version: 66.04
glider: 108
mission: 11
dive: 448
start: 12 11 108 10 48 16
data:
$ID,108
$MISSION,11
$DIVE,448
$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,-120765.84
$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,33
$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
$GPS1,104138,6654.818,-5649.583,37,1.1,74,-37.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-66.7
$GPS2,104757,6654.878,-5649.715,10,2.0,10,-37.4
$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,42.1,15093,-13.0,-7.021
$D_GRID,625
$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,-81.97,0.000,6,0.000,0.000,333,2255,3247
$GC,106,-0.99,-146.0,2.9,-1.4,15,120,8.65,2.35,0.00,0.000,4,0.238,0.051,2469,809,3251
$GC,218,-0.78,-146.0,14.8,-10.6,34,224,0.17,2.25,0.00,0.000,6,0.123,0.050,2512,2231,3253
$GC,563,-0.78,-146.0,39.0,-6.6,95,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2231,3253
$GC,907,-0.83,-146.0,61.3,-6.6,156,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2230,3252
$GC,1251,-0.88,-146.0,79.0,-3.3,217,1258,0.10,2.20,0.00,0.000,4,0.084,0.064,2455,3603,3252
$GC,1311,-0.76,-146.0,82.4,-6.2,227,1318,0.22,2.15,0.00,0.000,6,0.136,0.041,2521,2205,3251
$GC,1658,-0.89,-146.0,99.9,-4.8,288,1665,0.12,2.17,0.00,0.000,4,0.077,0.051,2462,823,3251
$GC,1753,-0.77,-146.0,106.0,-6.7,293,1758,0.22,2.28,0.00,0.000,6,0.127,0.053,2518,2228,3250
$GC,2081,-0.91,-146.0,121.0,-4.4,309,2085,0.12,2.25,0.00,0.000,4,0.074,0.050,2461,819,3250
$GC,2188,-0.78,-146.0,127.7,-6.8,313,2195,0.20,2.28,0.00,0.000,6,0.128,0.053,2510,2245,3249
$GC,2505,-0.90,-146.0,139.5,-3.5,329,2506,0.10,0.00,0.00,0.000,6,0.081,0.000,2462,2245,3250
$GC,2816,-0.84,-146.0,155.7,-5.6,344,2821,0.15,2.25,0.00,0.000,4,0.136,0.051,2505,830,3250
$GC,2949,-0.91,-146.0,162.8,-5.1,350,2952,0.00,2.25,0.00,0.000,6,0.000,0.051,2498,2235,3250
$GC,3283,-0.98,-146.0,180.7,-5.4,366,3287,0.12,2.17,0.00,0.000,4,0.072,0.063,2425,3600,3250
$GC,3366,-0.80,-146.0,187.2,-8.5,369,3373,0.28,2.10,0.00,0.000,6,0.131,0.039,2512,2218,3250
$GC,3685,-0.94,-146.0,204.1,-5.5,385,3687,0.12,0.00,0.00,0.000,6,0.077,0.000,2453,2218,3251
$GC,3992,-0.85,-146.0,226.6,-7.7,400,3996,0.15,2.17,0.00,0.000,4,0.135,0.049,2497,823,3251
$GC,4098,-0.85,-146.0,234.0,-6.8,404,4104,0.00,2.28,0.00,0.000,6,0.000,0.050,2490,2242,3251
$GC,4415,-0.91,-146.0,253.6,-5.8,420,4417,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2242,3251
$GC,4724,-0.97,-146.0,270.8,-5.2,435,4728,0.00,2.22,0.00,0.000,4,0.000,0.050,2489,830,3252
$GC,4798,-0.97,-146.0,274.9,-5.3,438,4802,0.00,2.22,0.00,0.000,6,0.000,0.049,2479,2247,3252
