version: 66.04
glider: 108
mission: 11
dive: 690
start: 1 18 109 2 54 14
data:
$ID,108
$MISSION,11
$DIVE,690
$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,-134477.44
$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,35
$R_STBD_OVSHOOT,31
$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
$GPS1,210556,6610.369,-5717.293,34,1.5,34,-36.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-46.1
$GPS2,025356,6609.064,-5716.587,41,2.5,60,-36.5
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$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,48.2,102000,-13.0,-7.021
$D_GRID,641
$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,-146.0,0.0,0.0,0,142,0.00,0.00,-119.12,0.000,6,0.000,0.000,332,2258,3246
$GC,147,-0.99,-146.0,1.9,-0.1,22,160,7.65,2.25,0.00,0.000,4,0.183,0.045,2468,811,3249
$GC,417,-0.72,-146.0,9.3,-7.4,69,424,0.22,2.30,0.00,0.000,6,0.130,0.054,2525,2245,3250
$GC,766,-0.72,-146.0,36.6,-6.4,130,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2245,3251
$GC,1113,-0.78,-146.0,59.2,-6.2,191,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2245,3250
$GC,1460,-0.86,-146.0,79.6,-6.3,252,1467,0.12,2.33,0.00,0.000,4,0.080,0.055,2468,816,3250
$GC,1559,-0.70,-146.0,88.8,-9.9,269,1567,0.25,2.30,0.00,0.000,6,0.130,0.057,2530,2235,3249
$GC,1902,-0.80,-146.0,111.5,-5.9,305,1904,0.10,0.00,0.00,0.000,6,0.081,0.000,2482,2235,3249
$GC,2211,-0.76,-146.0,130.2,-5.8,320,2213,0.12,0.00,0.00,0.000,6,0.141,0.000,2515,2235,3249
$GC,2521,-0.85,-146.0,146.4,-6.1,335,2523,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2235,3248
$GC,2831,-0.94,-146.0,163.7,-5.3,350,2836,0.15,2.33,0.00,0.000,4,0.074,0.054,2449,810,3248
$GC,2933,-0.77,-146.0,171.4,-7.7,354,2940,0.25,2.33,0.00,0.000,6,0.130,0.054,2511,2244,3248
$GC,3252,-0.88,-146.0,190.8,-6.2,370,3257,0.10,2.17,0.00,0.000,4,0.086,0.065,2454,3600,3248
$GC,3344,-0.80,-146.0,197.7,-7.9,374,3348,0.20,2.15,0.00,0.000,6,0.135,0.043,2511,2218,3248
$GC,3679,-0.92,-146.0,213.2,-4.1,390,3683,0.12,2.22,0.00,0.000,4,0.077,0.053,2451,816,3249
$GC,3781,-0.75,-146.0,219.3,-5.9,394,3786,0.28,2.30,0.00,0.000,6,0.126,0.053,2521,2245,3249
$GC,4100,-0.92,-146.0,233.0,-4.7,409,4101,0.15,0.00,0.00,0.000,6,0.068,0.000,2452,2245,3250
$GC,4408,-0.84,-146.0,253.3,-6.4,424,4413,0.17,2.30,0.00,0.000,4,0.135,0.051,2508,827,3251
$GC,4477,-0.92,-146.0,256.9,-5.0,427,4481,0.00,2.28,0.00,0.000,6,0.000,0.052,2501,2236,3251
$GC,4802,-1.01,-146.0,273.1,-5.3,443,4804,0.15,0.00,0.00,0.000,6,0.066,0.000,2431,2236,3252
