version: 66.04
glider: 108
mission: 11
dive: 447
start: 12 11 108 5 27 41
data:
$ID,108
$MISSION,11
$DIVE,447
$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,-1
$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,-120753.19
$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,38
$R_STBD_OVSHOOT,36
$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
$GPS1,051921,6652.163,-5649.525,29,1.8,42,-37.3
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,2
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-65.7
$GPS2,052723,6652.133,-5649.630,13,2.3,32,-37.3
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$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,40.6,20160,-13.0,-7.021
$D_GRID,605
$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,-146.0,0.0,0.0,0,80,0.00,0.00,-61.90,0.000,2,0.000,0.000,325,2253,3189
$GC,85,-0.99,-146.0,3.3,-2.6,11,104,8.65,2.22,-1.55,0.000,4,0.235,0.074,2452,3591,3251
$GC,134,-0.17,-146.0,12.2,-16.4,19,141,0.62,2.12,0.00,0.000,6,0.135,0.039,2642,2212,3252
$GC,480,-0.94,-146.0,29.8,-5.9,80,486,0.47,0.00,0.00,0.000,6,0.076,0.000,2466,2212,3253
$GC,825,-0.83,-146.0,55.1,-8.9,141,831,0.12,0.00,0.00,0.000,6,0.140,0.000,2501,2212,3253
$GC,1170,-0.83,-146.0,78.3,-5.6,202,1176,0.00,2.17,0.00,0.000,4,0.000,0.052,2501,828,3252
$GC,1239,-0.83,-146.0,82.9,-6.8,214,1246,0.00,2.28,0.00,0.000,6,0.000,0.053,2493,2238,3252
$GC,1575,-0.83,-146.0,107.8,-7.1,260,1577,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2238,3251
$GC,1884,-0.83,-146.0,124.3,-4.5,275,1888,0.00,2.17,0.00,0.000,4,0.000,0.065,2483,3603,3250
$GC,2031,-0.83,-146.0,132.4,-5.1,281,2034,0.00,2.10,0.00,0.000,6,0.000,0.041,2483,2231,3249
$GC,2353,-0.83,-146.0,145.5,-3.7,297,2357,0.00,2.17,0.00,0.000,4,0.000,0.052,2483,822,3250
$GC,2529,-0.83,-146.0,154.0,-4.7,304,2536,0.12,2.25,0.00,0.000,6,0.127,0.052,2508,2237,3250
$GC,2848,-0.95,-146.0,168.7,-4.7,320,2850,0.12,0.00,0.00,0.000,6,0.076,0.000,2450,2237,3250
$GC,3155,-0.86,-146.0,188.1,-6.9,335,3157,0.15,0.00,0.00,0.000,6,0.136,0.000,2492,2237,3250
$GC,3465,-0.93,-146.0,203.6,-4.8,350,3469,0.00,2.22,0.00,0.000,4,0.000,0.051,2492,818,3250
$GC,3537,-0.93,-146.0,207.6,-5.5,353,3541,0.00,2.28,0.00,0.000,6,0.000,0.051,2484,2245,3250
$GC,3865,-0.93,-146.0,224.8,-5.4,369,3866,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2245,3251
$GC,4174,-0.93,-146.0,241.9,-5.8,384,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2246,3251
$GC,4484,-0.98,-146.0,259.7,-5.8,399,4488,0.00,2.22,0.00,0.000,4,0.000,0.051,2484,823,3251
$GC,4540,-0.98,-146.0,263.1,-6.3,401,4544,0.00,2.25,0.00,0.000,6,0.000,0.050,2474,2246,3251
