version: 66.04
glider: 108
mission: 11
dive: 645
start: 1 9 109 3 47 44
data:
$ID,108
$MISSION,11
$DIVE,645
$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,-128795.94
$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,30
$R_STBD_OVSHOOT,30
$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
$GPS1,002640,6617.756,-5909.148,0,2099.0,0,-37.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,4.0
$GPS2,002640,6617.756,-5909.148,0,2099.0,0,-37.1
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6618.697,-5842.371
$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,122.1,20000,-13.0,-7.021
$D_GRID,671
$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,-146.0,0.0,0.0,0,133,0.00,0.00,-112.90,0.000,2,0.000,0.000,2936,1720,3216
$GC,138,-0.99,-146.0,3.1,-1.4,20,146,1.52,3.15,-1.15,0.000,4,0.143,0.074,2467,3595,3248
$GC,156,-2.20,-146.0,4.7,-4.4,22,163,0.75,2.15,0.00,0.000,6,0.051,0.045,2179,2209,3249
$GC,503,-1.19,-146.0,86.4,-21.5,83,510,0.85,2.20,0.00,0.000,4,0.190,0.057,2424,820,3252
$GC,592,-0.89,-146.0,96.7,-10.0,98,599,0.25,2.30,0.00,0.000,6,0.140,0.059,2488,2231,3253
$GC,923,-0.89,-146.0,117.5,-5.5,119,927,0.00,2.20,0.00,0.000,4,0.000,0.072,2480,3598,3253
$GC,936,-0.89,-146.0,118.3,-5.6,119,940,0.00,2.12,0.00,0.000,6,0.000,0.045,2480,2225,3253
$GC,1259,-0.83,-146.0,138.0,-5.7,135,1263,0.00,2.20,0.00,0.000,4,0.000,0.060,2481,829,3253
$GC,1312,-0.72,-146.0,141.5,-6.8,137,1317,0.20,2.30,0.00,0.000,6,0.130,0.058,2527,2241,3253
$GC,1638,-0.86,-146.0,160.1,-6.1,153,1643,0.12,2.30,0.00,0.000,4,0.080,0.058,2474,814,3253
$GC,1734,-0.75,-146.0,169.3,-9.9,157,1739,0.20,2.33,0.00,0.000,6,0.133,0.058,2521,2243,3253
$GC,2052,-0.87,-146.0,193.2,-7.4,172,2054,0.12,0.00,0.00,0.000,6,0.080,0.000,2466,2243,3252
$GC,2361,-0.81,-146.0,219.2,-8.1,187,2362,0.15,0.00,0.00,0.000,6,0.141,0.000,2507,2243,3252
$GC,2670,-0.92,-146.0,236.9,-5.3,202,2675,0.10,2.30,0.00,0.000,4,0.092,0.057,2463,814,3252
$GC,2745,-0.81,-146.0,242.2,-7.5,205,2750,0.17,2.33,0.00,0.000,6,0.130,0.058,2503,2246,3251
$GC,3068,-0.90,-146.0,257.5,-4.3,221,3072,0.00,2.28,0.00,0.000,4,0.000,0.055,2503,814,3252
$GC,3103,-0.95,-146.0,259.2,-4.7,222,3108,0.00,2.30,0.00,0.000,6,0.000,0.055,2495,2238,3252
$GC,3420,-0.95,-146.0,277.1,-6.5,237,3424,0.00,2.28,0.00,0.000,4,0.000,0.055,2495,817,3253
$GC,3500,-0.95,-146.0,282.9,-7.2,240,3504,0.00,2.30,0.00,0.000,6,0.000,0.055,2485,2239,3253
$GC,3817,-0.95,-146.0,305.2,-7.2,255,3818,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2239,3254
$GC,4126,-0.95,-146.0,325.4,-6.4,270,4129,0.00,2.28,0.00,0.000,4,0.000,0.055,2485,817,3255
$GC,4166,-0.95,-146.0,328.2,-6.9,271,4172,0.00,2.30,0.00,0.000,6,0.000,0.054,2475,2238,3255
$GC,4484,-0.95,-146.0,349.8,-6.7,287,4487,0.00,2.28,0.00,0.000,4,0.000,0.054,2475,817,3255
$GC,4546,-0.89,-146.0,354.5,-7.5,289,4553,0.00,2.30,0.00,0.000,6,0.000,0.055,2466,2236,3255
$GC,4863,-0.89,-146.0,376.5,-7.0,305,4867,0.00,2.28,0.00,0.000,4,0.000,0.055,2466,816,3255
$GC,4900,-0.79,-146.0,379.1,-7.4,306,4905,0.20,2.30,0.00,0.000,6,0.129,0.055,2514,2235,3256
