version: 66.04
glider: 108
mission: 11
dive: 653
start: 1 10 109 13 45 54
data:
$ID,108
$MISSION,11
$DIVE,653
$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,-130202.73
$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,34
$R_STBD_OVSHOOT,34
$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
$GPS1,132938,6600.388,-5810.513,34,2.0,34,-36.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-33.6
$GPS2,134533,6600.295,-5810.568,92,9.6,111,-36.5
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6601.236,-5744.097
$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,121.5,20000,-13.0,-7.021
$D_GRID,550
$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,-146.0,0.0,0.0,0,91,0.00,0.00,-72.30,0.000,2,0.000,0.000,329,2268,3003
$GC,97,-0.99,-146.0,3.0,-1.8,13,122,8.68,2.40,-8.00,0.000,4,0.233,0.069,2465,816,3249
$GC,344,-0.68,-146.0,32.2,-10.8,56,351,0.28,2.30,0.00,0.000,6,0.133,0.056,2537,2233,3252
$GC,691,-0.68,-146.0,61.4,-7.4,117,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2233,3252
$GC,1037,-0.76,-146.0,89.4,-8.0,178,1043,0.10,0.00,0.00,0.000,6,0.085,0.000,2493,2233,3250
$GC,1376,-0.76,-146.0,117.2,-7.0,208,1381,0.10,2.22,0.00,0.000,4,0.143,0.070,2510,3605,3249
$GC,1389,-0.76,-146.0,118.4,-6.9,208,1393,0.00,2.15,0.00,0.000,6,0.000,0.045,2510,2220,3249
$GC,1711,-0.81,-146.0,140.6,-7.0,224,1715,0.00,2.20,0.00,0.000,4,0.000,0.058,2510,825,3249
$GC,1729,-0.81,-146.0,141.9,-6.9,224,1735,0.00,2.28,0.00,0.000,6,0.000,0.057,2500,2234,3248
$GC,2047,-0.81,-146.0,163.6,-6.5,240,2051,0.00,2.28,0.00,0.000,4,0.000,0.057,2500,817,3248
$GC,2082,-0.81,-146.0,166.0,-6.8,241,2086,0.00,2.30,0.00,0.000,6,0.000,0.056,2491,2244,3248
$GC,2404,-0.81,-146.0,188.4,-7.1,257,2405,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2244,3248
$GC,2714,-0.81,-146.0,206.6,-5.3,272,2718,0.00,2.17,0.00,0.000,4,0.000,0.068,2480,3608,3248
$GC,2808,-0.81,-146.0,212.3,-5.9,276,2812,0.10,2.15,0.00,0.000,6,0.141,0.045,2506,2212,3248
$GC,3144,-0.89,-146.0,230.8,-5.5,292,3147,0.00,2.17,0.00,0.000,4,0.000,0.055,2506,819,3250
$GC,3195,-0.94,-146.0,234.0,-6.2,294,3200,0.10,2.28,0.00,0.000,6,0.077,0.054,2450,2239,3250
$GC,3523,-0.83,-146.0,258.6,-7.6,310,3527,0.17,2.20,0.00,0.000,4,0.135,0.065,2492,3605,3250
$GC,3535,-0.76,-146.0,259.5,-7.6,310,3540,0.10,2.12,0.00,0.000,6,0.127,0.041,2519,2213,3251
$GC,3858,-0.91,-146.0,273.6,-4.4,326,3862,0.15,2.17,0.00,0.000,4,0.071,0.051,2450,819,3252
$GC,3904,-0.76,-146.0,276.8,-7.9,328,3909,0.25,2.28,0.00,0.000,6,0.121,0.053,2514,2237,3252
$GC,4233,-0.91,-146.0,295.9,-5.9,344,4235,0.12,0.00,0.00,0.000,6,0.075,0.000,2457,2237,3252
$GC,4541,-0.84,-146.0,318.1,-7.1,359,4546,0.15,2.17,0.00,0.000,4,0.133,0.064,2491,3598,3253
$GC,4554,-0.84,-146.0,319.0,-6.9,359,4558,0.00,2.10,0.00,0.000,6,0.000,0.040,2491,2216,3253
$GC,4877,-0.90,-146.0,339.7,-6.8,375,4881,0.00,2.15,0.00,0.000,4,0.000,0.051,2491,821,3254
$GC,4906,-0.90,-146.0,342.0,-7.9,376,4910,0.00,2.28,0.00,0.000,6,0.000,0.051,2482,2246,3254
$GC,5235,-0.90,-146.0,367.6,-8.1,392,5238,0.00,2.25,0.00,0.000,4,0.000,0.050,2482,817,3255
$GC,5269,-0.90,-146.0,370.7,-8.8,393,5273,0.00,2.28,0.00,0.000,6,0.000,0.049,2472,2246,3255
