version: 66.04
glider: 108
mission: 11
dive: 617
start: 1 5 109 10 40 25
data:
$ID,108
$MISSION,11
$DIVE,617
$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,27
$R_STBD_OVSHOOT,23
$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
$GPS1,081954,6630.333,-5956.954,0,3082.7,0,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.24
$_SM_ANGLEo,-6.4
$GPS2,081954,6630.333,-5956.954,0,3082.7,0,-38.0
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6631.275,-5929.952
$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,596
$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,-146.0,0.0,0.0,0,47,0.00,0.00,-27.62,0.000,2,0.000,0.000,2702,322,2953
$GC,51,-0.99,-146.0,3.3,-1.1,5,76,0.65,5.47,-11.30,0.000,4,0.058,0.072,2423,3604,3248
$GC,151,-0.66,-146.0,17.9,-15.5,22,158,0.38,2.20,0.00,0.000,6,0.152,0.052,2540,2216,3251
$GC,499,-0.72,-146.0,49.9,-6.0,83,505,0.00,2.25,0.00,0.000,4,0.000,0.065,2540,813,3252
$GC,514,-0.80,-146.0,50.9,-6.6,85,521,0.10,2.35,0.00,0.000,6,0.087,0.062,2488,2237,3252
$GC,861,-0.69,-146.0,79.8,-8.7,146,867,0.15,0.00,0.00,0.000,6,0.156,0.000,2528,2236,3252
$GC,1218,-0.69,-146.0,106.3,-9.5,201,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2236,3252
$GC,1528,-0.74,-146.0,128.8,-7.0,216,1532,0.00,2.28,0.00,0.000,4,0.000,0.078,2520,3598,3251
$GC,1563,-0.83,-146.0,132.1,-8.9,217,1567,0.00,2.20,0.00,0.000,6,0.000,0.052,2519,2225,3251
$GC,1885,-0.90,-146.0,158.3,-8.2,233,1890,0.12,2.30,0.00,0.000,4,0.089,0.064,2466,817,3251
$GC,1943,-0.72,-146.0,164.9,-12.6,235,1949,0.25,2.35,0.00,0.000,6,0.140,0.064,2527,2238,3251
$GC,2260,-0.82,-146.0,191.0,-6.6,251,2265,0.10,2.35,0.00,0.000,4,0.093,0.064,2486,816,3251
$GC,2272,-0.89,-146.0,192.0,-6.6,251,2278,0.00,2.35,0.00,0.000,6,0.000,0.064,2476,2238,3251
$GC,2589,-0.81,-146.0,216.6,-8.2,267,2594,0.12,2.35,0.00,0.000,4,0.153,0.065,2513,818,3251
$GC,2601,-0.75,-146.0,217.6,-7.7,267,2607,0.00,2.38,0.00,0.000,6,0.000,0.064,2505,2239,3251
$GC,2917,-0.75,-146.0,238.8,-7.5,283,2921,0.00,2.35,0.00,0.000,4,0.000,0.065,2505,810,3251
$GC,2943,-0.75,-146.0,240.7,-8.1,284,2948,0.10,2.35,0.00,0.000,6,0.142,0.064,2521,2239,3251
$GC,3272,-0.85,-146.0,268.9,-8.4,300,3274,0.10,0.00,0.00,0.000,6,0.090,0.000,2480,2239,3251
$GC,3580,-0.85,-146.0,292.7,-7.0,315,3584,0.00,2.35,0.00,0.000,4,0.000,0.065,2480,822,3251
$GC,3604,-0.79,-146.0,294.6,-8.0,316,3609,0.15,2.38,0.00,0.000,6,0.137,0.064,2510,2232,3251
$GC,3934,-0.89,-146.0,316.1,-6.9,332,3936,0.10,0.00,0.00,0.000,6,0.094,0.000,2468,2232,3250
$GC,4242,-0.89,-146.0,344.8,-9.5,347,4245,0.00,2.35,0.00,0.000,4,0.000,0.065,2469,811,3250
$GC,4254,-0.84,-146.0,346.1,-9.2,347,4259,0.15,2.35,0.00,0.000,6,0.137,0.063,2502,2237,3250
$GC,4571,-0.93,-146.0,368.9,-6.4,362,4576,0.10,2.25,0.00,0.000,4,0.093,0.076,2451,3605,3250
$GC,4590,-0.93,-146.0,370.4,-7.0,362,4596,0.12,2.20,0.00,0.000,6,0.153,0.051,2482,2217,3250
$GC,4908,-0.93,-146.0,391.9,-6.6,378,4912,0.00,2.33,0.00,0.000,4,0.000,0.075,2474,3604,3250