$GC,5217,-0.93,-146.0,397.7,-5.7,321,5222,0.15,2.28,0.00,0.000,4,0.075,0.054,2450,816,3255
$GC,5230,-1.01,-146.0,398.5,-5.9,321,5234,0.00,2.30,0.00,0.000,6,0.000,0.054,2440,2234,3255
$GC,5550,-0.88,-146.0,424.9,-8.4,330,5554,0.17,2.28,0.00,0.000,4,0.136,0.054,2497,817,3255
$GC,5591,-0.93,-146.0,427.9,-6.6,331,5595,0.00,2.30,0.00,0.000,6,0.000,0.055,2489,2239,3256
$GC,5923,-0.98,-146.0,448.7,-6.0,339,5928,0.08,2.28,0.00,0.000,4,0.094,0.055,2447,818,3255
$GC,5941,-0.98,-146.0,450.1,-6.1,339,5946,0.12,2.30,0.00,0.000,6,0.136,0.055,2470,2236,3255
$GC,6255,-0.98,-146.0,470.0,-6.5,347,6259,0.00,2.28,0.00,0.000,4,0.000,0.054,2470,817,3255
$GC,6318,-0.93,-146.0,474.4,-7.2,348,6322,0.00,2.30,0.00,0.000,6,0.000,0.055,2462,2236,3255
$GC,6632,-0.93,-146.0,495.1,-6.5,356,6636,0.00,2.28,0.00,0.000,4,0.000,0.055,2462,817,3256
$GC,6650,-0.86,-146.0,496.3,-6.7,356,6654,0.15,2.30,0.00,0.000,6,0.130,0.055,2494,2237,3255
$GC,6964,-0.94,-146.0,514.0,-5.7,364,6968,0.00,2.28,0.00,0.000,4,0.000,0.055,2494,818,3255
$GC,7033,-0.94,-146.0,518.2,-5.8,365,7037,0.00,2.30,0.00,0.000,6,0.000,0.055,2486,2236,3256
$GC,7382,-0.94,-146.0,538.1,-5.6,374,7387,0.00,2.25,0.00,0.000,4,0.000,0.055,2486,827,3255
$GC,7406,-0.94,-146.0,539.6,-6.3,374,7410,0.00,2.30,0.00,0.000,6,0.000,0.055,2476,2243,3255
$STATE,7751,end dive,NO_VERTICAL_VELOCITY
$STATE,7751,begin apogee
$GC,7761,-0.31,0.0,545.2,0.0,383,7889,0.43,0.00,125.00,1.154,6,0.092,0.000,2621,1734,2651
$STATE,7890,end apogee,CONTROL_FINISHED_OK
$STATE,7890,begin climb
$GC,7894,0.99,146.0,545.0,0.0,386,8034,0.85,2.62,132.10,1.084,4,0.092,0.060,2900,3158,2054
$GC,8157,0.69,146.0,520.4,11.1,392,8162,0.30,2.38,0.00,0.000,6,0.132,0.046,2827,1735,2050
$GC,8482,0.80,171.3,498.8,6.2,400,8511,0.10,2.30,21.52,1.049,4,0.079,0.060,2887,327,1951
$GC,8536,0.71,171.3,494.3,9.1,401,8541,0.20,2.33,0.00,0.000,6,0.125,0.049,2828,1750,1952
$GC,8850,0.86,208.1,475.3,5.8,409,8893,0.12,2.35,32.50,1.071,4,0.072,0.064,2884,3147,1800
$GC,8957,0.65,208.1,465.2,11.1,411,8961,0.25,2.22,0.00,0.000,6,0.127,0.046,2821,1734,1798
$GC,9271,0.88,251.5,447.0,5.6,419,9317,0.17,2.38,38.28,1.069,4,0.062,0.061,2914,325,1624
$GC,9346,0.77,251.5,439.4,11.9,420,9351,0.25,2.30,0.00,0.000,6,0.128,0.048,2840,1742,1623
$GC,9680,0.90,251.5,414.9,7.2,428,9684,0.12,2.25,0.00,0.000,4,0.072,0.061,2900,3152,1617
$GC,9759,0.69,251.5,405.5,12.8,429,9764,0.28,2.22,0.00,0.000,6,0.129,0.047,2828,1731,1615
$GC,10076,0.97,316.0,386.9,4.9,442,10140,0.20,2.35,57.28,1.046,4,0.061,0.060,2936,332,1361
$GC,10175,0.86,316.0,377.1,10.9,446,10180,0.25,2.35,0.00,0.000,6,0.131,0.048,2864,1748,1359
$GC,10493,0.94,316.0,355.4,7.3,461,10497,0.00,2.30,0.00,0.000,4,0.000,0.063,2864,3163,1353
$GC,10578,0.94,316.0,347.0,10.1,464,10584,0.00,2.25,0.00,0.000,6,0.000,0.047,2871,1739,1351
$GC,10895,0.94,316.0,313.6,11.3,480,10898,0.00,2.30,0.00,0.000,4,0.000,0.061,2882,325,1349
$GC,10942,1.04,316.0,308.2,11.7,482,10947,0.08,2.25,0.00,0.000,6,0.092,0.048,2928,1744,1349
