version: 66.04
glider: 108
mission: 11
dive: 507
start: 12 25 108 4 11 8
data:
$ID,108
$MISSION,11
$DIVE,507
$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,26
$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
$GPS1,002601,6634.392,-5837.869,0,5119.4,0,-37.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-3.7
$GPS2,002601,6634.392,-5837.869,0,5119.4,0,-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,316.0,92741,-13.0,-7.021
$D_GRID,685
$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,17,-0.99,-146.0,0.0,0.0,0,63,0.00,0.00,-44.50,0.000,6,0.000,0.000,2686,3155,3247
$GC,67,-0.99,-146.0,2.7,-1.4,8,75,0.62,3.80,0.00,0.000,4,0.071,0.057,2451,810,3248
$GC,161,-0.71,-146.0,12.8,-12.1,24,168,0.30,2.33,0.00,0.000,6,0.144,0.062,2526,2237,3250
$GC,507,-0.78,-146.0,39.0,-8.1,85,513,0.00,2.22,0.00,0.000,4,0.000,0.077,2518,3601,3252
$GC,628,-0.88,-146.0,48.1,-7.3,106,635,0.12,2.17,0.00,0.000,6,0.084,0.051,2463,2214,3251
$GC,974,-0.73,-146.0,79.3,-9.2,167,981,0.20,2.25,0.00,0.000,4,0.142,0.064,2528,814,3251
$GC,1106,-0.79,-146.0,89.0,-7.3,190,1112,0.00,2.33,0.00,0.000,6,0.000,0.064,2520,2234,3251
$GC,1452,-0.87,-146.0,111.4,-5.9,227,1454,0.10,0.00,0.00,0.000,6,0.087,0.000,2473,2234,3251
$GC,1763,-0.78,-146.0,134.7,-7.6,242,1767,0.15,2.28,0.00,0.000,4,0.150,0.064,2514,818,3251
$GC,1859,-0.78,-146.0,141.1,-6.6,246,1863,0.00,2.33,0.00,0.000,6,0.000,0.065,2506,2230,3251
$GC,2181,-0.82,-146.0,162.5,-6.5,262,2185,0.00,2.25,0.00,0.000,4,0.000,0.078,2496,3601,3251
$GC,2289,-0.87,-146.0,170.5,-7.6,266,2295,0.00,2.17,0.00,0.000,6,0.000,0.051,2496,2220,3251
$GC,2607,-0.87,-146.0,190.5,-6.0,282,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2220,3251
$GC,2914,-0.87,-146.0,209.1,-6.0,297,2918,0.00,2.25,0.00,0.000,4,0.000,0.064,2496,816,3251
$GC,3067,-0.87,-146.0,219.3,-6.6,303,3073,0.00,2.35,0.00,0.000,6,0.000,0.065,2486,2242,3250
$GC,3385,-0.87,-146.0,238.8,-6.0,319,3386,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2242,3250
$GC,3693,-0.87,-146.0,256.2,-5.5,334,3697,0.00,2.25,0.00,0.000,4,0.000,0.080,2475,3605,3250
$GC,3772,-0.87,-146.0,261.5,-6.7,337,3775,0.00,2.17,0.00,0.000,6,0.000,0.052,2475,2230,3249
$GC,4094,-0.87,-146.0,282.4,-6.6,353,4098,0.00,2.25,0.00,0.000,4,0.000,0.065,2476,815,3249
$GC,4218,-0.82,-146.0,291.8,-7.7,358,4223,0.15,2.35,0.00,0.000,6,0.136,0.064,2506,2244,3250
$GC,4536,-0.93,-146.0,310.5,-5.7,373,4540,0.12,2.22,0.00,0.000,4,0.085,0.077,2444,3598,3250
$GC,4609,-0.81,-146.0,316.3,-8.7,376,4614,0.22,2.17,0.00,0.000,6,0.146,0.051,2507,2219,3249
$GC,4937,-0.93,-146.0,334.2,-5.3,392,4941,0.12,2.25,0.00,0.000,4,0.087,0.063,2453,816,3250
$GC,5010,-0.80,-146.0,339.5,-7.5,395,5015,0.22,2.33,0.00,0.000,6,0.136,0.063,2507,2238,3249
