version: 66.04
glider: 108
mission: 11
dive: 654
start: 1 10 109 18 10 11
data:
$ID,108
$MISSION,11
$DIVE,654
$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,-130218.77
$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,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
$GPS1,175806,6559.741,-5804.817,27,0.9,27,-36.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-65.5
$GPS2,180949,6559.504,-5804.854,8,1.2,13,-36.5
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6600.445,-5738.396
$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,563
$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,16,-0.99,-146.0,0.0,0.0,0,90,0.00,0.00,-71.82,0.000,2,0.000,0.000,332,2251,3015
$GC,96,-0.99,-146.0,3.2,-1.7,13,116,8.73,2.40,-6.53,0.000,4,0.239,0.068,2472,808,3248
$GC,321,-0.77,-146.0,33.6,-13.6,52,328,0.17,2.30,0.00,0.000,6,0.127,0.054,2515,2232,3252
$GC,668,-0.77,-146.0,62.5,-8.5,113,674,0.00,2.28,0.00,0.000,4,0.000,0.056,2516,810,3252
$GC,688,-0.77,-146.0,64.3,-8.7,116,694,0.00,2.30,0.00,0.000,6,0.000,0.054,2509,2236,3252
$GC,1034,-0.77,-146.0,94.8,-10.4,177,1040,0.00,2.28,0.00,0.000,4,0.000,0.057,2508,817,3251
$GC,1076,-0.77,-146.0,99.2,-10.5,184,1083,0.00,2.30,0.00,0.000,6,0.000,0.055,2499,2239,3251
$GC,1402,-0.77,-146.0,123.5,-6.6,201,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2239,3249
$GC,1710,-0.77,-146.0,143.9,-6.7,216,1714,0.00,2.28,0.00,0.000,4,0.000,0.057,2499,820,3248
$GC,1767,-0.77,-146.0,147.7,-6.9,218,1772,0.10,2.30,0.00,0.000,6,0.133,0.056,2515,2245,3248
$GC,2090,-0.89,-146.0,162.2,-4.7,234,2095,0.12,2.30,0.00,0.000,4,0.076,0.054,2460,811,3248
$GC,2124,-0.73,-146.0,164.7,-7.5,235,2131,0.25,2.30,0.00,0.000,6,0.130,0.054,2523,2241,3248
$GC,2443,-0.90,-146.0,181.4,-6.0,251,2444,0.15,0.00,0.00,0.000,6,0.071,0.000,2459,2240,3248
$GC,2751,-0.83,-146.0,207.3,-8.1,266,2756,0.15,2.30,0.00,0.000,4,0.137,0.054,2501,807,3248
$GC,2887,-0.83,-146.0,216.1,-6.0,272,2891,0.00,2.30,0.00,0.000,6,0.000,0.053,2493,2241,3248
$GC,3217,-0.89,-146.0,233.0,-4.6,288,3219,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2241,3249
$GC,3525,-0.95,-146.0,246.7,-4.3,303,3529,0.00,2.28,0.00,0.000,4,0.000,0.052,2493,813,3250
$GC,3538,-0.99,-146.0,247.2,-4.4,303,3542,0.00,2.28,0.00,0.000,6,0.000,0.050,2483,2238,3250
$GC,3860,-0.99,-146.0,263.3,-5.4,319,3864,0.00,2.25,0.00,0.000,4,0.000,0.051,2483,817,3251
$GC,3884,-0.99,-146.0,264.8,-6.4,320,3888,0.00,2.28,0.00,0.000,6,0.000,0.051,2473,2242,3251
