version: 66.04
glider: 108
mission: 11
dive: 602
start: 1 3 109 6 57 8
data:
$ID,108
$MISSION,11
$DIVE,602
$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,23
$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,3.93
$_SM_ANGLEo,-6.3
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.99,-146.0,0.0,0.0,0,24,0.00,0.00,-5.43,0.000,2,0.000,0.000,2703,327,2445
$GC,28,-0.99,-146.0,3.6,-0.0,1,70,0.65,5.43,-33.10,0.000,4,0.064,0.071,2429,3602,3250
$GC,236,-0.72,-146.0,34.7,-14.9,37,244,0.32,2.20,0.00,0.000,6,0.162,0.054,2525,2214,3253
$GC,583,-0.72,-146.0,65.7,-9.1,98,588,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2214,3254
$GC,928,-0.72,-146.0,93.5,-8.0,159,934,0.00,2.30,0.00,0.000,4,0.000,0.078,2517,3597,3254
$GC,958,-0.72,-146.0,95.9,-8.0,164,965,0.00,2.17,0.00,0.000,6,0.000,0.053,2517,2214,3254
$GC,1295,-0.72,-146.0,126.9,-9.2,186,1299,0.00,2.25,0.00,0.000,4,0.000,0.067,2517,810,3254
$GC,1323,-0.72,-146.0,129.9,-10.5,187,1327,0.00,2.35,0.00,0.000,6,0.000,0.064,2507,2243,3253
$GC,1650,-0.72,-146.0,160.7,-9.4,203,1654,0.00,2.22,0.00,0.000,4,0.000,0.080,2497,3604,3254
$GC,1663,-0.72,-146.0,162.0,-9.2,203,1667,0.12,2.17,0.00,0.000,6,0.156,0.053,2528,2221,3254
$GC,1984,-0.80,-146.0,187.9,-8.2,219,1988,0.00,2.25,0.00,0.000,4,0.000,0.068,2529,821,3253
$GC,2018,-0.80,-146.0,191.0,-9.3,220,2022,0.00,2.33,0.00,0.000,6,0.000,0.064,2520,2236,3253
$GC,2342,-0.87,-146.0,212.2,-5.5,236,2347,0.10,2.33,0.00,0.000,4,0.091,0.065,2475,818,3253
$GC,2387,-0.73,-146.0,215.8,-8.2,238,2392,0.20,2.35,0.00,0.000,6,0.140,0.065,2520,2240,3253
$GC,2711,-0.81,-146.0,238.0,-7.3,254,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2240,3254
$GC,3018,-0.92,-146.0,260.4,-7.0,269,3020,0.15,0.00,0.00,0.000,6,0.085,0.000,2461,2240,3253
$GC,3327,-0.83,-146.0,286.6,-7.9,284,3332,0.15,2.33,0.00,0.000,4,0.157,0.067,2501,825,3253
$GC,3401,-0.83,-146.0,291.4,-6.3,287,3405,0.00,2.35,0.00,0.000,6,0.000,0.067,2493,2244,3253
$GC,3729,-0.83,-146.0,311.0,-6.2,303,3733,0.00,2.22,0.00,0.000,4,0.000,0.079,2482,3610,3253
$GC,3780,-0.83,-146.0,314.5,-7.3,305,3784,0.00,2.20,0.00,0.000,6,0.000,0.054,2482,2213,3252
$GC,4109,-0.83,-146.0,336.1,-6.6,321,4112,0.00,2.30,0.00,0.000,4,0.000,0.077,2472,3597,3252
$GC,4142,-0.83,-146.0,338.7,-8.0,322,4147,0.10,2.17,0.00,0.000,6,0.153,0.052,2497,2213,3252
$GC,4465,-0.92,-146.0,360.2,-6.9,338,4469,0.00,2.33,0.00,0.000,4,0.000,0.076,2489,3610,3252
$GC,4513,-0.99,-146.0,363.6,-6.9,340,4518,0.10,2.17,0.00,0.000,6,0.094,0.052,2446,2226,3252
$STATE,4801,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4801,begin apogee
$GC,4810,-0.31,0.0,386.5,7.5,354,4939,0.55,0.00,126.10,1.128,6,0.133,0.000,2614,1732,2650
$STATE,4939,end apogee,CONTROL_FINISHED_OK
$STATE,4940,begin climb
$GC,4944,0.99,146.0,389.7,0.0,360,5084,0.88,2.62,130.88,1.041,4,0.100,0.067,2903,333,2053
$GC,5128,0.84,146.0,376.7,9.0,368,5133,0.17,2.55,0.00,0.000,6,0.138,0.054,2861,1745,2051
$GC,5445,0.89,187.0,356.9,5.7,383,5487,0.00,2.40,35.72,1.028,4,0.000,0.069,2861,3163,1886
$GC,5534,0.76,187.0,350.7,7.8,387,5539,0.10,2.35,0.00,0.000,6,0.146,0.054,2844,1732,1883
$GC,5866,0.86,193.4,328.4,6.8,403,5877,0.10,2.38,6.03,0.831,4,0.087,0.068,2890,3166,1860
$GC,5912,0.66,193.4,323.9,10.4,405,5917,0.28,2.30,0.00,0.000,6,0.136,0.053,2820,1726,1860
