version: 66.04
glider: 108
mission: 11
dive: 429
start: 12 7 108 2 37 53
data:
$ID,108
$MISSION,11
$DIVE,429
$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,0
$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,-120372.5
$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,32
$R_STBD_OVSHOOT,31
$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
$GPS1,023138,6608.368,-5701.395,39,0.9,39,-36.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-67.4
$GPS2,023733,6608.296,-5701.324,13,1.0,13,-36.4
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6619.096,-5701.324
$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,36.4,20000,-13.0,-7.021
$D_GRID,628
$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,-0.99,-146.0,0.0,0.0,0,86,0.00,0.00,-68.57,0.000,2,0.000,0.000,337,2247,3058
$GC,90,-0.99,-146.0,3.2,-2.0,12,111,8.73,2.40,-6.00,0.000,4,0.242,0.068,2460,807,3249
$GC,365,-0.79,-146.0,30.1,-9.6,60,372,0.20,2.30,0.00,0.000,6,0.134,0.056,2509,2239,3252
$GC,711,-0.79,-146.0,55.0,-6.9,121,717,0.00,2.28,0.00,0.000,4,0.000,0.055,2509,815,3252
$GC,785,-0.79,-146.0,60.8,-7.5,134,792,0.00,2.28,0.00,0.000,6,0.000,0.056,2501,2230,3251
$GC,1130,-0.79,-146.0,83.0,-6.9,195,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2230,3251
$GC,1467,-0.79,-146.0,105.6,-6.4,244,1471,0.00,2.28,0.00,0.000,4,0.000,0.055,2501,807,3251
$GC,1567,-0.79,-146.0,112.4,-6.7,248,1571,0.00,2.30,0.00,0.000,6,0.000,0.057,2492,2239,3251
$GC,1889,-0.79,-146.0,131.9,-5.9,264,1893,0.00,2.17,0.00,0.000,4,0.000,0.071,2481,3599,3251
$GC,1946,-0.79,-146.0,135.3,-6.7,266,1950,0.12,2.12,0.00,0.000,6,0.141,0.045,2515,2219,3251
$GC,2267,-0.91,-146.0,151.7,-5.0,282,2269,0.12,0.00,0.00,0.000,6,0.084,0.000,2461,2219,3250
$GC,2577,-0.82,-146.0,172.6,-6.6,297,2582,0.15,2.20,0.00,0.000,4,0.140,0.056,2509,826,3249
$GC,2691,-0.89,-146.0,179.1,-5.9,302,2695,0.00,2.28,0.00,0.000,6,0.000,0.058,2501,2241,3249
$GC,3025,-0.97,-146.0,196.1,-5.1,318,3026,0.12,0.00,0.00,0.000,6,0.078,0.000,2445,2241,3249
$GC,3333,-0.84,-146.0,215.8,-6.3,333,3338,0.20,2.28,0.00,0.000,4,0.137,0.057,2513,824,3248
$GC,3417,-0.94,-146.0,220.1,-4.9,336,3424,0.12,2.28,0.00,0.000,6,0.076,0.057,2452,2243,3248
$GC,3735,-0.86,-146.0,240.1,-6.6,352,3739,0.15,2.17,0.00,0.000,4,0.138,0.068,2485,3596,3248
$GC,3791,-0.94,-146.0,243.6,-6.0,354,3794,0.00,2.12,0.00,0.000,6,0.000,0.044,2486,2227,3248
$GC,4113,-0.94,-146.0,260.4,-5.1,370,4117,0.00,2.22,0.00,0.000,4,0.000,0.055,2486,814,3249
$GC,4205,-0.94,-146.0,265.3,-5.1,374,4209,0.00,2.30,0.00,0.000,6,0.000,0.056,2476,2243,3249
$GC,4540,-0.94,-146.0,282.1,-4.9,390,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2242,3249
