version: 66.04
glider: 108
mission: 11
dive: 404
start: 12 1 108 14 25 57
data:
$ID,108
$MISSION,11
$DIVE,404
$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,-3
$USE_ICE,2
$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,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,70
$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,-119888.73
$T_RSLEEP,60
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$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
$GPS1,141128,6538.158,-5801.215,30,2.3,49,-36.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-62.1
$GPS2,142537,6538.028,-5801.288,12,1.0,28,-36.0
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6541.722,-5736.632
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.155,0.175
$KALMAN_X,170654.5,-869.2,266.8,-260885.9,-589.8
$KALMAN_Y,-355053.3,2216.7,1768.4,233643.6,-9091.2
$MHEAD_RNG_PITCHd_Wd,106.0,20000,-13.0,-7.021
$D_GRID,515
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.99,-146.0,0.0,0.0,0,103,0.00,0.00,-84.20,0.000,2,0.000,0.000,339,2250,2965
$GC,107,-0.99,-146.0,3.2,-1.6,15,132,8.70,2.33,-8.73,0.000,4,0.245,0.088,2452,3605,3250
$GC,162,-0.44,-146.0,11.5,-14.3,24,169,0.45,2.22,0.00,0.000,6,0.133,0.049,2588,2206,3252
$GC,508,-0.72,-146.0,31.1,-4.2,85,514,0.20,0.00,0.00,0.000,6,0.060,0.000,2495,2206,3254
$GC,852,-0.72,-146.0,58.4,-8.2,146,859,0.12,2.35,0.00,0.000,4,0.141,0.074,2521,3595,3254
$GC,877,-0.78,-146.0,60.2,-7.3,150,883,0.00,2.15,0.00,0.000,6,0.000,0.048,2521,2225,3253
$GC,1222,-0.87,-146.0,81.8,-5.9,211,1229,0.12,2.22,0.00,0.000,4,0.083,0.060,2465,820,3253
$GC,1390,-0.72,-146.0,95.3,-8.2,240,1397,0.25,2.35,0.00,0.000,6,0.133,0.062,2528,2244,3253
$GC,1728,-0.86,-146.0,112.7,-5.1,267,1733,0.12,2.33,0.00,0.000,4,0.080,0.060,2475,814,3254
$GC,1870,-0.77,-146.0,122.8,-7.1,273,1875,0.17,2.35,0.00,0.000,6,0.133,0.062,2514,2245,3254
$GC,2187,-0.86,-146.0,140.9,-5.5,288,2188,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2244,3254
$GC,2496,-0.96,-146.0,158.4,-5.9,303,2501,0.15,2.30,0.00,0.000,4,0.078,0.061,2452,823,3253
$GC,2586,-0.79,-146.0,165.4,-8.0,307,2591,0.22,2.33,0.00,0.000,6,0.136,0.064,2507,2243,3253
$GC,2913,-0.89,-146.0,182.4,-4.8,323,2914,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2243,3253
$GC,3224,-1.00,-146.0,196.9,-4.5,338,3229,0.15,2.25,0.00,0.000,4,0.079,0.077,2436,3603,3252
$GC,3321,-0.87,-146.0,203.6,-7.4,342,3326,0.20,2.17,0.00,0.000,6,0.141,0.049,2493,2216,3252
$GC,3643,-0.92,-146.0,220.4,-5.1,358,3647,0.00,2.20,0.00,0.000,4,0.000,0.061,2494,817,3252
$GC,3767,-0.92,-146.0,227.7,-6.3,363,3771,0.00,2.30,0.00,0.000,6,0.000,0.062,2486,2234,3252
$GC,4089,-0.92,-146.0,244.9,-5.2,379,4093,0.00,2.28,0.00,0.000,4,0.000,0.060,2486,812,3252
$GC,4141,-0.92,-146.0,247.6,-5.5,381,4145,0.00,2.33,0.00,0.000,6,0.000,0.061,2476,2234,3252
$GC,4468,-0.92,-146.0,265.3,-5.1,397,4472,0.00,2.28,0.00,0.000,4,0.000,0.059,2476,817,3253
$GC,4479,-0.92,-146.0,265.7,-4.9,397,4483,0.00,2.33,0.00,0.000,6,0.000,0.061,2466,2245,3252
$GC,4803,-0.92,-146.0,283.6,-5.6,413,4807,0.00,2.30,0.00,0.000,4,0.000,0.060,2466,813,3253
$GC,4860,-0.84,-146.0,287.4,-6.8,415,4865,0.15,2.33,0.00,0.000,6,0.134,0.061,2498,2243,3253