$GC,4219,-0.99,-146.0,285.0,-6.3,336,4223,0.00,2.28,0.00,0.000,4,0.000,0.051,2473,804,3252
$GC,4236,-0.99,-146.0,286.2,-6.3,336,4243,0.00,2.28,0.00,0.000,6,0.000,0.050,2463,2232,3252
$GC,4553,-0.99,-146.0,306.9,-6.5,352,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2232,3252
$GC,4863,-0.99,-146.0,324.6,-5.4,367,4867,0.00,2.25,0.00,0.000,4,0.000,0.050,2463,806,3253
$GC,4876,-0.94,-146.0,325.2,-5.1,367,4881,0.10,2.28,0.00,0.000,6,0.132,0.049,2480,2241,3253
$GC,5193,-0.94,-146.0,337.8,-3.4,382,5195,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2241,3254
$GC,5503,-0.94,-146.0,348.1,-3.8,397,5507,0.00,2.25,0.00,0.000,4,0.000,0.050,2481,813,3255
$GC,5538,-0.94,-146.0,349.8,-4.2,398,5542,0.00,2.25,0.00,0.000,6,0.000,0.048,2473,2234,3255
$GC,5861,-0.94,-146.0,366.8,-5.9,414,5865,0.00,2.25,0.00,0.000,4,0.000,0.049,2473,803,3255
$GC,5890,-0.94,-146.0,368.7,-7.0,415,5894,0.00,2.28,0.00,0.000,6,0.000,0.048,2462,2242,3255
$GC,6219,-0.94,-146.0,389.8,-6.3,431,6223,0.00,2.25,0.00,0.000,4,0.000,0.050,2462,813,3256
$GC,6289,-0.86,-146.0,394.7,-7.6,434,6294,0.15,2.25,0.00,0.000,6,0.124,0.049,2495,2238,3256
$GC,6640,-0.96,-146.0,413.6,-5.3,445,6645,0.10,2.25,0.00,0.000,4,0.083,0.049,2448,810,3257
$GC,6669,-0.84,-146.0,415.7,-7.4,445,6674,0.20,2.28,0.00,0.000,6,0.125,0.048,2496,2244,3256
$GC,7008,-0.94,-146.0,432.8,-4.8,454,7011,0.00,2.28,0.00,0.000,4,0.000,0.050,2495,806,3257
$GC,7066,-0.99,-146.0,435.5,-5.0,455,7071,0.10,2.28,0.00,0.000,6,0.077,0.048,2440,2237,3257
$GC,7386,-0.89,-146.0,455.6,-6.4,463,7391,0.17,2.28,0.00,0.000,4,0.137,0.049,2495,803,3257
$GC,7398,-0.81,-146.0,456.3,-6.5,463,7402,0.00,2.28,0.00,0.000,6,0.000,0.048,2487,2234,3257
$GC,7714,-0.87,-146.0,472.0,-4.9,471,7718,0.00,2.25,0.00,0.000,4,0.000,0.049,2487,806,3257
$GC,7743,-0.87,-146.0,473.7,-5.7,471,7747,0.00,2.28,0.00,0.000,6,0.000,0.049,2477,2244,3257
$GC,8087,-0.87,-146.0,491.5,-5.4,480,8090,0.00,2.28,0.00,0.000,4,0.000,0.050,2477,806,3257
$GC,8128,-0.87,-146.0,493.8,-5.3,480,8135,0.10,2.28,0.00,0.000,6,0.133,0.049,2495,2239,3258
$GC,8461,-0.97,-146.0,511.4,-5.3,489,8465,0.10,2.25,0.00,0.000,4,0.084,0.051,2447,814,3257
$GC,8513,-0.83,-146.0,514.7,-6.9,490,8517,0.22,2.28,0.00,0.000,6,0.126,0.049,2503,2245,3257
$GC,8834,-0.98,-146.0,532.4,-6.1,498,8838,0.12,2.28,0.00,0.000,4,0.077,0.050,2446,810,3257
$GC,8879,-0.83,-146.0,535.4,-6.9,499,8884,0.22,2.28,0.00,0.000,6,0.128,0.049,2501,2245,3257
$GC,9200,-1.22,-146.0,542.7,0.1,507,9205,0.22,2.28,0.00,0.000,4,0.055,0.049,2390,809,3258
