version: 66.04
glider: 108
mission: 11
dive: 420
start: 12 5 108 0 14 59
data:
$ID,108
$MISSION,11
$DIVE,420
$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,10
$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,-120184.91
$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,29
$R_STBD_OVSHOOT,25
$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
$GPS1,235903,6554.089,-5717.734,40,1.3,40,-36.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-64.7
$GPS2,001438,6554.159,-5717.348,9,1.3,14,-36.2
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6604.794,-5712.723
$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,46.2,20000,-13.0,-7.021
$D_GRID,634
$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,-146.0,0.0,0.0,0,75,0.00,0.00,-57.12,0.000,2,0.000,0.000,334,2245,2929
$GC,79,-0.99,-146.0,3.1,-2.1,10,105,8.93,2.33,-10.43,0.000,4,0.249,0.084,2453,3599,3247
$GC,359,-0.80,-146.0,40.0,-12.6,59,366,0.20,2.20,0.00,0.000,6,0.137,0.046,2510,2210,3251
$GC,706,-0.85,-146.0,68.3,-6.8,120,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2209,3252
$GC,1051,-0.91,-146.0,86.8,-5.6,181,1057,0.12,0.00,0.00,0.000,6,0.083,0.000,2456,2209,3251
$GC,1392,-0.78,-146.0,113.2,-7.6,220,1396,0.20,2.25,0.00,0.000,4,0.137,0.058,2525,815,3251
$GC,1523,-0.88,-146.0,120.3,-5.1,225,1530,0.10,2.30,0.00,0.000,6,0.080,0.060,2472,2239,3251
$GC,1840,-0.88,-146.0,139.5,-6.5,241,1843,0.00,2.22,0.00,0.000,4,0.000,0.072,2461,3602,3251
$GC,1987,-0.81,-146.0,149.9,-6.6,247,1991,0.15,2.15,0.00,0.000,6,0.142,0.048,2502,2219,3251
$GC,2305,-0.89,-146.0,165.7,-4.5,262,2309,0.00,2.20,0.00,0.000,4,0.000,0.058,2503,826,3251
$GC,2421,-0.89,-146.0,171.4,-5.7,267,2425,0.00,2.28,0.00,0.000,6,0.000,0.061,2495,2237,3250
$GC,2753,-0.89,-146.0,189.7,-6.0,283,2755,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2236,3250
$GC,3064,-0.95,-146.0,208.3,-5.7,298,3065,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2236,3251
$GC,3372,-1.01,-146.0,223.2,-4.2,313,3377,0.12,2.25,0.00,0.000,4,0.079,0.057,2438,826,3251
$GC,3451,-0.82,-146.0,227.7,-6.1,316,3456,0.25,2.28,0.00,0.000,6,0.132,0.059,2500,2237,3251
$GC,3768,-0.92,-146.0,238.9,-3.6,331,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2237,3251
$GC,4077,-1.01,-146.0,252.2,-4.6,346,4079,0.15,0.00,0.00,0.000,6,0.076,0.000,2438,2237,3251
$GC,4388,-0.88,-146.0,272.7,-6.7,361,4393,0.20,2.22,0.00,0.000,4,0.143,0.070,2492,3598,3251
$GC,4462,-0.98,-146.0,277.0,-5.3,364,4466,0.10,2.12,0.00,0.000,6,0.084,0.044,2445,2224,3251
$GC,4789,-0.87,-146.0,297.2,-6.1,380,4793,0.17,2.20,0.00,0.000,4,0.136,0.057,2498,826,3251
$GC,4938,-0.93,-146.0,304.4,-4.7,386,4942,0.00,2.30,0.00,0.000,6,0.000,0.058,2491,2230,3252
$GC,5261,-0.99,-146.0,319.7,-4.7,402,5263,0.10,0.00,0.00,0.000,6,0.083,0.000,2441,2230,3252
$GC,5570,-0.88,-146.0,340.1,-6.9,417,5572,0.17,0.00,0.00,0.000,6,0.138,0.000,2492,2230,3253
$GC,5878,-0.97,-146.0,357.5,-5.7,432,5882,0.00,2.25,0.00,0.000,4,0.000,0.055,2492,818,3253
$GC,5948,-0.97,-146.0,361.6,-6.6,435,5952,0.00,2.33,0.00,0.000,6,0.000,0.056,2484,2234,3253
$GC,6281,-1.02,-146.0,380.0,-5.3,451,6283,0.10,0.00,0.00,0.000,6,0.083,0.000,2435,2235,3253
$GC,6590,-0.89,-146.0,400.1,-6.5,466,6592,0.17,0.00,0.00,0.000,6,0.138,0.000,2485,2235,3253
$GC,6916,-0.95,-146.0,415.8,-4.7,474,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2235,3254