$GC,5178,-0.94,-146.0,303.4,-5.3,430,5183,0.10,2.28,0.00,0.000,4,0.087,0.058,2455,825,3253
$GC,5223,-0.81,-146.0,306.5,-6.9,432,5228,0.22,2.30,0.00,0.000,6,0.133,0.061,2509,2244,3253
$GC,5547,-0.96,-146.0,323.6,-5.4,448,5548,0.15,0.00,0.00,0.000,6,0.076,0.000,2448,2243,3254
$GC,5855,-0.88,-146.0,344.8,-6.8,463,5857,0.15,0.00,0.00,0.000,6,0.148,0.000,2489,2243,3254
$GC,6163,-0.96,-146.0,360.4,-4.8,478,6167,0.00,2.30,0.00,0.000,4,0.000,0.059,2489,816,3254
$GC,6191,-0.96,-146.0,361.9,-6.2,479,6196,0.00,2.33,0.00,0.000,6,0.000,0.059,2481,2232,3254
$GC,6514,-0.96,-146.0,378.0,-5.1,495,6515,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2232,3254
$GC,6822,-0.96,-146.0,393.1,-5.0,510,6826,0.00,2.30,0.00,0.000,4,0.000,0.057,2481,817,3255
$GC,6857,-0.96,-146.0,394.8,-5.0,511,6861,0.00,2.33,0.00,0.000,6,0.000,0.058,2471,2236,3255
$GC,7176,-0.96,-146.0,410.8,-5.0,522,7177,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2236,3255
$GC,7500,-0.96,-146.0,426.9,-5.0,530,7504,0.00,2.30,0.00,0.000,4,0.000,0.058,2471,813,3256
$GC,7541,-0.90,-146.0,428.9,-4.9,530,7548,0.10,2.33,0.00,0.000,6,0.137,0.058,2488,2237,3256
$GC,7874,-0.98,-146.0,443.5,-4.3,539,7878,0.00,2.28,0.00,0.000,4,0.000,0.057,2488,819,3256
$GC,7920,-0.98,-146.0,445.9,-5.0,540,7924,0.00,2.30,0.00,0.000,6,0.000,0.058,2480,2231,3256
$GC,8245,-1.02,-146.0,460.9,-4.6,548,8249,0.10,2.28,0.00,0.000,4,0.081,0.056,2431,822,3256
$GC,8279,-0.81,-146.0,462.8,-6.1,548,8284,0.28,2.33,0.00,0.000,6,0.133,0.059,2503,2241,3256
$GC,8611,-0.95,-146.0,477.3,-4.2,556,8616,0.12,2.30,0.00,0.000,4,0.080,0.057,2450,816,3256
$GC,8652,-0.80,-146.0,479.6,-5.6,557,8656,0.22,2.33,0.00,0.000,6,0.129,0.058,2506,2241,3256
$GC,8977,-0.95,-146.0,494.1,-4.3,565,8979,0.12,0.00,0.00,0.000,6,0.079,0.000,2452,2241,3256
$GC,9301,-0.89,-146.0,513.0,-6.4,573,9306,0.12,2.25,0.00,0.000,4,0.144,0.071,2477,3605,3256
$STATE,9338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9338,begin apogee
$GC,9348,-0.31,0.0,515.2,5.2,574,9478,0.45,0.00,126.45,1.146,6,0.123,0.000,2619,1736,2650
$STATE,9478,end apogee,CONTROL_FINISHED_OK
$STATE,9478,begin climb
$GC,9481,0.99,146.0,515.6,0.0,577,9615,0.82,0.00,129.80,1.074,6,0.087,0.000,2893,1735,2054
$GC,9932,0.77,146.0,468.7,11.0,588,9937,0.17,2.42,0.00,0.000,4,0.129,0.064,2845,3150,2047
$GC,9977,0.64,146.0,463.9,9.6,589,9982,0.12,2.30,0.00,0.000,6,0.133,0.048,2819,1736,2046
$GC,10296,0.72,153.0,442.0,6.8,597,10307,0.00,2.28,6.05,0.852,4,0.000,0.062,2827,334,2026
$GC,10337,0.82,165.7,439.2,6.6,598,10357,0.12,2.33,12.50,0.993,6,0.076,0.051,2885,1753,1974
$GC,10666,0.65,165.7,405.5,10.5,606,10671,0.22,2.28,0.00,0.000,4,0.127,0.065,2812,3156,1971
$GC,10727,0.65,165.7,400.4,7.6,607,10731,0.00,2.25,0.00,0.000,6,0.000,0.048,2818,1728,1970
$GC,11061,0.76,194.6,380.1,6.1,623,11089,0.10,0.00,25.75,1.046,6,0.081,0.000,2868,1728,1856
$GC,11390,0.67,194.6,349.2,9.8,639,11394,0.17,2.35,0.00,0.000,4,0.123,0.064,2815,3160,1852
$GC,11430,0.67,194.6,345.8,8.0,641,11434,0.00,2.25,0.00,0.000,6,0.000,0.049,2821,1729,1851
$GC,11763,0.76,194.6,322.2,7.2,657,11764,0.08,0.00,0.00,0.000,6,0.092,0.000,2864,1729,1850
$GC,12072,0.68,194.6,292.8,9.7,672,12077,0.15,2.33,0.00,0.000,4,0.120,0.063,2819,3162,1850
$GC,12117,0.68,194.6,288.9,8.7,674,12121,0.00,2.22,0.00,0.000,6,0.000,0.048,2827,1734,1849
