version: 66.04
glider: 108
mission: 11
dive: 618
start: 1 5 109 14 43 13
data:
$ID,108
$MISSION,11
$DIVE,618
$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,26
$R_STBD_OVSHOOT,16
$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
$GPS1,122016,6630.263,-5955.763,0,3074.0,0,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,13.12
$_SM_ANGLEo,-8.3
$GPS2,122016,6630.263,-5955.763,0,3074.0,0,-38.0
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6631.205,-5928.762
$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,610
$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,-5.40,0.000,2,0.000,0.000,2698,1743,1033
$GC,28,-0.99,-146.0,13.2,-0.0,1,81,0.62,1.62,-46.58,0.000,4,0.051,0.085,2445,812,3251
$GC,113,-0.27,-146.0,19.1,-12.9,15,120,0.62,2.38,0.00,0.000,6,0.140,0.067,2623,2242,3256
$GC,461,-0.75,-146.0,31.9,-3.6,76,468,0.30,2.35,0.00,0.000,4,0.077,0.064,2510,812,3266
$GC,606,-0.69,-146.0,43.3,-10.9,101,612,0.12,2.35,0.00,0.000,6,0.145,0.065,2533,2238,3268
$GC,953,-0.69,-146.0,77.1,-7.0,162,959,0.00,2.25,0.00,0.000,4,0.000,0.077,2525,3607,3270
$GC,966,-0.69,-146.0,78.2,-7.2,164,972,0.00,2.22,0.00,0.000,6,0.000,0.053,2525,2209,3270
$GC,1311,-0.69,-146.0,108.3,-9.6,214,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2209,3270
$GC,1620,-0.69,-146.0,132.9,-6.9,229,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2209,3271
$GC,1930,-0.75,-146.0,152.6,-5.8,244,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2209,3271
$GC,2240,-0.82,-146.0,172.5,-7.3,259,2244,0.10,2.25,0.00,0.000,4,0.093,0.065,2481,822,3271
$GC,2251,-0.82,-146.0,173.6,-7.4,259,2258,0.12,2.33,0.00,0.000,6,0.146,0.064,2505,2235,3271
$GC,2567,-0.82,-146.0,202.3,-8.5,275,2571,0.00,2.35,0.00,0.000,4,0.000,0.065,2507,810,3271
$GC,2608,-0.82,-146.0,205.9,-9.3,276,2614,0.00,2.38,0.00,0.000,6,0.000,0.064,2499,2244,3271
$GC,2924,-0.82,-146.0,234.6,-9.1,292,2928,0.00,2.22,0.00,0.000,4,0.000,0.078,2488,3599,3271
$GC,2952,-0.82,-146.0,237.2,-9.2,293,2956,0.00,2.17,0.00,0.000,6,0.000,0.052,2488,2225,3271
$GC,3280,-0.82,-146.0,264.4,-7.6,309,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2225,3271
$GC,3590,-0.82,-146.0,288.5,-8.0,324,3591,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2224,3271
$GC,3898,-0.82,-146.0,311.7,-7.2,339,3903,0.00,2.33,0.00,0.000,4,0.000,0.079,2479,3604,3270
$GC,3910,-0.82,-146.0,312.6,-7.2,339,3914,0.10,2.20,0.00,0.000,6,0.154,0.052,2503,2212,3271
$GC,4233,-0.88,-146.0,334.8,-6.8,355,4234,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2212,3270
$GC,4542,-0.96,-146.0,353.5,-5.3,370,4547,0.12,2.25,0.00,0.000,4,0.087,0.065,2450,818,3270
$GC,4555,-0.96,-146.0,354.3,-5.6,370,4560,0.12,2.35,0.00,0.000,6,0.143,0.064,2473,2237,3270
$GC,4875,-0.96,-146.0,376.0,-7.1,385,4879,0.00,2.22,0.00,0.000,4,0.000,0.078,2465,3596,3270
$GC,4892,-0.96,-146.0,377.5,-6.8,385,4899,0.00,2.17,0.00,0.000,6,0.000,0.051,2465,2215,3270
