version: 66.04
glider: 108
mission: 11
dive: 476
start: 12 18 108 6 47 44
data:
$ID,108
$MISSION,11
$DIVE,476
$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,-122099.67
$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,36
$R_STBD_OVSHOOT,28
$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
$GPS1,062508,6656.567,-5645.539,23,1.6,23,-37.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-67.8
$GPS2,064726,6656.850,-5645.923,41,1.9,41,-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,29.9,11488,-13.0,-7.021
$D_GRID,570
$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,-146.0,0.0,0.0,0,86,0.00,0.00,-67.18,0.000,2,0.000,0.000,332,2232,3015
$GC,90,-0.99,-146.0,3.0,-1.2,12,115,8.82,2.35,-7.85,0.000,4,0.243,0.067,2462,816,3248
$GC,195,-0.79,-146.0,13.8,-9.5,30,202,0.20,2.35,0.00,0.000,6,0.131,0.054,2512,2241,3251
$GC,541,-0.79,-146.0,37.8,-6.5,91,547,0.00,2.20,0.00,0.000,4,0.000,0.068,2504,3594,3252
$GC,650,-0.79,-146.0,45.9,-7.6,110,656,0.00,2.12,0.00,0.000,6,0.000,0.043,2504,2214,3252
$GC,995,-0.79,-146.0,69.4,-6.8,171,1001,0.00,2.17,0.00,0.000,4,0.000,0.054,2503,821,3251
$GC,1104,-0.79,-146.0,77.7,-7.7,190,1110,0.00,2.28,0.00,0.000,6,0.000,0.056,2493,2241,3251
$GC,1464,-0.79,-146.0,101.3,-6.1,251,1468,0.00,2.17,0.00,0.000,4,0.000,0.070,2483,3595,3251
$GC,1582,-0.79,-146.0,110.0,-7.5,256,1586,0.10,2.12,0.00,0.000,6,0.143,0.043,2509,2218,3251
$GC,1909,-0.87,-146.0,130.2,-6.0,272,1913,0.00,2.17,0.00,0.000,4,0.000,0.054,2509,815,3250
$GC,2123,-0.87,-146.0,144.2,-6.2,281,2127,0.00,2.30,0.00,0.000,6,0.000,0.056,2501,2240,3250
$GC,2446,-0.93,-146.0,163.0,-5.5,297,2450,0.10,2.20,0.00,0.000,4,0.081,0.067,2439,3604,3250
$GC,2648,-0.79,-146.0,178.1,-7.9,306,2653,0.25,2.12,0.00,0.000,6,0.137,0.043,2513,2219,3250
$GC,2983,-0.93,-146.0,193.5,-4.2,322,2987,0.12,2.20,0.00,0.000,4,0.081,0.053,2455,816,3249
$GC,3062,-0.78,-146.0,198.1,-5.9,325,3067,0.22,2.30,0.00,0.000,6,0.128,0.054,2511,2232,3250
$GC,3379,-0.90,-146.0,211.3,-4.4,340,3383,0.10,2.20,0.00,0.000,4,0.084,0.064,2455,3597,3250
$GC,3476,-0.83,-146.0,216.4,-5.1,344,3480,0.17,2.10,0.00,0.000,6,0.137,0.041,2504,2222,3250
$GC,3803,-0.95,-146.0,231.5,-3.8,360,3808,0.12,2.17,0.00,0.000,4,0.079,0.052,2445,823,3251
$GC,4016,-0.79,-146.0,248.0,-7.8,369,4020,0.25,2.30,0.00,0.000,6,0.129,0.052,2509,2245,3252
$GC,4333,-0.92,-146.0,266.6,-5.9,384,4337,0.12,2.20,0.00,0.000,4,0.077,0.064,2442,3601,3252
$GC,4450,-0.81,-146.0,276.1,-8.6,389,4455,0.22,2.10,0.00,0.000,6,0.137,0.040,2507,2222,3252