$GC,4862,-0.98,-146.0,281.9,-5.6,417,4866,0.00,2.12,0.00,0.000,4,0.000,0.062,2464,3596,3252
$GC,4932,-0.98,-146.0,286.0,-6.2,420,4936,0.00,2.08,0.00,0.000,6,0.000,0.038,2464,2216,3252
$GC,5264,-0.98,-146.0,303.9,-5.2,436,5268,0.00,2.12,0.00,0.000,4,0.000,0.049,2464,821,3252
$GC,5484,-0.91,-146.0,315.6,-6.0,445,5491,0.12,2.25,0.00,0.000,6,0.127,0.050,2489,2245,3252
$GC,5801,-1.00,-146.0,328.3,-3.9,461,5805,0.10,2.12,0.00,0.000,4,0.081,0.061,2430,3599,3253
$GC,5886,-0.87,-146.0,333.2,-6.0,464,5893,0.22,2.08,0.00,0.000,6,0.129,0.038,2498,2218,3253
$GC,6204,-0.98,-146.0,345.8,-3.8,480,6208,0.12,2.12,0.00,0.000,4,0.076,0.048,2439,829,3253
$GC,6288,-0.83,-146.0,350.9,-6.7,483,6296,0.25,2.22,0.00,0.000,6,0.123,0.048,2504,2247,3253
$GC,6605,-0.97,-146.0,364.8,-4.4,499,6607,0.12,0.00,0.00,0.000,6,0.075,0.000,2447,2247,3254
$GC,6915,-0.89,-146.0,383.5,-6.1,514,6917,0.15,0.00,0.00,0.000,6,0.137,0.000,2489,2247,3254
$GC,7225,-0.98,-146.0,397.8,-4.4,529,7230,0.10,2.22,0.00,0.000,4,0.082,0.048,2440,821,3254
$GC,7375,-0.83,-146.0,406.9,-6.4,533,7379,0.25,2.20,0.00,0.000,6,0.124,0.049,2505,2234,3254
$GC,7694,-0.98,-146.0,419.8,-3.9,541,7696,0.15,0.00,0.00,0.000,6,0.070,0.000,2437,2234,3254
$GC,8019,-0.87,-146.0,438.1,-5.7,549,8023,0.20,2.15,0.00,0.000,4,0.133,0.061,2493,3606,3254
$GC,8098,-1.02,-146.0,441.9,-4.7,550,8102,0.12,2.08,0.00,0.000,6,0.071,0.038,2434,2222,3255
$GC,8435,-0.90,-146.0,462.2,-6.1,559,8439,0.17,2.12,0.00,0.000,4,0.133,0.048,2485,833,3255
$GC,8589,-0.90,-146.0,470.3,-5.3,562,8593,0.00,2.20,0.00,0.000,6,0.000,0.048,2477,2242,3255
$GC,8902,-0.90,-146.0,485.9,-4.9,570,8903,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2242,3255
$GC,9228,-0.96,-146.0,500.9,-4.6,578,9231,0.00,2.22,0.00,0.000,4,0.000,0.048,2477,821,3255
$GC,9331,-0.96,-146.0,505.7,-4.6,580,9335,0.00,2.25,0.00,0.000,6,0.000,0.048,2467,2236,3255
$GC,9650,-0.96,-146.0,520.1,-4.4,588,9654,0.00,2.15,0.00,0.000,4,0.000,0.060,2457,3596,3255
$GC,9717,-0.96,-146.0,523.4,-5.3,589,9721,0.00,2.05,0.00,0.000,6,0.000,0.037,2457,2223,3255
$GC,10066,-0.96,-146.0,540.0,-4.8,598,10067,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2222,3255
$GC,10390,-0.96,-146.0,556.7,-5.3,606,10394,0.00,2.12,0.00,0.000,4,0.000,0.049,2457,832,3255
$GC,10469,-0.88,-146.0,561.3,-5.8,607,10473,0.15,2.22,0.00,0.000,6,0.124,0.048,2490,2237,3255
$GC,10807,-0.99,-146.0,575.4,-4.1,616,10808,0.10,0.00,0.00,0.000,6,0.080,0.000,2442,2237,3255
$GC,11131,-0.91,-146.0,592.3,-5.2,624,11135,0.15,2.17,0.00,0.000,4,0.137,0.060,2476,3603,3255
$GC,11190,-1.00,-146.0,594.7,-4.0,625,11194,0.00,2.08,0.00,0.000,6,0.000,0.038,2476,2227,3255
