version: 66.04
glider: 108
mission: 11
dive: 638
start: 1 7 109 17 2 48
data:
$ID,108
$MISSION,11
$DIVE,638
$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,-2
$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,85
$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,-128243.59
$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,29
$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,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
$GPS1,122640,6620.144,-5910.898,0,2095.5,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.50
$_SM_ANGLEo,-5.1
$GPS2,122640,6620.144,-5910.898,0,2095.5,0,-38.0
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6621.084,-5844.078
$TGT_RADIUS,1852.000
$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,123.0,20000,-13.0,-7.021
$D_GRID,683
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-5.38,0.000,2,0.000,0.000,2700,1749,2637
$GC,29,-0.99,-146.0,13.2,-0.0,1,48,0.65,3.15,-13.02,0.000,4,0.068,0.080,2439,3601,3250
$GC,288,-0.80,-146.0,51.5,-14.5,46,295,0.22,2.20,0.00,0.000,6,0.148,0.049,2512,2220,3255
$GC,635,-0.80,-146.0,86.9,-8.2,107,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2220,3255
$GC,986,-0.80,-146.0,111.7,-6.4,147,989,0.00,2.30,0.00,0.000,4,0.000,0.073,2504,3598,3255
$GC,1026,-0.80,-146.0,115.1,-8.1,148,1032,0.00,2.17,0.00,0.000,6,0.000,0.049,2504,2223,3255
$GC,1343,-0.80,-146.0,139.0,-8.3,164,1347,0.00,2.28,0.00,0.000,4,0.000,0.063,2504,812,3255
$GC,1427,-0.80,-146.0,147.4,-10.0,167,1433,0.00,2.33,0.00,0.000,6,0.000,0.061,2494,2233,3255
$GC,1745,-0.80,-146.0,177.9,-9.5,183,1749,0.00,2.22,0.00,0.000,4,0.000,0.074,2484,3594,3254
$GC,1757,-0.80,-146.0,179.2,-9.2,183,1762,0.10,2.15,0.00,0.000,6,0.151,0.048,2508,2228,3254
$GC,2080,-0.87,-146.0,201.1,-5.3,199,2084,0.00,2.25,0.00,0.000,4,0.000,0.063,2508,821,3254
$GC,2093,-0.93,-146.0,201.7,-4.7,199,2098,0.10,2.30,0.00,0.000,6,0.082,0.061,2456,2233,3254
$GC,2416,-0.81,-146.0,226.0,-8.3,215,2420,0.17,2.25,0.00,0.000,4,0.148,0.074,2496,3601,3254
$GC,2434,-0.76,-146.0,227.5,-7.9,216,2437,0.00,2.17,0.00,0.000,6,0.000,0.049,2496,2215,3254
$GC,2769,-0.76,-146.0,251.8,-7.5,232,2772,0.00,2.22,0.00,0.000,4,0.000,0.063,2496,823,3254
$GC,2781,-0.76,-146.0,252.9,-7.4,232,2786,0.12,2.33,0.00,0.000,6,0.134,0.062,2520,2241,3254
$GC,3098,-0.89,-146.0,274.1,-6.3,247,3100,0.12,0.00,0.00,0.000,6,0.081,0.000,2466,2241,3253
$GC,3408,-0.84,-146.0,295.5,-6.4,262,3413,0.12,2.25,0.00,0.000,4,0.146,0.076,2491,3607,3253
$GC,3449,-0.91,-146.0,298.0,-5.8,264,3453,0.00,2.17,0.00,0.000,6,0.000,0.051,2491,2228,3254
$GC,3783,-0.91,-146.0,318.6,-6.3,280,3787,0.00,2.28,0.00,0.000,4,0.000,0.063,2491,811,3254
$GC,3835,-0.91,-146.0,322.2,-6.8,282,3839,0.00,2.33,0.00,0.000,6,0.000,0.061,2481,2232,3253
