version: 66.04
glider: 108
mission: 11
dive: 78
start: 9 20 108 7 53 8
data:
$ID,108
$MISSION,11
$DIVE,78
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,470
$T_MISSION,530
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$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,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0035999999
$HD_B,0.014
$HD_C,6.1000001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-112507.88
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,2657
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15.9
$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,25
$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,2895
$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,0
$ALTIM_TOP_MIN_OBSTACLE,1
$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
$GPS1,074625,6655.331,-5746.452,34,1.8,34,-37.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-69.5
$GPS2,075217,6655.324,-5746.420,15,2.8,34,-37.6
$SPEED_LIMITS,0.122,0.200
$TGT_NAME,TARGET_ADD3_WB
$TGT_LATLONG,6655.000,-5823.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.152,0.130
$KALMAN_X,4214.6,526.1,-302.2,23341.7,899.6
$KALMAN_Y,-5806.3,-406.6,466.9,10731.2,-3098.9
$MHEAD_RNG_PITCHd_Wd,348.1,26568,-14.2,-7.021
$D_GRID,822
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.07,-146.0,0.0,0.0,0,71,0.00,0.00,-51.75,0.000,2,0.000,0.000,334,2237,2734
$GC,73,-1.07,-146.0,3.2,-2.1,9,115,8.48,2.22,-25.67,0.000,4,0.257,0.087,2415,3596,3494
$GC,244,-0.78,-146.0,30.9,-17.3,39,251,0.25,2.20,0.00,0.000,6,0.145,0.050,2487,2210,3498
$GC,588,-0.78,-146.0,64.7,-9.3,100,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2210,3500
$GC,930,-0.83,-146.0,91.9,-7.3,161,937,0.00,2.25,0.00,0.000,4,0.000,0.062,2487,813,3501
$GC,1004,-0.83,-146.0,97.6,-7.9,174,1010,0.00,2.30,0.00,0.000,6,0.000,0.059,2479,2234,3502
$GC,1326,-0.83,-146.0,122.6,-7.8,194,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2234,3502
$GC,1637,-0.83,-146.0,148.4,-8.5,209,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2234,3502
$GC,1945,-0.83,-146.0,174.0,-8.0,224,1949,0.00,2.20,0.00,0.000,4,0.000,0.075,2468,3602,3501
$GC,2028,-0.88,-146.0,181.2,-8.6,227,2035,0.00,2.17,0.00,0.000,6,0.000,0.051,2468,2215,3501
$GC,2343,-0.88,-146.0,206.7,-8.2,243,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2215,3500
$GC,2652,-0.88,-146.0,232.9,-8.4,258,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2214,3499
$GC,2962,-0.92,-146.0,258.2,-8.0,273,2966,0.00,2.25,0.00,0.000,4,0.000,0.073,2459,3601,3499
$GC,3078,-0.92,-146.0,268.0,-8.2,278,3083,0.00,2.17,0.00,0.000,6,0.000,0.051,2458,2225,3499
$GC,3405,-0.92,-146.0,293.4,-7.5,294,3408,0.00,2.25,0.00,0.000,4,0.000,0.063,2458,816,3499
$GC,3539,-0.92,-146.0,304.3,-8.1,300,3543,0.00,2.28,0.00,0.000,6,0.000,0.061,2448,2233,3498
$GC,3870,-0.92,-146.0,330.7,-8.0,316,3873,0.00,2.17,0.00,0.000,4,0.000,0.073,2437,3606,3499