$GC,12444,0.80,216.9,266.4,6.3,690,12466,0.10,0.00,19.27,0.970,6,0.081,0.000,2877,1734,1765
$GC,12774,0.71,216.9,237.6,9.0,706,12776,0.17,0.00,0.00,0.000,6,0.120,0.000,2824,1734,1762
$GC,13083,0.90,251.2,218.9,5.9,721,13116,0.17,0.00,30.42,0.955,6,0.064,0.000,2900,1734,1626
$GC,13413,0.77,251.2,183.4,11.3,737,13417,0.20,2.28,0.00,0.000,4,0.124,0.062,2843,330,1619
$GC,13452,0.94,251.2,179.9,7.2,739,13457,0.15,2.30,0.00,0.000,6,0.068,0.052,2911,1752,1619
$GC,13781,0.80,251.2,143.7,11.4,755,13786,0.20,2.30,0.00,0.000,4,0.128,0.065,2845,3158,1618
$GC,13854,0.80,251.2,136.7,8.2,758,13858,0.00,2.25,0.00,0.000,6,0.000,0.048,2853,1735,1617
$GC,14175,0.92,251.2,111.8,8.2,774,14177,0.10,0.00,0.00,0.000,6,0.083,0.000,2906,1735,1617
$GC,14502,0.84,251.2,78.1,10.2,816,14508,0.17,0.00,0.00,0.000,6,0.123,0.000,2853,1734,1617
$GC,14847,1.03,251.2,53.3,7.5,877,14853,0.17,0.00,0.00,0.000,6,0.066,0.000,2930,1734,1617
$GC,15192,0.91,251.2,16.0,12.3,938,15199,0.20,2.38,0.00,0.000,4,0.125,0.066,2864,3156,1616
$GC,15239,0.91,251.2,10.9,9.7,946,15246,0.00,2.25,0.00,0.000,6,0.000,0.051,2871,1738,1615
$FREEZE,6.78,0.385,-1.818
$FREEZE,6.39,0.384,-1.817
$FREEZE,6.08,0.383,-1.817
$FREEZE,5.78,0.380,-1.817
$FREEZE,5.50,0.380,-1.817
$FREEZE,5.12,0.378,-1.816
$FREEZE,4.75,0.380,-1.816
$FREEZE,4.41,0.381,-1.816
$FREEZE,4.19,0.380,-1.816
$FREEZE,3.72,0.380,-1.815
$FREEZE,3.34,0.381,-1.815
$FREEZE,3.14,0.382,-1.815
$FREEZE,2.58,0.380,-1.814
$STATE,15369,end climb,SURFACE_DEPTH_REACHED
$STATE,15369,begin surface coast
$FREEZE,2.40,0.380,-1.814
$FREEZE,2.33,0.379,-1.814
$FREEZE,1.92,0.380,-1.814
$FREEZE,1.36,0.381,-1.813
$FREEZE,1.37,0.380,-1.813
$FREEZE,1.29,0.340,-1.809
$FREEZE,1.29,0.380,-1.219
$FREEZE,1.41,0.379,-1.813
$FREEZE,1.38,0.387,-0.892
$FINISH,1.4,1.013168
$STATE,15421,end surface coast,CONTROL_FINISHED_OK
$STATE,15421,begin surface
$SM_CCo,15501,0.00,0.000,0,0,1613,254.38
$SM_GC,2.26,6.80,0.00,0.00,0.051,0.000,0.000,332,2233,1613,-10.68,0.08,254.38
$RAFOS_CLK,639
$RAFOS,4,1228149880,16.750000,16.744444,62,58,57,57,54,54,217,181,191,158,171,239
$RAFOS,3,1228149264,16.583334,16.573334,70,60,58,53,51,49,145,173,212,202,126,80
$RAFOS,2,1228148648,16.416666,16.402222,63,56,51,51,50,47,215,191,140,153,174,121
$RAFOS,1,1228148046,16.250000,16.235001,63,60,59,57,56,51,202,163,174,152,220,129
$RAFOS,0,1228147449,16.083334,16.069166,63,59,58,57,54,51,172,221,147,131,122,198
$RAFOS_FIX,-31200.181641,336923.250000,301108,080856,2,74,15226.59
$IRIDIUM_FIX,6506.88,-5759.68,250298,141459
$TT8_MAMPS,0.026845
$HUMID,1796
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,15.80
$XPDR_PINGS,68
$24V_AH,22.2,67.152
$10V_AH,10.5,30.475
$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,23.600,120.700,350.250,0.000,0.000,75.682,253.908,0.000,17.000,0.000,0.000,29.581,1803.130,11353.296,499.448,1802.300,887.499,0.000,1447.059,0.000,1766.187,1800.000,0.532,0.000
$DEVICE_MAMPS,244.673,88.205,1145.898,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,681.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31536,978
$CAP_FILE_SIZE,133956,0
$CFSIZE,260165632,225026048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.8
$GPS,011208,184558,6539.112,-5756.612,33,2.7,52,-36.0