version: 66.04
glider: 108
mission: 11
dive: 651
start: 1 10 109 5 6 17
data:
$ID,108
$MISSION,11
$DIVE,651
$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,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,-129716.76
$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,32
$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
$GPS1,073938,6603.016,-5838.565,25,1.1,25,-36.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-15.9
$GPS2,073938,6603.016,-5838.565,25,1.1,25,-36.7
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6603.958,-5812.047
$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,121.7,20000,-13.0,-7.021
$D_GRID,516
$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,-146.0,0.0,0.0,0,137,0.00,0.00,-115.05,0.000,6,0.000,0.000,331,2262,3248
$GC,142,-0.99,-146.0,2.7,-1.2,21,156,9.05,2.40,0.00,0.000,4,0.245,0.058,2473,809,3250
$GC,384,-0.82,-146.0,33.1,-10.1,63,391,0.15,2.33,0.00,0.000,6,0.127,0.058,2507,2240,3253
$GC,731,-0.82,-146.0,58.1,-6.3,124,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2240,3253
$GC,1077,-0.82,-146.0,84.9,-8.4,185,1083,0.00,2.20,0.00,0.000,4,0.000,0.072,2499,3602,3252
$GC,1091,-0.82,-146.0,86.2,-8.8,187,1097,0.00,2.17,0.00,0.000,6,0.000,0.048,2499,2208,3252
$GC,1432,-0.82,-146.0,116.7,-8.6,223,1436,0.00,2.20,0.00,0.000,4,0.000,0.061,2499,818,3252
$GC,1472,-0.82,-146.0,120.7,-9.7,224,1478,0.00,2.30,0.00,0.000,6,0.000,0.060,2490,2229,3252
$GC,1789,-0.82,-146.0,150.0,-7.5,240,1792,0.00,2.28,0.00,0.000,4,0.000,0.061,2489,824,3251
$GC,1801,-0.82,-146.0,150.8,-6.9,240,1806,0.10,2.30,0.00,0.000,6,0.135,0.058,2507,2239,3250
$GC,2124,-0.89,-146.0,169.1,-5.8,256,2128,0.00,2.30,0.00,0.000,4,0.000,0.060,2507,812,3250
$GC,2149,-0.95,-146.0,170.7,-6.2,257,2154,0.10,2.30,0.00,0.000,6,0.079,0.058,2453,2233,3250
$GC,2484,-0.85,-146.0,190.6,-5.9,273,2486,0.15,0.00,0.00,0.000,6,0.141,0.000,2494,2233,3250
$GC,2795,-0.92,-146.0,204.9,-4.2,288,2798,0.00,2.20,0.00,0.000,4,0.000,0.070,2486,3605,3251
$GC,2813,-0.98,-146.0,205.8,-4.1,288,2819,0.00,2.15,0.00,0.000,6,0.000,0.045,2486,2215,3250
$GC,3131,-0.98,-146.0,220.4,-4.6,304,3134,0.00,2.17,0.00,0.000,4,0.000,0.056,2486,827,3251
$GC,3143,-0.98,-146.0,221.2,-4.8,304,3146,0.00,2.28,0.00,0.000,6,0.000,0.054,2476,2243,3251
$GC,3465,-0.98,-146.0,241.7,-7.2,320,3469,0.00,2.28,0.00,0.000,4,0.000,0.056,2476,820,3252
$GC,3495,-0.94,-146.0,243.9,-7.7,321,3499,0.00,2.28,0.00,0.000,6,0.000,0.054,2466,2238,3252
