version: 66.04
glider: 108
mission: 11
dive: 62
start: 9 17 108 2 13 7
data:
$ID,108
$MISSION,11
$DIVE,62
$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,1
$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,-112210.2
$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,30
$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,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
$GPS1,020421,6701.988,-5700.722,37,2.5,56,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-70.1
$GPS2,021215,6701.985,-5700.752,13,1.0,13,-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,0.159,0.121
$KALMAN_X,-3428.5,-129.4,270.8,64286.4,-132.7
$KALMAN_Y,8086.9,812.1,2820.3,5563.3,-5296.8
$MHEAD_RNG_PITCHd_Wd,90.2,9399,-14.2,-7.021
$D_GRID,669
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.07,-146.0,0.0,0.0,0,89,0.00,0.00,-69.90,0.000,2,0.000,0.000,340,2232,2912
$GC,91,-1.07,-146.0,3.2,-2.3,12,123,8.85,2.38,-16.02,0.000,4,0.273,0.074,2428,807,3494
$GC,353,-0.86,-146.0,41.9,-11.9,58,360,0.20,2.35,0.00,0.000,6,0.144,0.059,2476,2238,3498
$GC,697,-0.86,-146.0,73.6,-9.6,119,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2237,3501
$GC,1033,-0.86,-146.0,106.1,-9.6,171,1037,0.00,2.17,0.00,0.000,4,0.000,0.073,2468,3598,3501
$GC,1105,-0.86,-146.0,113.6,-11.1,174,1110,0.00,2.17,0.00,0.000,6,0.000,0.049,2468,2224,3501
$GC,1432,-0.86,-146.0,145.7,-9.7,190,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2224,3501
$GC,1741,-0.86,-146.0,173.0,-8.7,205,1745,0.00,2.25,0.00,0.000,4,0.000,0.064,2468,827,3500
$GC,1756,-0.86,-146.0,174.4,-8.7,205,1763,0.00,2.30,0.00,0.000,6,0.000,0.060,2458,2228,3499
$GC,2072,-0.86,-146.0,201.9,-8.5,221,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2228,3499
$GC,2381,-0.86,-146.0,227.6,-7.9,236,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2228,3498
$GC,2690,-0.86,-146.0,253.0,-8.4,251,2694,0.00,2.17,0.00,0.000,4,0.000,0.075,2447,3597,3497
$GC,2722,-0.86,-146.0,255.9,-9.4,252,2728,0.05,2.15,0.00,0.000,6,0.158,0.051,2464,2226,3497
$GC,3044,-0.91,-146.0,281.0,-7.6,268,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2226,3496
$GC,3353,-0.97,-146.0,304.6,-7.5,283,3357,0.00,2.22,0.00,0.000,4,0.000,0.074,2457,3595,3496
$GC,3385,-1.02,-146.0,307.4,-8.4,284,3390,0.05,2.12,0.00,0.000,6,0.086,0.049,2423,2232,3496
$GC,3707,-0.92,-146.0,337.4,-9.2,300,3711,0.12,2.25,0.00,0.000,4,0.153,0.063,2457,818,3496
$GC,3733,-0.92,-146.0,339.9,-8.6,301,3738,0.00,2.30,0.00,0.000,6,0.000,0.058,2449,2236,3496
$GC,4060,-0.92,-146.0,365.6,-7.9,317,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2236,3497
$GC,4369,-0.92,-146.0,389.7,-8.0,332,4371,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2236,3496
$GC,4676,-0.92,-146.0,414.0,-7.9,343,4680,0.00,2.28,0.00,0.000,4,0.000,0.061,2449,819,3497
$GC,4702,-0.92,-146.0,416.2,-8.6,343,4708,0.00,2.30,0.00,0.000,6,0.000,0.058,2438,2241,3497
$GC,5045,-0.92,-146.0,444.4,-8.2,352,5049,0.00,2.12,0.00,0.000,4,0.000,0.069,2427,3595,3497
