version: 66.04
glider: 108
mission: 11
dive: 133
start: 10 2 108 6 49 31
data:
$ID,108
$MISSION,11
$DIVE,133
$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,-2
$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,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-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,-113435.65
$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,20
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,275
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,588
$VBD_MAX,3951
$C_VBD,2745
$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
$GPS1,064332,6643.081,-6020.597,38,1.2,38,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-70.3
$GPS2,064838,6643.062,-6020.782,9,1.0,14,-38.0
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_ADD1_EB
$TGT_LATLONG,6647.000,-5956.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.194,0.129
$KALMAN_X,40982.1,174.7,-104.9,-119451.7,492.1
$KALMAN_Y,-62315.2,-609.9,1192.3,45497.3,-4351.5
$MHEAD_RNG_PITCHd_Wd,94.4,19508,-13.0,-7.021
$D_GRID,530
$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,-1.00,-146.0,0.0,0.0,0,53,0.00,0.00,-34.15,0.000,2,0.000,0.000,333,2242,2414
$GC,55,-1.00,-146.0,3.0,-1.9,6,109,8.45,2.42,-36.60,0.000,4,0.252,0.084,2446,817,3343
$GC,211,-0.63,-146.0,23.1,-15.4,33,218,0.30,2.35,0.00,0.000,6,0.146,0.067,2524,2242,3347
$GC,556,-0.63,-146.0,49.6,-7.3,94,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2242,3350
$GC,898,-0.63,-146.0,78.6,-8.1,155,904,0.00,2.35,0.00,0.000,4,0.000,0.070,2524,813,3350
$GC,916,-0.63,-146.0,80.1,-8.0,158,922,0.00,2.33,0.00,0.000,6,0.000,0.065,2516,2240,3350
$GC,1257,-0.63,-146.0,105.6,-6.7,208,1261,0.00,2.20,0.00,0.000,4,0.000,0.081,2506,3601,3350
$GC,1273,-0.63,-146.0,106.7,-5.8,208,1280,0.00,2.20,0.00,0.000,6,0.000,0.057,2506,2214,3350
$GC,1588,-0.63,-146.0,130.3,-7.8,224,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2213,3351
$GC,1897,-0.63,-146.0,153.4,-7.1,239,1898,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2213,3350
$GC,2207,-0.63,-146.0,175.3,-7.4,254,2211,0.00,2.28,0.00,0.000,4,0.000,0.071,2506,818,3350
$GC,2233,-0.63,-146.0,177.5,-8.6,255,2238,0.05,2.35,0.00,0.000,6,0.143,0.068,2515,2238,3350
$GC,2561,-0.70,-146.0,200.6,-6.9,271,2562,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2238,3350
$GC,2870,-0.77,-146.0,221.0,-6.5,286,2875,0.10,2.38,0.00,0.000,4,0.094,0.071,2475,810,3349
$GC,2909,-0.64,-146.0,224.1,-8.5,288,2914,0.20,2.33,0.00,0.000,6,0.143,0.068,2523,2235,3349
$GC,3235,-0.75,-146.0,243.0,-5.6,304,3237,0.12,0.00,0.00,0.000,6,0.089,0.000,2474,2234,3349
$GC,3545,-0.68,-146.0,265.2,-7.0,319,3550,0.15,2.35,0.00,0.000,4,0.151,0.071,2516,812,3348
$GC,3588,-0.74,-146.0,268.1,-6.0,321,3592,0.00,2.33,0.00,0.000,6,0.000,0.069,2508,2242,3348
$GC,3916,-0.81,-146.0,286.3,-5.6,337,3920,0.10,2.35,0.00,0.000,4,0.091,0.071,2464,810,3348
$GC,3948,-0.67,-146.0,288.7,-7.7,338,3955,0.20,2.33,0.00,0.000,6,0.146,0.068,2512,2243,3348
$GC,4265,-0.76,-146.0,305.0,-4.9,354,4269,0.00,2.33,0.00,0.000,4,0.000,0.073,2512,816,3348
$GC,4293,-0.81,-146.0,306.5,-5.6,355,4298,0.10,2.30,0.00,0.000,6,0.091,0.068,2462,2242,3348
