version: 66.04
glider: 108
mission: 11
dive: 696
start: 1 19 109 12 58 3
data:
$ID,108
$MISSION,11
$DIVE,696
$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,-134908.23
$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,35
$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
$GPS1,123706,6613.808,-5712.901,35,1.6,40,-36.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-66.9
$GPS2,125744,6613.572,-5712.870,13,1.0,13,-36.6
$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,47.7,93286,-13.0,-7.021
$D_GRID,644
$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,-146.0,0.0,0.0,0,114,0.00,0.00,-92.53,0.000,6,0.000,0.000,337,2234,3247
$GC,119,-0.99,-146.0,2.6,-0.6,17,133,8.73,2.38,0.00,0.000,4,0.237,0.053,2468,812,3251
$GC,209,-0.18,-146.0,10.9,-11.2,32,217,0.65,2.33,0.00,0.000,6,0.171,0.052,2639,2228,3253
$GC,559,-0.36,-146.0,30.7,-5.2,93,565,0.15,2.30,0.00,0.000,4,0.067,0.053,2572,810,3253
$GC,624,-0.28,-146.0,35.6,-7.7,104,631,0.20,2.33,0.00,0.000,6,0.128,0.053,2619,2241,3253
$GC,973,-0.50,-146.0,53.8,-4.7,165,980,0.17,2.33,0.00,0.000,4,0.061,0.054,2538,815,3252
$GC,1137,-0.42,-146.0,66.4,-8.2,193,1144,0.22,2.33,0.00,0.000,6,0.137,0.054,2591,2242,3252
$GC,1487,-0.62,-146.0,85.7,-5.5,254,1494,0.15,2.33,0.00,0.000,4,0.067,0.054,2522,816,3252
$GC,1548,-0.51,-146.0,90.1,-8.0,264,1555,0.20,2.33,0.00,0.000,6,0.133,0.054,2568,2245,3252
$GC,1885,-0.66,-146.0,106.0,-4.6,307,1887,0.12,0.00,0.00,0.000,6,0.071,0.000,2511,2245,3251
$GC,2193,-0.66,-146.0,122.8,-4.1,322,2198,0.10,2.35,0.00,0.000,4,0.142,0.055,2538,816,3250
$GC,2302,-0.66,-146.0,126.7,-3.7,327,2306,0.00,2.30,0.00,0.000,6,0.000,0.054,2530,2234,3250
$GC,2637,-0.73,-146.0,145.7,-7.2,343,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2234,3249
$GC,2946,-0.83,-146.0,164.4,-4.4,358,2950,0.12,2.30,0.00,0.000,4,0.074,0.054,2468,819,3249
$GC,3062,-0.67,-146.0,170.7,-5.8,363,3067,0.28,2.33,0.00,0.000,6,0.130,0.054,2539,2240,3249
$GC,3391,-0.83,-146.0,183.6,-5.1,379,3396,0.15,2.33,0.00,0.000,4,0.068,0.053,2469,809,3250
$GC,3477,-0.69,-146.0,190.7,-8.7,383,3482,0.25,2.28,0.00,0.000,6,0.130,0.052,2531,2234,3249
$GC,3812,-0.84,-146.0,211.6,-5.6,399,3817,0.12,2.30,0.00,0.000,4,0.074,0.051,2472,813,3250
$GC,3903,-0.71,-146.0,218.8,-8.2,403,3908,0.22,2.33,0.00,0.000,6,0.128,0.051,2526,2241,3250
$GC,4227,-0.84,-146.0,234.4,-4.3,419,4228,0.12,0.00,0.00,0.000,6,0.074,0.000,2468,2241,3252
$GC,4535,-0.77,-146.0,249.7,-4.7,434,4540,0.17,2.33,0.00,0.000,4,0.136,0.051,2523,814,3253
$GC,4672,-0.86,-146.0,254.4,-3.2,440,4677,0.10,2.33,0.00,0.000,6,0.076,0.050,2466,2242,3253
$GC,5001,-0.80,-146.0,269.5,-5.4,456,5003,0.15,0.00,0.00,0.000,6,0.136,0.000,2509,2242,3253
