version: 66.04
glider: 108
mission: 11
dive: 615
start: 1 5 109 2 50 42
data:
$ID,108
$MISSION,11
$DIVE,615
$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,24
$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
$GPS1,002016,6631.113,-5958.159,0,2103.5,0,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.42
$_SM_ANGLEo,-5.2
$GPS2,002016,6631.113,-5958.159,0,2103.5,0,-38.0
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6632.054,-5931.142
$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,586
$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,-5.45,0.000,2,0.000,0.000,2701,1741,2576
$GC,29,-0.99,-146.0,10.5,-0.0,1,53,0.65,3.08,-15.82,0.000,4,0.064,0.084,2436,3606,3251
$GC,67,-0.83,-146.0,14.2,-8.8,7,74,0.20,2.20,0.00,0.000,6,0.156,0.052,2499,2207,3253
$GC,414,-0.83,-146.0,50.6,-14.0,68,420,0.00,2.22,0.00,0.000,4,0.000,0.064,2501,814,3256
$GC,462,-0.68,-146.0,57.3,-15.0,76,469,0.15,2.33,0.00,0.000,6,0.137,0.064,2534,2233,3256
$GC,809,-0.68,-146.0,92.1,-10.0,137,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2233,3256
$GC,1149,-0.75,-146.0,117.8,-6.8,165,1153,0.00,2.25,0.00,0.000,4,0.000,0.078,2525,3607,3256
$GC,1161,-0.83,-146.0,118.7,-6.8,165,1166,0.10,2.17,0.00,0.000,6,0.094,0.051,2481,2226,3256
$GC,1483,-0.73,-146.0,147.2,-7.8,181,1488,0.15,2.25,0.00,0.000,4,0.140,0.065,2526,820,3256
$GC,1495,-0.65,-146.0,148.2,-7.5,181,1499,0.00,2.33,0.00,0.000,6,0.000,0.064,2518,2236,3256
$GC,1818,-0.70,-146.0,163.5,-5.0,197,1820,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2235,3255
$GC,2128,-0.75,-146.0,181.8,-6.3,212,2130,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2235,3256
$GC,2438,-0.81,-146.0,204.5,-8.7,227,2442,0.00,2.33,0.00,0.000,4,0.000,0.065,2518,816,3255
$GC,2473,-0.81,-146.0,208.1,-9.8,228,2477,0.00,2.35,0.00,0.000,6,0.000,0.065,2508,2233,3255
$GC,2795,-0.81,-146.0,242.5,-11.1,244,2799,0.00,2.25,0.00,0.000,4,0.000,0.078,2498,3601,3255
$GC,2897,-0.87,-146.0,254.1,-10.8,248,2901,0.00,2.17,0.00,0.000,6,0.000,0.052,2498,2212,3255
$GC,3219,-0.87,-146.0,281.6,-7.2,264,3223,0.00,2.33,0.00,0.000,4,0.000,0.077,2488,3600,3254
$GC,3291,-0.92,-146.0,286.8,-7.8,267,3294,0.00,2.17,0.00,0.000,6,0.000,0.052,2488,2217,3255
$GC,3626,-0.92,-146.0,306.8,-5.6,283,3630,0.00,2.25,0.00,0.000,4,0.000,0.066,2488,819,3255
$GC,3638,-0.92,-146.0,307.7,-5.5,283,3642,0.00,2.35,0.00,0.000,6,0.000,0.064,2477,2242,3254
$GC,3961,-0.92,-146.0,329.4,-7.3,299,3962,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2242,3254
$GC,4269,-0.92,-146.0,351.3,-7.0,314,4273,0.00,2.35,0.00,0.000,4,0.000,0.065,2478,813,3255
$GC,4281,-0.92,-146.0,352.1,-6.9,314,4285,0.00,2.35,0.00,0.000,6,0.000,0.064,2468,2236,3254
$GC,4603,-0.92,-146.0,375.0,-7.1,330,4607,0.00,2.25,0.00,0.000,4,0.000,0.077,2458,3607,3254
