version: 66.04
glider: 108
mission: 11
dive: 660
start: 1 11 109 21 41 51
data:
$ID,108
$MISSION,11
$DIVE,660
$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,-1
$ESCAPE_HEADING,15
$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,-130682.41
$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,29
$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
$GPS1,212931,6550.037,-5751.298,37,1.2,37,-36.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-58.7
$GPS2,214132,6549.773,-5751.359,12,1.3,12,-36.2
$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,343.8,158634,-13.0,-7.021
$D_GRID,526
$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,-146.0,0.0,0.0,0,97,0.00,0.00,-77.40,0.000,2,0.000,0.000,328,2253,3169
$GC,101,-0.99,-146.0,3.1,-1.8,14,120,8.70,2.33,-2.67,0.000,4,0.237,0.070,2472,813,3249
$GC,202,-0.37,-146.0,16.5,-13.8,31,209,0.47,2.30,0.00,0.000,6,0.146,0.054,2601,2242,3251
$GC,550,-0.50,-146.0,40.3,-5.7,92,557,0.12,2.17,0.00,0.000,4,0.073,0.067,2534,3601,3252
$GC,655,-0.44,-146.0,49.0,-8.8,110,662,0.20,2.15,0.00,0.000,6,0.132,0.045,2591,2212,3252
$GC,1004,-0.64,-146.0,68.0,-4.4,171,1010,0.17,2.20,0.00,0.000,4,0.065,0.057,2515,819,3250
$GC,1119,-0.54,-146.0,77.1,-8.7,191,1127,0.20,2.30,0.00,0.000,6,0.130,0.057,2562,2242,3250
$GC,1468,-0.69,-146.0,97.2,-4.9,252,1475,0.12,2.17,0.00,0.000,4,0.068,0.069,2494,3594,3249
$GC,1522,-0.60,-146.0,101.0,-7.1,260,1527,0.20,2.10,0.00,0.000,6,0.137,0.044,2550,2226,3249
$GC,1850,-0.74,-146.0,119.2,-5.7,276,1855,0.12,2.22,0.00,0.000,4,0.076,0.057,2495,817,3249
$GC,1977,-0.65,-146.0,129.2,-7.9,281,1983,0.20,2.30,0.00,0.000,6,0.128,0.056,2543,2241,3249
$GC,2294,-0.79,-146.0,143.4,-4.3,297,2296,0.12,0.00,0.00,0.000,6,0.074,0.000,2487,2241,3249
$GC,2603,-0.73,-146.0,166.3,-8.0,312,2605,0.12,0.00,0.00,0.000,6,0.141,0.000,2521,2241,3249
$GC,2913,-0.81,-146.0,188.9,-7.3,327,2917,0.00,2.28,0.00,0.000,4,0.000,0.055,2521,817,3250
$GC,2988,-0.86,-146.0,194.5,-7.4,330,2991,0.00,2.30,0.00,0.000,6,0.000,0.054,2513,2245,3250
$GC,3317,-0.92,-146.0,215.3,-5.9,346,3322,0.12,2.15,0.00,0.000,4,0.072,0.065,2443,3602,3251
$GC,3402,-0.75,-146.0,221.7,-7.9,349,3409,0.25,2.12,0.00,0.000,6,0.136,0.043,2515,2220,3250
$GC,3720,-0.84,-146.0,234.1,-3.5,365,3724,0.00,2.17,0.00,0.000,4,0.000,0.054,2515,826,3251
$GC,3846,-0.84,-146.0,240.1,-4.8,370,3850,0.00,2.28,0.00,0.000,6,0.000,0.054,2507,2243,3251
$GC,4169,-0.91,-146.0,255.8,-5.1,386,4171,0.10,0.00,0.00,0.000,6,0.077,0.000,2453,2243,3251
$GC,4479,-0.78,-146.0,274.6,-5.9,401,4481,0.20,0.00,0.00,0.000,6,0.134,0.000,2511,2243,3252
$GC,4787,-0.87,-146.0,289.3,-5.0,416,4791,0.00,2.28,0.00,0.000,4,0.000,0.054,2511,816,3253
$GC,4857,-0.87,-146.0,293.1,-5.5,419,4861,0.00,2.28,0.00,0.000,6,0.000,0.053,2504,2238,3253
$GC,5192,-0.93,-146.0,311.9,-5.8,435,5196,0.10,2.17,0.00,0.000,4,0.080,0.064,2440,3601,3254
$GC,5271,-0.77,-146.0,318.5,-8.3,438,5276,0.25,2.12,0.00,0.000,6,0.132,0.041,2512,2213,3253
$GC,5590,-0.88,-146.0,337.2,-5.7,453,5594,0.10,2.17,0.00,0.000,4,0.087,0.052,2462,820,3254
