version: 66.04
glider: 108
mission: 11
dive: 487
start: 12 20 108 18 6 57
data:
$ID,108
$MISSION,11
$DIVE,487
$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,0
$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,-122283.34
$T_RSLEEP,60
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$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,29
$R_STBD_OVSHOOT,24
$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
$GPS1,180032,6645.612,-5724.592,40,1.0,40,-37.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-66.1
$GPS2,180638,6645.584,-5724.543,12,1.0,12,-37.3
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,15000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,304.7,145531,-13.0,-7.021
$D_GRID,700
$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,-146.0,0.0,0.0,0,79,0.00,0.00,-61.10,0.000,2,0.000,0.000,336,2232,2903
$GC,83,-0.99,-146.0,3.0,-1.3,11,114,8.85,2.30,-13.18,0.000,4,0.245,0.090,2456,3597,3249
$GC,231,-0.79,-146.0,16.9,-10.0,36,238,0.20,2.17,0.00,0.000,6,0.147,0.050,2511,2215,3252
$GC,576,-0.79,-146.0,43.3,-6.9,97,583,0.00,2.22,0.00,0.000,4,0.000,0.061,2511,816,3253
$GC,640,-0.79,-146.0,47.8,-6.8,108,647,0.00,2.33,0.00,0.000,6,0.000,0.062,2503,2237,3253
$GC,985,-0.79,-146.0,71.3,-7.2,169,992,0.00,2.25,0.00,0.000,4,0.000,0.089,2493,3604,3252
$GC,1043,-0.79,-146.0,75.6,-7.2,179,1050,0.00,2.17,0.00,0.000,6,0.000,0.050,2492,2217,3253
$GC,1389,-0.79,-146.0,100.3,-7.2,240,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2217,3253
$GC,1698,-0.79,-146.0,123.2,-7.6,255,1701,0.00,2.30,0.00,0.000,4,0.000,0.076,2483,3598,3253
$GC,1799,-0.79,-146.0,131.8,-8.1,259,1803,0.10,2.17,0.00,0.000,6,0.149,0.051,2507,2216,3253
$GC,2122,-0.85,-146.0,153.3,-6.6,275,2126,0.00,2.22,0.00,0.000,4,0.000,0.063,2508,813,3252
$GC,2223,-0.85,-146.0,160.3,-6.7,279,2227,0.00,2.33,0.00,0.000,6,0.000,0.064,2500,2233,3252
$GC,2545,-0.85,-146.0,180.1,-6.2,295,2549,0.00,2.30,0.00,0.000,4,0.000,0.061,2500,815,3252
$GC,2629,-0.85,-146.0,185.7,-6.6,298,2635,0.00,2.33,0.00,0.000,6,0.000,0.064,2490,2230,3252
$GC,2945,-0.85,-146.0,205.3,-5.7,314,2947,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2230,3252
$GC,3255,-0.85,-146.0,224.4,-6.8,329,3256,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2230,3251
$GC,3563,-0.85,-146.0,246.5,-7.5,344,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2230,3251
$GC,3873,-0.85,-146.0,268.6,-7.0,359,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2230,3251
$GC,4183,-0.85,-146.0,287.9,-5.7,374,4187,0.00,2.30,0.00,0.000,4,0.000,0.062,2490,814,3251
$GC,4256,-0.85,-146.0,292.5,-6.3,377,4261,0.00,2.33,0.00,0.000,6,0.000,0.063,2480,2240,3251
$GC,4584,-0.85,-146.0,309.8,-5.1,393,4588,0.00,2.22,0.00,0.000,4,0.000,0.076,2470,3600,3251