$GC,4943,-0.93,-146.0,394.7,-7.6,379,4947,0.00,2.17,0.00,0.000,6,0.000,0.051,2474,2226,3250
$GC,5283,-0.93,-146.0,418.0,-6.8,390,5288,0.00,2.25,0.00,0.000,4,0.000,0.064,2474,821,3251
$GC,5301,-0.93,-146.0,419.3,-6.9,390,5305,0.00,2.35,0.00,0.000,6,0.000,0.062,2465,2240,3251
$GC,5653,-0.93,-146.0,443.9,-6.9,399,5657,0.00,2.33,0.00,0.000,4,0.000,0.064,2464,817,3251
$GC,5664,-0.93,-146.0,445.1,-6.9,399,5669,0.10,2.35,0.00,0.000,6,0.141,0.061,2480,2241,3251
$GC,6014,-0.93,-146.0,468.6,-6.8,408,6018,0.00,2.22,0.00,0.000,4,0.000,0.075,2472,3600,3251
$GC,6026,-0.93,-146.0,469.5,-6.7,408,6029,0.00,2.17,0.00,0.000,6,0.000,0.049,2472,2212,3251
$GC,6346,-0.93,-146.0,491.3,-6.7,416,6349,0.00,2.30,0.00,0.000,4,0.000,0.073,2462,3595,3252
$GC,6375,-0.93,-146.0,493.3,-7.3,416,6379,0.00,2.15,0.00,0.000,6,0.000,0.048,2462,2216,3252
$GC,6718,-0.93,-146.0,516.2,-6.7,425,6722,0.00,2.22,0.00,0.000,4,0.000,0.061,2462,814,3252
$GC,6765,-0.86,-146.0,519.6,-7.5,426,6770,0.15,2.33,0.00,0.000,6,0.131,0.060,2494,2233,3252
$GC,7092,-1.48,-146.0,528.3,0.0,434,7097,0.38,2.30,0.00,0.000,4,0.071,0.059,2352,820,3253
$STATE,7167,end dive,NO_VERTICAL_VELOCITY
$STATE,7167,begin apogee
$GC,7177,-0.31,0.0,528.4,0.0,435,7308,0.77,0.00,128.12,1.174,6,0.098,0.000,2611,1748,2651
$STATE,7309,end apogee,CONTROL_FINISHED_OK
$STATE,7309,begin climb
$GC,7314,0.99,146.0,528.1,0.0,439,7457,0.88,2.62,133.43,1.098,4,0.097,0.065,2891,3141,2053
$GC,7551,0.70,146.0,507.9,11.2,444,7556,0.28,2.40,0.00,0.000,6,0.133,0.049,2828,1748,2049
$GC,7895,0.79,165.8,485.0,6.4,453,7920,0.10,2.42,17.05,1.048,4,0.081,0.064,2886,326,1974
$GC,7955,0.71,165.8,480.1,8.6,454,7960,0.20,2.35,0.00,0.000,6,0.125,0.054,2828,1754,1974
$GC,8305,0.85,201.9,459.4,5.9,463,8347,0.12,2.35,32.28,1.088,4,0.074,0.067,2884,3151,1825
$GC,8424,0.67,201.9,448.2,10.7,465,8429,0.25,2.28,0.00,0.000,6,0.130,0.050,2821,1726,1822
$GC,8762,0.90,254.5,428.7,5.3,474,8815,0.17,2.33,46.80,1.085,4,0.063,0.063,2911,331,1612
$GC,8846,0.83,254.5,421.0,10.2,476,8851,0.20,2.33,0.00,0.000,6,0.131,0.053,2854,1741,1610
$GC,9173,0.89,256.6,397.1,7.0,485,9177,0.00,2.28,0.00,0.000,4,0.000,0.066,2854,3163,1604
$GC,9276,0.89,256.6,389.2,7.4,489,9280,0.00,2.25,0.00,0.000,6,0.000,0.050,2862,1735,1602
$GC,9598,0.89,256.6,367.1,7.4,505,9602,0.00,2.30,0.00,0.000,4,0.000,0.066,2862,3151,1602
$GC,9637,0.89,256.6,363.9,8.6,506,9643,0.00,2.22,0.00,0.000,6,0.000,0.050,2871,1733,1601
$GC,9954,0.89,256.6,338.3,8.7,522,9958,0.00,2.33,0.00,0.000,4,0.000,0.065,2871,3161,1600
$GC,9988,0.84,256.6,334.9,9.5,523,9992,0.00,2.25,0.00,0.000,6,0.000,0.050,2882,1732,1600
$GC,10310,0.84,256.6,306.2,8.6,539,10314,0.00,2.28,0.00,0.000,4,0.000,0.064,2891,333,1600
$GC,10351,0.90,256.6,302.7,9.1,540,10359,0.00,2.28,0.00,0.000,6,0.000,0.052,2891,1747,1600
$GC,10668,0.90,256.6,273.8,10.1,556,10672,0.00,2.25,0.00,0.000,4,0.000,0.067,2891,3154,1600
$GC,10769,0.80,256.6,263.1,10.7,560,10774,0.17,2.25,0.00,0.000,6,0.131,0.051,2849,1730,1599