$GC,5109,-0.85,-146.0,294.7,-6.9,458,5111,0.22,0.00,0.00,0.000,6,0.133,0.000,2498,2236,3253
$GC,5419,-0.95,-146.0,311.5,-5.6,473,5421,0.10,0.00,0.00,0.000,6,0.084,0.000,2449,2236,3253
$GC,5727,-0.86,-146.0,334.0,-7.2,488,5732,0.17,2.28,0.00,0.000,4,0.135,0.049,2500,820,3254
$GC,5815,-0.92,-146.0,339.8,-6.5,492,5819,0.00,2.28,0.00,0.000,6,0.000,0.050,2493,2244,3254
$GC,6149,-0.98,-146.0,358.7,-5.6,508,6151,0.10,0.00,0.00,0.000,6,0.076,0.000,2438,2244,3255
$GC,6460,-0.86,-146.0,380.5,-7.0,523,6461,0.20,0.00,0.00,0.000,6,0.132,0.000,2497,2244,3256
$GC,6768,-0.96,-146.0,394.8,-4.2,538,6773,0.10,2.28,0.00,0.000,4,0.082,0.048,2448,819,3256
$GC,6904,-0.83,-146.0,402.8,-5.9,543,6908,0.22,2.25,0.00,0.000,6,0.123,0.049,2504,2239,3257
$GC,7235,-0.95,-146.0,416.5,-4.0,551,7237,0.12,0.00,0.00,0.000,6,0.074,0.000,2446,2239,3257
$GC,7560,-0.86,-146.0,434.0,-5.5,559,7565,0.17,2.28,0.00,0.000,4,0.136,0.048,2500,821,3257
$GC,7675,-0.94,-146.0,439.0,-3.9,561,7679,0.00,2.28,0.00,0.000,6,0.000,0.048,2492,2245,3257
$GC,8026,-1.02,-146.0,452.4,-3.9,570,8030,0.12,2.28,0.00,0.000,4,0.068,0.048,2430,821,3258
$GC,8106,-0.83,-146.0,457.3,-6.7,571,8111,0.28,2.28,0.00,0.000,6,0.125,0.048,2502,2245,3258
$GC,8440,-0.96,-146.0,472.8,-4.7,579,8442,0.12,0.00,0.00,0.000,6,0.074,0.000,2445,2245,3258
$GC,8765,-0.88,-146.0,493.8,-6.6,587,8769,0.17,2.30,0.00,0.000,4,0.134,0.047,2499,816,3258
$GC,8896,-0.95,-146.0,501.3,-5.8,589,8902,0.00,2.28,0.00,0.000,6,0.000,0.048,2492,2243,3259
$GC,9229,-1.03,-146.0,518.4,-5.0,598,9231,0.12,0.00,0.00,0.000,6,0.069,0.000,2430,2243,3259
$GC,9554,-0.89,-146.0,539.7,-6.6,606,9559,0.20,2.28,0.00,0.000,4,0.134,0.048,2499,817,3259
$GC,9646,-0.97,-146.0,544.3,-4.7,608,9651,0.10,2.28,0.00,0.000,6,0.073,0.048,2441,2245,3259
$GC,9972,-0.88,-146.0,564.4,-6.2,616,9977,0.17,2.17,0.00,0.000,4,0.137,0.059,2483,3602,3259
$GC,10066,-0.97,-146.0,569.5,-5.4,618,10070,0.00,2.12,0.00,0.000,6,0.000,0.037,2483,2204,3259
$GC,10398,-1.03,-146.0,586.4,-5.2,626,10402,0.10,2.15,0.00,0.000,4,0.080,0.048,2434,829,3259
$GC,10596,-0.85,-146.0,599.6,-6.5,630,10601,0.25,2.25,0.00,0.000,6,0.124,0.048,2497,2243,3259
$GC,10946,-0.97,-146.0,614.0,-4.1,639,10948,0.12,0.00,0.00,0.000,6,0.074,0.000,2440,2243,3260
$GC,11272,-0.87,-146.0,632.9,-6.0,647,11274,0.17,0.00,0.00,0.000,6,0.137,0.000,2489,2243,3260
$STATE,11469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11469,begin apogee
$GC,11479,-0.31,0.0,642.1,4.4,652,11612,0.40,0.00,130.62,1.163,6,0.110,0.000,2620,1741,2650
