version: 66.04
glider: 108
mission: 11
dive: 414
start: 12 3 108 16 37 31
data:
$ID,108
$MISSION,11
$DIVE,414
$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,2
$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,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,20
$ESCAPE_HEADING,80
$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,-120072.38
$T_RSLEEP,60
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$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,33
$R_STBD_OVSHOOT,27
$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
$GPS1,162602,6547.653,-5733.959,40,1.5,40,-36.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-70.1
$GPS2,163709,6547.640,-5734.089,13,1.3,13,-36.1
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6557.788,-5725.021
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.155,0.175
$KALMAN_X,170654.5,-869.2,266.8,-260885.9,-589.8
$KALMAN_Y,-355053.3,2216.7,1768.4,233643.6,-9091.2
$MHEAD_RNG_PITCHd_Wd,56.1,20000,-13.0,-7.021
$D_GRID,585
$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,16,-0.99,-146.0,0.0,0.0,0,85,0.00,0.00,-67.25,0.000,2,0.000,0.000,334,2245,3065
$GC,89,-0.99,-146.0,3.0,-1.6,12,109,8.77,2.40,-5.65,0.000,4,0.243,0.071,2469,814,3249
$GC,225,-0.81,-146.0,17.9,-8.6,35,232,0.15,2.33,0.00,0.000,6,0.133,0.060,2503,2236,3252
$GC,570,-0.81,-146.0,45.3,-7.5,96,575,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2236,3252
$GC,914,-0.81,-146.0,68.1,-6.1,157,920,0.00,2.20,0.00,0.000,4,0.000,0.073,2494,3596,3252
$GC,1050,-0.81,-146.0,77.4,-7.1,181,1057,0.00,2.15,0.00,0.000,6,0.000,0.047,2494,2209,3252
$GC,1395,-0.81,-146.0,99.0,-5.9,242,1401,0.00,2.20,0.00,0.000,4,0.000,0.060,2494,813,3252
$GC,1481,-0.81,-146.0,104.5,-6.6,248,1487,0.00,2.33,0.00,0.000,6,0.000,0.060,2485,2244,3251
$GC,1799,-0.81,-146.0,124.3,-6.4,264,1800,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2244,3251
$GC,2106,-0.81,-146.0,143.5,-6.1,279,2107,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2244,3251
$GC,2415,-0.81,-146.0,162.6,-5.9,294,2416,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2244,3251
$GC,2725,-0.81,-146.0,180.0,-5.6,309,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2244,3251
$GC,3034,-0.81,-146.0,196.4,-5.4,324,3038,0.00,2.30,0.00,0.000,4,0.000,0.059,2485,822,3250
$GC,3174,-0.81,-146.0,205.0,-6.5,330,3179,0.12,2.30,0.00,0.000,6,0.133,0.060,2509,2234,3250
$GC,3498,-0.94,-146.0,220.4,-4.8,346,3500,0.12,0.00,0.00,0.000,6,0.079,0.000,2457,2234,3251
$GC,3805,-0.87,-146.0,240.1,-6.6,361,3810,0.12,2.28,0.00,0.000,4,0.142,0.057,2491,821,3250
$GC,3861,-0.87,-146.0,243.5,-6.2,363,3868,0.00,2.28,0.00,0.000,6,0.000,0.058,2483,2238,3251
$GC,4177,-0.87,-146.0,260.8,-5.2,379,4181,0.00,2.25,0.00,0.000,4,0.000,0.057,2484,823,3251
$GC,4261,-0.87,-146.0,265.5,-5.0,382,4268,0.00,2.28,0.00,0.000,6,0.000,0.058,2473,2240,3251
$GC,4578,-0.87,-146.0,282.1,-5.2,398,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2240,3251
$GC,4888,-0.87,-146.0,297.7,-5.0,413,4892,0.00,2.28,0.00,0.000,4,0.000,0.056,2473,812,3251
$GC,4973,-0.81,-146.0,302.4,-5.8,416,4980,0.15,2.28,0.00,0.000,6,0.129,0.057,2506,2234,3251
$GC,5290,-0.96,-146.0,316.1,-4.4,432,5292,0.12,0.00,0.00,0.000,6,0.077,0.000,2452,2234,3252
$GC,5599,-0.88,-146.0,334.3,-6.0,447,5601,0.15,0.00,0.00,0.000,6,0.140,0.000,2494,2234,3252
