version: 66.04
glider: 108
mission: 11
dive: 613
start: 1 4 109 19 8 14
data:
$ID,108
$MISSION,11
$DIVE,613
$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,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,-127876.09
$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
$GPS1,122016,6633.920,-6002.774,0,2099.0,0,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.75
$_SM_ANGLEo,-3.1
$GPS2,122016,6633.920,-6002.774,0,2099.0,0,-38.0
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6634.861,-5935.707
$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,123.0,20000,-13.0,-7.021
$D_GRID,574
$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,-5.35,0.000,2,0.000,0.000,2697,320,2489
$GC,28,-0.99,-146.0,3.9,-0.0,1,63,0.62,0.88,-29.05,0.000,4,0.061,0.092,2449,828,3248
$GC,319,-0.66,-146.0,32.1,-9.1,52,326,0.35,2.28,0.00,0.000,6,0.146,0.063,2538,2239,3253
$GC,667,-0.71,-146.0,52.3,-5.5,113,673,0.00,2.35,0.00,0.000,4,0.000,0.067,2538,806,3253
$GC,692,-0.71,-146.0,54.3,-7.2,117,698,0.00,2.35,0.00,0.000,6,0.000,0.063,2530,2237,3253
$GC,1038,-0.71,-146.0,79.0,-6.6,178,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2237,3253
$GC,1371,-0.71,-146.0,111.3,-9.8,221,1372,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2237,3253
$GC,1681,-0.71,-146.0,142.2,-9.2,236,1682,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2236,3253
$GC,1990,-0.78,-146.0,165.3,-6.8,251,1994,0.00,2.25,0.00,0.000,4,0.000,0.079,2520,3604,3252
$GC,2003,-0.85,-146.0,166.1,-6.6,251,2007,0.10,2.20,0.00,0.000,6,0.095,0.052,2475,2209,3252
$GC,2325,-0.75,-146.0,196.6,-9.9,267,2330,0.15,2.25,0.00,0.000,4,0.143,0.066,2520,817,3252
$GC,2410,-0.75,-146.0,203.4,-7.9,271,2414,0.00,2.35,0.00,0.000,6,0.000,0.065,2512,2238,3253
$GC,2739,-0.80,-146.0,231.2,-7.6,287,2743,0.00,2.22,0.00,0.000,4,0.000,0.078,2502,3594,3252
$GC,2764,-0.84,-146.0,233.3,-8.0,288,2768,0.00,2.15,0.00,0.000,6,0.000,0.051,2502,2226,3252
$GC,3097,-0.84,-146.0,259.6,-7.7,304,3101,0.00,2.28,0.00,0.000,4,0.000,0.067,2502,812,3252
$GC,3114,-0.84,-146.0,260.9,-7.3,304,3120,0.00,2.35,0.00,0.000,6,0.000,0.064,2492,2236,3252
$GC,3431,-0.84,-146.0,284.6,-7.3,320,3435,0.00,2.30,0.00,0.000,4,0.000,0.066,2492,822,3252
$GC,3475,-0.84,-146.0,288.0,-7.3,322,3480,0.00,2.35,0.00,0.000,6,0.000,0.064,2482,2243,3251
$GC,3798,-0.84,-146.0,310.6,-6.3,338,3802,0.00,2.22,0.00,0.000,4,0.000,0.077,2471,3604,3252
$GC,3810,-0.84,-146.0,311.5,-6.3,338,3815,0.10,2.17,0.00,0.000,6,0.155,0.052,2496,2217,3252
$GC,4133,-0.90,-146.0,331.1,-6.4,354,4134,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2217,3252
$GC,4442,-0.96,-146.0,351.7,-6.3,369,4444,0.10,0.00,0.00,0.000,6,0.094,0.000,2453,2217,3251
$GC,4751,-0.88,-146.0,375.1,-7.6,384,4756,0.15,2.25,0.00,0.000,4,0.150,0.064,2499,823,3251
$GC,4763,-0.83,-146.0,376.1,-7.6,384,4769,0.00,2.33,0.00,0.000,6,0.000,0.062,2491,2239,3251