$GC,4641,-0.85,-146.0,313.0,-5.6,395,4646,0.10,2.15,0.00,0.000,6,0.150,0.048,2495,2219,3251
$GC,4963,-0.92,-146.0,327.7,-4.5,411,4967,0.00,2.22,0.00,0.000,4,0.000,0.061,2495,814,3252
$GC,5033,-0.92,-146.0,331.1,-4.8,414,5037,0.00,2.33,0.00,0.000,6,0.000,0.061,2487,2238,3252
$GC,5368,-0.92,-146.0,348.2,-5.1,430,5372,0.00,2.22,0.00,0.000,4,0.000,0.074,2477,3601,3252
$GC,5418,-0.92,-146.0,351.1,-5.6,432,5422,0.00,2.15,0.00,0.000,6,0.000,0.048,2476,2223,3252
$GC,5748,-0.92,-146.0,369.1,-5.6,448,5752,0.00,2.22,0.00,0.000,4,0.000,0.060,2476,820,3252
$GC,5805,-0.92,-146.0,372.8,-6.4,450,5808,0.00,2.33,0.00,0.000,6,0.000,0.061,2466,2245,3252
$GC,6128,-0.92,-146.0,391.6,-5.8,466,6132,0.00,2.20,0.00,0.000,4,0.000,0.074,2456,3597,3253
$GC,6226,-0.92,-146.0,397.8,-6.2,470,6230,0.10,2.15,0.00,0.000,6,0.150,0.048,2481,2219,3253
$GC,6548,-0.92,-146.0,414.9,-5.3,479,6552,0.00,2.20,0.00,0.000,4,0.000,0.059,2481,825,3253
$GC,6666,-0.92,-146.0,422.2,-5.6,481,6670,0.00,2.30,0.00,0.000,6,0.000,0.061,2473,2235,3253
$GC,7010,-0.92,-146.0,442.7,-5.9,490,7014,0.00,2.22,0.00,0.000,4,0.000,0.073,2463,3601,3254
$GC,7078,-0.92,-146.0,447.2,-6.8,491,7082,0.00,2.15,0.00,0.000,6,0.000,0.046,2462,2219,3254
$GC,7428,-0.92,-146.0,468.9,-6.2,500,7432,0.00,2.20,0.00,0.000,4,0.000,0.059,2462,827,3254
$GC,7514,-0.84,-146.0,474.6,-6.5,501,7520,0.17,2.30,0.00,0.000,6,0.130,0.061,2501,2237,3254
$GC,7846,-0.96,-146.0,490.2,-4.6,510,7851,0.12,2.22,0.00,0.000,4,0.086,0.071,2439,3603,3255
$GC,7920,-0.86,-146.0,495.1,-7.0,511,7925,0.20,2.15,0.00,0.000,6,0.142,0.047,2495,2219,3255
$GC,8254,-0.96,-146.0,511.2,-4.7,519,8258,0.10,2.20,0.00,0.000,4,0.094,0.058,2451,826,3255
$GC,8355,-0.83,-146.0,518.1,-7.2,521,8360,0.20,2.30,0.00,0.000,6,0.131,0.061,2498,2237,3255
$GC,8704,-0.94,-146.0,535.2,-4.8,530,8706,0.10,0.00,0.00,0.000,6,0.091,0.000,2456,2237,3255
$GC,9029,-0.94,-146.0,554.5,-6.1,538,9030,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2237,3255
$GC,9355,-0.89,-146.0,574.5,-6.0,546,9357,0.12,0.00,0.00,0.000,6,0.146,0.000,2489,2237,3255
$GC,9679,-0.98,-146.0,590.3,-4.9,554,9683,0.00,2.28,0.00,0.000,4,0.000,0.058,2489,823,3255
$GC,9735,-0.98,-146.0,593.3,-5.2,555,9740,0.00,2.30,0.00,0.000,6,0.000,0.059,2482,2238,3255
$GC,10050,-1.03,-146.0,610.2,-5.5,563,10055,0.10,2.22,0.00,0.000,4,0.085,0.071,2425,3606,3255
$GC,10112,-0.89,-146.0,614.9,-7.5,564,10117,0.20,2.15,0.00,0.000,6,0.145,0.047,2486,2216,3255
$GC,10426,-0.97,-146.0,631.8,-5.1,572,10430,0.00,2.17,0.00,0.000,4,0.000,0.058,2486,826,3255
$GC,10511,-0.97,-146.0,636.5,-5.6,573,10518,0.00,2.30,0.00,0.000,6,0.000,0.060,2479,2238,3255
$GC,10843,-0.97,-146.0,654.1,-5.3,582,10847,0.00,2.22,0.00,0.000,4,0.000,0.073,2468,3607,3255
