version: 66.04
glider: 108
mission: 11
dive: 466
start: 12 15 108 22 36 52
data:
$ID,108
$MISSION,11
$DIVE,466
$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,-121770.03
$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,26
$R_STBD_OVSHOOT,23
$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
$GPS1,222942,6648.750,-5716.726,35,2.0,39,-37.4
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-63.8
$GPS2,223633,6648.609,-5716.652,14,1.3,14,-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,75.2,33740,-13.0,-7.021
$D_GRID,704
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-0.99,-146.0,0.0,0.0,0,93,0.00,0.00,-72.25,0.000,2,0.000,0.000,336,2239,2859
$GC,97,-0.99,-146.0,3.0,-1.0,13,133,8.90,2.38,-18.75,0.000,4,0.247,0.074,2474,813,3248
$GC,388,-0.67,-146.0,31.2,-10.5,64,395,0.25,2.35,0.00,0.000,6,0.147,0.064,2535,2242,3252
$GC,734,-0.67,-146.0,53.6,-5.8,125,740,0.00,2.22,0.00,0.000,4,0.000,0.077,2527,3601,3252
$GC,764,-0.67,-146.0,55.3,-5.7,130,770,0.00,2.17,0.00,0.000,6,0.000,0.050,2527,2214,3252
$GC,1109,-0.67,-146.0,78.9,-7.4,191,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2214,3252
$GC,1457,-0.72,-146.0,101.8,-7.0,250,1461,0.00,2.22,0.00,0.000,4,0.000,0.063,2527,813,3252
$GC,1518,-0.72,-146.0,106.6,-7.6,252,1524,0.00,2.33,0.00,0.000,6,0.000,0.064,2517,2233,3252
$GC,1835,-0.72,-146.0,131.0,-7.6,268,1838,0.00,2.22,0.00,0.000,4,0.000,0.077,2506,3597,3252
$GC,1890,-0.72,-146.0,136.0,-8.8,270,1894,0.00,2.15,0.00,0.000,6,0.000,0.050,2506,2225,3252
$GC,2212,-0.72,-146.0,161.7,-7.5,286,2216,0.00,2.25,0.00,0.000,4,0.000,0.064,2506,812,3252
$GC,2290,-0.72,-146.0,167.8,-7.5,289,2295,0.10,2.33,0.00,0.000,6,0.143,0.064,2523,2238,3252
$GC,2613,-0.81,-146.0,187.1,-5.4,305,2616,0.00,2.30,0.00,0.000,4,0.000,0.063,2523,819,3252
$GC,2669,-0.86,-146.0,190.3,-5.6,307,2674,0.10,2.33,0.00,0.000,6,0.086,0.065,2474,2238,3252
$GC,2992,-0.78,-146.0,210.5,-6.2,323,2994,0.15,0.00,0.00,0.000,6,0.150,0.000,2514,2238,3251
$GC,3302,-0.87,-146.0,226.0,-5.1,338,3304,0.10,0.00,0.00,0.000,6,0.097,0.000,2473,2238,3251
$GC,3610,-0.81,-146.0,244.2,-5.7,353,3615,0.12,2.33,0.00,0.000,4,0.150,0.063,2510,816,3251
$GC,3723,-0.86,-146.0,249.6,-4.4,358,3727,0.00,2.35,0.00,0.000,6,0.000,0.065,2503,2244,3251
$GC,4045,-0.92,-146.0,262.9,-4.1,374,4046,0.10,0.00,0.00,0.000,6,0.088,0.000,2456,2244,3250
$GC,4355,-0.82,-146.0,280.7,-5.9,389,4359,0.17,2.33,0.00,0.000,4,0.146,0.063,2510,821,3250
$GC,4439,-0.88,-146.0,284.7,-4.2,392,4445,0.00,2.33,0.00,0.000,6,0.000,0.064,2503,2236,3250
$GC,4756,-0.96,-146.0,298.9,-4.6,408,4761,0.12,2.30,0.00,0.000,4,0.081,0.061,2448,822,3250
$GC,4813,-0.79,-146.0,302.7,-7.0,410,4820,0.25,2.33,0.00,0.000,6,0.139,0.064,2508,2236,3250
