version: 66.04
glider: 108
mission: 11
dive: 648
start: 1 9 109 16 13 31
data:
$ID,108
$MISSION,11
$DIVE,648
$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,-129348.27
$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,32
$R_STBD_OVSHOOT,29
$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,2.35
$_SM_ANGLEo,-33.3
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,20,-0.99,-146.0,0.0,0.0,0,116,0.00,0.00,-91.82,0.000,6,0.000,0.000,330,2251,3246
$GC,121,-0.99,-146.0,2.4,0.1,17,134,7.50,2.20,0.00,0.000,4,0.173,0.054,2453,3605,3248
$GC,177,-0.12,-146.0,2.4,-0.0,26,184,0.70,2.20,0.00,0.000,6,0.177,0.055,2654,2221,3250
$GC,525,-0.72,-146.0,5.2,-1.5,87,531,0.38,2.22,0.00,0.000,4,0.081,0.058,2516,814,3251
$GC,720,-0.72,-146.0,17.8,-5.2,121,726,0.00,2.30,0.00,0.000,6,0.000,0.058,2506,2235,3251
$GC,1066,-0.72,-146.0,45.0,-6.1,182,1073,0.00,2.30,0.00,0.000,4,0.000,0.059,2506,810,3251
$GC,1125,-0.72,-146.0,51.1,-10.9,192,1132,0.10,2.33,0.00,0.000,6,0.132,0.060,2525,2239,3251
$GC,1474,-0.79,-146.0,73.7,-8.1,253,1480,0.00,2.30,0.00,0.000,4,0.000,0.060,2525,813,3251
$GC,1494,-0.84,-146.0,75.4,-8.4,256,1500,0.00,2.30,0.00,0.000,6,0.000,0.058,2517,2235,3250
$GC,1849,-0.91,-146.0,103.0,-6.7,313,1854,0.12,2.20,0.00,0.000,4,0.082,0.070,2451,3595,3250
$GC,1992,-0.76,-146.0,116.1,-9.2,319,1997,0.22,2.15,0.00,0.000,6,0.142,0.048,2519,2217,3250
$GC,2319,-0.86,-146.0,134.5,-5.6,335,2321,0.10,0.00,0.00,0.000,6,0.091,0.000,2475,2216,3249
$GC,2624,-0.86,-146.0,155.8,-6.8,350,2625,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2216,3249
$GC,2933,-0.86,-146.0,179.2,-8.9,365,2935,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2217,3249
$GC,3242,-0.86,-146.0,204.0,-6.7,380,3243,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2217,3249
$GC,3553,-0.86,-146.0,220.1,-4.3,395,3557,0.00,2.28,0.00,0.000,4,0.000,0.067,2465,3608,3250
$GC,3565,-0.86,-146.0,220.7,-4.2,395,3570,0.12,2.15,0.00,0.000,6,0.141,0.045,2498,2217,3250
$GC,3888,-0.93,-146.0,233.9,-5.0,411,3892,0.00,2.20,0.00,0.000,4,0.000,0.057,2498,820,3251
$GC,3929,-0.93,-146.0,236.6,-6.3,412,3935,0.00,2.30,0.00,0.000,6,0.000,0.056,2490,2233,3251
$GC,4247,-0.93,-146.0,256.8,-5.4,428,4251,0.00,2.28,0.00,0.000,4,0.000,0.055,2490,820,3251
$GC,4389,-0.93,-146.0,264.0,-5.0,434,4393,0.00,2.30,0.00,0.000,6,0.000,0.056,2481,2234,3251
$GC,4717,-0.93,-146.0,279.2,-4.9,450,4721,0.00,2.28,0.00,0.000,4,0.000,0.055,2481,818,3252
$GC,4746,-0.93,-146.0,281.0,-6.1,451,4750,0.00,2.30,0.00,0.000,6,0.000,0.055,2471,2239,3252
$GC,5077,-0.93,-146.0,300.0,-5.9,467,5078,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2239,3252
$GC,5384,-0.93,-146.0,318.0,-5.9,482,5388,0.00,2.20,0.00,0.000,4,0.000,0.067,2460,3603,3253
$GC,5430,-0.93,-146.0,321.0,-7.2,484,5434,0.00,2.12,0.00,0.000,6,0.000,0.043,2460,2222,3253
$GC,5765,-0.93,-146.0,342.6,-6.5,500,5766,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2222,3253
$GC,6073,-0.93,-146.0,362.8,-6.5,515,6077,0.00,2.22,0.00,0.000,4,0.000,0.054,2460,815,3254
$GC,6098,-0.86,-146.0,364.4,-6.9,516,6103,0.15,2.30,0.00,0.000,6,0.125,0.053,2492,2240,3254
$GC,6427,-0.94,-146.0,381.4,-4.9,532,6429,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2240,3255
