version: 66.04
glider: 108
mission: 11
dive: 644
start: 1 8 109 23 10 8
data:
$ID,108
$MISSION,11
$DIVE,644
$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,-2
$USE_ICE,1
$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,85
$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,-128795.94
$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,31
$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
$GPS1,002640,6617.756,-5909.148,0,2099.0,0,-37.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.92
$_SM_ANGLEo,-27.1
$GPS2,002640,6617.756,-5909.148,0,2099.0,0,-37.1
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6618.697,-5842.371
$TGT_RADIUS,1852.000
$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,122.1,20000,-13.0,-7.021
$D_GRID,671
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,19,-0.99,-146.0,0.0,0.0,0,26,0.00,0.00,-5.35,0.000,2,0.000,0.000,328,2249,1610
$GC,31,-0.99,-146.0,3.2,-0.0,1,117,7.28,2.42,-73.10,0.000,4,0.158,0.072,2467,812,3249
$GC,368,-0.80,-146.0,21.8,-8.5,60,375,0.17,2.35,0.00,0.000,6,0.133,0.058,2508,2240,3251
$GC,715,-0.80,-146.0,55.8,-10.1,121,721,0.00,2.30,0.00,0.000,4,0.000,0.060,2508,818,3251
$GC,780,-0.74,-146.0,61.9,-9.7,132,786,0.00,2.33,0.00,0.000,6,0.000,0.061,2500,2234,3251
$GC,1126,-0.74,-146.0,92.8,-9.2,193,1132,0.00,2.30,0.00,0.000,4,0.000,0.059,2500,813,3251
$GC,1201,-0.69,-146.0,100.9,-10.9,205,1206,0.15,2.33,0.00,0.000,6,0.130,0.060,2532,2236,3251
$GC,1525,-0.82,-146.0,123.6,-6.6,221,1530,0.12,2.33,0.00,0.000,4,0.082,0.059,2478,807,3250
$GC,1537,-0.91,-146.0,124.5,-6.2,221,1543,0.00,2.35,0.00,0.000,6,0.000,0.059,2468,2241,3250
$GC,1855,-0.82,-146.0,148.5,-7.3,237,1859,0.12,2.28,0.00,0.000,4,0.145,0.072,2494,3605,3250
$GC,1884,-0.82,-146.0,150.8,-7.7,238,1888,0.00,2.20,0.00,0.000,6,0.000,0.048,2494,2213,3250
$GC,2207,-0.82,-146.0,173.7,-6.2,254,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2212,3250
$GC,2517,-0.82,-146.0,187.0,-3.5,269,2521,0.00,2.25,0.00,0.000,4,0.000,0.060,2494,824,3249
$GC,2586,-0.82,-146.0,189.7,-4.3,272,2590,0.00,2.33,0.00,0.000,6,0.000,0.061,2485,2244,3249
$GC,2914,-0.82,-146.0,206.2,-6.0,288,2918,0.00,2.33,0.00,0.000,4,0.000,0.059,2485,822,3249
$GC,2950,-0.82,-146.0,208.5,-6.3,289,2955,0.10,2.35,0.00,0.000,6,0.138,0.059,2501,2230,3249
$GC,3267,-0.91,-146.0,226.0,-5.5,304,3271,0.00,2.30,0.00,0.000,4,0.000,0.057,2501,815,3249
$GC,3292,-0.97,-146.0,227.5,-5.6,305,3296,0.10,2.35,0.00,0.000,6,0.082,0.057,2450,2238,3249
$GC,3627,-0.88,-146.0,252.0,-7.8,321,3631,0.15,2.25,0.00,0.000,4,0.143,0.068,2483,3594,3250
$GC,3639,-0.81,-146.0,253.1,-8.1,321,3644,0.10,2.15,0.00,0.000,6,0.138,0.042,2508,2215,3250
$GC,3961,-0.92,-146.0,275.2,-7.3,337,3966,0.12,2.20,0.00,0.000,4,0.083,0.053,2453,818,3252
$GC,3986,-0.87,-146.0,277.3,-8.9,338,3991,0.17,2.35,0.00,0.000,6,0.130,0.055,2492,2240,3252
$GC,4317,-0.93,-146.0,300.7,-6.1,354,4321,0.00,2.25,0.00,0.000,4,0.000,0.068,2483,3603,3253
$GC,4335,-0.99,-146.0,302.0,-6.0,354,4342,0.00,2.15,0.00,0.000,6,0.000,0.042,2484,2223,3253
$GC,4652,-0.99,-146.0,319.0,-4.9,370,4656,0.00,2.22,0.00,0.000,4,0.000,0.055,2484,823,3254
$GC,4677,-0.99,-146.0,320.2,-4.9,371,4681,0.00,2.33,0.00,0.000,6,0.000,0.054,2474,2234,3254
$GC,5006,-0.99,-146.0,337.1,-5.8,387,5007,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2234,3255
