version: 66.04
glider: 108
mission: 11
dive: 490
start: 12 21 108 11 49 34
data:
$ID,108
$MISSION,11
$DIVE,490
$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,-122678.68
$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,25
$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
$GPS1,083128,6642.633,-5739.158,0,4086.8,0,-37.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-30.9
$GPS2,083128,6642.633,-5739.158,0,4086.8,0,-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,306.8,134679,-13.0,-7.021
$D_GRID,600
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.99,-146.0,0.0,0.0,0,76,0.00,0.00,-55.58,0.000,2,0.000,0.000,333,2240,2803
$GC,80,-0.99,-146.0,3.3,-1.4,10,111,8.88,2.28,-14.73,0.000,4,0.245,0.091,2450,3606,3248
$GC,270,-0.80,-146.0,24.9,-12.7,43,277,0.20,2.20,0.00,0.000,6,0.149,0.053,2505,2217,3252
$GC,615,-0.80,-146.0,49.0,-7.6,104,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2217,3252
$GC,960,-0.80,-146.0,70.9,-5.8,165,966,0.00,2.33,0.00,0.000,4,0.000,0.079,2497,3601,3252
$GC,1018,-0.80,-146.0,74.7,-5.9,175,1024,0.00,2.17,0.00,0.000,6,0.000,0.051,2497,2219,3252
$GC,1363,-0.80,-146.0,97.1,-5.5,236,1370,0.00,2.25,0.00,0.000,4,0.000,0.064,2497,811,3252
$GC,1445,-0.73,-146.0,102.3,-6.7,245,1450,0.12,2.35,0.00,0.000,6,0.133,0.064,2521,2238,3251
$GC,1763,-0.84,-146.0,121.4,-6.5,260,1768,0.10,2.25,0.00,0.000,4,0.090,0.078,2467,3604,3251
$GC,1826,-0.77,-146.0,127.0,-9.1,263,1831,0.17,2.17,0.00,0.000,6,0.146,0.052,2514,2225,3251
$GC,2156,-0.86,-146.0,152.0,-7.1,279,2159,0.00,2.25,0.00,0.000,4,0.000,0.065,2515,821,3251
$GC,2213,-0.92,-146.0,156.1,-6.9,281,2217,0.10,2.33,0.00,0.000,6,0.084,0.066,2464,2236,3251
$GC,2535,-0.83,-146.0,180.7,-7.8,297,2536,0.12,0.00,0.00,0.000,6,0.150,0.000,2497,2236,3251
$GC,2844,-0.89,-146.0,200.8,-6.4,312,2847,0.00,2.30,0.00,0.000,4,0.000,0.063,2496,825,3251
$GC,2901,-0.89,-146.0,204.7,-6.6,314,2905,0.00,2.33,0.00,0.000,6,0.000,0.066,2489,2233,3251
$GC,3219,-0.89,-146.0,223.0,-5.9,329,3220,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2233,3251
$GC,3526,-0.89,-146.0,241.9,-6.2,344,3527,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2233,3250
$GC,3838,-0.89,-146.0,261.5,-6.3,359,3842,0.00,2.30,0.00,0.000,4,0.000,0.062,2489,822,3250
$GC,3894,-0.89,-146.0,265.6,-6.6,361,3898,0.00,2.33,0.00,0.000,6,0.000,0.064,2480,2233,3250
$GC,4215,-0.89,-146.0,287.2,-7.0,377,4216,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2233,3250
