version: 66.04
glider: 108
mission: 11
dive: 499
start: 12 23 108 9 56 57
data:
$ID,108
$MISSION,11
$DIVE,499
$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,-126013.3
$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,32
$R_STBD_OVSHOOT,26
$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
$GPS1,083128,6636.166,-5805.738,0,4100.0,0,-37.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-42.3
$GPS2,083128,6636.166,-5805.738,0,4100.0,0,-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,312.7,115708,-13.0,-7.021
$D_GRID,631
$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,-146.0,0.0,0.0,0,101,0.00,0.00,-78.05,0.000,6,0.000,0.000,327,2237,3248
$GC,105,-0.99,-146.0,3.6,-1.4,15,119,8.80,2.25,0.00,0.000,4,0.242,0.069,2455,3595,3252
$GC,302,-0.81,-146.0,28.9,-9.8,49,309,0.17,2.17,0.00,0.000,6,0.148,0.047,2503,2220,3254
$GC,648,-0.81,-146.0,54.8,-6.5,110,655,0.00,2.25,0.00,0.000,4,0.000,0.059,2503,822,3254
$GC,757,-0.81,-146.0,63.1,-7.7,129,763,0.00,2.30,0.00,0.000,6,0.000,0.061,2495,2234,3254
$GC,1102,-0.81,-146.0,89.5,-7.8,190,1109,0.00,2.28,0.00,0.000,4,0.000,0.074,2485,3604,3254
$GC,1206,-0.81,-146.0,97.6,-7.8,208,1212,0.00,2.20,0.00,0.000,6,0.000,0.049,2485,2227,3254
$GC,1526,-0.81,-146.0,121.2,-7.7,227,1527,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2227,3253
$GC,1835,-0.81,-146.0,146.8,-8.6,242,1839,0.00,2.30,0.00,0.000,4,0.000,0.074,2475,3591,3253
$GC,2093,-0.81,-146.0,168.2,-6.9,253,2097,0.12,2.17,0.00,0.000,6,0.145,0.049,2507,2225,3252
$GC,2414,-0.90,-146.0,183.2,-4.3,269,2416,0.10,0.00,0.00,0.000,6,0.091,0.000,2463,2225,3251
$GC,2724,-0.83,-146.0,204.3,-7.3,284,2726,0.15,0.00,0.00,0.000,6,0.143,0.000,2504,2225,3251
$GC,3033,-0.93,-146.0,221.9,-5.4,299,3038,0.10,2.30,0.00,0.000,4,0.092,0.060,2460,812,3251
$GC,3120,-0.82,-146.0,227.9,-7.0,303,3125,0.20,2.33,0.00,0.000,6,0.135,0.061,2506,2240,3251
$GC,3449,-0.95,-146.0,244.5,-4.7,319,3454,0.12,2.22,0.00,0.000,4,0.081,0.071,2442,3600,3251
$GC,3535,-0.85,-146.0,250.4,-7.5,322,3542,0.20,2.17,0.00,0.000,6,0.141,0.047,2498,2222,3250
$GC,3851,-0.94,-146.0,265.1,-4.4,338,3856,0.10,2.28,0.00,0.000,4,0.091,0.057,2451,819,3251
$GC,3991,-0.81,-146.0,273.5,-6.1,344,3996,0.22,2.30,0.00,0.000,6,0.133,0.058,2506,2233,3251
$GC,4319,-0.94,-146.0,287.0,-3.8,360,4323,0.12,2.25,0.00,0.000,4,0.080,0.067,2441,3605,3252
$GC,4460,-0.84,-146.0,296.1,-7.4,366,4465,0.20,2.17,0.00,0.000,6,0.140,0.044,2497,2217,3253
$GC,4787,-0.94,-146.0,313.0,-5.1,382,4792,0.10,2.22,0.00,0.000,4,0.087,0.053,2449,817,3254
