version: 66.04
glider: 108
mission: 11
dive: 647
start: 1 9 109 12 4 39
data:
$ID,108
$MISSION,11
$DIVE,647
$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,-3
$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,-128979.77
$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,31
$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
$GPS1,073938,6603.016,-5838.565,25,1.1,25,-36.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,0.9
$GPS2,073938,6603.016,-5838.565,25,1.1,25,-36.7
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6603.958,-5812.047
$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,121.7,20000,-13.0,-7.021
$D_GRID,516
$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,17,-0.99,-146.0,0.0,0.0,0,130,0.00,0.00,-110.80,0.000,6,0.000,0.000,2984,1715,3247
$GC,135,-0.99,-146.0,2.6,-1.2,20,143,1.65,3.10,0.00,0.000,4,0.139,0.065,2461,3604,3249
$GC,167,-1.75,-146.0,6.4,-9.8,25,174,0.47,2.17,0.00,0.000,6,0.056,0.049,2280,2210,3250
$GC,515,-0.99,-146.0,75.6,-20.6,86,522,0.62,2.20,0.00,0.000,4,0.177,0.058,2469,821,3250
$GC,573,-0.83,-146.0,81.8,-9.6,95,580,0.15,2.28,0.00,0.000,6,0.135,0.058,2503,2230,3251
$GC,921,-0.83,-146.0,108.4,-7.9,143,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2230,3250
$GC,1232,-0.88,-146.0,125.6,-4.7,158,1236,0.00,2.28,0.00,0.000,4,0.000,0.060,2503,818,3249
$GC,1346,-0.88,-146.0,134.0,-7.6,163,1350,0.00,2.30,0.00,0.000,6,0.000,0.059,2495,2239,3249
$GC,1676,-0.88,-146.0,156.5,-6.5,179,1679,0.00,2.20,0.00,0.000,4,0.000,0.071,2485,3604,3249
$GC,1689,-0.88,-146.0,157.4,-6.2,179,1693,0.00,2.15,0.00,0.000,6,0.000,0.046,2485,2218,3249
$GC,2012,-0.88,-146.0,179.5,-6.6,195,2015,0.00,2.20,0.00,0.000,4,0.000,0.058,2485,820,3248
$GC,2082,-0.88,-146.0,184.9,-7.9,198,2086,0.00,2.28,0.00,0.000,6,0.000,0.058,2475,2237,3248
$GC,2415,-0.88,-146.0,209.7,-6.8,214,2419,0.00,2.17,0.00,0.000,4,0.000,0.070,2464,3597,3248
$GC,2427,-0.88,-146.0,210.4,-6.5,214,2432,0.10,2.12,0.00,0.000,6,0.143,0.045,2490,2218,3248
$GC,2751,-0.88,-146.0,230.1,-6.5,230,2755,0.00,2.25,0.00,0.000,4,0.000,0.067,2482,3595,3248
$GC,2763,-0.88,-146.0,231.2,-7.1,230,2767,0.00,2.12,0.00,0.000,6,0.000,0.043,2482,2217,3248
$GC,3086,-0.88,-146.0,254.6,-7.2,246,3089,0.00,2.25,0.00,0.000,4,0.000,0.067,2472,3596,3249
$GC,3098,-0.88,-146.0,255.4,-6.8,246,3102,0.00,2.12,0.00,0.000,6,0.000,0.044,2472,2217,3249
$GC,3421,-0.88,-146.0,276.9,-6.2,262,3425,0.00,2.25,0.00,0.000,4,0.000,0.067,2462,3599,3250
$GC,3468,-0.88,-146.0,279.7,-6.1,264,3473,0.12,2.12,0.00,0.000,6,0.140,0.044,2495,2216,3250
$GC,3804,-0.95,-146.0,292.6,-3.3,280,3805,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2216,3250
$GC,4114,-1.02,-146.0,307.1,-5.1,295,4118,0.15,2.28,0.00,0.000,4,0.077,0.066,2423,3606,3250
$GC,4132,-1.02,-146.0,308.3,-5.9,296,4136,0.12,2.12,0.00,0.000,6,0.145,0.044,2458,2228,3250
