version: 66.04
glider: 108
mission: 11
dive: 642
start: 1 8 109 13 22 53
data:
$ID,108
$MISSION,11
$DIVE,642
$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,-128427.43
$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,28
$R_STBD_OVSHOOT,24
$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
$GPS1,002640,6617.756,-5909.148,0,2099.0,0,-37.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,15.0
$GPS2,002640,6617.756,-5909.148,0,2099.0,0,-37.1
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6618.697,-5842.371
$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,122.1,20000,-13.0,-7.021
$D_GRID,671
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-0.99,-146.0,0.0,0.0,0,124,0.00,0.00,-104.20,0.000,6,0.000,0.000,2961,1743,3248
$GC,129,-0.99,-146.0,3.4,-2.8,19,136,1.55,3.03,0.00,0.000,4,0.123,0.071,2463,3596,3249
$GC,150,-2.05,-146.0,5.4,-6.6,22,158,0.65,2.17,0.00,0.000,6,0.056,0.048,2221,2205,3250
$GC,498,-1.12,-146.0,80.5,-22.1,83,505,0.75,2.22,0.00,0.000,4,0.187,0.061,2440,825,3250
$GC,536,-0.63,-146.0,85.9,-15.4,89,543,0.38,2.33,0.00,0.000,6,0.138,0.063,2541,2244,3251
$GC,882,-0.77,-146.0,110.8,-6.6,131,883,0.12,0.00,0.00,0.000,6,0.077,0.000,2486,2244,3251
$GC,1191,-0.77,-146.0,137.8,-9.0,146,1195,0.10,2.22,0.00,0.000,4,0.149,0.075,2503,3598,3251
$GC,1282,-0.85,-146.0,145.1,-7.4,150,1286,0.00,2.17,0.00,0.000,6,0.000,0.051,2504,2215,3251
$GC,1617,-0.85,-146.0,161.3,-3.6,166,1621,0.00,2.22,0.00,0.000,4,0.000,0.062,2504,818,3251
$GC,1643,-0.85,-146.0,162.3,-4.0,167,1647,0.00,2.33,0.00,0.000,6,0.000,0.062,2493,2241,3251
$GC,1977,-0.85,-146.0,178.4,-5.4,183,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2240,3250
$GC,2286,-0.85,-146.0,198.5,-7.0,198,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2241,3250
$GC,2595,-0.85,-146.0,220.7,-7.2,213,2599,0.00,2.30,0.00,0.000,4,0.000,0.063,2493,823,3250
$GC,2612,-0.85,-146.0,222.0,-6.8,213,2619,0.00,2.33,0.00,0.000,6,0.000,0.063,2484,2231,3250
$GC,2929,-0.85,-146.0,243.5,-6.3,229,2933,0.00,2.30,0.00,0.000,4,0.000,0.062,2483,817,3250
$GC,2977,-0.80,-146.0,246.5,-6.2,231,2982,0.12,2.33,0.00,0.000,6,0.135,0.063,2507,2232,3249
$GC,3305,-0.89,-146.0,260.7,-4.6,247,3309,0.00,2.30,0.00,0.000,4,0.000,0.061,2507,818,3249
$GC,3342,-0.94,-146.0,262.6,-4.8,248,3347,0.10,2.33,0.00,0.000,6,0.081,0.062,2455,2236,3249
$GC,3659,-0.87,-146.0,285.9,-7.4,263,3664,0.15,2.25,0.00,0.000,4,0.145,0.074,2488,3602,3249