$GC,10917,-0.97,-146.0,658.5,-6.6,583,10921,0.00,2.15,0.00,0.000,6,0.000,0.046,2468,2218,3255
$GC,11260,-0.97,-146.0,678.4,-5.9,592,11264,0.00,2.20,0.00,0.000,4,0.000,0.058,2468,817,3255
$GC,11361,-0.97,-146.0,685.2,-6.6,594,11365,0.00,2.33,0.00,0.000,6,0.000,0.059,2458,2244,3256
$STATE,11630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11630,begin apogee
$GC,11639,-0.31,0.0,700.1,5.2,601,11781,0.50,0.00,134.45,1.257,6,0.120,0.000,2615,1737,2650
$STATE,11782,end apogee,CONTROL_FINISHED_OK
$STATE,11782,begin climb
$GC,11785,0.99,146.0,701.2,0.0,604,11926,0.88,0.00,137.50,1.192,6,0.091,0.000,2897,1737,2054
$GC,12233,0.77,146.0,653.4,10.8,615,12238,0.20,2.40,0.00,0.000,4,0.133,0.064,2836,3156,2045
$GC,12261,0.65,146.0,650.5,9.6,615,12265,0.00,2.30,0.00,0.000,6,0.000,0.048,2844,1736,2045
$GC,12599,0.65,146.0,623.8,8.1,624,12602,0.00,2.33,0.00,0.000,4,0.000,0.065,2844,3152,2044
$GC,12616,0.59,146.0,622.4,8.0,624,12621,0.17,2.25,0.00,0.000,6,0.131,0.048,2804,1727,2044
$GC,12966,0.76,166.5,599.8,6.4,633,12990,0.15,2.40,17.10,1.144,4,0.069,0.064,2871,3156,1971
$GC,13002,0.58,166.5,596.5,8.2,633,13009,0.28,2.25,0.00,0.000,6,0.135,0.048,2802,1734,1970
$GC,13335,0.77,196.7,575.9,6.1,642,13365,0.15,0.00,28.08,1.167,6,0.067,0.000,2871,1734,1848
$GC,13660,0.66,196.7,542.9,10.5,650,13665,0.17,2.35,0.00,0.000,4,0.125,0.065,2818,3165,1842
$GC,13688,0.66,196.7,540.2,8.8,650,13691,0.00,2.25,0.00,0.000,6,0.000,0.049,2826,1738,1841
$GC,14025,0.74,196.7,514.3,7.8,659,14029,0.00,2.30,0.00,0.000,4,0.000,0.065,2827,3166,1841
$GC,14043,0.80,196.7,512.8,8.2,659,14047,0.00,2.25,0.00,0.000,6,0.000,0.048,2836,1732,1840
$GC,14356,0.86,196.7,487.9,7.6,667,14361,0.10,2.30,0.00,0.000,4,0.084,0.064,2883,3155,1840
$GC,14372,0.86,196.7,486.3,7.9,667,14377,0.12,2.22,0.00,0.000,6,0.145,0.048,2860,1733,1839
$GC,14686,0.81,196.7,458.7,8.7,675,14688,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1733,1840
$GC,15010,0.81,196.7,432.2,8.2,683,15011,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1733,1839
$GC,15335,0.81,196.7,404.5,8.6,691,15339,0.00,2.33,0.00,0.000,4,0.000,0.066,2860,3160,1839
$GC,15357,0.73,196.7,402.5,8.9,691,15362,0.12,2.25,0.00,0.000,6,0.137,0.049,2833,1725,1839
$GC,15685,0.83,206.2,380.0,6.7,706,15696,0.10,0.00,8.43,0.956,6,0.083,0.000,2882,1725,1809
$GC,16012,0.70,206.2,347.6,9.5,722,16014,0.17,0.00,0.00,0.000,6,0.127,0.000,2829,1725,1807
$GC,16323,0.84,224.6,327.0,6.4,737,16346,0.12,2.40,17.70,1.018,4,0.074,0.065,2887,3157,1734
$GC,16364,0.68,224.6,323.1,10.0,738,16371,0.25,2.25,0.00,0.000,6,0.133,0.048,2824,1731,1732
$GC,16683,0.90,247.8,302.8,6.3,754,16714,0.17,0.00,23.88,0.947,6,0.064,0.000,2903,1731,1639
$GC,17010,0.73,247.8,264.8,11.8,770,17012,0.22,0.00,0.00,0.000,6,0.128,0.000,2835,1731,1633