$GC,4525,-0.89,-146.0,309.1,-7.2,392,4529,0.00,2.25,0.00,0.000,4,0.000,0.077,2469,3601,3250
$GC,4616,-0.89,-146.0,315.8,-7.5,396,4620,0.00,2.17,0.00,0.000,6,0.000,0.049,2469,2212,3251
$GC,4949,-0.89,-146.0,337.4,-6.7,412,4953,0.00,2.22,0.00,0.000,4,0.000,0.061,2469,811,3251
$GC,5041,-0.82,-146.0,344.0,-7.3,416,5046,0.17,2.35,0.00,0.000,6,0.133,0.061,2507,2245,3251
$GC,5374,-0.96,-146.0,363.2,-5.8,432,5378,0.12,2.22,0.00,0.000,4,0.086,0.075,2445,3602,3252
$GC,5505,-0.88,-146.0,373.4,-8.2,437,5512,0.17,2.17,0.00,0.000,6,0.142,0.049,2493,2212,3251
$GC,5822,-0.97,-146.0,391.7,-5.6,453,5826,0.10,2.20,0.00,0.000,4,0.093,0.059,2449,823,3252
$GC,5907,-0.83,-146.0,397.9,-8.3,456,5913,0.22,2.33,0.00,0.000,6,0.133,0.062,2502,2241,3252
$GC,6240,-0.95,-146.0,416.0,-5.2,466,6244,0.12,2.22,0.00,0.000,4,0.085,0.074,2440,3598,3253
$GC,6307,-0.86,-146.0,420.9,-7.7,467,6311,0.20,2.15,0.00,0.000,6,0.143,0.048,2495,2215,3253
$GC,6656,-0.95,-146.0,438.5,-4.8,476,6661,0.10,2.20,0.00,0.000,4,0.094,0.059,2450,821,3253
$GC,6827,-0.83,-146.0,450.7,-7.1,479,6832,0.22,2.33,0.00,0.000,6,0.132,0.061,2504,2241,3253
$GC,7160,-0.96,-146.0,467.0,-4.7,487,7164,0.12,2.22,0.00,0.000,4,0.085,0.074,2441,3600,3254
$GC,7244,-0.87,-146.0,473.0,-7.5,488,7251,0.17,2.15,0.00,0.000,6,0.142,0.048,2489,2219,3254
$GC,7577,-0.95,-146.0,490.5,-5.2,497,7581,0.00,2.20,0.00,0.000,4,0.000,0.059,2489,825,3254
$GC,7650,-0.95,-146.0,494.4,-5.1,498,7654,0.00,2.30,0.00,0.000,6,0.000,0.061,2481,2233,3254
$GC,7994,-1.00,-146.0,514.4,-6.0,507,7998,0.00,2.22,0.00,0.000,4,0.000,0.074,2471,3596,3254
$GC,8086,-1.05,-146.0,520.3,-6.6,509,8090,0.00,2.12,0.00,0.000,6,0.000,0.046,2471,2227,3254
$GC,8417,-1.05,-146.0,538.8,-5.3,517,8420,0.00,2.22,0.00,0.000,4,0.000,0.058,2471,821,3254
$GC,8535,-1.05,-146.0,545.5,-5.5,519,8539,0.00,2.30,0.00,0.000,6,0.000,0.059,2461,2233,3254
$GC,8879,-1.05,-146.0,565.1,-5.9,528,8882,0.00,2.22,0.00,0.000,4,0.000,0.072,2451,3601,3254
$GC,8964,-1.00,-146.0,570.5,-6.1,529,8970,0.00,2.15,0.00,0.000,6,0.000,0.046,2451,2215,3254
$GC,9296,-0.93,-146.0,591.0,-6.1,538,9298,0.12,0.00,0.00,0.000,6,0.147,0.000,2484,2215,3255
$STATE,9496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9496,begin apogee
$GC,9504,-0.31,0.0,601.9,5.3,543,9644,0.40,0.00,132.38,1.197,6,0.120,0.000,2613,1740,2650
$STATE,9645,end apogee,CONTROL_FINISHED_OK
$STATE,9645,begin climb
$GC,9648,0.99,146.0,603.8,0.0,546,9790,0.93,2.62,133.95,1.133,4,0.100,0.064,2900,3150,2053
$GC,9829,0.66,146.0,586.9,12.4,551,9834,0.32,2.45,0.00,0.000,6,0.135,0.047,2824,1736,2049
