version: 66.04
glider: 108
mission: 11
dive: 629
start: 1 5 109 19 55 31
data:
$ID,108
$MISSION,11
$DIVE,629
$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
$GPS1,162640,6629.059,-5953.917,0,4112.2,0,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-4.6
$GPS2,162640,6629.059,-5953.917,0,4112.2,0,-38.0
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6630.000,-5926.937
$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,628
$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,-5.38,0.000,2,0.000,0.000,2669,3151,2778
$GC,28,-0.99,-146.0,3.7,-0.0,1,58,0.62,3.90,-18.33,0.000,4,0.117,0.067,2473,813,3250
$GC,258,-0.77,-146.0,29.8,-9.2,41,265,0.17,2.35,0.00,0.000,6,0.141,0.065,2513,2236,3253
$GC,604,-0.77,-146.0,63.4,-10.2,102,610,0.00,2.22,0.00,0.000,4,0.000,0.078,2505,3600,3253
$GC,623,-0.77,-146.0,65.2,-9.4,105,630,0.00,2.17,0.00,0.000,6,0.000,0.051,2505,2214,3253
$GC,970,-0.77,-146.0,97.0,-9.6,166,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2214,3254
$GC,1293,-0.77,-146.0,129.9,-11.2,186,1297,0.00,2.25,0.00,0.000,4,0.000,0.067,2505,809,3253
$GC,1422,-0.77,-146.0,143.7,-9.7,191,1430,0.00,2.35,0.00,0.000,6,0.000,0.064,2495,2237,3253
$GC,1740,-0.77,-146.0,169.3,-6.8,207,1744,0.00,2.30,0.00,0.000,4,0.000,0.064,2495,823,3253
$GC,1786,-0.70,-146.0,172.5,-7.0,209,1790,0.15,2.33,0.00,0.000,6,0.137,0.065,2527,2235,3254
$GC,2113,-0.80,-146.0,191.9,-6.4,225,2115,0.10,0.00,0.00,0.000,6,0.094,0.000,2487,2234,3253
$GC,2416,-0.80,-146.0,216.3,-8.4,240,2418,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2235,3253
$GC,2726,-0.80,-146.0,243.2,-9.1,255,2730,0.00,2.22,0.00,0.000,4,0.000,0.081,2476,3603,3253
$GC,2737,-0.80,-146.0,244.3,-8.8,255,2742,0.12,2.17,0.00,0.000,6,0.150,0.053,2508,2220,3253
$GC,3060,-0.88,-146.0,271.7,-9.3,271,3063,0.00,2.25,0.00,0.000,4,0.000,0.065,2508,816,3253
$GC,3139,-0.88,-146.0,279.5,-9.5,274,3143,0.00,2.35,0.00,0.000,6,0.000,0.064,2501,2233,3253
$GC,3457,-0.93,-146.0,301.6,-6.0,289,3461,0.10,2.33,0.00,0.000,4,0.092,0.064,2455,812,3253
$GC,3481,-0.85,-146.0,303.3,-6.9,290,3486,0.17,2.35,0.00,0.000,6,0.137,0.064,2494,2231,3253
$GC,3808,-0.85,-146.0,323.9,-6.6,306,3812,0.00,2.25,0.00,0.000,4,0.000,0.078,2486,3603,3253
$GC,3837,-0.85,-146.0,326.0,-7.4,307,3841,0.00,2.17,0.00,0.000,6,0.000,0.051,2486,2221,3252
$GC,4165,-0.85,-146.0,350.4,-7.2,323,4169,0.00,2.33,0.00,0.000,4,0.000,0.077,2476,3607,3253
$GC,4176,-0.85,-146.0,351.3,-7.1,323,4180,0.00,2.17,0.00,0.000,6,0.000,0.051,2476,2227,3253
$GC,4499,-0.85,-146.0,375.2,-7.3,339,4500,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2227,3252
$GC,4808,-0.85,-146.0,399.7,-8.0,354,4809,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2227,3253
$GC,5113,-0.85,-146.0,420.6,-6.6,362,5117,0.00,2.28,0.00,0.000,4,0.000,0.064,2476,818,3252
