version: 66.04
glider: 108
mission: 11
dive: 405
start: 12 1 108 19 9 14
data:
$ID,108
$MISSION,11
$DIVE,405
$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,-119920.68
$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,28
$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,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
$GPS1,184558,6539.112,-5756.612,33,2.7,52,-36.0
$_CALLS,3
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-62.8
$GPS2,190853,6539.330,-5757.258,10,2.7,29,-36.0
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6543.024,-5732.582
$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,527
$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,16,-0.99,-146.0,0.0,0.0,0,85,0.00,0.00,-67.47,0.000,2,0.000,0.000,330,2246,3088
$GC,89,-0.99,-146.0,3.3,-2.3,12,109,8.80,2.30,-4.50,0.000,4,0.244,0.087,2452,3595,3248
$GC,116,1.30,-146.0,9.6,-14.9,16,123,1.67,2.20,0.00,0.000,6,0.141,0.046,2962,2212,3251
$GC,462,-0.15,-146.0,28.3,-8.2,77,469,1.10,2.25,0.00,0.000,4,0.183,0.059,2661,816,3253
$GC,724,-0.91,-146.0,45.7,-5.9,123,731,0.55,2.33,0.00,0.000,6,0.082,0.061,2470,2236,3253
$GC,1069,-0.82,-146.0,72.6,-8.3,184,1076,0.12,2.22,0.00,0.000,4,0.146,0.073,2495,3603,3252
$GC,1105,-0.82,-146.0,75.0,-7.1,190,1112,0.00,2.15,0.00,0.000,6,0.000,0.048,2495,2225,3252
$GC,1451,-0.82,-146.0,97.0,-6.6,251,1457,0.00,2.28,0.00,0.000,4,0.000,0.074,2487,3600,3252
$GC,1502,-0.82,-146.0,101.0,-7.6,259,1506,0.00,2.15,0.00,0.000,6,0.000,0.048,2487,2217,3252
$GC,1829,-0.82,-146.0,124.7,-7.1,275,1833,0.00,2.20,0.00,0.000,4,0.000,0.061,2487,819,3252
$GC,1875,-0.76,-146.0,127.9,-6.7,277,1880,0.15,2.30,0.00,0.000,6,0.133,0.062,2518,2235,3252
$GC,2203,-0.87,-146.0,146.3,-5.5,293,2205,0.12,0.00,0.00,0.000,6,0.081,0.000,2465,2235,3252
$GC,2512,-0.81,-146.0,167.1,-6.5,308,2516,0.15,2.22,0.00,0.000,4,0.144,0.074,2498,3606,3252
$GC,2590,-0.91,-146.0,171.6,-5.7,311,2594,0.00,2.15,0.00,0.000,6,0.000,0.049,2498,2224,3252
$GC,2913,-0.99,-146.0,188.3,-5.3,327,2918,0.12,2.22,0.00,0.000,4,0.083,0.060,2444,825,3251
$GC,3043,-0.82,-146.0,198.2,-8.1,333,3048,0.25,2.30,0.00,0.000,6,0.137,0.063,2507,2244,3251
$GC,3371,-0.93,-146.0,215.0,-4.7,349,3375,0.12,2.30,0.00,0.000,4,0.084,0.059,2454,819,3251
$GC,3416,-0.79,-146.0,217.8,-6.3,351,3420,0.22,2.33,0.00,0.000,6,0.133,0.061,2508,2243,3251
$GC,3740,-0.91,-146.0,231.6,-4.0,367,3742,0.10,0.00,0.00,0.000,6,0.088,0.000,2465,2243,3252
$GC,4048,-0.91,-146.0,247.2,-5.2,382,4051,0.00,2.22,0.00,0.000,4,0.000,0.074,2454,3603,3252
$GC,4064,-0.91,-146.0,248.2,-5.3,382,4071,0.12,2.17,0.00,0.000,6,0.150,0.046,2487,2212,3252
$GC,4381,-0.97,-146.0,264.7,-5.6,398,4383,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2213,3252
$GC,4690,-1.03,-146.0,283.0,-6.0,413,4695,0.12,2.22,0.00,0.000,4,0.082,0.058,2434,812,3252
$GC,4753,-0.83,-146.0,287.8,-8.0,416,4758,0.28,2.35,0.00,0.000,6,0.134,0.059,2504,2242,3252
$GC,5082,-0.95,-146.0,303.7,-4.4,432,5084,0.12,0.00,0.00,0.000,6,0.082,0.000,2452,2242,3253
$GC,5391,-0.88,-146.0,322.0,-6.1,447,5396,0.15,2.30,0.00,0.000,4,0.146,0.058,2497,819,3253
$GC,5448,-0.94,-146.0,325.1,-5.1,449,5454,0.00,2.33,0.00,0.000,6,0.000,0.059,2489,2240,3253
$GC,5764,-1.00,-146.0,340.3,-4.9,465,5769,0.10,2.28,0.00,0.000,4,0.083,0.058,2441,822,3253