$GC,5311,-0.90,-146.0,282.4,-4.1,471,5313,0.10,0.00,0.00,0.000,6,0.082,0.000,2458,2242,3254
$GC,5621,-0.81,-146.0,299.0,-5.7,486,5626,0.17,2.33,0.00,0.000,4,0.133,0.049,2510,813,3255
$GC,5761,-0.87,-146.0,306.0,-5.3,492,5765,0.00,2.33,0.00,0.000,6,0.000,0.048,2503,2243,3255
$GC,6090,-0.93,-146.0,322.2,-5.1,508,6095,0.10,2.30,0.00,0.000,4,0.077,0.048,2448,814,3256
$GC,6187,-0.75,-146.0,329.3,-7.6,512,6193,0.28,2.33,0.00,0.000,6,0.124,0.048,2519,2242,3256
$GC,6505,-0.90,-146.0,346.8,-5.8,527,6507,0.12,0.00,0.00,0.000,6,0.074,0.000,2459,2241,3257
$GC,6815,-0.83,-146.0,368.3,-6.9,542,6819,0.15,2.30,0.00,0.000,4,0.133,0.048,2501,817,3257
$GC,6895,-0.83,-146.0,373.0,-5.6,545,6901,0.00,2.30,0.00,0.000,6,0.000,0.048,2494,2235,3257
$GC,7212,-0.87,-146.0,390.0,-5.2,561,7214,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2235,3258
$GC,7543,-0.93,-146.0,406.0,-4.7,574,7547,0.00,2.28,0.00,0.000,4,0.000,0.047,2493,811,3258
$GC,7695,-0.93,-146.0,413.9,-5.2,577,7700,0.00,2.25,0.00,0.000,6,0.000,0.046,2484,2234,3258
$GC,8010,-0.93,-146.0,428.7,-4.6,585,8011,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2234,3259
$GC,8336,-0.93,-146.0,444.2,-4.8,593,8340,0.00,2.28,0.00,0.000,4,0.000,0.047,2484,810,3259
$GC,8432,-0.93,-146.0,449.7,-5.8,595,8436,0.00,2.30,0.00,0.000,6,0.000,0.046,2474,2235,3259
$GC,8758,-0.93,-146.0,468.2,-5.9,603,8759,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2235,3259
$GC,9084,-0.93,-146.0,487.5,-6.0,611,9087,0.00,2.30,0.00,0.000,4,0.000,0.047,2474,805,3260
$GC,9198,-0.88,-146.0,494.7,-6.1,613,9202,0.10,2.28,0.00,0.000,6,0.131,0.046,2491,2241,3260
$GC,9547,-0.95,-146.0,512.7,-5.2,622,9548,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2241,3260
$GC,9873,-1.02,-146.0,528.8,-4.9,630,9878,0.12,2.30,0.00,0.000,4,0.072,0.046,2435,815,3260
$GC,10049,-0.84,-146.0,540.7,-6.8,634,10054,0.25,2.30,0.00,0.000,6,0.124,0.047,2498,2229,3260
$GC,10382,-0.94,-146.0,554.6,-3.9,642,10384,0.10,0.00,0.00,0.000,6,0.080,0.000,2449,2229,3260
$GC,10706,-0.85,-146.0,569.9,-4.6,650,10710,0.17,2.30,0.00,0.000,4,0.133,0.045,2500,807,3260
$GC,10829,-0.91,-146.0,574.6,-4.0,652,10833,0.00,2.33,0.00,0.000,6,0.000,0.045,2492,2245,3261
$GC,11171,-1.00,-146.0,587.4,-3.7,661,11173,0.10,0.00,0.00,0.000,6,0.076,0.000,2438,2245,3261
$GC,11493,-0.87,-146.0,604.3,-5.5,669,11498,0.20,2.33,0.00,0.000,4,0.132,0.047,2500,812,3261
$GC,11586,-0.94,-146.0,608.6,-4.6,671,11590,0.00,2.33,0.00,0.000,6,0.000,0.046,2492,2246,3261
$GC,11918,-1.02,-146.0,623.7,-4.6,679,11920,0.12,0.00,0.00,0.000,6,0.069,0.000,2431,2245,3261
$GC,12244,-0.87,-146.0,643.1,-5.8,687,12249,0.20,2.33,0.00,0.000,4,0.133,0.047,2494,817,3261
