version: 66.04
glider: 108
mission: 11
dive: 652
start: 1 10 109 9 36 11
data:
$ID,108
$MISSION,11
$DIVE,652
$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,-130085.25
$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,26
$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,2.49
$_SM_ANGLEo,-36.0
$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,15,begin dive
$GC,19,-0.99,-146.0,0.0,0.0,0,105,0.00,0.00,-83.60,0.000,2,0.000,0.000,327,2248,2995
$GC,110,-0.99,-146.0,3.3,-1.8,15,135,9.12,2.38,-7.12,0.000,4,0.249,0.071,2469,820,3249
$GC,386,-0.78,-146.0,37.1,-13.1,63,393,0.17,2.33,0.00,0.000,6,0.131,0.059,2511,2241,3252
$GC,733,-0.78,-146.0,65.3,-6.2,124,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2241,3252
$GC,1080,-0.78,-146.0,86.5,-6.6,185,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2241,3252
$GC,1417,-0.84,-146.0,109.5,-6.1,226,1421,0.00,2.33,0.00,0.000,4,0.000,0.060,2511,806,3251
$GC,1492,-0.84,-146.0,116.0,-9.5,229,1496,0.00,2.33,0.00,0.000,6,0.000,0.059,2504,2234,3251
$GC,1820,-0.89,-146.0,146.8,-8.6,245,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2234,3250
$GC,2129,-0.97,-146.0,169.6,-5.9,260,2134,0.12,2.30,0.00,0.000,4,0.080,0.058,2445,810,3250
$GC,2222,-0.78,-146.0,174.3,-6.1,264,2227,0.25,2.30,0.00,0.000,6,0.126,0.058,2509,2235,3249
$GC,2551,-0.89,-146.0,187.6,-5.3,280,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2234,3250
$GC,2861,-1.00,-146.0,204.7,-5.2,295,2863,0.17,0.00,0.00,0.000,6,0.070,0.000,2435,2234,3250
$GC,3169,-0.86,-146.0,227.8,-8.0,310,3173,0.20,2.30,0.00,0.000,4,0.139,0.054,2500,816,3251
$GC,3271,-0.91,-146.0,235.4,-7.2,314,3278,0.00,2.30,0.00,0.000,6,0.000,0.054,2493,2235,3251
$GC,3590,-0.96,-146.0,260.5,-8.3,330,3594,0.00,2.28,0.00,0.000,4,0.000,0.053,2492,813,3252
$GC,3641,-0.96,-146.0,265.2,-8.9,332,3645,0.00,2.30,0.00,0.000,6,0.000,0.052,2483,2238,3252
$GC,3970,-0.96,-146.0,289.4,-6.6,348,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2238,3253
$GC,4278,-0.96,-146.0,308.8,-5.7,363,4282,0.00,2.28,0.00,0.000,4,0.000,0.052,2483,814,3254
$GC,4347,-0.96,-146.0,313.2,-6.5,366,4351,0.00,2.28,0.00,0.000,6,0.000,0.051,2473,2233,3255
$GC,4684,-0.96,-146.0,334.5,-6.6,382,4685,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2233,3256
$GC,4991,-0.96,-146.0,354.8,-6.2,397,4994,0.00,2.28,0.00,0.000,4,0.000,0.051,2473,802,3257
$GC,5031,-0.91,-146.0,357.4,-6.4,398,5038,0.00,2.30,0.00,0.000,6,0.000,0.051,2463,2235,3256
$GC,5349,-0.91,-146.0,374.0,-4.9,414,5353,0.00,2.28,0.00,0.000,4,0.000,0.051,2462,802,3257
$GC,5361,-0.91,-146.0,374.7,-4.8,414,5365,0.12,2.30,0.00,0.000,6,0.127,0.050,2487,2238,3257
$GC,5678,-0.97,-146.0,388.3,-4.9,429,5679,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2238,3257
