version: 66.04
glider: 108
mission: 11
dive: 11
start: 9 6 108 16 48 35
data:
$ID,108
$MISSION,11
$DIVE,11
$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,330
$T_MISSION,396
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-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,375
$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,-111409.8
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,2661
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16.299999
$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,2100
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,588
$VBD_MAX,3951
$C_VBD,2959
$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
$GPS1,164038,6643.355,-6015.862,36,1.4,36,-38.0
$_CALLS,1
$_XMS_NAKs,38
$_XMS_TOUTs,1
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-68.0
$GPS2,164815,6643.301,-6015.799,11,1.2,11,-38.0
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,2000.000
$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,282.1,20071,-18.1,-10.000
$D_GRID,535
$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,14,-1.29,-146.0,0.0,0.0,0,75,0.00,0.00,-59.00,0.000,2,0.000,0.000,336,2102,2751
$GC,77,-1.29,-146.0,3.3,-2.7,7,112,8.57,2.33,-20.12,0.000,4,0.262,0.091,2363,3513,3557
$GC,352,-1.11,-146.0,57.1,-17.4,56,362,0.17,2.30,0.00,0.000,6,0.162,0.057,2416,2099,3562
$GC,680,-1.11,-146.0,103.1,-13.7,115,684,0.00,2.35,0.00,0.000,4,0.000,0.079,2407,3516,3563
$GC,932,-1.11,-146.0,138.2,-13.4,138,936,0.00,2.25,0.00,0.000,6,0.000,0.057,2407,2095,3563
$GC,1264,-1.11,-146.0,180.8,-12.9,169,1268,0.00,2.35,0.00,0.000,4,0.000,0.080,2397,3524,3562
$GC,1409,-1.11,-146.0,200.5,-14.3,182,1413,0.10,2.25,0.00,0.000,6,0.170,0.056,2422,2095,3563
$GC,1736,-1.17,-146.0,241.8,-12.2,212,1740,0.00,2.35,0.00,0.000,4,0.000,0.095,2413,3524,3562
$GC,1880,-1.23,-146.0,260.5,-12.5,225,1884,0.00,2.25,0.00,0.000,6,0.000,0.057,2413,2094,3562
$GC,2212,-1.29,-146.0,300.4,-11.9,256,2217,0.12,2.35,0.00,0.000,4,0.097,0.091,2356,3524,3561
$GC,2288,-1.18,-146.0,311.9,-14.6,262,2297,0.15,2.28,0.00,0.000,6,0.165,0.057,2402,2094,3561
$GC,2614,-1.18,-146.0,349.7,-11.2,293,2618,0.00,2.33,0.00,0.000,4,0.000,0.081,2394,3518,3560
$GC,2770,-1.18,-146.0,369.3,-11.6,307,2779,0.00,2.25,0.00,0.000,6,0.000,0.058,2394,2104,3561
$GC,3097,-1.18,-146.0,408.6,-12.3,338,3101,0.00,2.30,0.00,0.000,4,0.000,0.081,2384,3514,3560
$GC,3232,-1.18,-146.0,426.0,-12.3,350,3241,0.00,2.25,0.00,0.000,6,0.000,0.058,2384,2098,3560
$GC,3560,-1.18,-146.0,465.4,-12.0,381,3564,0.00,2.33,0.00,0.000,4,0.000,0.081,2374,3524,3560
$GC,3651,-1.18,-146.0,477.8,-13.5,389,3661,0.10,2.25,0.00,0.000,6,0.160,0.054,2404,2100,3560
$GC,3978,-1.25,-146.0,512.7,-10.5,420,3982,0.00,2.30,0.00,0.000,4,0.000,0.080,2396,3513,3560
$GC,4100,-1.31,-146.0,526.9,-11.6,431,4104,0.00,2.22,0.00,0.000,6,0.000,0.057,2396,2088,3561
$STATE,4175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4176,begin apogee
$GC,4179,-0.31,0.0,535.6,11.2,438,4309,0.60,0.00,120.40,1.206,6,0.141,0.000,2589,1842,2958
$STATE,4310,end apogee,CONTROL_FINISHED_OK
$STATE,4310,begin climb
$GC,4311,1.29,146.0,540.2,0.0,451,4444,1.08,2.55,122.80,1.136,4,0.098,0.073,2949,448,2362
$GC,4470,0.97,146.0,530.6,12.0,463,4475,0.30,2.45,0.00,0.000,6,0.158,0.060,2871,1848,2360
$GC,4796,0.93,169.8,501.1,8.9,493,4824,0.00,2.50,20.20,1.085,4,0.000,0.071,2880,445,2265
$GC,4838,0.90,190.5,497.2,9.1,496,4865,0.00,2.42,18.67,1.062,6,0.000,0.061,2879,1859,2181
