version: 66.04
glider: 108
mission: 11
dive: 650
start: 1 10 109 0 46 12
data:
$ID,108
$MISSION,11
$DIVE,650
$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,33
$R_STBD_OVSHOOT,32
$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,1.92
$_SM_ANGLEo,6.3
$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,17,-0.99,-146.0,0.0,0.0,0,104,0.00,0.00,-83.72,0.000,6,0.000,0.000,2934,1772,3247
$GC,108,-0.99,-146.0,2.5,-1.2,15,116,1.52,2.97,0.00,0.000,4,0.143,0.063,2466,3604,3248
$GC,158,-1.13,-146.0,6.2,-7.4,23,165,0.15,2.12,0.00,0.000,6,0.079,0.042,2418,2211,3249
$GC,505,-0.80,-146.0,47.8,-11.5,84,512,0.28,2.20,0.00,0.000,4,0.147,0.054,2511,822,3250
$GC,549,-0.70,-146.0,51.2,-7.6,91,556,0.10,2.28,0.00,0.000,6,0.139,0.057,2530,2228,3250
$GC,897,-0.78,-146.0,78.7,-8.3,152,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2228,3249
$GC,1254,-0.90,-146.0,104.3,-6.8,207,1259,0.15,2.22,0.00,0.000,4,0.077,0.068,2455,3602,3249
$GC,1329,-0.77,-146.0,112.7,-11.4,210,1333,0.20,2.15,0.00,0.000,6,0.141,0.046,2512,2222,3248
$GC,1657,-0.85,-146.0,134.6,-4.5,226,1661,0.00,2.22,0.00,0.000,4,0.000,0.058,2513,818,3247
$GC,1714,-0.85,-146.0,137.5,-5.2,228,1718,0.00,2.33,0.00,0.000,6,0.000,0.058,2505,2244,3246
$GC,2037,-0.89,-146.0,155.0,-5.9,244,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2244,3245
$GC,2346,-0.97,-146.0,171.2,-4.5,259,2350,0.12,2.30,0.00,0.000,4,0.078,0.057,2447,821,3245
$GC,2358,-0.97,-146.0,172.0,-5.1,259,2363,0.12,2.30,0.00,0.000,6,0.137,0.057,2471,2235,3245
$GC,2680,-0.97,-146.0,194.8,-6.8,275,2684,0.00,2.20,0.00,0.000,4,0.000,0.068,2463,3606,3245
$GC,2714,-0.92,-146.0,197.4,-7.3,276,2718,0.00,2.15,0.00,0.000,6,0.000,0.045,2463,2219,3245
$GC,3037,-0.86,-146.0,218.7,-6.9,292,3042,0.12,2.20,0.00,0.000,4,0.140,0.054,2500,826,3245
$GC,3062,-0.86,-146.0,220.5,-6.9,293,3066,0.00,2.30,0.00,0.000,6,0.000,0.056,2492,2244,3246
$GC,3397,-0.92,-146.0,242.8,-6.7,309,3401,0.00,2.28,0.00,0.000,4,0.000,0.055,2492,824,3246
$GC,3472,-0.92,-146.0,248.1,-7.3,312,3476,0.00,2.28,0.00,0.000,6,0.000,0.055,2483,2241,3246
$GC,3799,-0.92,-146.0,272.3,-7.5,328,3803,0.00,2.17,0.00,0.000,4,0.000,0.067,2472,3598,3247
$GC,3823,-0.92,-146.0,274.1,-7.3,329,3827,0.00,2.12,0.00,0.000,6,0.000,0.043,2472,2212,3246
$GC,4159,-0.92,-146.0,296.5,-6.0,345,4163,0.00,2.25,0.00,0.000,4,0.000,0.065,2462,3595,3247
$GC,4188,-0.92,-146.0,298.5,-6.7,346,4193,0.00,2.10,0.00,0.000,6,0.000,0.042,2462,2226,3247
$GC,4517,-0.92,-146.0,318.3,-6.2,362,4518,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2226,3247
$GC,4828,-0.92,-146.0,337.9,-6.3,377,4832,0.00,2.17,0.00,0.000,4,0.000,0.054,2462,828,3248
$GC,4926,-0.82,-146.0,344.5,-6.6,381,4930,0.17,2.28,0.00,0.000,6,0.123,0.054,2502,2245,3248
$GC,5256,-0.94,-146.0,361.3,-5.1,397,5260,0.12,2.28,0.00,0.000,4,0.080,0.051,2448,816,3249
$GC,5307,-0.81,-146.0,365.1,-7.0,399,5312,0.22,2.28,0.00,0.000,6,0.123,0.052,2504,2244,3249