$GC,4950,-0.82,-146.0,323.8,-6.8,389,4954,0.22,2.33,0.00,0.000,6,0.130,0.054,2504,2246,3254
$GC,5277,-0.96,-146.0,339.7,-4.6,405,5279,0.12,0.00,0.00,0.000,6,0.079,0.000,2448,2246,3256
$GC,5587,-0.87,-146.0,358.7,-6.1,420,5592,0.15,2.20,0.00,0.000,4,0.141,0.066,2483,3595,3257
$GC,5672,-0.95,-146.0,363.6,-5.8,423,5678,0.00,2.12,0.00,0.000,6,0.000,0.041,2482,2224,3257
$GC,5988,-1.00,-146.0,380.2,-5.1,439,5992,0.00,2.20,0.00,0.000,4,0.000,0.053,2482,823,3258
$GC,6058,-1.00,-146.0,383.9,-5.6,442,6062,0.00,2.28,0.00,0.000,6,0.000,0.053,2472,2247,3258
$GC,6411,-1.00,-146.0,402.8,-5.1,458,6415,0.00,2.17,0.00,0.000,4,0.000,0.065,2462,3598,3259
$GC,6507,-1.00,-146.0,408.6,-6.1,460,6511,0.00,2.12,0.00,0.000,6,0.000,0.041,2462,2216,3259
$GC,6833,-1.00,-146.0,426.8,-5.5,468,6837,0.00,2.20,0.00,0.000,4,0.000,0.052,2462,815,3260
$GC,6907,-0.92,-146.0,431.2,-6.1,469,6912,0.12,2.30,0.00,0.000,6,0.132,0.052,2486,2240,3260
$GC,7245,-0.99,-146.0,447.4,-4.7,478,7249,0.10,2.17,0.00,0.000,4,0.083,0.065,2429,3591,3260
$GC,7363,-0.85,-146.0,455.4,-7.0,480,7367,0.22,2.10,0.00,0.000,6,0.138,0.041,2494,2221,3261
$GC,7708,-0.95,-146.0,472.1,-4.7,489,7712,0.00,2.17,0.00,0.000,4,0.000,0.051,2495,830,3261
$GC,7776,-1.01,-146.0,475.7,-5.3,490,7781,0.10,2.25,0.00,0.000,6,0.077,0.051,2440,2245,3261
$GC,8119,-0.90,-146.0,496.9,-6.2,499,8123,0.17,2.22,0.00,0.000,4,0.142,0.064,2481,3601,3261
$GC,8258,-1.00,-146.0,503.9,-4.9,502,8262,0.00,2.12,0.00,0.000,6,0.000,0.041,2481,2222,3262
$GC,8589,-1.05,-146.0,519.7,-4.8,510,8594,0.10,2.20,0.00,0.000,4,0.082,0.051,2434,821,3262
$GC,8705,-0.88,-146.0,526.9,-6.0,512,8710,0.22,2.30,0.00,0.000,6,0.131,0.053,2488,2231,3262
$GC,9054,-0.96,-146.0,542.8,-4.5,521,9058,0.00,2.22,0.00,0.000,4,0.000,0.065,2480,3598,3262
$GC,9139,-1.06,-146.0,547.0,-5.1,522,9146,0.12,2.12,0.00,0.000,6,0.075,0.040,2425,2216,3262
$GC,9472,-0.90,-146.0,569.5,-7.0,531,9476,0.20,2.20,0.00,0.000,4,0.134,0.051,2494,816,3262
$GC,9584,-0.96,-146.0,575.8,-5.4,533,9589,0.00,2.30,0.00,0.000,6,0.000,0.053,2487,2240,3262
$GC,9923,-1.07,-146.0,593.9,-5.7,542,9925,0.12,0.00,0.00,0.000,6,0.075,0.000,2429,2240,3262
$GC,10247,-0.91,-146.0,611.1,-4.5,550,10249,0.20,0.00,0.00,0.000,6,0.140,0.000,2487,2240,3262
$GC,10573,-0.99,-146.0,626.0,-4.9,558,10575,0.10,0.00,0.00,0.000,6,0.088,0.000,2443,2240,3262
$STATE,10690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10690,begin apogee
$GC,10698,-0.31,0.0,632.6,5.4,561,10832,0.55,0.00,130.68,1.205,6,0.126,0.000,2615,1740,2650