$GC,5338,-0.93,-146.0,355.9,-4.8,411,5342,0.12,2.22,0.00,0.000,4,0.086,0.075,2445,3594,3250
$GC,5492,-0.83,-146.0,366.2,-6.4,417,5499,0.20,2.15,0.00,0.000,6,0.143,0.049,2500,2224,3250
$GC,5810,-0.94,-146.0,380.8,-4.6,433,5814,0.10,2.25,0.00,0.000,4,0.094,0.061,2456,817,3251
$GC,5906,-0.84,-146.0,387.2,-6.7,437,5911,0.17,2.33,0.00,0.000,6,0.133,0.062,2496,2233,3251
$GC,6248,-0.93,-146.0,405.0,-5.1,452,6249,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2233,3251
$GC,6572,-1.02,-146.0,421.7,-5.1,460,6576,0.15,2.25,0.00,0.000,4,0.079,0.075,2426,3604,3251
$GC,6645,-0.87,-146.0,426.9,-7.3,461,6650,0.22,2.17,0.00,0.000,6,0.144,0.049,2490,2214,3252
$GC,6989,-0.96,-146.0,444.1,-4.9,470,6993,0.00,2.22,0.00,0.000,4,0.000,0.061,2490,815,3252
$GC,7080,-0.96,-146.0,448.8,-5.3,472,7084,0.00,2.33,0.00,0.000,6,0.000,0.061,2482,2239,3252
$GC,7411,-1.00,-146.0,464.4,-4.8,480,7415,0.00,2.22,0.00,0.000,4,0.000,0.074,2472,3602,3252
$GC,7496,-1.00,-146.0,469.4,-5.8,481,7502,0.00,2.15,0.00,0.000,6,0.000,0.047,2472,2224,3252
$GC,7828,-1.00,-146.0,487.0,-5.3,490,7832,0.00,2.22,0.00,0.000,4,0.000,0.060,2472,819,3252
$GC,7902,-1.00,-146.0,491.4,-6.1,491,7906,0.00,2.33,0.00,0.000,6,0.000,0.061,2462,2243,3252
$GC,8245,-1.00,-146.0,511.1,-5.8,500,8249,0.00,2.22,0.00,0.000,4,0.000,0.074,2452,3605,3252
$GC,8323,-1.00,-146.0,516.1,-6.2,501,8327,0.00,2.17,0.00,0.000,6,0.000,0.047,2451,2211,3252
$GC,8662,-0.94,-146.0,535.4,-5.7,510,8667,0.10,2.22,0.00,0.000,4,0.154,0.059,2479,813,3253
$GC,8780,-0.94,-146.0,541.7,-5.4,512,8784,0.00,2.33,0.00,0.000,6,0.000,0.059,2471,2238,3253
$GC,9124,-0.94,-146.0,558.2,-4.8,521,9125,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2238,3253
$GC,9449,-0.94,-146.0,574.4,-5.1,529,9450,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2238,3253
$GC,9774,-0.94,-146.0,590.2,-4.9,537,9777,0.00,2.22,0.00,0.000,4,0.000,0.073,2460,3595,3254
$GC,9852,-0.94,-146.0,594.7,-6.2,538,9857,0.00,2.15,0.00,0.000,6,0.000,0.045,2460,2213,3254
$GC,10191,-0.94,-146.0,613.4,-5.6,547,10195,0.00,2.20,0.00,0.000,4,0.000,0.058,2461,816,3254
$GC,10292,-0.87,-146.0,619.8,-6.0,549,10297,0.15,2.33,0.00,0.000,6,0.130,0.059,2492,2239,3254
$GC,10606,-0.98,-146.0,634.0,-4.5,557,10610,0.10,2.22,0.00,0.000,4,0.087,0.071,2439,3603,3254
$GC,10698,-0.90,-146.0,639.6,-6.3,559,10702,0.17,2.15,0.00,0.000,6,0.143,0.046,2487,2217,3254
$GC,11028,-1.00,-146.0,654.8,-4.4,567,11033,0.10,2.20,0.00,0.000,4,0.092,0.057,2444,826,3254
$GC,11131,-0.88,-146.0,661.3,-6.1,569,11136,0.20,2.30,0.00,0.000,6,0.132,0.060,2491,2234,3254
$GC,11445,-0.99,-146.0,676.4,-4.7,577,11449,0.12,2.22,0.00,0.000,4,0.084,0.071,2429,3597,3254
$STATE,11571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11571,begin apogee