$STATE,9275,end dive,NO_VERTICAL_VELOCITY
$STATE,9275,begin apogee
$GC,9286,-0.31,0.0,542.8,0.0,508,9417,0.68,0.00,127.68,1.125,6,0.100,0.000,2614,1742,2650
$STATE,9417,end apogee,CONTROL_FINISHED_OK
$STATE,9418,begin climb
$GC,9422,0.99,146.0,541.4,0.0,512,9559,0.85,2.50,129.68,1.058,4,0.089,0.054,2896,3150,2054
$GC,9728,0.71,146.0,510.0,11.9,519,9733,0.25,2.28,0.00,0.000,6,0.128,0.042,2834,1728,2048
$GC,10056,0.80,176.7,489.0,6.0,527,10084,0.00,0.00,26.35,1.040,6,0.000,0.000,2834,1728,1929
$GC,10380,0.86,179.8,467.0,6.9,535,10390,0.12,2.33,3.53,0.604,4,0.073,0.057,2894,3153,1917
$GC,10431,0.57,179.8,461.6,12.4,536,10436,0.35,2.20,0.00,0.000,6,0.129,0.044,2799,1728,1917
$GC,10752,0.84,235.3,443.3,5.2,544,10804,0.20,0.00,49.60,1.055,6,0.058,0.000,2892,1728,1691
$GC,11116,0.72,235.3,405.6,10.5,553,11118,0.20,0.00,0.00,0.000,6,0.118,0.000,2831,1728,1682
$GC,11425,0.87,267.7,385.9,6.0,566,11461,0.12,2.35,28.15,1.007,4,0.070,0.058,2892,3152,1558
$GC,11496,0.69,267.7,379.0,11.2,569,11501,0.25,2.22,0.00,0.000,6,0.123,0.044,2828,1725,1555
$GC,11820,0.91,321.6,361.1,5.3,585,11875,0.17,2.33,48.15,1.000,4,0.060,0.056,2922,331,1338
$GC,11906,0.83,321.6,352.1,11.3,589,11911,0.22,2.28,0.00,0.000,6,0.120,0.044,2855,1749,1336
$GC,12235,0.92,321.6,326.3,7.5,605,12239,0.10,2.20,0.00,0.000,4,0.078,0.058,2905,3155,1328
$GC,12315,0.74,321.6,316.9,11.7,608,12319,0.25,2.20,0.00,0.000,6,0.123,0.044,2839,1730,1326
$GC,12632,0.91,321.6,293.0,8.0,623,12636,0.15,2.20,0.00,0.000,4,0.064,0.057,2921,327,1325
$GC,12672,0.84,321.6,288.1,13.5,624,12679,0.22,2.25,0.00,0.000,6,0.120,0.045,2853,1755,1325
$GC,12990,0.95,321.6,257.6,9.0,640,12994,0.12,2.20,0.00,0.000,4,0.068,0.058,2917,3166,1324
$GC,13061,0.75,321.6,248.3,14.6,643,13066,0.30,2.20,0.00,0.000,6,0.123,0.043,2835,1734,1323
$GC,13391,0.98,334.9,225.5,6.6,659,13407,0.20,2.22,10.30,0.831,4,0.058,0.055,2947,334,1285
$GC,13460,0.86,334.9,216.3,15.2,661,13464,0.28,2.20,0.00,0.000,6,0.123,0.043,2864,1745,1284
$GC,13787,0.96,334.9,187.6,7.8,677,13792,0.10,2.20,0.00,0.000,4,0.077,0.055,2917,3156,1282
$GC,13873,0.83,334.9,177.2,13.5,680,13880,0.25,2.20,0.00,0.000,6,0.123,0.043,2851,1730,1282
$GC,14192,1.04,334.9,152.6,7.5,696,14197,0.17,2.22,0.00,0.000,4,0.061,0.055,2945,321,1282
$GC,14244,0.94,334.9,146.4,13.1,698,14249,0.22,2.22,0.00,0.000,6,0.120,0.044,2876,1740,1282
$GC,14563,1.05,334.9,118.2,7.9,713,14568,0.12,2.22,0.00,0.000,4,0.068,0.055,2939,3153,1282