$GC,5592,-0.90,-146.0,396.4,-7.4,409,5596,0.00,2.25,0.00,0.000,4,0.000,0.050,2471,817,3256
$GC,5639,-0.85,-146.0,399.9,-7.9,411,5644,0.12,2.28,0.00,0.000,6,0.125,0.049,2497,2246,3255
$GC,5984,-0.94,-146.0,420.4,-5.7,420,5988,0.00,2.25,0.00,0.000,4,0.000,0.049,2497,817,3257
$GC,6018,-0.94,-146.0,422.4,-5.5,420,6022,0.00,2.28,0.00,0.000,6,0.000,0.049,2489,2243,3256
$GC,6357,-0.99,-146.0,442.1,-5.9,429,6361,0.10,2.25,0.00,0.000,4,0.078,0.051,2436,817,3257
$GC,6431,-0.81,-146.0,447.8,-7.9,430,6436,0.28,2.28,0.00,0.000,6,0.123,0.049,2508,2244,3257
$GC,6775,-0.94,-146.0,465.6,-4.9,439,6780,0.12,2.25,0.00,0.000,4,0.076,0.049,2449,823,3258
$GC,6828,-0.80,-146.0,469.0,-7.2,440,6833,0.22,2.25,0.00,0.000,6,0.123,0.050,2505,2237,3257
$GC,7148,-0.93,-146.0,484.9,-4.9,448,7152,0.12,2.22,0.00,0.000,4,0.074,0.049,2447,828,3259
$GC,7171,-0.87,-146.0,486.4,-6.3,448,7176,0.20,2.25,0.00,0.000,6,0.125,0.050,2495,2243,3258
$GC,7516,-0.96,-146.0,505.4,-5.5,457,7520,0.10,2.25,0.00,0.000,4,0.084,0.051,2447,816,3259
$GC,7533,-0.96,-146.0,506.6,-5.4,457,7538,0.12,2.28,0.00,0.000,6,0.130,0.050,2471,2246,3259
$GC,7847,-0.96,-146.0,525.2,-5.9,465,7851,0.00,2.25,0.00,0.000,4,0.000,0.051,2471,825,3258
$GC,7859,-0.96,-146.0,526.0,-6.1,465,7863,0.00,2.28,0.00,0.000,6,0.000,0.050,2464,2244,3258
$GC,8179,-0.96,-146.0,546.9,-6.5,473,8181,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2244,3258
$STATE,8256,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8257,begin apogee
$GC,8266,-0.31,0.0,551.8,6.3,475,8397,0.47,0.00,127.93,1.127,6,0.114,0.000,2616,1739,2650
$STATE,8397,end apogee,CONTROL_FINISHED_OK
$STATE,8397,begin climb
$GC,8401,0.99,146.0,553.9,0.0,478,8537,0.85,0.00,129.77,1.065,6,0.085,0.000,2900,1739,2054
$GC,8854,0.81,146.0,513.0,9.5,489,8858,0.17,2.33,0.00,0.000,4,0.122,0.058,2848,3161,2048
$GC,8888,0.71,146.0,510.0,8.5,489,8894,0.10,2.25,0.00,0.000,6,0.140,0.043,2829,1729,2047
$GC,9228,0.81,170.7,489.3,6.2,498,9251,0.10,0.00,20.83,1.037,6,0.077,0.000,2880,1729,1954
$GC,9553,0.70,170.7,459.4,9.4,506,9555,0.17,0.00,0.00,0.000,6,0.119,0.000,2827,1729,1952
$GC,9879,0.82,189.3,438.2,6.4,514,9903,0.12,2.40,16.90,1.017,4,0.070,0.058,2887,3151,1878
$GC,9927,0.60,189.3,433.2,11.1,515,9932,0.30,2.25,0.00,0.000,6,0.126,0.044,2807,1726,1877
$GC,10248,0.83,216.3,412.8,6.2,523,10278,0.17,2.30,23.83,1.027,4,0.058,0.058,2904,340,1768
$GC,10314,0.73,216.3,406.3,11.6,524,10319,0.22,2.25,0.00,0.000,6,0.123,0.045,2836,1742,1767
$GC,10640,0.80,216.3,381.0,8.0,538,10644,0.00,2.22,0.00,0.000,4,0.000,0.058,2836,3157,1764
$GC,10748,0.80,216.3,371.2,9.2,542,10755,0.00,2.22,0.00,0.000,6,0.000,0.043,2844,1724,1761
$GC,11066,0.80,216.3,345.3,8.4,558,11070,0.00,2.30,0.00,0.000,4,0.000,0.056,2845,3158,1761
$GC,11095,0.80,216.3,342.4,9.6,559,11099,0.00,2.20,0.00,0.000,6,0.000,0.042,2853,1730,1761
$GC,11423,0.80,216.3,313.5,8.1,575,11425,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1730,1761
$GC,11732,0.80,216.3,291.5,7.4,590,11736,0.00,2.30,0.00,0.000,4,0.000,0.056,2853,3160,1761
$GC,11772,0.72,216.3,287.9,9.0,591,11779,0.12,2.20,0.00,0.000,6,0.129,0.042,2826,1737,1760
