version: 66.04
glider: 108
mission: 11
dive: 478
start: 12 18 108 16 49 31
data:
$ID,108
$MISSION,11
$DIVE,478
$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,-122130.95
$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,34
$R_STBD_OVSHOOT,32
$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
$GPS1,163637,6656.265,-5647.408,36,1.5,47,-37.4
$_CALLS,3
$_XMS_NAKs,14
$_XMS_TOUTs,2
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-66.6
$GPS2,164909,6656.304,-5647.306,12,1.2,12,-37.4
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,15000.000
$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,298.7,174678,-13.0,-7.021
$D_GRID,609
$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,17,-0.99,-146.0,0.0,0.0,0,92,0.00,0.00,-72.47,0.000,2,0.000,0.000,333,2235,3046
$GC,96,-0.99,-146.0,3.1,-1.6,13,116,8.77,2.30,-6.53,0.000,4,0.241,0.080,2454,3590,3248
$GC,371,-0.82,-146.0,29.7,-9.7,61,378,0.17,2.15,0.00,0.000,6,0.145,0.043,2502,2213,3252
$GC,717,-0.82,-146.0,53.7,-6.8,122,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2213,3252
$GC,1060,-0.82,-146.0,77.6,-7.8,183,1066,0.00,2.20,0.00,0.000,4,0.000,0.054,2502,818,3251
$GC,1158,-0.82,-146.0,85.0,-7.5,200,1164,0.00,2.33,0.00,0.000,6,0.000,0.055,2494,2236,3251
$GC,1500,-0.82,-146.0,105.9,-5.5,247,1504,0.00,2.22,0.00,0.000,4,0.000,0.067,2484,3601,3250
$GC,1578,-0.82,-146.0,110.9,-6.5,250,1582,0.00,2.15,0.00,0.000,6,0.000,0.043,2484,2216,3250
$GC,1900,-0.82,-146.0,129.1,-5.8,266,1904,0.00,2.20,0.00,0.000,4,0.000,0.053,2484,819,3250
$GC,2055,-0.75,-146.0,139.2,-6.3,272,2062,0.15,2.33,0.00,0.000,6,0.128,0.054,2516,2238,3249
$GC,2372,-0.90,-146.0,156.0,-5.1,288,2374,0.12,0.00,0.00,0.000,6,0.075,0.000,2460,2238,3249
$GC,2681,-0.81,-146.0,178.8,-7.7,303,2683,0.17,0.00,0.00,0.000,6,0.139,0.000,2510,2238,3250
$GC,2992,-0.91,-146.0,196.8,-5.6,318,2996,0.12,2.28,0.00,0.000,4,0.081,0.051,2454,818,3251
$GC,3070,-0.75,-146.0,202.9,-7.8,321,3077,0.25,2.33,0.00,0.000,6,0.128,0.054,2517,2241,3251
$GC,3388,-0.89,-146.0,220.5,-4.9,337,3392,0.12,2.28,0.00,0.000,4,0.079,0.053,2461,820,3252
$GC,3466,-0.76,-146.0,225.8,-7.0,340,3473,0.22,2.30,0.00,0.000,6,0.129,0.054,2516,2235,3252
$GC,3783,-0.92,-146.0,242.6,-5.4,356,3788,0.12,2.28,0.00,0.000,4,0.076,0.052,2460,815,3252
$GC,3917,-0.82,-146.0,251.6,-7.5,362,3922,0.17,2.30,0.00,0.000,6,0.128,0.053,2499,2240,3252
$GC,4245,-0.92,-146.0,268.5,-4.8,378,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2240,3251
$GC,4554,-1.01,-146.0,282.8,-4.5,393,4559,0.15,2.30,0.00,0.000,4,0.074,0.051,2435,821,3251
$GC,4628,-0.81,-146.0,287.3,-6.2,396,4633,0.28,2.25,0.00,0.000,6,0.130,0.053,2506,2237,3251