$STATE,10833,end apogee,CONTROL_FINISHED_OK
$STATE,10833,begin climb
$GC,10836,0.99,146.0,634.7,0.0,564,10978,0.90,2.65,133.25,1.128,4,0.092,0.057,2902,3148,2053
$GC,11010,0.62,146.0,620.6,12.8,568,11015,0.38,2.45,0.00,0.000,6,0.130,0.041,2811,1729,2049
$GC,11347,0.67,146.0,596.1,7.0,577,11351,0.00,2.30,0.00,0.000,4,0.000,0.058,2820,322,2046
$GC,11415,0.74,146.0,591.2,7.7,578,11419,0.00,2.30,0.00,0.000,6,0.000,0.047,2820,1743,2046
$GC,11764,0.80,146.0,565.2,7.2,587,11768,0.12,2.25,0.00,0.000,4,0.071,0.060,2881,3152,2045
$GC,11808,0.51,146.0,560.4,11.1,588,11813,0.35,2.22,0.00,0.000,6,0.131,0.044,2787,1727,2044
$GC,12129,0.87,183.4,541.8,5.8,596,12171,0.22,2.33,31.83,1.127,4,0.066,0.058,2891,332,1902
$GC,12300,0.73,183.4,525.0,11.2,599,12307,0.20,2.28,0.00,0.000,6,0.126,0.047,2833,1751,1899
$GC,12633,0.73,183.4,499.8,7.6,608,12637,0.00,2.22,0.00,0.000,4,0.000,0.061,2833,3148,1896
$GC,12689,0.65,183.4,494.7,8.7,609,12693,0.00,2.20,0.00,0.000,6,0.000,0.044,2841,1735,1895
$GC,13008,0.65,183.4,467.6,8.5,617,13010,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1735,1894
$GC,13334,0.65,183.4,438.6,9.0,625,13338,0.00,2.30,0.00,0.000,4,0.000,0.061,2841,3158,1894
$GC,13345,0.65,183.4,437.3,9.1,625,13349,0.12,2.20,0.00,0.000,6,0.128,0.044,2815,1734,1894
$GC,13664,0.78,185.6,415.0,6.9,633,13666,0.12,0.00,0.00,0.000,6,0.071,0.000,2875,1734,1894
$GC,13971,0.65,185.6,382.8,11.0,644,13973,0.20,0.00,0.00,0.000,6,0.121,0.000,2814,1734,1894
$GC,14280,0.79,195.2,361.0,6.7,659,14293,0.12,0.00,10.32,0.950,6,0.071,0.000,2874,1734,1854
$GC,14589,0.67,195.2,328.9,10.7,674,14591,0.17,0.00,0.00,0.000,6,0.119,0.000,2821,1734,1852
$GC,14899,0.78,202.0,306.9,6.8,689,14914,0.10,2.35,7.12,0.849,4,0.077,0.060,2871,3155,1826
$GC,14926,0.70,202.0,304.3,9.7,690,14931,0.17,2.20,0.00,0.000,6,0.129,0.044,2829,1732,1825
$GC,15255,0.78,202.0,278.7,8.3,706,15259,0.00,2.22,0.00,0.000,4,0.000,0.058,2837,325,1825
$GC,15272,0.88,202.0,276.9,8.5,706,15279,0.12,2.25,0.00,0.000,6,0.071,0.045,2899,1747,1825
$GC,15589,0.70,202.0,237.5,12.4,722,15594,0.20,2.25,0.00,0.000,4,0.129,0.058,2833,3160,1825
$GC,15601,0.53,202.0,236.0,12.3,722,15607,0.17,2.20,0.00,0.000,6,0.120,0.043,2789,1737,1824
$GC,15917,1.23,202.0,211.9,9.1,738,15922,0.45,2.28,0.00,0.000,4,0.095,0.058,2939,3148,1824
$GC,15951,1.17,202.0,208.5,9.7,739,15957,0.00,2.20,0.00,0.000,6,0.000,0.043,2948,1723,1824
$GC,16268,0.87,202.0,165.9,13.2,755,16273,0.25,2.22,0.00,0.000,4,0.133,0.055,2876,324,1826