$GC,5314,-0.99,-146.0,355.5,-6.2,402,5315,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2234,3255
$GC,5624,-0.99,-146.0,373.8,-5.9,417,5625,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2234,3256
$GC,5935,-0.99,-146.0,392.5,-6.5,432,5939,0.00,2.33,0.00,0.000,4,0.000,0.054,2474,820,3256
$GC,5971,-0.93,-146.0,395.0,-7.0,433,5977,0.00,2.38,0.00,0.000,6,0.000,0.054,2464,2241,3256
$GC,6284,-0.93,-146.0,417.4,-7.0,443,6288,0.00,2.33,0.00,0.000,4,0.000,0.054,2464,826,3256
$GC,6298,-0.87,-146.0,418.3,-6.9,443,6302,0.15,2.35,0.00,0.000,6,0.130,0.054,2495,2241,3256
$GC,6618,-0.96,-146.0,436.9,-5.8,451,6620,0.10,0.00,0.00,0.000,6,0.087,0.000,2451,2241,3256
$GC,6942,-0.87,-146.0,461.0,-7.6,459,6947,0.15,2.33,0.00,0.000,4,0.141,0.054,2497,817,3256
$GC,6990,-0.92,-146.0,464.3,-7.1,460,6994,0.00,2.33,0.00,0.000,6,0.000,0.055,2490,2234,3257
$GC,7321,-1.00,-146.0,484.9,-6.3,468,7326,0.10,2.28,0.00,0.000,4,0.085,0.067,2431,3606,3256
$GC,7334,-1.00,-146.0,485.8,-6.2,468,7338,0.12,2.17,0.00,0.000,6,0.146,0.043,2464,2217,3256
$GC,7654,-1.00,-146.0,507.4,-6.7,476,7655,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2217,3257
$GC,7978,-1.00,-146.0,528.5,-6.4,484,7979,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2217,3257
$GC,8303,-1.00,-146.0,548.8,-6.2,492,8304,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2217,3257
$GC,8628,-1.00,-146.0,569.1,-6.2,500,8629,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2217,3257
$GC,8954,-1.34,-146.0,581.7,-1.2,508,8959,0.22,2.25,0.00,0.000,4,0.067,0.055,2368,816,3256
$STATE,9080,end dive,NO_VERTICAL_VELOCITY
$STATE,9081,begin apogee
$GC,9091,-0.31,0.0,581.7,0.0,510,9223,0.75,0.00,129.07,1.178,6,0.103,0.000,2615,1753,2650
$STATE,9224,end apogee,CONTROL_FINISHED_OK
$STATE,9224,begin climb
$GC,9229,0.99,146.0,581.4,0.0,514,9371,0.85,2.65,133.00,1.104,4,0.088,0.061,2894,3157,2053
$GC,9505,0.70,146.0,555.7,11.2,520,9511,0.28,2.38,0.00,0.000,6,0.132,0.046,2828,1743,2047
$GC,9856,0.79,169.9,533.3,6.3,529,9879,0.10,0.00,20.50,1.075,6,0.081,0.000,2876,1743,1958
$GC,10180,0.69,169.9,504.3,9.1,537,10182,0.17,0.00,0.00,0.000,6,0.122,0.000,2825,1743,1954
$GC,10506,0.82,194.2,483.5,6.2,545,10530,0.12,0.00,21.92,1.079,6,0.073,0.000,2882,1744,1858
$GC,10875,0.72,194.2,450.3,8.8,554,10877,0.17,0.00,0.00,0.000,6,0.123,0.000,2829,1743,1854
$GC,11200,0.86,213.7,430.3,6.4,562,11225,0.12,2.40,17.38,1.045,4,0.074,0.062,2885,3154,1778
$GC,11261,0.65,213.7,424.5,11.6,563,11266,0.28,2.25,0.00,0.000,6,0.127,0.046,2815,1734,1776
$GC,11610,0.89,246.1,402.6,6.0,572,11646,0.20,2.30,29.90,1.055,4,0.061,0.061,2923,327,1646
$GC,11682,0.76,246.1,395.4,11.1,574,11687,0.28,2.33,0.00,0.000,6,0.129,0.050,2841,1746,1645
$GC,12004,0.89,246.1,371.4,7.2,590,12008,0.12,2.28,0.00,0.000,4,0.072,0.061,2899,3163,1640
$GC,12090,0.69,246.1,361.4,12.5,593,12097,0.28,2.25,0.00,0.000,6,0.127,0.048,2827,1732,1638
$GC,12408,0.93,278.4,340.7,6.0,609,12444,0.17,2.33,29.20,1.021,4,0.064,0.062,2920,333,1514
$GC,12475,0.84,278.4,334.1,11.4,612,12479,0.22,2.30,0.00,0.000,6,0.126,0.048,2854,1752,1513
$GC,12802,0.91,278.4,309.0,8.0,628,12807,0.10,2.28,0.00,0.000,4,0.081,0.062,2902,3151,1508
$GC,12882,0.72,278.4,299.3,13.0,631,12887,0.28,2.25,0.00,0.000,6,0.125,0.047,2829,1734,1506
$GC,13200,0.91,278.4,274.1,8.4,646,13204,0.17,2.28,0.00,0.000,4,0.064,0.061,2918,332,1504