$GC,11582,-0.31,0.0,685.0,7.2,579,11717,0.55,0.00,132.15,1.259,6,0.104,0.000,2615,1742,2650
$STATE,11718,end apogee,CONTROL_FINISHED_OK
$STATE,11718,begin climb
$GC,11722,0.99,146.0,684.3,0.0,583,11866,0.90,2.62,137.00,1.178,4,0.082,0.063,2906,3155,2053
$GC,11904,0.64,146.0,667.8,12.7,586,11909,0.38,2.45,0.00,0.000,6,0.133,0.047,2816,1746,2048
$GC,12236,0.75,157.8,644.8,6.6,594,12249,0.10,0.00,10.50,1.052,6,0.079,0.000,2863,1745,2006
$GC,12561,0.67,157.8,615.9,8.9,602,12563,0.15,0.00,0.00,0.000,6,0.124,0.000,2820,1745,2004
$GC,12886,0.78,170.5,593.3,6.6,610,12901,0.12,0.00,12.52,1.103,6,0.076,0.000,2876,1745,1954
$GC,13211,0.66,170.5,562.3,9.6,618,13215,0.20,2.30,0.00,0.000,4,0.125,0.064,2812,3152,1952
$GC,13228,0.59,170.5,560.7,9.5,618,13232,0.00,2.25,0.00,0.000,6,0.000,0.048,2819,1722,1951
$GC,13577,0.72,186.1,537.9,6.5,627,13597,0.00,2.35,15.12,1.111,4,0.000,0.064,2819,3157,1890
$GC,13609,0.86,217.7,535.8,6.0,627,13645,0.12,2.25,29.58,1.135,6,0.076,0.048,2885,1730,1762
$GC,13989,0.74,217.7,496.3,10.6,637,13993,0.17,2.25,0.00,0.000,4,0.127,0.062,2842,335,1753
$GC,14010,0.74,217.7,493.5,9.6,637,14015,0.00,2.28,0.00,0.000,6,0.000,0.051,2841,1748,1753
$GC,14355,0.80,217.7,468.0,7.5,646,14359,0.00,2.25,0.00,0.000,4,0.000,0.065,2842,3153,1752
$GC,14407,0.75,217.7,463.4,9.2,647,14411,0.00,2.22,0.00,0.000,6,0.000,0.048,2851,1732,1751
$GC,14731,0.75,217.7,437.2,7.8,655,14735,0.00,2.33,0.00,0.000,4,0.000,0.064,2851,3162,1750
$GC,14748,0.75,217.7,435.6,7.9,655,14752,0.00,2.25,0.00,0.000,6,0.000,0.048,2860,1727,1750
$GC,15062,0.75,217.7,409.1,8.4,663,15063,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1727,1750
$GC,15369,0.75,217.7,384.0,8.3,675,15373,0.00,2.25,0.00,0.000,4,0.000,0.063,2870,324,1750
$GC,15392,0.75,217.7,382.1,8.1,676,15397,0.12,2.28,0.00,0.000,6,0.120,0.051,2834,1748,1750
$GC,15728,0.90,233.5,360.2,6.5,692,15750,0.15,2.28,13.40,1.012,4,0.067,0.065,2901,3141,1698
$GC,15774,0.68,233.5,355.2,11.1,694,15780,0.30,2.22,0.00,0.000,6,0.130,0.049,2822,1732,1696
$GC,16109,0.94,273.0,333.9,5.8,710,16153,0.20,2.30,37.03,1.044,4,0.062,0.063,2927,331,1537
$GC,16160,0.76,273.0,328.9,11.3,712,16165,0.30,2.30,0.00,0.000,6,0.129,0.050,2838,1743,1536
$GC,16483,0.99,300.8,308.0,6.1,728,16514,0.20,2.30,25.60,1.003,4,0.061,0.063,2931,3161,1423
$GC,16531,0.76,300.8,302.4,14.1,730,16536,0.35,2.28,0.00,0.000,6,0.131,0.049,2837,1738,1420
$GC,16849,1.36,300.8,279.6,8.3,745,16854,0.38,2.30,0.00,0.000,4,0.070,0.061,2982,3152,1414
$GC,16872,1.57,300.8,276.8,10.8,746,16877,0.10,2.22,0.00,0.000,6,0.094,0.048,3033,1736,1413
$GC,17200,1.10,300.8,210.4,20.1,762,17204,0.38,2.28,0.00,0.000,4,0.152,0.062,2929,326,1413
$GC,17290,1.04,300.8,198.6,10.9,766,17295,0.10,2.28,0.00,0.000,6,0.137,0.051,2902,1748,1413