$GC,3823,-0.94,-146.0,267.3,-6.6,337,3824,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2238,3254
$GC,4132,-0.94,-146.0,289.3,-7.2,352,4135,0.00,2.28,0.00,0.000,4,0.000,0.055,2466,816,3254
$GC,4169,-0.85,-146.0,292.0,-7.9,353,4173,0.15,2.28,0.00,0.000,6,0.124,0.053,2499,2239,3254
$GC,4491,-0.94,-146.0,310.5,-5.3,369,4496,0.10,2.28,0.00,0.000,4,0.086,0.053,2452,816,3255
$GC,4515,-0.88,-146.0,312.1,-6.3,370,4520,0.17,2.28,0.00,0.000,6,0.126,0.053,2492,2241,3255
$GC,4844,-0.96,-146.0,327.7,-4.3,386,4848,0.00,2.28,0.00,0.000,4,0.000,0.054,2493,816,3256
$GC,4869,-0.96,-146.0,328.8,-4.4,387,4873,0.00,2.28,0.00,0.000,6,0.000,0.053,2486,2238,3256
$GC,5203,-0.96,-146.0,342.8,-4.2,403,5206,0.00,2.25,0.00,0.000,4,0.000,0.053,2485,821,3256
$GC,5240,-0.96,-146.0,344.4,-4.9,404,5243,0.00,2.28,0.00,0.000,6,0.000,0.053,2476,2241,3256
$GC,5562,-0.96,-146.0,358.9,-4.3,420,5563,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2241,3257
$GC,5872,-0.96,-146.0,373.8,-5.3,435,5875,0.00,2.25,0.00,0.000,4,0.000,0.054,2475,825,3257
$GC,5890,-0.96,-146.0,374.8,-5.1,435,5896,0.00,2.28,0.00,0.000,6,0.000,0.053,2466,2245,3257
$GC,6207,-0.96,-146.0,392.8,-5.5,451,6211,0.00,2.28,0.00,0.000,4,0.000,0.053,2465,819,3258
$GC,6265,-0.89,-146.0,395.8,-5.3,453,6269,0.12,2.28,0.00,0.000,6,0.127,0.053,2490,2241,3257
$GC,6585,-0.96,-146.0,407.7,-3.6,464,6588,0.00,2.28,0.00,0.000,4,0.000,0.053,2490,814,3258
$GC,6636,-0.96,-146.0,409.9,-3.7,465,6640,0.00,2.28,0.00,0.000,6,0.000,0.052,2483,2234,3258
$GC,6961,-0.96,-146.0,424.0,-4.4,473,6965,0.00,2.25,0.00,0.000,4,0.000,0.052,2483,822,3258
$GC,6997,-0.96,-146.0,425.7,-4.8,473,7001,0.00,2.28,0.00,0.000,6,0.000,0.052,2473,2238,3258
$GC,7335,-0.96,-146.0,443.4,-5.3,482,7339,0.00,2.28,0.00,0.000,4,0.000,0.052,2473,817,3258
$GC,7352,-0.96,-146.0,444.4,-5.3,482,7356,0.00,2.28,0.00,0.000,6,0.000,0.052,2463,2235,3258
$GC,7668,-0.96,-146.0,462.5,-5.8,490,7671,0.00,2.28,0.00,0.000,4,0.000,0.052,2463,814,3258
$GC,7693,-0.90,-146.0,463.9,-5.5,490,7698,0.12,2.30,0.00,0.000,6,0.127,0.053,2487,2244,3258
$GC,8042,-0.97,-146.0,480.3,-4.7,499,8046,0.00,2.28,0.00,0.000,4,0.000,0.054,2487,825,3258
$GC,8067,-0.97,-146.0,481.6,-5.1,499,8071,0.00,2.28,0.00,0.000,6,0.000,0.054,2480,2237,3258
$GC,8418,-0.97,-146.0,499.4,-5.0,508,8421,0.00,2.28,0.00,0.000,4,0.000,0.054,2480,818,3258
$GC,8458,-0.97,-146.0,501.7,-5.7,508,8464,0.00,2.28,0.00,0.000,6,0.000,0.053,2470,2233,3259
$STATE,8746,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8746,begin apogee