$GC,4779,-0.95,-146.0,292.0,-4.2,405,4783,0.12,2.17,0.00,0.000,4,0.077,0.051,2449,824,3253
$GC,5003,-0.81,-146.0,305.3,-5.9,415,5008,0.22,2.28,0.00,0.000,6,0.125,0.052,2505,2238,3254
$GC,5325,-0.94,-146.0,318.4,-4.1,431,5330,0.12,2.17,0.00,0.000,4,0.077,0.064,2438,3594,3254
$GC,5404,-0.83,-146.0,323.2,-6.4,434,5411,0.22,2.10,0.00,0.000,6,0.133,0.039,2504,2213,3254
$GC,5721,-0.96,-146.0,336.1,-4.0,450,5726,0.12,2.15,0.00,0.000,4,0.078,0.050,2446,822,3255
$GC,5887,-0.80,-146.0,346.8,-6.3,457,5892,0.25,2.28,0.00,0.000,6,0.127,0.051,2509,2245,3254
$GC,6209,-0.94,-146.0,362.4,-5.0,473,6211,0.12,0.00,0.00,0.000,6,0.076,0.000,2453,2245,3256
$GC,6518,-0.86,-146.0,382.4,-6.3,488,6520,0.15,0.00,0.00,0.000,6,0.142,0.000,2494,2245,3255
$GC,6828,-0.95,-146.0,398.5,-5.0,503,6832,0.00,2.25,0.00,0.000,4,0.000,0.051,2494,830,3256
$GC,6907,-1.01,-146.0,402.9,-5.4,505,6912,0.10,2.22,0.00,0.000,6,0.074,0.051,2439,2237,3255
$GC,7245,-0.89,-146.0,425.0,-6.6,514,7249,0.17,2.20,0.00,0.000,4,0.141,0.063,2480,3597,3255
$GC,7407,-0.98,-146.0,434.1,-5.3,517,7411,0.00,2.10,0.00,0.000,6,0.000,0.040,2480,2224,3255
$GC,7745,-1.03,-146.0,450.8,-4.8,526,7749,0.10,2.17,0.00,0.000,4,0.082,0.050,2432,827,3255
$GC,7894,-0.85,-146.0,460.2,-6.4,529,7899,0.25,2.28,0.00,0.000,6,0.129,0.051,2496,2239,3255
$GC,8214,-0.97,-146.0,474.7,-4.3,537,8218,0.10,2.20,0.00,0.000,4,0.083,0.063,2439,3597,3255
$GC,8311,-0.88,-146.0,480.7,-7.0,539,8316,0.20,2.12,0.00,0.000,6,0.137,0.039,2496,2215,3255
$GC,8637,-0.99,-146.0,494.4,-4.1,547,8641,0.12,2.15,0.00,0.000,4,0.076,0.048,2438,831,3255
$GC,8767,-0.83,-146.0,502.1,-6.3,549,8774,0.25,2.28,0.00,0.000,6,0.127,0.050,2502,2246,3255
$GC,9099,-0.97,-146.0,515.7,-4.0,558,9101,0.12,0.00,0.00,0.000,6,0.076,0.000,2446,2245,3256
$GC,9424,-0.88,-146.0,533.9,-5.7,566,9426,0.15,0.00,0.00,0.000,6,0.144,0.000,2487,2245,3256
$GC,9750,-0.96,-146.0,548.0,-4.4,574,9751,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2245,3256
$GC,10074,-1.04,-146.0,563.3,-4.8,582,10079,0.12,2.30,0.00,0.000,4,0.079,0.050,2434,833,3256
$STATE,10172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10172,begin apogee
$GC,10182,-0.31,0.0,570.1,7.2,584,10313,0.57,0.00,128.05,1.151,6,0.127,0.000,2611,1753,2650
$STATE,10314,end apogee,CONTROL_FINISHED_OK
$STATE,10314,begin climb
$GC,10317,0.99,146.0,571.8,0.0,587,10452,0.85,0.00,130.40,1.080,6,0.087,0.000,2894,1753,2054
$GC,10767,0.77,146.0,526.1,10.9,598,10772,0.17,2.33,0.00,0.000,4,0.130,0.058,2844,3151,2046