$STATE,11613,end apogee,CONTROL_FINISHED_OK
$STATE,11613,begin climb
$GC,11618,0.99,146.0,643.0,0.0,655,11754,0.88,0.00,132.20,1.101,6,0.091,0.000,2903,1741,2054
$GC,12081,0.78,146.0,593.3,11.3,667,12085,0.20,2.30,0.00,0.000,4,0.124,0.054,2839,3157,2048
$GC,12132,0.70,146.0,588.1,9.1,668,12136,0.00,2.22,0.00,0.000,6,0.000,0.041,2847,1728,2047
$GC,12452,0.70,146.0,562.1,8.2,676,12456,0.00,2.30,0.00,0.000,4,0.000,0.054,2847,3158,2046
$GC,12493,0.57,146.0,558.2,9.8,676,12500,0.20,2.20,0.00,0.000,6,0.125,0.041,2798,1736,2046
$GC,12826,0.77,163.3,536.7,6.5,685,12843,0.17,0.00,14.43,1.035,6,0.057,0.000,2884,1736,1984
$GC,13151,0.62,163.3,500.3,11.4,693,13156,0.22,2.30,0.00,0.000,4,0.118,0.054,2810,3161,1982
$GC,13175,0.57,163.3,497.9,9.6,693,13179,0.00,2.20,0.00,0.000,6,0.000,0.041,2816,1734,1981
$GC,13519,0.66,163.3,472.2,7.3,702,13523,0.00,2.28,0.00,0.000,4,0.000,0.054,2816,3154,1981
$GC,13554,0.66,163.3,469.4,7.8,702,13558,0.00,2.20,0.00,0.000,6,0.000,0.040,2825,1726,1981
$GC,13894,0.71,163.3,444.5,7.3,711,13897,0.00,2.28,0.00,0.000,4,0.000,0.053,2825,3159,1980
$GC,13934,0.71,163.3,441.0,9.0,711,13940,0.00,2.20,0.00,0.000,6,0.000,0.040,2835,1726,1980
$GC,14266,0.71,163.3,415.4,7.7,720,14270,0.00,2.28,0.00,0.000,4,0.000,0.053,2835,3157,1981
$GC,14307,0.64,163.3,411.9,9.2,720,14314,0.12,2.20,0.00,0.000,6,0.128,0.039,2810,1729,1980
$GC,14623,0.83,196.3,392.2,6.0,731,14659,0.17,0.00,29.48,1.001,6,0.059,0.000,2895,1729,1849
$GC,14970,0.68,196.3,355.5,10.9,748,14974,0.20,2.28,0.00,0.000,4,0.119,0.053,2829,3149,1844
$GC,15017,0.68,196.3,351.4,8.0,750,15021,0.00,2.20,0.00,0.000,6,0.000,0.040,2836,1724,1843
$GC,15351,0.74,196.4,328.3,7.0,766,15355,0.00,2.28,0.00,0.000,4,0.000,0.053,2836,3153,1843
$GC,15408,0.74,196.4,323.6,8.6,768,15411,0.00,2.20,0.00,0.000,6,0.000,0.040,2845,1729,1842
$GC,15733,0.74,196.4,299.4,7.4,784,15736,0.00,2.28,0.00,0.000,4,0.000,0.054,2845,3159,1843
$GC,15780,0.67,196.4,295.3,8.6,786,15784,0.12,2.20,0.00,0.000,6,0.127,0.040,2819,1732,1842
$GC,16114,0.85,218.0,274.6,6.3,802,16140,0.15,2.33,18.55,0.901,4,0.062,0.053,2895,3149,1761
$GC,16154,0.67,218.0,270.8,9.8,803,16161,0.28,2.20,0.00,0.000,6,0.120,0.039,2822,1735,1760
$GC,16471,0.83,218.0,246.7,7.6,819,16473,0.12,0.00,0.00,0.000,6,0.064,0.000,2891,1734,1757
$GC,16782,0.72,218.0,209.7,12.2,834,16784,0.20,0.00,0.00,0.000,6,0.115,0.000,2829,1735,1757
$GC,17090,0.86,218.0,182.8,8.4,849,17092,0.12,0.00,0.00,0.000,6,0.065,0.000,2897,1735,1756
$GC,17401,0.77,218.0,145.1,12.1,864,17405,0.17,2.22,0.00,0.000,4,0.115,0.051,2851,334,1756