$GC,5125,-0.97,-146.0,290.8,-4.6,454,5126,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2247,3252
$GC,5434,-0.97,-146.0,305.3,-4.7,469,5438,0.00,2.22,0.00,0.000,4,0.000,0.050,2480,820,3253
$GC,5508,-0.97,-146.0,309.2,-5.3,472,5512,0.00,2.25,0.00,0.000,6,0.000,0.050,2469,2241,3253
$GC,5835,-0.97,-146.0,328.0,-6.0,488,5839,0.00,2.12,0.00,0.000,4,0.000,0.062,2459,3593,3253
$GC,5892,-0.97,-146.0,331.7,-6.7,490,5895,0.00,2.08,0.00,0.000,6,0.000,0.038,2459,2214,3253
$GC,6214,-0.97,-146.0,350.5,-5.5,506,6218,0.00,2.12,0.00,0.000,4,0.000,0.048,2458,828,3254
$GC,6368,-0.88,-146.0,359.1,-5.3,512,6375,0.15,2.25,0.00,0.000,6,0.124,0.048,2492,2245,3254
$GC,6687,-0.97,-146.0,370.6,-3.1,528,6689,0.10,0.00,0.00,0.000,6,0.081,0.000,2444,2245,3254
$GC,6994,-0.89,-146.0,383.5,-4.2,543,6996,0.17,0.00,0.00,0.000,6,0.131,0.000,2494,2245,3254
$GC,7304,-0.99,-146.0,393.2,-3.3,558,7306,0.12,0.00,0.00,0.000,6,0.077,0.000,2436,2245,3255
$GC,7610,-0.87,-146.0,408.1,-5.0,569,7612,0.20,0.00,0.00,0.000,6,0.131,0.000,2495,2245,3255
$GC,7935,-0.98,-146.0,421.0,-4.0,577,7939,0.12,2.22,0.00,0.000,4,0.076,0.048,2437,826,3255
$GC,8037,-0.82,-146.0,427.2,-6.8,579,8042,0.25,2.22,0.00,0.000,6,0.123,0.049,2502,2236,3255
$GC,8385,-0.96,-146.0,441.0,-3.8,588,8387,0.12,0.00,0.00,0.000,6,0.076,0.000,2444,2236,3255
$GC,8711,-0.88,-146.0,457.4,-5.1,596,8713,0.17,0.00,0.00,0.000,6,0.132,0.000,2495,2235,3255
$GC,9035,-0.99,-146.0,470.2,-4.1,604,9039,0.12,2.22,0.00,0.000,4,0.077,0.047,2436,828,3255
$GC,9186,-0.83,-146.0,479.5,-6.7,607,9191,0.25,2.25,0.00,0.000,6,0.123,0.049,2502,2241,3255
$GC,9500,-0.98,-146.0,494.2,-4.7,615,9502,0.12,0.00,0.00,0.000,6,0.076,0.000,2444,2241,3255
$GC,9824,-0.90,-146.0,514.6,-6.4,623,9829,0.15,2.22,0.00,0.000,4,0.133,0.048,2487,826,3255
$GC,9898,-0.90,-146.0,518.8,-5.0,624,9902,0.00,2.22,0.00,0.000,6,0.000,0.049,2480,2233,3255
$GC,10242,-0.95,-146.0,534.7,-4.3,633,10243,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2233,3255
$GC,10567,-1.01,-146.0,547.8,-3.9,641,10568,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2233,3255
$GC,10892,-1.07,-146.0,560.7,-4.0,649,10896,0.12,2.22,0.00,0.000,4,0.070,0.047,2420,829,3255
$GC,10988,-0.85,-146.0,566.2,-6.3,651,10993,0.28,2.25,0.00,0.000,6,0.127,0.048,2492,2231,3255
$GC,11307,-0.97,-146.0,578.6,-3.8,659,11309,0.10,0.00,0.00,0.000,6,0.082,0.000,2446,2231,3255
$GC,11633,-0.91,-146.0,594.8,-5.0,667,11635,0.15,0.00,0.00,0.000,6,0.132,0.000,2489,2231,3255
$GC,11957,-1.01,-146.0,608.3,-4.2,675,11962,0.12,2.25,0.00,0.000,4,0.077,0.048,2432,826,3255