$GC,4945,-0.93,-146.0,299.4,-3.8,411,4947,0.12,0.00,0.00,0.000,6,0.077,0.000,2450,2237,3253
$GC,5254,-0.84,-146.0,315.5,-5.4,426,5256,0.17,0.00,0.00,0.000,6,0.140,0.000,2499,2237,3253
$GC,5564,-0.93,-146.0,327.4,-4.0,441,5569,0.10,2.28,0.00,0.000,4,0.090,0.051,2453,821,3253
$GC,5633,-0.80,-146.0,331.4,-6.2,444,5638,0.22,2.30,0.00,0.000,6,0.127,0.053,2508,2233,3253
$GC,5956,-0.93,-146.0,345.4,-4.2,460,5958,0.12,0.00,0.00,0.000,6,0.080,0.000,2453,2234,3253
$GC,6264,-0.85,-146.0,363.1,-6.1,475,6266,0.15,0.00,0.00,0.000,6,0.143,0.000,2495,2234,3253
$GC,6574,-0.94,-146.0,378.2,-4.7,490,6578,0.00,2.30,0.00,0.000,4,0.000,0.052,2495,816,3253
$GC,6648,-0.94,-146.0,382.1,-5.2,493,6652,0.00,2.33,0.00,0.000,6,0.000,0.052,2487,2235,3254
$GC,6976,-0.99,-146.0,397.0,-4.4,509,6980,0.00,2.22,0.00,0.000,4,0.000,0.066,2477,3602,3254
$GC,7029,-0.99,-146.0,399.5,-5.1,511,7033,0.00,2.15,0.00,0.000,6,0.000,0.041,2477,2211,3254
$GC,7372,-0.99,-146.0,416.7,-5.1,520,7376,0.00,2.20,0.00,0.000,4,0.000,0.053,2476,828,3253
$GC,7501,-0.99,-146.0,424.4,-6.2,522,7507,0.00,2.30,0.00,0.000,6,0.000,0.054,2467,2231,3253
$GC,7834,-0.99,-146.0,443.3,-5.6,531,7835,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2231,3253
$GC,8158,-0.99,-146.0,461.4,-5.4,539,8159,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2231,3253
$GC,8483,-0.99,-146.0,479.9,-5.8,547,8484,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2231,3253
$GC,8808,-0.99,-146.0,497.8,-5.5,555,8812,0.00,2.25,0.00,0.000,4,0.000,0.054,2467,828,3253
$GC,8871,-0.93,-146.0,501.7,-6.7,556,8875,0.00,2.33,0.00,0.000,6,0.000,0.054,2457,2240,3253
$GC,9185,-0.88,-146.0,519.9,-5.8,564,9187,0.12,0.00,0.00,0.000,6,0.140,0.000,2491,2240,3253
$GC,9511,-0.97,-146.0,535.0,-4.6,572,9515,0.10,2.28,0.00,0.000,4,0.087,0.052,2447,827,3253
$GC,9596,-0.84,-146.0,540.4,-6.5,574,9601,0.22,2.30,0.00,0.000,6,0.131,0.055,2502,2241,3253
$GC,9927,-0.96,-146.0,556.2,-4.8,582,9929,0.12,0.00,0.00,0.000,6,0.082,0.000,2448,2241,3253
$GC,10252,-0.89,-146.0,576.5,-6.4,590,10256,0.15,2.22,0.00,0.000,4,0.148,0.067,2480,3603,3252
$GC,10309,-0.96,-146.0,579.8,-6.1,591,10313,0.00,2.12,0.00,0.000,6,0.000,0.042,2481,2222,3252
$GC,10628,-0.96,-146.0,596.7,-5.2,599,10632,0.00,2.20,0.00,0.000,4,0.000,0.054,2481,817,3253
$GC,10725,-0.96,-146.0,602.2,-5.8,601,10729,0.00,2.33,0.00,0.000,6,0.000,0.055,2470,2246,3252
$STATE,10843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10843,begin apogee
$GC,10851,-0.31,0.0,609.0,5.7,604,10983,0.47,0.00,128.90,1.204,6,0.123,0.000,2619,1750,2650
$STATE,10984,end apogee,CONTROL_FINISHED_OK
$STATE,10984,begin climb