$GC,3733,-0.95,-146.0,290.9,-6.5,266,3737,0.00,2.17,0.00,0.000,6,0.000,0.049,2488,2218,3249
$GC,4062,-0.99,-146.0,311.7,-6.3,282,4064,0.10,0.00,0.00,0.000,6,0.092,0.000,2443,2218,3249
$GC,4370,-0.90,-146.0,336.3,-8.1,297,4375,0.15,2.28,0.00,0.000,4,0.145,0.060,2487,814,3248
$GC,4394,-0.90,-146.0,338.1,-7.4,298,4397,0.00,2.33,0.00,0.000,6,0.000,0.059,2479,2239,3248
$GC,4728,-0.90,-146.0,360.5,-6.5,314,4732,0.00,2.22,0.00,0.000,4,0.000,0.071,2469,3594,3249
$GC,4746,-0.90,-146.0,361.7,-6.2,314,4752,0.00,2.15,0.00,0.000,6,0.000,0.045,2469,2220,3249
$GC,5062,-0.90,-146.0,383.3,-7.2,330,5066,0.00,2.22,0.00,0.000,4,0.000,0.058,2469,820,3250
$GC,5074,-0.90,-146.0,384.2,-7.3,330,5079,0.10,2.33,0.00,0.000,6,0.134,0.058,2485,2245,3250
$GC,5411,-0.95,-146.0,405.6,-6.3,344,5412,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2245,3251
$GC,5736,-1.00,-146.0,425.6,-6.2,352,5737,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2245,3252
$GC,6062,-1.05,-146.0,445.6,-6.0,360,6063,0.12,0.00,0.00,0.000,6,0.081,0.000,2432,2245,3253
$GC,6385,-0.91,-146.0,469.9,-7.5,368,6390,0.17,2.38,0.00,0.000,4,0.141,0.057,2487,820,3253
$GC,6397,-0.79,-146.0,470.8,-7.4,368,6402,0.12,2.38,0.00,0.000,6,0.127,0.056,2514,2240,3253
$GC,6712,-0.95,-146.0,486.6,-5.2,376,6714,0.15,0.00,0.00,0.000,6,0.072,0.000,2449,2240,3254
$GC,7036,-0.87,-146.0,508.8,-6.9,384,7038,0.15,0.00,0.00,0.000,6,0.142,0.000,2490,2240,3254
$GC,7361,-0.95,-146.0,526.0,-5.2,392,7365,0.00,2.28,0.00,0.000,4,0.000,0.071,2482,3605,3254
$GC,7374,-1.03,-146.0,526.6,-5.0,392,7378,0.10,2.17,0.00,0.000,6,0.086,0.044,2436,2221,3254
$GC,7694,-0.90,-146.0,547.6,-6.5,400,7696,0.17,0.00,0.00,0.000,6,0.132,0.000,2487,2221,3254
$GC,8019,-0.97,-146.0,564.3,-5.0,408,8022,0.00,2.25,0.00,0.000,4,0.000,0.058,2487,816,3254
$GC,8066,-0.97,-146.0,567.0,-6.2,409,8070,0.00,2.35,0.00,0.000,6,0.000,0.056,2480,2233,3254
$GC,8397,-0.97,-146.0,586.4,-5.8,417,8401,0.00,2.28,0.00,0.000,4,0.000,0.056,2480,825,3254
$GC,8426,-0.97,-146.0,588.3,-6.7,417,8430,0.00,2.35,0.00,0.000,6,0.000,0.056,2470,2241,3255
$GC,8771,-0.97,-146.0,609.6,-6.2,426,8774,0.00,2.35,0.00,0.000,4,0.000,0.056,2469,814,3254
$GC,8800,-0.97,-146.0,611.6,-6.7,426,8803,0.00,2.38,0.00,0.000,6,0.000,0.055,2460,2240,3254
$GC,9144,-1.11,-146.0,629.5,-4.2,435,9148,0.00,2.30,0.00,0.000,4,0.000,0.056,2459,818,3255
$STATE,9282,end dive,NO_VERTICAL_VELOCITY
$STATE,9282,begin apogee
$GC,9293,-0.31,0.0,629.6,0.0,438,9425,0.45,0.00,128.95,1.226,6,0.094,0.000,2613,1753,2650
