version: 66.04
glider: 108
mission: 11
dive: 212
start: 10 22 108 23 4 37
data:
$ID,108
$MISSION,11
$DIVE,212
$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,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$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,1
$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,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,-114786.95
$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,24
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,275
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,588
$VBD_MAX,3951
$C_VBD,2745
$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
$GPS1,225852,6641.290,-6009.716,41,2.2,60,-38.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-70.0
$GPS2,230344,6641.299,-6009.694,10,1.4,10,-38.0
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.224,0.065
$KALMAN_X,59205.1,-263.7,68.4,-170240.0,1181.2
$KALMAN_Y,-87864.7,1165.8,1187.2,61725.9,-6021.9
$MHEAD_RNG_PITCHd_Wd,324.1,24433,-13.0,-7.021
$D_GRID,559
$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,15,-1.00,-146.0,0.0,0.0,0,57,0.00,0.00,-40.30,0.000,2,0.000,0.000,338,2239,2405
$GC,60,-1.00,-146.0,3.1,-1.6,7,119,8.68,2.40,-41.53,0.000,4,0.253,0.083,2450,820,3344
$GC,265,-0.66,-146.0,26.6,-14.0,43,272,0.25,2.38,0.00,0.000,6,0.147,0.081,2512,2243,3348
$GC,610,-0.66,-146.0,58.9,-8.5,104,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2244,3348
$GC,953,-0.66,-146.0,85.7,-7.8,165,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2243,3349
$GC,1297,-0.66,-146.0,113.6,-8.3,205,1301,0.00,2.35,0.00,0.000,4,0.000,0.070,2513,812,3350
$GC,1380,-0.66,-146.0,120.7,-8.2,208,1387,0.00,2.35,0.00,0.000,6,0.000,0.072,2505,2237,3349
$GC,1696,-0.66,-146.0,145.0,-7.9,224,1697,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2237,3349
$GC,2005,-0.66,-146.0,166.6,-7.0,239,2009,0.00,2.25,0.00,0.000,4,0.000,0.084,2495,3603,3349
$GC,2083,-0.66,-146.0,172.8,-8.7,242,2087,0.00,2.20,0.00,0.000,6,0.000,0.058,2495,2214,3349
$GC,2403,-0.66,-146.0,199.1,-8.0,258,2407,0.00,2.25,0.00,0.000,4,0.000,0.071,2495,809,3348
$GC,2486,-0.66,-146.0,205.8,-7.6,261,2494,0.12,2.35,0.00,0.000,6,0.141,0.070,2518,2238,3348
$GC,2804,-0.77,-146.0,225.3,-6.4,277,2809,0.12,2.33,0.00,0.000,4,0.085,0.070,2467,817,3348
$GC,2888,-0.64,-146.0,232.6,-8.7,281,2893,0.22,2.33,0.00,0.000,6,0.143,0.071,2521,2239,3348
$GC,3220,-0.77,-146.0,252.8,-5.8,297,3222,0.12,0.00,0.00,0.000,6,0.088,0.000,2472,2239,3347
$GC,3530,-0.72,-146.0,276.3,-7.6,312,3531,0.12,0.00,0.00,0.000,6,0.153,0.000,2505,2239,3347
$GC,3839,-0.80,-146.0,294.2,-5.5,327,3843,0.10,2.22,0.00,0.000,4,0.097,0.084,2454,3602,3347
$GC,3911,-0.70,-146.0,299.8,-8.5,330,3915,0.20,2.17,0.00,0.000,6,0.151,0.058,2510,2227,3347
$GC,4239,-0.80,-146.0,318.3,-5.5,346,4243,0.12,2.25,0.00,0.000,4,0.087,0.070,2459,822,3347
$GC,4374,-0.67,-146.0,328.7,-7.4,352,4379,0.22,2.33,0.00,0.000,6,0.141,0.071,2514,2239,3347
$GC,4697,-0.82,-146.0,344.3,-4.7,368,4698,0.12,0.00,0.00,0.000,6,0.089,0.000,2464,2239,3347