$GC,12089,-0.86,-146.0,616.2,-6.0,677,12096,0.25,2.28,0.00,0.000,6,0.125,0.050,2497,2231,3255
$STATE,12296,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12296,begin apogee
$GC,12303,-0.31,0.0,625.1,4.0,683,12434,0.38,0.00,127.45,1.165,6,0.107,0.000,2621,1742,2650
$STATE,12435,end apogee,CONTROL_FINISHED_OK
$STATE,12435,begin climb
$GC,12438,0.99,146.0,625.0,0.0,686,12572,0.80,0.00,130.00,1.097,6,0.083,0.000,2893,1742,2054
$GC,12889,0.75,146.0,575.5,11.9,697,12894,0.20,2.30,0.00,0.000,4,0.123,0.054,2838,335,2047
$GC,12922,0.75,146.0,571.7,9.0,697,12929,0.00,2.25,0.00,0.000,6,0.000,0.042,2838,1752,2048
$GC,13254,0.70,146.0,542.5,8.7,706,13258,0.00,2.20,0.00,0.000,4,0.000,0.056,2838,3148,2046
$GC,13294,0.55,146.0,538.6,9.5,706,13301,0.17,2.20,0.00,0.000,6,0.127,0.040,2797,1736,2045
$GC,13627,0.70,167.7,517.4,6.3,715,13651,0.12,2.35,18.15,1.047,4,0.069,0.055,2860,3143,1965
$GC,13663,0.54,167.7,513.9,10.4,715,13670,0.28,2.22,0.00,0.000,6,0.124,0.040,2789,1728,1964
$GC,13996,0.79,208.7,494.1,5.7,724,14035,0.20,0.00,35.88,1.075,6,0.055,0.000,2881,1728,1799
$GC,14360,0.63,208.7,451.9,11.7,733,14362,0.22,0.00,0.00,0.000,6,0.117,0.000,2813,1728,1792
$GC,14686,0.78,233.6,430.5,6.2,741,14715,0.12,2.42,21.92,1.017,4,0.067,0.054,2872,3159,1696
$GC,14733,0.62,233.6,426.2,10.7,742,14738,0.25,2.28,0.00,0.000,6,0.120,0.041,2808,1726,1695
$GC,15052,0.86,278.4,407.5,5.6,750,15095,0.20,0.00,39.92,1.023,6,0.055,0.000,2901,1726,1515
$GC,15429,0.67,278.4,357.8,14.0,766,15431,0.25,0.00,0.00,0.000,6,0.120,0.000,2823,1726,1506
$GC,15735,0.81,278.4,330.4,8.6,781,15739,0.12,2.30,0.00,0.000,4,0.067,0.054,2885,3147,1503
$GC,15753,0.81,278.4,328.7,9.1,782,15757,0.15,2.20,0.00,0.000,6,0.128,0.041,2851,1736,1503
$GC,16085,0.81,278.4,294.6,9.7,798,16088,0.00,2.25,0.00,0.000,4,0.000,0.054,2858,335,1502
$GC,16118,0.89,278.4,291.3,9.1,799,16122,0.00,2.20,0.00,0.000,6,0.000,0.041,2858,1753,1502
$GC,16442,0.89,278.4,263.8,8.2,815,16446,0.00,2.17,0.00,0.000,4,0.000,0.055,2858,3146,1502
$GC,16475,0.82,278.4,260.5,9.1,816,16479,0.00,2.17,0.00,0.000,6,0.000,0.041,2868,1735,1501
$GC,16797,0.82,278.4,232.0,8.8,832,16801,0.00,2.22,0.00,0.000,4,0.000,0.055,2879,334,1501
$GC,16831,0.82,278.4,229.0,9.0,833,16835,0.00,2.22,0.00,0.000,6,0.000,0.041,2878,1744,1501
$GC,17153,0.77,278.4,199.9,8.7,849,17157,0.12,2.22,0.00,0.000,4,0.127,0.053,2841,3152,1501
$GC,17176,0.77,278.4,198.2,8.2,850,17180,0.00,2.20,0.00,0.000,6,0.000,0.041,2848,1730,1501
$GC,17510,0.87,308.2,176.8,6.1,866,17537,0.00,0.00,25.15,0.873,6,0.000,0.000,2848,1730,1393