$STATE,9425,end apogee,CONTROL_FINISHED_OK
$STATE,9425,begin climb
$GC,9429,0.99,146.0,629.2,0.0,441,9572,0.88,2.65,134.73,1.140,4,0.091,0.062,2895,3147,2054
$GC,9736,0.67,146.0,598.8,12.1,448,9741,0.30,2.35,0.00,0.000,6,0.132,0.046,2823,1746,2047
$GC,10063,0.78,173.9,578.1,6.1,456,10093,0.10,2.38,23.95,1.112,4,0.077,0.061,2886,336,1941
$GC,10134,0.68,173.9,571.5,10.3,457,10139,0.22,2.35,0.00,0.000,6,0.123,0.049,2820,1755,1940
$GC,10472,0.84,204.0,550.1,6.1,466,10506,0.15,2.40,26.80,1.119,4,0.066,0.064,2888,3152,1818
$GC,10591,0.61,204.0,537.2,12.9,468,10596,0.30,2.28,0.00,0.000,6,0.128,0.048,2810,1734,1815
$GC,10931,0.82,211.9,513.4,6.8,477,10945,0.15,2.38,7.38,0.946,4,0.065,0.061,2896,329,1786
$GC,10977,0.72,211.9,508.7,11.7,478,10982,0.22,2.28,0.00,0.000,6,0.126,0.049,2828,1748,1787
$GC,11302,0.85,211.9,483.4,7.3,486,11307,0.12,2.25,0.00,0.000,4,0.071,0.061,2890,3152,1785
$GC,11389,0.62,211.9,474.1,11.8,488,11394,0.30,2.25,0.00,0.000,6,0.127,0.048,2810,1734,1784
$GC,11714,1.05,246.7,454.8,5.9,496,11757,0.28,2.47,32.20,1.093,4,0.075,0.061,2917,3156,1643
$GC,11829,0.76,246.7,443.7,12.0,498,11834,0.30,2.30,0.00,0.000,6,0.128,0.048,2838,1732,1639
$GC,12175,0.88,258.2,421.3,6.7,507,12191,0.12,2.30,10.73,0.985,4,0.070,0.061,2913,334,1597
$GC,12232,0.77,258.2,414.9,12.3,508,12236,0.22,2.25,0.00,0.000,6,0.129,0.049,2846,1739,1597
$GC,12565,0.87,258.2,386.8,8.3,520,12569,0.08,2.30,0.00,0.000,4,0.091,0.062,2891,3154,1594
$GC,12661,0.68,258.2,375.4,12.0,524,12666,0.25,2.25,0.00,0.000,6,0.124,0.048,2826,1735,1593
$GC,12979,0.95,302.6,356.8,5.6,539,13025,0.20,2.35,40.92,1.039,4,0.061,0.062,2935,330,1416
$GC,13077,0.82,302.6,345.5,13.3,543,13082,0.28,2.28,0.00,0.000,6,0.127,0.050,2854,1746,1414
$GC,13400,0.92,302.6,321.7,7.1,559,13405,0.10,2.25,0.00,0.000,4,0.077,0.062,2905,3155,1409
$GC,13486,0.73,302.6,311.7,12.9,563,13491,0.28,2.28,0.00,0.000,6,0.126,0.048,2833,1726,1408
$GC,13815,0.98,311.1,289.4,6.7,579,13830,0.20,2.35,7.28,0.848,4,0.061,0.061,2941,320,1381
$GC,13876,0.82,311.1,281.8,14.1,581,13883,0.30,2.28,0.00,0.000,6,0.130,0.050,2851,1741,1381
$GC,14194,0.97,311.1,256.7,7.1,597,14198,0.15,2.25,0.00,0.000,4,0.064,0.061,2922,3153,1381
$GC,14261,0.74,311.1,248.3,14.7,600,14266,0.32,2.25,0.00,0.000,6,0.123,0.047,2833,1730,1380
$GC,14584,1.41,311.1,221.2,11.5,616,14589,0.43,2.30,0.00,0.000,4,0.086,0.059,2985,324,1378
$GC,14625,1.52,311.1,216.4,11.7,618,14630,0.10,2.28,0.00,0.000,6,0.091,0.048,3025,1746,1378