$GC,6736,-1.02,-146.0,397.7,-5.6,547,6738,0.12,0.00,0.00,0.000,6,0.081,0.000,2440,2239,3256
$GC,7061,-0.91,-146.0,422.8,-8.0,556,7065,0.15,2.22,0.00,0.000,4,0.141,0.064,2473,3601,3256
$GC,7113,-0.91,-146.0,426.8,-8.1,557,7117,0.00,2.12,0.00,0.000,6,0.000,0.041,2473,2222,3256
$GC,7438,-0.91,-146.0,447.9,-6.3,565,7439,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2221,3257
$GC,7763,-0.91,-146.0,466.6,-5.6,573,7764,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2221,3257
$GC,8089,-0.91,-146.0,487.2,-6.5,581,8093,0.00,2.20,0.00,0.000,4,0.000,0.054,2473,827,3257
$GC,8129,-0.86,-146.0,490.2,-7.1,581,8136,0.12,2.30,0.00,0.000,6,0.130,0.053,2497,2244,3257
$GC,8462,-0.97,-146.0,509.4,-5.8,590,8467,0.12,2.28,0.00,0.000,4,0.081,0.052,2445,830,3257
$GC,8514,-0.84,-146.0,513.3,-8.2,591,8519,0.22,2.28,0.00,0.000,6,0.128,0.052,2500,2237,3257
$STATE,8580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8580,begin apogee
$GC,8589,-0.31,0.0,517.7,6.0,593,8720,0.35,0.00,127.78,1.118,6,0.114,0.000,2614,1738,2650
$STATE,8721,end apogee,CONTROL_FINISHED_OK
$STATE,8721,begin climb
$GC,8725,0.99,146.0,520.2,0.0,596,8860,0.85,0.00,130.82,1.051,6,0.088,0.000,2894,1738,2055
$GC,9178,0.84,146.0,480.1,9.6,607,9182,0.15,2.33,0.00,0.000,4,0.128,0.060,2861,323,2048
$GC,9234,0.84,146.0,475.1,7.5,608,9238,0.00,2.33,0.00,0.000,6,0.000,0.048,2861,1753,2048
$GC,9549,0.79,146.0,450.7,8.1,616,9553,0.00,2.22,0.00,0.000,4,0.000,0.061,2861,3151,2047
$GC,9634,0.62,146.0,442.0,10.7,617,9642,0.20,2.22,0.00,0.000,6,0.127,0.046,2812,1728,2046
$GC,9967,0.75,146.0,417.9,7.2,626,9969,0.12,0.00,0.00,0.000,6,0.069,0.000,2873,1728,2046
$GC,10274,0.67,146.0,390.2,8.9,636,10276,0.17,0.00,0.00,0.000,6,0.121,0.000,2820,1728,2046
$GC,10583,0.84,201.3,373.5,5.2,651,10635,0.15,2.38,46.45,1.038,4,0.068,0.061,2888,3152,1828
$GC,10677,0.63,201.3,364.9,11.0,655,10682,0.30,2.25,0.00,0.000,6,0.128,0.047,2810,1734,1824
$GC,10994,0.86,226.5,345.5,6.2,670,11021,0.20,2.28,21.83,0.986,4,0.059,0.059,2918,333,1726
$GC,11069,0.73,226.5,336.9,12.8,673,11073,0.28,2.28,0.00,0.000,6,0.127,0.048,2836,1739,1725
$GC,11386,0.82,226.5,309.2,9.0,688,11390,0.00,2.25,0.00,0.000,4,0.000,0.061,2836,3158,1721
$GC,11465,0.82,226.5,300.9,9.6,691,11470,0.00,2.22,0.00,0.000,6,0.000,0.045,2843,1724,1720
$GC,11789,0.87,226.5,273.0,8.6,707,11794,0.10,2.22,0.00,0.000,4,0.081,0.058,2904,328,1720
$GC,11830,0.78,226.5,268.4,12.3,709,11834,0.20,2.28,0.00,0.000,6,0.127,0.048,2845,1750,1720
$GC,12157,0.85,226.5,241.7,7.5,725,12161,0.00,2.25,0.00,0.000,4,0.000,0.062,2845,3160,1719
$GC,12228,0.80,226.5,236.1,7.9,728,12232,0.00,2.22,0.00,0.000,6,0.000,0.045,2853,1726,1718
$GC,12562,0.86,232.0,211.4,6.8,744,12571,0.00,2.22,4.90,0.687,4,0.000,0.058,2862,330,1704
$GC,12609,0.99,254.2,208.3,6.3,746,12636,0.12,2.25,21.25,0.893,6,0.074,0.045,2924,1749,1613
$GC,12962,0.83,254.2,175.6,9.0,763,12966,0.20,2.22,0.00,0.000,4,0.128,0.059,2859,3146,1610
$GC,13032,0.84,263.2,170.4,6.7,766,13049,0.00,2.20,9.00,0.795,6,0.000,0.044,2867,1730,1576
$GC,13359,0.93,288.0,151.1,6.2,782,13389,0.00,2.33,22.98,0.861,4,0.000,0.058,2876,333,1476
$GC,13414,1.09,314.6,147.8,6.2,784,13447,0.15,2.28,24.92,0.840,6,0.065,0.044,2946,1752,1367
