version: 66.04
glider: 108
mission: 11
dive: 61
start: 9 16 108 21 3 2
data:
$ID,108
$MISSION,11
$DIVE,61
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,470
$T_MISSION,530
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$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,2
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0035999999
$HD_B,0.014
$HD_C,6.1000001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-112195.05
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,2657
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15.9
$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,22
$ROLL_AD_RATE,275
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,588
$VBD_MAX,3951
$C_VBD,2895
$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,0
$ALTIM_TOP_MIN_OBSTACLE,1
$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
$GPS1,205708,6659.873,-5706.705,40,1.0,40,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-71.8
$GPS2,210208,6659.846,-5706.588,13,1.4,13,-37.6
$SPEED_LIMITS,0.122,0.200
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.157,-0.123
$KALMAN_X,-4673.5,-216.0,569.5,61098.4,-1584.9
$KALMAN_Y,7202.0,714.3,-2753.0,8187.5,3266.7
$MHEAD_RNG_PITCHd_Wd,59.1,14640,-14.2,-7.021
$D_GRID,726
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.07,-146.0,0.0,0.0,0,75,0.00,0.00,-56.20,0.000,2,0.000,0.000,337,2240,2837
$GC,77,-1.07,-146.0,3.0,-1.7,9,115,8.70,2.40,-20.30,0.000,4,0.272,0.076,2428,816,3495
$GC,155,-0.70,-146.0,14.7,-16.4,22,162,0.30,2.35,0.00,0.000,6,0.156,0.061,2505,2246,3497
$GC,499,-0.79,-146.0,50.6,-9.1,83,505,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2246,3500
$GC,843,-0.86,-146.0,79.0,-7.7,144,849,0.12,2.35,0.00,0.000,4,0.084,0.061,2454,811,3502
$GC,889,-0.75,-146.0,83.9,-10.7,152,896,0.20,2.33,0.00,0.000,6,0.147,0.059,2499,2237,3502
$GC,1222,-0.83,-146.0,111.6,-7.6,192,1227,0.10,2.17,0.00,0.000,4,0.092,0.074,2447,3593,3502
$GC,1299,-0.74,-146.0,119.3,-10.1,195,1308,0.15,2.17,0.00,0.000,6,0.150,0.050,2506,2217,3502
$GC,1615,-0.87,-146.0,140.0,-6.8,211,1617,0.15,0.00,0.00,0.000,6,0.084,0.000,2446,2218,3502
$GC,1924,-0.79,-146.0,173.7,-10.8,226,1926,0.15,0.00,0.00,0.000,6,0.156,0.000,2486,2218,3501
$GC,2233,-0.88,-146.0,199.2,-7.9,241,2237,0.00,2.28,0.00,0.000,4,0.000,0.077,2478,3602,3500
$GC,2302,-0.99,-146.0,204.7,-8.4,244,2307,0.12,2.15,0.00,0.000,6,0.090,0.052,2429,2218,3500
$GC,2634,-0.87,-146.0,235.2,-9.0,260,2638,0.15,2.25,0.00,0.000,4,0.153,0.075,2461,3608,3500
$GC,2716,-0.87,-146.0,242.1,-8.6,263,2724,0.00,2.17,0.00,0.000,6,0.000,0.052,2460,2226,3500
$GC,3031,-0.87,-146.0,270.4,-9.2,279,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2226,3499
$GC,3340,-0.87,-146.0,298.9,-9.5,294,3344,0.00,2.25,0.00,0.000,4,0.000,0.065,2461,813,3499
$GC,3423,-0.87,-146.0,306.7,-9.0,297,3430,0.00,2.33,0.00,0.000,6,0.000,0.062,2450,2233,3499
$GC,3739,-0.87,-146.0,334.1,-8.0,313,3742,0.00,2.17,0.00,0.000,4,0.000,0.076,2439,3610,3498
$GC,3807,-0.87,-146.0,339.5,-7.8,316,3812,0.12,2.15,0.00,0.000,6,0.157,0.051,2472,2216,3498
$GC,4140,-0.97,-146.0,361.8,-6.9,332,4142,0.12,0.00,0.00,0.000,6,0.085,0.000,2422,2216,3498
$GC,4448,-0.88,-146.0,389.5,-9.0,347,4453,0.17,2.25,0.00,0.000,4,0.150,0.074,2463,3602,3498
$GC,4503,-0.98,-146.0,393.9,-7.8,349,4509,0.00,2.15,0.00,0.000,6,0.000,0.050,2463,2224,3498
$GC,4836,-1.05,-146.0,416.9,-6.9,360,4838,0.12,0.00,0.00,0.000,6,0.088,0.000,2412,2224,3498