$GC,8755,-0.31,0.0,517.0,5.2,516,8886,0.45,0.00,128.00,1.124,6,0.111,0.000,2614,1732,2650
$STATE,8887,end apogee,CONTROL_FINISHED_OK
$STATE,8887,begin climb
$GC,8892,0.99,146.0,518.5,0.0,519,9032,0.88,2.60,130.10,1.055,4,0.083,0.058,2903,3142,2053
$GC,9073,0.68,146.0,501.7,11.9,523,9080,0.32,2.40,0.00,0.000,6,0.126,0.044,2824,1730,2050
$GC,9406,0.77,160.2,478.4,6.6,532,9426,0.10,2.33,12.12,0.966,4,0.077,0.059,2887,333,1996
$GC,9451,0.67,160.2,474.6,9.8,533,9456,0.22,2.28,0.00,0.000,6,0.121,0.046,2821,1752,1996
$GC,9779,0.83,202.7,455.3,5.7,541,9822,0.15,2.33,37.17,1.053,4,0.064,0.061,2890,3153,1823
$GC,9891,0.60,202.7,443.7,11.8,543,9896,0.32,2.25,0.00,0.000,6,0.124,0.046,2804,1725,1818
$GC,10235,1.17,202.7,417.0,8.6,552,10240,0.35,2.25,0.00,0.000,4,0.077,0.058,2935,324,1817
$GC,10277,1.06,202.7,412.7,11.0,553,10281,0.10,2.28,0.00,0.000,6,0.150,0.048,2910,1751,1817
$GC,10611,0.88,202.7,370.3,12.7,566,10615,0.15,2.25,0.00,0.000,4,0.133,0.061,2864,3158,1816
$GC,10707,0.74,202.7,359.4,11.3,570,10712,0.12,2.22,0.00,0.000,6,0.134,0.046,2836,1735,1815
$GC,11030,0.87,227.4,336.9,6.2,586,11056,0.12,2.28,20.90,0.992,4,0.070,0.058,2909,337,1723
$GC,11087,0.75,227.4,331.7,9.9,588,11094,0.25,2.28,0.00,0.000,6,0.123,0.047,2833,1746,1723
$GC,11404,0.94,273.8,312.8,5.5,604,11452,0.17,2.30,42.00,0.991,4,0.060,0.059,2914,3155,1533
$GC,11530,0.71,273.8,298.9,12.9,609,11537,0.32,2.25,0.00,0.000,6,0.126,0.046,2826,1735,1527
$GC,11847,0.97,300.0,278.4,6.2,625,11876,0.20,2.28,22.77,0.941,4,0.058,0.058,2936,334,1426
$GC,11923,0.86,300.0,269.9,12.3,628,11928,0.25,2.28,0.00,0.000,6,0.125,0.047,2861,1747,1425
$GC,12241,0.93,300.0,243.8,7.7,643,12245,0.08,2.22,0.00,0.000,4,0.088,0.058,2906,3152,1420
$GC,12315,0.75,300.0,234.9,13.0,646,12319,0.25,2.22,0.00,0.000,6,0.124,0.045,2840,1724,1419
$GC,12638,1.00,360.7,215.4,5.1,662,12701,0.17,2.35,52.85,0.925,4,0.059,0.058,2933,328,1179
$GC,12745,0.95,360.7,204.1,12.8,666,12752,0.17,2.28,0.00,0.000,6,0.127,0.047,2882,1742,1176
$GC,13063,1.00,360.7,178.2,7.1,682,13068,0.00,2.22,0.00,0.000,4,0.000,0.059,2882,3153,1170
$GC,13137,0.95,360.7,171.4,9.9,685,13141,0.00,2.22,0.00,0.000,6,0.000,0.044,2889,1725,1169
$GC,13466,0.95,360.7,140.6,8.2,701,13470,0.00,2.22,0.00,0.000,4,0.000,0.058,2899,325,1168
$GC,13513,1.07,360.7,136.4,9.2,703,13517,0.00,2.25,0.00,0.000,6,0.000,0.045,2899,1747,1168
$GC,13845,1.07,360.7,106.4,8.2,719,13849,0.00,2.22,0.00,0.000,4,0.000,0.059,2899,3155,1168
$GC,13904,1.00,360.7,102.0,8.7,721,13908,0.00,2.20,0.00,0.000,6,0.000,0.044,2909,1729,1167