$GC,13760,0.94,314.6,111.0,10.8,801,13765,0.20,2.22,0.00,0.000,4,0.124,0.058,2880,3147,1360
$GC,13823,0.94,314.6,105.7,7.5,804,13827,0.00,2.20,0.00,0.000,6,0.000,0.044,2886,1729,1359
$GC,14162,1.12,330.1,85.1,6.5,850,14182,0.12,2.30,13.18,0.798,4,0.073,0.058,2961,330,1304
$GC,14224,1.05,330.1,78.2,12.6,860,14231,0.20,2.25,0.00,0.000,6,0.125,0.047,2902,1746,1304
$GC,14572,1.25,372.7,49.2,5.7,921,14618,0.17,2.28,38.30,0.825,4,0.066,0.059,2973,3151,1130
$GC,14666,1.07,372.7,40.4,11.1,937,14673,0.25,2.25,0.00,0.000,6,0.139,0.048,2912,1732,1127
$FREEZE,6.97,-0.984,-1.813
$FREEZE,5.46,-0.991,-1.812
$FREEZE,4.36,-1.003,-1.811
$FREEZE,3.72,-0.992,-1.807
$GC,15017,1.35,493.8,17.1,3.1,998,15127,0.20,2.35,101.12,0.798,4,0.060,0.063,3005,327,635
$FREEZE,3.63,-1.069,-1.808
$FREEZE,3.67,-1.055,-1.808
$FREEZE,3.68,-1.074,-1.809
$FREEZE,3.65,-1.058,-1.807
$FREEZE,3.66,-1.071,-1.809
$FREEZE,3.72,-1.069,-1.808
$FREEZE,3.73,-1.068,-1.808
$FREEZE,3.69,-1.059,-1.807
$FREEZE,3.66,-1.079,-1.808
$FREEZE,3.72,-1.064,-1.808
$FREEZE,3.68,-1.062,-1.808
$FREEZE,3.77,-1.054,-1.807
$FREEZE,3.73,-1.057,-1.808
$FREEZE,3.68,-1.052,-1.808
$FREEZE,3.68,-1.064,-1.808
$FREEZE,3.75,-1.072,-1.808
$FREEZE,3.64,-1.083,-1.809
$FREEZE,3.67,-1.073,-1.808
$FREEZE,3.63,-1.088,-1.809
$FREEZE,3.65,-1.076,-1.807
$FREEZE,3.69,-1.090,-1.808
$FREEZE,3.63,-1.096,-1.808
$FREEZE,3.73,-1.095,-1.808
$FREEZE,3.68,-1.088,-1.807
$FREEZE,3.64,-1.105,-1.808
$FREEZE,3.70,-1.094,-1.807
$FREEZE,3.73,-1.101,-1.808
$STATE,15281,end climb,NO_VERTICAL_VELOCITY
$STATE,15281,begin subsurface finish
$FINISH1,3.7,1.026495,57
$GC,15293,0.07,56.7,3.7,0.1,1042,15301,0.90,0.00,-4.68,0.000,2,0.090,0.000,2694,1738,766
$FINISH2,3.7
$STATE,15302,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,15302,begin surface
$RAFOS_CLK,671
$RAFOS,1,1231532043,20.250000,20.234167,66,58,55,49,47,45,138,181,199,215,93,225
$RAFOS,0,1231531444,20.083334,20.067778,56,54,53,50,50,49,208,151,191,113,226,169
$RAFOS,4,1231519454,16.750000,16.737223,64,63,56,53,52,48,209,226,163,193,180,142
$RAFOS,3,1231518843,16.583334,16.567499,59,58,56,55,54,49,204,189,157,134,116,218
$RAFOS,2,1231518242,16.416666,16.400555,63,60,57,56,56,52,172,209,135,117,160,195
$RAFOS,1,1231517646,16.250000,16.235001,63,56,53,52,51,51,200,218,118,148,180,133
$RAFOS_FIX,6617.756348,-5909.147949,080109,000040,2,99,0.64
$IRIDIUM_FIX,6537.93,-5836.74,050498,070722
$TT8_MAMPS,0.029146
$HUMID,1787
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,15.50
$XPDR_PINGS,282
$24V_AH,21.9,98.619
$10V_AH,10.4,43.677
$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,15.750,127.000,562.525,0.000,0.000,99.021,85.307,0.000,70.500,0.000,0.000,183.211,1829.693,10766.449,642.491,2074.287,877.267,0.000,1683.611,0.000,1871.717,2520.000,0.532,0.000
$DEVICE_MAMPS,177.177,69.797,1117.519,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,725.891,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34712,1043
$CAP_FILE_SIZE,134478,0
$CFSIZE,260165632,212230144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.8
$GPS,090109,073938,6603.016,-5838.565,25,1.1,25,-36.7
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581