$GC,14953,1.11,311.1,151.3,18.1,634,14958,0.32,2.25,0.00,0.000,4,0.143,0.061,2925,3150,1379
$GC,15000,0.99,311.1,144.8,10.9,636,15004,0.15,2.25,0.00,0.000,6,0.127,0.046,2888,1733,1378
$GC,15322,1.08,311.1,122.7,7.1,652,15326,0.10,2.30,0.00,0.000,4,0.077,0.062,2953,324,1379
$GC,15395,1.00,311.1,114.6,11.4,655,15400,0.20,2.30,0.00,0.000,6,0.125,0.050,2894,1751,1379
$GC,15726,1.11,311.1,86.3,7.3,690,15733,0.10,2.25,0.00,0.000,4,0.076,0.065,2948,3147,1379
$GC,15780,0.91,311.1,81.7,9.1,699,15787,0.28,2.25,0.00,0.000,6,0.123,0.049,2874,1733,1378
$GC,16128,1.54,311.1,57.6,11.7,760,16135,0.40,2.30,0.00,0.000,4,0.099,0.062,3012,330,1378
$GC,16183,1.64,311.1,51.9,9.3,769,16190,0.08,2.28,0.00,0.000,6,0.101,0.053,3047,1744,1378
$FREEZE,6.88,-1.362,-1.807
$FREEZE,6.08,-1.371,-1.807
$FREEZE,5.08,-1.376,-1.806
$FREEZE,4.26,-1.383,-1.805
$FREEZE,3.40,-1.386,-1.805
$FREEZE,2.36,-1.388,-1.803
$STATE,16453,end climb,SURFACE_DEPTH_REACHED
$STATE,16453,begin surface coast
$FREEZE,2.10,-1.390,-1.803
$FREEZE,2.08,-1.393,-1.802
$FREEZE,2.21,-1.413,-1.803
$FINISH,2.2,1.026451
$STATE,16471,end surface coast,CONTROL_FINISHED_OK
$STATE,16475,begin surface
$RAFOS_CLK,728
$RAFOS,4,1231433060,16.750000,16.738890,61,59,58,58,55,52,220,251,187,211,175,198
$RAFOS,3,1231432480,16.583334,16.577778,115,55,54,50,48,48,396,120,190,151,220,205
$RAFOS,2,1231431857,16.416666,16.404722,60,58,56,52,51,50,221,174,139,191,161,125
$RAFOS,1,1231431278,16.250000,16.243889,60,58,57,56,51,50,192,153,211,226,167,779
$RAFOS,0,1231430643,16.083334,16.067499,60,56,54,54,53,50,214,227,147,170,185,134
$RAFOS_FIX,6617.756348,-5909.147949,080109,000040,2,99,0.64
$IRIDIUM_FIX,6548.42,-5913.15,030498,222244
$TT8_MAMPS,0.026845
$HUMID,1832
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,15.20
$XPDR_PINGS,84
$24V_AH,21.4,97.702
$10V_AH,10.4,43.292
$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,13.700,156.000,412.925,0.000,0.000,0.000,0.000,0.000,21.000,0.000,0.000,0.000,1626.334,12415.291,514.100,1752.164,351.109,0.000,1521.575,0.000,1730.127,1800.000,0.530,0.000
$DEVICE_MAMPS,187.148,75.166,1225.666,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,572.791,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28374,820
$CAP_FILE_SIZE,137744,0
$CFSIZE,260165632,212652032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.7
$GPS,080109,002640,6617.756,-5909.148,0,2099.0,0,-37.1
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,581