$GC,5815,-0.84,-146.0,343.4,-6.5,467,5820,0.25,2.30,0.00,0.000,6,0.133,0.059,2503,2234,3253
$GC,6134,-0.98,-146.0,357.4,-4.6,482,6139,0.12,2.28,0.00,0.000,4,0.081,0.056,2449,810,3254
$GC,6168,-0.83,-146.0,359.5,-6.1,483,6175,0.22,2.33,0.00,0.000,6,0.132,0.058,2504,2245,3254
$GC,6485,-0.97,-146.0,375.0,-4.8,499,6487,0.12,0.00,0.00,0.000,6,0.082,0.000,2451,2245,3254
$GC,6794,-0.90,-146.0,394.1,-6.0,514,6799,0.12,2.28,0.00,0.000,4,0.148,0.057,2484,825,3254
$GC,6822,-0.90,-146.0,395.8,-5.3,515,6826,0.00,2.28,0.00,0.000,6,0.000,0.059,2477,2240,3254
$GC,7161,-0.90,-146.0,414.0,-5.4,526,7165,0.00,2.28,0.00,0.000,4,0.000,0.058,2476,816,3255
$GC,7202,-0.90,-146.0,416.3,-6.0,526,7208,0.00,2.30,0.00,0.000,6,0.000,0.058,2467,2238,3254
$GC,7534,-0.90,-146.0,434.9,-5.5,535,7535,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2238,3254
$GC,7858,-0.90,-146.0,451.6,-5.3,543,7862,0.00,2.25,0.00,0.000,4,0.000,0.058,2466,818,3255
$GC,7904,-0.84,-146.0,454.1,-6.0,544,7909,0.15,2.30,0.00,0.000,6,0.130,0.058,2498,2245,3255
$GC,8235,-0.97,-146.0,468.6,-4.4,552,8240,0.12,2.28,0.00,0.000,4,0.081,0.055,2446,822,3255
$GC,8275,-0.81,-146.0,471.0,-6.8,553,8280,0.25,2.28,0.00,0.000,6,0.132,0.058,2508,2242,3256
$GC,8600,-0.97,-146.0,485.4,-4.3,561,8605,0.15,2.28,0.00,0.000,4,0.074,0.056,2445,816,3256
$GC,8629,-0.87,-146.0,487.0,-6.1,561,8634,0.20,2.28,0.00,0.000,6,0.134,0.057,2491,2237,3256
$GC,8961,-0.98,-146.0,503.4,-5.1,569,8965,0.10,2.28,0.00,0.000,4,0.087,0.057,2448,811,3256
$GC,8989,-0.88,-146.0,505.2,-6.7,569,8994,0.17,2.28,0.00,0.000,6,0.133,0.056,2487,2233,3255
$GC,9322,-0.98,-146.0,521.6,-4.7,577,9326,0.00,2.25,0.00,0.000,4,0.000,0.056,2487,819,3256
$GC,9355,-0.98,-146.0,523.6,-5.2,577,9359,0.00,2.28,0.00,0.000,6,0.000,0.058,2479,2235,3256
$STATE,9446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9446,begin apogee
$GC,9453,-0.31,0.0,527.6,4.4,580,9583,0.43,0.00,126.78,1.157,6,0.122,0.000,2613,1737,2650
$STATE,9583,end apogee,CONTROL_FINISHED_OK
$STATE,9583,begin climb
$GC,9587,0.99,146.0,528.9,0.0,583,9725,0.88,2.62,129.73,1.083,4,0.087,0.062,2898,3142,2053
$GC,9759,0.65,146.0,512.3,13.1,587,9764,0.32,2.42,0.00,0.000,6,0.135,0.046,2821,1734,2049
$GC,10097,0.65,146.0,488.2,7.1,596,10101,0.00,2.33,0.00,0.000,4,0.000,0.062,2830,330,2046
$GC,10125,0.72,146.0,486.1,7.4,596,10129,0.00,2.33,0.00,0.000,6,0.000,0.051,2830,1750,2046
$GC,10461,0.72,146.0,460.8,7.5,605,10465,0.00,2.25,0.00,0.000,4,0.000,0.064,2830,3158,2045
$GC,10546,0.61,146.0,453.5,9.2,606,10553,0.12,2.25,0.00,0.000,6,0.136,0.048,2806,1726,2044
$GC,10878,0.78,182.0,433.4,5.9,615,10911,0.15,0.00,30.23,1.084,6,0.067,0.000,2874,1726,1908
$GC,11202,0.65,182.0,400.8,10.4,623,11204,0.20,0.00,0.00,0.000,6,0.120,0.000,2814,1726,1903
$GC,11512,0.78,183.9,379.2,7.0,637,11516,0.12,2.33,0.00,0.000,4,0.072,0.062,2871,3158,1902
$GC,11545,0.59,183.9,375.9,10.7,638,11552,0.25,2.22,0.00,0.000,6,0.129,0.048,2807,1735,1902
$GC,11862,0.79,219.2,355.7,5.9,654,11900,0.15,0.00,32.05,1.051,6,0.066,0.000,2877,1735,1755
$GC,12210,0.69,219.2,320.3,10.5,671,12215,0.17,2.28,0.00,0.000,4,0.120,0.062,2833,327,1750
$GC,12250,0.84,219.2,316.9,7.5,673,12255,0.10,2.30,0.00,0.000,6,0.079,0.051,2883,1748,1750