$GC,5130,-0.90,-146.0,318.8,-5.3,426,5134,0.10,2.30,0.00,0.000,4,0.092,0.061,2465,822,3251
$GC,5181,-0.79,-146.0,322.4,-7.6,428,5186,0.20,2.33,0.00,0.000,6,0.137,0.064,2511,2237,3251
$GC,5503,-0.91,-146.0,340.8,-5.8,444,5505,0.12,0.00,0.00,0.000,6,0.084,0.000,2459,2237,3250
$GC,5813,-0.84,-146.0,364.4,-7.7,459,5817,0.15,2.30,0.00,0.000,4,0.147,0.060,2500,823,3251
$GC,5874,-0.89,-146.0,368.8,-6.7,461,5880,0.00,2.33,0.00,0.000,6,0.000,0.063,2493,2242,3251
$GC,6191,-0.94,-146.0,388.5,-5.9,477,6192,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2242,3251
$GC,6520,-1.01,-146.0,406.5,-5.0,490,6525,0.12,2.30,0.00,0.000,4,0.081,0.061,2436,819,3253
$GC,6653,-0.81,-146.0,415.7,-6.8,493,6658,0.28,2.33,0.00,0.000,6,0.137,0.062,2505,2242,3252
$GC,6979,-0.93,-146.0,431.5,-4.9,501,6984,0.10,2.30,0.00,0.000,4,0.091,0.059,2462,821,3253
$GC,7025,-0.82,-146.0,434.3,-6.5,502,7031,0.17,2.30,0.00,0.000,6,0.133,0.061,2500,2236,3253
$GC,7358,-0.92,-146.0,452.2,-5.5,510,7361,0.00,2.30,0.00,0.000,4,0.000,0.059,2500,812,3253
$GC,7399,-0.97,-146.0,454.6,-5.7,510,7406,0.10,2.33,0.00,0.000,6,0.083,0.059,2449,2244,3253
$GC,7732,-0.88,-146.0,477.7,-7.1,519,7734,0.15,0.00,0.00,0.000,6,0.150,0.000,2489,2244,3254
$GC,8057,-0.94,-146.0,495.9,-5.4,527,8061,0.00,2.30,0.00,0.000,4,0.000,0.060,2489,814,3254
$GC,8113,-0.94,-146.0,499.4,-6.0,528,8117,0.00,2.33,0.00,0.000,6,0.000,0.061,2481,2242,3254
$GC,8433,-0.94,-146.0,517.0,-5.5,536,8434,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2242,3254
$GC,8758,-0.94,-146.0,534.7,-5.4,544,8762,0.00,2.30,0.00,0.000,4,0.000,0.059,2481,819,3254
$GC,8815,-0.94,-146.0,538.0,-5.7,545,8819,0.00,2.33,0.00,0.000,6,0.000,0.061,2472,2245,3254
$GC,9134,-0.94,-146.0,555.3,-5.5,553,9135,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2245,3255
$GC,9460,-0.94,-146.0,572.6,-5.3,561,9464,0.00,2.33,0.00,0.000,4,0.000,0.060,2472,810,3255
$GC,9533,-0.94,-146.0,577.0,-6.1,562,9537,0.00,2.33,0.00,0.000,6,0.000,0.061,2462,2238,3255
$GC,9876,-0.94,-146.0,597.5,-6.0,571,9880,0.00,2.30,0.00,0.000,4,0.000,0.059,2461,815,3254
$GC,9923,-0.86,-146.0,600.4,-6.9,572,9928,0.15,2.33,0.00,0.000,6,0.133,0.061,2493,2245,3255
$GC,10248,-0.95,-146.0,617.3,-5.1,580,10249,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2244,3255
$GC,10573,-1.05,-146.0,633.8,-5.1,588,10577,0.15,2.33,0.00,0.000,4,0.077,0.058,2432,811,3255
$GC,10630,-0.87,-146.0,637.7,-7.4,589,10635,0.25,2.33,0.00,0.000,6,0.137,0.060,2494,2240,3255
$GC,10944,-0.97,-146.0,653.8,-5.2,597,10945,0.10,0.00,0.00,0.000,6,0.091,0.000,2451,2240,3254
$GC,11268,-0.90,-146.0,674.3,-6.6,605,11270,0.12,0.00,0.00,0.000,6,0.149,0.000,2484,2240,3255
$GC,11594,-0.98,-146.0,690.4,-4.5,613,11595,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2240,3255