$GC,17838,0.98,308.2,149.1,10.6,882,17843,0.15,2.30,0.00,0.000,4,0.066,0.053,2921,3160,1388
$GC,17855,0.98,308.2,147.0,11.1,883,17860,0.15,2.22,0.00,0.000,6,0.135,0.041,2889,1728,1388
$GC,18189,0.98,308.2,101.4,12.5,899,18190,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1728,1388
$GC,18524,1.03,308.2,66.5,9.5,956,18530,0.00,2.22,0.00,0.000,4,0.000,0.055,2897,337,1388
$GC,18554,1.10,308.2,63.5,9.4,961,18561,0.08,2.22,0.00,0.000,6,0.088,0.043,2946,1741,1388
$GC,18901,0.96,308.2,20.9,13.9,1022,18907,0.20,2.22,0.00,0.000,4,0.126,0.054,2880,3148,1388
$GC,18920,0.86,308.2,18.3,13.3,1025,18927,0.00,2.20,0.00,0.000,6,0.000,0.041,2886,1732,1387
$FREEZE,6.78,1.857,-1.833
$FREEZE,6.25,1.863,-1.833
$FREEZE,5.89,1.860,-1.833
$FREEZE,5.22,1.862,-1.832
$FREEZE,4.82,1.835,-1.832
$FREEZE,4.29,1.838,-1.831
$FREEZE,3.96,1.843,-1.831
$FREEZE,3.32,1.844,-1.831
$FREEZE,3.03,1.842,-1.830
$FREEZE,2.66,1.843,-1.830
$STATE,19080,end climb,SURFACE_DEPTH_REACHED
$STATE,19080,begin surface coast
$FREEZE,2.15,1.845,-1.830
$FREEZE,1.89,1.837,-1.830
$FREEZE,1.48,1.838,-1.829
$FREEZE,1.90,1.830,-1.830
$FREEZE,2.05,1.845,-1.830
$FREEZE,1.71,1.849,-1.829
$FREEZE,1.21,1.828,-1.828
$FINISH,1.2,1.026648
$STATE,19121,end surface coast,CONTROL_FINISHED_OK
$STATE,19121,begin surface
$SM_CCo,19200,0.00,0.000,0,0,1385,310.55
$SM_GC,2.10,6.80,0.00,0.00,0.048,0.000,0.000,333,2240,1385,-10.68,0.28,310.55
$RAFOS_CLK,713
$RAFOS,4,1228999445,12.750000,12.734722,59,59,59,56,56,56,194,207,216,149,169,182
$RAFOS,3,1228998842,12.583333,12.567223,58,56,55,53,51,46,187,211,150,198,159,113
$RAFOS,2,1228998246,12.416667,12.401667,67,62,61,60,57,51,641,180,201,170,119,224
$RAFOS,1,1228997659,12.250000,12.238611,59,57,56,55,54,52,211,201,133,165,190,796
$RAFOS,0,1228997051,12.083333,12.069722,73,65,52,51,49,48,217,201,135,1203,152,118
$RAFOS_FIX,6652.423340,-5654.486328,111208,080800,2,82,0.32
$IRIDIUM_FIX,6620.33,-5651.93,070398,050522
$TT8_MAMPS,0.029146
$HUMID,1794
$INTERNAL_PRESSURE,9.95155
$TCM_TEMP,16.60
$XPDR_PINGS,226
$24V_AH,22.4,73.512
$10V_AH,10.5,33.607
$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,24.825,126.375,398.475,0.000,0.000,23.659,33.441,178.831,56.500,0.000,0.000,12.019,1978.173,14406.492,551.420,2023.863,610.911,0.000,1620.938,0.000,2002.855,2160.000,0.532,0.000
$DEVICE_MAMPS,237.770,63.661,1165.073,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,734.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34718,1060
$CAP_FILE_SIZE,150120,0
$CFSIZE,260165632,222240768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.7
$GPS,111208,160958,6658.988,-5651.620,34,2.1,53,-37.5