$GC,4163,-0.91,-146.0,344.4,-6.8,298,4166,0.00,2.22,0.00,0.000,4,0.000,0.074,2471,3598,3254
$GC,4225,-0.91,-146.0,349.1,-7.6,300,4231,0.00,2.17,0.00,0.000,6,0.000,0.050,2470,2215,3254
$GC,4543,-0.91,-146.0,371.8,-7.0,316,4546,0.00,2.25,0.00,0.000,4,0.000,0.062,2471,823,3254
$GC,4555,-0.91,-146.0,372.8,-6.9,316,4560,0.10,2.33,0.00,0.000,6,0.140,0.061,2486,2243,3254
$GC,4872,-0.91,-146.0,391.6,-5.8,331,4875,0.00,2.33,0.00,0.000,4,0.000,0.061,2486,823,3255
$GC,4884,-0.91,-146.0,392.4,-5.6,331,4888,0.00,2.33,0.00,0.000,6,0.000,0.061,2479,2243,3254
$GC,5224,-0.91,-146.0,414.1,-6.5,343,5225,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2243,3255
$GC,5548,-0.91,-146.0,434.9,-6.1,351,5550,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2243,3255
$GC,5873,-0.91,-146.0,453.9,-5.8,359,5877,0.00,2.38,0.00,0.000,4,0.000,0.061,2479,814,3256
$GC,5903,-0.91,-146.0,455.8,-6.8,359,5907,0.00,2.33,0.00,0.000,6,0.000,0.059,2469,2242,3255
$GC,6246,-0.91,-146.0,477.8,-6.3,368,6250,0.00,2.33,0.00,0.000,4,0.000,0.060,2469,821,3256
$GC,6269,-0.86,-146.0,479.5,-7.2,368,6274,0.12,2.33,0.00,0.000,6,0.132,0.059,2493,2245,3256
$GC,6614,-0.95,-146.0,498.0,-5.6,377,6618,0.00,2.35,0.00,0.000,4,0.000,0.059,2494,809,3256
$GC,6638,-1.01,-146.0,499.5,-5.6,377,6643,0.10,2.33,0.00,0.000,6,0.081,0.058,2442,2233,3256
$GC,6981,-0.91,-146.0,524.4,-7.3,386,6986,0.15,2.25,0.00,0.000,4,0.144,0.071,2475,3604,3256
$GC,6994,-0.83,-146.0,525.3,-7.3,386,6998,0.10,2.17,0.00,0.000,6,0.140,0.046,2501,2212,3256
$GC,7308,-0.96,-146.0,543.1,-5.6,394,7312,0.12,2.22,0.00,0.000,4,0.082,0.058,2446,829,3257
$GC,7325,-0.96,-146.0,544.4,-6.0,394,7330,0.15,2.33,0.00,0.000,6,0.131,0.058,2478,2234,3257
$GC,7640,-0.96,-146.0,563.6,-6.0,402,7641,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2234,3257
$GC,7964,-0.96,-146.0,582.1,-5.6,410,7968,0.00,2.28,0.00,0.000,4,0.000,0.071,2469,3598,3257
$GC,7981,-0.96,-146.0,583.3,-5.9,410,7985,0.00,2.17,0.00,0.000,6,0.000,0.045,2469,2216,3257
$GC,8296,-0.96,-146.0,601.3,-5.7,418,8297,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2215,3257
$GC,8622,-0.96,-146.0,619.9,-5.5,426,8623,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2215,3258
$GC,8946,-0.96,-146.0,638.3,-5.7,434,8947,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2215,3258
$GC,9271,-0.96,-146.0,657.2,-5.9,442,9275,0.00,2.28,0.00,0.000,4,0.000,0.058,2469,815,3258
$GC,9322,-0.96,-146.0,660.2,-5.9,443,9326,0.00,2.33,0.00,0.000,6,0.000,0.058,2459,2234,3258
$GC,9648,-0.96,-146.0,679.7,-6.0,451,9649,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2233,3258
$STATE,9724,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9724,begin apogee
