version: 66.04
glider: 108
mission: 11
dive: 601
start: 1 3 109 4 12 38
data:
$ID,108
$MISSION,11
$DIVE,601
$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,24
$R_STBD_OVSHOOT,21
$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,6.16
$_SM_ANGLEo,-6.8
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-5.43,0.000,2,0.000,0.000,2693,3159,2499
$GC,29,-0.99,-146.0,7.4,-0.0,1,59,0.65,3.88,-20.90,0.000,4,0.070,0.068,2449,807,3250
$GC,242,-0.72,-146.0,36.1,-15.2,38,249,0.30,2.35,0.00,0.000,6,0.150,0.065,2523,2234,3254
$GC,589,-0.72,-146.0,66.7,-8.4,99,595,0.00,2.33,0.00,0.000,4,0.000,0.065,2525,807,3255
$GC,642,-0.72,-146.0,72.2,-11.0,108,648,0.00,2.35,0.00,0.000,6,0.000,0.065,2517,2232,3255
$GC,993,-0.72,-146.0,105.5,-8.6,162,996,0.00,2.22,0.00,0.000,4,0.000,0.078,2506,3594,3255
$GC,1044,-0.72,-146.0,110.6,-10.4,164,1048,0.00,2.17,0.00,0.000,6,0.000,0.053,2506,2211,3255
$GC,1371,-0.72,-146.0,141.3,-9.5,180,1372,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2211,3255
$GC,1681,-0.72,-146.0,167.6,-8.0,195,1682,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2211,3254
$GC,1989,-0.72,-146.0,194.2,-9.3,210,1993,0.00,2.22,0.00,0.000,4,0.000,0.067,2506,824,3255
$GC,2013,-0.72,-146.0,196.6,-10.2,211,2018,0.12,2.33,0.00,0.000,6,0.142,0.066,2530,2237,3254
$GC,2344,-0.83,-146.0,219.9,-6.2,227,2346,0.12,0.00,0.00,0.000,6,0.087,0.000,2479,2237,3254
$GC,2650,-0.78,-146.0,245.4,-7.7,242,2654,0.12,2.25,0.00,0.000,4,0.153,0.080,2503,3592,3254
$GC,2786,-0.88,-146.0,255.7,-7.5,248,2790,0.00,2.17,0.00,0.000,6,0.000,0.051,2503,2215,3254
$GC,3122,-0.96,-146.0,281.4,-7.8,264,3124,0.12,0.00,0.00,0.000,6,0.091,0.000,2451,2215,3254
$GC,3429,-0.84,-146.0,310.3,-9.7,279,3431,0.17,0.00,0.00,0.000,6,0.155,0.000,2498,2215,3254
$GC,3739,-0.89,-146.0,330.2,-5.4,294,3743,0.00,2.25,0.00,0.000,4,0.000,0.067,2498,817,3254
$GC,3779,-0.89,-146.0,332.6,-6.2,295,3785,0.00,2.33,0.00,0.000,6,0.000,0.065,2491,2231,3253
$GC,4095,-0.89,-146.0,349.5,-6.0,311,4099,0.00,2.22,0.00,0.000,4,0.000,0.078,2480,3597,3254
$GC,4170,-0.94,-146.0,354.5,-7.1,314,4174,0.00,2.17,0.00,0.000,6,0.000,0.053,2480,2214,3254
$GC,4497,-0.94,-146.0,378.4,-7.1,330,4498,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2214,3253
$STATE,4617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4617,begin apogee
$GC,4626,-0.31,0.0,386.2,6.2,336,4760,0.45,0.00,126.12,1.127,6,0.130,0.000,2619,1736,2650
$STATE,4760,end apogee,CONTROL_FINISHED_OK
$STATE,4760,begin climb
$GC,4765,0.99,146.0,387.9,0.0,343,4900,0.88,0.00,131.15,1.042,6,0.100,0.000,2897,1736,2054
$GC,5200,0.84,146.0,349.1,9.5,364,5202,0.15,0.00,0.00,0.000,6,0.134,0.000,2857,1736,2047
$GC,5510,0.91,204.5,328.7,5.1,379,5566,0.00,2.47,49.53,1.041,4,0.000,0.070,2857,3156,1815
$GC,5642,0.86,204.5,320.8,7.5,385,5646,0.00,2.33,0.00,0.000,6,0.000,0.055,2864,1730,1810
$GC,5976,0.91,204.5,295.2,8.7,401,5977,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1729,1808