$GC,5209,-0.91,-146.0,399.5,-6.9,401,5213,0.00,2.30,0.00,0.000,4,0.000,0.075,2455,3595,3270
$GC,5273,-0.85,-146.0,404.2,-7.2,403,5277,0.15,2.15,0.00,0.000,6,0.150,0.051,2494,2225,3270
$GC,5587,-0.92,-146.0,421.1,-5.3,411,5588,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2225,3270
$GC,5913,-1.00,-146.0,437.9,-5.2,419,5917,0.12,2.25,0.00,0.000,4,0.087,0.063,2443,812,3270
$GC,5924,-1.00,-146.0,438.7,-5.3,419,5929,0.12,2.35,0.00,0.000,6,0.143,0.062,2467,2241,3270
$GC,6238,-1.00,-146.0,458.5,-6.2,427,6239,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2241,3271
$GC,6563,-1.00,-146.0,478.4,-6.0,435,6566,0.00,2.22,0.00,0.000,4,0.000,0.076,2458,3603,3271
$GC,6576,-1.00,-146.0,479.2,-6.0,435,6579,0.00,2.17,0.00,0.000,6,0.000,0.050,2459,2216,3271
$GC,6896,-0.95,-146.0,500.1,-6.5,443,6897,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2216,3272
$GC,7221,-0.90,-146.0,520.9,-6.3,451,7223,0.10,0.00,0.00,0.000,6,0.158,0.000,2484,2216,3272
$GC,7547,-0.95,-146.0,539.7,-5.8,459,7548,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2215,3273
$STATE,7826,end dive,NO_VERTICAL_VELOCITY
$STATE,7826,begin apogee
$GC,7835,-0.31,0.0,541.8,0.0,466,7966,0.40,0.00,128.15,1.180,6,0.086,0.000,2625,1732,2650
$STATE,7966,end apogee,CONTROL_FINISHED_OK
$STATE,7966,begin climb
$GC,7970,0.99,146.0,541.7,0.0,469,8113,0.85,2.70,134.38,1.104,4,0.094,0.064,2899,3147,2055
$GC,8168,0.67,146.0,525.2,11.4,473,8174,0.32,2.45,0.00,0.000,6,0.137,0.048,2824,1741,2053
$GC,8507,0.78,165.7,503.1,6.4,482,8527,0.10,0.00,17.62,1.052,6,0.079,0.000,2871,1740,1974
$GC,8832,0.70,165.7,475.6,8.6,490,8837,0.15,2.33,0.00,0.000,4,0.126,0.066,2827,3158,1976
$GC,8865,0.70,165.7,472.8,7.4,490,8872,0.00,2.28,0.00,0.000,6,0.000,0.050,2834,1720,1975
$GC,9198,0.78,167.4,449.5,7.0,499,9199,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1720,1975
$GC,9524,0.85,167.4,425.7,7.1,507,9533,0.10,2.38,2.60,0.419,4,0.082,0.064,2883,3152,1968
$GC,9591,0.62,167.4,419.2,10.7,508,9595,0.28,2.22,0.00,0.000,6,0.131,0.051,2811,1732,1970
$GC,9940,0.83,204.8,398.6,5.8,517,9980,0.17,2.38,34.03,1.083,4,0.063,0.064,2901,332,1814
$GC,10005,0.74,204.8,392.6,10.1,520,10010,0.22,2.33,0.00,0.000,6,0.132,0.052,2836,1750,1814
$GC,10333,0.89,221.9,370.1,6.5,536,10355,0.12,2.28,15.40,1.018,4,0.072,0.065,2894,3154,1745
$GC,10456,0.70,221.9,356.3,12.8,541,10461,0.25,2.25,0.00,0.000,6,0.130,0.051,2831,1736,1745
$GC,10778,0.88,221.9,328.8,7.9,557,10780,0.15,0.00,0.00,0.000,6,0.069,0.000,2904,1736,1745
$GC,11088,0.80,221.9,302.8,7.1,572,11092,0.17,2.30,0.00,0.000,4,0.129,0.065,2861,322,1745
$GC,11111,0.86,270.1,301.5,5.5,573,11162,0.00,2.30,43.65,1.030,6,0.000,0.052,2861,1747,1549
$GC,11489,1.00,270.1,282.3,7.4,591,11494,0.12,2.25,0.00,0.000,4,0.077,0.067,2923,3155,1544
$GC,11558,0.78,270.1,272.7,14.5,594,11563,0.30,2.25,0.00,0.000,6,0.131,0.051,2845,1732,1543
