version: 66.04
glider: 108
mission: 11
dive: 68
start: 9 18 108 1 50 35
data:
$ID,108
$MISSION,11
$DIVE,68
$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,470
$T_MISSION,530
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-3
$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,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0035999999
$HD_B,0.014
$HD_C,6.1000001e-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,275
$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,-112318.08
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,2657
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15.9
$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,26
$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,2895
$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
$GPS1,014438,6659.542,-5650.681,31,0.9,31,-37.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-69.8
$GPS2,014944,6659.560,-5650.682,9,1.7,14,-37.5
$SPEED_LIMITS,0.122,0.200
$TGT_NAME,TARGET_ADD4_WB
$TGT_LATLONG,6659.000,-5735.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.199,0.017
$KALMAN_X,4020.1,-248.5,358.2,64201.0,1986.8
$KALMAN_Y,1380.5,812.1,516.8,10132.1,-4069.6
$MHEAD_RNG_PITCHd_Wd,312.5,32109,-14.2,-7.021
$D_GRID,629
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.07,-146.0,0.0,0.0,0,78,0.00,0.00,-58.30,0.000,2,0.000,0.000,335,2241,2950
$GC,80,-1.07,-146.0,3.4,-2.2,10,111,8.68,2.38,-14.35,0.000,4,0.267,0.076,2429,818,3496
$GC,274,-0.86,-146.0,33.9,-12.8,44,281,0.20,2.33,0.00,0.000,6,0.147,0.059,2476,2234,3499
$GC,617,-0.86,-146.0,66.9,-9.7,105,624,0.00,2.20,0.00,0.000,4,0.000,0.073,2468,3595,3502
$GC,713,-0.86,-146.0,76.7,-10.2,122,720,0.00,2.17,0.00,0.000,6,0.000,0.048,2468,2204,3503
$GC,1064,-0.86,-146.0,110.2,-9.4,171,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2204,3503
$GC,1373,-0.86,-146.0,137.3,-8.4,186,1377,0.00,2.22,0.00,0.000,4,0.000,0.063,2468,818,3502
$GC,1463,-0.80,-146.0,145.2,-8.8,190,1468,0.10,2.33,0.00,0.000,6,0.154,0.062,2483,2236,3502
$GC,1795,-0.87,-146.0,172.1,-8.2,206,1799,0.00,2.20,0.00,0.000,4,0.000,0.075,2475,3605,3501
$GC,1923,-0.93,-146.0,183.8,-8.9,211,1930,0.00,2.15,0.00,0.000,6,0.000,0.052,2474,2222,3500
$GC,2238,-0.98,-146.0,209.4,-7.9,227,2240,0.12,0.00,0.00,0.000,6,0.086,0.000,2422,2222,3500
$GC,2548,-0.85,-146.0,241.6,-10.3,242,2550,0.17,0.00,0.00,0.000,6,0.151,0.000,2471,2222,3499
$GC,2857,-0.91,-146.0,264.6,-7.1,257,2858,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2222,3498
$GC,3168,-1.00,-146.0,287.3,-7.4,272,3170,0.12,0.00,0.00,0.000,6,0.087,0.000,2420,2222,3498
$GC,3476,-0.89,-146.0,316.5,-9.5,287,3480,0.15,2.25,0.00,0.000,4,0.152,0.063,2462,813,3497
$GC,3542,-0.89,-146.0,321.7,-7.4,290,3546,0.00,2.28,0.00,0.000,6,0.000,0.060,2455,2232,3497
$GC,3873,-0.89,-146.0,345.7,-7.5,306,3877,0.00,2.15,0.00,0.000,4,0.000,0.073,2444,3595,3497
$GC,3951,-0.89,-146.0,352.1,-8.4,309,3955,0.00,2.15,0.00,0.000,6,0.000,0.049,2444,2197,3497
$GC,4271,-0.89,-146.0,377.7,-7.9,325,4272,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2197,3498
$GC,4601,-0.89,-146.0,403.5,-7.7,340,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2197,3499