$GC,5004,-0.75,-146.0,363.7,-6.3,383,5009,0.12,2.33,0.00,0.000,4,0.152,0.068,2500,818,3347
$GC,5100,-0.80,-146.0,369.4,-6.4,387,5104,0.00,2.35,0.00,0.000,6,0.000,0.068,2492,2241,3347
$GC,5415,-0.85,-146.0,389.0,-6.5,402,5419,0.00,2.25,0.00,0.000,4,0.000,0.083,2482,3605,3347
$GC,5510,-0.85,-146.0,396.0,-7.8,406,5514,0.00,2.20,0.00,0.000,6,0.000,0.056,2482,2218,3347
$GC,5853,-0.85,-146.0,418.5,-6.4,416,5857,0.00,2.25,0.00,0.000,4,0.000,0.069,2482,810,3347
$GC,5999,-0.85,-146.0,428.2,-6.5,419,6003,0.00,2.33,0.00,0.000,6,0.000,0.067,2471,2236,3347
$GC,6311,-0.85,-146.0,448.4,-6.4,427,6314,0.00,2.22,0.00,0.000,4,0.000,0.081,2461,3607,3347
$GC,6405,-0.85,-146.0,455.3,-7.0,429,6409,0.00,2.17,0.00,0.000,6,0.000,0.055,2461,2224,3347
$GC,6730,-0.80,-146.0,477.8,-6.7,437,6735,0.10,2.25,0.00,0.000,4,0.160,0.068,2487,816,3348
$GC,6830,-0.80,-146.0,484.3,-6.0,439,6834,0.00,2.33,0.00,0.000,6,0.000,0.067,2479,2231,3348
$GC,7149,-0.80,-146.0,503.4,-6.0,447,7153,0.00,2.22,0.00,0.000,4,0.000,0.080,2468,3597,3349
$GC,7227,-0.80,-146.0,508.4,-5.8,448,7231,0.00,2.15,0.00,0.000,6,0.000,0.054,2469,2221,3348
$GC,7564,-0.80,-146.0,529.4,-6.1,457,7568,0.00,2.22,0.00,0.000,4,0.000,0.067,2469,820,3349
$GC,7723,-0.73,-146.0,539.7,-6.5,460,7727,0.15,2.30,0.00,0.000,6,0.137,0.067,2500,2233,3349
$GC,8070,-0.86,-146.0,555.3,-3.8,469,8075,0.12,2.25,0.00,0.000,4,0.084,0.077,2439,3607,3349
$STATE,8151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8152,begin apogee
$GC,8160,-0.31,0.0,559.4,6.8,470,8288,0.45,0.00,123.78,1.230,6,0.132,0.000,2586,1733,2745
$STATE,8288,end apogee,CONTROL_FINISHED_OK
$STATE,8289,begin climb
$GC,8291,1.00,146.0,562.0,0.0,474,8425,0.88,2.60,126.93,1.151,4,0.100,0.071,2881,327,2149
$GC,8477,0.80,146.0,546.1,11.3,478,8482,0.20,2.53,0.00,0.000,6,0.133,0.058,2828,1746,2145
$GC,8819,0.80,146.0,517.2,8.5,487,8822,0.00,2.38,0.00,0.000,4,0.000,0.071,2828,3160,2142
$GC,8864,0.65,146.0,513.1,9.9,488,8869,0.15,2.38,0.00,0.000,6,0.137,0.057,2796,1733,2141
$GC,9188,0.77,166.2,491.5,6.4,496,9213,0.12,2.47,17.05,1.104,4,0.076,0.070,2851,3164,2066
$GC,9218,0.64,166.2,489.0,8.2,496,9223,0.22,2.35,0.00,0.000,6,0.133,0.056,2798,1738,2065
$GC,9549,0.80,196.6,468.5,6.0,504,9579,0.12,0.00,26.70,1.124,6,0.077,0.000,2853,1738,1943
$GC,9874,0.71,196.6,439.7,9.0,512,9879,0.15,2.40,0.00,0.000,4,0.128,0.071,2810,3164,1938
$GC,9885,0.63,196.6,438.8,8.8,512,9889,0.10,2.33,0.00,0.000,6,0.140,0.056,2791,1730,1938
$GC,10197,0.95,234.5,421.1,5.8,520,10239,0.20,2.47,32.55,1.111,4,0.077,0.070,2870,3155,1787
$GC,10314,0.69,234.5,410.5,11.0,522,10319,0.28,2.33,0.00,0.000,6,0.133,0.057,2801,1735,1782
$GC,10632,0.92,265.2,390.8,6.0,534,10662,0.17,0.00,27.23,1.083,6,0.067,0.000,2873,1735,1663
$GC,10961,0.79,265.2,356.0,10.8,550,10963,0.17,0.00,0.00,0.000,6,0.126,0.000,2822,1735,1655
$GC,11271,0.94,275.4,334.2,6.7,565,11286,0.15,2.35,8.75,0.960,4,0.074,0.072,2893,335,1622
$GC,11292,0.94,275.4,332.4,8.7,566,11297,0.12,2.30,0.00,0.000,6,0.134,0.057,2859,1746,1622
$GC,11625,0.94,275.4,301.4,9.2,582,11628,0.00,2.28,0.00,0.000,4,0.000,0.071,2859,3152,1620