$GC,4620,-0.72,-146.0,328.8,-7.2,371,4625,0.15,2.33,0.00,0.000,4,0.151,0.072,2510,812,3348
$GC,4646,-0.72,-146.0,330.6,-6.3,372,4651,0.00,2.33,0.00,0.000,6,0.000,0.067,2502,2232,3348
$GC,4968,-0.77,-146.0,348.2,-5.5,388,4972,0.00,2.20,0.00,0.000,4,0.000,0.084,2491,3604,3347
$GC,4995,-0.81,-146.0,349.9,-6.2,389,4999,0.00,2.17,0.00,0.000,6,0.000,0.058,2491,2216,3347
$GC,5322,-0.81,-146.0,370.3,-6.4,405,5326,0.00,2.22,0.00,0.000,4,0.000,0.073,2492,809,3348
$GC,5371,-0.81,-146.0,373.7,-7.2,407,5375,0.00,2.33,0.00,0.000,6,0.000,0.068,2481,2230,3347
$GC,5698,-0.81,-146.0,395.8,-6.6,423,5702,0.00,2.28,0.00,0.000,4,0.000,0.071,2481,811,3347
$GC,5854,-0.76,-146.0,407.8,-7.8,428,5858,0.00,2.30,0.00,0.000,6,0.000,0.067,2471,2236,3347
$GC,6202,-0.76,-146.0,432.8,-7.0,437,6203,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2236,3347
$GC,6527,-0.76,-146.0,453.6,-6.2,445,6528,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2236,3347
$GC,6852,-0.76,-146.0,475.9,-7.0,453,6856,0.00,2.17,0.00,0.000,4,0.000,0.081,2461,3600,3347
$GC,6968,-0.76,-146.0,485.0,-7.2,455,6973,0.08,2.17,0.00,0.000,6,0.157,0.057,2485,2224,3347
$GC,7312,-0.81,-146.0,505.9,-6.0,464,7316,0.00,2.25,0.00,0.000,4,0.000,0.071,2486,816,3348
$GC,7350,-0.81,-146.0,508.5,-6.4,464,7357,0.00,2.30,0.00,0.000,6,0.000,0.066,2477,2247,3347
$GC,7681,-0.81,-146.0,528.6,-6.1,473,7685,0.00,2.30,0.00,0.000,4,0.000,0.067,2477,820,3348
$STATE,7700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7700,begin apogee
$GC,7706,-0.31,0.0,530.0,6.6,473,7831,0.35,0.00,121.93,1.216,6,0.137,0.000,2584,1747,2745
$STATE,7831,end apogee,CONTROL_FINISHED_OK
$STATE,7832,begin climb
$GC,7834,1.00,146.0,533.5,0.0,476,7966,0.90,2.58,124.78,1.142,4,0.109,0.071,2870,3154,2148
$GC,7988,0.70,146.0,522.8,11.1,479,7994,0.28,2.53,0.00,0.000,6,0.136,0.058,2808,1745,2144
$GC,8319,0.72,163.2,500.4,6.5,487,8336,0.00,0.00,14.88,1.071,6,0.000,0.000,2808,1745,2079
$GC,8644,0.75,182.6,479.6,6.4,495,8663,0.00,0.00,17.42,1.096,6,0.000,0.000,2808,1745,2000
$GC,8969,0.82,182.6,456.7,7.1,503,8974,0.12,2.42,0.00,0.000,4,0.082,0.071,2859,3160,1997
$GC,9013,0.55,182.6,452.2,10.7,504,9018,0.32,2.42,0.00,0.000,6,0.134,0.058,2774,1723,1996
$GC,9331,1.06,196.6,432.1,6.6,512,9351,0.32,2.47,12.80,1.081,4,0.077,0.071,2903,327,1943
$GC,9406,0.79,196.6,425.1,10.7,513,9411,0.25,2.40,0.00,0.000,6,0.133,0.060,2829,1749,1942
$GC,9742,0.79,196.6,399.3,7.7,522,9746,0.00,2.28,0.00,0.000,4,0.000,0.072,2829,3151,1941
$GC,9781,0.68,196.6,395.8,9.5,523,9788,0.12,2.33,0.00,0.000,6,0.137,0.057,2803,1735,1940
$GC,10097,0.84,207.8,374.9,6.7,539,10113,0.12,2.42,10.98,1.032,4,0.081,0.071,2866,326,1897
$GC,10146,0.77,207.8,370.4,9.8,540,10151,0.15,2.33,0.00,0.000,6,0.123,0.058,2822,1739,1896
$GC,10467,0.85,217.0,348.4,6.7,556,10481,0.00,2.35,9.07,0.992,4,0.000,0.072,2822,3146,1860
$GC,10544,0.85,217.0,342.7,7.6,559,10548,0.00,2.33,0.00,0.000,6,0.000,0.056,2829,1734,1857
$GC,10865,0.93,228.0,321.7,6.7,575,10878,0.10,0.00,10.48,1.004,6,0.087,0.000,2872,1734,1815
$GC,11174,0.84,228.0,293.4,9.5,590,11179,0.12,2.35,0.00,0.000,4,0.130,0.072,2845,330,1813