$GC,5124,-0.85,-146.0,421.5,-6.5,362,5129,0.12,2.33,0.00,0.000,6,0.137,0.062,2500,2238,3252
$GC,5445,-0.95,-146.0,439.1,-5.6,370,5447,0.12,0.00,0.00,0.000,6,0.087,0.000,2449,2238,3253
$GC,5769,-0.88,-146.0,464.2,-7.7,378,5771,0.15,0.00,0.00,0.000,6,0.149,0.000,2490,2238,3253
$GC,6094,-0.95,-146.0,483.4,-5.7,386,6095,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2238,3253
$GC,6420,-1.03,-146.0,500.1,-4.9,394,6422,0.12,0.00,0.00,0.000,6,0.087,0.000,2440,2238,3254
$GC,6744,-0.93,-146.0,520.8,-6.6,402,6749,0.15,2.22,0.00,0.000,4,0.148,0.074,2472,3597,3254
$GC,6840,-0.93,-146.0,527.0,-6.0,404,6844,0.00,2.15,0.00,0.000,6,0.000,0.049,2472,2225,3254
$GC,7160,-0.93,-146.0,546.7,-6.2,412,7164,0.00,2.28,0.00,0.000,4,0.000,0.072,2462,3597,3254
$GC,7212,-0.93,-146.0,550.3,-6.7,413,7215,0.00,2.17,0.00,0.000,6,0.000,0.048,2462,2211,3254
$GC,7538,-1.46,-146.0,559.3,-0.0,421,7543,0.28,2.22,0.00,0.000,4,0.068,0.060,2351,820,3255
$STATE,7614,end dive,NO_VERTICAL_VELOCITY
$STATE,7614,begin apogee
$GC,7624,-0.31,0.0,559.3,0.0,422,7756,0.77,0.00,128.93,1.210,6,0.099,0.000,2612,1750,2650
$STATE,7757,end apogee,CONTROL_FINISHED_OK
$STATE,7757,begin climb
$GC,7760,0.99,146.0,559.0,0.0,426,7903,0.88,2.62,134.73,1.118,4,0.094,0.066,2892,3154,2053
$GC,8009,0.71,146.0,536.6,11.1,431,8014,0.28,2.42,0.00,0.000,6,0.136,0.049,2829,1747,2047
$GC,8342,0.78,158.4,513.7,6.6,439,8354,0.00,0.00,10.32,0.998,6,0.000,0.000,2829,1747,2004
$GC,8668,0.85,161.1,491.3,6.9,447,8677,0.12,2.38,3.80,0.686,4,0.075,0.064,2886,3149,1993
$GC,8735,0.61,161.1,484.4,11.1,448,8740,0.30,2.25,0.00,0.000,6,0.136,0.050,2809,1723,1993
$GC,9085,0.83,212.9,464.4,5.4,457,9137,0.17,2.42,46.50,1.111,4,0.064,0.064,2886,3152,1782
$GC,9167,0.65,212.9,457.2,10.5,459,9172,0.28,2.30,0.00,0.000,6,0.131,0.050,2817,1731,1778
$GC,9494,0.89,259.8,438.3,5.5,467,9538,0.20,0.00,42.12,1.084,6,0.062,0.000,2907,1731,1590
$GC,9858,0.76,259.8,401.5,10.3,476,9862,0.20,2.38,0.00,0.000,4,0.130,0.065,2843,3150,1582
$GC,9891,0.76,259.8,398.5,7.7,476,9897,0.00,2.28,0.00,0.000,6,0.000,0.050,2851,1729,1582
$GC,10210,0.85,259.8,377.0,7.3,492,10214,0.00,2.38,0.00,0.000,4,0.000,0.064,2851,3157,1580
$GC,10239,0.85,259.8,374.3,8.6,493,10243,0.00,2.28,0.00,0.000,6,0.000,0.050,2860,1731,1579
$GC,10567,0.93,259.8,345.0,9.1,509,10570,0.00,2.30,0.00,0.000,4,0.000,0.064,2870,327,1579
$GC,10591,1.03,259.8,342.8,8.9,510,10596,0.12,2.30,0.00,0.000,6,0.076,0.052,2931,1743,1579
$GC,10920,0.88,259.8,306.5,10.5,526,10925,0.20,2.28,0.00,0.000,4,0.133,0.067,2867,3154,1579
$GC,10999,0.88,259.8,299.1,9.7,529,11005,0.00,2.25,0.00,0.000,6,0.000,0.050,2873,1732,1578
$GC,11316,0.96,259.8,272.0,8.8,545,11319,0.00,2.28,0.00,0.000,4,0.000,0.065,2883,330,1578
$GC,11356,1.07,259.8,268.5,9.0,546,11363,0.10,2.28,0.00,0.000,6,0.082,0.053,2935,1740,1578
$GC,11673,0.94,259.8,232.7,10.9,562,11677,0.20,2.28,0.00,0.000,4,0.130,0.068,2871,3151,1578