$GC,3982,-0.88,-146.0,340.7,-9.0,321,3987,0.12,2.15,0.00,0.000,6,0.152,0.050,2471,2221,3498
$GC,4313,-0.96,-146.0,365.6,-7.8,337,4318,0.10,2.25,0.00,0.000,4,0.092,0.072,2418,3599,3499
$GC,4397,-0.86,-146.0,374.1,-10.1,341,4401,0.17,2.12,0.00,0.000,6,0.146,0.051,2468,2225,3499
$GC,4729,-0.94,-146.0,399.4,-7.3,357,4733,0.00,2.22,0.00,0.000,4,0.000,0.063,2468,825,3499
$GC,4812,-0.98,-146.0,406.2,-8.5,359,4819,0.00,2.30,0.00,0.000,6,0.000,0.061,2460,2262,3499
$GC,5144,-0.98,-146.0,430.5,-7.5,368,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2262,3498
$GC,5469,-1.04,-146.0,454.7,-7.5,376,5470,0.10,0.00,0.00,0.000,6,0.090,0.000,2417,2262,3498
$GC,5794,-0.93,-146.0,483.6,-8.9,384,5795,0.15,0.00,0.00,0.000,6,0.150,0.000,2458,2262,3498
$GC,6119,-0.98,-146.0,506.3,-6.9,392,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2262,3498
$GC,6443,-1.04,-146.0,529.6,-7.3,400,6448,0.10,2.12,0.00,0.000,4,0.093,0.072,2408,3596,3498
$GC,6532,-0.91,-146.0,538.2,-10.5,402,6537,0.17,2.12,0.00,0.000,6,0.147,0.049,2458,2221,3498
$GC,6861,-0.97,-146.0,563.2,-7.5,410,6865,0.00,2.20,0.00,0.000,4,0.000,0.063,2458,826,3498
$GC,6938,-0.97,-146.0,569.2,-7.2,411,6943,0.00,2.28,0.00,0.000,6,0.000,0.060,2450,2232,3498
$GC,7275,-0.97,-146.0,592.8,-7.0,420,7279,0.00,2.15,0.00,0.000,4,0.000,0.071,2439,3598,3498
$GC,7415,-0.97,-146.0,603.4,-7.7,423,7419,0.00,2.15,0.00,0.000,6,0.000,0.049,2439,2200,3498
$GC,7738,-0.97,-146.0,627.5,-7.4,431,7739,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2199,3498
$GC,8063,-0.97,-146.0,652.3,-7.6,439,8064,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2199,3498
$GC,8388,-0.97,-146.0,676.8,-7.5,447,8390,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2199,3498
$GC,8713,-0.97,-146.0,700.6,-7.3,455,8717,0.00,2.30,0.00,0.000,4,0.000,0.072,2429,3598,3498
$GC,8823,-0.97,-146.0,709.7,-7.9,457,8828,0.00,2.15,0.00,0.000,6,0.000,0.049,2429,2227,3498
$GC,9171,-0.97,-146.0,736.7,-8.0,466,9172,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2227,3498
$GC,9496,-0.97,-146.0,762.8,-8.0,474,9498,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2226,3498
$GC,9821,-0.97,-146.0,788.8,-8.0,482,9825,0.00,2.25,0.00,0.000,4,0.000,0.073,2418,3595,3498
$GC,9904,-0.91,-146.0,796.2,-8.7,483,9912,0.12,2.15,0.00,0.000,6,0.144,0.050,2460,2227,3497
$GC,10236,-0.99,-146.0,817.1,-6.2,492,10240,0.00,2.25,0.00,0.000,4,0.000,0.062,2460,815,3498
$STATE,10317,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10317,begin apogee
$GC,10322,-0.31,0.0,822.4,6.2,493,10450,0.40,0.00,125.15,1.372,6,0.128,0.000,2588,1749,2895
$STATE,10451,end apogee,CONTROL_FINISHED_OK
$STATE,10451,begin climb
$GC,10453,1.07,146.0,824.6,0.0,497,10587,0.93,2.67,126.78,1.299,4,0.095,0.067,2901,338,2298
$GC,10604,0.78,146.0,812.7,11.4,500,10609,0.30,2.53,0.00,0.000,6,0.138,0.051,2821,1751,2297
$GC,10940,0.73,146.0,785.4,8.0,509,10942,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1751,2293