$GC,5161,-0.93,-146.0,446.8,-9.4,368,5163,0.17,0.00,0.00,0.000,6,0.153,0.000,2462,2224,3498
$GC,5486,-0.99,-146.0,469.9,-7.1,376,5487,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2224,3499
$GC,5810,-1.08,-146.0,493.2,-7.3,384,5815,0.15,2.25,0.00,0.000,4,0.081,0.071,2392,3602,3500
$GC,5865,-0.90,-146.0,498.6,-9.9,385,5870,0.17,2.15,0.00,0.000,6,0.148,0.048,2460,2218,3500
$GC,6178,-0.97,-146.0,522.0,-7.4,393,6179,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2218,3500
$GC,6503,-1.04,-146.0,544.9,-6.9,401,6505,0.12,0.00,0.00,0.000,6,0.082,0.000,2409,2218,3501
$GC,6828,-0.91,-146.0,573.8,-9.0,409,6832,0.17,2.22,0.00,0.000,4,0.148,0.070,2451,3599,3502
$GC,6910,-0.96,-146.0,580.6,-8.0,410,6917,0.00,2.12,0.00,0.000,6,0.000,0.047,2451,2224,3502
$GC,7241,-0.96,-146.0,605.5,-7.5,419,7242,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2224,3503
$GC,7566,-0.96,-146.0,629.8,-7.5,427,7567,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2224,3503
$GC,7891,-0.96,-146.0,653.8,-7.4,435,7892,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2224,3503
$GC,8216,-0.96,-146.0,677.5,-7.2,443,8217,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2224,3503
$GC,8540,-0.96,-146.0,701.0,-7.2,451,8545,0.00,2.25,0.00,0.000,4,0.000,0.072,2440,3612,3503
$GC,8591,-0.96,-146.0,704.9,-8.4,452,8595,0.00,2.12,0.00,0.000,6,0.000,0.047,2441,2219,3503
$STATE,8872,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8872,begin apogee
$GC,8876,-0.31,0.0,726.1,7.4,459,9004,0.47,0.00,124.60,1.291,6,0.130,0.000,2593,1742,2895
$STATE,9004,end apogee,CONTROL_FINISHED_OK
$STATE,9005,begin climb
$GC,9006,1.07,146.0,726.7,0.0,462,9140,0.90,2.62,124.43,1.223,4,0.094,0.063,2889,3156,2298
$GC,9145,0.70,146.0,717.6,12.3,465,9150,0.35,2.47,0.00,0.000,6,0.144,0.050,2806,1736,2296
$GC,9492,0.70,146.0,691.1,7.2,474,9493,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1736,2293
$GC,9816,0.70,146.0,667.1,7.4,482,9821,0.00,2.38,0.00,0.000,4,0.000,0.064,2807,3153,2292
$GC,9849,0.59,146.0,664.3,9.1,482,9854,0.12,2.33,0.00,0.000,6,0.146,0.051,2782,1721,2292
$GC,10185,0.71,162.1,642.3,6.5,491,10201,0.10,0.00,13.52,1.153,6,0.091,0.000,2822,1721,2234
$GC,10510,0.66,162.1,615.6,8.3,499,10515,0.10,2.38,0.00,0.000,4,0.139,0.064,2796,3164,2232
$GC,10537,0.60,162.1,613.3,8.6,499,10541,0.00,2.30,0.00,0.000,6,0.000,0.051,2805,1733,2231
$GC,10875,0.60,162.1,586.7,8.2,508,10876,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1733,2231
$GC,11198,0.60,162.1,560.4,8.2,516,11202,0.00,2.30,0.00,0.000,4,0.000,0.064,2805,3159,2231
$GC,11219,0.55,162.1,558.6,8.2,516,11224,0.15,2.25,0.00,0.000,6,0.141,0.051,2773,1736,2230
$GC,11567,0.74,196.0,537.6,5.9,525,11598,0.15,0.00,28.80,1.168,6,0.079,0.000,2833,1735,2096
$GC,11891,0.65,196.0,506.2,10.0,533,11896,0.15,2.38,0.00,0.000,4,0.133,0.064,2791,3163,2092
$GC,11930,0.65,196.0,502.6,8.4,534,11934,0.00,2.30,0.00,0.000,6,0.000,0.051,2799,1729,2091
$GC,12259,0.70,196.0,478.6,7.1,542,12260,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1729,2091
$GC,12584,0.77,196.0,454.7,7.5,550,12588,0.10,2.35,0.00,0.000,4,0.088,0.064,2843,3163,2091
$GC,12621,0.54,196.0,450.9,10.7,550,12629,0.28,2.28,0.00,0.000,6,0.140,0.051,2772,1728,2091
$GC,12952,0.80,233.3,431.1,5.8,559,12986,0.20,0.00,31.45,1.089,6,0.068,0.000,2853,1727,1943
$GC,13257,0.67,233.3,396.8,11.9,567,13259,0.20,0.00,0.00,0.000,6,0.127,0.000,2795,1727,1938