$GC,11741,0.94,259.8,226.8,7.5,565,11745,0.00,2.25,0.00,0.000,6,0.000,0.051,2877,1726,1577
$GC,12069,1.10,290.7,206.2,6.0,581,12101,0.15,2.30,26.65,0.985,4,0.073,0.067,2954,336,1465
$GC,12132,0.98,290.7,200.4,11.0,584,12137,0.22,2.30,0.00,0.000,6,0.131,0.054,2889,1746,1465
$GC,12461,1.13,310.7,179.5,6.4,600,12486,0.12,2.35,18.60,0.949,4,0.074,0.068,2946,3150,1383
$GC,12552,0.93,310.7,170.3,11.8,604,12558,0.28,2.28,0.00,0.000,6,0.132,0.053,2875,1734,1382
$GC,12882,1.18,362.0,151.1,5.4,620,12935,0.20,2.38,46.58,0.953,4,0.067,0.067,2976,323,1174
$GC,12966,1.08,362.0,143.4,9.9,624,12971,0.22,2.38,0.00,0.000,6,0.132,0.055,2912,1744,1172
$GC,13294,1.20,362.0,114.2,9.3,640,13299,0.10,2.30,0.00,0.000,4,0.081,0.070,2961,3158,1165
$GC,13368,1.06,362.0,105.8,10.5,643,13373,0.22,2.28,0.00,0.000,6,0.131,0.054,2905,1734,1164
$GC,13706,1.29,405.0,81.1,5.6,691,13748,0.17,2.40,36.58,0.916,4,0.066,0.069,2990,329,998
$GC,13808,1.24,405.0,69.5,12.6,708,13815,0.17,2.35,0.00,0.000,6,0.133,0.058,2941,1743,995
$GC,14154,1.31,405.0,36.4,8.3,769,14161,0.10,2.33,0.00,0.000,4,0.081,0.074,2984,3160,991
$GC,14197,1.19,405.0,30.5,14.6,776,14204,0.20,2.30,0.00,0.000,6,0.140,0.058,2938,1731,990
$FREEZE,6.97,-1.794,-1.789
$STATE,14435,end climb,FINISH_DEPTH_REACHED
$STATE,14435,begin subsurface finish
$FINISH1,7.0,1.026213,71
$GC,14445,0.09,70.5,7.0,-8.3,818,14498,0.70,2.38,-46.58,0.000,4,0.090,0.082,2693,328,2365
$FINISH2,5.3
$STATE,14499,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14499,begin surface
$RAFOS_CLK,657
$RAFOS,4,1231188242,20.750000,20.733889,63,62,60,58,53,52,214,232,902,177,197,140
$RAFOS,3,1231187661,20.583334,20.572500,131,59,59,59,59,55,560,168,220,230,157,198
$RAFOS,2,1231187046,20.416666,20.401667,61,59,55,51,50,50,213,157,118,184,136,194
$RAFOS,1,1231186456,20.250000,20.237778,60,59,58,56,48,47,210,224,175,125,155,143
$RAFOS,0,1231185841,20.083334,20.066944,99,59,57,56,55,49,669,213,199,160,179,232
$RAFOS_FIX,6628.979492,-5947.754395,050109,202048,3,98,0.31
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.026845
$HUMID,1853
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,14.90
$XPDR_PINGS,199
$24V_AH,21.3,95.677
$10V_AH,10.4,42.463
$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,9.100,131.875,494.800,0.000,0.000,0.000,0.000,0.000,49.750,0.000,0.000,0.000,1525.423,10562.556,558.961,1622.186,294.364,0.000,1470.736,0.000,1605.985,1800.000,0.528,0.000
$DEVICE_MAMPS,150.332,82.069,1209.559,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,578.862,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28373,827
$CAP_FILE_SIZE,116906,0
$CFSIZE,260165632,213553152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.1
$GPS,050109,202848,6628.979,-5947.754,0,3097.7,0,-38.0
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581