$GC,6235,0.88,231.0,305.3,5.8,421,6278,0.17,2.42,33.67,1.028,4,0.067,0.067,2898,3152,1708
$GC,6325,0.68,231.0,296.1,12.1,425,6330,0.30,2.28,0.00,0.000,6,0.132,0.052,2820,1733,1705
$GC,6653,1.29,231.0,269.8,8.5,441,6658,0.40,2.30,0.00,0.000,4,0.091,0.067,2961,328,1701
$GC,6723,1.02,231.0,262.3,12.5,444,6728,0.22,2.33,0.00,0.000,6,0.143,0.058,2897,1752,1702
$GC,7045,1.02,231.0,232.1,9.0,460,7046,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1752,1701
$GC,7355,1.05,249.5,209.7,6.4,475,7377,0.00,2.30,16.42,0.967,4,0.000,0.072,2897,3157,1632
$GC,7412,0.96,249.5,205.6,7.3,477,7416,0.00,2.28,0.00,0.000,6,0.000,0.054,2904,1733,1631
$GC,7734,0.96,249.5,181.7,8.0,493,7738,0.00,2.30,0.00,0.000,4,0.000,0.069,2915,324,1629
$GC,7791,1.01,249.5,176.7,8.9,495,7795,0.00,2.33,0.00,0.000,6,0.000,0.057,2915,1749,1629
$GC,8113,1.01,249.5,151.6,7.2,511,8117,0.00,2.28,0.00,0.000,4,0.000,0.072,2915,3156,1628
$GC,8182,0.94,249.5,146.2,7.8,514,8187,0.15,2.28,0.00,0.000,6,0.136,0.056,2882,1729,1627
$GC,8511,1.18,309.0,126.8,5.1,530,8575,0.17,2.40,54.00,0.968,4,0.070,0.071,2970,333,1390
$GC,8610,1.12,309.0,118.3,10.0,534,8615,0.17,2.35,0.00,0.000,6,0.133,0.056,2921,1745,1388
$GC,8935,1.22,309.0,94.3,7.4,558,8942,0.10,2.30,0.00,0.000,4,0.085,0.071,2968,3158,1381
$GC,8984,1.06,309.0,89.1,10.9,566,8991,0.25,2.28,0.00,0.000,6,0.138,0.056,2906,1737,1380
$GC,9331,1.24,323.6,66.1,6.6,627,9350,0.15,2.35,12.38,0.887,4,0.072,0.071,2982,317,1329
$GC,9387,1.17,323.6,61.0,10.1,636,9394,0.17,2.35,0.00,0.000,6,0.134,0.058,2932,1748,1329
$GC,9734,1.22,323.6,33.3,9.9,697,9740,0.00,2.30,0.00,0.000,4,0.000,0.074,2932,3161,1326
$GC,9850,1.16,323.6,24.6,10.3,717,9856,0.00,2.28,0.00,0.000,6,0.000,0.056,2940,1735,1324
$FREEZE,6.90,-1.793,-1.767
$STATE,10021,end climb,FINISH_DEPTH_REACHED
$STATE,10021,begin subsurface finish
$FINISH1,6.9,1.025902,86
$GC,10031,0.11,85.8,6.9,-13.9,747,10079,0.73,2.33,-39.83,0.000,4,0.117,0.085,2702,331,2303
$FINISH2,2.6
$STATE,10080,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10080,begin surface
$RAFOS_CLK,470
$RAFOS,4,1230972250,8.750000,8.736111,65,59,55,55,52,51,188,221,207,151,125,197
$RAFOS,3,1230971645,8.583333,8.568055,60,60,54,53,51,51,141,209,182,200,165,219
$RAFOS,2,1230971041,8.416667,8.400278,64,64,59,52,51,50,161,175,205,1697,122,223
$RAFOS,1,1230970443,8.250000,8.234167,63,63,56,54,53,52,199,219,171,139,185,158
$RAFOS,0,1230969849,8.083333,8.069167,83,58,54,53,53,52,596,198,165,213,152,180
$RAFOS_FIX,6636.425781,-6052.078613,020109,161644,2,69,0.09
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.027612
$HUMID,1852
$INTERNAL_PRESSURE,9.88319
$TCM_TEMP,14.80
$XPDR_PINGS,198
$24V_AH,21.5,92.965
$10V_AH,10.4,41.571
$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,6.975,107.775,415.200,0.000,0.000,0.000,0.000,0.000,49.500,0.000,0.000,0.000,1330.753,6737.203,477.379,1367.765,223.448,0.000,1246.893,0.000,1355.327,1800.000,0.528,0.000
$DEVICE_MAMPS,161.837,85.137,1128.257,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,528.310,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25251,755
$CAP_FILE_SIZE,90268,0
$CFSIZE,260165632,214622208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1442.9
$GPS,020109,161144,6636.426,-6052.079,0,2069.0,0,-37.3
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581