$GC,5081,-0.89,-146.0,394.8,-5.9,400,5084,0.00,2.33,0.00,0.000,4,0.000,0.064,2491,816,3251
$GC,5098,-0.89,-146.0,396.0,-5.6,400,5104,0.00,2.35,0.00,0.000,6,0.000,0.062,2481,2241,3251
$GC,5411,-0.89,-146.0,413.4,-5.4,410,5415,0.00,2.33,0.00,0.000,4,0.000,0.064,2481,819,3252
$GC,5423,-0.89,-146.0,414.2,-5.4,410,5427,0.00,2.33,0.00,0.000,6,0.000,0.061,2471,2232,3252
$GC,5738,-0.89,-146.0,431.9,-5.6,418,5742,0.00,2.30,0.00,0.000,4,0.000,0.061,2471,817,3252
$GC,5753,-0.89,-146.0,432.7,-5.6,418,5758,0.10,2.33,0.00,0.000,6,0.139,0.061,2487,2235,3252
$GC,6067,-0.96,-146.0,449.7,-5.2,426,6071,0.00,2.22,0.00,0.000,4,0.000,0.074,2479,3602,3253
$GC,6103,-1.01,-146.0,451.7,-6.0,426,6107,0.00,2.17,0.00,0.000,6,0.000,0.048,2479,2209,3253
$GC,6441,-1.01,-146.0,470.6,-5.5,435,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2210,3253
$GC,6766,-1.01,-146.0,488.4,-5.5,443,6770,0.00,2.30,0.00,0.000,4,0.000,0.072,2469,3602,3254
$GC,6778,-1.01,-146.0,489.2,-5.6,443,6781,0.00,2.15,0.00,0.000,6,0.000,0.048,2469,2222,3254
$GC,7098,-1.01,-146.0,508.8,-6.2,451,7102,0.00,2.28,0.00,0.000,4,0.000,0.072,2459,3595,3254
$GC,7110,-1.01,-146.0,509.7,-6.1,451,7114,0.00,2.15,0.00,0.000,6,0.000,0.047,2459,2211,3254
$STATE,7427,end dive,NO_VERTICAL_VELOCITY
$STATE,7427,begin apogee
$GC,7436,-0.31,0.0,513.8,0.0,459,7568,0.47,0.00,128.43,1.168,6,0.094,0.000,2620,1741,2650
$STATE,7568,end apogee,CONTROL_FINISHED_OK
$STATE,7568,begin climb
$GC,7572,0.99,146.0,513.8,0.0,462,7714,0.85,2.70,132.85,1.089,4,0.096,0.063,2893,3149,2053
$GC,7820,0.71,146.0,491.5,10.9,467,7825,0.28,2.42,0.00,0.000,6,0.130,0.049,2829,1729,2048
$GC,8153,0.79,168.6,469.3,6.3,475,8175,0.08,0.00,19.73,1.053,6,0.093,0.000,2870,1729,1962
$GC,8478,0.71,168.6,442.3,8.5,483,8483,0.15,2.35,0.00,0.000,4,0.127,0.064,2826,3162,1960
$GC,8519,0.71,168.6,439.0,7.5,484,8523,0.00,2.28,0.00,0.000,6,0.000,0.051,2834,1725,1959
$GC,8850,0.81,193.1,417.9,6.2,492,8875,0.08,0.00,22.27,1.064,6,0.095,0.000,2879,1724,1862
$GC,9156,0.72,193.1,393.8,8.2,501,9160,0.17,2.28,0.00,0.000,4,0.123,0.064,2835,326,1859
$GC,9185,0.83,202.8,391.7,6.7,502,9200,0.10,2.30,9.27,0.956,6,0.083,0.051,2885,1751,1823
$GC,9532,0.76,202.8,360.0,8.4,519,9536,0.15,2.25,0.00,0.000,4,0.128,0.064,2841,3156,1821
$GC,9622,0.76,202.8,352.9,7.7,523,9626,0.00,2.25,0.00,0.000,6,0.000,0.050,2848,1725,1820
$GC,9950,0.90,243.7,332.8,5.7,539,9990,0.10,0.00,37.33,1.045,6,0.084,0.000,2897,1725,1656
$GC,10300,0.84,243.7,300.5,10.3,556,10302,0.15,0.00,0.00,0.000,6,0.127,0.000,2853,1724,1650
$GC,10608,1.01,243.7,275.9,7.9,571,10613,0.15,2.35,0.00,0.000,4,0.070,0.064,2924,3164,1648
$GC,10643,0.79,243.7,271.9,12.1,572,10650,0.30,2.25,0.00,0.000,6,0.133,0.051,2846,1738,1647
$GC,10961,1.31,301.0,252.4,5.2,588,11018,0.32,2.35,51.17,1.008,4,0.076,0.064,2968,3151,1422
