version: 66.04
glider: 108
mission: 11
dive: 661
start: 1 12 109 2 16 57
data:
$ID,108
$MISSION,11
$DIVE,661
$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,-130698.92
$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
$GPS1,020537,6549.393,-5756.921,32,1.3,32,-36.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-67.5
$GPS2,021638,6549.350,-5757.014,14,1.0,14,-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,344.9,155861,-13.0,-7.021
$D_GRID,525
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,20,-0.99,-146.0,0.0,0.0,0,95,0.00,0.00,-73.15,0.000,2,0.000,0.000,334,2243,3101
$GC,100,-0.99,-146.0,3.4,-1.9,13,120,8.85,2.35,-3.95,0.000,4,0.244,0.069,2470,814,3248
$GC,202,-0.79,-146.0,17.6,-10.2,30,209,0.17,2.33,0.00,0.000,6,0.133,0.055,2511,2232,3251
$GC,549,-0.79,-146.0,47.0,-8.4,91,555,0.00,2.22,0.00,0.000,4,0.000,0.067,2503,3598,3251
$GC,636,-0.79,-146.0,54.4,-8.7,106,642,0.00,2.15,0.00,0.000,6,0.000,0.044,2503,2214,3251
$GC,983,-0.79,-146.0,83.8,-7.9,167,989,0.00,2.20,0.00,0.000,4,0.000,0.058,2503,817,3250
$GC,1143,-0.79,-146.0,96.2,-7.2,195,1149,0.00,2.33,0.00,0.000,6,0.000,0.057,2493,2244,3249
$GC,1471,-0.79,-146.0,113.3,-4.2,218,1476,0.00,2.20,0.00,0.000,4,0.000,0.069,2483,3607,3248
$GC,1721,-0.79,-146.0,128.6,-7.3,229,1725,0.10,2.15,0.00,0.000,6,0.137,0.045,2509,2218,3248
$GC,2055,-0.89,-146.0,151.8,-7.0,245,2059,0.00,2.20,0.00,0.000,4,0.000,0.056,2509,818,3248
$GC,2234,-0.93,-146.0,164.5,-6.3,252,2240,0.10,2.30,0.00,0.000,6,0.076,0.055,2453,2247,3248
$GC,2551,-0.83,-146.0,187.8,-7.2,268,2556,0.17,2.17,0.00,0.000,4,0.137,0.065,2496,3596,3249
$GC,2676,-0.92,-146.0,195.3,-5.5,273,2680,0.00,2.12,0.00,0.000,6,0.000,0.042,2495,2217,3249
$GC,3000,-0.97,-146.0,211.1,-4.9,289,3005,0.10,2.20,0.00,0.000,4,0.084,0.053,2447,818,3250
$GC,3102,-0.79,-146.0,218.1,-6.6,293,3107,0.25,2.30,0.00,0.000,6,0.128,0.054,2509,2244,3249
$GC,3422,-0.90,-146.0,232.0,-4.3,308,3426,0.10,2.17,0.00,0.000,4,0.083,0.065,2453,3599,3250
$GC,3562,-0.81,-146.0,241.0,-6.5,314,3566,0.20,2.12,0.00,0.000,6,0.133,0.043,2510,2212,3250
$GC,3896,-0.93,-146.0,257.3,-5.0,330,3900,0.12,2.17,0.00,0.000,4,0.077,0.053,2452,822,3251
$GC,4046,-0.80,-146.0,268.9,-8.5,336,4050,0.22,2.28,0.00,0.000,6,0.123,0.054,2507,2242,3251
$GC,4365,-0.92,-146.0,286.4,-5.1,351,4370,0.10,2.17,0.00,0.000,4,0.084,0.065,2449,3604,3252
$GC,4484,-0.84,-146.0,295.5,-8.5,356,4489,0.17,2.12,0.00,0.000,6,0.133,0.042,2499,2216,3251
$GC,4813,-0.93,-146.0,314.9,-5.8,372,4818,0.10,2.17,0.00,0.000,4,0.086,0.053,2450,817,3252
$GC,4986,-0.80,-146.0,327.7,-7.3,379,4991,0.22,2.28,0.00,0.000,6,0.126,0.053,2505,2243,3252
$GC,5309,-0.93,-146.0,342.6,-4.0,395,5311,0.10,0.00,0.00,0.000,6,0.081,0.000,2457,2243,3252
$GC,5620,-0.88,-146.0,359.4,-5.7,410,5621,0.12,0.00,0.00,0.000,6,0.137,0.000,2491,2243,3253