$GC,5180,0.90,190.5,461.3,10.4,528,5184,0.00,2.42,0.00,0.000,4,0.000,0.073,2890,447,2177
$GC,5232,0.84,190.5,456.1,10.8,532,5236,0.17,2.35,0.00,0.000,6,0.149,0.061,2843,1850,2177
$GC,5558,0.99,229.6,428.7,8.2,562,5598,0.12,2.45,32.78,1.100,4,0.090,0.073,2899,446,2022
$GC,5669,0.99,229.6,416.5,11.9,571,5678,0.08,2.42,0.00,0.000,6,0.146,0.061,2876,1850,2020
$GC,5996,1.00,237.3,384.2,9.6,602,6008,0.00,2.47,7.20,0.927,4,0.000,0.072,2884,442,1991
$GC,6023,1.02,250.0,381.3,9.4,604,6047,0.00,2.40,12.62,1.005,6,0.000,0.061,2884,1848,1938
$GC,6362,1.02,250.0,347.2,10.1,636,6365,0.00,2.38,0.00,0.000,4,0.000,0.072,2894,449,1935
$GC,6376,1.02,250.0,345.3,10.5,637,6387,0.00,2.38,0.00,0.000,6,0.000,0.059,2894,1854,1935
$GC,6704,1.02,250.0,311.1,11.1,668,6708,0.00,2.38,0.00,0.000,4,0.000,0.073,2905,445,1935
$GC,6723,1.02,250.0,308.9,10.9,669,6728,0.10,2.33,0.00,0.000,6,0.159,0.061,2880,1850,1935
$GC,7051,1.07,253.6,275.7,9.8,699,7064,0.00,2.40,3.75,0.676,4,0.000,0.074,2888,449,1925
$GC,7080,1.16,266.7,272.5,9.4,701,7104,0.05,2.35,12.93,0.983,6,0.092,0.061,2918,1857,1870
$GC,7421,1.11,266.7,232.5,11.5,733,7425,0.00,2.38,0.00,0.000,4,0.000,0.074,2929,446,1867
$GC,7450,1.11,266.7,229.1,12.0,735,7455,0.12,2.33,0.00,0.000,6,0.159,0.061,2897,1857,1867
$GC,7776,1.17,275.5,198.1,9.6,765,7792,0.00,2.38,8.32,0.907,4,0.000,0.073,2906,445,1835
$GC,7805,1.24,284.2,195.3,9.6,767,7820,0.10,2.33,8.60,0.893,6,0.098,0.061,2946,1852,1800
$GC,8136,1.15,284.2,154.7,12.1,798,8141,0.15,2.38,0.00,0.000,4,0.157,0.073,2914,445,1797
$GC,8167,1.20,284.2,150.9,10.7,800,8176,0.00,2.35,0.00,0.000,6,0.000,0.061,2914,1849,1797
$GC,8495,1.21,285.8,118.3,9.9,831,8498,0.00,2.35,0.00,0.000,4,0.000,0.074,2923,447,1796
$GC,8551,1.21,285.8,112.7,10.1,836,8555,0.00,2.33,0.00,0.000,6,0.000,0.063,2923,1860,1797
$GC,8877,1.21,285.8,80.5,10.5,885,8886,0.00,2.40,0.00,0.000,4,0.000,0.076,2934,445,1796
$GC,8903,1.21,285.8,77.4,11.3,889,8913,0.00,2.35,0.00,0.000,6,0.000,0.064,2934,1855,1796
$GC,9233,1.21,289.0,43.8,9.9,950,9243,0.00,2.42,5.00,0.765,4,0.000,0.077,2944,446,1780
$GC,9288,1.21,289.0,38.1,10.8,959,9296,0.00,2.35,0.00,0.000,6,0.000,0.064,2944,1853,1779
$GC,9618,1.42,368.0,13.9,6.4,1020,9692,0.10,2.47,66.30,0.911,4,0.101,0.076,2992,442,1457
$STATE,9741,end climb,SURFACE_DEPTH_REACHED
$STATE,9741,begin surface coast
$FINISH,1.3,1.024765
$STATE,9754,end surface coast,CONTROL_FINISHED_OK
$STATE,9754,begin surface
$SM_CCo,9770,3.62,0.570,0,0,1430,375.06
$SM_GC,2.99,0.00,0.00,3.62,0.000,0.000,0.570,344,2105,1430,-10.66,0.14,375.06
$RAFOS_CLK,361
$RAFOS,3,1220718843,16.583334,16.567499,58,58,57,54,54,53,188,206,162,142,129,174
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6016.65,011297,131323
$TT8_MAMPS,0.026845
$HUMID,1807
$INTERNAL_PRESSURE,9.87343
$TCM_TEMP,15.30
$XPDR_PINGS,134
$24V_AH,23.4,7.182
$10V_AH,10.5,2.497
$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,19.675,113.950,439.575,3.625,0.000,22.235,31.800,311.086,33.500,0.000,0.000,13.696,1838.081,3412.399,452.754,4053.216,480.050,0.000,1530.702,0.000,1764.768,0.000,0.533,0.000
$DEVICE_MAMPS,262.314,95.108,1205.724,569.881,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,729.417,3762.593,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34695,1040
$CAP_FILE_SIZE,110329,0
$CFSIZE,260165632,252465152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$SOUNDSPEED,1452.2
$CURRENT,0.085, 60.6,1
$GPS,060908,193247,6643.328,-6018.408,15,2.2,34,-38.0