$GC,11211,1.01,301.0,224.7,13.8,598,11216,0.28,2.25,0.00,0.000,6,0.140,0.052,2899,1740,1415
$GC,11529,1.08,301.0,198.6,7.5,613,11533,0.00,2.30,0.00,0.000,4,0.000,0.067,2907,332,1412
$GC,11569,1.18,301.0,195.3,8.0,614,11576,0.10,2.28,0.00,0.000,6,0.081,0.053,2957,1741,1412
$GC,11887,1.05,301.0,161.9,10.9,630,11891,0.17,2.28,0.00,0.000,4,0.134,0.067,2906,3153,1411
$GC,11937,1.05,301.0,157.3,7.9,632,11941,0.00,2.25,0.00,0.000,6,0.000,0.053,2913,1731,1410
$GC,12259,1.10,301.0,129.0,8.8,648,12263,0.00,2.30,0.00,0.000,4,0.000,0.069,2922,324,1409
$GC,12300,1.20,301.0,125.4,8.8,649,12306,0.00,2.30,0.00,0.000,6,0.000,0.054,2922,1741,1409
$GC,12618,1.20,301.0,98.3,7.7,668,12625,0.00,2.28,0.00,0.000,4,0.000,0.069,2922,3151,1408
$GC,12688,1.15,301.0,91.9,9.1,680,12695,0.00,2.25,0.00,0.000,6,0.000,0.054,2933,1733,1407
$GC,13034,1.15,301.0,64.8,10.0,741,13041,0.00,2.30,0.00,0.000,4,0.000,0.068,2943,326,1407
$GC,13100,1.22,301.0,59.3,7.8,752,13106,0.00,2.33,0.00,0.000,6,0.000,0.058,2943,1747,1407
$GC,13446,1.24,314.8,32.6,6.6,813,13459,0.00,0.00,10.82,0.873,6,0.000,0.000,2942,1746,1366
$GC,13799,2.63,531.6,8.5,0.0,875,13875,0.95,0.00,71.75,0.892,2,0.130,0.000,3247,1747,1036
$STATE,13875,end climb,NO_VERTICAL_VELOCITY
$STATE,13875,begin subsurface finish
$SM_CCo,13877,93.93,0.828,0,0,587,505.81
$FINISH1,8.4,1.026117,75
$GC,14140,0.09,75.3,8.4,-0.0,888,14148,1.52,0.00,-4.10,0.000,2,0.052,0.000,2686,1747,725
$FINISH2,8.5
$STATE,14149,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,14149,begin surface
$RAFOS_CLK,651
$RAFOS,4,1231101841,20.750000,20.733612,66,66,60,59,58,55,167,206,120,217,149,131
$RAFOS,3,1231101257,20.583334,20.571388,74,61,58,55,51,50,629,211,197,175,134,158
$RAFOS,2,1231100655,20.416666,20.404167,65,58,54,53,53,51,196,218,209,184,235,140
$RAFOS,1,1231100057,20.250000,20.238056,66,65,55,53,52,50,206,678,158,197,186,221
$RAFOS,0,1231099459,20.083334,20.071945,114,59,56,55,55,53,537,160,206,134,175,222
$RAFOS_FIX,6631.915527,-6003.654785,040109,202033,3,85,0.13
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.026845
$HUMID,1822
$INTERNAL_PRESSURE,9.77577
$TCM_TEMP,14.80
$XPDR_PINGS,204
$24V_AH,21.4,94.529
$10V_AH,10.4,42.106
$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,8.050,118.325,483.625,93.925,0.000,0.000,0.000,0.000,51.000,0.000,0.000,0.000,1587.363,10096.731,625.550,1614.692,288.933,0.000,1518.223,0.000,1601.827,1800.000,0.529,0.000
$DEVICE_MAMPS,154.934,92.040,1168.141,827.593,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,622.451,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28443,889
$CAP_FILE_SIZE,113851,0
$CFSIZE,260165632,214032384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1445.0
$GPS,040109,201933,6631.916,-6003.655,0,3084.7,0,-38.0
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581