$GC,6285,0.98,206.2,269.7,7.0,416,6290,0.10,2.35,0.00,0.000,4,0.087,0.070,2910,3156,1807
$GC,6325,0.75,206.2,265.9,10.3,418,6330,0.28,2.28,0.00,0.000,6,0.137,0.054,2840,1725,1807
$GC,6654,1.10,219.3,245.3,6.6,434,6676,0.22,2.42,12.35,0.966,4,0.074,0.069,2934,3156,1756
$GC,6781,0.82,219.3,232.5,12.1,439,6786,0.30,2.28,0.00,0.000,6,0.137,0.054,2856,1727,1755
$GC,7099,1.15,225.0,210.8,6.8,454,7113,0.20,2.42,6.40,0.848,4,0.076,0.068,2940,3153,1732
$GC,7237,0.88,225.0,197.8,10.7,460,7242,0.30,2.28,0.00,0.000,6,0.135,0.054,2864,1728,1732
$GC,7568,1.23,228.7,175.0,6.9,476,7578,0.22,2.38,5.05,0.775,4,0.077,0.069,2954,3160,1717
$GC,7714,0.95,228.7,160.4,10.7,482,7721,0.28,2.28,0.00,0.000,6,0.138,0.055,2885,1732,1716
$GC,8033,1.14,287.0,143.4,5.1,498,8097,0.15,2.42,53.15,0.983,4,0.071,0.071,2962,335,1480
$GC,8144,1.08,287.0,133.3,10.1,503,8149,0.17,2.35,0.00,0.000,6,0.133,0.057,2913,1752,1477
$GC,8473,1.18,287.1,110.5,7.0,519,8477,0.10,2.30,0.00,0.000,4,0.086,0.073,2960,3164,1471
$GC,8546,0.96,287.1,102.3,12.0,522,8551,0.28,2.30,0.00,0.000,6,0.137,0.057,2890,1728,1470
$GC,8890,1.45,323.4,80.0,5.9,579,8927,0.30,2.45,31.48,0.941,4,0.081,0.071,3001,3150,1331
$GC,9093,1.16,323.4,55.7,14.9,614,9100,0.30,2.28,0.00,0.000,6,0.150,0.058,2927,1740,1326
$GC,9440,1.16,323.4,33.6,9.4,675,9446,0.00,2.35,0.00,0.000,4,0.000,0.074,2935,320,1323
$GC,9527,1.32,393.2,30.0,4.8,690,9598,0.12,2.35,60.80,0.908,6,0.080,0.060,2988,1752,1046
$FREEZE,6.93,-1.800,-1.769
$STATE,9699,end climb,FINISH_DEPTH_REACHED
$STATE,9699,begin subsurface finish
$FINISH1,6.9,1.025928,85
$GC,9708,0.10,84.6,6.9,-13.6,720,9756,0.90,2.47,-40.53,0.000,4,0.122,0.081,2702,327,2310
$FINISH2,6.1
$STATE,9757,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9757,begin surface
$RAFOS_CLK,463
$RAFOS,4,1230957861,4.750000,4.739167,61,61,57,56,55,52,159,187,120,223,198,214
$RAFOS,3,1230957243,4.583333,4.567500,64,58,53,53,51,46,166,201,186,129,220,111
$RAFOS,2,1230956643,4.416667,4.400833,59,58,57,49,49,49,122,139,207,196,159,220
$RAFOS,1,1230956043,4.250000,4.234167,69,54,53,53,53,50,203,170,128,158,218,812
$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,1846
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,14.90
$XPDR_PINGS,67
$24V_AH,21.6,92.837
$10V_AH,10.4,41.527
$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,7.325,78.725,476.025,0.000,0.000,0.000,0.000,0.000,16.750,0.000,0.000,0.000,1262.622,6489.409,509.282,1333.823,216.248,0.000,1248.017,0.000,1327.683,1440.000,0.529,0.000
$DEVICE_MAMPS,154.934,81.302,1127.490,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,508.546,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22154,728
$CAP_FILE_SIZE,83100,0
$CFSIZE,260165632,214675456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1442.5
$GPS,020109,161144,6636.426,-6052.079,0,2069.0,0,-37.3
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581