version: 66.04
glider: 108
mission: 11
dive: 441
start: 12 9 108 21 29 33
data:
$ID,108
$MISSION,11
$DIVE,441
$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,355
$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,-120608.7
$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,35
$R_STBD_OVSHOOT,30
$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
$GPS1,211837,6635.786,-5649.369,41,1.0,51,-36.9
$_CALLS,2
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-62.5
$GPS2,212914,6635.789,-5649.405,9,1.2,13,-36.9
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6646.547,-5651.792
$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,31.9,20000,-13.0,-7.021
$D_GRID,589
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.99,-146.0,0.0,0.0,0,66,0.00,0.00,-44.88,0.000,2,0.000,0.000,330,2259,2818
$GC,70,-0.99,-146.0,3.1,-3.2,8,101,8.62,2.17,-14.77,0.000,4,0.236,0.076,2456,3601,3248
$GC,136,-0.84,-146.0,9.8,-13.0,19,143,0.15,2.12,0.00,0.000,6,0.142,0.041,2497,2214,3250
$GC,481,-0.84,-146.0,40.3,-6.9,80,487,0.00,2.15,0.00,0.000,4,0.000,0.051,2497,820,3251
$GC,741,-0.84,-146.0,61.6,-8.6,126,748,0.00,2.25,0.00,0.000,6,0.000,0.052,2489,2234,3251
$GC,1086,-0.84,-146.0,86.3,-6.2,187,1091,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2234,3250
$GC,1426,-0.84,-146.0,106.6,-6.2,234,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2234,3249
$GC,1737,-0.84,-146.0,123.4,-4.6,249,1741,0.00,2.22,0.00,0.000,4,0.000,0.051,2489,821,3248
$GC,1816,-0.84,-146.0,127.7,-5.0,252,1820,0.00,2.28,0.00,0.000,6,0.000,0.051,2479,2246,3248
$GC,2138,-0.84,-146.0,142.8,-4.8,268,2141,0.00,2.25,0.00,0.000,4,0.000,0.051,2480,818,3248
$GC,2212,-0.79,-146.0,146.7,-5.6,271,2216,0.15,2.25,0.00,0.000,6,0.123,0.051,2513,2237,3248
$GC,2539,-0.93,-146.0,159.2,-4.3,287,2544,0.12,2.15,0.00,0.000,4,0.074,0.061,2446,3605,3248
$GC,2700,-0.83,-146.0,170.9,-7.3,294,2704,0.20,2.10,0.00,0.000,6,0.133,0.039,2504,2215,3248
$GC,3033,-0.94,-146.0,188.9,-5.3,310,3035,0.12,0.00,0.00,0.000,6,0.078,0.000,2446,2214,3249
$GC,3342,-0.83,-146.0,211.4,-7.4,325,3344,0.20,0.00,0.00,0.000,6,0.131,0.000,2505,2214,3249
$GC,3651,-0.95,-146.0,228.4,-5.2,340,3655,0.12,2.12,0.00,0.000,4,0.077,0.048,2446,830,3249
$GC,3752,-0.80,-146.0,236.0,-8.4,344,3757,0.25,2.20,0.00,0.000,6,0.126,0.049,2511,2235,3249
$GC,4069,-0.94,-146.0,252.0,-4.8,359,4071,0.12,0.00,0.00,0.000,6,0.075,0.000,2453,2235,3250
$GC,4378,-0.88,-146.0,271.9,-6.4,374,4379,0.15,0.00,0.00,0.000,6,0.137,0.000,2495,2235,3250
$GC,4689,-0.97,-146.0,287.3,-4.8,389,4691,0.10,0.00,0.00,0.000,6,0.087,0.000,2447,2235,3251
$GC,4996,-0.88,-146.0,305.8,-6.1,404,4998,0.15,0.00,0.00,0.000,6,0.137,0.000,2489,2235,3251
$GC,5306,-0.96,-146.0,321.2,-4.8,419,5310,0.00,2.15,0.00,0.000,4,0.000,0.061,2481,3604,3251
$GC,5363,-1.04,-146.0,324.0,-5.2,421,5368,0.10,2.10,0.00,0.000,6,0.078,0.038,2430,2214,3252
$GC,5685,-0.89,-146.0,342.6,-5.9,437,5690,0.20,2.15,0.00,0.000,4,0.130,0.048,2497,821,3252
$GC,5765,-0.95,-146.0,346.5,-4.5,440,5769,0.00,2.25,0.00,0.000,6,0.000,0.048,2490,2245,3251
$GC,6087,-1.03,-146.0,361.1,-4.9,456,6092,0.12,2.12,0.00,0.000,4,0.071,0.060,2419,3598,3252
$GC,6236,-0.85,-146.0,371.8,-7.8,462,6241,0.25,2.08,0.00,0.000,6,0.132,0.038,2494,2222,3252
$GC,6553,-0.95,-146.0,389.1,-5.2,477,6556,0.00,2.12,0.00,0.000,4,0.000,0.049,2495,837,3253