$GC,10154,0.72,157.4,564.2,6.7,559,10166,0.00,0.00,10.10,1.005,6,0.000,0.000,2824,1735,2008
$GC,10479,0.79,163.4,542.3,6.8,567,10494,0.10,2.40,6.88,0.936,4,0.082,0.065,2871,3163,1983
$GC,10512,0.62,163.4,539.2,9.6,567,10517,0.25,2.28,0.00,0.000,6,0.133,0.048,2810,1727,1981
$GC,10844,0.80,194.7,518.4,6.0,575,10877,0.15,0.00,28.65,1.126,6,0.067,0.000,2878,1727,1856
$GC,11211,0.68,194.7,481.3,10.5,584,11213,0.17,0.00,0.00,0.000,6,0.125,0.000,2826,1727,1850
$GC,11535,0.77,194.7,456.0,7.8,592,11539,0.00,2.33,0.00,0.000,4,0.000,0.064,2826,3155,1849
$GC,11557,0.81,194.7,454.0,8.1,592,11562,0.08,2.22,0.00,0.000,6,0.094,0.048,2875,1734,1848
$GC,11907,0.72,194.7,416.0,11.2,601,11912,0.15,2.25,0.00,0.000,4,0.126,0.062,2839,334,1848
$GC,11929,0.72,194.7,413.6,9.8,601,11933,0.00,2.28,0.00,0.000,6,0.000,0.051,2839,1755,1848
$GC,12253,0.77,194.7,384.7,9.0,613,12257,0.00,2.25,0.00,0.000,4,0.000,0.067,2839,3161,1847
$GC,12294,0.72,194.7,380.7,10.8,614,12300,0.00,2.22,0.00,0.000,6,0.000,0.048,2849,1737,1847
$GC,12610,0.72,194.7,349.7,9.7,630,12614,0.00,2.30,0.00,0.000,4,0.000,0.064,2849,3153,1847
$GC,12626,0.72,194.7,347.9,9.7,630,12633,0.00,2.22,0.00,0.000,6,0.000,0.049,2859,1732,1847
$GC,12943,0.72,194.7,318.9,8.8,646,12945,0.10,0.00,0.00,0.000,6,0.138,0.000,2830,1732,1847
$GC,13252,0.89,224.8,298.9,6.1,661,13284,0.15,2.35,26.25,1.018,4,0.071,0.064,2898,3161,1732
$GC,13292,0.73,224.8,295.6,9.4,663,13297,0.25,2.28,0.00,0.000,6,0.131,0.049,2835,1726,1730
$GC,13621,0.86,224.8,272.7,7.0,679,13625,0.12,2.25,0.00,0.000,4,0.072,0.061,2902,329,1726
$GC,13638,0.92,224.8,271.2,7.5,679,13644,0.00,2.28,0.00,0.000,6,0.000,0.050,2903,1751,1726
$GC,13955,0.79,224.8,236.7,10.8,695,13957,0.20,0.00,0.00,0.000,6,0.127,0.000,2842,1751,1726
$GC,14263,0.92,224.8,213.6,7.3,710,14268,0.12,2.25,0.00,0.000,4,0.076,0.066,2900,3156,1725
$GC,14275,0.99,224.8,212.7,7.3,710,14279,0.00,2.22,0.00,0.000,6,0.000,0.049,2910,1736,1725
$GC,14597,0.86,224.8,175.9,10.9,726,14599,0.17,0.00,0.00,0.000,6,0.133,0.000,2858,1737,1725
$GC,14906,0.99,252.4,153.3,6.1,741,14933,0.12,0.00,24.73,0.937,6,0.077,0.000,2914,1736,1620
$GC,15235,0.93,252.4,124.8,8.4,757,15237,0.12,0.00,0.00,0.000,6,0.132,0.000,2878,1737,1614
$GC,15545,1.06,295.1,106.7,5.6,772,15586,0.12,0.00,38.45,0.921,6,0.077,0.000,2933,1736,1447
$GC,15918,0.95,295.1,68.9,10.3,828,15925,0.17,2.28,0.00,0.000,4,0.130,0.064,2889,337,1437
$GC,15938,0.89,295.1,67.1,10.3,831,15944,0.00,2.28,0.00,0.000,6,0.000,0.053,2889,1747,1437
