version: 66.04
glider: 108
mission: 11
dive: 616
start: 1 5 109 6 43 56
data:
$ID,108
$MISSION,11
$DIVE,616
$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,23
$R_STBD_OVSHOOT,25
$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
$GPS1,042016,6629.680,-5957.843,0,2069.5,0,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.50
$_SM_ANGLEo,-11.9
$GPS2,042016,6629.680,-5957.843,0,2069.5,0,-38.0
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6630.621,-5930.852
$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,581
$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,-5.43,0.000,2,0.000,0.000,2687,3149,2487
$GC,28,-0.99,-146.0,3.8,-0.0,1,70,0.62,3.88,-31.80,0.000,4,0.066,0.070,2463,809,3249
$GC,320,-0.76,-146.0,33.1,-13.1,52,327,0.20,2.35,0.00,0.000,6,0.138,0.066,2511,2234,3253
$GC,667,-0.76,-146.0,57.5,-7.6,113,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2234,3254
$GC,1011,-0.76,-146.0,86.4,-7.6,174,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2234,3254
$GC,1348,-0.76,-146.0,117.3,-9.1,209,1352,0.00,2.33,0.00,0.000,4,0.000,0.065,2513,813,3254
$GC,1388,-0.70,-146.0,121.4,-9.6,210,1395,0.10,2.38,0.00,0.000,6,0.145,0.064,2530,2241,3254
$GC,1706,-0.79,-146.0,145.6,-8.3,226,1711,0.10,2.35,0.00,0.000,4,0.090,0.064,2489,810,3253
$GC,1751,-0.69,-146.0,150.4,-10.6,228,1756,0.20,2.38,0.00,0.000,6,0.142,0.064,2534,2242,3253
$GC,2075,-0.79,-146.0,174.9,-6.9,244,2080,0.10,2.35,0.00,0.000,4,0.090,0.064,2492,811,3253
$GC,2087,-0.87,-146.0,175.9,-6.8,244,2094,0.00,2.35,0.00,0.000,6,0.000,0.064,2483,2233,3253
$GC,2404,-0.81,-146.0,204.6,-9.2,260,2406,0.10,0.00,0.00,0.000,6,0.157,0.000,2508,2232,3253
$GC,2715,-0.85,-146.0,226.2,-6.0,275,2718,0.00,2.25,0.00,0.000,4,0.000,0.078,2500,3604,3253
$GC,2727,-0.85,-146.0,227.1,-5.7,275,2731,0.00,2.20,0.00,0.000,6,0.000,0.052,2500,2210,3253
$GC,3049,-0.85,-146.0,244.6,-5.8,291,3053,0.00,2.33,0.00,0.000,4,0.000,0.077,2490,3600,3253
$GC,3061,-0.85,-146.0,245.4,-5.8,291,3065,0.00,2.17,0.00,0.000,6,0.000,0.052,2490,2220,3253
$GC,3384,-0.85,-146.0,267.1,-6.8,307,3387,0.00,2.25,0.00,0.000,4,0.000,0.066,2490,819,3252
$GC,3395,-0.85,-146.0,268.2,-6.6,307,3399,0.00,2.33,0.00,0.000,6,0.000,0.064,2480,2231,3253
$GC,3717,-0.85,-146.0,294.0,-8.6,323,3721,0.00,2.25,0.00,0.000,4,0.000,0.078,2469,3608,3252
$GC,3730,-0.85,-146.0,295.2,-8.8,323,3734,0.10,2.17,0.00,0.000,6,0.157,0.052,2493,2228,3252
$GC,4051,-0.85,-146.0,321.8,-7.6,339,4055,0.00,2.28,0.00,0.000,4,0.000,0.067,2494,816,3252
$GC,4079,-0.85,-146.0,324.0,-7.3,340,4083,0.00,2.38,0.00,0.000,6,0.000,0.064,2487,2245,3252
$GC,4408,-0.85,-146.0,345.7,-6.2,356,4411,0.00,2.22,0.00,0.000,4,0.000,0.077,2476,3603,3252
$GC,4425,-0.85,-146.0,346.8,-5.9,356,4431,0.00,2.17,0.00,0.000,6,0.000,0.051,2476,2223,3252
$GC,4742,-0.85,-146.0,364.7,-5.4,372,4746,0.00,2.25,0.00,0.000,4,0.000,0.066,2476,822,3252