$GC,6672,-1.02,-146.0,395.6,-5.7,482,6676,0.10,2.20,0.00,0.000,6,0.075,0.048,2438,2234,3253
$GC,6995,-0.91,-146.0,415.9,-6.1,492,6997,0.17,0.00,0.00,0.000,6,0.137,0.000,2488,2234,3253
$GC,7320,-0.99,-146.0,431.3,-4.6,500,7324,0.10,2.20,0.00,0.000,4,0.086,0.048,2440,824,3253
$GC,7433,-0.84,-146.0,438.4,-6.3,502,7438,0.22,2.22,0.00,0.000,6,0.126,0.048,2497,2235,3252
$GC,7776,-0.96,-146.0,453.5,-4.3,511,7778,0.10,0.00,0.00,0.000,6,0.080,0.000,2450,2235,3253
$GC,8102,-0.90,-146.0,470.5,-5.3,519,8103,0.12,0.00,0.00,0.000,6,0.139,0.000,2485,2235,3253
$GC,8426,-0.98,-146.0,484.7,-4.3,527,8427,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2235,3253
$GC,8751,-1.06,-146.0,497.3,-3.7,535,8756,0.12,2.20,0.00,0.000,4,0.077,0.047,2430,828,3253
$GC,8870,-0.88,-146.0,503.7,-5.1,537,8874,0.25,2.22,0.00,0.000,6,0.127,0.049,2495,2241,3253
$GC,9202,-0.99,-146.0,515.3,-3.4,545,9206,0.12,2.12,0.00,0.000,4,0.076,0.059,2428,3594,3253
$GC,9258,-0.87,-146.0,518.0,-5.3,546,9263,0.22,2.08,0.00,0.000,6,0.131,0.037,2496,2217,3253
$GC,9578,-1.00,-146.0,529.8,-3.7,554,9582,0.12,2.10,0.00,0.000,4,0.076,0.048,2439,839,3253
$GC,9720,-0.85,-146.0,537.4,-5.5,557,9725,0.22,2.17,0.00,0.000,6,0.125,0.048,2496,2234,3253
$GC,10046,-0.98,-146.0,550.2,-3.9,565,10048,0.12,0.00,0.00,0.000,6,0.074,0.000,2440,2234,3253
$GC,10370,-0.89,-146.0,567.3,-5.2,573,10374,0.17,2.20,0.00,0.000,4,0.137,0.047,2494,836,3253
$GC,10444,-0.97,-146.0,570.5,-4.1,574,10448,0.00,2.20,0.00,0.000,6,0.000,0.048,2487,2237,3253
$GC,10787,-1.05,-146.0,584.4,-4.1,583,10789,0.12,0.00,0.00,0.000,6,0.071,0.000,2429,2237,3253
$STATE,10905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10905,begin apogee
$GC,10913,-0.31,0.0,590.7,5.0,586,11042,0.60,0.00,126.50,1.143,6,0.123,0.000,2618,1741,2650
$STATE,11043,end apogee,CONTROL_FINISHED_OK
$STATE,11043,begin climb
$GC,11047,0.99,146.0,591.2,0.0,589,11184,0.82,2.53,128.23,1.076,4,0.087,0.053,2894,3138,2053
$GC,11193,0.71,146.0,577.4,11.3,592,11198,0.28,2.40,0.00,0.000,6,0.123,0.039,2828,1736,2051
$GC,11536,0.71,146.0,550.2,7.7,601,11537,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1736,2047
$GC,11860,0.71,146.0,523.9,8.3,609,11861,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1736,2046
$GC,12185,0.71,146.0,496.4,8.5,617,12186,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1736,2045
$GC,12510,0.71,146.0,470.3,7.8,625,12511,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1736,2045
$GC,12836,0.71,146.0,445.3,7.7,633,12837,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1736,2045
$GC,13160,0.71,146.0,419.6,7.9,641,13161,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1736,2045
$GC,13465,0.71,146.0,395.4,7.9,649,13469,0.00,2.28,0.00,0.000,4,0.000,0.054,2829,3153,2045
$GC,13481,0.71,146.0,393.9,8.0,649,13487,0.00,2.22,0.00,0.000,6,0.000,0.041,2837,1724,2044
$GC,13799,0.71,146.0,369.3,7.5,665,13800,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1724,2044
$GC,14106,0.71,146.0,346.8,7.3,680,14110,0.00,2.30,0.00,0.000,4,0.000,0.055,2837,3147,2044
$GC,14124,0.66,146.0,345.4,7.5,680,14130,0.00,2.20,0.00,0.000,6,0.000,0.041,2846,1733,2044
$GC,14441,0.61,146.0,320.4,8.0,696,14445,0.12,2.22,0.00,0.000,4,0.127,0.052,2817,336,2044
$GC,14457,0.61,146.0,319.0,7.7,696,14463,0.00,2.20,0.00,0.000,6,0.000,0.041,2817,1755,2045
$GC,14773,0.69,158.4,298.4,6.6,712,14788,0.00,2.22,10.25,0.881,4,0.000,0.054,2817,3159,2003