$GC,14248,1.10,360.7,71.6,9.5,778,14254,0.00,2.25,0.00,0.000,4,0.000,0.058,2918,323,1167
$GC,14313,1.25,360.7,65.6,9.2,789,14320,0.12,2.25,0.00,0.000,6,0.071,0.045,2977,1753,1167
$GC,14661,1.06,360.7,20.8,14.1,850,14668,0.20,2.22,0.00,0.000,4,0.128,0.059,2912,3150,1167
$GC,14720,1.06,360.7,15.5,8.1,860,14727,0.00,2.22,0.00,0.000,6,0.000,0.047,2916,1732,1166
$FREEZE,6.68,-1.318,-1.814
$FREEZE,5.98,-1.313,-1.813
$FREEZE,5.46,-1.313,-1.813
$FREEZE,5.21,-1.316,-1.813
$FREEZE,4.77,-1.319,-1.812
$FREEZE,4.41,-1.318,-1.812
$FREEZE,4.14,-1.315,-1.812
$FREEZE,3.42,-1.315,-1.811
$FREEZE,2.94,-1.319,-1.811
$STATE,14869,end climb,SURFACE_DEPTH_REACHED
$STATE,14869,begin surface coast
$FREEZE,2.52,-1.322,-1.810
$FREEZE,2.10,-1.327,-1.810
$FREEZE,1.74,-1.352,-1.810
$FREEZE,1.67,-1.347,-1.809
$FREEZE,1.70,-1.356,-1.809
$FREEZE,1.76,-1.357,-1.809
$FREEZE,1.79,-1.350,-1.809
$FREEZE,1.72,-1.350,-1.809
$FINISH,1.7,1.026537
$STATE,14915,end surface coast,CONTROL_FINISHED_OK
$STATE,14915,begin surface
$SM_CCo,15002,0.00,0.000,0,0,1165,364.27
$SM_GC,2.75,7.05,0.00,0.00,0.056,0.000,0.000,327,2248,1165,-10.70,0.51,364.27
$RAFOS_CLK,662
$RAFOS,4,1231577044,8.750000,8.734445,59,57,57,57,56,55,221,191,210,150,177,164
$RAFOS,3,1231576444,8.583333,8.567778,65,60,56,54,52,50,187,207,159,224,122,147
$RAFOS,2,1231575843,8.416667,8.400833,61,57,51,51,49,45,194,225,169,178,142,120
$RAFOS,1,1231575253,8.250000,8.236944,68,59,58,56,50,50,205,220,151,120,162,183
$RAFOS,0,1231574641,8.083333,8.066944,59,59,57,54,54,52,154,225,129,214,201,179
$RAFOS,4,1231562641,4.750000,4.733611,67,65,62,59,54,49,213,180,161,202,149,227
$RAFOS_FIX,6617.756348,-5909.147949,080109,000040,2,99,0.64
$IRIDIUM_FIX,6537.93,-5836.74,050498,070722
$TT8_MAMPS,0.027612
$HUMID,1801
$INTERNAL_PRESSURE,9.86366
$TCM_TEMP,15.80
$XPDR_PINGS,192
$24V_AH,21.9,99.042
$10V_AH,10.4,43.863
$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,22.775,160.475,445.925,0.000,0.000,102.647,85.258,0.000,48.000,0.000,0.000,183.212,1678.566,10825.859,579.041,1928.497,967.950,0.000,1577.928,0.000,1724.537,1800.000,0.532,0.000
$DEVICE_MAMPS,245.440,72.098,1123.655,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,622.607,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31597,894
$CAP_FILE_SIZE,134779,0
$CFSIZE,260165632,212054016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.7
$GPS,090109,073938,6603.016,-5838.565,25,1.1,25,-36.7
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581