$GC,14631,0.86,334.9,109.2,13.1,716,14636,0.28,2.20,0.00,0.000,6,0.123,0.041,2865,1735,1282
$GC,14966,1.10,334.9,88.2,7.1,758,14973,0.17,2.25,0.00,0.000,4,0.062,0.055,2952,333,1281
$GC,15009,1.10,334.9,83.7,10.8,765,15016,0.15,2.22,0.00,0.000,6,0.126,0.042,2909,1756,1281
$GC,15357,1.19,334.9,50.1,8.9,826,15364,0.12,2.20,0.00,0.000,4,0.069,0.056,2968,3149,1281
$GC,15440,0.98,334.9,39.1,14.4,840,15447,0.30,2.20,0.00,0.000,6,0.123,0.043,2887,1736,1281
$GC,15788,1.22,369.0,16.2,5.9,901,15830,0.20,2.35,31.50,0.802,4,0.058,0.057,2993,328,1145
$FREEZE,6.53,-1.239,-1.810
$FREEZE,5.65,-1.255,-1.809
$FREEZE,5.13,-1.275,-1.809
$FREEZE,4.52,-1.264,-1.809
$FREEZE,3.79,-1.268,-1.808
$FREEZE,3.27,-1.261,-1.808
$GC,15902,1.10,369.0,3.3,12.5,920,15909,0.25,2.28,0.00,0.000,6,0.123,0.045,2918,1749,1143
$FREEZE,1.22,-1.258,-1.790
$STATE,15914,end climb,SURFACE_DEPTH_REACHED
$STATE,15914,begin surface coast
$FREEZE,1.22,-1.445,-1.806
$FREEZE,1.27,-1.625,-1.615
$FINISH,1.3,1.023776
$STATE,15926,end surface coast,FINISH_DEPTH_REACHED
$STATE,15927,begin surface
$SM_CCo,16009,0.00,0.000,0,0,1139,370.40
$SM_GC,2.12,6.88,0.00,0.00,0.043,0.000,0.000,336,2245,1139,-10.67,0.42,370.40
$RAFOS_CLK,630
$RAFOS,4,1231620242,20.750000,20.733889,59,53,53,49,49,47,199,113,219,182,1589,139
$RAFOS,3,1231619676,20.583334,20.576666,68,59,56,54,51,51,199,162,223,175,124,150
$RAFOS,2,1231619053,20.416666,20.403610,71,66,64,59,52,51,156,178,193,888,209,223
$RAFOS,1,1231618476,20.250000,20.243334,62,57,56,56,56,53,228,140,178,195,159,129
$RAFOS,0,1231617851,20.083334,20.069723,66,61,55,54,53,51,195,213,164,140,186,119
$RAFOS_FIX,6617.756348,-5909.147949,080109,000040,2,99,0.64
$IRIDIUM_FIX,6537.93,-5817.65,060498,131338
$TT8_MAMPS,0.026845
$HUMID,1788
$INTERNAL_PRESSURE,9.86366
$TCM_TEMP,15.90
$XPDR_PINGS,312
$24V_AH,22.0,99.472
$10V_AH,10.4,44.067
$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,25.775,158.525,454.925,0.000,0.000,25.453,35.123,376.372,78.000,0.000,0.000,15.412,1738.387,11570.914,575.009,1830.528,991.076,0.000,1590.718,0.000,1801.765,1800.000,0.532,0.000
$DEVICE_MAMPS,238.537,68.263,1125.189,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,642.403,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31541,924
$CAP_FILE_SIZE,148537,0
$CFSIZE,260165632,211832832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.3
$GPS,100109,223831,6557.455,-5759.920,41,1.1,41,-36.4
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581