$GC,4925,-0.89,-146.0,428.3,-7.5,348,4927,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2197,3499
$GC,5251,-0.89,-146.0,452.0,-7.2,356,5254,0.00,2.17,0.00,0.000,4,0.000,0.061,2444,821,3499
$GC,5305,-0.89,-146.0,456.3,-7.7,357,5310,0.08,2.28,0.00,0.000,6,0.135,0.058,2460,2230,3499
$GC,5624,-0.96,-146.0,478.1,-6.9,365,5628,0.00,2.15,0.00,0.000,4,0.000,0.069,2452,3603,3500
$GC,5697,-1.01,-146.0,483.7,-7.5,366,5701,0.00,2.12,0.00,0.000,6,0.000,0.047,2452,2215,3500
$GC,6038,-1.01,-146.0,509.0,-7.4,375,6039,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2215,3501
$GC,6363,-1.01,-146.0,533.8,-7.6,383,6364,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2214,3502
$GC,6688,-1.01,-146.0,558.1,-7.5,391,6689,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2215,3503
$GC,7013,-1.01,-146.0,582.4,-7.4,399,7017,0.00,2.25,0.00,0.000,4,0.000,0.068,2441,3602,3503
$GC,7106,-1.01,-146.0,590.2,-8.3,401,7111,0.00,2.15,0.00,0.000,6,0.000,0.046,2441,2218,3503
$GC,7430,-1.01,-146.0,616.6,-8.1,409,7435,0.00,2.20,0.00,0.000,4,0.000,0.060,2441,824,3503
$GC,7491,-1.01,-146.0,622.0,-8.6,410,7495,0.00,2.28,0.00,0.000,6,0.000,0.057,2430,2231,3503
$STATE,7599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7599,begin apogee
$GC,7603,-0.31,0.0,631.5,8.7,413,7729,0.50,0.00,122.93,1.224,6,0.130,0.000,2590,1746,2895
$STATE,7730,end apogee,CONTROL_FINISHED_OK
$STATE,7730,begin climb
$GC,7732,1.07,146.0,633.9,0.0,416,7858,0.90,0.00,123.03,1.163,6,0.094,0.000,2888,1746,2299
$GC,8178,0.81,146.0,589.6,10.7,427,8180,0.20,0.00,0.00,0.000,6,0.133,0.000,2832,1746,2293
$GC,8502,0.73,146.0,564.4,7.5,435,8504,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1746,2293
$GC,8827,0.66,146.0,539.9,7.6,443,8832,0.12,2.33,0.00,0.000,4,0.143,0.064,2795,3148,2292
$GC,8848,0.60,146.0,538.3,7.3,443,8852,0.00,2.28,0.00,0.000,6,0.000,0.051,2803,1738,2291
$GC,9196,0.61,148.9,514.8,6.9,452,9197,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1737,2290
$GC,9520,0.61,148.9,491.5,7.1,460,9524,0.00,2.33,0.00,0.000,4,0.000,0.064,2803,3152,2290
$GC,9541,0.61,148.9,489.9,7.4,460,9547,0.08,2.30,0.00,0.000,6,0.137,0.051,2788,1731,2290
$GC,9890,0.73,180.8,468.6,6.0,469,9925,0.10,2.40,27.73,1.121,4,0.091,0.062,2828,3146,2157
$GC,9935,0.62,180.8,464.9,8.2,470,9940,0.12,2.33,0.00,0.000,6,0.129,0.050,2787,1737,2155
$GC,10259,0.77,206.2,444.7,6.2,478,10284,0.12,0.00,21.92,1.078,6,0.082,0.000,2839,1737,2054
$GC,10584,0.68,206.2,414.2,9.7,486,10586,0.15,0.00,0.00,0.000,6,0.129,0.000,2796,1737,2049
$GC,10890,0.79,210.7,392.7,6.9,496,10900,0.12,2.33,4.70,0.777,4,0.082,0.061,2848,3152,2036
$GC,10905,0.79,210.7,391.3,7.4,496,10912,0.10,2.30,0.00,0.000,6,0.134,0.048,2812,1735,2035
$GC,11220,0.79,210.7,365.7,8.0,512,11221,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1735,2035
$GC,11531,0.79,210.7,340.1,8.3,527,11535,0.00,2.33,0.00,0.000,4,0.000,0.062,2812,3153,2035
$GC,11553,0.79,210.7,338.1,8.8,528,11557,0.00,2.25,0.00,0.000,6,0.000,0.049,2819,1733,2034
$GC,11884,0.79,210.7,309.3,8.4,544,11886,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1733,2035