$GC,4848,-0.94,-146.0,296.2,-4.5,405,4849,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2242,3249
$GC,5157,-0.94,-146.0,310.0,-4.7,420,5161,0.00,2.28,0.00,0.000,4,0.000,0.054,2476,813,3249
$GC,5257,-0.94,-146.0,315.4,-5.5,424,5262,0.00,2.28,0.00,0.000,6,0.000,0.054,2465,2234,3249
$GC,5576,-0.94,-146.0,330.2,-4.7,439,5579,0.00,2.17,0.00,0.000,4,0.000,0.067,2455,3601,3250
$GC,5638,-0.89,-146.0,333.7,-5.9,441,5645,0.12,2.12,0.00,0.000,6,0.141,0.042,2489,2211,3250
$GC,5955,-0.96,-146.0,346.9,-4.2,457,5959,0.00,2.17,0.00,0.000,4,0.000,0.054,2488,819,3251
$GC,6046,-0.96,-146.0,351.3,-4.9,461,6050,0.00,2.25,0.00,0.000,6,0.000,0.054,2481,2234,3251
$GC,6381,-0.96,-146.0,366.4,-4.7,477,6382,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2234,3251
$GC,6688,-0.96,-146.0,380.7,-4.6,492,6692,0.00,2.25,0.00,0.000,4,0.000,0.053,2481,824,3251
$GC,6761,-0.96,-146.0,384.4,-4.9,495,6765,0.00,2.22,0.00,0.000,6,0.000,0.053,2471,2231,3251
$GC,7088,-0.96,-146.0,398.5,-3.9,511,7090,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2231,3252
$GC,7413,-0.96,-146.0,411.0,-3.8,520,7417,0.00,2.25,0.00,0.000,4,0.000,0.052,2471,817,3252
$GC,7486,-0.96,-146.0,414.5,-4.7,521,7491,0.00,2.28,0.00,0.000,6,0.000,0.053,2461,2234,3252
$GC,7829,-0.96,-146.0,430.5,-4.7,530,7830,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2234,3252
$GC,8155,-0.96,-146.0,445.9,-4.9,538,8156,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2234,3252
$GC,8479,-0.96,-146.0,462.5,-5.1,546,8483,0.00,2.25,0.00,0.000,4,0.000,0.052,2461,822,3253
$GC,8603,-0.89,-146.0,469.4,-5.9,548,8607,0.12,2.28,0.00,0.000,6,0.127,0.053,2486,2236,3253
$GC,8941,-0.97,-146.0,484.4,-4.4,557,8942,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2235,3253
$GC,9265,-1.06,-146.0,498.6,-4.4,565,9267,0.15,0.00,0.00,0.000,6,0.074,0.000,2423,2235,3253
$GC,9590,-0.90,-146.0,516.7,-5.5,573,9592,0.22,0.00,0.00,0.000,6,0.139,0.000,2488,2235,3253
$GC,9915,-0.99,-146.0,529.3,-3.8,581,9920,0.10,2.28,0.00,0.000,4,0.087,0.051,2442,818,3253
$GC,10017,-0.84,-146.0,534.9,-5.5,583,10022,0.22,2.30,0.00,0.000,6,0.128,0.052,2498,2244,3254
$GC,10332,-0.98,-146.0,547.2,-3.8,591,10336,0.12,2.17,0.00,0.000,4,0.079,0.066,2433,3597,3253
$GC,10388,-0.87,-146.0,550.5,-6.2,592,10392,0.20,2.12,0.00,0.000,6,0.137,0.041,2490,2214,3253
$GC,10707,-0.97,-146.0,564.1,-4.1,600,10711,0.00,2.17,0.00,0.000,4,0.000,0.052,2490,827,3253
$GC,10799,-1.03,-146.0,568.4,-4.4,602,10803,0.10,2.25,0.00,0.000,6,0.079,0.053,2435,2243,3253
$GC,11129,-0.92,-146.0,586.8,-5.7,610,11133,0.17,2.17,0.00,0.000,4,0.142,0.064,2477,3601,3253
$GC,11214,-1.00,-146.0,591.4,-5.8,611,11220,0.00,2.10,0.00,0.000,6,0.000,0.041,2476,2224,3254
$GC,11546,-1.05,-146.0,607.5,-4.9,620,11550,0.10,2.20,0.00,0.000,4,0.084,0.052,2428,817,3253
