version: 66.04
glider: 108
mission: 11
dive: 209
start: 10 22 108 8 26 31
data:
$ID,108
$MISSION,11
$DIVE,209
$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,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,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,-114741.66
$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,23
$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
$GPS1,082038,6641.301,-5957.508,36,0.9,36,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-70.6
$GPS2,082538,6641.325,-5957.705,10,1.2,10,-37.9
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.149,0.180
$KALMAN_X,56197.1,446.8,383.1,-159548.9,-1080.8
$KALMAN_Y,-81911.5,-1887.2,1391.1,58669.5,-3181.5
$MHEAD_RNG_PITCHd_Wd,358.3,33205,-13.0,-7.021
$D_GRID,650
$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,15,-1.00,-146.0,0.0,0.0,0,47,0.00,0.00,-30.05,0.000,2,0.000,0.000,337,2237,2279
$GC,49,-1.00,-146.0,3.1,-1.2,5,115,8.52,2.42,-50.88,0.000,4,0.249,0.081,2446,811,3342
$GC,185,-0.65,-146.0,13.9,-14.3,28,192,0.28,2.40,0.00,0.000,6,0.151,0.067,2515,2239,3346
$GC,529,-0.65,-146.0,47.0,-8.7,89,535,0.00,2.25,0.00,0.000,4,0.000,0.081,2506,3601,3347
$GC,761,-0.65,-146.0,66.5,-8.3,130,767,0.00,2.20,0.00,0.000,6,0.000,0.055,2506,2220,3348
$GC,1104,-0.65,-146.0,95.4,-8.9,191,1110,0.00,2.25,0.00,0.000,4,0.000,0.068,2506,816,3348
$GC,1195,-0.65,-146.0,103.8,-9.2,202,1199,0.00,2.38,0.00,0.000,6,0.000,0.067,2497,2241,3348
$GC,1522,-0.65,-146.0,131.0,-8.6,218,1526,0.00,2.25,0.00,0.000,4,0.000,0.084,2486,3605,3349
$GC,1612,-0.65,-146.0,139.3,-9.2,222,1617,0.12,2.20,0.00,0.000,6,0.152,0.058,2519,2217,3348
$GC,1944,-0.73,-146.0,161.9,-6.6,238,1948,0.00,2.28,0.00,0.000,4,0.000,0.070,2519,812,3348
$GC,2062,-0.80,-146.0,169.9,-6.7,243,2067,0.10,2.38,0.00,0.000,6,0.089,0.068,2469,2244,3348
$GC,2382,-0.71,-146.0,195.9,-8.1,259,2387,0.12,2.22,0.00,0.000,4,0.149,0.081,2494,3599,3348
$GC,2533,-0.71,-146.0,207.3,-7.4,265,2540,0.00,2.20,0.00,0.000,6,0.000,0.058,2494,2217,3347
$GC,2848,-0.71,-146.0,231.5,-8.0,281,2849,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2217,3347
$GC,3158,-0.71,-146.0,256.2,-7.9,296,3159,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2217,3347
$GC,3467,-0.71,-146.0,277.9,-6.7,311,3468,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2217,3347
$GC,3776,-0.71,-146.0,297.1,-6.0,326,3778,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2217,3346
$GC,4088,-0.71,-146.0,315.3,-6.0,341,4089,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2217,3347