$GC,5910,-0.98,-146.0,349.2,-4.9,462,5912,0.10,0.00,0.00,0.000,6,0.088,0.000,2449,2234,3253
$GC,6217,-0.90,-146.0,367.8,-6.2,477,6222,0.12,2.28,0.00,0.000,4,0.145,0.054,2483,819,3253
$GC,6291,-0.90,-146.0,372.0,-5.5,480,6295,0.00,2.33,0.00,0.000,6,0.000,0.055,2475,2238,3253
$GC,6607,-0.90,-146.0,389.2,-5.4,495,6608,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2238,3254
$GC,6935,-0.90,-146.0,406.8,-5.4,508,6939,0.00,2.25,0.00,0.000,4,0.000,0.054,2475,820,3254
$GC,6991,-0.90,-146.0,410.2,-6.2,509,6995,0.00,2.28,0.00,0.000,6,0.000,0.054,2465,2247,3254
$GC,7311,-0.90,-146.0,427.9,-5.5,517,7312,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2247,3255
$GC,7636,-0.90,-146.0,444.9,-5.0,525,7637,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2247,3255
$GC,7961,-0.90,-146.0,460.0,-4.6,533,7964,0.00,2.30,0.00,0.000,4,0.000,0.054,2465,815,3255
$GC,8063,-0.84,-146.0,465.0,-4.6,535,8068,0.15,2.33,0.00,0.000,6,0.127,0.055,2498,2235,3255
$GC,8376,-0.97,-146.0,476.6,-3.5,543,8378,0.12,0.00,0.00,0.000,6,0.077,0.000,2444,2235,3256
$GC,8702,-0.88,-146.0,491.8,-4.9,551,8704,0.17,0.00,0.00,0.000,6,0.139,0.000,2494,2235,3256
$GC,9026,-0.99,-146.0,504.6,-4.0,559,9028,0.12,0.00,0.00,0.000,6,0.081,0.000,2440,2235,3256
$GC,9351,-0.90,-146.0,521.7,-5.4,567,9356,0.17,2.28,0.00,0.000,4,0.142,0.053,2494,824,3256
$GC,9413,-0.98,-146.0,524.7,-5.2,568,9418,0.00,2.33,0.00,0.000,6,0.000,0.055,2487,2234,3256
$GC,9762,-1.06,-146.0,539.6,-4.2,577,9767,0.12,2.25,0.00,0.000,4,0.074,0.067,2419,3605,3256
$GC,9853,-0.89,-146.0,544.9,-6.6,579,9858,0.22,2.15,0.00,0.000,6,0.139,0.043,2486,2204,3256
$GC,10184,-0.98,-146.0,559.4,-4.3,587,10188,0.00,2.15,0.00,0.000,4,0.000,0.055,2486,830,3256
$GC,10258,-0.98,-146.0,562.8,-4.9,588,10262,0.00,2.25,0.00,0.000,6,0.000,0.055,2478,2241,3256
$GC,10601,-0.98,-146.0,577.6,-4.3,597,10602,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2241,3256
$STATE,10760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10760,begin apogee
$GC,10768,-0.31,0.0,585.6,4.9,601,10899,0.43,0.00,127.82,1.174,6,0.115,0.000,2615,1743,2650
$STATE,10899,end apogee,CONTROL_FINISHED_OK
$STATE,10899,begin climb
$GC,10902,0.99,146.0,587.0,0.0,604,11037,0.90,0.00,131.55,1.104,6,0.093,0.000,2903,1742,2054
$GC,11329,0.71,146.0,539.0,12.7,615,11331,0.25,0.00,0.00,0.000,6,0.129,0.000,2829,1742,2047
$GC,11654,0.71,146.0,511.4,8.2,623,11657,0.00,2.35,0.00,0.000,4,0.000,0.062,2830,3147,2046
$GC,11704,0.60,146.0,506.7,8.8,624,11709,0.12,2.25,0.00,0.000,6,0.134,0.046,2804,1727,2045
$GC,12024,0.71,158.8,485.1,6.6,632,12037,0.12,0.00,10.75,1.002,6,0.073,0.000,2863,1726,2002
$GC,12348,0.58,158.8,452.3,10.4,640,12353,0.20,2.35,0.00,0.000,4,0.121,0.061,2803,3148,2001
$GC,12375,0.58,158.8,449.6,8.3,640,12379,0.00,2.22,0.00,0.000,6,0.000,0.046,2810,1726,2000
$GC,12714,0.69,171.1,426.8,6.6,649,12733,0.00,2.42,11.75,1.000,4,0.000,0.061,2809,3153,1952
$GC,12751,0.74,171.1,424.0,7.5,649,12758,0.08,2.22,0.00,0.000,6,0.091,0.045,2860,1734,1951
$GC,13063,0.64,171.1,394.3,9.6,658,13064,0.15,0.00,0.00,0.000,6,0.123,0.000,2816,1734,1950
$GC,13374,0.73,178.1,373.4,6.8,673,13389,0.10,2.42,7.40,0.900,4,0.080,0.061,2864,3161,1924
$GC,13418,0.53,178.1,369.1,10.1,675,13423,0.28,2.22,0.00,0.000,6,0.128,0.046,2793,1740,1923
$GC,13746,0.78,212.2,349.3,5.9,691,13779,0.17,0.00,30.45,1.025,6,0.061,0.000,2873,1740,1784