$GC,11664,-0.88,-146.0,615.3,-7.2,622,11669,0.25,2.28,0.00,0.000,6,0.130,0.054,2494,2237,3253
$STATE,11958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11958,begin apogee
$GC,11965,-0.31,0.0,628.1,3.9,630,12096,0.38,0.00,127.57,1.193,6,0.111,0.000,2618,1736,2650
$STATE,12096,end apogee,CONTROL_FINISHED_OK
$STATE,12096,begin climb
$GC,12099,0.99,146.0,629.0,0.0,633,12238,0.85,2.55,131.10,1.120,4,0.092,0.057,2906,330,2054
$GC,12265,0.74,146.0,612.8,12.9,637,12270,0.25,2.47,0.00,0.000,6,0.129,0.045,2839,1752,2052
$GC,12589,0.67,146.0,583.3,8.8,645,12593,0.00,2.28,0.00,0.000,4,0.000,0.059,2840,3159,2047
$GC,12641,0.50,146.0,578.5,9.1,646,12646,0.22,2.28,0.00,0.000,6,0.126,0.043,2783,1731,2046
$GC,12960,0.77,209.0,561.5,5.0,654,13017,0.20,0.00,54.53,1.118,6,0.057,0.000,2872,1731,1798
$GC,13325,0.63,209.0,522.5,11.2,663,13330,0.20,2.33,0.00,0.000,4,0.120,0.058,2808,3152,1789
$GC,13347,0.58,209.0,520.0,10.3,663,13351,0.00,2.25,0.00,0.000,6,0.000,0.043,2814,1726,1787
$GC,13690,0.68,209.0,494.6,7.2,672,13694,0.00,2.33,0.00,0.000,4,0.000,0.058,2814,3157,1786
$GC,13718,0.68,209.0,492.3,7.9,672,13722,0.00,2.22,0.00,0.000,6,0.000,0.043,2823,1733,1786
$GC,14062,0.73,209.0,466.5,7.4,681,14066,0.00,2.33,0.00,0.000,4,0.000,0.058,2823,3158,1786
$GC,14089,0.73,209.0,464.2,8.1,681,14094,0.00,2.22,0.00,0.000,6,0.000,0.044,2833,1732,1785
$GC,14432,0.73,209.0,436.5,8.3,690,14433,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1732,1785
$GC,14757,0.73,209.0,408.4,8.7,698,14761,0.00,2.30,0.00,0.000,4,0.000,0.058,2833,3151,1785
$GC,14791,0.68,209.0,404.9,9.9,698,14795,0.00,2.22,0.00,0.000,6,0.000,0.043,2843,1730,1784
$GC,15111,0.68,209.0,374.7,9.4,712,15114,0.00,2.30,0.00,0.000,4,0.000,0.058,2843,3156,1784
$GC,15122,0.68,209.0,373.4,9.5,712,15126,0.10,2.22,0.00,0.000,6,0.135,0.042,2824,1728,1784
$GC,15443,0.76,209.0,347.4,7.8,728,15447,0.00,2.30,0.00,0.000,4,0.000,0.058,2824,3151,1784
$GC,15460,0.82,209.0,346.0,7.9,728,15467,0.10,2.22,0.00,0.000,6,0.080,0.042,2880,1728,1784
$GC,15776,0.66,209.0,309.6,11.8,744,15778,0.20,0.00,0.00,0.000,6,0.122,0.000,2819,1728,1784
$GC,16086,0.78,209.0,286.6,7.2,759,16090,0.12,2.33,0.00,0.000,4,0.071,0.057,2877,3157,1784
$GC,16108,0.72,209.0,284.4,9.4,760,16112,0.20,2.22,0.00,0.000,6,0.128,0.044,2828,1737,1783
$GC,16435,0.79,209.0,259.0,7.6,776,16437,0.10,0.00,0.00,0.000,6,0.079,0.000,2878,1737,1783
$GC,16744,0.66,209.0,226.0,10.8,791,16746,0.20,0.00,0.00,0.000,6,0.120,0.000,2817,1737,1783
$GC,17053,0.83,225.6,205.3,6.5,806,17075,0.15,2.38,13.43,0.880,4,0.066,0.059,2886,3155,1730
$GC,17100,0.63,225.6,200.6,12.9,808,17105,0.28,2.25,0.00,0.000,6,0.126,0.044,2814,1737,1728