$GC,11276,0.90,316.0,261.9,12.9,498,11280,0.20,2.28,0.00,0.000,4,0.130,0.062,2864,3146,1349
$GC,11337,0.90,316.0,255.5,9.2,500,11344,0.00,2.22,0.00,0.000,6,0.000,0.047,2870,1734,1347
$GC,11655,0.95,316.0,230.5,8.2,516,11659,0.00,2.28,0.00,0.000,4,0.000,0.062,2879,325,1347
$GC,11702,1.07,316.0,226.0,9.6,518,11707,0.12,2.30,0.00,0.000,6,0.073,0.049,2940,1751,1346
$GC,12036,0.87,316.0,177.4,14.5,534,12041,0.22,2.30,0.00,0.000,4,0.130,0.063,2867,3162,1345
$GC,12077,0.87,316.0,172.5,10.5,536,12081,0.00,2.25,0.00,0.000,6,0.000,0.048,2873,1733,1344
$GC,12411,0.95,316.0,140.8,8.9,552,12415,0.00,2.25,0.00,0.000,4,0.000,0.061,2883,331,1345
$GC,12463,1.10,316.0,136.0,9.6,554,12468,0.12,2.30,0.00,0.000,6,0.071,0.048,2945,1754,1344
$GC,12785,0.97,316.0,97.8,11.2,570,12792,0.20,2.28,0.00,0.000,4,0.126,0.061,2884,3156,1344
$GC,12850,0.97,316.0,91.4,9.0,581,12857,0.00,2.25,0.00,0.000,6,0.000,0.047,2890,1727,1344
$GC,13198,1.29,434.6,67.7,3.2,642,13304,0.20,2.40,99.75,0.837,4,0.062,0.059,2993,325,878
$GC,13392,1.16,434.6,42.3,16.0,675,13399,0.22,2.33,0.00,0.000,6,0.123,0.048,2927,1745,874
$FREEZE,6.64,-0.731,-1.813
$FREEZE,5.90,-0.734,-1.812
$FREEZE,5.43,-0.722,-1.812
$FREEZE,4.91,-0.739,-1.812
$FREEZE,4.38,-0.744,-1.811
$FREEZE,3.90,-0.760,-1.811
$FREEZE,3.50,-0.767,-1.811
$FREEZE,2.95,-0.763,-1.810
$STATE,13719,end climb,SURFACE_DEPTH_REACHED
$STATE,13720,begin surface coast
$FREEZE,2.65,-0.764,-1.810
$FREEZE,2.46,-0.774,-1.810
$FREEZE,2.31,-0.785,-1.810
$FREEZE,1.98,-0.792,-1.810
$FREEZE,1.46,-0.794,-1.809
$FREEZE,1.23,-0.891,-1.778
$FINISH,1.2,1.026085
$STATE,13755,end surface coast,CONTROL_FINISHED_OK
$STATE,13756,begin surface
$SM_CCo,13837,0.00,0.000,0,0,866,437.62
$SM_GC,1.93,6.97,0.00,0.00,0.051,0.000,0.000,339,2229,866,-10.67,-0.03,437.62
$RAFOS_CLK,598
$RAFOS,4,1231476260,4.750000,4.738889,65,60,57,56,56,54,175,197,208,142,185,164
$RAFOS,3,1231475659,4.583333,4.571944,65,63,62,54,53,52,163,211,191,153,141,177
$RAFOS,2,1231475055,4.416667,4.404167,66,58,52,51,50,47,214,177,144,116,187,125
$RAFOS,1,1231474453,4.250000,4.236945,65,65,64,55,54,52,182,210,219,195,150,127
$RAFOS,0,1231473849,4.083333,4.069167,67,64,58,56,56,55,220,174,208,106,1432,160
$RAFOS_FIX,6617.756348,-5909.147949,080109,000040,2,99,0.64
$IRIDIUM_FIX,6548.42,-5913.15,030498,222244
$TT8_MAMPS,0.026845
$HUMID,1824
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,15.80
$XPDR_PINGS,135
$24V_AH,21.7,98.161
$10V_AH,10.4,43.480
$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,17.200,148.900,506.425,0.000,0.000,0.000,0.000,0.000,33.750,0.000,0.000,0.000,1426.714,9995.050,597.267,1557.044,323.316,0.000,1506.085,0.000,1542.511,1800.000,0.532,0.000
$DEVICE_MAMPS,190.216,74.399,1154.335,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,513.624,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25277,739
$CAP_FILE_SIZE,118950,0
$CFSIZE,260165632,212488192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.9
$GPS,090109,073938,6603.016,-5838.565,25,1.1,25,-36.7
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581