$GC,4466,-0.97,-146.0,331.8,-7.2,312,4467,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2228,3250
$GC,4775,-0.92,-146.0,353.8,-7.1,327,4776,0.08,0.00,0.00,0.000,6,0.160,0.000,2480,2228,3250
$GC,5084,-0.92,-146.0,374.0,-6.5,342,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2228,3250
$GC,5393,-0.92,-146.0,395.8,-7.4,357,5397,0.00,2.20,0.00,0.000,4,0.000,0.057,2480,830,3250
$GC,5410,-0.92,-146.0,397.2,-7.3,357,5416,0.00,2.28,0.00,0.000,6,0.000,0.055,2473,2243,3250
$GC,5743,-0.92,-146.0,419.9,-6.4,367,5744,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2242,3250
$GC,6069,-0.92,-146.0,438.6,-5.6,375,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2243,3250
$GC,6393,-0.92,-146.0,456.2,-5.5,383,6394,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2242,3250
$GC,6718,-0.92,-146.0,475.2,-5.9,391,6719,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2243,3250
$GC,7043,-0.92,-146.0,495.2,-6.3,399,7044,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2242,3250
$GC,7369,-0.92,-146.0,515.8,-6.3,407,7373,0.00,2.22,0.00,0.000,4,0.000,0.070,2462,3606,3250
$STATE,7377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7377,begin apogee
$GC,7388,-0.31,0.0,516.6,6.2,407,7518,0.45,0.00,126.32,1.139,6,0.122,0.000,2609,1740,2650
$STATE,7518,end apogee,CONTROL_FINISHED_OK
$STATE,7519,begin climb
$GC,7522,0.99,146.0,519.2,0.0,410,7658,0.88,0.00,131.48,1.067,6,0.090,0.000,2896,1740,2054
$GC,7972,0.83,146.0,478.1,10.2,421,7974,0.15,0.00,0.00,0.000,6,0.126,0.000,2853,1740,2047
$GC,8297,0.83,146.0,450.2,8.5,429,8298,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1740,2046
$GC,8622,0.83,146.0,422.7,8.2,437,8626,0.00,2.30,0.00,0.000,4,0.000,0.063,2862,328,2046
$GC,8657,0.83,146.0,420.1,8.3,437,8661,0.00,2.28,0.00,0.000,6,0.000,0.050,2862,1740,2046
$GC,8975,0.77,146.0,395.7,7.7,446,8979,0.00,2.28,0.00,0.000,4,0.000,0.064,2862,3159,2045
$GC,9062,0.62,146.0,387.6,9.8,449,9069,0.20,2.25,0.00,0.000,6,0.127,0.049,2813,1727,2044
$GC,9380,0.75,146.0,365.0,7.2,465,9385,0.12,2.22,0.00,0.000,4,0.070,0.060,2882,335,2044
$GC,9414,0.66,146.0,361.6,9.8,466,9419,0.22,2.25,0.00,0.000,6,0.122,0.048,2815,1746,2044
$GC,9731,0.79,146.0,338.1,7.2,481,9735,0.12,2.25,0.00,0.000,4,0.072,0.061,2874,3149,2044
$GC,9839,0.58,146.0,326.6,10.9,485,9846,0.28,2.22,0.00,0.000,6,0.128,0.048,2803,1738,2043
$GC,10158,0.84,206.8,308.3,5.1,501,10216,0.20,0.00,50.70,1.004,6,0.058,0.000,2895,1738,1806
$GC,10527,0.71,206.8,273.2,9.6,519,10532,0.20,2.30,0.00,0.000,4,0.123,0.059,2839,327,1799
$GC,10568,0.88,216.0,270.3,6.7,521,10583,0.12,2.30,8.15,0.841,6,0.073,0.048,2900,1753,1769
$GC,10904,0.78,216.0,238.5,9.8,537,10909,0.20,2.25,0.00,0.000,4,0.125,0.061,2834,3156,1768
$GC,10955,0.78,216.0,233.5,8.6,539,10958,0.00,2.25,0.00,0.000,6,0.000,0.047,2841,1724,1766
$GC,11277,0.90,216.0,207.0,8.3,555,11281,0.12,2.25,0.00,0.000,4,0.076,0.058,2912,324,1766