$GC,12090,0.86,216.3,262.3,8.6,607,12095,0.15,2.25,0.00,0.000,4,0.062,0.054,2910,326,1761
$GC,12153,0.75,216.3,253.8,15.0,610,12158,0.25,2.28,0.00,0.000,6,0.120,0.044,2833,1749,1762
$GC,12482,0.88,220.7,225.1,6.9,626,12492,0.12,2.28,4.28,0.625,4,0.066,0.057,2898,3149,1750
$GC,12574,0.64,220.7,215.7,10.7,630,12579,0.30,2.20,0.00,0.000,6,0.120,0.041,2817,1731,1750
$GC,12903,0.94,268.3,197.9,5.5,646,12953,0.20,2.33,42.83,0.885,4,0.056,0.054,2934,335,1556
$GC,12999,0.81,268.3,187.0,12.7,650,13004,0.28,2.28,0.00,0.000,6,0.123,0.043,2851,1750,1554
$GC,13317,0.96,268.3,164.2,7.1,665,13322,0.12,2.22,0.00,0.000,4,0.065,0.055,2917,3159,1550
$GC,13411,0.77,268.3,152.7,13.0,669,13416,0.28,2.20,0.00,0.000,6,0.119,0.041,2843,1736,1549
$GC,13740,1.04,291.5,128.3,6.3,685,13765,0.20,2.25,20.38,0.818,4,0.058,0.055,2955,336,1461
$GC,13823,0.92,291.5,118.9,11.8,688,13830,0.28,2.22,0.00,0.000,6,0.120,0.043,2871,1748,1461
$GC,14150,1.12,291.5,94.3,7.5,713,14157,0.17,2.22,0.00,0.000,4,0.057,0.055,2956,3163,1457
$GC,14226,0.88,291.5,84.3,13.4,726,14234,0.32,2.22,0.00,0.000,6,0.123,0.042,2866,1730,1456
$GC,14575,1.56,291.5,56.7,8.7,787,14582,0.45,2.22,0.00,0.000,4,0.095,0.054,3022,333,1455
$GC,14624,1.62,291.5,52.3,9.2,795,14630,0.00,2.22,0.00,0.000,6,0.000,0.044,3022,1746,1455
$FREEZE,6.86,-1.369,-1.811
$FREEZE,5.87,-1.370,-1.810
$FREEZE,4.94,-1.368,-1.809
$FREEZE,3.81,-1.357,-1.808
$FREEZE,2.63,-1.362,-1.807
$STATE,14951,end climb,SURFACE_DEPTH_REACHED
$STATE,14951,begin surface coast
$FREEZE,1.93,-1.365,-1.807
$FREEZE,1.33,-1.386,-1.807
$FREEZE,1.25,-2.315,-0.973
$FINISH,1.3,1.014321
$STATE,14974,end surface coast,CONTROL_FINISHED_OK
$STATE,14974,begin surface
$SM_CCo,15055,0.00,0.000,0,0,1453,293.62
$SM_GC,2.20,7.20,0.00,0.00,0.048,0.000,0.000,332,2244,1453,-10.69,0.40,293.62
$RAFOS_CLK,598
$RAFOS,4,1231605843,16.750000,16.734167,60,58,56,54,54,51,120,177,156,190,211,146
$RAFOS,3,1231605276,16.583334,16.576666,62,58,56,54,53,52,195,182,223,146,165,120
$RAFOS,2,1231604661,16.416666,16.405834,64,59,57,54,53,50,192,171,211,120,134,155
$RAFOS,1,1231604046,16.250000,16.235001,63,61,59,57,56,52,142,194,171,157,211,124
$RAFOS,0,1231603451,16.083334,16.069723,64,61,57,53,51,49,148,202,220,168,182,116
$RAFOS_FIX,6617.756348,-5909.147949,080109,000040,2,99,0.64
$IRIDIUM_FIX,6537.93,-5817.65,060498,131338
$TT8_MAMPS,0.026078
$HUMID,1771
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,16.00
$XPDR_PINGS,138
$24V_AH,22.0,99.303
$10V_AH,10.5,43.998
$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,24.850,140.650,386.725,0.000,0.000,93.104,144.603,121.387,34.500,0.000,0.000,116.852,1618.795,11123.878,490.779,1783.714,986.995,0.000,1428.898,0.000,1648.983,1800.000,0.532,0.000
$DEVICE_MAMPS,233.168,69.797,1126.723,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,595.691,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28400,856
$CAP_FILE_SIZE,131424,0
$CFSIZE,260165632,211877888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.7
$GPS,100109,175806,6559.741,-5804.817,27,0.9,27,-36.5
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581