$GC,12194,0.79,210.7,284.2,8.1,559,12195,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1732,2035
$GC,12503,0.79,210.7,260.5,7.5,574,12507,0.00,2.33,0.00,0.000,4,0.000,0.062,2819,3162,2036
$GC,12529,0.79,210.7,258.2,7.9,575,12534,0.00,2.28,0.00,0.000,6,0.000,0.048,2829,1734,2035
$GC,12856,0.79,210.7,233.8,7.2,591,12857,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1734,2035
$GC,13165,0.84,210.7,211.6,7.2,606,13166,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1734,2036
$GC,13476,0.92,216.5,190.3,6.8,621,13485,0.10,0.00,6.65,0.819,6,0.088,0.000,2872,1734,2012
$GC,13784,0.84,216.5,163.4,8.5,636,13789,0.12,2.33,0.00,0.000,4,0.132,0.064,2836,3155,2011
$GC,13811,0.79,216.5,161.0,8.0,637,13815,0.00,2.25,0.00,0.000,6,0.000,0.050,2844,1726,2010
$GC,14132,0.85,216.5,137.6,7.5,653,14135,0.00,2.33,0.00,0.000,4,0.000,0.064,2844,3155,2011
$GC,14177,0.79,216.5,133.8,8.4,655,14181,0.12,2.25,0.00,0.000,6,0.137,0.051,2818,1728,2010
$GC,14508,1.01,250.2,113.5,5.9,671,14539,0.17,0.00,28.55,0.933,6,0.074,0.000,2888,1728,1875
$GC,14852,0.96,250.2,83.4,8.3,711,14858,0.10,2.33,0.00,0.000,4,0.140,0.067,2870,330,1868
$GC,14864,0.96,250.2,82.4,8.3,713,14871,0.00,2.30,0.00,0.000,6,0.000,0.051,2870,1748,1869
$GC,15208,1.04,272.8,58.9,6.3,774,15232,0.00,0.00,18.60,0.900,6,0.000,0.000,2870,1748,1782
$GC,15569,1.19,296.0,31.4,6.3,838,15595,0.15,2.35,20.02,0.890,4,0.077,0.068,2932,3151,1688
$GC,15617,1.19,296.0,27.8,7.7,846,15624,0.12,2.33,0.00,0.000,6,0.150,0.055,2909,1729,1685
$GC,15962,1.37,397.1,5.9,3.8,907,16004,0.15,0.00,39.60,0.879,2,0.081,0.000,2966,1728,1495
$STATE,16005,end climb,SURFACE_DEPTH_REACHED
$STATE,16005,begin surface coast
$FINISH,1.4,1.014097
$STATE,16044,end surface coast,CONTROL_FINISHED_OK
$STATE,16044,begin surface
$SM_CCo,16119,0.00,0.000,0,0,1487,345.38
$SM_GC,2.38,7.32,0.00,0.00,0.055,0.000,0.000,334,2240,1487,-10.59,0.28,345.38
$RAFOS_CLK,640
$RAFOS,4,1221713054,4.750000,4.737222,75,67,59,59,59,56,770,216,204,146,178,191
$RAFOS,3,1221712441,4.583333,4.566945,65,63,60,60,59,58,162,206,196,218,983,126
$RAFOS,2,1221711870,4.416667,4.408333,139,58,57,53,51,49,498,201,139,170,220,123
$RAFOS,1,1221711257,4.250000,4.238056,155,65,65,63,52,52,793,204,155,225,119,214
$RAFOS,0,1221710648,4.083333,4.068889,66,54,54,51,48,48,199,175,218,161,112,121
$RAFOS_FIX,6701.096680,-5659.142578,180908,040430,3,123,0.70
$IRIDIUM_FIX,6631.12,-5646.10,121297,212118
$TT8_MAMPS,0.026078
$HUMID,1853
$INTERNAL_PRESSURE,9.92226
$TCM_TEMP,15.70
$XPDR_PINGS,43
$24V_AH,23.4,16.389
$10V_AH,10.6,7.916
$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,20.525,92.225,413.725,0.000,0.000,23.271,30.472,142.251,10.750,0.000,0.000,16.263,1667.830,12279.638,527.624,1622.998,335.974,33.348,1391.129,0.000,1608.500,1800.000,0.532,0.000
$DEVICE_MAMPS,266.916,75.933,1224.132,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,641.862,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31498,921
$CAP_FILE_SIZE,117133,0
$CFSIZE,260165632,248737792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.0
$GPS,180908,062038,6659.533,-5656.835,31,1.1,31,-37.5