945,147,61,59,57,57,56,646,163,195,217,207,121
$RAFOS,2,1231215843,4.416667,4.400833,61,58,58,58,56,55,117,161,185,217,203,152
$RAFOS,1,1231215243,4.250000,4.234167,90,63,62,62,58,55,742,179,212,191,119,200
$RAFOS_FIX,6626.418457,-5944.439941,060109,040450,3,106,0.23
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.026845
$HUMID,1846
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,14.90
$XPDR_PINGS,155
$24V_AH,21.2,95.973
$10V_AH,10.4,42.576
$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,9.875,131.575,471.050,0.000,0.000,0.000,0.000,0.000,38.750,0.000,0.000,0.000,1668.218,12722.774,525.537,1702.120,328.623,0.000,1489.099,0.000,1682.644,2880.000,0.528,0.000
$DEVICE_MAMPS,151.099,119.652,1242.540,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,609.132,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28420,869
$CAP_FILE_SIZE,129169,0
$CFSIZE,260165632,213417984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.7
$GPS,060109,041850,6626.418,-5944.440,0,3106.0,0,-38.0
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581