$STATE,11874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11874,begin apogee
$GC,11882,-0.31,0.0,705.4,5.3,620,12023,0.43,0.00,133.70,1.260,6,0.120,0.000,2619,1734,2650
$STATE,12024,end apogee,CONTROL_FINISHED_OK
$STATE,12024,begin climb
$GC,12027,0.99,146.0,707.4,0.0,623,12168,0.88,0.00,136.68,1.196,6,0.084,0.000,2902,1734,2054
$GC,12486,0.72,146.0,659.7,11.6,635,12491,0.20,2.40,0.00,0.000,4,0.137,0.067,2840,3158,2045
$GC,12542,0.57,146.0,653.0,10.3,636,12547,0.17,2.30,0.00,0.000,6,0.131,0.050,2800,1734,2044
$GC,12857,0.76,185.3,633.7,5.8,644,12899,0.15,2.40,34.00,1.188,4,0.069,0.067,2867,3161,1893
$GC,12917,0.60,185.3,628.5,9.4,645,12922,0.25,2.30,0.00,0.000,6,0.130,0.049,2806,1734,1891
$GC,13266,0.80,216.3,607.5,6.0,654,13296,0.17,0.00,27.65,1.174,6,0.064,0.000,2881,1734,1768
$GC,13590,0.65,216.3,571.3,11.6,662,13595,0.20,2.33,0.00,0.000,4,0.127,0.066,2817,3153,1761
$GC,13612,0.59,216.3,568.8,10.4,662,13616,0.00,2.25,0.00,0.000,6,0.000,0.050,2824,1727,1760
$GC,13956,0.69,216.3,541.4,8.1,671,13958,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1727,1759
$GC,14281,0.80,216.3,515.7,7.9,679,14285,0.10,2.33,0.00,0.000,4,0.083,0.065,2873,3157,1759
$GC,14325,0.58,216.3,510.6,12.3,680,14330,0.28,2.25,0.00,0.000,6,0.130,0.051,2803,1725,1757
$GC,14645,1.24,216.3,487.6,7.7,688,14650,0.43,2.25,0.00,0.000,4,0.105,0.063,2947,329,1757
$GC,14690,1.12,216.3,483.1,9.5,689,14695,0.10,2.28,0.00,0.000,6,0.158,0.054,2923,1746,1757
$GC,15015,0.82,216.3,441.1,13.1,697,15019,0.22,2.25,0.00,0.000,4,0.139,0.068,2850,3153,1757
$GC,15061,0.72,216.3,436.4,8.9,698,15065,0.00,2.22,0.00,0.000,6,0.000,0.051,2857,1731,1757
$GC,15392,0.72,216.3,409.1,8.2,706,15395,0.00,2.25,0.00,0.000,4,0.000,0.065,2867,334,1757
$GC,15420,0.79,216.3,406.9,8.0,706,15424,0.00,2.25,0.00,0.000,6,0.000,0.053,2867,1740,1757
$GC,15747,0.72,216.3,376.4,10.0,720,15751,0.12,2.28,0.00,0.000,4,0.139,0.067,2831,3160,1757
$GC,15825,0.72,216.3,369.1,8.3,723,15829,0.00,2.25,0.00,0.000,6,0.000,0.050,2839,1725,1756
$GC,16147,0.79,216.3,342.9,8.0,739,16148,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1725,1756
$GC,16457,0.85,216.3,317.5,8.1,754,16461,0.10,2.33,0.00,0.000,4,0.084,0.065,2887,3156,1755
$GC,16497,0.63,216.3,313.1,10.7,756,16502,0.28,2.22,0.00,0.000,6,0.129,0.051,2816,1736,1755
$GC,16827,0.83,218.9,290.4,6.9,772,16829,0.15,0.00,0.00,0.000,6,0.070,0.000,2885,1736,1755
$GC,17133,0.71,218.9,256.3,10.9,787,17138,0.20,2.28,0.00,0.000,4,0.123,0.064,2829,327,1756
$GC,17150,0.71,218.9,254.7,9.9,787,17156,0.00,2.28,0.00,0.000,6,0.000,0.053,2829,1746,1756
$GC,17467,0.89,240.1,235.1,6.3,803,17494,0.15,2.28,20.88,0.962,4,0.069,0.067,2900,3161,1671
$GC,17529,0.66,240.1,228.5,12.9,806,17534,0.30,2.25,0.00,0.000,6,0.128,0.050,2821,1736,1668
