version: 66.04
glider: 108
mission: 11
dive: 600
start: 1 3 109 1 20 21
data:
$ID,108
$MISSION,11
$DIVE,600
$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,-2
$USE_ICE,2
$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,-127860.21
$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,25
$R_STBD_OVSHOOT,24
$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
$GPS1,161144,6636.426,-6052.079,0,2069.0,0,-37.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.74
$_SM_ANGLEo,-6.7
$GPS2,161144,6636.426,-6052.079,0,2069.0,0,-37.3
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6637.367,-6024.965
$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,122.3,20000,-13.0,-7.021
$D_GRID,386
$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,-146.0,0.0,0.0,0,35,0.00,0.00,-16.65,0.000,2,0.000,0.000,2705,321,2671
$GC,40,-0.99,-146.0,3.0,-3.2,3,70,0.65,0.82,-22.92,0.000,4,0.061,0.097,2447,837,3248
$GC,326,-0.67,-146.0,36.1,-7.1,53,333,0.35,2.25,0.00,0.000,6,0.147,0.066,2536,2234,3253
$GC,673,-0.67,-146.0,57.3,-5.5,114,679,0.00,2.33,0.00,0.000,4,0.000,0.066,2537,810,3253
$GC,726,-0.67,-146.0,62.1,-8.6,123,732,0.00,2.35,0.00,0.000,6,0.000,0.064,2529,2245,3253
$GC,1072,-0.67,-146.0,95.0,-9.5,184,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2245,3253
$GC,1397,-0.67,-146.0,124.1,-8.5,207,1401,0.00,2.35,0.00,0.000,4,0.000,0.065,2529,806,3253
$GC,1408,-0.67,-146.0,125.0,-8.2,207,1412,0.00,2.35,0.00,0.000,6,0.000,0.064,2519,2238,3253
$GC,1731,-0.67,-146.0,153.6,-8.9,223,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2237,3253
$GC,2040,-0.67,-146.0,180.1,-7.7,238,2043,0.00,2.22,0.00,0.000,4,0.000,0.081,2508,3597,3252
$GC,2063,-0.67,-146.0,182.0,-7.5,239,2068,0.10,2.17,0.00,0.000,6,0.153,0.053,2533,2213,3253
$GC,2397,-0.77,-146.0,202.8,-5.8,255,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2213,3253
$GC,2706,-0.91,-146.0,224.1,-8.5,270,2710,0.17,2.25,0.00,0.000,4,0.081,0.066,2463,814,3252
$GC,2717,-0.99,-146.0,225.1,-8.5,270,2721,0.00,2.35,0.00,0.000,6,0.000,0.065,2453,2242,3252
$GC,3040,-0.86,-146.0,257.3,-9.4,286,3045,0.15,2.22,0.00,0.000,4,0.151,0.079,2486,3598,3252
$GC,3176,-0.86,-146.0,268.9,-8.7,292,3180,0.00,2.17,0.00,0.000,6,0.000,0.054,2486,2217,3252
$GC,3509,-0.86,-146.0,295.0,-7.4,308,3513,0.00,2.30,0.00,0.000,4,0.000,0.078,2476,3601,3252
$GC,3578,-0.86,-146.0,300.1,-7.2,311,3582,0.00,2.17,0.00,0.000,6,0.000,0.053,2476,2215,3252
$GC,3912,-0.86,-146.0,320.0,-5.4,327,3916,0.00,2.25,0.00,0.000,4,0.000,0.066,2476,811,3252
$GC,3970,-0.79,-146.0,323.4,-5.5,329,3975,0.15,2.33,0.00,0.000,6,0.137,0.064,2507,2236,3252
$GC,4292,-0.89,-146.0,338.3,-4.7,345,4296,0.00,2.33,0.00,0.000,4,0.000,0.065,2507,813,3251
$GC,4310,-0.99,-146.0,339.2,-5.1,345,4316,0.12,2.33,0.00,0.000,6,0.082,0.063,2449,2232,3251
$GC,4627,-0.90,-146.0,363.1,-7.6,361,4632,0.15,2.22,0.00,0.000,4,0.152,0.076,2481,3603,3251
$GC,4639,-0.84,-146.0,364.1,-7.3,361,4643,0.00,2.17,0.00,0.000,6,0.000,0.051,2481,2214,3252
$GC,4961,-0.84,-146.0,385.9,-6.4,377,4965,0.00,2.22,0.00,0.000,4,0.000,0.064,2481,820,3252
$STATE,4969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4969,begin apogee
$GC,4980,-0.31,0.0,386.6,6.1,377,5111,0.43,0.00,126.05,1.124,6,0.133,0.000,2608,1745,2649
$STATE,5112,end apogee,CONTROL_FINISHED_OK
$STATE,5112,begin climb
$GC,5116,0.99,146.0,390.0,0.0,384,5256,0.90,2.70,130.80,1.039,4,0.102,0.066,2904,346,2054