$GC,11092,1.29,256.6,240.6,7.0,576,11097,0.30,2.35,0.00,0.000,4,0.080,0.066,2961,3150,1600
$GC,11137,1.07,256.6,236.4,9.9,578,11142,0.22,2.28,0.00,0.000,6,0.148,0.051,2907,1724,1599
$GC,11460,1.07,256.6,211.5,7.5,594,11463,0.00,2.28,0.00,0.000,4,0.000,0.066,2916,333,1599
$GC,11528,1.07,256.6,205.8,8.6,597,11532,0.00,2.30,0.00,0.000,6,0.000,0.054,2916,1745,1599
$GC,11862,1.07,256.6,177.5,8.3,613,11866,0.00,2.28,0.00,0.000,4,0.000,0.069,2916,3150,1599
$GC,11903,0.94,256.6,173.9,9.0,614,11909,0.17,2.25,0.00,0.000,6,0.134,0.053,2876,1736,1599
$GC,12219,1.08,256.6,150.0,8.5,630,12224,0.15,2.30,0.00,0.000,4,0.071,0.067,2953,332,1599
$GC,12270,0.96,256.6,144.4,11.4,632,12275,0.25,2.30,0.00,0.000,6,0.131,0.055,2880,1751,1599
$GC,12590,1.10,256.6,120.2,7.4,647,12594,0.15,2.28,0.00,0.000,4,0.070,0.069,2948,3157,1598
$GC,12668,0.86,256.6,113.8,8.3,650,12675,0.32,2.28,0.00,0.000,6,0.135,0.054,2863,1731,1597
$GC,12986,1.45,347.9,102.8,4.1,666,13079,0.38,2.42,81.95,0.939,4,0.084,0.068,3007,337,1231
$GC,13149,1.28,347.9,88.6,12.5,686,13156,0.20,2.35,0.00,0.000,6,0.148,0.057,2954,1747,1228
$GC,13496,1.23,347.9,48.9,11.1,747,13503,0.00,2.30,0.00,0.000,4,0.000,0.072,2953,3158,1221
$GC,13539,1.14,347.9,44.4,10.5,754,13546,0.12,2.28,0.00,0.000,6,0.137,0.055,2927,1737,1220
$GC,13887,1.33,414.6,25.3,4.9,815,13952,0.15,2.40,56.05,0.891,4,0.072,0.072,3000,324,958
$STATE,14169,end climb,NO_VERTICAL_VELOCITY
$STATE,14170,begin subsurface finish
$SM_CCo,14171,82.12,0.825,1,0,588,505.81
$FINISH1,13.0,1.026172,73
$GC,14431,0.09,72.6,13.0,0.0,865,14439,0.98,0.00,-4.72,0.000,2,0.133,0.000,2698,1742,789
$FINISH2,12.9
$STATE,14440,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,14440,begin surface
$RAFOS_CLK,658
$RAFOS,4,1231159445,12.750000,12.734722,66,62,60,56,55,54,191,170,218,114,207,128
$RAFOS,3,1231158868,12.583333,12.574445,66,63,56,54,53,53,545,211,171,181,128,146
$RAFOS,2,1231158245,12.416667,12.401389,60,58,54,53,48,45,199,216,151,169,187,126
$RAFOS,1,1231157671,12.250000,12.241944,65,59,58,53,53,52,595,174,187,134,125,221
$RAFOS,0,1231157060,12.083333,12.072222,91,62,57,54,53,51,547,199,126,174,219,156
$RAFOS_FIX,6630.263184,-5955.763184,050109,121216,3,74,0.06
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.026845
$HUMID,1840
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,14.70
$XPDR_PINGS,180
$24V_AH,21.4,95.140
$10V_AH,10.4,42.320
$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,9.875,159.250,495.675,82.125,0.000,0.000,0.000,0.000,45.000,0.000,0.000,0.000,1611.369,10234.504,641.000,1695.982,320.434,0.000,1612.620,0.000,1675.360,1800.000,0.528,0.000
$DEVICE_MAMPS,156.468,78.234,1174.277,824.525,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,605.885,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28415,866
$CAP_FILE_SIZE,124764,0
$CFSIZE,260165632,213790720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1445.3
$GPS,050109,122016,6630.263,-5955.763,0,3074.0,0,-38.0
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581