$GC,10784,0.57,146.0,524.3,10.9,598,10788,0.17,2.25,0.00,0.000,6,0.123,0.042,2802,1750,2046
$GC,11127,0.76,186.9,503.9,5.7,607,11167,0.15,2.42,34.85,1.077,4,0.063,0.057,2874,3159,1888
$GC,11175,0.78,195.9,499.8,6.7,608,11190,0.15,2.30,9.15,0.927,6,0.133,0.042,2842,1731,1851
$GC,11498,0.78,195.9,472.4,8.4,616,11502,0.00,2.35,0.00,0.000,4,0.000,0.057,2842,3159,1845
$GC,11514,0.78,195.9,471.0,8.4,616,11518,0.00,2.25,0.00,0.000,6,0.000,0.043,2850,1732,1844
$GC,11828,0.72,195.9,444.2,8.6,624,11832,0.00,2.33,0.00,0.000,4,0.000,0.057,2850,3157,1843
$GC,11853,0.62,195.9,442.1,8.0,624,11857,0.17,2.22,0.00,0.000,6,0.125,0.043,2809,1735,1842
$GC,12196,0.81,239.6,422.2,5.6,633,12236,0.15,0.00,37.95,1.054,6,0.062,0.000,2881,1735,1673
$GC,12542,0.67,239.6,384.4,11.0,644,12547,0.20,2.35,0.00,0.000,4,0.120,0.057,2816,3161,1665
$GC,12564,0.67,239.6,382.1,9.6,645,12568,0.00,2.25,0.00,0.000,6,0.000,0.041,2822,1733,1664
$GC,12894,0.83,257.9,360.5,6.4,661,12917,0.12,2.35,16.35,0.968,4,0.069,0.056,2886,3162,1597
$GC,12929,0.70,257.9,356.9,9.6,662,12934,0.22,2.25,0.00,0.000,6,0.126,0.041,2829,1735,1595
$GC,13246,0.83,258.3,333.6,7.0,677,13251,0.12,2.28,0.00,0.000,4,0.067,0.054,2902,334,1592
$GC,13263,0.89,258.3,332.1,7.2,677,13270,0.12,2.28,0.00,0.000,6,0.127,0.043,2867,1753,1592
$GC,13579,0.89,258.3,301.4,9.7,693,13583,0.00,2.28,0.00,0.000,4,0.000,0.058,2867,3158,1592
$GC,13607,0.80,258.3,298.5,10.1,694,13611,0.00,2.25,0.00,0.000,6,0.000,0.042,2875,1732,1591
$GC,13934,0.71,258.3,264.1,10.4,710,13938,0.15,2.25,0.00,0.000,4,0.124,0.054,2838,334,1591
$GC,13946,0.65,258.3,262.9,10.2,710,13950,0.00,2.25,0.00,0.000,6,0.000,0.042,2838,1745,1591
$GC,14267,0.76,258.3,239.2,7.3,726,14272,0.00,2.22,0.00,0.000,4,0.000,0.056,2838,3148,1591
$GC,14296,0.82,258.3,236.9,8.3,727,14300,0.00,2.20,0.00,0.000,6,0.000,0.041,2847,1736,1590
$GC,14624,0.89,258.3,210.4,7.9,743,14629,0.10,2.28,0.00,0.000,4,0.082,0.056,2900,3152,1590
$GC,14652,0.74,258.3,207.2,11.5,744,14657,0.25,2.20,0.00,0.000,6,0.127,0.042,2835,1738,1589
$GC,14969,0.88,258.3,184.2,7.0,759,14974,0.12,2.25,0.00,0.000,4,0.067,0.054,2907,327,1589
$GC,14996,0.88,258.3,181.4,10.1,760,15001,0.15,2.25,0.00,0.000,6,0.124,0.044,2864,1747,1589
$GC,15317,0.88,258.3,149.2,10.0,776,15321,0.00,2.22,0.00,0.000,4,0.000,0.058,2864,3156,1589
$GC,15358,0.83,258.3,145.0,11.9,777,15364,0.00,2.22,0.00,0.000,6,0.000,0.042,2871,1729,1589