$GC,5632,-0.93,-146.0,380.2,-4.5,415,5636,0.10,2.25,0.00,0.000,4,0.087,0.051,2458,830,3249
$GC,5702,-0.81,-146.0,384.1,-5.8,418,5706,0.20,2.25,0.00,0.000,6,0.123,0.053,2506,2242,3249
$GC,6035,-0.95,-146.0,397.2,-4.0,434,6040,0.12,2.25,0.00,0.000,4,0.077,0.052,2451,828,3250
$GC,6061,-0.90,-146.0,398.5,-5.8,435,6065,0.17,2.25,0.00,0.000,6,0.126,0.053,2490,2235,3250
$GC,6390,-0.98,-146.0,415.9,-5.5,444,6395,0.10,2.25,0.00,0.000,4,0.085,0.052,2446,816,3250
$GC,6419,-0.87,-146.0,418.1,-8.3,444,6424,0.20,2.28,0.00,0.000,6,0.125,0.051,2493,2236,3250
$GC,6758,-0.97,-146.0,438.1,-5.9,453,6763,0.10,2.25,0.00,0.000,4,0.086,0.051,2448,821,3250
$GC,6793,-0.82,-146.0,440.7,-7.8,453,6798,0.22,2.28,0.00,0.000,6,0.125,0.052,2504,2240,3250
$GC,7126,-0.95,-146.0,460.0,-5.8,461,7130,0.12,2.25,0.00,0.000,4,0.080,0.052,2449,828,3251
$GC,7155,-0.86,-146.0,462.1,-7.2,461,7160,0.20,2.25,0.00,0.000,6,0.126,0.053,2497,2233,3251
$GC,7500,-0.97,-146.0,481.6,-5.4,470,7504,0.12,2.25,0.00,0.000,4,0.079,0.051,2443,820,3251
$GC,7562,-0.83,-146.0,486.2,-7.4,471,7567,0.22,2.28,0.00,0.000,6,0.127,0.053,2499,2243,3251
$GC,7877,-0.94,-146.0,503.6,-5.5,479,7882,0.10,2.25,0.00,0.000,4,0.087,0.053,2454,828,3251
$GC,7911,-0.82,-146.0,506.0,-7.0,479,7916,0.20,2.25,0.00,0.000,6,0.127,0.053,2501,2230,3251
$STATE,8123,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8123,begin apogee
$GC,8133,-0.31,0.0,517.6,5.3,485,8262,0.35,0.00,126.12,1.123,6,0.112,0.000,2616,1743,2650
$STATE,8263,end apogee,CONTROL_FINISHED_OK
$STATE,8263,begin climb
$GC,8267,0.99,146.0,520.2,0.0,488,8404,0.85,2.53,130.25,1.055,4,0.087,0.059,2899,3145,2054
$GC,8442,0.70,146.0,506.8,10.8,492,8447,0.30,2.40,0.00,0.000,6,0.129,0.043,2828,1731,2050
$GC,8763,0.80,167.4,485.5,6.3,500,8788,0.10,2.33,18.23,1.009,4,0.078,0.060,2887,327,1967
$GC,8812,0.70,167.4,481.3,8.5,501,8817,0.20,2.30,0.00,0.000,6,0.123,0.048,2829,1751,1967
$GC,9133,0.80,173.4,459.2,6.8,509,9144,0.10,2.30,6.40,0.855,4,0.081,0.061,2878,3165,1943
$GC,9220,0.59,173.4,450.5,10.8,511,9225,0.28,2.25,0.00,0.000,6,0.127,0.046,2806,1722,1942
$GC,9546,0.82,219.0,431.5,5.6,519,9589,0.17,0.00,40.33,1.059,6,0.061,0.000,2888,1722,1757
$GC,9910,0.70,219.0,398.8,8.7,528,9915,0.20,2.22,0.00,0.000,4,0.120,0.058,2836,329,1750
$GC,9940,0.85,247.1,396.6,6.1,529,9970,0.10,2.25,24.83,1.022,6,0.081,0.047,2887,1749,1642
$GC,10292,0.77,247.1,366.7,9.6,546,10296,0.15,2.22,0.00,0.000,4,0.125,0.061,2844,3158,1636
$GC,10376,0.77,247.1,358.9,9.5,549,10382,0.00,2.22,0.00,0.000,6,0.000,0.046,2851,1725,1634
$GC,10693,0.77,247.1,335.1,7.2,565,10694,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1725,1634
$GC,11002,0.77,247.1,309.0,9.5,580,11006,0.00,2.30,0.00,0.000,4,0.000,0.059,2851,3160,1633
$GC,11053,0.72,247.1,303.2,11.5,582,11058,0.10,2.22,0.00,0.000,6,0.137,0.045,2832,1725,1632
$GC,11382,0.86,247.1,275.9,7.4,598,11383,0.12,0.00,0.00,0.000,6,0.071,0.000,2894,1725,1631