$GC,16284,1.00,295.1,42.4,7.6,892,16290,0.00,2.28,0.00,0.000,4,0.000,0.070,2889,3158,1434
$GC,16325,1.00,295.1,38.9,8.2,899,16331,0.00,2.25,0.00,0.000,6,0.000,0.052,2897,1736,1433
$GC,16671,1.08,312.7,11.3,6.5,960,16694,0.00,2.35,14.73,0.857,4,0.000,0.067,2907,327,1375
$GC,16708,1.13,312.7,8.1,8.6,966,16714,0.00,2.33,0.00,0.000,6,0.000,0.056,2908,1739,1375
$FREEZE,6.57,-1.669,-1.828
$FREEZE,6.01,-1.639,-1.828
$FREEZE,5.48,-1.640,-1.827
$FREEZE,4.99,-1.644,-1.826
$FREEZE,4.52,-1.663,-1.826
$FREEZE,4.04,-1.654,-1.826
$FREEZE,3.49,-1.638,-1.825
$FREEZE,3.06,-1.646,-1.825
$FREEZE,2.63,-1.661,-1.825
$STATE,16771,end climb,SURFACE_DEPTH_REACHED
$STATE,16771,begin surface coast
$FREEZE,2.38,-1.623,-1.824
$FREEZE,2.37,-1.629,-1.824
$FREEZE,2.07,-1.650,-1.824
$FREEZE,2.14,-1.653,-1.825
$FREEZE,2.20,-1.633,-1.823
$FREEZE,2.20,-1.637,-1.824
$FINISH,2.2,1.026753
$STATE,16805,end surface coast,CONTROL_FINISHED_OK
$STATE,16805,begin surface
$SM_CCo,17006,0.00,0.000,0,0,1368,314.47
$SM_GC,2.59,7.05,0.00,0.00,0.057,0.000,0.000,332,2242,1368,-10.69,0.34,314.47
$RAFOS_CLK,776
$RAFOS,1,1229876043,16.250000,16.234167,67,55,55,51,50,47,772,215,206,168,191,142
$RAFOS,0,1229875447,16.083334,16.068611,72,60,59,57,54,52,190,175,209,139,128,166
$RAFOS,4,1229863449,12.750000,12.735833,129,66,58,57,56,51,791,196,177,164,208,218
$RAFOS,3,1229862849,12.583333,12.569167,68,54,54,52,51,49,788,211,156,178,117,133
$RAFOS,2,1229862241,12.416667,12.400278,123,59,55,55,53,53,656,215,229,205,129,181
$RAFOS,1,1229861643,12.250000,12.234167,65,59,53,51,51,50,222,771,181,153,204,231
$RAFOS,0,1229861046,12.083333,12.068334,60,59,57,56,55,54,175,219,208,157,184,121
$RAFOS_FIX,6642.583496,-5740.488281,211208,121256,4,96,0.07
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.027612
$HUMID,1814
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,15.20
$XPDR_PINGS,124
$24V_AH,21.7,80.193
$10V_AH,10.4,36.783
$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,22.850,137.475,416.100,0.000,0.000,99.143,85.163,0.000,31.000,0.000,0.000,183.214,1856.055,12602.420,542.920,2086.354,557.998,0.000,1581.841,0.000,1881.988,2880.000,0.530,0.000
$DEVICE_MAMPS,244.673,91.273,1197.287,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,687.917,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31563,983
$CAP_FILE_SIZE,140576,0
$CFSIZE,260165632,219369472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.3
$GPS,211208,123056,6642.583,-5740.488,0,4096.2,0,-37.3