$GC,4395,-0.71,-146.0,333.6,-6.2,356,4399,0.00,2.28,0.00,0.000,4,0.000,0.071,2494,810,3346
$GC,4489,-0.71,-146.0,339.9,-6.7,360,4493,0.00,2.35,0.00,0.000,6,0.000,0.069,2484,2245,3346
$GC,4816,-0.71,-146.0,361.1,-6.5,376,4820,0.00,2.22,0.00,0.000,4,0.000,0.082,2473,3605,3346
$GC,4893,-0.71,-146.0,366.9,-7.5,379,4898,0.08,2.22,0.00,0.000,6,0.147,0.056,2497,2217,3346
$GC,5214,-0.79,-146.0,387.1,-6.1,395,5218,0.00,2.25,0.00,0.000,4,0.000,0.069,2497,810,3346
$GC,5350,-0.79,-146.0,395.5,-5.7,401,5354,0.00,2.35,0.00,0.000,6,0.000,0.068,2489,2243,3346
$GC,5672,-0.84,-146.0,414.3,-5.7,411,5676,0.00,2.22,0.00,0.000,4,0.000,0.083,2479,3603,3347
$GC,5763,-0.84,-146.0,419.9,-6.6,413,5767,0.00,2.17,0.00,0.000,6,0.000,0.055,2479,2218,3347
$GC,6092,-0.84,-146.0,439.6,-5.9,421,6096,0.00,2.22,0.00,0.000,4,0.000,0.067,2479,817,3347
$GC,6215,-0.84,-146.0,447.3,-6.5,423,6219,0.00,2.33,0.00,0.000,6,0.000,0.067,2469,2245,3347
$GC,6552,-0.84,-146.0,466.6,-5.6,432,6556,0.00,2.20,0.00,0.000,4,0.000,0.081,2458,3604,3347
$GC,6630,-0.78,-146.0,471.9,-7.1,433,6634,0.12,2.17,0.00,0.000,6,0.153,0.054,2491,2213,3347
$GC,6966,-0.85,-146.0,489.2,-5.0,442,6970,0.00,2.22,0.00,0.000,4,0.000,0.067,2491,812,3348
$GC,7117,-0.85,-146.0,497.3,-5.6,445,7121,0.00,2.33,0.00,0.000,6,0.000,0.066,2483,2242,3348
$GC,7430,-0.85,-146.0,514.2,-5.5,453,7434,0.00,2.20,0.00,0.000,4,0.000,0.080,2473,3599,3348
$GC,7548,-0.85,-146.0,521.5,-6.3,455,7552,0.00,2.15,0.00,0.000,6,0.000,0.054,2473,2227,3348
$GC,7890,-0.85,-146.0,541.2,-5.8,464,7893,0.00,2.22,0.00,0.000,4,0.000,0.067,2472,823,3348
$GC,8002,-0.80,-146.0,548.1,-6.1,466,8006,0.00,2.30,0.00,0.000,6,0.000,0.066,2462,2239,3348
$GC,8350,-0.80,-146.0,567.6,-5.6,475,8354,0.00,2.17,0.00,0.000,4,0.000,0.078,2452,3594,3349
$GC,8531,-0.74,-146.0,579.4,-7.0,479,8535,0.17,2.15,0.00,0.000,6,0.147,0.052,2501,2219,3349
$GC,8861,-0.87,-146.0,595.6,-4.8,487,8865,0.12,2.22,0.00,0.000,4,0.087,0.065,2449,820,3349
$GC,8983,-0.75,-146.0,604.1,-7.1,489,8988,0.20,2.30,0.00,0.000,6,0.141,0.065,2496,2230,3349
$GC,9315,-0.86,-146.0,619.8,-4.5,497,9317,0.12,0.00,0.00,0.000,6,0.084,0.000,2446,2230,3349
$GC,9640,-0.76,-146.0,640.7,-6.4,505,9642,0.17,0.00,0.00,0.000,6,0.149,0.000,2495,2230,3349
$STATE,9840,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9840,begin apogee
$GC,9846,-0.31,0.0,651.3,5.3,510,9974,0.30,0.00,124.68,1.287,6,0.127,0.000,2590,1733,2745
$STATE,9974,end apogee,CONTROL_FINISHED_OK
$STATE,9975,begin climb
$GC,9977,1.00,146.0,653.7,0.0,513,10110,0.90,0.00,129.60,1.204,6,0.098,0.000,2876,1733,2149