$GC,15674,0.83,258.3,116.6,7.6,793,15675,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1729,1589
$GC,15987,0.99,307.1,96.4,5.4,814,16040,0.08,2.38,43.55,0.846,4,0.093,0.056,2918,3145,1396
$GC,16049,0.90,307.1,91.4,8.8,824,16056,0.20,2.22,0.00,0.000,6,0.122,0.042,2869,1738,1395
$GC,16395,1.15,355.6,71.4,5.5,885,16443,0.20,2.35,41.78,0.825,4,0.059,0.056,2975,335,1200
$GC,16462,0.94,355.6,63.7,13.6,896,16469,0.32,2.25,0.00,0.000,6,0.122,0.044,2877,1743,1197
$GC,16809,1.16,355.6,40.0,7.1,957,16816,0.17,2.25,0.00,0.000,4,0.061,0.058,2962,3162,1190
$GC,16839,1.16,355.6,36.6,9.5,962,16846,0.15,2.22,0.00,0.000,6,0.142,0.043,2930,1735,1189
$FREEZE,6.86,1.013,-1.829
$FREEZE,6.24,1.009,-1.828
$FREEZE,5.60,1.018,-1.828
$FREEZE,4.83,0.987,-1.827
$FREEZE,4.39,0.983,-1.827
$FREEZE,3.80,0.988,-1.827
$FREEZE,3.30,0.986,-1.826
$FREEZE,2.63,0.968,-1.826
$STATE,17139,end climb,SURFACE_DEPTH_REACHED
$STATE,17140,begin surface coast
$FREEZE,2.10,0.974,-1.825
$FREEZE,1.49,0.964,-1.749
$FREEZE,1.83,0.985,-1.825
$FREEZE,1.58,0.981,-1.825
$FREEZE,1.69,0.977,-1.825
$FINISH,1.7,1.026657
$STATE,17169,end surface coast,CONTROL_FINISHED_OK
$STATE,17169,begin surface
$SM_CCo,17250,0.00,0.000,0,0,1185,359.36
$SM_GC,2.35,6.95,0.00,0.00,0.048,0.000,0.000,324,2247,1185,-10.70,0.48,359.36
$RAFOS_CLK,690
$RAFOS,4,1229589861,8.750000,8.739166,58,56,54,51,51,49,136,160,198,174,214,118
$RAFOS,3,1229589254,8.583333,8.570556,63,59,52,51,51,51,198,183,211,114,144,162
$RAFOS,2,1229588644,8.416667,8.401111,123,61,60,57,55,55,661,213,150,197,186,166
$RAFOS,1,1229588061,8.250000,8.239166,99,65,58,57,56,55,796,224,203,173,127,183
$RAFOS,0,1229587453,8.083333,8.070278,71,64,64,57,56,53,193,204,214,158,175,119
$RAFOS_FIX,6618.873535,-6040.625488,181208,080838,3,98,35.58
$IRIDIUM_FIX,6625.71,-5635.34,140398,060608
$TT8_MAMPS,0.026845
$HUMID,1801
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,16.20
$XPDR_PINGS,189
$24V_AH,22.2,78.049
$10V_AH,10.5,35.761
$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,25.925,156.650,442.075,0.000,0.000,52.193,79.574,968.602,47.250,0.000,0.000,43.296,1980.529,12411.500,561.321,2180.298,1484.799,0.000,1704.948,0.000,2117.098,1800.000,0.532,0.000
$DEVICE_MAMPS,243.139,69.797,1151.267,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,708.058,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34701,1020
$CAP_FILE_SIZE,156675,0
$CFSIZE,260165632,220262400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.1
$GPS,181208,113708,6657.776,-5646.189,27,1.2,27,-37.4