$GC,11881,1.36,270.1,240.7,9.4,610,11885,0.38,2.28,0.00,0.000,4,0.094,0.066,2975,330,1542
$GC,11909,1.58,270.1,237.7,10.7,611,11914,0.15,2.28,0.00,0.000,6,0.081,0.052,3034,1747,1542
$GC,12231,1.15,270.1,189.5,14.8,627,12236,0.35,2.28,0.00,0.000,4,0.151,0.067,2929,3160,1542
$GC,12266,0.95,270.1,185.4,10.3,628,12273,0.17,2.25,0.00,0.000,6,0.133,0.051,2886,1733,1541
$GC,12583,1.08,270.1,164.1,7.1,644,12587,0.12,2.28,0.00,0.000,4,0.076,0.067,2956,335,1540
$GC,12646,1.00,270.1,157.2,12.2,647,12651,0.22,2.28,0.00,0.000,6,0.132,0.055,2890,1739,1540
$GC,12974,1.11,270.1,132.1,7.3,663,12979,0.12,2.30,0.00,0.000,4,0.073,0.069,2948,3162,1540
$GC,13025,0.86,270.1,125.5,12.9,665,13030,0.32,2.28,0.00,0.000,6,0.133,0.054,2862,1728,1539
$GC,13343,1.50,344.7,107.7,4.6,680,13415,0.40,2.45,65.30,0.943,4,0.077,0.069,3009,3143,1244
$GC,13491,1.12,344.7,92.3,14.7,692,13498,0.35,2.28,0.00,0.000,6,0.144,0.052,2920,1732,1240
$GC,13838,1.21,344.7,64.0,8.5,753,13845,0.10,2.30,0.00,0.000,4,0.083,0.070,2977,328,1236
$GC,13915,1.14,344.7,56.8,9.6,766,13922,0.20,2.30,0.00,0.000,6,0.132,0.056,2920,1742,1235
$GC,14263,1.25,358.3,31.8,6.6,827,14282,0.12,2.30,10.82,0.848,4,0.080,0.073,2978,3149,1189
$GC,14312,1.10,358.3,27.0,10.2,835,14319,0.25,2.25,0.00,0.000,6,0.135,0.054,2916,1738,1189
$FREEZE,6.68,-1.797,-1.788
$STATE,14572,end climb,FINISH_DEPTH_REACHED
$STATE,14572,begin subsurface finish
$FINISH1,6.7,1.026203,71
$GC,14582,0.09,71.0,6.7,-8.4,881,14629,0.65,2.35,-38.05,0.000,4,0.104,0.082,2694,323,2365
$FINISH2,5.8
$STATE,14629,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14629,begin surface
$RAFOS_CLK,671
$RAFOS,4,1231173850,16.750000,16.736111,89,69,66,61,53,51,858,178,209,127,155,230
$RAFOS,3,1231173281,16.583334,16.578056,130,60,56,53,52,50,460,166,207,223,185,153
$RAFOS,2,1231172664,16.416666,16.406666,61,60,58,54,52,51,208,161,151,177,129,117
$RAFOS,1,1231172054,16.250000,16.237223,91,60,60,59,54,54,689,225,204,151,184,166
$RAFOS,0,1231171460,16.083334,16.072222,139,58,57,56,56,53,551,136,181,198,161,119
$RAFOS_FIX,6629.059082,-5953.916504,050109,161640,4,112,0.18
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.027612
$HUMID,1845
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,14.80
$XPDR_PINGS,206
$24V_AH,21.4,95.284
$10V_AH,10.4,42.373
$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,10.400,121.675,451.950,0.000,0.000,0.000,0.000,0.000,51.500,0.000,0.000,0.000,1597.196,10667.045,550.208,1583.456,297.942,0.000,1437.453,0.000,1570.491,1800.000,0.531,0.000
$DEVICE_MAMPS,158.002,85.137,1179.646,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,622.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28415,889
$CAP_FILE_SIZE,116418,0
$CFSIZE,260165632,213737472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1445.5
$GPS,050109,162640,6629.059,-5953.917,0,4112.2,0,-38.0
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581