$GC,17617,1.04,300.8,168.6,8.9,782,17621,0.00,2.25,0.00,0.000,4,0.000,0.066,2902,3159,1413
$GC,17645,0.99,300.8,165.7,9.0,783,17649,0.00,2.22,0.00,0.000,6,0.000,0.051,2910,1740,1412
$GC,17972,0.99,300.8,134.1,9.9,799,17976,0.00,2.28,0.00,0.000,4,0.000,0.066,2920,332,1412
$GC,18006,0.99,300.8,130.4,9.9,800,18010,0.10,2.25,0.00,0.000,6,0.130,0.052,2893,1739,1412
$GC,18327,1.10,300.8,104.1,7.8,816,18332,0.10,2.28,0.00,0.000,4,0.080,0.067,2943,3160,1411
$GC,18385,0.88,300.8,97.7,12.5,821,18392,0.30,2.25,0.00,0.000,6,0.130,0.054,2864,1739,1410
$GC,18731,1.54,300.8,68.8,10.2,882,18738,0.45,2.30,0.00,0.000,4,0.110,0.067,3015,330,1408
$GC,18746,2.15,300.8,67.2,10.0,884,18753,0.38,2.28,0.00,0.000,6,0.052,0.053,3170,1749,1408
$FREEZE,5.71,-1.793,-1.793
$STATE,18994,end climb,FINISH_DEPTH_REACHED
$STATE,18994,begin subsurface finish
$FINISH1,5.7,1.026284,67
$GC,19003,0.08,67.1,5.7,-24.7,928,19056,1.55,2.30,-43.38,0.000,4,0.146,0.081,2697,3156,2379
$FINISH2,2.2
$STATE,19056,end subsurface finish,CONTROL_FINISHED_OK
$STATE,19056,begin surface
$RAFOS_CLK,846
$RAFOS,4,1230194643,8.750000,8.734167,53,52,51,50,48,47,217,194,167,141,118,1502
$RAFOS,3,1230194047,8.583333,8.568611,75,58,58,57,56,51,595,199,133,163,213,117
$RAFOS,2,1230193448,8.416667,8.402223,65,60,57,57,54,53,157,115,184,751,201,215
$RAFOS,1,1230192874,8.250000,8.242778,82,59,59,57,52,51,503,219,177,201,161,143
$RAFOS,0,1230192247,8.083333,8.068611,58,58,56,54,53,52,167,218,157,178,201,119
$RAFOS,4,1230180259,4.750000,4.738611,61,52,51,50,50,50,213,150,236,199,161,222
$RAFOS,3,1230179655,4.583333,4.570833,131,63,60,57,57,55,566,209,188,177,199,153
$RAFOS,2,1230179041,4.416667,4.400278,75,64,57,57,53,51,784,204,156,179,220,137
$RAFOS,1,1230178445,4.250000,4.234722,115,62,59,54,53,50,654,146,218,189,161,135
$RAFOS,0,1230177842,4.083333,4.067222,99,72,59,58,56,50,772,155,120,221,198,168
$RAFOS_FIX,6633.377441,-5843.662109,251208,040420,4,105,0.33
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.026845
$HUMID,1834
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,14.90
$XPDR_PINGS,130
$24V_AH,21.5,82.410
$10V_AH,10.4,38.008
$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,12.425,180.925,412.900,0.000,0.000,0.000,0.000,0.000,32.500,0.000,0.000,0.000,1901.048,14299.729,538.312,2083.184,327.969,0.000,1677.368,0.000,2047.783,3240.000,0.528,0.000
$DEVICE_MAMPS,154.167,81.302,1259.414,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,655.869,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31585,937
$CAP_FILE_SIZE,153187,0
$CFSIZE,260165632,218238976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1450.5
$GPS,251208,042120,6633.377,-5843.662,0,4105.0,0,-37.3