$GC,10408,0.77,146.0,610.1,10.8,524,10413,0.20,2.47,0.00,0.000,4,0.127,0.070,2815,3151,2142
$GC,10423,0.60,146.0,608.4,10.2,524,10428,0.15,2.38,0.00,0.000,6,0.133,0.054,2783,1738,2141
$GC,10771,0.78,177.4,586.9,6.0,533,10806,0.15,2.50,26.62,1.179,4,0.073,0.070,2846,3157,2020
$GC,10812,0.66,177.4,583.7,8.0,534,10817,0.22,2.38,0.00,0.000,6,0.133,0.056,2794,1729,2018
$GC,11136,0.83,198.6,562.8,6.3,542,11158,0.15,0.00,19.10,1.151,6,0.071,0.000,2857,1730,1935
$GC,11461,0.72,198.6,532.0,9.6,550,11465,0.17,2.40,0.00,0.000,4,0.125,0.069,2806,3160,1931
$GC,11477,0.66,198.6,530.5,9.7,550,11481,0.00,2.33,0.00,0.000,6,0.000,0.054,2814,1730,1930
$GC,11825,0.73,198.6,504.8,7.3,559,11829,0.00,2.35,0.00,0.000,4,0.000,0.070,2814,3157,1930
$GC,11852,0.73,198.6,502.5,8.7,559,11856,0.00,2.30,0.00,0.000,6,0.000,0.056,2822,1727,1929
$GC,12194,0.73,198.6,475.9,7.7,568,12198,0.00,2.38,0.00,0.000,4,0.000,0.071,2823,3160,1929
$GC,12221,0.73,198.6,473.7,8.2,568,12225,0.00,2.30,0.00,0.000,6,0.000,0.057,2832,1732,1928
$GC,12563,0.73,198.6,446.4,8.0,577,12567,0.00,2.35,0.00,0.000,4,0.000,0.071,2833,3160,1929
$GC,12579,0.73,198.6,444.9,8.0,577,12584,0.05,2.30,0.00,0.000,6,0.141,0.055,2813,1741,1928
$GC,12893,0.82,202.4,423.1,6.9,585,12902,0.08,2.33,4.05,0.768,4,0.096,0.071,2852,3156,1919
$GC,12919,0.72,202.4,420.8,9.2,585,12924,0.17,2.28,0.00,0.000,6,0.134,0.056,2812,1731,1919
$GC,13255,0.84,215.8,398.2,6.6,594,13275,0.10,0.00,13.10,1.071,6,0.084,0.000,2858,1731,1865
$GC,13584,0.76,215.8,366.8,9.7,610,13586,0.15,0.00,0.00,0.000,6,0.124,0.000,2814,1731,1862
$GC,13894,0.90,229.0,345.7,6.6,625,13913,0.15,0.00,12.18,1.029,6,0.074,0.000,2876,1731,1811
$GC,14222,0.78,229.0,313.1,10.6,641,14226,0.17,2.38,0.00,0.000,4,0.126,0.070,2823,3158,1808
$GC,14249,0.78,229.0,310.5,9.0,642,14254,0.00,2.30,0.00,0.000,6,0.000,0.056,2831,1733,1807
$GC,14570,0.86,229.0,285.9,7.7,658,14574,0.00,2.33,0.00,0.000,4,0.000,0.071,2831,3156,1807
$GC,14597,0.86,229.0,283.7,8.1,659,14601,0.00,2.28,0.00,0.000,6,0.000,0.055,2841,1733,1806
$GC,14919,0.91,231.8,260.0,6.9,675,14923,0.00,2.38,0.00,0.000,4,0.000,0.071,2841,3151,1806
$GC,14935,0.91,231.8,258.8,7.1,676,14939,0.00,2.28,0.00,0.000,6,0.000,0.056,2850,1734,1806
$GC,15267,0.94,257.7,237.0,6.2,692,15297,0.00,2.42,25.52,1.025,4,0.000,0.071,2850,3158,1693
$GC,15308,0.96,268.7,234.2,6.7,694,15325,0.00,2.33,11.15,0.930,6,0.000,0.057,2860,1734,1649
$GC,15633,0.96,268.7,209.5,7.8,710,15634,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1734,1642
$GC,15943,1.02,268.7,184.4,7.9,725,15947,0.00,2.40,0.00,0.000,4,0.000,0.073,2860,3158,1640