$GC,6008,-1.05,-146.0,403.8,-4.6,443,6010,0.12,0.00,0.00,0.000,6,0.077,0.000,2433,2238,3258
$GC,6332,-0.92,-146.0,424.8,-6.6,451,6334,0.17,0.00,0.00,0.000,6,0.139,0.000,2483,2239,3258
$GC,6657,-0.98,-146.0,442.3,-5.4,459,6661,0.00,2.30,0.00,0.000,4,0.000,0.052,2483,809,3258
$GC,6670,-0.98,-146.0,443.0,-5.5,459,6674,0.00,2.30,0.00,0.000,6,0.000,0.050,2475,2237,3258
$GC,6990,-0.98,-146.0,461.8,-5.9,467,6994,0.00,2.28,0.00,0.000,4,0.000,0.051,2475,812,3258
$GC,7019,-0.98,-146.0,463.6,-6.3,467,7023,0.00,2.30,0.00,0.000,6,0.000,0.050,2465,2242,3258
$GC,7364,-0.98,-146.0,485.4,-6.4,476,7367,0.00,2.28,0.00,0.000,4,0.000,0.051,2465,814,3258
$GC,7376,-0.98,-146.0,486.4,-6.3,476,7380,0.00,2.28,0.00,0.000,6,0.000,0.050,2455,2231,3258
$GC,7696,-0.93,-146.0,507.8,-6.7,484,7701,0.10,2.28,0.00,0.000,4,0.139,0.051,2483,802,3258
$GC,7721,-0.93,-146.0,509.3,-5.8,484,7724,0.00,2.30,0.00,0.000,6,0.000,0.051,2476,2232,3258
$STATE,7863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7863,begin apogee
$GC,7873,-0.31,0.0,517.7,5.7,488,8004,0.45,0.00,127.93,1.112,6,0.111,0.000,2620,1729,2650
$STATE,8005,end apogee,CONTROL_FINISHED_OK
$STATE,8005,begin climb
$GC,8009,0.99,146.0,519.6,0.0,491,8146,0.82,2.58,129.95,1.048,4,0.084,0.056,2896,3148,2054
$GC,8185,0.70,146.0,505.1,10.7,495,8190,0.28,2.40,0.00,0.000,6,0.126,0.041,2832,1729,2050
$GC,8506,0.77,160.3,483.3,6.6,503,8520,0.00,0.00,12.30,0.961,6,0.000,0.000,2832,1729,1996
$GC,8830,0.83,160.3,460.5,7.1,511,8835,0.10,2.33,0.00,0.000,4,0.078,0.058,2884,3160,1994
$GC,8866,0.59,160.3,457.0,11.2,511,8872,0.30,2.22,0.00,0.000,6,0.126,0.044,2799,1734,1993
$GC,9205,0.82,197.4,436.2,5.8,520,9244,0.20,0.00,33.00,1.045,6,0.055,0.000,2893,1734,1844
$GC,9572,0.67,197.4,397.3,10.9,529,9574,0.22,0.00,0.00,0.000,6,0.120,0.000,2825,1734,1839
$GC,9880,0.78,197.4,374.8,7.4,544,9885,0.10,2.30,0.00,0.000,4,0.075,0.058,2877,3149,1838
$GC,9926,0.56,197.4,369.8,11.8,546,9931,0.30,2.20,0.00,0.000,6,0.123,0.044,2796,1737,1836
$GC,10249,1.20,197.4,343.0,9.6,562,10253,0.40,2.25,0.00,0.000,4,0.087,0.056,2941,323,1836
$GC,10288,1.16,197.4,338.5,11.2,563,10295,0.00,2.28,0.00,0.000,6,0.000,0.046,2941,1748,1837
$GC,10606,0.85,197.4,292.5,15.1,579,10610,0.25,2.25,0.00,0.000,4,0.132,0.058,2861,3151,1836
$GC,10663,0.74,197.4,285.1,12.4,581,10670,0.12,2.22,0.00,0.000,6,0.131,0.044,2833,1726,1835
$GC,10982,0.81,197.4,258.2,7.5,597,10986,0.10,2.22,0.00,0.000,4,0.075,0.055,2897,335,1835
$GC,11011,0.76,197.4,255.3,9.6,598,11016,0.20,2.22,0.00,0.000,6,0.121,0.044,2837,1754,1836
$GC,11334,0.86,230.5,235.1,6.0,614,11369,0.12,2.30,27.95,0.917,4,0.068,0.058,2898,3153,1709
$GC,11464,0.66,230.5,220.9,12.7,619,11471,0.30,2.22,0.00,0.000,6,0.123,0.043,2817,1731,1705