$GC,12577,0.73,219.2,281.8,11.1,689,12582,0.17,2.25,0.00,0.000,4,0.126,0.064,2830,3157,1748
$GC,12649,0.73,219.2,274.6,9.1,692,12653,0.00,2.22,0.00,0.000,6,0.000,0.048,2838,1733,1747
$GC,12977,0.78,219.2,246.8,8.7,708,12979,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1733,1747
$GC,13286,0.84,219.2,220.0,8.5,723,13291,0.08,2.30,0.00,0.000,4,0.093,0.064,2881,3152,1747
$GC,13326,0.63,219.2,215.5,13.0,725,13331,0.25,2.20,0.00,0.000,6,0.128,0.048,2816,1736,1746
$GC,13654,0.84,224.3,191.6,6.9,741,13663,0.15,2.25,4.32,0.679,4,0.066,0.062,2896,333,1735
$GC,13686,0.84,224.3,188.7,9.6,742,13690,0.15,2.28,0.00,0.000,6,0.130,0.051,2852,1752,1735
$GC,14004,0.89,224.3,163.3,8.0,757,14008,0.00,2.25,0.00,0.000,4,0.000,0.066,2853,3149,1735
$GC,14077,0.81,224.3,156.4,9.7,760,14081,0.00,2.22,0.00,0.000,6,0.000,0.048,2860,1726,1735
$GC,14404,0.81,224.3,130.0,7.8,776,14405,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1726,1735
$GC,14714,0.86,224.3,107.7,7.1,791,14715,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1726,1735
$GC,15039,0.94,224.3,83.2,8.7,833,15045,0.08,0.00,0.00,0.000,6,0.096,0.000,2903,1726,1735
$GC,15384,0.89,224.3,53.0,8.3,894,15391,0.12,2.38,0.00,0.000,4,0.130,0.064,2866,3149,1735
$GC,15437,0.89,224.3,49.1,7.7,903,15443,0.00,2.25,0.00,0.000,6,0.000,0.049,2872,1726,1734
$GC,15782,1.29,463.1,31.6,-0.7,964,15993,0.22,2.50,200.62,0.825,4,0.065,0.062,2982,337,760
$FREEZE,6.62,0.124,-1.816
$FREEZE,5.81,0.123,-1.816
$FREEZE,4.99,0.123,-1.815
$FREEZE,4.44,0.123,-1.815
$GC,16029,1.20,463.1,4.4,12.7,1006,16036,0.17,2.45,0.00,0.000,6,0.135,0.049,2937,1739,755
$FREEZE,2.55,0.124,-1.813
$STATE,16041,end climb,SURFACE_DEPTH_REACHED
$STATE,16041,begin surface coast
$FREEZE,1.67,0.125,-1.813
$FREEZE,1.64,0.126,-1.812
$FREEZE,1.86,0.127,-1.812
$FREEZE,1.52,0.129,-1.812
$FINISH,1.5,1.026524
$STATE,16065,end surface coast,CONTROL_FINISHED_OK
$STATE,16065,begin surface
$SM_CCo,16145,0.00,0.000,0,0,748,466.56
$SM_GC,2.21,7.35,0.00,0.00,0.049,0.000,0.000,339,2238,748,-10.68,0.23,466.56
$RAFOS_CLK,681
$RAFOS,4,1228164253,20.750000,20.736944,62,59,58,58,57,55,177,209,153,165,198,221
$RAFOS,3,1228163651,20.583334,20.569723,67,62,62,61,55,51,184,199,220,118,147,158
$RAFOS,2,1228163055,20.416666,20.404167,59,56,56,55,55,52,192,158,118,181,215,134
$RAFOS,1,1228162452,20.250000,20.236666,55,53,52,51,51,50,229,121,216,173,207,152
$RAFOS,0,1228161859,20.083334,20.071945,59,58,53,51,51,49,217,162,137,195,153,185
$RAFOS_FIX,-31200.181641,336923.250000,301108,080856,2,74,15226.59
$IRIDIUM_FIX,6512.01,-5756.91,250298,191908
$TT8_MAMPS,0.026078
$HUMID,1774
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,15.80
$XPDR_PINGS,91
$24V_AH,22.2,67.355
$10V_AH,10.5,30.552
$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,28.050,143.025,523.725,0.000,0.000,86.887,112.710,709.086,22.750,0.000,0.000,31.311,1799.414,11802.480,626.933,1860.538,1425.967,0.000,1642.909,0.000,1814.264,1800.000,0.532,0.000
$DEVICE_MAMPS,243.906,87.438,1156.636,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,702.150,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34698,1012
$CAP_FILE_SIZE,157694,0
$CFSIZE,260165632,224907264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.8
$GPS,011208,234002,6537.686,-5753.125,56,1.1,56,-35.9