$GC,4666,-0.92,-146.0,379.6,-7.0,332,4673,0.10,2.17,0.00,0.000,6,0.154,0.052,2482,2225,3254
$GC,4983,-0.92,-146.0,395.2,-4.3,348,4984,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2225,3254
$GC,5310,-0.92,-146.0,409.4,-4.5,359,5311,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2225,3255
$GC,5638,-0.92,-146.0,427.2,-5.8,367,5642,0.00,2.25,0.00,0.000,4,0.000,0.064,2482,820,3255
$GC,5656,-0.92,-146.0,428.7,-6.1,367,5660,0.00,2.33,0.00,0.000,6,0.000,0.061,2474,2241,3255
$GC,6006,-0.92,-146.0,450.7,-6.1,376,6007,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2241,3256
$GC,6330,-0.92,-146.0,470.1,-5.9,384,6334,0.00,2.22,0.00,0.000,4,0.000,0.076,2464,3603,3257
$GC,6348,-0.92,-146.0,471.1,-5.9,384,6352,0.00,2.17,0.00,0.000,6,0.000,0.049,2464,2213,3256
$GC,6662,-0.92,-146.0,491.4,-6.5,392,6663,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2213,3257
$GC,6988,-1.21,-146.0,507.1,-2.8,400,6993,0.15,2.30,0.00,0.000,4,0.077,0.072,2403,3598,3257
$STATE,7123,end dive,NO_VERTICAL_VELOCITY
$STATE,7123,begin apogee
$GC,7134,-0.31,0.0,507.0,0.0,403,7265,0.60,0.00,128.05,1.162,6,0.088,0.000,2615,1731,2651
$STATE,7266,end apogee,CONTROL_FINISHED_OK
$STATE,7266,begin climb
$GC,7271,0.99,146.0,506.9,0.0,406,7413,0.88,2.70,133.25,1.083,4,0.095,0.064,2896,3149,2053
$GC,7445,0.70,146.0,493.2,10.7,410,7450,0.28,2.47,0.00,0.000,6,0.134,0.049,2835,1742,2050
$GC,7765,0.71,152.2,470.1,6.8,418,7773,0.00,0.00,5.43,0.817,6,0.000,0.000,2835,1742,2029
$GC,8090,0.79,178.2,448.9,6.2,426,8119,0.00,2.40,23.90,1.068,4,0.000,0.067,2835,3159,1923
$GC,8160,0.74,178.2,443.6,8.9,427,8164,0.00,2.28,0.00,0.000,6,0.000,0.050,2843,1732,1922
$GC,8505,0.74,178.6,418.0,7.0,436,8506,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1732,1921
$GC,8808,0.74,178.6,396.6,7.1,444,8812,0.00,2.35,0.00,0.000,4,0.000,0.066,2843,3164,1921
$GC,8855,0.66,178.6,392.9,8.9,446,8860,0.12,2.28,0.00,0.000,6,0.133,0.050,2818,1729,1920
$GC,9190,0.85,209.4,372.1,6.0,462,9220,0.15,0.00,27.48,1.057,6,0.068,0.000,2889,1729,1797
$GC,9518,0.78,209.4,341.8,9.2,478,9520,0.15,0.00,0.00,0.000,6,0.123,0.000,2845,1729,1793
$GC,9828,0.92,218.2,320.2,6.7,493,9843,0.12,2.40,8.38,0.916,4,0.076,0.066,2903,3158,1760
$GC,9879,0.69,218.2,315.3,11.1,495,9884,0.30,2.28,0.00,0.000,6,0.130,0.050,2824,1727,1760
$GC,10201,1.16,218.2,290.2,8.5,511,10206,0.30,2.35,0.00,0.000,4,0.077,0.064,2938,3158,1759
$GC,10269,0.81,218.2,282.9,12.6,514,10274,0.32,2.25,0.00,0.000,6,0.137,0.050,2853,1735,1759
$GC,10597,0.96,228.7,259.9,6.7,530,10611,0.12,0.00,10.75,0.939,6,0.074,0.000,2916,1735,1717
$GC,10908,0.88,228.7,230.2,9.6,545,10910,0.17,0.00,0.00,0.000,6,0.130,0.000,2865,1735,1717
$GC,11217,1.07,265.4,210.6,5.8,560,11259,0.17,2.45,33.65,0.988,4,0.066,0.067,2941,3147,1568