$STATE,11466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11466,begin apogee
$GC,11473,-0.31,0.0,606.3,4.1,632,11604,0.43,0.00,127.45,1.157,6,0.109,0.000,2615,1735,2650
$STATE,11604,end apogee,CONTROL_FINISHED_OK
$STATE,11604,begin climb
$GC,11607,0.99,146.0,606.7,0.0,635,11745,0.85,2.55,129.25,1.090,4,0.084,0.054,2900,3145,2053
$GC,11771,0.67,146.0,589.8,12.4,638,11778,0.32,2.35,0.00,0.000,6,0.127,0.040,2820,1746,2050
$GC,12104,0.67,148.1,565.5,7.0,647,12105,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1746,2047
$GC,12429,0.68,156.6,543.5,6.7,655,12443,0.00,2.30,9.02,0.960,4,0.000,0.056,2820,3144,2011
$GC,12460,0.68,156.6,541.0,7.2,655,12464,0.00,2.20,0.00,0.000,6,0.000,0.041,2828,1730,2010
$GC,12797,0.68,156.6,515.3,7.7,664,12801,0.00,2.28,0.00,0.000,4,0.000,0.055,2828,3155,2008
$GC,12826,0.61,156.6,512.9,9.0,664,12830,0.10,2.20,0.00,0.000,6,0.138,0.041,2812,1724,2007
$GC,13169,0.67,156.6,487.0,7.7,673,13173,0.00,2.30,0.00,0.000,4,0.000,0.056,2812,3158,2007
$GC,13185,0.67,156.6,485.4,7.8,673,13189,0.00,2.20,0.00,0.000,6,0.000,0.041,2819,1727,2007
$GC,13499,0.67,156.6,460.0,8.0,681,13503,0.00,2.28,0.00,0.000,4,0.000,0.055,2819,3147,2007
$GC,13521,0.67,156.6,458.0,8.6,681,13525,0.00,2.17,0.00,0.000,6,0.000,0.041,2829,1733,2007
$GC,13870,0.67,156.6,429.7,7.9,690,13873,0.00,2.25,0.00,0.000,4,0.000,0.055,2829,3150,2007
$GC,13886,0.67,156.6,428.4,7.8,690,13890,0.00,2.17,0.00,0.000,6,0.000,0.040,2839,1728,2007
$GC,14199,0.67,156.6,402.7,8.3,698,14203,0.00,2.28,0.00,0.000,4,0.000,0.054,2839,3162,2007
$GC,14228,0.57,156.6,400.0,9.1,698,14232,0.17,2.17,0.00,0.000,6,0.124,0.041,2797,1738,2006
$GC,14555,0.76,201.0,381.2,5.6,714,14596,0.15,0.00,38.62,1.022,6,0.061,0.000,2872,1738,1830
$GC,14905,0.64,201.0,345.6,10.5,731,14909,0.20,2.22,0.00,0.000,4,0.115,0.053,2814,334,1823
$GC,14932,0.74,201.0,343.1,8.0,732,14937,0.10,2.22,0.00,0.000,6,0.075,0.043,2870,1748,1823
$GC,15259,0.65,201.0,309.8,10.2,748,15261,0.17,0.00,0.00,0.000,6,0.122,0.000,2816,1748,1822
$GC,15569,0.78,213.5,288.5,6.6,763,15585,0.12,2.25,10.73,0.877,4,0.069,0.055,2878,3160,1779
$GC,15632,0.56,213.5,281.9,11.8,765,15637,0.30,2.22,0.00,0.000,6,0.121,0.041,2797,1734,1778
$GC,15960,0.85,249.4,262.1,5.9,781,15999,0.22,0.00,32.35,0.933,6,0.054,0.000,2902,1733,1632
$GC,16308,0.68,249.4,216.3,13.5,798,16313,0.22,2.25,0.00,0.000,4,0.120,0.054,2837,328,1625
$GC,16343,0.81,249.4,212.9,9.0,799,16350,0.00,2.22,0.00,0.000,6,0.000,0.043,2837,1748,1625
$GC,16660,0.89,249.4,187.5,7.9,815,16665,0.12,2.20,0.00,0.000,4,0.070,0.054,2901,3148,1624
$GC,16717,0.65,249.4,180.8,13.2,817,16722,0.30,2.20,0.00,0.000,6,0.120,0.041,2818,1727,1622