$STATE,12258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12258,begin apogee
$GC,12269,-0.31,0.0,644.1,5.8,687,12402,0.38,0.00,130.43,1.163,6,0.114,0.000,2614,1745,2650
$STATE,12404,end apogee,CONTROL_FINISHED_OK
$STATE,12404,begin climb
$GC,12408,0.99,146.0,645.3,0.0,690,12547,0.85,2.53,131.70,1.099,4,0.087,0.051,2896,3150,2053
$GC,12593,0.69,146.0,626.9,12.0,694,12598,0.30,2.40,0.00,0.000,6,0.127,0.038,2824,1731,2050
$GC,12944,0.75,151.2,602.1,6.9,703,12953,0.00,2.38,4.75,0.759,4,0.000,0.052,2824,3161,2033
$GC,13000,0.70,151.2,597.7,8.3,704,13004,0.00,2.25,0.00,0.000,6,0.000,0.040,2832,1732,2033
$GC,13320,0.70,151.2,574.6,7.2,712,13324,0.00,2.33,0.00,0.000,4,0.000,0.053,2832,3152,2032
$GC,13355,0.63,151.2,571.8,7.8,712,13362,0.12,2.22,0.00,0.000,6,0.131,0.040,2807,1726,2032
$GC,13688,0.82,196.5,552.7,5.6,721,13734,0.17,2.40,39.95,1.098,4,0.058,0.053,2892,3148,1849
$GC,13753,0.60,196.5,546.5,11.1,722,13758,0.32,2.25,0.00,0.000,6,0.123,0.038,2805,1735,1846
$GC,14098,0.84,240.1,526.5,5.6,731,14143,0.17,2.45,38.65,1.070,4,0.056,0.054,2893,3152,1670
$GC,14161,0.65,240.1,520.0,11.7,732,14166,0.30,2.28,0.00,0.000,6,0.120,0.040,2813,1725,1667
$GC,14512,0.86,263.7,497.6,6.3,741,14536,0.17,0.00,21.35,1.022,6,0.055,0.000,2901,1725,1574
$GC,14836,0.72,263.7,458.2,12.4,749,14841,0.20,2.35,0.00,0.000,4,0.120,0.053,2834,3153,1569
$GC,14881,0.72,263.7,453.3,9.0,750,14885,0.00,2.22,0.00,0.000,6,0.000,0.040,2842,1730,1567
$GC,15207,0.80,263.7,426.6,8.2,758,15211,0.00,2.33,0.00,0.000,4,0.000,0.052,2842,3156,1566
$GC,15236,0.80,263.7,423.8,8.5,758,15240,0.00,2.22,0.00,0.000,6,0.000,0.039,2851,1732,1566
$GC,15560,0.80,263.7,395.5,8.7,767,15561,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1732,1566
$GC,15872,0.80,263.7,369.0,8.7,782,15875,0.00,2.35,0.00,0.000,4,0.000,0.053,2851,3163,1566
$GC,15912,0.80,263.7,364.7,10.4,783,15918,0.00,2.25,0.00,0.000,6,0.000,0.041,2860,1726,1565
$GC,16229,0.80,263.7,333.8,9.8,799,16230,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1726,1565
$GC,16538,0.80,263.7,302.4,10.3,814,16542,0.00,2.35,0.00,0.000,4,0.000,0.052,2860,3159,1565
$GC,16568,0.80,263.7,299.1,11.4,815,16572,0.00,2.22,0.00,0.000,6,0.000,0.040,2869,1736,1565
$GC,16895,0.80,263.7,263.3,10.8,831,16899,0.00,2.25,0.00,0.000,4,0.000,0.053,2880,337,1564
$GC,16920,0.80,263.7,260.7,10.3,832,16924,0.12,2.20,0.00,0.000,6,0.110,0.040,2842,1749,1565
$GC,17254,0.93,263.7,234.2,7.3,848,17258,0.15,2.20,0.00,0.000,4,0.061,0.052,2916,3141,1564
$GC,17317,0.70,263.7,226.1,14.4,850,17324,0.32,2.20,0.00,0.000,6,0.122,0.040,2826,1738,1564
$GC,17636,0.92,279.4,204.9,6.5,866,17654,0.17,0.00,13.75,0.834,6,0.057,0.000,2919,1738,1510