$GC,11657,0.84,275.4,297.9,10.2,583,11662,0.12,2.28,0.00,0.000,6,0.137,0.056,2832,1727,1618
$GC,11979,0.98,287.5,275.9,6.6,599,11993,0.12,0.00,12.02,0.986,6,0.077,0.000,2885,1727,1572
$GC,12288,0.87,287.5,242.8,10.6,614,12293,0.15,2.33,0.00,0.000,4,0.129,0.071,2850,320,1569
$GC,12309,0.87,287.5,240.7,9.4,615,12313,0.00,2.33,0.00,0.000,6,0.000,0.058,2850,1744,1569
$GC,12636,0.95,287.5,215.0,7.7,631,12640,0.00,2.28,0.00,0.000,4,0.000,0.072,2850,3157,1567
$GC,12686,0.95,287.5,210.6,9.0,633,12690,0.00,2.30,0.00,0.000,6,0.000,0.058,2859,1729,1567
$GC,13013,1.02,287.5,184.6,7.9,649,13015,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1729,1567
$GC,13322,1.09,287.5,159.5,8.4,664,13324,0.12,0.00,0.00,0.000,6,0.085,0.000,2911,1729,1567
$GC,13633,0.96,287.5,122.9,11.4,679,13638,0.17,2.35,0.00,0.000,4,0.131,0.073,2860,3157,1567
$GC,13650,0.88,287.5,121.1,10.3,680,13654,0.00,2.30,0.00,0.000,6,0.000,0.059,2866,1737,1567
$GC,13982,1.02,309.0,99.1,6.3,696,14007,0.00,2.40,19.35,0.962,4,0.000,0.075,2870,334,1485
$GC,14013,1.18,328.6,97.1,6.4,701,14039,0.15,2.33,18.75,0.924,6,0.076,0.059,2934,1745,1405
$GC,14378,1.04,328.6,56.3,11.6,765,14385,0.20,2.33,0.00,0.000,4,0.136,0.076,2872,3153,1396
$GC,14413,1.04,328.6,52.6,10.0,771,14420,0.00,2.33,0.00,0.000,6,0.000,0.061,2878,1731,1396
$GC,14757,1.60,328.6,28.3,7.5,832,14764,0.35,2.38,0.00,0.000,4,0.086,0.076,3007,318,1393
$GC,14799,1.65,328.6,24.6,9.0,839,14805,0.00,2.35,0.00,0.000,6,0.000,0.062,3007,1746,1393
$STATE,14968,end climb,SURFACE_DEPTH_REACHED
$STATE,14968,begin surface coast
$FINISH,1.7,1.014616
$STATE,14990,end surface coast,CONTROL_FINISHED_OK
$STATE,14990,begin surface
$SM_CCo,15067,0.00,0.000,0,0,1390,332.38
$SM_GC,2.75,7.25,0.00,0.00,0.055,0.000,0.000,334,2238,1390,-10.59,0.23,332.38
$RAFOS_CLK,640
$RAFOS,4,1224722646,0.750000,0.735000,73,58,54,52,51,51,838,186,237,210,145,220
$RAFOS,3,1224722048,0.583333,0.568889,97,62,58,57,56,56,723,182,167,149,192,133
$RAFOS,2,1224721452,0.416667,0.403333,58,55,53,52,51,50,206,222,197,146,172,906
$RAFOS,1,1224720849,0.250000,0.235833,107,66,65,59,58,56,693,159,218,140,196,177
$RAFOS,0,1224720245,0.083333,0.068056,114,59,59,58,57,55,551,206,140,215,178,191
$RAFOS_FIX,6641.134277,-6005.295898,231008,000040,4,98,0.65
$IRIDIUM_FIX,6614.97,-6004.54,160198,181808
$TT8_MAMPS,0.026845
$HUMID,1800
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,15.10
$XPDR_PINGS,29
$24V_AH,22.7,39.251
$10V_AH,10.6,18.106
$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,23.075,131.175,413.100,0.000,0.000,23.619,31.915,122.061,7.250,0.000,0.000,12.046,1662.087,10989.911,529.488,1797.518,387.685,33.370,1498.419,0.000,1772.241,1800.000,0.530,0.000
$DEVICE_MAMPS,253.110,90.506,1230.268,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,610.648,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28397,873
$CAP_FILE_SIZE,128444,0
$CFSIZE,260165632,237383680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.0
$GPS,231008,031708,6638.817,-6013.730,31,1.3,31,-37.9