$GC,11300,0.87,265.4,201.7,12.8,563,11307,0.30,2.28,0.00,0.000,6,0.132,0.051,2863,1741,1566
$GC,11618,1.32,265.4,176.6,7.8,579,11623,0.30,2.35,0.00,0.000,4,0.081,0.067,2973,3155,1562
$GC,11691,0.93,265.4,169.1,11.8,582,11696,0.35,2.28,0.00,0.000,6,0.140,0.052,2881,1730,1561
$GC,12009,1.17,342.1,152.6,4.6,597,12083,0.17,2.38,68.10,0.957,4,0.066,0.067,2968,332,1254
$GC,12121,1.12,342.1,142.8,9.8,602,12126,0.17,2.38,0.00,0.000,6,0.132,0.054,2920,1748,1252
$GC,12444,1.21,342.1,119.3,7.4,618,12448,0.10,2.30,0.00,0.000,4,0.081,0.071,2966,3150,1246
$GC,12472,1.12,342.1,116.4,10.3,619,12477,0.20,2.28,0.00,0.000,6,0.135,0.053,2919,1725,1245
$GC,12799,1.21,342.1,89.5,8.9,649,12806,0.10,2.28,0.00,0.000,4,0.080,0.068,2976,334,1242
$GC,12858,1.21,342.1,82.6,11.7,659,12865,0.15,2.30,0.00,0.000,6,0.136,0.056,2935,1751,1242
$GC,13206,1.32,382.8,54.2,5.7,720,13249,0.12,2.33,33.88,0.911,4,0.073,0.073,2988,3153,1089
$GC,13308,1.09,382.8,41.4,16.1,737,13315,0.30,2.30,0.00,0.000,6,0.140,0.057,2912,1732,1087
$GC,13655,1.44,382.8,15.8,9.0,798,13662,0.22,2.35,0.00,0.000,4,0.104,0.069,2989,318,1082
$FREEZE,6.50,-1.795,-1.785
$GC,13788,1.47,410.8,7.7,6.1,821,13800,0.00,2.35,7.10,0.783,2,0.000,0.061,2989,1741,1054
$STATE,13801,end climb,FINISH_DEPTH_REACHED
$STATE,13801,begin subsurface finish
$FINISH1,6.5,1.026154,73
$GC,13810,0.09,73.4,6.5,-7.3,822,13869,0.90,2.30,-50.50,0.000,4,0.120,0.084,2687,3149,2352
$FINISH2,3.5
$STATE,13870,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13870,begin surface
$RAFOS_CLK,637
$RAFOS,4,1231130663,4.750000,4.739722,59,58,56,48,48,47,214,194,172,152,228,117
$RAFOS,3,1231130046,4.583333,4.568333,67,67,63,59,56,56,209,676,187,148,178,157
$RAFOS,2,1231129473,4.416667,4.409167,59,58,58,55,50,50,215,186,173,226,118,145
$RAFOS,1,1231128841,4.250000,4.233611,61,58,58,55,54,51,186,136,202,116,214,156
$RAFOS,0,1231128256,4.083333,4.071111,72,56,56,54,52,52,576,213,178,225,194,168
$RAFOS_FIX,6629.679688,-5957.842773,050109,040416,2,70,0.19
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.026845
$HUMID,1840
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,14.80
$XPDR_PINGS,37
$24V_AH,21.4,94.809
$10V_AH,10.4,42.209
$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,8.600,119.000,479.950,0.000,0.000,0.000,0.000,0.000,9.250,0.000,0.000,0.000,1520.414,10049.892,548.034,1521.315,290.080,0.000,1408.959,0.000,1513.538,1800.000,0.529,0.000
$DEVICE_MAMPS,156.468,84.370,1162.005,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,582.453,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28434,832
$CAP_FILE_SIZE,109895,0
$CFSIZE,260165632,213921792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1445.7
$GPS,050109,042016,6629.680,-5957.843,0,2069.5,0,-38.0
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581