$GC,5078,-0.87,-146.0,447.4,-8.9,352,5083,0.10,2.12,0.00,0.000,6,0.142,0.046,2462,2226,3497
$GC,5415,-0.94,-146.0,470.6,-6.7,361,5419,0.00,2.22,0.00,0.000,4,0.000,0.068,2454,3602,3498
$GC,5443,-1.00,-146.0,472.7,-7.4,361,5447,0.00,2.10,0.00,0.000,6,0.000,0.045,2454,2222,3497
$GC,5784,-1.00,-146.0,497.0,-7.2,370,5785,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2221,3498
$GC,6109,-1.05,-146.0,520.6,-7.3,378,6111,0.10,0.00,0.00,0.000,6,0.091,0.000,2409,2221,3499
$GC,6434,-0.92,-146.0,550.1,-9.2,386,6436,0.17,0.00,0.00,0.000,6,0.146,0.000,2460,2220,3500
$GC,6759,-0.99,-146.0,573.6,-7.0,394,6763,0.00,2.17,0.00,0.000,4,0.000,0.058,2460,830,3500
$GC,6797,-0.99,-146.0,576.5,-7.2,394,6804,0.00,2.25,0.00,0.000,6,0.000,0.054,2452,2232,3500
$GC,7128,-0.99,-146.0,601.0,-7.5,403,7129,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2232,3501
$GC,7453,-0.99,-146.0,625.8,-7.7,411,7454,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2232,3501
$GC,7778,-1.41,-146.0,639.1,-0.7,419,7781,0.30,0.00,0.00,0.000,6,0.060,0.000,2325,2232,3502
$STATE,7898,end dive,NO_VERTICAL_VELOCITY
$STATE,7898,begin apogee
$GC,7903,-0.31,0.0,639.1,0.0,422,8029,0.77,0.00,122.70,1.220,6,0.094,0.000,2596,1744,2895
$STATE,8029,end apogee,CONTROL_FINISHED_OK
$STATE,8029,begin climb
$GC,8031,1.07,146.0,638.9,0.0,425,8157,0.85,0.00,122.35,1.160,6,0.071,0.000,2893,1744,2299
$GC,8481,0.79,146.0,593.9,11.7,436,8483,0.25,0.00,0.00,0.000,6,0.130,0.000,2822,1744,2294
$GC,8802,0.79,146.0,567.1,8.0,444,8803,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1744,2294
$GC,9128,0.74,146.0,541.6,7.9,452,9132,0.00,2.35,0.00,0.000,4,0.000,0.066,2831,332,2293
$GC,9182,0.74,146.0,537.2,8.4,453,9187,0.00,2.35,0.00,0.000,6,0.000,0.051,2831,1747,2293
$GC,9495,0.66,146.0,511.8,8.4,461,9500,0.12,2.25,0.00,0.000,4,0.144,0.064,2796,3153,2292
$GC,9556,0.56,146.0,506.7,8.4,462,9561,0.08,2.28,0.00,0.000,6,0.136,0.051,2779,1740,2291
$GC,9869,0.73,184.6,488.8,5.8,470,9902,0.12,0.00,31.27,1.128,6,0.083,0.000,2830,1740,2142
$GC,10193,0.65,184.6,460.7,8.8,478,10198,0.12,2.33,0.00,0.000,4,0.133,0.063,2796,3151,2138
$GC,10236,0.61,184.6,457.0,8.8,479,10240,0.00,2.30,0.00,0.000,6,0.000,0.049,2803,1734,2137
$GC,10560,0.61,188.6,434.2,6.9,487,10566,0.00,0.00,4.05,0.729,6,0.000,0.000,2803,1733,2126
$GC,10885,0.61,188.6,410.9,7.4,495,10889,0.00,2.30,0.00,0.000,4,0.000,0.061,2803,3162,2125
$GC,10922,0.55,188.6,407.6,9.1,495,10930,0.10,2.28,0.00,0.000,6,0.127,0.049,2778,1738,2125
$GC,11236,0.77,216.5,388.2,6.1,508,11263,0.15,0.00,24.27,1.055,6,0.073,0.000,2842,1737,2012
$GC,11565,0.67,216.5,355.6,10.0,524,11567,0.15,0.00,0.00,0.000,6,0.126,0.000,2798,1737,2007
$GC,11875,0.81,235.5,335.0,6.4,539,11898,0.12,2.42,16.38,0.993,4,0.077,0.062,2851,3160,1934
$GC,11921,0.64,235.5,330.7,10.4,541,11926,0.25,2.28,0.00,0.000,6,0.132,0.048,2789,1738,1932
$GC,12246,0.85,257.5,309.3,6.3,557,12268,0.17,0.00,19.23,0.981,6,0.069,0.000,2861,1738,1845