$GC,11690,0.75,247.1,244.6,9.6,613,11695,0.20,2.22,0.00,0.000,4,0.120,0.057,2837,327,1632
$GC,11724,0.95,266.3,241.9,6.4,614,11746,0.17,2.25,16.48,0.916,6,0.063,0.046,2922,1748,1564
$GC,12074,0.80,266.3,199.9,13.1,631,12079,0.20,2.22,0.00,0.000,4,0.127,0.059,2856,3154,1562
$GC,12137,0.80,266.3,192.2,10.1,634,12141,0.00,2.20,0.00,0.000,6,0.000,0.044,2862,1733,1560
$GC,12471,0.88,266.3,163.3,8.3,650,12476,0.00,2.22,0.00,0.000,4,0.000,0.058,2872,330,1560
$GC,12511,1.00,266.3,159.7,8.6,651,12518,0.10,2.25,0.00,0.000,6,0.078,0.045,2925,1752,1560
$GC,12828,0.88,266.3,124.4,10.5,667,12833,0.20,2.22,0.00,0.000,4,0.124,0.058,2860,3160,1560
$GC,12914,0.88,266.3,117.3,7.4,671,12918,0.00,2.20,0.00,0.000,6,0.000,0.044,2866,1736,1560
$GC,13249,1.24,431.0,107.2,1.7,687,13397,0.22,2.40,140.50,0.829,4,0.058,0.057,2980,333,892
$GC,13454,1.24,431.0,85.6,12.3,711,13461,0.12,2.30,0.00,0.000,6,0.128,0.046,2947,1744,887
$GC,13801,1.24,431.0,50.0,9.4,772,13808,0.00,2.25,0.00,0.000,4,0.000,0.061,2947,3160,882
$GC,13877,1.14,431.0,39.9,13.7,785,13884,0.10,2.22,0.00,0.000,6,0.138,0.046,2925,1743,880
$GC,14225,1.24,431.0,7.0,8.9,846,14232,0.10,2.28,0.00,0.000,4,0.081,0.059,2978,320,878
$FREEZE,5.62,-1.155,-1.813
$FREEZE,5.07,-1.160,-1.813
$FREEZE,4.36,-1.164,-1.812
$FREEZE,3.74,-1.178,-1.812
$FREEZE,2.90,-1.176,-1.811
$STATE,14259,end climb,SURFACE_DEPTH_REACHED
$STATE,14259,begin surface coast
$FREEZE,2.28,-1.179,-1.810
$FREEZE,1.78,-1.205,-1.810
$FREEZE,1.64,-1.221,-1.809
$FREEZE,1.73,-1.216,-1.809
$FREEZE,1.69,-1.217,-1.810
$FINISH,1.7,1.026545
$STATE,14290,end surface coast,CONTROL_FINISHED_OK
$STATE,14290,begin surface
$SM_CCo,14374,0.00,0.000,0,0,874,435.65
$SM_GC,1.91,7.30,0.00,0.00,0.062,0.000,0.000,331,2261,874,-10.69,0.88,435.65
$RAFOS_CLK,605
$RAFOS,3,1231562046,4.583333,4.568333,60,57,54,53,52,52,684,166,205,191,177,125
$RAFOS,2,1231561451,4.416667,4.403056,67,58,57,56,56,54,209,191,177,154,122,220
$RAFOS,1,1231560847,4.250000,4.235278,61,52,52,50,50,47,219,195,171,123,184,141
$RAFOS,0,1231560251,4.083333,4.069722,56,54,53,51,48,48,221,198,162,180,207,137
$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,1807
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,15.60
$XPDR_PINGS,308
$24V_AH,21.9,98.897
$10V_AH,10.4,43.788
$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,17.250,146.375,503.125,0.000,0.000,0.000,0.000,0.000,77.000,0.000,0.000,0.000,1623.969,10217.370,586.835,1682.795,325.618,0.000,1533.430,0.000,1660.296,1800.000,0.532,0.000
$DEVICE_MAMPS,147.264,68.263,1122.888,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,596.927,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28456,857
$CAP_FILE_SIZE,125609,0
$CFSIZE,260165632,212131840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.6
$GPS,090109,073938,6603.016,-5838.565,25,1.1,25,-36.7
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581