$GC,13568,0.81,233.3,372.6,7.7,582,13573,0.15,2.35,0.00,0.000,4,0.075,0.063,2855,3167,1937
$GC,13607,0.58,233.3,368.1,12.5,584,13612,0.28,2.28,0.00,0.000,6,0.136,0.051,2785,1734,1936
$GC,13934,0.84,269.3,346.4,5.9,600,13967,0.17,0.00,30.12,1.025,6,0.071,0.000,2857,1734,1797
$GC,14262,0.74,269.3,312.8,10.7,616,14264,0.15,0.00,0.00,0.000,6,0.127,0.000,2814,1734,1790
$GC,14571,0.84,269.3,287.5,8.1,631,14575,0.10,2.30,0.00,0.000,4,0.085,0.063,2855,3157,1789
$GC,14585,0.84,269.3,286.0,8.3,631,14595,0.08,2.28,0.00,0.000,6,0.133,0.049,2838,1739,1788
$GC,14901,0.84,269.3,255.6,9.7,647,14902,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1738,1788
$GC,15210,0.84,269.3,223.7,10.0,662,15214,0.00,2.33,0.00,0.000,4,0.000,0.065,2846,324,1788
$GC,15226,0.91,269.3,222.1,10.1,662,15233,0.00,2.33,0.00,0.000,6,0.000,0.049,2846,1739,1788
$GC,15541,0.91,269.3,192.1,9.0,678,15545,0.00,2.28,0.00,0.000,4,0.000,0.065,2846,3157,1788
$GC,15567,0.91,269.3,189.4,9.8,679,15572,0.00,2.25,0.00,0.000,6,0.000,0.050,2856,1742,1787
$GC,15894,0.91,269.3,159.6,8.7,695,15898,0.00,2.33,0.00,0.000,4,0.000,0.066,2866,323,1788
$GC,15932,0.91,269.3,156.1,8.7,696,15939,0.00,2.35,0.00,0.000,6,0.000,0.051,2866,1746,1788
$GC,16250,0.91,269.3,127.6,9.1,712,16254,0.00,2.28,0.00,0.000,4,0.000,0.066,2866,3163,1788
$GC,16276,0.84,269.3,124.6,10.0,713,16281,0.08,2.28,0.00,0.000,6,0.113,0.051,2836,1734,1787
$GC,16603,1.00,272.5,101.7,6.9,729,16605,0.12,0.00,0.00,0.000,6,0.084,0.000,2887,1734,1788
$GC,16937,1.00,272.5,72.0,8.0,786,16943,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1734,1788
$GC,17280,1.00,272.5,42.5,8.2,847,17287,0.00,2.30,0.00,0.000,4,0.000,0.070,2897,328,1787
$GC,17298,1.00,272.5,40.9,8.2,850,17305,0.10,2.28,0.00,0.000,6,0.143,0.054,2869,1748,1788
$GC,17643,1.31,392.3,21.6,3.1,911,17753,0.20,2.50,101.03,0.881,4,0.075,0.069,2961,335,1293
$STATE,17830,end climb,SURFACE_DEPTH_REACHED
$STATE,17830,begin surface coast
$FINISH,1.4,1.021321
$STATE,17859,end surface coast,CONTROL_FINISHED_OK
$STATE,17859,begin surface
$SM_CCo,17936,0.00,0.000,0,0,1279,396.40
$SM_GC,2.28,7.30,0.00,0.00,0.056,0.000,0.000,340,2231,1279,-10.58,0.03,396.40
$RAFOS_CLK,729
$RAFOS,4,1221612257,0.750000,0.738056,147,58,51,51,51,48,740,206,163,116,147,217
$RAFOS,3,1221611648,0.583333,0.568889,90,59,58,55,54,54,950,221,203,135,165,118
$RAFOS,2,1221611076,0.416667,0.410000,60,59,59,57,49,48,169,152,215,197,231,182
$RAFOS,1,1221610465,0.250000,0.240278,60,57,56,55,54,51,219,194,148,114,163,174
$RAFOS,0,1221609853,0.083333,0.070278,70,56,55,55,51,50,206,152,187,220,170,118
$RAFOS_FIX,-21558.052734,-642015.937500,170908,000009,3,102,46149.68
$IRIDIUM_FIX,6631.12,-5713.57,111297,151539
$TT8_MAMPS,0.026845
$HUMID,1817
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,15.40
$XPDR_PINGS,44
$24V_AH,23.2,15.460
$10V_AH,10.6,7.540
$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,23.500,115.950,453.950,0.000,0.000,30.201,35.518,125.448,11.000,0.000,0.000,15.043,1876.202,13775.674,612.415,1682.728,330.469,33.346,1525.498,0.000,1667.636,1800.000,0.531,0.000
$DEVICE_MAMPS,272.285,76.700,1290.861,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,659.453,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31565,947
$CAP_FILE_SIZE,128724,0
$CFSIZE,260165632,249118720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.5
$CURRENT,0.151, 88.5,1
$GPS,170908,020421,6701.988,-5700.722,37,2.5,56,-37.6