$GC,15954,1.07,268.7,183.4,7.9,725,15958,0.00,2.30,0.00,0.000,6,0.000,0.057,2870,1741,1640
$GC,16274,1.07,268.7,156.6,8.1,741,16276,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1741,1639
$GC,16585,1.07,268.7,132.5,7.5,756,16586,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1741,1638
$GC,16894,1.13,268.7,106.5,8.7,771,16898,0.12,2.33,0.00,0.000,4,0.084,0.074,2930,330,1638
$GC,16903,1.13,268.7,105.6,8.6,771,16910,0.12,2.30,0.00,0.000,6,0.143,0.061,2896,1745,1638
$GC,17241,1.13,268.7,76.6,7.7,823,17246,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1745,1637
$GC,17584,1.13,268.7,49.8,9.0,884,17589,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1744,1637
$GC,17928,1.26,308.9,24.4,5.7,945,17969,0.12,0.00,33.92,0.940,6,0.081,0.000,2948,1744,1484
$STATE,18152,end climb,SURFACE_DEPTH_REACHED
$STATE,18152,begin surface coast
$FINISH,1.8,1.025742
$STATE,18181,end surface coast,CONTROL_FINISHED_OK
$STATE,18181,begin surface
$SM_CCo,18259,0.00,0.000,0,0,1474,311.78
$SM_GC,2.78,7.20,0.00,0.00,0.060,0.000,0.000,339,2240,1474,-10.57,0.28,311.78
$RAFOS_CLK,778
$RAFOS,4,1224679457,12.750000,12.738055,67,63,54,51,51,51,742,178,212,198,154,141
$RAFOS,3,1224678844,12.583333,12.567778,91,67,62,59,55,53,733,178,208,191,123,143
$RAFOS,2,1224678244,12.416667,12.401111,75,70,60,57,54,51,909,205,164,147,191,133
$RAFOS,1,1224677655,12.250000,12.237500,62,59,58,52,51,51,215,187,172,162,134,200
$RAFOS,0,1224677081,12.083333,12.078055,72,66,59,59,53,53,338,222,162,190,119,153
$RAFOS,4,1224665042,8.750000,8.733889,145,64,58,55,54,52,824,213,189,204,175,153
$RAFOS,3,1224664445,8.583333,8.568055,67,60,58,55,54,54,716,120,219,177,191,149
$RAFOS,1,1224663246,8.250000,8.235000,123,64,61,61,60,57,680,208,146,199,221,182
$RAFOS_FIX,6643.406250,-5954.695312,221008,121224,3,79,0.31
$IRIDIUM_FIX,6537.93,-6934.71,160198,030301
$TT8_MAMPS,0.026845
$HUMID,1817
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,15.10
$XPDR_PINGS,31
$24V_AH,22.7,38.814
$10V_AH,10.6,17.921
$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,20.850,139.325,399.925,0.000,0.000,29.363,44.309,111.110,7.750,0.000,0.000,12.044,1881.561,13732.911,554.652,1995.467,417.462,33.374,1606.154,0.000,1972.660,2520.000,0.530,0.000
$DEVICE_MAMPS,248.508,83.603,1287.026,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,692.817,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31552,990
$CAP_FILE_SIZE,140043,0
$CFSIZE,260165632,237551616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.4
$GPS,221008,133238,6642.162,-6000.549,38,0.9,38,-38.0