$GC,16286,0.67,202.0,163.6,13.0,756,16291,0.17,2.25,0.00,0.000,6,0.111,0.044,2823,1744,1826
$GC,16616,1.13,202.0,138.5,8.5,772,16620,0.28,2.30,0.00,0.000,4,0.071,0.055,2933,325,1826
$GC,16748,0.98,202.0,123.6,13.9,778,16753,0.15,2.25,0.00,0.000,6,0.133,0.047,2891,1741,1827
$GC,17068,0.98,202.0,96.3,7.7,798,17075,0.00,2.25,0.00,0.000,4,0.000,0.060,2891,3164,1827
$GC,17121,0.87,202.0,91.9,8.5,807,17128,0.12,2.22,0.00,0.000,6,0.130,0.045,2864,1732,1827
$GC,17468,1.01,227.8,72.2,6.2,868,17497,0.12,0.00,24.17,0.873,6,0.073,0.000,2926,1731,1721
$GC,17837,0.93,227.8,37.4,9.5,933,17844,0.17,2.25,0.00,0.000,4,0.124,0.060,2881,330,1715
$GC,17851,0.88,227.8,36.1,9.3,935,17858,0.00,2.25,0.00,0.000,6,0.000,0.049,2881,1741,1715
$GC,18197,0.96,236.6,12.3,6.7,996,18211,0.00,2.33,8.35,0.788,4,0.000,0.065,2881,3160,1685
$GC,18252,0.96,236.6,7.6,9.0,1005,18259,0.00,2.25,0.00,0.000,6,0.000,0.049,2890,1730,1683
$FREEZE,6.38,-1.840,-1.825
$STATE,18264,end climb,FINISH_DEPTH_REACHED
$STATE,18264,begin subsurface finish
$FINISH1,6.4,1.026725,45
$GC,18273,0.06,45.4,6.4,-8.4,1007,18302,0.60,0.00,-24.65,0.000,6,0.113,0.000,2692,1730,2469
$FINISH2,5.0
$STATE,18303,end subsurface finish,CONTROL_FINISHED_OK
$STATE,18303,begin surface
$RAFOS_CLK,799
$RAFOS,4,1230036257,12.750000,12.738055,98,65,62,61,56,56,728,188,204,175,134,157
$RAFOS,3,1230035644,12.583333,12.567778,107,61,54,52,51,51,731,175,223,121,145,189
$RAFOS,2,1230035064,12.416667,12.406667,137,62,59,59,55,53,567,205,217,96,151,175
$RAFOS,1,1230034446,12.250000,12.235000,147,64,61,58,55,54,697,158,224,117,195,181
$RAFOS,0,1230033878,12.083333,12.077222,56,54,53,52,52,51,209,147,121,158,226,175
$RAFOS_FIX,6637.669434,-5807.854004,231208,121256,4,122,0.22
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.032214
$HUMID,1808
$INTERNAL_PRESSURE,9.94179
$TCM_TEMP,15.10
$XPDR_PINGS,160
$24V_AH,21.9,81.352
$10V_AH,10.5,37.487
$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,19.600,153.500,345.725,0.000,0.000,99.215,85.147,0.000,40.000,0.000,0.000,185.590,1938.211,13586.029,510.829,2314.613,870.132,0.000,1650.571,0.000,2108.179,1800.000,0.532,0.000
$DEVICE_MAMPS,242.372,74.399,1204.957,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,705.433,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34740,1012
$CAP_FILE_SIZE,156534,0
$CFSIZE,260165632,218759168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.3
$GPS,231208,123056,6637.669,-5807.854,0,4122.2,0,-37.3