$GC,4789,-0.79,-146.0,367.6,-6.1,374,4794,0.15,2.35,0.00,0.000,6,0.133,0.064,2507,2242,3252
$GC,5118,-0.92,-146.0,383.7,-4.9,390,5119,0.10,0.00,0.00,0.000,6,0.093,0.000,2465,2242,3253
$GC,5426,-0.92,-146.0,404.1,-6.7,404,5428,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2242,3252
$GC,5751,-0.92,-146.0,425.4,-6.6,412,5754,0.00,2.22,0.00,0.000,4,0.000,0.077,2454,3600,3253
$GC,5763,-0.92,-146.0,426.3,-6.7,412,5767,0.10,2.17,0.00,0.000,6,0.156,0.050,2478,2212,3253
$GC,6082,-0.92,-146.0,447.6,-6.7,420,6086,0.00,2.35,0.00,0.000,4,0.000,0.074,2470,3608,3253
$GC,6093,-0.92,-146.0,448.4,-6.6,420,6097,0.00,2.20,0.00,0.000,6,0.000,0.048,2470,2213,3253
$GC,6409,-0.92,-146.0,469.4,-6.7,428,6412,0.00,2.35,0.00,0.000,4,0.000,0.073,2460,3609,3254
$GC,6421,-0.92,-146.0,470.3,-6.5,428,6425,0.00,2.20,0.00,0.000,6,0.000,0.048,2460,2213,3254
$GC,6741,-0.92,-146.0,491.8,-6.6,436,6745,0.00,2.35,0.00,0.000,4,0.000,0.072,2450,3607,3254
$GC,6759,-0.92,-146.0,493.2,-6.8,436,6764,0.12,2.17,0.00,0.000,6,0.150,0.048,2482,2226,3254
$GC,7102,-0.92,-146.0,513.8,-5.7,445,7106,0.00,2.30,0.00,0.000,4,0.000,0.073,2474,3595,3255
$STATE,7283,end dive,NO_VERTICAL_VELOCITY
$STATE,7284,begin apogee
$GC,7294,-0.31,0.0,515.7,0.0,449,7425,0.43,0.00,128.20,1.167,6,0.097,0.000,2617,1739,2650
$STATE,7426,end apogee,CONTROL_FINISHED_OK
$STATE,7426,begin climb
$GC,7430,0.99,146.0,515.4,0.0,452,7577,0.88,2.67,133.18,1.088,4,0.097,0.064,2907,341,2053
$GC,7640,0.80,146.0,498.3,9.8,456,7647,0.22,2.50,0.00,0.000,6,0.134,0.052,2849,1744,2051
$GC,7972,0.81,150.8,474.8,6.9,465,7981,0.00,2.33,4.20,0.712,4,0.000,0.066,2848,3161,2035
$GC,8063,0.67,150.8,467.8,8.3,467,8068,0.12,2.30,0.00,0.000,6,0.141,0.051,2822,1728,2036
$GC,8389,0.86,213.9,450.3,5.0,475,8447,0.15,0.00,56.03,1.093,6,0.071,0.000,2887,1728,1778
$GC,8753,0.76,213.9,417.9,9.5,484,8758,0.17,2.38,0.00,0.000,4,0.123,0.065,2836,3157,1772
$GC,8816,0.76,213.9,412.2,9.2,485,8820,0.00,2.25,0.00,0.000,6,0.000,0.051,2843,1728,1770
$GC,9146,0.84,213.9,387.7,7.4,497,9148,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1728,1770
$GC,9456,0.94,224.2,366.9,6.7,512,9471,0.12,2.40,8.80,0.945,4,0.076,0.065,2901,3161,1735
$GC,9502,0.73,224.2,362.6,11.1,514,9507,0.25,2.25,0.00,0.000,6,0.132,0.050,2838,1734,1735
$GC,9830,0.90,238.9,341.2,6.5,530,9852,0.12,2.30,14.57,0.996,4,0.074,0.066,2910,330,1676
$GC,9878,0.83,238.9,336.7,10.1,532,9883,0.20,2.30,0.00,0.000,6,0.129,0.053,2852,1751,1676
$GC,10206,0.97,238.9,311.7,7.3,548,10211,0.12,2.28,0.00,0.000,4,0.074,0.066,2911,3163,1675
$GC,10292,0.75,238.9,301.0,14.4,552,10297,0.28,2.25,0.00,0.000,6,0.131,0.051,2840,1733,1673
$GC,10621,1.21,238.9,275.1,7.4,568,10626,0.28,2.33,0.00,0.000,4,0.077,0.066,2947,3150,1673
$GC,10717,0.88,238.9,265.4,11.7,572,10722,0.30,2.22,0.00,0.000,6,0.136,0.051,2869,1737,1673
$GC,11035,1.00,251.2,246.1,6.6,587,11057,0.12,2.35,11.55,0.943,4,0.075,0.066,2941,332,1626