$GC,9733,-0.31,0.0,684.7,6.1,453,9868,0.47,0.00,131.85,1.255,6,0.105,0.000,2616,1733,2650
$STATE,9869,end apogee,CONTROL_FINISHED_OK
$STATE,9869,begin climb
$GC,9873,0.99,146.0,685.1,0.0,456,10014,0.85,0.00,137.52,1.176,6,0.078,0.000,2897,1733,2054
$GC,10326,0.77,146.0,641.7,10.4,467,10327,0.20,0.00,0.00,0.000,6,0.130,0.000,2840,1733,2048
$GC,10646,0.77,146.0,617.3,7.3,475,10650,0.00,2.42,0.00,0.000,4,0.000,0.065,2840,3162,2046
$GC,10698,0.66,146.0,613.0,8.9,476,10703,0.12,2.30,0.00,0.000,6,0.133,0.049,2814,1731,2045
$GC,11013,0.81,184.7,594.3,5.8,484,11051,0.15,0.00,33.83,1.168,6,0.065,0.000,2884,1730,1896
$GC,11377,0.67,184.7,558.6,10.1,493,11382,0.20,2.38,0.00,0.000,4,0.123,0.063,2819,3157,1891
$GC,11428,0.67,184.7,554.3,7.9,494,11432,0.00,2.28,0.00,0.000,6,0.000,0.048,2825,1734,1890
$GC,11749,0.78,203.4,533.7,6.4,502,11767,0.08,0.00,16.50,1.101,6,0.091,0.000,2871,1734,1820
$GC,12073,0.71,203.4,504.7,9.1,510,12079,0.15,2.35,0.00,0.000,4,0.120,0.064,2826,3158,1817
$GC,12131,0.71,203.4,499.8,7.7,511,12135,0.00,2.25,0.00,0.000,6,0.000,0.049,2834,1734,1816
$GC,12453,0.80,215.7,478.0,6.6,519,12466,0.00,0.00,11.70,1.038,6,0.000,0.000,2834,1734,1770
$GC,12779,0.90,227.9,456.4,6.6,527,12799,0.15,2.40,12.57,1.034,4,0.068,0.064,2905,3146,1720
$GC,12839,0.65,227.9,449.7,12.3,528,12844,0.32,2.28,0.00,0.000,6,0.130,0.047,2818,1725,1719
$GC,13189,0.91,262.2,428.6,5.9,537,13230,0.20,2.38,31.75,1.077,4,0.059,0.062,2929,331,1581
$GC,13261,0.77,262.2,421.2,11.4,538,13266,0.30,2.33,0.00,0.000,6,0.127,0.052,2839,1738,1580
$GC,13599,0.96,286.2,398.8,6.2,547,13629,0.17,2.40,22.35,1.039,4,0.061,0.064,2922,3161,1484
$GC,13729,0.74,286.2,383.2,13.8,552,13736,0.32,2.30,0.00,0.000,6,0.127,0.048,2834,1730,1479
$GC,14046,0.99,312.7,361.7,6.2,568,14077,0.20,2.38,24.40,1.023,4,0.060,0.062,2946,311,1375
$GC,14114,0.85,312.7,354.1,12.6,571,14119,0.30,2.38,0.00,0.000,6,0.128,0.050,2857,1754,1374
$GC,14441,0.99,312.7,329.6,7.2,587,14446,0.12,2.28,0.00,0.000,4,0.070,0.064,2918,3164,1370
$GC,14505,0.79,312.7,322.3,13.1,590,14510,0.28,2.28,0.00,0.000,6,0.126,0.048,2846,1726,1369
$GC,14839,1.03,329.0,298.8,6.5,606,14861,0.20,2.30,14.93,0.967,4,0.062,0.062,2956,323,1308
$GC,14914,0.92,329.0,290.1,12.4,609,14919,0.28,2.30,0.00,0.000,6,0.129,0.051,2874,1756,1307
$GC,15242,1.02,329.0,264.3,7.4,625,15247,0.10,2.28,0.00,0.000,4,0.078,0.065,2924,3162,1304
$GC,15321,0.84,329.0,254.5,13.0,628,15329,0.25,2.28,0.00,0.000,6,0.125,0.049,2860,1733,1304
$GC,15640,1.06,343.7,232.6,6.5,644,15663,0.17,2.33,14.02,0.938,4,0.065,0.064,2954,330,1248
$GC,15703,0.98,343.7,225.8,11.5,646,15710,0.22,2.33,0.00,0.000,6,0.127,0.051,2888,1742,1248
$GC,16021,1.08,343.7,201.7,7.9,662,16026,0.10,2.30,0.00,0.000,4,0.077,0.065,2939,3153,1245