$GC,10988,0.99,146.0,610.4,0.0,607,11124,0.85,0.00,132.82,1.129,6,0.097,0.000,2893,1750,2054
$GC,11438,0.79,146.0,566.5,10.7,618,11443,0.17,2.35,0.00,0.000,4,0.130,0.061,2843,3161,2045
$GC,11461,0.65,146.0,563.9,10.3,618,11465,0.12,2.28,0.00,0.000,6,0.133,0.046,2817,1734,2044
$GC,11799,0.77,169.5,542.5,6.3,627,11825,0.12,2.38,19.70,1.099,4,0.076,0.061,2873,3152,1959
$GC,11838,0.60,169.5,539.0,10.3,628,11843,0.25,2.28,0.00,0.000,6,0.131,0.046,2811,1732,1957
$GC,12164,0.78,195.3,517.8,6.2,636,12190,0.12,0.00,23.65,1.111,6,0.071,0.000,2870,1732,1853
$GC,12487,0.67,195.3,486.4,9.9,644,12492,0.17,2.35,0.00,0.000,4,0.123,0.061,2817,3165,1848
$GC,12504,0.62,195.3,484.7,9.8,644,12508,0.00,2.28,0.00,0.000,6,0.000,0.046,2826,1726,1847
$GC,12819,0.72,200.4,462.8,6.9,652,12828,0.00,2.35,4.57,0.793,4,0.000,0.061,2826,3156,1833
$GC,12846,0.80,226.5,460.9,6.2,652,12876,0.00,2.22,24.83,1.097,6,0.000,0.046,2835,1733,1726
$GC,13192,0.86,226.5,435.1,7.6,661,13197,0.12,2.35,0.00,0.000,4,0.077,0.061,2892,3152,1720
$GC,13225,0.64,226.5,431.4,11.2,661,13232,0.30,2.25,0.00,0.000,6,0.131,0.047,2813,1740,1719
$GC,13559,0.87,256.7,410.5,6.0,670,13589,0.17,0.00,26.85,1.081,6,0.065,0.000,2893,1740,1603
$GC,13914,0.71,256.7,369.4,12.2,684,13919,0.20,2.33,0.00,0.000,4,0.128,0.060,2838,330,1597
$GC,13937,0.71,256.7,366.6,10.1,685,13941,0.00,2.25,0.00,0.000,6,0.000,0.048,2838,1743,1596
$GC,14265,0.80,256.7,342.1,7.4,701,14269,0.00,2.25,0.00,0.000,4,0.000,0.064,2838,3151,1594
$GC,14327,0.80,256.7,336.6,8.5,703,14333,0.00,2.22,0.00,0.000,6,0.000,0.046,2847,1736,1594
$GC,14643,0.80,256.7,311.0,8.1,719,14647,0.00,2.35,0.00,0.000,4,0.000,0.062,2847,3161,1593
$GC,14666,0.80,256.7,308.9,9.0,720,14670,0.00,2.22,0.00,0.000,6,0.000,0.046,2856,1737,1593
$GC,14999,0.80,256.7,279.1,8.6,736,15003,0.00,2.30,0.00,0.000,4,0.000,0.059,2867,326,1593
$GC,15015,0.80,256.7,277.5,8.5,736,15021,0.00,2.33,0.00,0.000,6,0.000,0.048,2867,1753,1593
$GC,15331,0.80,256.7,248.3,9.3,752,15335,0.00,2.28,0.00,0.000,4,0.000,0.064,2867,3147,1593
$GC,15359,0.72,256.7,245.4,9.7,753,15364,0.15,2.25,0.00,0.000,6,0.130,0.046,2833,1730,1592
$GC,15681,0.89,268.5,223.0,6.6,769,15697,0.15,2.28,10.35,0.894,4,0.067,0.059,2913,322,1555
$GC,15715,0.79,268.5,219.8,9.7,769,15722,0.22,2.33,0.00,0.000,6,0.129,0.048,2847,1751,1554
$GC,16033,0.92,268.5,195.4,7.7,785,16038,0.12,2.28,0.00,0.000,4,0.074,0.062,2905,3153,1553
$GC,16106,0.69,268.5,185.9,13.8,788,16111,0.30,2.25,0.00,0.000,6,0.127,0.047,2824,1725,1553
$GC,16423,1.32,268.5,160.2,8.9,803,16428,0.40,2.25,0.00,0.000,4,0.084,0.059,2970,324,1552
$GC,16441,1.79,268.5,158.5,9.0,804,16446,0.30,2.28,0.00,0.000,6,0.055,0.046,3096,1755,1552