$GC,17428,0.88,261.1,179.8,5.9,824,17466,0.17,0.00,32.12,0.904,6,0.062,0.000,2895,1737,1585
$GC,17777,0.77,261.1,143.6,9.7,841,17781,0.17,2.30,0.00,0.000,4,0.120,0.057,2851,327,1579
$GC,17805,0.87,285.8,141.3,6.2,842,17833,0.00,2.28,22.15,0.861,6,0.000,0.047,2851,1742,1485
$GC,18152,0.98,285.8,117.9,8.0,859,18156,0.15,2.28,0.00,0.000,4,0.067,0.059,2922,3160,1478
$GC,18180,0.83,285.8,114.4,13.8,860,18184,0.25,2.28,0.00,0.000,6,0.130,0.046,2859,1731,1477
$GC,18508,0.96,285.8,85.6,8.2,896,18514,0.12,0.00,0.00,0.000,6,0.071,0.000,2922,1731,1476
$GC,18853,0.85,285.8,43.9,10.7,957,18860,0.20,2.33,0.00,0.000,4,0.123,0.059,2856,3160,1475
$GC,18873,0.79,285.8,42.1,10.5,960,18879,0.00,2.25,0.00,0.000,6,0.000,0.044,2861,1726,1475
$GC,19218,1.00,303.3,19.4,6.5,1021,19237,0.12,0.00,15.07,0.806,6,0.074,0.000,2927,1726,1413
$FREEZE,6.71,0.723,-1.827
$FREEZE,6.06,0.713,-1.826
$FREEZE,5.52,0.709,-1.826
$FREEZE,4.93,0.705,-1.825
$FREEZE,4.34,0.705,-1.825
$FREEZE,3.82,0.708,-1.825
$FREEZE,3.52,0.706,-1.824
$FREEZE,2.88,0.707,-1.824
$STATE,19377,end climb,SURFACE_DEPTH_REACHED
$STATE,19377,begin surface coast
$FREEZE,2.15,0.710,-1.823
$FREEZE,1.61,0.705,-1.823
$FREEZE,1.70,0.682,-1.824
$FREEZE,1.99,0.712,-1.823
$FREEZE,1.64,0.709,-1.823
$FREEZE,1.49,0.462,-1.834
$FINISH,1.5,1.026826
$STATE,19412,end surface coast,CONTROL_FINISHED_OK
$STATE,19413,begin surface
$SM_CCo,19492,0.00,0.000,0,0,1406,304.91
$SM_GC,2.32,6.85,0.00,0.00,0.041,0.000,0.000,336,2235,1406,-10.69,0.14,304.91
$RAFOS_CLK,755
$RAFOS,4,1228625055,4.750000,4.737500,75,67,59,51,49,49,199,993,218,188,152,167
$RAFOS,3,1228624454,4.583333,4.570556,64,62,57,55,53,51,816,189,134,175,211,222
$RAFOS,2,1228623848,4.416667,4.402222,75,59,53,53,52,49,860,208,152,179,221,163
$RAFOS,1,1228623259,4.250000,4.238611,66,61,56,56,55,53,884,222,165,204,193,152
$RAFOS,0,1228622644,4.083333,4.067778,59,57,57,56,55,51,214,182,164,193,138,125
$RAFOS_FIX,-30536.822266,-740539.000000,071208,040412,2,75,67634.90
$IRIDIUM_FIX,6537.93,-5702.80,020398,212104
$TT8_MAMPS,0.026078
$HUMID,1795
$INTERNAL_PRESSURE,9.92226
$TCM_TEMP,16.40
$XPDR_PINGS,104
$24V_AH,22.2,70.964
$10V_AH,10.5,32.263
$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,23.425,146.125,395.975,0.000,0.000,25.296,38.097,150.044,26.000,0.000,0.000,15.421,2033.241,14661.570,523.978,2086.093,569.568,0.000,1637.747,0.000,2053.421,1800.000,0.533,0.000
$DEVICE_MAMPS,241.605,70.564,1193.452,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,734.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34690,1055
$CAP_FILE_SIZE,152675,0
$CFSIZE,260165632,223506432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.1
$GPS,071208,080501,6609.760,-5701.150,56,1.6,56,-36.4