$GC,11782,0.91,251.7,198.2,6.3,635,11807,0.20,2.30,18.67,0.861,4,0.055,0.056,2930,330,1624
$GC,11850,0.80,251.7,191.3,10.6,638,11855,0.28,2.28,0.00,0.000,6,0.120,0.045,2846,1749,1624
$GC,12179,0.99,287.0,168.3,5.9,654,12216,0.17,2.33,31.85,0.858,4,0.058,0.058,2930,3162,1480
$GC,12319,0.78,287.0,151.8,12.2,659,12324,0.30,2.22,0.00,0.000,6,0.125,0.043,2849,1731,1475
$GC,12641,1.00,287.0,129.0,7.2,675,12645,0.17,2.22,0.00,0.000,4,0.059,0.055,2943,334,1473
$GC,12682,0.90,287.0,124.3,12.4,676,12689,0.25,2.22,0.00,0.000,6,0.121,0.044,2867,1752,1473
$GC,13006,1.08,287.0,96.2,8.0,698,13013,0.15,2.20,0.00,0.000,4,0.059,0.057,2942,3158,1471
$GC,13078,0.84,287.0,87.0,13.2,710,13084,0.30,2.20,0.00,0.000,6,0.123,0.044,2861,1736,1470
$GC,13426,1.52,287.0,59.8,9.4,771,13432,0.43,2.25,0.00,0.000,4,0.088,0.056,3012,327,1470
$GC,13475,1.52,287.0,55.1,9.8,779,13481,0.00,2.22,0.00,0.000,6,0.000,0.045,3012,1739,1470
$FREEZE,6.70,-1.379,-1.812
$FREEZE,6.07,-1.377,-1.811
$FREEZE,5.19,-1.374,-1.811
$FREEZE,4.39,-1.372,-1.810
$FREEZE,3.57,-1.372,-1.809
$GC,13823,1.16,287.0,3.6,14.4,840,13829,0.25,0.00,0.00,0.000,6,0.148,0.000,2936,1738,1470
$FREEZE,1.21,-1.393,-1.807
$STATE,13834,end climb,SURFACE_DEPTH_REACHED
$STATE,13834,begin surface coast
$FREEZE,1.19,-2.079,-0.221
$FINISH,1.2,1.002957
$STATE,13841,end surface coast,FINISH_DEPTH_REACHED
$STATE,13841,begin surface
$SM_CCo,13923,0.00,0.000,0,0,1468,289.70
$SM_GC,2.17,7.00,0.00,0.00,0.049,0.000,0.000,330,2251,1468,-10.70,0.59,289.70
$RAFOS_CLK,607
$RAFOS,4,1231591459,12.750000,12.738611,65,56,55,54,52,51,157,200,134,190,146,181
$RAFOS,3,1231590858,12.583333,12.571667,69,63,53,53,49,48,210,196,120,145,164,220
$RAFOS,2,1231590250,12.416667,12.402778,69,64,58,57,55,49,221,189,137,166,198,146
$RAFOS,1,1231589655,12.250000,12.237500,62,60,59,57,53,50,219,210,122,195,166,107
$RAFOS,0,1231589041,12.083333,12.066944,57,54,54,54,53,52,123,147,157,215,179,190
$RAFOS_FIX,6617.756348,-5909.147949,080109,000040,2,99,0.64
$IRIDIUM_FIX,6537.93,-5836.74,050498,070722
$TT8_MAMPS,0.026078
$HUMID,1798
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,16.20
$XPDR_PINGS,236
$24V_AH,21.9,99.167
$10V_AH,10.4,43.931
$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,24.350,111.100,381.650,0.000,0.000,99.210,85.248,0.000,59.000,0.000,0.000,183.212,1551.230,10176.007,514.120,1727.959,894.389,0.000,1367.700,0.000,1540.073,1800.000,0.532,0.000
$DEVICE_MAMPS,248.508,70.564,1112.150,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,586.831,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28415,843
$CAP_FILE_SIZE,117406,0
$CFSIZE,260165632,212017152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.8
$GPS,100109,132938,6600.388,-5810.513,34,2.0,34,-36.5
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581