$GC,13240,0.82,278.4,269.1,13.9,647,13247,0.22,2.28,0.00,0.000,6,0.129,0.048,2851,1744,1504
$GC,13557,0.91,278.4,235.6,9.8,663,13561,0.10,2.25,0.00,0.000,4,0.081,0.061,2901,3151,1504
$GC,13637,0.74,278.4,225.3,13.1,666,13641,0.25,2.22,0.00,0.000,6,0.125,0.046,2835,1732,1502
$GC,13959,0.95,291.8,202.3,6.6,682,13976,0.17,2.25,11.20,0.864,4,0.063,0.059,2930,333,1460
$GC,14017,0.85,291.8,196.0,12.8,683,14024,0.22,2.28,0.00,0.000,6,0.125,0.048,2863,1752,1460
$GC,14334,0.97,291.8,167.7,8.1,699,14338,0.10,2.25,0.00,0.000,4,0.077,0.061,2914,3161,1460
$GC,14428,0.79,291.8,156.4,13.9,703,14432,0.25,2.22,0.00,0.000,6,0.128,0.046,2849,1732,1459
$GC,14761,1.07,337.7,134.8,5.5,719,14809,0.20,2.30,42.12,0.874,4,0.063,0.059,2957,325,1272
$GC,14872,0.99,337.7,123.2,11.9,724,14876,0.22,2.30,0.00,0.000,6,0.127,0.048,2891,1740,1270
$GC,15205,1.18,408.9,102.9,4.7,740,15272,0.15,2.38,60.83,0.850,4,0.066,0.061,2959,3152,983
$GC,15355,1.03,408.9,88.2,9.7,760,15362,0.22,2.25,0.00,0.000,6,0.129,0.047,2902,1734,977
$GC,15702,1.22,408.9,59.1,9.6,821,15709,0.15,2.28,0.00,0.000,4,0.067,0.061,2978,323,972
$GC,15768,1.17,408.9,49.9,14.7,832,15775,0.17,2.28,0.00,0.000,6,0.127,0.048,2928,1754,972
$GC,16115,1.17,408.9,13.9,8.2,893,16121,0.00,2.22,0.00,0.000,4,0.000,0.066,2928,3147,970
$GC,16151,1.17,408.9,10.9,8.4,899,16157,0.00,2.22,0.00,0.000,6,0.000,0.048,2935,1727,969
$FREEZE,6.65,-0.856,-1.810
$FREEZE,6.02,-0.847,-1.809
$FREEZE,6.06,-0.862,-1.809
$FREEZE,5.42,-0.859,-1.809
$FREEZE,5.22,-0.829,-1.809
$FREEZE,4.54,-0.826,-1.808
$FREEZE,3.77,-0.818,-1.808
$FREEZE,3.30,-0.832,-1.807
$FREEZE,2.81,-0.900,-1.807
$STATE,16252,end climb,SURFACE_DEPTH_REACHED
$STATE,16256,begin surface coast
$FREEZE,2.94,-0.916,-1.809
$FREEZE,2.73,-0.896,-1.804
$FREEZE,3.00,-0.912,-1.806
$FREEZE,3.09,-0.923,-1.807
$FREEZE,3.22,-0.926,-1.807
$FREEZE,3.00,-0.942,-1.808
$FINISH,3.0,1.026506
$STATE,16290,end surface coast,CONTROL_FINISHED_OK
$STATE,16290,begin surface
$SM_CCo,16294,79.00,0.808,0,0,590,505.81
$RAFOS_CLK,743
$RAFOS,4,1231461848,0.750000,0.735556,65,57,56,55,50,49,188,221,211,144,658,112
$RAFOS,3,1231461250,0.583333,0.569444,61,59,58,54,53,53,175,194,133,151,162,211
$RAFOS,2,1231460650,0.416667,0.402778,58,56,50,49,48,47,196,218,175,121,140,151
$RAFOS,1,1231460041,0.250000,0.233611,64,54,53,52,51,50,197,116,167,206,152,128
$RAFOS,0,1231459450,0.083333,0.069444,65,59,52,51,51,50,191,173,226,217,117,206
$RAFOS_FIX,6617.756348,-5909.147949,080109,000040,2,99,0.64
$IRIDIUM_FIX,6548.42,-5913.15,030498,222244
$TT8_MAMPS,0.026845
$HUMID,1806
$INTERNAL_PRESSURE,9.80506
$TCM_TEMP,15.50
$XPDR_PINGS,184
$24V_AH,21.6,98.007
$10V_AH,10.4,43.428
$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,16.575,141.500,495.125,79.000,0.000,99.007,84.913,0.000,46.000,0.000,0.000,183.219,1751.376,12195.081,650.243,1954.229,910.006,0.000,1660.588,0.000,1753.948,1800.000,0.532,0.000
$DEVICE_MAMPS,158.002,72.098,1178.112,808.418,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,644.307,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31530,923
$CAP_FILE_SIZE,138974,0
$CFSIZE,260165632,212525056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.1
$GPS,080109,002640,6617.756,-5909.148,0,2099.0,0,-37.1
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581