$GC,17039,0.90,304.3,162.0,5.3,833,17089,0.17,0.00,47.10,0.874,6,0.058,0.000,2905,1727,1409
$GC,17387,0.77,304.3,120.6,12.4,850,17392,0.20,2.28,0.00,0.000,4,0.120,0.052,2847,328,1400
$GC,17438,0.97,304.3,116.1,8.3,852,17442,0.15,2.22,0.00,0.000,6,0.063,0.041,2923,1748,1399
$GC,17770,0.85,304.3,72.2,12.5,894,17776,0.20,0.00,0.00,0.000,6,0.119,0.000,2858,1748,1397
$GC,18115,1.07,312.6,46.5,6.8,955,18128,0.17,2.25,6.93,0.685,4,0.061,0.055,2947,3152,1374
$GC,18158,0.96,312.6,41.2,12.2,962,18165,0.25,2.22,0.00,0.000,6,0.127,0.042,2882,1737,1373
$GC,18504,1.07,312.6,13.2,7.9,1023,18511,0.12,2.25,0.00,0.000,4,0.069,0.055,2955,338,1372
$GC,18530,1.07,312.6,10.7,8.7,1027,18537,0.15,2.25,0.00,0.000,6,0.120,0.044,2911,1746,1373
$FREEZE,6.97,1.482,-1.834
$FREEZE,6.44,1.488,-1.833
$FREEZE,5.74,1.486,-1.833
$FREEZE,5.13,1.486,-1.832
$FREEZE,4.35,1.481,-1.832
$FREEZE,3.62,1.486,-1.831
$FREEZE,3.11,1.478,-1.831
$FREEZE,2.46,1.479,-1.830
$STATE,18598,end climb,SURFACE_DEPTH_REACHED
$STATE,18598,begin surface coast
$FREEZE,2.10,1.469,-1.830
$FREEZE,1.28,1.484,-1.829
$FREEZE,1.60,1.476,-1.829
$FREEZE,1.16,1.472,-1.829
$FREEZE,1.42,1.494,-1.828
$FINISH,1.4,1.026670
$STATE,18629,end surface coast,CONTROL_FINISHED_OK
$STATE,18629,begin surface
$SM_CCo,18708,0.00,0.000,0,0,1369,314.23
$SM_GC,2.01,6.88,0.00,0.00,0.049,0.000,0.000,334,2247,1369,-10.67,0.48,314.23
$RAFOS_CLK,691
$RAFOS,4,1228985076,8.750000,8.743333,74,60,60,59,57,52,690,214,199,159,229,137
$RAFOS,3,1228984445,8.583333,8.568055,60,59,54,52,50,49,183,214,157,204,146,171
$RAFOS,2,1228983860,8.416667,8.405556,60,59,55,54,54,53,220,576,180,169,209,192
$RAFOS,1,1228983241,8.250000,8.233611,91,59,55,54,53,51,891,139,196,180,116,215
$RAFOS,0,1228982664,8.083333,8.073334,57,57,56,53,53,51,209,222,118,93,164,147
$RAFOS_FIX,6652.423340,-5654.486328,111208,080800,2,82,0.32
$IRIDIUM_FIX,6620.33,-5651.93,070398,000040
$TT8_MAMPS,0.026845
$HUMID,1782
$INTERNAL_PRESSURE,9.95155
$TCM_TEMP,16.90
$XPDR_PINGS,258
$24V_AH,22.3,73.369
$10V_AH,10.6,33.536
$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,24.875,138.275,401.450,0.000,0.000,28.732,36.028,255.754,64.500,0.000,0.000,35.090,1982.844,13888.281,528.565,2112.443,679.157,0.000,1635.391,0.000,2057.814,1800.000,0.532,0.000
$DEVICE_MAMPS,234.702,74.399,1157.403,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,723.157,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34683,1044
$CAP_FILE_SIZE,152038,0
$CFSIZE,260165632,222306304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.5
$GPS,111208,104138,6654.818,-5649.583,37,1.1,74,-37.4