$GC,5290,0.85,146.0,378.9,9.1,392,5295,0.17,2.53,0.00,0.000,6,0.136,0.054,2861,1739,2052
$GC,5617,0.85,146.0,354.8,8.1,408,5621,0.00,2.35,0.00,0.000,4,0.000,0.069,2861,3164,2046
$GC,5686,0.71,146.0,348.3,9.4,411,5691,0.15,2.30,0.00,0.000,6,0.138,0.054,2827,1735,2046
$GC,6020,0.84,167.2,324.8,6.3,427,6040,0.12,0.00,17.77,1.007,6,0.077,0.000,2883,1735,1968
$GC,6348,0.77,167.2,299.5,7.8,443,6352,0.15,2.33,0.00,0.000,4,0.127,0.067,2848,329,1966
$GC,6395,0.92,178.7,296.4,6.7,445,6417,0.12,2.33,11.40,0.959,6,0.078,0.054,2906,1752,1921
$GC,6729,0.79,178.7,267.1,9.4,461,6733,0.20,2.28,0.00,0.000,4,0.130,0.070,2843,3151,1920
$GC,6791,0.79,178.7,261.9,7.4,463,6798,0.00,2.25,0.00,0.000,6,0.000,0.052,2850,1736,1919
$GC,7108,0.98,241.5,243.9,5.0,479,7172,0.15,2.42,55.65,1.016,4,0.074,0.069,2918,3159,1664
$GC,7212,0.80,241.5,234.2,12.2,483,7219,0.28,2.33,0.00,0.000,6,0.131,0.053,2849,1728,1659
$GC,7530,1.29,254.1,211.1,6.6,499,7546,0.32,2.38,10.57,0.906,4,0.080,0.068,2968,3158,1614
$GC,7646,0.97,254.1,200.3,10.9,503,7651,0.32,2.28,0.00,0.000,6,0.143,0.054,2884,1734,1611
$GC,7968,1.12,254.1,178.0,7.2,519,7973,0.15,2.30,0.00,0.000,4,0.069,0.070,2959,333,1610
$GC,7997,1.12,254.1,175.2,9.4,520,8002,0.15,2.30,0.00,0.000,6,0.140,0.056,2918,1743,1610
$GC,8320,1.12,254.1,148.7,8.2,536,8323,0.00,2.28,0.00,0.000,4,0.000,0.071,2918,3150,1609
$GC,8372,1.02,254.1,143.6,9.8,538,8376,0.10,2.25,0.00,0.000,6,0.146,0.054,2900,1733,1608
$GC,8699,1.13,261.2,121.1,6.8,554,8713,0.10,2.40,6.80,0.834,4,0.084,0.071,2960,323,1585
$GC,8755,1.06,261.2,116.2,9.2,556,8760,0.17,2.33,0.00,0.000,6,0.136,0.058,2910,1739,1585
$GC,9080,1.16,269.1,94.5,6.8,580,9094,0.08,2.38,8.80,0.875,4,0.098,0.071,2951,3161,1553
$GC,9176,0.97,269.1,85.8,8.9,596,9183,0.25,2.30,0.00,0.000,6,0.133,0.057,2888,1727,1552
$GC,9523,1.55,399.6,68.2,2.8,657,9646,0.38,2.58,115.62,0.916,4,0.079,0.073,3026,3155,1020
$GC,9705,1.25,399.6,46.7,18.1,688,9712,0.32,2.38,0.00,0.000,6,0.145,0.055,2947,1729,1013
$GC,10052,1.36,428.1,14.5,6.1,749,10082,0.10,2.35,23.20,0.859,4,0.083,0.071,3001,325,903
$FREEZE,6.80,-1.793,-1.770
$STATE,10155,end climb,FINISH_DEPTH_REACHED
$STATE,10159,begin subsurface finish
$FINISH1,6.8,1.025939,84
$GC,10170,0.10,84.1,6.8,-5.6,767,10224,0.93,2.33,-45.17,0.000,4,0.118,0.086,2693,3159,2310
$FINISH2,6.0
$STATE,10226,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10226,begin surface
$RAFOS_CLK,478
$RAFOS,0,1230955444,4.083333,4.067778,155,66,64,61,54,54,641,222,197,169,156,211
$RAFOS_FIX,6636.425781,-6052.078613,020109,161644,2,69,0.09
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.026845
$HUMID,1842
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,14.70
$XPDR_PINGS,128
$24V_AH,21.5,92.698
$10V_AH,10.4,41.484
$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,7.900,106.725,506.675,0.000,0.000,0.000,0.000,0.000,32.000,0.000,0.000,0.000,1332.441,6763.191,558.456,1390.001,235.745,0.000,1349.858,0.000,1380.811,360.000,0.528,0.000
$DEVICE_MAMPS,153.400,97.409,1124.422,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,541.061,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25321,776
$CAP_FILE_SIZE,91549,0
$CFSIZE,260165632,214712320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1442.7
$GPS,020109,161144,6636.426,-6052.079,0,2069.0,0,-37.3
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581