$GC,17320,0.94,270.0,243.6,6.3,785,17350,0.17,0.00,22.50,0.909,6,0.065,0.000,2913,1731,1549
$GC,17649,0.78,270.0,204.6,11.9,801,17651,0.22,0.00,0.00,0.000,6,0.127,0.000,2845,1731,1544
$GC,17958,0.97,270.0,180.6,7.8,816,17960,0.15,0.00,0.00,0.000,6,0.071,0.000,2914,1731,1542
$GC,18270,0.84,270.0,141.1,12.8,831,18274,0.17,2.33,0.00,0.000,4,0.127,0.065,2862,3154,1542
$GC,18297,0.84,270.0,137.4,12.3,832,18301,0.00,2.22,0.00,0.000,6,0.000,0.049,2868,1732,1542
$GC,18619,0.97,270.0,106.4,9.1,848,18622,0.00,2.25,0.00,0.000,4,0.000,0.064,2878,332,1542
$GC,18636,1.11,270.0,104.8,8.9,848,18643,0.15,2.28,0.00,0.000,6,0.071,0.051,2945,1756,1542
$GC,18977,0.92,270.0,63.4,11.1,903,18984,0.20,2.25,0.00,0.000,4,0.134,0.068,2880,3153,1541
$GC,19003,0.80,270.0,60.8,10.2,907,19010,0.15,2.25,0.00,0.000,6,0.123,0.051,2843,1727,1541
$GC,19349,1.47,270.0,34.3,9.5,968,19356,0.45,2.28,0.00,0.000,4,0.099,0.064,2999,322,1540
$GC,19392,1.69,270.0,30.4,9.3,975,19399,0.17,2.30,0.00,0.000,6,0.080,0.054,3065,1753,1540
$FREEZE,6.19,-1.588,-1.824
$FREEZE,5.03,-1.596,-1.823
$FREEZE,3.92,-1.601,-1.822
$FREEZE,2.87,-1.616,-1.822
$STATE,19537,end climb,SURFACE_DEPTH_REACHED
$STATE,19537,begin surface coast
$FREEZE,1.67,-1.626,-1.821
$FREEZE,1.63,-1.624,-1.056
$FINISH,1.6,1.015585
$STATE,19549,end surface coast,CONTROL_FINISHED_OK
$STATE,19549,begin surface
$SM_CCo,19629,0.00,0.000,0,0,1537,273.02
$SM_GC,2.48,7.50,0.00,0.00,0.058,0.000,0.000,333,2232,1537,-10.70,0.06,273.02
$RAFOS_CLK,828
$RAFOS,4,1229805848,20.750000,20.735556,59,57,51,51,51,50,187,784,158,212,168,139
$RAFOS,3,1229805280,20.583334,20.577778,59,58,53,53,52,51,204,183,158,219,173,84
$RAFOS,2,1229804665,20.416666,20.406944,115,59,58,54,53,51,498,178,193,205,144,132
$RAFOS,1,1229804056,20.250000,20.237778,64,60,58,57,53,49,137,197,119,183,215,146
$RAFOS,0,1229803442,20.083334,20.067223,59,57,57,55,53,49,203,185,128,213,160,225
$RAFOS_FIX,6646.256348,-5730.846680,201208,161628,4,93,0.42
$IRIDIUM_FIX,6620.33,-5737.16,160398,121213
$TT8_MAMPS,0.026845
$HUMID,1816
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,15.30
$XPDR_PINGS,113
$24V_AH,21.6,79.736
$10V_AH,10.4,36.539
$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,23.925,155.025,389.625,0.000,0.000,23.305,37.012,156.905,28.250,0.000,0.000,13.940,1889.249,14949.709,565.116,1963.813,615.077,0.000,1617.157,0.000,1937.112,1800.000,0.531,0.000
$DEVICE_MAMPS,244.673,89.739,1257.113,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,701.403,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31551,1002
$CAP_FILE_SIZE,149802,0
$CFSIZE,260165632,219582464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$SOUNDSPEED,1452.8
$GPS,201208,233532,6645.274,-5728.386,38,1.7,38,-37.3