$GC,11317,0.79,216.0,202.5,12.5,556,11324,0.22,2.28,0.00,0.000,6,0.126,0.048,2846,1749,1767
$GC,11636,0.91,216.0,176.5,7.5,572,11640,0.12,2.25,0.00,0.000,4,0.074,0.061,2905,3163,1766
$GC,11715,0.70,216.0,167.0,13.2,575,11723,0.28,2.22,0.00,0.000,6,0.126,0.047,2833,1730,1765
$GC,12033,0.97,273.0,145.2,5.2,591,12089,0.17,2.33,49.83,0.890,4,0.063,0.060,2925,337,1537
$GC,12151,0.89,273.0,135.4,9.3,596,12155,0.20,2.25,0.00,0.000,6,0.127,0.046,2867,1753,1535
$GC,12479,1.08,320.2,114.6,5.5,612,12525,0.15,2.28,41.03,0.851,4,0.066,0.061,2935,3155,1344
$GC,12637,0.91,320.2,95.7,13.8,622,12644,0.25,2.25,0.00,0.000,6,0.123,0.047,2871,1725,1338
$GC,12985,1.14,320.2,72.3,7.1,683,12992,0.20,2.33,0.00,0.000,4,0.064,0.058,2962,3163,1336
$GC,13016,1.14,320.2,69.1,9.0,688,13023,0.17,2.22,0.00,0.000,6,0.137,0.048,2922,1739,1335
$GC,13364,1.14,320.2,34.3,7.4,749,13370,0.00,2.25,0.00,0.000,4,0.000,0.061,2929,335,1334
$GC,13445,1.14,320.2,28.0,7.9,763,13451,0.00,2.22,0.00,0.000,6,0.000,0.047,2929,1744,1334
$FREEZE,6.88,-0.908,-1.813
$FREEZE,6.38,-0.910,-1.813
$FREEZE,5.75,-0.903,-1.812
$FREEZE,5.20,-0.903,-1.812
$FREEZE,4.46,-0.895,-1.811
$FREEZE,3.87,-0.913,-1.811
$FREEZE,3.35,-0.916,-1.811
$FREEZE,2.79,-0.915,-1.810
$STATE,13676,end climb,SURFACE_DEPTH_REACHED
$STATE,13676,begin surface coast
$FREEZE,2.30,-0.924,-1.809
$FREEZE,2.02,-0.935,-1.809
$FREEZE,1.68,-0.944,-1.809
$FREEZE,1.63,-0.972,-1.808
$FREEZE,1.56,-0.928,-1.808
$FINISH,1.6,1.026514
$STATE,13705,end surface coast,CONTROL_FINISHED_OK
$STATE,13705,begin surface
$SM_CCo,13787,0.00,0.000,0,0,1330,323.80
$SM_GC,2.60,7.12,0.00,0.00,0.059,0.000,0.000,331,2235,1330,-10.70,0.14,323.80
$RAFOS_CLK,593
$RAFOS,4,1231505049,12.750000,12.735833,60,56,56,54,51,49,181,209,218,115,135,160
$RAFOS,3,1231504460,12.583333,12.572222,75,61,58,55,54,52,556,193,218,207,181,138
$RAFOS,2,1231503844,12.416667,12.401111,66,64,59,55,50,49,222,124,140,171,182,149
$RAFOS,1,1231503244,12.250000,12.234445,59,57,56,54,53,51,213,198,155,134,117,179
$RAFOS,0,1231502699,12.083333,12.083055,61,56,55,54,50,49,158,202,171,220,140,122
$RAFOS_FIX,6617.756348,-5909.147949,080109,000040,2,99,0.64
$IRIDIUM_FIX,6537.93,-5836.74,050498,070722
$TT8_MAMPS,0.026845
$HUMID,1810
$INTERNAL_PRESSURE,9.87343
$TCM_TEMP,15.80
$XPDR_PINGS,107
$24V_AH,21.8,98.451
$10V_AH,10.4,43.599
$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,15.650,109.675,407.500,0.000,0.000,0.000,0.000,0.000,26.750,0.000,0.000,0.000,1466.995,10090.068,509.286,1472.942,311.221,0.000,1347.437,0.000,1468.682,1800.000,0.533,0.000
$DEVICE_MAMPS,177.177,70.564,1138.995,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,563.942,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28385,809
$CAP_FILE_SIZE,106128,0
$CFSIZE,260165632,212316160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.7
$GPS,090109,073938,6603.016,-5838.565,25,1.1,25,-36.7
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581