$GC,11265,0.73,146.0,760.1,7.7,517,11269,0.00,2.30,0.00,0.000,4,0.000,0.066,2821,3160,2292
$GC,11286,0.65,146.0,758.4,7.7,517,11291,0.08,2.35,0.00,0.000,6,0.139,0.054,2794,1749,2291
$GC,11633,0.66,156.8,735.3,6.7,526,11648,0.00,2.38,9.48,1.164,4,0.000,0.067,2794,3158,2255
$GC,11658,0.66,156.8,733.5,7.4,526,11663,0.00,2.35,0.00,0.000,6,0.000,0.053,2802,1741,2254
$GC,12000,0.66,156.8,708.8,7.2,535,12004,0.00,2.38,0.00,0.000,4,0.000,0.067,2802,3165,2254
$GC,12033,0.58,156.8,706.0,8.2,535,12038,0.12,2.33,0.00,0.000,6,0.146,0.053,2779,1727,2253
$GC,12370,0.71,169.8,684.1,6.6,544,12389,0.12,2.42,12.10,1.206,4,0.083,0.067,2829,3161,2201
$GC,12416,0.51,169.8,679.5,10.9,545,12422,0.28,2.35,0.00,0.000,6,0.138,0.054,2761,1721,2201
$GC,12740,0.87,169.8,656.7,7.4,553,12745,0.22,2.33,0.00,0.000,4,0.067,0.069,2863,327,2200
$GC,12869,0.71,169.8,644.0,10.5,556,12874,0.20,2.33,0.00,0.000,6,0.134,0.056,2805,1748,2200
$GC,13198,0.71,169.8,618.3,7.5,564,13201,0.00,2.28,0.00,0.000,4,0.000,0.069,2805,3166,2200
$GC,13243,0.62,169.8,614.6,8.6,565,13247,0.00,2.30,0.00,0.000,6,0.000,0.054,2814,1729,2200
$GC,13571,0.62,169.8,589.4,7.5,573,13575,0.00,2.30,0.00,0.000,4,0.000,0.067,2814,3154,2200
$GC,13581,0.62,169.8,588.6,7.3,573,13587,0.10,2.30,0.00,0.000,6,0.135,0.053,2790,1729,2199
$GC,13900,0.75,194.2,568.6,6.2,581,13927,0.12,2.38,21.05,1.210,4,0.083,0.067,2842,3166,2102
$GC,13954,0.55,194.2,563.6,10.4,582,13959,0.22,2.35,0.00,0.000,6,0.124,0.054,2770,1739,2100
$GC,14267,0.83,241.5,545.7,5.5,590,14314,0.22,2.42,41.00,1.193,4,0.067,0.065,2862,3164,1909
$GC,14330,0.63,241.5,539.6,11.0,591,14335,0.28,2.38,0.00,0.000,6,0.137,0.053,2794,1741,1905
$GC,14672,0.80,246.9,515.3,6.8,600,14679,0.12,0.00,4.65,0.841,6,0.081,0.000,2845,1741,1888
$GC,14997,0.72,246.9,482.3,10.5,608,14999,0.12,0.00,0.00,0.000,6,0.131,0.000,2811,1741,1886
$GC,15322,0.79,246.9,454.7,8.4,616,15323,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1741,1886
$GC,15647,0.86,246.9,428.8,7.9,624,15649,0.12,0.00,0.00,0.000,6,0.081,0.000,2860,1741,1885
$GC,15952,0.74,246.9,397.0,10.3,632,15954,0.15,0.00,0.00,0.000,6,0.135,0.000,2817,1740,1885
$GC,16264,0.81,246.9,373.6,7.4,647,16265,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1741,1885
$GC,16570,0.88,246.9,351.1,7.2,662,16572,0.12,0.00,0.00,0.000,6,0.083,0.000,2867,1741,1885
$GC,16880,0.76,246.9,319.6,10.3,677,16882,0.17,0.00,0.00,0.000,6,0.133,0.000,2814,1741,1885
$GC,17189,0.85,246.9,295.9,7.5,692,17191,0.10,0.00,0.00,0.000,6,0.088,0.000,2855,1740,1884
$GC,17498,0.77,246.9,266.1,9.3,707,17500,0.12,0.00,0.00,0.000,6,0.134,0.000,2819,1741,1884
$GC,17808,0.87,249.9,245.0,6.9,722,17812,0.10,2.33,0.00,0.000,4,0.089,0.067,2870,329,1884
$GC,17817,0.96,249.9,244.2,7.1,722,17826,0.00,2.28,3.72,0.664,6,0.000,0.051,2870,1753,1876
$GC,18133,0.85,249.9,212.7,10.0,738,18135,0.12,0.00,0.00,0.000,6,0.143,0.000,2834,1753,1875