$GC,11108,0.91,251.2,238.9,10.3,590,11113,0.22,2.30,0.00,0.000,6,0.130,0.053,2875,1750,1626
$GC,11437,1.04,251.2,215.4,7.0,606,11441,0.12,2.28,0.00,0.000,4,0.074,0.067,2935,3157,1626
$GC,11507,0.81,251.2,208.1,12.1,609,11512,0.32,2.25,0.00,0.000,6,0.130,0.052,2848,1733,1625
$GC,11837,1.43,261.7,186.5,6.7,625,11854,0.43,2.30,10.85,0.923,4,0.098,0.067,3003,329,1583
$GC,11872,1.31,261.7,183.5,8.4,625,11879,0.17,2.30,0.00,0.000,6,0.165,0.054,2959,1747,1583
$GC,12189,1.18,261.7,153.8,9.2,641,12194,0.10,2.30,0.00,0.000,4,0.153,0.070,2930,3159,1582
$GC,12246,1.00,261.7,148.4,9.8,643,12253,0.17,2.28,0.00,0.000,6,0.133,0.054,2888,1728,1581
$GC,12562,1.15,261.7,124.6,7.7,659,12567,0.15,2.30,0.00,0.000,4,0.070,0.067,2964,320,1581
$GC,12614,1.07,261.7,119.4,10.6,661,12619,0.20,2.33,0.00,0.000,6,0.131,0.056,2907,1748,1581
$GC,12938,1.15,261.7,91.1,11.4,688,12945,0.10,2.28,0.00,0.000,4,0.084,0.071,2955,3153,1580
$GC,13038,0.99,306.3,83.0,5.6,705,13086,0.25,2.28,40.90,0.938,6,0.137,0.055,2893,1724,1401
$GC,13429,1.20,306.3,67.4,8.7,773,13435,0.15,0.00,0.00,0.000,6,0.074,0.000,2958,1724,1395
$GC,13776,1.11,306.3,30.5,9.9,834,13782,0.15,2.30,0.00,0.000,4,0.134,0.069,2923,327,1393
$GC,13824,1.38,432.3,28.5,3.0,842,13941,0.20,2.33,108.97,0.877,6,0.085,0.059,2992,1746,887
$FREEZE,6.74,-1.775,-1.786
$STATE,13992,end climb,FINISH_DEPTH_REACHED
$STATE,13992,begin subsurface finish
$FINISH1,6.7,1.026169,73
$GC,14001,0.09,72.7,6.7,-13.5,871,14061,0.95,2.50,-51.70,0.000,4,0.130,0.081,2702,322,2356
$FINISH2,3.7
$STATE,14061,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14061,begin surface
$RAFOS_CLK,643
$RAFOS,4,1231145042,8.750000,8.733889,65,61,59,59,55,54,214,184,196,158,127,225
$RAFOS,3,1231144451,8.583333,8.569722,60,59,58,51,50,48,644,214,197,123,156,231
$RAFOS,2,1231143873,8.416667,8.409166,63,58,54,54,53,53,193,123,179,202,167,137
$RAFOS,1,1231143257,8.250000,8.238055,74,63,61,53,51,50,667,124,201,152,220,452
$RAFOS,0,1231142660,8.083333,8.072222,114,67,59,58,57,55,540,152,212,203,120,182
$RAFOS_FIX,6630.333496,-5956.954102,050109,080854,3,83,0.10
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.026845
$HUMID,1804
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,14.80
$XPDR_PINGS,181
$24V_AH,21.4,94.966
$10V_AH,10.4,42.264
$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,9.475,142.650,517.250,0.000,0.000,0.000,0.000,0.000,45.250,0.000,0.000,0.000,1598.477,9946.177,609.409,1671.555,298.993,0.000,1550.527,0.000,1650.462,1800.000,0.529,0.000
$DEVICE_MAMPS,164.905,80.535,1166.607,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,615.065,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28490,881
$CAP_FILE_SIZE,120275,0
$CFSIZE,260165632,213852160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1445.4
$GPS,050109,081954,6630.333,-5956.954,0,3082.7,0,-38.0
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581