$GC,5704,-0.74,-146.0,345.6,-7.3,458,5708,0.22,2.28,0.00,0.000,6,0.125,0.054,2518,2239,3254
$GC,6033,-0.88,-146.0,361.5,-4.2,474,6035,0.12,0.00,0.00,0.000,6,0.075,0.000,2461,2239,3254
$GC,6341,-0.80,-146.0,379.8,-6.2,489,6343,0.17,0.00,0.00,0.000,6,0.139,0.000,2510,2239,3254
$GC,6650,-0.91,-146.0,393.2,-4.2,504,6655,0.12,2.25,0.00,0.000,4,0.078,0.052,2454,830,3254
$GC,6812,-0.76,-146.0,404.1,-7.1,510,6817,0.25,2.25,0.00,0.000,6,0.126,0.053,2517,2234,3254
$GC,7151,-0.90,-146.0,421.5,-5.0,519,7155,0.12,2.25,0.00,0.000,4,0.077,0.052,2459,822,3254
$GC,7243,-0.78,-146.0,427.8,-7.0,521,7248,0.22,2.28,0.00,0.000,6,0.126,0.053,2514,2243,3254
$GC,7563,-0.91,-146.0,444.2,-4.9,529,7565,0.12,0.00,0.00,0.000,6,0.078,0.000,2457,2243,3254
$GC,7889,-0.83,-146.0,465.6,-6.7,537,7893,0.15,2.30,0.00,0.000,4,0.139,0.053,2501,824,3254
$GC,8002,-0.83,-146.0,472.4,-5.7,539,8005,0.00,2.28,0.00,0.000,6,0.000,0.052,2493,2244,3254
$GC,8347,-0.89,-146.0,491.0,-5.3,548,8348,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2244,3254
$GC,8671,-0.96,-146.0,505.8,-4.5,556,8675,0.00,2.20,0.00,0.000,4,0.000,0.065,2483,3596,3253
$GC,8757,-1.02,-146.0,510.5,-5.6,557,8763,0.10,2.12,0.00,0.000,6,0.083,0.041,2436,2217,3254
$STATE,9004,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9004,begin apogee
$GC,9014,-0.31,0.0,528.0,7.3,564,9144,0.57,0.00,127.38,1.129,6,0.126,0.000,2615,1739,2650
$STATE,9145,end apogee,CONTROL_FINISHED_OK
$STATE,9145,begin climb
$GC,9149,0.99,146.0,530.7,0.0,567,9287,0.85,2.58,130.60,1.060,4,0.089,0.058,2896,3154,2053
$GC,9322,0.68,146.0,516.3,10.8,571,9327,0.30,2.40,0.00,0.000,6,0.129,0.042,2825,1743,2050
$GC,9648,0.74,151.6,492.9,6.8,579,9654,0.00,0.00,4.88,0.751,6,0.000,0.000,2825,1743,2032
$GC,9973,0.83,165.8,470.7,6.6,587,9992,0.12,2.35,13.60,0.996,4,0.070,0.058,2886,3146,1974
$GC,10018,0.60,165.8,466.5,10.0,588,10023,0.30,2.22,0.00,0.000,6,0.128,0.044,2807,1729,1973
$GC,10347,0.82,209.2,446.9,5.6,596,10388,0.17,0.00,38.75,1.054,6,0.058,0.000,2892,1729,1797
$GC,10711,0.70,209.2,410.5,10.2,605,10713,0.22,0.00,0.00,0.000,6,0.120,0.000,2823,1729,1790
$GC,11015,0.91,244.0,391.6,5.9,615,11053,0.17,0.00,30.70,1.026,6,0.062,0.000,2903,1729,1655
$GC,11364,0.77,244.0,354.2,10.5,632,11366,0.20,0.00,0.00,0.000,6,0.123,0.000,2842,1729,1649
$GC,11673,0.88,251.4,332.8,6.8,647,11687,0.10,2.42,6.72,0.837,4,0.081,0.058,2893,3157,1625
$GC,11696,0.88,251.4,330.9,7.9,648,11700,0.12,2.25,0.00,0.000,6,0.137,0.044,2869,1727,1625
$GC,12031,0.88,251.4,302.4,8.1,664,12032,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1727,1623
$GC,12338,0.88,251.4,277.2,8.3,679,12342,0.00,2.35,0.00,0.000,4,0.000,0.058,2868,3157,1622
$GC,12362,0.88,251.4,274.9,9.2,680,12366,0.00,2.25,0.00,0.000,6,0.000,0.044,2876,1725,1622
$GC,12696,0.88,251.4,240.7,10.5,696,12700,0.00,2.22,0.00,0.000,4,0.000,0.058,2886,335,1621
$GC,12720,0.88,251.4,238.2,10.0,697,12724,0.00,2.22,0.00,0.000,6,0.000,0.045,2886,1743,1622
$GC,13053,0.82,251.4,203.6,10.4,713,13058,0.12,2.25,0.00,0.000,4,0.129,0.058,2850,3155,1622