$GC,16089,0.87,343.7,193.4,13.1,665,16094,0.28,2.25,0.00,0.000,6,0.127,0.049,2867,1738,1245
$GC,16412,1.14,382.2,171.5,5.8,681,16455,0.20,2.35,35.15,0.956,4,0.062,0.064,2971,329,1092
$GC,16502,1.05,382.2,161.6,11.4,685,16507,0.22,2.30,0.00,0.000,6,0.128,0.051,2906,1746,1090
$GC,16831,1.16,382.2,135.3,8.2,701,16835,0.10,2.28,0.00,0.000,4,0.077,0.066,2956,3158,1086
$GC,16882,0.99,382.2,129.2,11.5,703,16887,0.25,2.28,0.00,0.000,6,0.128,0.051,2891,1734,1085
$GC,17199,1.26,421.7,109.6,5.8,718,17242,0.20,2.35,34.65,0.923,4,0.061,0.065,2994,323,930
$GC,17321,1.18,421.7,95.0,13.4,727,17328,0.22,2.35,0.00,0.000,6,0.127,0.054,2928,1752,927
$GC,17669,1.32,421.7,63.5,8.6,788,17675,0.12,2.28,0.00,0.000,4,0.072,0.067,2988,3156,923
$GC,17751,1.13,421.7,51.1,15.4,802,17758,0.25,2.28,0.00,0.000,6,0.131,0.053,2924,1735,922
$GC,18098,1.33,421.7,17.8,9.8,863,18105,0.15,2.30,0.00,0.000,4,0.068,0.064,3000,321,921
$FREEZE,6.78,-1.820,-1.794
$FREEZE,6.10,-1.822,-1.793
$FREEZE,5.29,-1.820,-1.792
$FREEZE,4.41,-1.819,-1.792
$FREEZE,3.59,-1.822,-1.791
$FREEZE,2.89,-1.825,-1.791
$STATE,18209,end climb,SURFACE_DEPTH_REACHED
$STATE,18209,begin surface coast
$FREEZE,2.24,-1.834,-1.774
$FREEZE,1.51,-1.834,-1.769
$FREEZE,1.52,-2.011,-1.667
$FREEZE,1.48,-1.977,-1.654
$FINISH,1.5,1.024338
$STATE,18232,end surface coast,CONTROL_FINISHED_OK
$STATE,18232,begin surface
$SM_CCo,18316,0.00,0.000,0,0,920,424.37
$SM_GC,2.20,7.28,0.00,0.00,0.056,0.000,0.000,335,2242,920,-10.67,0.34,424.37
$RAFOS_CLK,815
$RAFOS,4,1231361078,20.750000,20.743889,60,58,57,54,54,50,148,119,222,207,135,158
$RAFOS,3,1231360459,20.583334,20.571945,107,63,61,59,58,58,447,198,215,143,188,152
$RAFOS,2,1231359845,20.416666,20.401388,68,60,59,58,52,51,136,175,218,194,158,118
$RAFOS,1,1231359268,20.250000,20.241112,59,54,54,53,53,50,625,202,165,136,183,118
$RAFOS,0,1231358654,20.083334,20.070555,72,63,56,54,53,51,167,121,203,213,191,133
$RAFOS_FIX,6620.143555,-5910.897949,070109,121240,2,96,0.37
$IRIDIUM_FIX,6609.62,-6043.56,300398,121218
$TT8_MAMPS,0.026078
$HUMID,1821
$INTERNAL_PRESSURE,9.7953
$TCM_TEMP,15.30
$XPDR_PINGS,107
$24V_AH,21.3,97.072
$10V_AH,10.4,43.037
$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,17.675,167.425,521.225,0.000,0.000,0.000,0.000,0.000,26.750,0.000,0.000,0.000,1712.939,13923.230,597.081,1759.810,385.156,0.000,1593.222,0.000,1742.517,1800.000,0.531,0.000
$DEVICE_MAMPS,151.099,79.768,1254.812,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,621.006,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28392,886
$CAP_FILE_SIZE,142083,0
$CFSIZE,260165632,212955136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.8
$GPS,070109,220932,6614.924,-5908.790,37,1.7,37,-37.1
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581