$GC,16765,1.05,268.5,85.2,25.3,826,16772,0.62,2.33,0.00,0.000,4,0.163,0.058,2920,330,1552
$GC,16819,0.94,268.5,76.1,11.7,835,16826,0.15,2.25,0.00,0.000,6,0.125,0.049,2876,1750,1552
$GC,17166,1.03,276.5,54.1,6.8,896,17180,0.10,2.30,8.52,0.792,4,0.084,0.063,2925,3162,1522
$GC,17221,0.83,276.5,48.4,11.0,905,17228,0.25,2.25,0.00,0.000,6,0.127,0.048,2861,1725,1520
$GC,17568,1.06,302.9,28.6,6.2,966,17598,0.17,2.33,24.80,0.847,4,0.067,0.060,2955,323,1415
$GC,17618,0.96,302.9,23.6,10.5,974,17625,0.25,2.28,0.00,0.000,6,0.132,0.048,2881,1747,1414
$FREEZE,6.54,0.670,-1.834
$FREEZE,6.07,0.663,-1.834
$FREEZE,5.74,0.662,-1.834
$FREEZE,5.43,0.661,-1.833
$FREEZE,4.93,0.658,-1.833
$FREEZE,4.55,0.664,-1.832
$FREEZE,4.26,0.654,-1.832
$FREEZE,3.73,0.664,-1.832
$FREEZE,3.28,0.644,-1.831
$FREEZE,3.04,0.623,-1.832
$FREEZE,2.63,0.624,-1.831
$STATE,17910,end climb,SURFACE_DEPTH_REACHED
$STATE,17910,begin surface coast
$FREEZE,2.33,0.597,-1.831
$FREEZE,1.86,0.603,-1.831
$FREEZE,1.56,0.291,-0.421
$FREEZE,1.55,0.552,-1.829
$FREEZE,1.48,0.407,-1.840
$FREEZE,1.55,-0.474,-1.856
$FREEZE,1.53,0.064,-1.822
$FREEZE,1.48,-0.473,-1.855
$FINISH,1.5,1.027168
$STATE,17957,end surface coast,CONTROL_FINISHED_OK
$STATE,17957,begin surface
$SM_CCo,18037,0.00,0.000,0,0,1406,305.15
$SM_GC,2.29,6.93,0.00,0.00,0.054,0.000,0.000,332,2231,1406,-10.70,0.03,305.15
$RAFOS_CLK,724
$RAFOS,4,1229633047,20.750000,20.735277,75,59,58,58,57,54,841,214,119,196,153,223
$RAFOS,3,1229632443,20.583334,20.567499,65,62,59,57,55,47,206,228,130,186,162,117
$RAFOS,2,1229631842,20.416666,20.400555,136,61,53,52,51,50,660,202,187,121,221,133
$RAFOS,1,1229631252,20.250000,20.236666,91,73,62,61,59,51,830,219,199,187,178,167
$RAFOS,0,1229630644,20.083334,20.067778,58,56,52,51,49,49,207,184,118,167,150,136
$RAFOS_FIX,6655.624023,-5655.017578,181208,202030,3,101,0.43
$IRIDIUM_FIX,6625.71,-5642.93,140398,161634
$TT8_MAMPS,0.026845
$HUMID,1836
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,16.00
$XPDR_PINGS,170
$24V_AH,22.0,78.348
$10V_AH,10.5,35.902
$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,25.700,147.025,405.000,0.000,0.000,84.734,122.995,263.876,42.500,0.000,0.000,13.459,1938.681,13446.015,536.987,1996.770,875.702,0.000,1611.504,0.000,1969.387,1800.000,0.532,0.000
$DEVICE_MAMPS,240.838,79.768,1204.190,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,719.881,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34724,1034
$CAP_FILE_SIZE,154640,0
$CFSIZE,260165632,220127232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.2
$GPS,181208,215137,6655.419,-5650.576,30,1.1,30,-37.4