$GC,13125,0.82,251.4,197.2,8.6,716,13129,0.00,2.22,0.00,0.000,6,0.000,0.044,2856,1731,1620
$GC,13461,0.89,257.3,173.0,6.8,732,13468,0.00,0.00,6.00,0.741,6,0.000,0.000,2857,1731,1602
$GC,13768,0.99,270.8,152.4,6.6,747,13787,0.12,0.00,13.95,0.852,6,0.071,0.000,2919,1731,1546
$GC,14098,0.88,270.8,118.9,9.9,763,14103,0.17,2.25,0.00,0.000,4,0.121,0.057,2874,327,1544
$GC,14115,0.88,270.8,117.2,9.3,763,14122,0.00,2.25,0.00,0.000,6,0.000,0.044,2874,1755,1544
$GC,14442,0.95,270.8,94.6,7.0,788,14448,0.00,2.22,0.00,0.000,4,0.000,0.058,2874,3157,1543
$GC,14495,0.95,270.8,90.0,8.1,797,14502,0.00,2.22,0.00,0.000,6,0.000,0.044,2883,1737,1542
$GC,14843,1.05,282.3,64.4,6.7,858,14862,0.10,2.30,11.23,0.780,4,0.081,0.058,2947,324,1499
$GC,14887,1.00,282.3,60.3,9.2,865,14894,0.17,2.30,0.00,0.000,6,0.125,0.045,2896,1747,1499
$GC,15234,1.13,282.3,33.8,7.1,926,15241,0.12,2.28,0.00,0.000,4,0.067,0.058,2958,3147,1498
$GC,15273,1.04,282.3,29.8,10.1,932,15280,0.22,2.20,0.00,0.000,6,0.130,0.044,2902,1739,1498
$FREEZE,6.83,-0.930,-1.814
$FREEZE,6.33,-0.927,-1.813
$FREEZE,5.84,-0.931,-1.813
$FREEZE,5.44,-0.937,-1.813
$FREEZE,5.14,-0.934,-1.812
$FREEZE,4.68,-0.962,-1.812
$FREEZE,4.30,-0.946,-1.811
$FREEZE,3.79,-0.958,-1.811
$GC,15624,1.15,282.3,3.8,7.5,993,15630,0.10,2.28,0.00,0.000,4,0.076,0.058,2965,323,1498
$FREEZE,2.41,-0.974,-1.810
$STATE,15635,end climb,SURFACE_DEPTH_REACHED
$STATE,15636,begin surface coast
$FREEZE,1.95,-1.008,-1.810
$FREEZE,1.29,-1.000,-1.810
$FREEZE,1.36,-0.988,-1.802
$FREEZE,1.34,-2.091,-1.829
$FINISH,1.3,1.026847
$STATE,15660,end surface coast,FINISH_DEPTH_REACHED
$STATE,15660,begin surface
$SM_CCo,15745,0.00,0.000,0,0,1496,283.08
$SM_GC,2.11,7.10,0.00,0.00,0.050,0.000,0.000,334,2242,1496,-10.68,0.34,283.08
$RAFOS_CLK,629
$RAFOS,4,1231721060,0.750000,0.738889,61,59,58,58,57,54,191,169,113,216,141,152
$RAFOS,3,1231720450,0.583333,0.569444,91,61,60,55,54,53,753,211,193,141,159,150
$RAFOS,2,1231719876,0.416667,0.410000,69,64,63,57,52,51,191,156,203,121,173,819
$RAFOS,1,1231719264,0.250000,0.240000,65,57,56,56,55,50,122,145,174,210,221,157
$RAFOS,0,1231718655,0.083333,0.070833,75,61,59,53,52,51,195,167,209,179,120,143
$RAFOS_FIX,6617.756348,-5909.147949,080109,000040,2,99,0.64
$IRIDIUM_FIX,6527.51,-5746.27,070498,171737
$TT8_MAMPS,0.026845
$HUMID,1792
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,16.00
$XPDR_PINGS,250
$24V_AH,21.9,100.377
$10V_AH,10.4,44.486
$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,24.925,118.625,383.800,0.000,0.000,63.454,61.884,268.434,62.500,0.000,0.000,13.651,1825.908,11343.060,520.662,1858.118,909.128,0.000,1502.154,0.000,1828.667,1800.000,0.532,0.000
$DEVICE_MAMPS,237.003,69.797,1129.024,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,695.449,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34793,999
$CAP_FILE_SIZE,138444,0
$CFSIZE,260165632,211472384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.8
$GPS,120109,020537,6549.393,-5756.921,32,1.3,32,-36.2