$GC,18442,0.92,249.9,186.8,8.4,753,18446,0.10,2.22,0.00,0.000,4,0.090,0.067,2874,3160,1875
$GC,18474,0.75,249.9,183.2,12.2,754,18478,0.22,2.25,0.00,0.000,6,0.139,0.054,2817,1738,1875
$GC,18796,0.91,249.9,159.1,7.2,770,18798,0.12,0.00,0.00,0.000,6,0.079,0.000,2869,1738,1875
$GC,19103,0.91,249.9,131.9,8.6,785,19105,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1738,1875
$GC,19413,0.91,249.9,105.2,8.3,800,19417,0.00,2.30,0.00,0.000,4,0.000,0.068,2878,328,1876
$GC,19439,0.91,249.9,102.9,8.5,801,19445,0.08,2.30,0.00,0.000,6,0.128,0.054,2852,1744,1876
$GC,19782,0.98,249.9,76.4,8.3,857,19788,0.00,2.22,0.00,0.000,4,0.000,0.069,2852,3154,1876
$GC,19821,0.98,249.9,72.7,9.2,864,19828,0.00,2.25,0.00,0.000,6,0.000,0.054,2859,1723,1875
$GC,20165,1.05,249.9,46.4,7.6,925,20171,0.10,0.00,0.00,0.000,6,0.095,0.000,2900,1723,1876
$GC,20509,1.14,282.6,17.0,6.0,986,20544,0.00,2.33,27.83,0.887,4,0.000,0.071,2909,328,1741
$GC,20601,1.27,306.2,11.5,6.3,1002,20631,0.10,2.33,20.95,0.846,6,0.096,0.056,2950,1751,1644
$STATE,20702,end climb,SURFACE_DEPTH_REACHED
$STATE,20702,begin surface coast
$FINISH,1.5,1.012878
$STATE,20737,end surface coast,CONTROL_FINISHED_OK
$STATE,20737,begin surface
$SM_CCo,20812,0.00,0.000,0,0,1635,309.08
$SM_GC,2.34,7.22,0.00,0.00,0.061,0.000,0.000,338,2241,1635,-10.58,0.28,309.08
$RAFOS_CLK,859
$RAFOS,4,1221914643,12.750000,12.734167,131,58,55,55,55,53,729,208,198,142,185,159
$RAFOS,3,1221914045,12.583333,12.568055,83,71,60,57,57,50,840,215,154,173,187,131
$RAFOS,2,1221913447,12.416667,12.401944,96,61,60,57,53,52,528,209,189,219,119,166
$RAFOS,1,1221912874,12.250000,12.242778,104,61,61,60,60,52,558,223,194,158,208,235
$RAFOS,0,1221912264,12.083333,12.073334,107,56,52,52,51,51,782,193,136,154,119,208
$RAFOS,4,1221900243,8.750000,8.734167,83,58,58,58,58,55,733,154,166,196,121,207
$RAFOS,3,1221899653,8.583333,8.570278,67,67,60,59,56,56,201,800,183,174,213,135
$RAFOS,2,1221899049,8.416667,8.402500,155,67,60,56,54,52,519,214,200,191,119,145
$RAFOS,1,1221898451,8.250000,8.236389,131,61,56,56,52,51,688,174,198,141,164,229
$RAFOS,0,1221897841,8.083333,8.066944,91,57,54,53,51,50,914,176,217,167,198,118
$RAFOS_FIX,6656.241699,-5751.273438,200908,121214,5,104,0.24
$IRIDIUM_FIX,6631.12,-5736.37,151297,010155
$TT8_MAMPS,0.026845
$HUMID,1811
$INTERNAL_PRESSURE,9.92226
$TCM_TEMP,16.00
$XPDR_PINGS,42
$24V_AH,22.8,17.889
$10V_AH,10.6,8.584
$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,22.600,132.150,392.700,0.000,0.000,22.865,37.287,156.666,10.500,0.000,0.000,36.876,1953.573,16282.315,512.988,2058.607,378.269,33.359,1610.986,0.000,2010.414,3600.000,0.532,0.000
$DEVICE_MAMPS,256.945,87.438,1372.163,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,715.260,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34679,1026
$CAP_FILE_SIZE,150352,0
$CFSIZE,260165632,248061952
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.8
$GPS,200908,134138,6654.845,-5748.062,27,1.3,27,-37.6