$GC,12575,0.73,257.5,272.3,11.4,573,12577,0.17,0.00,0.00,0.000,6,0.124,0.000,2810,1738,1841
$GC,12885,0.88,258.2,249.2,7.0,588,12887,0.15,0.00,0.00,0.000,6,0.072,0.000,2870,1738,1840
$GC,13194,0.77,258.2,215.0,11.5,603,13196,0.17,0.00,0.00,0.000,6,0.127,0.000,2817,1738,1840
$GC,13505,0.91,258.2,190.9,7.1,618,13510,0.12,2.30,0.00,0.000,4,0.080,0.063,2869,3151,1840
$GC,13531,0.83,258.2,188.2,10.5,619,13536,0.12,2.25,0.00,0.000,6,0.127,0.049,2836,1738,1839
$GC,13852,0.93,259.8,164.2,7.0,635,13857,0.10,2.28,0.00,0.000,4,0.089,0.063,2877,3158,1839
$GC,13881,0.82,259.8,161.7,9.0,636,13885,0.20,2.22,0.00,0.000,6,0.135,0.050,2828,1738,1839
$GC,14206,0.98,260.8,140.3,7.0,652,14208,0.15,0.00,0.00,0.000,6,0.075,0.000,2890,1738,1839
$GC,14516,0.92,260.8,109.1,10.1,667,14520,0.15,2.30,0.00,0.000,4,0.129,0.066,2854,327,1839
$GC,14564,1.05,260.8,104.9,8.0,669,14569,0.08,2.30,0.00,0.000,6,0.076,0.051,2897,1747,1839
$GC,14904,0.99,260.8,72.5,9.5,722,14910,0.12,2.20,0.00,0.000,4,0.141,0.064,2862,3152,1839
$GC,14944,0.99,260.8,68.8,8.9,729,14950,0.00,2.22,0.00,0.000,6,0.000,0.054,2868,1729,1839
$GC,15288,1.06,272.7,43.8,6.6,790,15306,0.00,2.30,12.75,0.884,4,0.000,0.069,2878,323,1782
$GC,15324,1.16,287.6,41.4,6.5,796,15343,0.12,2.30,14.05,0.867,6,0.087,0.052,2929,1747,1721
$GC,15680,1.16,287.6,10.8,8.0,859,15687,0.00,2.25,0.00,0.000,4,0.000,0.068,2929,3154,1713
$STATE,15769,end climb,SURFACE_DEPTH_REACHED
$STATE,15769,begin surface coast
$FINISH,1.4,1.013898
$STATE,15804,end surface coast,CONTROL_FINISHED_OK
$STATE,15804,begin surface
$SM_CCo,15880,0.00,0.000,0,0,1708,290.93
$SM_GC,2.50,7.07,0.00,0.00,0.061,0.000,0.000,334,2214,1708,-10.58,-0.45,290.93
$RAFOS_CLK,633
$RAFOS,4,1221626672,4.750000,4.742222,63,62,59,56,55,53,193,203,177,217,139,163
$RAFOS,3,1221626063,4.583333,4.573056,73,59,56,55,53,53,885,201,187,168,212,119
$RAFOS,2,1221625444,4.416667,4.401111,59,58,57,51,51,51,198,212,158,133,120,226
$RAFOS,1,1221624876,4.250000,4.243333,59,56,56,55,52,51,221,175,153,136,209,198
$RAFOS,0,1221624263,4.083333,4.073056,58,56,55,52,50,50,123,207,163,184,173,218
$RAFOS_FIX,-21558.052734,-642015.937500,170908,000009,3,102,46149.68
$IRIDIUM_FIX,6631.12,-5705.96,121297,020234
$TT8_MAMPS,0.026845
$HUMID,1840
$INTERNAL_PRESSURE,9.92226
$TCM_TEMP,15.50
$XPDR_PINGS,32
$24V_AH,23.5,15.595
$10V_AH,10.6,7.597
$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,21.975,94.750,367.050,0.000,0.000,55.385,63.494,183.135,8.000,0.000,0.000,14.531,1599.562,12301.404,504.086,1515.038,431.900,33.354,1320.235,0.000,1503.357,1800.000,0.531,0.000
$DEVICE_MAMPS,273.052,75.166,1220.297,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,614.136,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28422,881
$CAP_FILE_SIZE,117522,0
$CFSIZE,260165632,249077760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.1
$GPS,170908,063914,6702.373,-5656.321,39,1.7,45,-37.6