$GC,14075,0.66,212.2,315.0,10.3,707,14077,0.17,0.00,0.00,0.000,6,0.120,0.000,2820,1740,1778
$GC,14385,0.81,247.2,295.2,5.9,722,14425,0.12,2.42,30.58,0.985,4,0.071,0.061,2877,3157,1641
$GC,14432,0.67,247.2,291.0,9.8,724,14437,0.22,2.25,0.00,0.000,6,0.124,0.046,2821,1735,1640
$GC,14756,0.84,265.5,270.3,6.4,740,14775,0.15,0.00,16.52,0.933,6,0.064,0.000,2890,1734,1567
$GC,15084,0.71,265.5,233.0,11.7,756,15086,0.20,0.00,0.00,0.000,6,0.122,0.000,2829,1734,1563
$GC,15393,0.88,291.2,211.6,6.2,771,15419,0.15,0.00,23.42,0.924,6,0.067,0.000,2896,1734,1462
$GC,15722,0.76,291.2,175.6,11.2,787,15724,0.17,0.00,0.00,0.000,6,0.122,0.000,2843,1734,1455
$GC,16031,0.91,300.4,154.3,6.7,802,16042,0.12,0.00,8.20,0.803,6,0.073,0.000,2900,1734,1425
$GC,16341,0.82,300.4,121.3,10.4,817,16343,0.17,0.00,0.00,0.000,6,0.121,0.000,2847,1734,1423
$GC,16649,1.03,300.4,99.5,7.8,832,16656,0.17,2.35,0.00,0.000,4,0.064,0.061,2926,3155,1422
$GC,16675,1.08,300.4,96.6,8.4,836,16681,0.00,2.25,0.00,0.000,6,0.000,0.047,2936,1726,1422
$GC,17020,0.97,300.4,49.6,11.4,897,17027,0.17,2.25,0.00,0.000,4,0.130,0.060,2892,323,1422
$GC,17050,0.97,300.4,46.7,10.2,902,17057,0.00,2.25,0.00,0.000,6,0.000,0.049,2892,1746,1422
$GC,17395,1.05,300.4,19.3,8.1,963,17401,0.00,2.28,0.00,0.000,4,0.000,0.064,2892,3160,1421
$GC,17437,1.05,300.4,15.5,9.2,970,17443,0.00,2.22,0.00,0.000,6,0.000,0.048,2902,1736,1420
$FREEZE,6.69,0.221,-1.819
$FREEZE,6.18,0.220,-1.818
$FREEZE,5.69,0.220,-1.818
$FREEZE,5.12,0.219,-1.818
$FREEZE,4.74,0.219,-1.817
$FREEZE,4.23,0.210,-1.817
$FREEZE,3.66,0.212,-1.817
$FREEZE,3.19,0.211,-1.816
$FREEZE,2.78,0.202,-1.816
$STATE,17581,end climb,SURFACE_DEPTH_REACHED
$STATE,17581,begin surface coast
$FREEZE,2.39,0.198,-1.816
$FREEZE,1.95,0.197,-1.815
$FREEZE,1.46,0.198,-1.815
$FREEZE,1.42,0.193,-0.151
$FREEZE,1.32,0.155,-0.450
$FREEZE,1.40,0.145,-0.105
$FINISH,1.4,1.001378
$STATE,17615,end surface coast,CONTROL_FINISHED_OK
$STATE,17615,begin surface
$SM_CCo,17695,0.00,0.000,0,0,1418,302.21
$SM_GC,2.14,6.93,0.00,0.00,0.054,0.000,0.000,332,2246,1418,-10.70,0.45,302.21
$RAFOS_CLK,707
$RAFOS,4,1228337042,20.750000,20.733889,95,66,63,61,56,52,1149,147,137,209,221,186
$RAFOS,3,1228336446,20.583334,20.568333,79,60,59,59,59,59,837,164,175,210,137,848
$RAFOS,2,1228335848,20.416666,20.402222,72,65,55,54,50,50,226,207,178,193,142,157
$RAFOS,1,1228335249,20.250000,20.235834,60,59,56,55,53,49,215,993,227,201,181,140
$RAFOS,0,1228334676,20.083334,20.076666,63,62,56,54,53,53,215,172,194,151,203,183
$RAFOS,4,1228322644,16.750000,16.734444,66,64,56,55,52,51,1146,195,138,159,217,117
$RAFOS_FIX,5510.566895,-40814.296875,031208,202054,3,82,1555.77
$IRIDIUM_FIX,6522.33,-5731.33,270298,161647
$TT8_MAMPS,0.026078
$HUMID,1790
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,15.90
$XPDR_PINGS,183
$24V_AH,22.3,68.921
$10V_AH,10.5,31.222
$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,22.625,97.325,398.450,0.000,0.000,52.581,64.726,294.785,45.750,0.000,0.000,15.095,1844.583,13455.356,557.676,1751.459,791.734,0.000,1469.329,0.000,1736.184,2160.000,0.532,0.000
$DEVICE_MAMPS,243.139,72.865,1173.510,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,697.117,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31549,1001
$CAP_FILE_SIZE,135781,0
$CFSIZE,260165632,224505856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.1
$GPS,031208,213432,6549.229,-5730.975,37,1.2,37,-36.1