$GC,7240,-1.02,-146.0,430.2,-4.4,482,7245,0.12,2.30,0.00,0.000,4,0.081,0.053,2431,823,3255
$GC,7348,-0.84,-146.0,436.5,-6.8,484,7352,0.28,2.35,0.00,0.000,6,0.130,0.056,2503,2238,3255
$GC,7691,-0.97,-146.0,449.4,-3.7,493,7692,0.12,0.00,0.00,0.000,6,0.080,0.000,2449,2238,3255
$GC,8016,-0.90,-146.0,465.5,-5.0,501,8017,0.12,0.00,0.00,0.000,6,0.145,0.000,2483,2238,3255
$GC,8341,-0.97,-146.0,479.8,-4.4,509,8345,0.00,2.30,0.00,0.000,4,0.000,0.054,2482,828,3255
$GC,8419,-0.97,-146.0,483.7,-5.0,510,8423,0.00,2.35,0.00,0.000,6,0.000,0.054,2475,2243,3255
$GC,8757,-0.97,-146.0,500.2,-5.1,519,8758,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2243,3255
$GC,9082,-0.97,-146.0,518.0,-5.5,527,9083,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2243,3256
$GC,9406,-0.97,-146.0,535.0,-5.2,535,9410,0.00,2.30,0.00,0.000,4,0.000,0.054,2475,822,3256
$GC,9485,-0.97,-146.0,539.3,-5.5,536,9489,0.00,2.28,0.00,0.000,6,0.000,0.054,2465,2248,3256
$GC,9822,-0.97,-146.0,555.8,-4.9,545,9823,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2248,3256
$GC,10147,-0.97,-146.0,572.1,-5.1,553,10148,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2248,3256
$GC,10472,-0.97,-146.0,587.7,-4.9,561,10473,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2248,3256
$GC,10797,-0.97,-146.0,603.3,-4.8,569,10798,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2248,3256
$GC,11122,-0.97,-146.0,618.6,-4.6,577,11123,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2248,3256
$STATE,11443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11444,begin apogee
$GC,11452,-0.31,0.0,635.1,5.1,585,11583,0.47,0.00,128.40,1.202,6,0.121,0.000,2614,1738,2650
$STATE,11584,end apogee,CONTROL_FINISHED_OK
$STATE,11584,begin climb
$GC,11587,0.99,146.0,635.7,0.0,588,11728,0.90,2.67,132.20,1.130,4,0.096,0.059,2900,3148,2053
$GC,11735,0.68,146.0,621.4,12.4,592,11740,0.32,2.50,0.00,0.000,6,0.132,0.042,2824,1733,2051
$GC,12054,0.68,146.0,595.1,8.0,600,12058,0.00,2.45,0.00,0.000,4,0.000,0.060,2824,3161,2047
$GC,12070,0.68,146.0,593.7,8.0,600,12074,0.00,2.33,0.00,0.000,6,0.000,0.044,2832,1724,2046
$GC,12382,0.68,146.0,567.9,8.3,608,12387,0.00,2.38,0.00,0.000,4,0.000,0.060,2831,3158,2046
$GC,12417,0.57,146.0,564.7,9.1,608,12421,0.15,2.28,0.00,0.000,6,0.131,0.044,2800,1723,2045
$GC,12754,0.70,161.2,542.4,6.5,617,12770,0.12,0.00,12.88,1.052,6,0.071,0.000,2860,1723,1992
$GC,13079,0.58,161.2,510.9,9.6,625,13084,0.20,2.38,0.00,0.000,4,0.122,0.059,2800,3151,1991
$GC,13113,0.58,161.2,508.1,7.1,625,13119,0.00,2.25,0.00,0.000,6,0.000,0.044,2807,1723,1991
$GC,13445,0.72,191.6,487.6,6.0,634,13480,0.10,2.42,27.48,1.097,4,0.079,0.060,2858,3148,1867
$GC,13498,0.58,191.6,482.8,9.7,635,13502,0.22,2.25,0.00,0.000,6,0.126,0.044,2802,1733,1865
$GC,13812,0.78,223.5,463.4,6.0,643,13843,0.17,0.00,28.38,1.073,6,0.061,0.000,2881,1733,1738
$GC,14135,0.64,223.5,427.1,11.5,651,14137,0.22,0.00,0.00,0.000,6,0.120,0.000,2813,1733,1731
$GC,14461,0.79,235.2,404.5,6.6,659,14477,0.15,2.38,10.62,0.965,4,0.066,0.060,2881,3152,1691
$GC,14506,0.57,235.2,399.7,12.0,660,14511,0.30,2.25,0.00,0.000,6,0.127,0.046,2801,1740,1689
$GC,14832,0.84,274.1,379.9,5.8,675,14870,0.20,0.00,35.40,1.036,6,0.061,0.000,2892,1740,1532
$GC,15178,0.69,274.1,338.2,12.0,692,15180,0.22,0.00,0.00,0.000,6,0.120,0.000,2823,1740,1525