$GC,5927,-0.95,-146.0,374.0,-4.7,425,5928,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2242,3253
$GC,6239,-1.03,-146.0,389.2,-5.1,440,6243,0.12,2.25,0.00,0.000,4,0.077,0.051,2435,828,3253
$GC,6324,-0.85,-146.0,395.3,-7.2,443,6331,0.25,2.25,0.00,0.000,6,0.125,0.051,2498,2239,3253
$GC,6659,-0.96,-146.0,412.3,-5.0,454,6661,0.10,0.00,0.00,0.000,6,0.084,0.000,2451,2238,3253
$GC,6983,-0.88,-146.0,432.0,-6.3,462,6987,0.15,2.25,0.00,0.000,4,0.137,0.051,2495,828,3254
$GC,7075,-0.93,-146.0,437.8,-6.6,464,7078,0.00,2.25,0.00,0.000,6,0.000,0.051,2487,2239,3254
$GC,7408,-0.99,-146.0,458.1,-6.1,472,7413,0.10,2.17,0.00,0.000,4,0.081,0.063,2425,3600,3254
$GC,7521,-0.85,-146.0,467.6,-8.1,474,7526,0.25,2.10,0.00,0.000,6,0.131,0.039,2499,2212,3255
$GC,7872,-0.96,-146.0,485.8,-5.0,483,7876,0.12,2.15,0.00,0.000,4,0.077,0.050,2440,828,3255
$GC,8042,-0.82,-146.0,498.0,-6.9,486,8047,0.25,2.25,0.00,0.000,6,0.128,0.051,2503,2239,3256
$GC,8376,-0.94,-146.0,514.5,-4.8,494,8377,0.12,0.00,0.00,0.000,6,0.075,0.000,2447,2238,3256
$STATE,8533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8533,begin apogee
$GC,8542,-0.31,0.0,525.3,6.7,498,8672,0.55,0.00,127.15,1.106,6,0.122,0.000,2619,1748,2650
$STATE,8673,end apogee,CONTROL_FINISHED_OK
$STATE,8673,begin climb
$GC,8677,0.99,146.0,527.3,0.0,501,8818,0.85,2.55,129.68,1.042,4,0.084,0.054,2900,3147,2052
$GC,8840,0.71,146.0,514.1,11.3,505,8845,0.30,2.38,0.00,0.000,6,0.127,0.040,2828,1734,2050
$GC,9190,0.77,146.0,487.7,7.2,514,9191,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1734,2047
$GC,9516,0.84,157.9,465.5,6.6,522,9531,0.12,2.28,10.07,0.942,4,0.071,0.058,2891,3147,2006
$GC,9549,0.62,157.9,462.3,9.9,522,9556,0.30,2.20,0.00,0.000,6,0.129,0.043,2812,1727,2005
$GC,9882,0.80,197.2,442.2,5.8,531,9925,0.15,2.38,35.10,1.039,4,0.061,0.056,2886,3147,1845
$GC,9933,0.74,197.2,437.5,7.8,532,9938,0.20,2.22,0.00,0.000,6,0.127,0.041,2838,1729,1843
$GC,10247,0.74,197.2,412.5,7.7,540,10248,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1729,1838
$GC,10553,0.74,197.2,388.3,7.8,551,10555,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1729,1837
$GC,10863,0.74,197.2,363.2,8.3,566,10868,0.00,2.28,0.00,0.000,4,0.000,0.056,2838,3159,1837
$GC,10892,0.74,197.2,360.4,9.1,567,10896,0.00,2.20,0.00,0.000,6,0.000,0.042,2846,1730,1836
$GC,11220,0.74,197.2,331.2,9.0,583,11223,0.00,2.28,0.00,0.000,4,0.000,0.056,2846,3155,1836
$GC,11232,0.74,197.2,330.0,9.1,583,11236,0.00,2.20,0.00,0.000,6,0.000,0.041,2856,1725,1836
$GC,11554,0.74,197.2,301.3,8.5,599,11555,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1725,1836
$GC,11865,0.74,197.2,276.7,7.6,614,11866,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1725,1836
$GC,12173,0.74,197.2,250.7,9.1,629,12177,0.00,2.28,0.00,0.000,4,0.000,0.055,2856,3160,1837