$GC,11195,0.84,228.0,291.5,9.1,591,11199,0.00,2.35,0.00,0.000,6,0.000,0.059,2845,1745,1813
$GC,11521,0.84,228.0,264.6,8.2,607,11525,0.00,2.28,0.00,0.000,4,0.000,0.073,2845,3156,1812
$GC,11560,0.74,228.0,260.7,10.3,608,11567,0.15,2.30,0.00,0.000,6,0.132,0.058,2812,1740,1811
$GC,11877,1.19,228.0,236.2,8.2,624,11882,0.30,2.33,0.00,0.000,4,0.081,0.074,2926,327,1811
$GC,11965,0.95,228.0,226.5,12.2,628,11970,0.17,2.35,0.00,0.000,6,0.133,0.061,2857,1745,1811
$GC,12291,0.95,228.0,199.6,8.0,644,12295,0.00,2.28,0.00,0.000,4,0.000,0.075,2857,3160,1810
$GC,12340,0.83,228.0,195.0,9.6,646,12345,0.12,2.30,0.00,0.000,6,0.137,0.060,2829,1734,1810
$GC,12667,1.02,267.5,174.0,5.8,662,12710,0.17,2.42,34.22,1.013,4,0.075,0.075,2910,333,1653
$GC,12733,0.91,267.5,168.1,10.0,665,12738,0.20,2.35,0.00,0.000,6,0.131,0.061,2852,1745,1651
$GC,13059,1.03,286.5,146.3,6.4,681,13082,0.10,2.40,16.55,0.963,4,0.087,0.076,2892,3157,1576
$GC,13132,0.82,286.5,139.1,11.4,684,13137,0.25,2.35,0.00,0.000,6,0.133,0.061,2829,1733,1573
$GC,13458,1.46,286.5,115.3,8.8,700,13463,0.43,2.35,0.00,0.000,4,0.097,0.075,2977,318,1568
$GC,13491,1.55,286.5,111.8,10.1,701,13498,0.00,2.35,0.00,0.000,6,0.000,0.061,2978,1752,1568
$GC,13827,1.18,286.5,62.4,15.5,750,13834,0.20,2.42,0.00,0.000,4,0.150,0.075,2926,326,1568
$GC,13845,0.88,286.5,59.8,15.2,753,13852,0.28,2.33,0.00,0.000,6,0.125,0.062,2841,1742,1568
$GC,14190,1.55,286.5,32.3,9.1,814,14197,0.45,2.30,0.00,0.000,4,0.104,0.077,2988,3158,1566
$GC,14225,1.73,286.5,28.6,10.1,820,14232,0.12,2.33,0.00,0.000,6,0.095,0.063,3044,1726,1566
$STATE,14417,end climb,SURFACE_DEPTH_REACHED
$STATE,14417,begin surface coast
$FINISH,1.7,1.023835
$STATE,14439,end surface coast,CONTROL_FINISHED_OK
$STATE,14439,begin surface
$SM_CCo,14515,0.00,0.000,0,0,1562,290.19
$SM_GC,2.55,7.32,0.00,0.00,0.058,0.000,0.000,339,2241,1562,-10.57,0.31,290.19
$RAFOS_CLK,621
$RAFOS,4,1222937043,8.750000,8.734167,57,56,56,52,52,51,851,210,193,150,124,169
$RAFOS,3,1222936452,8.583333,8.570000,83,66,62,56,55,55,718,226,203,162,184,148
$RAFOS,2,1222935846,8.416667,8.401667,67,64,59,58,51,50,943,188,156,208,222,139
$RAFOS,1,1222935243,8.250000,8.234167,145,61,60,59,52,51,731,202,177,214,118,1526
$RAFOS,0,1222934643,8.083333,8.067500,89,60,58,57,51,50,564,151,216,199,126,160
$RAFOS_FIX,6641.763184,-6011.628906,021008,080854,3,106,1.30
$IRIDIUM_FIX,6614.97,-6028.78,271297,020253
$TT8_MAMPS,0.026845
$HUMID,1825
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,15.00
$XPDR_PINGS,32
$24V_AH,22.8,26.369
$10V_AH,10.6,12.164
$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,23.450,139.850,373.100,0.000,0.000,25.376,31.283,139.064,8.000,0.000,0.000,15.674,1621.867,10700.389,509.752,1637.170,363.267,33.356,1407.812,0.000,1615.814,1800.000,0.529,0.000
$DEVICE_MAMPS,252.343,83.603,1215.695,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,601.097,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28393,858
$CAP_FILE_SIZE,125482,0
$CFSIZE,260165632,243920896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.0
$GPS,021008,105256,6641.550,-6015.045,37,1.5,37,-38.0