$GC,15490,0.85,279.2,316.6,6.9,707,15497,0.15,0.00,4.43,0.699,6,0.065,0.000,2892,1740,1511
$GC,15797,0.71,279.2,278.4,12.9,722,15801,0.20,2.30,0.00,0.000,4,0.120,0.058,2835,327,1510
$GC,15814,0.66,279.2,276.5,12.2,723,15818,0.00,2.25,0.00,0.000,6,0.000,0.048,2835,1753,1510
$GC,16149,0.79,279.2,250.9,7.6,739,16153,0.00,2.20,0.00,0.000,4,0.000,0.062,2834,3144,1510
$GC,16188,0.79,279.2,247.4,9.1,740,16194,0.00,2.22,0.00,0.000,6,0.000,0.044,2844,1731,1509
$GC,16504,0.88,279.2,222.6,7.9,756,16506,0.10,0.00,0.00,0.000,6,0.083,0.000,2893,1731,1509
$GC,16814,0.78,279.2,188.8,11.1,771,16816,0.17,0.00,0.00,0.000,6,0.120,0.000,2840,1731,1509
$GC,17124,0.92,279.2,166.0,7.0,786,17126,0.15,0.00,0.00,0.000,6,0.069,0.000,2907,1731,1508
$GC,17433,0.79,279.2,130.2,12.1,801,17437,0.20,2.30,0.00,0.000,4,0.121,0.060,2840,3150,1509
$GC,17466,0.79,279.2,126.7,9.0,802,17472,0.00,2.25,0.00,0.000,6,0.000,0.045,2846,1730,1508
$GC,17784,0.95,280.5,103.1,7.0,818,17785,0.12,0.00,0.00,0.000,6,0.074,0.000,2908,1730,1508
$GC,18115,0.87,280.5,64.9,11.5,872,18121,0.15,0.00,0.00,0.000,6,0.123,0.000,2862,1730,1508
$GC,18461,1.10,314.0,40.2,5.9,933,18497,0.17,0.00,31.67,0.860,6,0.066,0.000,2941,1730,1369
$FREEZE,6.95,0.236,-1.822
$FREEZE,6.26,0.236,-1.821
$FREEZE,5.56,0.236,-1.821
$FREEZE,4.83,0.235,-1.820
$FREEZE,4.11,0.236,-1.820
$FREEZE,3.42,0.236,-1.819
$FREEZE,2.78,0.236,-1.819
$STATE,18822,end climb,SURFACE_DEPTH_REACHED
$STATE,18824,begin surface coast
$FREEZE,2.18,0.235,-1.818
$FREEZE,1.85,0.234,-1.818
$FREEZE,1.27,0.232,-1.818
$FREEZE,1.34,0.070,-0.672
$FINISH,1.3,1.009885
$STATE,18847,end surface coast,CONTROL_FINISHED_OK
$STATE,18847,begin surface
$SM_CCo,18926,0.00,0.000,0,0,1357,316.93
$SM_GC,2.12,7.00,0.00,0.00,0.049,0.000,0.000,329,2234,1357,-10.70,0.11,316.93
$RAFOS_CLK,761
$RAFOS,4,1228452243,4.750000,4.734167,62,60,55,54,52,51,193,210,116,174,227,134
$RAFOS,3,1228451645,4.583333,4.568056,66,59,58,51,51,50,184,196,224,136,288,150
$RAFOS,2,1228451047,4.416667,4.401945,67,59,59,55,52,51,201,188,221,143,132,172
$RAFOS,1,1228450474,4.250000,4.242778,64,63,55,55,54,51,169,190,135,225,208,1880
$RAFOS,0,1228449866,4.083333,4.073889,63,59,57,56,54,54,198,219,138,175,161,230
$RAFOS,4,1228437853,0.750000,0.736944,62,59,56,49,48,48,213,222,179,122,163,188
$RAFOS,3,1228437244,0.583333,0.567778,53,53,53,51,48,47,166,187,207,884,146,133
$RAFOS,2,1228436646,0.416667,0.401667,60,58,55,52,51,50,201,218,187,138,170,231
$RAFOS_FIX,6554.833984,-5724.625000,041208,161656,2,103,0.66
$IRIDIUM_FIX,6527.51,-5722.85,010398,000022
$TT8_MAMPS,0.026845
$HUMID,1789
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,16.00
$XPDR_PINGS,143
$24V_AH,22.1,69.741
$10V_AH,10.5,31.631
$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,24.100,93.450,411.450,0.000,0.000,74.044,107.505,482.201,35.750,0.000,0.000,19.032,1856.351,14644.923,531.766,1816.988,1007.597,0.000,1480.862,0.000,1797.241,2880.000,0.532,0.000
$DEVICE_MAMPS,249.275,83.603,1201.889,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,697.368,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31569,1001
$CAP_FILE_SIZE,143496,0
$CFSIZE,260165632,224108544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.0
$GPS,051208,053157,6555.146,-5715.458,43,1.2,43,-36.2