$GC,12198,0.74,197.2,248.2,9.5,630,12202,0.10,2.20,0.00,0.000,6,0.135,0.041,2838,1732,1837
$GC,12531,0.85,197.2,220.4,8.1,646,12533,0.10,0.00,0.00,0.000,6,0.077,0.000,2892,1732,1837
$GC,12841,0.74,197.2,189.4,9.3,661,12846,0.17,2.30,0.00,0.000,4,0.119,0.054,2838,3161,1837
$GC,12892,0.76,209.4,185.5,6.6,663,12907,0.00,2.22,10.10,0.818,6,0.000,0.042,2845,1725,1796
$GC,13240,0.92,252.5,165.6,5.6,680,13286,0.12,2.38,38.70,0.881,4,0.071,0.055,2910,3154,1620
$GC,13295,0.78,252.5,160.9,8.9,682,13299,0.25,2.22,0.00,0.000,6,0.121,0.041,2845,1735,1618
$GC,13612,0.94,259.4,140.3,6.8,697,13621,0.15,0.00,6.28,0.709,6,0.061,0.000,2923,1735,1592
$GC,13946,0.79,259.4,102.8,10.7,713,13950,0.22,2.25,0.00,0.000,4,0.123,0.055,2857,324,1590
$GC,13968,0.79,259.4,100.6,8.8,714,13972,0.00,2.22,0.00,0.000,6,0.000,0.044,2857,1741,1590
$GC,14315,1.03,303.7,81.8,5.6,773,14363,0.15,2.25,39.85,0.830,4,0.064,0.057,2936,3154,1411
$GC,14399,0.88,303.7,72.7,12.5,787,14406,0.28,2.22,0.00,0.000,6,0.118,0.043,2863,1732,1407
$GC,14747,1.55,303.7,36.7,10.8,848,14753,0.43,0.00,0.00,0.000,6,0.077,0.000,3022,1732,1402
$FREEZE,6.62,-1.192,-1.811
$FREEZE,5.72,-1.219,-1.810
$FREEZE,4.82,-1.236,-1.810
$FREEZE,3.97,-1.232,-1.809
$FREEZE,2.93,-1.238,-1.808
$STATE,14984,end climb,SURFACE_DEPTH_REACHED
$STATE,14984,begin surface coast
$FREEZE,2.11,-1.243,-1.808
$FREEZE,1.28,-1.288,-0.950
$FINISH,1.3,1.014016
$STATE,14996,end surface coast,FINISH_DEPTH_REACHED
$STATE,14997,begin surface
$SM_CCo,15078,0.00,0.000,0,0,1399,306.87
$SM_GC,2.40,7.32,0.00,0.00,0.054,0.000,0.000,327,2234,1399,-10.70,0.11,306.87
$RAFOS_CLK,589
$RAFOS,4,1231735444,4.750000,4.734445,65,64,54,54,51,51,215,181,137,225,153,193
$RAFOS,3,1231734865,4.583333,4.573611,63,60,55,55,54,54,210,224,121,199,184,158
$RAFOS,2,1231734280,4.416667,4.411111,57,56,56,56,56,49,198,154,178,131,215,99
$RAFOS,1,1231733642,4.250000,4.233889,63,57,55,54,53,51,220,185,196,163,173,140
$RAFOS,0,1231733067,4.083333,4.074167,64,58,58,57,56,51,195,160,133,178,219,149
$RAFOS_FIX,6617.756348,-5909.147949,080109,000040,2,99,0.64
$IRIDIUM_FIX,6522.33,-5754.67,070498,212137
$TT8_MAMPS,0.026845
$HUMID,1793
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,16.40
$XPDR_PINGS,192
$24V_AH,22.0,100.520
$10V_AH,10.4,44.552
$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,24.475,113.450,396.925,0.000,0.000,22.805,32.429,337.760,48.000,0.000,0.000,15.880,1691.211,10813.278,514.088,1808.666,903.361,0.000,1466.664,0.000,1778.371,1800.000,0.533,0.000
$DEVICE_MAMPS,243.906,69.030,1106.014,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,619.967,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28450,892
$CAP_FILE_SIZE,131276,0
$CFSIZE,260165632,211443712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.0
$GPS,120109,062936,6548.753,-5801.120,30,1.1,30,-36.2