$GC,17858,1.05,245.7,206.2,6.8,822,17869,0.25,2.33,5.62,0.769,4,0.081,0.066,2915,3160,1648
$GC,17909,1.05,245.7,201.1,9.7,824,17912,0.00,2.25,0.00,0.000,6,0.000,0.051,2925,1732,1647
$GC,18231,0.81,245.7,159.1,12.9,840,18233,0.25,0.00,0.00,0.000,6,0.134,0.000,2850,1732,1646
$GC,18541,0.92,250.6,137.5,6.9,855,18552,0.12,2.28,5.97,0.756,4,0.077,0.064,2917,322,1627
$GC,18575,0.83,250.6,134.0,10.8,856,18582,0.20,2.30,0.00,0.000,6,0.129,0.053,2858,1746,1627
$GC,18894,0.95,250.6,109.0,7.2,872,18899,0.10,2.28,0.00,0.000,4,0.082,0.066,2908,3158,1626
$GC,18941,0.74,250.6,104.4,10.3,874,18945,0.28,2.25,0.00,0.000,6,0.127,0.051,2835,1729,1626
$GC,19279,1.39,250.6,80.5,8.5,924,19286,0.43,2.35,0.00,0.000,4,0.106,0.064,2972,3156,1625
$GC,19318,1.62,250.6,77.1,9.0,930,19325,0.17,2.22,0.00,0.000,6,0.081,0.050,3048,1736,1625
$GC,19663,1.06,250.6,13.5,19.4,991,19670,0.45,2.28,0.00,0.000,4,0.158,0.064,2922,334,1625
$FREEZE,6.83,-0.085,-1.836
$FREEZE,6.25,-0.086,-1.835
$FREEZE,5.68,-0.092,-1.835
$FREEZE,5.14,-0.093,-1.834
$FREEZE,4.51,-0.098,-1.834
$FREEZE,3.80,-0.089,-1.833
$FREEZE,3.23,-0.084,-1.833
$FREEZE,2.72,-0.106,-1.833
$STATE,19748,end climb,SURFACE_DEPTH_REACHED
$STATE,19748,begin surface coast
$FREEZE,2.02,-0.092,-1.832
$FINISH,2.0,1.026816
$STATE,19757,end surface coast,CONTROL_FINISHED_OK
$STATE,19758,begin surface
$SM_CCo,19840,0.00,0.000,0,0,1622,252.17
$SM_GC,2.55,7.07,0.00,0.00,0.058,0.000,0.000,339,2238,1622,-10.67,0.23,252.17
$RAFOS_CLK,826
$RAFOS,4,1229388258,0.750000,0.738333,67,63,56,54,53,52,214,173,191,204,121,137
$RAFOS,3,1229387642,0.583333,0.567222,60,56,53,52,51,43,219,120,207,163,187,93
$RAFOS,2,1229387045,0.416667,0.401389,99,60,55,53,51,51,613,216,130,152,186,113
$RAFOS,1,1229386444,0.250000,0.234444,64,61,60,60,59,58,192,152,117,135,212,171
$RAFOS,0,1229385843,0.083333,0.067500,66,57,56,54,51,51,152,229,196,182,118,211
$RAFOS_FIX,6647.798340,-5732.775879,151208,202016,2,94,0.45
$IRIDIUM_FIX,6620.33,-5726.71,110398,161640
$TT8_MAMPS,0.029146
$HUMID,1799
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,15.80
$XPDR_PINGS,151
$24V_AH,21.7,76.444
$10V_AH,10.5,35.002
$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,26.850,162.100,364.500,0.000,0.000,30.576,32.251,198.446,37.750,0.000,0.000,15.485,1935.036,15091.939,543.941,1996.711,672.626,0.000,1622.999,0.000,1973.169,2160.000,0.532,0.000
$DEVICE_MAMPS,246.974,77.467,1260.181,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,703.262,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34673,1007
$CAP_FILE_SIZE,157476,0
$CFSIZE,260165632,220958720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1455.7
$GPS,161208,040926,6649.363,-5711.128,65,1.2,65,-37.3