$GC,17964,0.79,279.4,161.6,13.3,882,17969,0.20,2.33,0.00,0.000,4,0.119,0.053,2853,3145,1509
$GC,17983,0.72,279.4,159.3,12.3,883,17987,0.00,2.20,0.00,0.000,6,0.000,0.040,2856,1736,1508
$GC,18318,0.86,279.4,131.4,7.9,899,18322,0.00,2.33,0.00,0.000,4,0.000,0.053,2857,3147,1508
$GC,18347,0.96,279.4,128.5,9.2,900,18352,0.08,2.22,0.00,0.000,6,0.087,0.038,2913,1726,1508
$GC,18675,0.96,279.4,98.3,9.4,916,18681,0.10,0.00,0.00,0.000,6,0.129,0.000,2885,1726,1508
$GC,19023,1.09,279.4,74.7,7.0,977,19029,0.12,0.00,0.00,0.000,6,0.068,0.000,2950,1726,1508
$GC,19370,0.97,279.4,34.8,11.5,1038,19377,0.20,2.38,0.00,0.000,4,0.120,0.054,2884,3149,1508
$GC,19413,0.97,279.4,30.4,10.0,1045,19419,0.00,2.22,0.00,0.000,6,0.000,0.041,2890,1738,1508
$FREEZE,6.86,-0.564,-1.822
$FREEZE,6.36,-0.576,-1.821
$FREEZE,5.91,-0.585,-1.821
$FREEZE,5.59,-0.573,-1.821
$GC,19762,1.11,279.4,5.6,7.1,1106,19769,0.10,2.30,0.00,0.000,4,0.077,0.055,2961,332,1508
$FREEZE,4.48,-0.596,-1.819
$FREEZE,3.93,-0.598,-1.819
$FREEZE,3.27,-0.604,-1.817
$FREEZE,2.69,-0.620,-1.817
$STATE,19790,end climb,SURFACE_DEPTH_REACHED
$STATE,19791,begin surface coast
$FREEZE,2.19,-0.643,-1.816
$FREEZE,1.84,-0.634,-1.816
$FINISH,1.8,1.026610
$STATE,19802,end surface coast,CONTROL_FINISHED_OK
$STATE,19802,begin surface
$SM_CCo,19907,0.00,0.000,0,0,1506,280.62
$SM_GC,3.15,7.20,0.00,0.00,0.055,0.000,0.000,327,2236,1506,-10.69,0.17,280.62
$RAFOS_CLK,786
$RAFOS,4,1232383445,16.750000,16.734722,68,60,54,54,53,52,194,126,175,228,116,153
$RAFOS,3,1232382846,16.583334,16.568333,113,61,60,59,54,50,813,189,208,222,163,117
$RAFOS,2,1232382251,16.416666,16.403055,62,59,52,51,51,50,205,125,162,116,141,179
$RAFOS,1,1232381675,16.250000,16.243055,136,62,61,57,52,52,736,221,123,208,195,161
$RAFOS,0,1232381046,16.083334,16.068333,65,64,59,58,56,50,217,199,165,120,146,133
$RAFOS,3,1232368444,12.583333,12.567778,67,60,56,55,53,52,162,153,191,207,171,130
$RAFOS_FIX,6616.025879,-5721.961914,190109,161640,2,124,0.65
$IRIDIUM_FIX,6548.42,-5705.95,150498,121252
$TT8_MAMPS,0.026078
$HUMID,1792
$INTERNAL_PRESSURE,9.92226
$TCM_TEMP,16.00
$XPDR_PINGS,307
$24V_AH,21.9,105.673
$10V_AH,10.4,47.154
$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,26.475,156.775,380.575,0.000,0.000,72.939,97.220,624.146,76.750,0.000,0.000,15.162,2100.487,14786.410,522.758,2256.802,1476.126,0.000,1721.900,0.000,2214.156,1800.000,0.532,0.000
$DEVICE_MAMPS,237.003,55.224,1162.772,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,773.742,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37831,1113
$CAP_FILE_SIZE,175006,0
$CFSIZE,260165632,208879616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.6
$GPS,190109,162640,6616.026,-5721.962,0,2124.5,0,-36.6