$GC,14828,0.69,158.4,294.1,8.1,713,14834,0.00,2.22,0.00,0.000,6,0.000,0.041,2827,1725,2002
$GC,15144,0.69,158.4,270.7,7.4,729,15148,0.00,2.30,0.00,0.000,4,0.000,0.054,2827,3156,2002
$GC,15160,0.69,158.4,269.5,7.2,729,15167,0.00,2.20,0.00,0.000,6,0.000,0.040,2836,1735,2001
$GC,15476,0.69,158.4,245.6,7.7,745,15478,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1735,2001
$GC,15785,0.69,158.4,221.8,7.5,760,15789,0.00,2.25,0.00,0.000,4,0.000,0.054,2836,3145,2000
$GC,15801,0.69,158.4,220.4,7.6,760,15807,0.00,2.17,0.00,0.000,6,0.000,0.041,2845,1737,2001
$GC,16117,0.69,158.4,194.3,8.4,776,16118,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1737,2001
$GC,16428,0.69,158.4,169.1,7.7,791,16432,0.00,2.25,0.00,0.000,4,0.000,0.055,2845,3155,2002
$GC,16444,0.69,158.4,167.7,8.0,791,16451,0.10,2.20,0.00,0.000,6,0.130,0.041,2826,1730,2001
$GC,16760,0.79,179.3,147.6,6.3,807,16782,0.10,0.00,18.95,0.851,6,0.077,0.000,2878,1729,1919
$GC,17090,0.69,179.3,116.4,8.8,823,17092,0.17,0.00,0.00,0.000,6,0.114,0.000,2823,1729,1916
$GC,17403,0.85,190.1,96.6,6.7,844,17416,0.15,0.00,10.25,0.772,6,0.064,0.000,2895,1729,1874
$GC,17755,0.78,207.2,68.4,6.5,906,17780,0.17,2.33,15.10,0.787,4,0.116,0.054,2840,3145,1805
$GC,17810,0.88,235.3,64.9,6.1,915,17841,0.10,2.22,25.30,0.797,6,0.079,0.041,2898,1725,1690
$GC,18180,0.88,235.3,31.4,7.1,980,18186,0.12,2.25,0.00,0.000,4,0.123,0.054,2869,325,1683
$GC,18210,0.94,284.4,29.6,5.4,985,18258,0.00,2.25,41.78,0.788,6,0.000,0.044,2869,1741,1490
$FREEZE,6.75,2.014,-1.844
$FREEZE,6.30,2.014,-1.844
$FREEZE,5.72,2.013,-1.843
$FREEZE,5.05,2.016,-1.843
$FREEZE,4.57,2.014,-1.842
$FREEZE,3.98,2.013,-1.842
$FREEZE,3.25,2.012,-1.841
$FREEZE,2.62,2.012,-1.841
$STATE,18563,end climb,SURFACE_DEPTH_REACHED
$STATE,18563,begin surface coast
$FREEZE,1.78,2.012,-1.840
$FREEZE,1.10,2.018,-1.838
$FREEZE,1.80,1.997,-1.840
$FREEZE,1.84,2.007,-1.840
$FREEZE,1.18,2.011,-1.840
$FINISH,1.2,1.026801
$STATE,18591,end surface coast,CONTROL_FINISHED_OK
$STATE,18591,begin surface
$SM_CCo,18670,0.00,0.000,0,0,1477,287.74
$SM_GC,1.97,6.70,0.00,0.00,0.041,0.000,0.000,331,2233,1477,-10.68,0.08,287.74
$RAFOS_CLK,695
$RAFOS,4,1228869868,0.750000,0.741111,58,55,55,54,52,52,204,152,229,190,166,130
$RAFOS,3,1228869244,0.583333,0.567778,67,58,56,55,52,52,211,117,195,186,154,141
$RAFOS,2,1228868672,0.416667,0.408889,65,56,56,52,51,48,197,185,215,160,206,124
$RAFOS,1,1228868052,0.250000,0.236667,67,57,56,51,51,50,161,197,149,122,209,178
$RAFOS,0,1228867445,0.083333,0.068056,64,63,54,53,51,51,192,217,136,167,110,1859
$RAFOS_FIX,6623.784668,-5659.131836,081208,161628,4,88,0.49
$IRIDIUM_FIX,6609.62,-5642.66,050398,212143
$TT8_MAMPS,0.026078
$HUMID,1781
$INTERNAL_PRESSURE,9.96132
$TCM_TEMP,16.70
$XPDR_PINGS,237
$24V_AH,22.4,72.578
$10V_AH,10.6,33.117
$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,22.925,111.900,376.350,0.000,0.000,60.507,69.223,293.575,59.250,0.000,0.000,15.246,1904.209,14192.430,472.090,1955.930,770.672,0.000,1509.174,0.000,1925.845,1800.000,0.533,0.000
$DEVICE_MAMPS,236.236,75.933,1142.830,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,726.666,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34681,1052
$CAP_FILE_SIZE,143698,0
$CFSIZE,260165632,222711808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.0
$GPS,101208,024256,6638.674,-5650.359,86,1.2,86,-37.0