$GC,17426,0.84,218.0,142.5,9.8,865,17430,0.00,2.22,0.00,0.000,6,0.000,0.041,2851,1755,1757
$GC,17760,0.99,219.7,116.7,7.0,881,17765,0.15,2.20,0.00,0.000,4,0.061,0.054,2929,3159,1757
$GC,17824,0.74,219.7,109.7,12.5,883,17831,0.32,2.20,0.00,0.000,6,0.119,0.040,2839,1736,1757
$GC,18156,1.20,222.0,86.8,6.9,923,18170,0.28,2.30,4.55,0.597,4,0.066,0.054,2951,3144,1745
$GC,18309,0.91,222.0,69.5,12.4,949,18316,0.30,2.20,0.00,0.000,6,0.124,0.041,2871,1728,1744
$GC,18658,1.11,271.4,48.9,5.4,1010,18709,0.17,0.00,44.35,0.805,6,0.057,0.000,2958,1728,1542
$FREEZE,6.89,-0.474,-1.820
$FREEZE,6.22,-0.489,-1.820
$FREEZE,5.47,-0.474,-1.819
$FREEZE,4.28,-0.475,-1.818
$GC,19054,0.99,271.4,4.3,12.7,1079,19061,0.20,2.30,0.00,0.000,4,0.134,0.058,2894,3141,1534
$FREEZE,2.17,-0.509,-1.817
$STATE,19066,end climb,SURFACE_DEPTH_REACHED
$STATE,19066,begin surface coast
$FREEZE,1.86,-0.576,-1.816
$FREEZE,1.75,-0.585,-1.817
$FREEZE,1.67,-0.497,-1.812
$FREEZE,1.79,-0.448,-1.810
$FINISH,1.8,1.026521
$STATE,19089,end surface coast,CONTROL_FINISHED_OK
$STATE,19089,begin surface
$SM_CCo,19180,0.00,0.000,0,0,1532,274.25
$SM_GC,3.25,7.05,0.00,0.00,0.060,0.000,0.000,327,2209,1532,-10.69,-0.59,274.25
$RAFOS_CLK,795
$RAFOS,0,1232265844,8.083333,8.067778,65,62,58,58,57,53,205,188,178,217,97,156
$RAFOS,4,1232253852,4.750000,4.736667,58,54,53,51,51,51,209,145,121,176,159,1754
$RAFOS,3,1232253254,4.583333,4.570556,57,57,56,55,51,48,199,218,172,156,129,228
$RAFOS,2,1232252647,4.416667,4.401945,58,58,53,51,50,50,199,216,185,163,126,138
$RAFOS,1,1232252049,4.250000,4.235833,61,55,55,55,55,54,181,150,124,206,230,166
$RAFOS,0,1232251451,4.083333,4.069722,65,65,58,52,52,51,204,215,191,172,116,94
$RAFOS_FIX,6613.218750,-5733.207031,160109,202056,2,73,0.51
$IRIDIUM_FIX,6543.17,-5719.08,140498,020232
$TT8_MAMPS,0.026845
$HUMID,1796
$INTERNAL_PRESSURE,9.92226
$TCM_TEMP,16.10
$XPDR_PINGS,301
$24V_AH,21.9,104.767
$10V_AH,10.4,46.679
$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,25.650,126.050,374.175,0.000,0.000,48.965,67.426,542.008,75.250,0.000,0.000,62.814,2010.325,14242.856,565.238,2118.355,1185.597,0.000,1652.918,0.000,2049.240,2160.000,0.532,0.000
$DEVICE_MAMPS,182.546,65.195,1162.772,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,753.037,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34708,1085
$CAP_FILE_SIZE,160650,0
$CFSIZE,260165632,209309696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.4
$GPS,180109,025356,6609.064,-5716.587,41,2.5,60,-36.5