version: 66.04
glider: 108
mission: 11
dive: 217
start: 10 23 108 19 44 58
data:
$ID,108
$MISSION,11
$DIVE,217
$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,-114883.79
$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,20
$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
$GPS1,193725,6639.298,-6028.008,59,2.0,59,-38.0
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-63.5
$GPS2,194407,6639.211,-6028.217,11,1.4,27,-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,-0.170,0.160
$KALMAN_X,60940.6,-468.4,-244.9,-184914.2,965.7
$KALMAN_Y,-99072.9,1485.6,-444.9,70385.4,-1588.8
$MHEAD_RNG_PITCHd_Wd,351.2,11998,-13.0,-7.021
$D_GRID,507
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.00,-146.0,0.0,0.0,0,51,0.00,0.00,-33.83,0.000,2,0.000,0.000,334,2246,2284
$GC,54,-1.00,-146.0,3.0,-1.5,6,119,8.57,2.33,-48.30,0.000,4,0.248,0.094,2432,3609,3344
$GC,243,-0.63,-146.0,28.4,-18.2,39,250,0.30,2.25,0.00,0.000,6,0.153,0.054,2519,2214,3347
$GC,588,-0.63,-146.0,60.2,-8.6,100,594,0.00,2.38,0.00,0.000,4,0.000,0.079,2511,3610,3349
$GC,706,-0.63,-146.0,70.5,-8.6,121,712,0.00,2.22,0.00,0.000,6,0.000,0.054,2511,2215,3349
$GC,1049,-0.63,-146.0,99.3,-8.3,182,1055,0.00,2.25,0.00,0.000,4,0.000,0.066,2511,810,3349
$GC,1156,-0.63,-146.0,108.7,-8.8,188,1162,0.00,2.38,0.00,0.000,6,0.000,0.067,2501,2241,3349
$GC,1472,-0.63,-146.0,134.6,-8.0,204,1475,0.00,2.25,0.00,0.000,4,0.000,0.084,2491,3605,3349
$GC,1532,-0.63,-146.0,139.7,-8.7,206,1539,0.12,2.22,0.00,0.000,6,0.151,0.055,2523,2202,3349
$GC,1848,-0.71,-146.0,159.8,-6.1,222,1850,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2202,3349
$GC,2158,-0.80,-146.0,178.7,-6.6,237,2160,0.15,0.00,0.00,0.000,6,0.083,0.000,2464,2202,3348
$GC,2467,-0.68,-146.0,208.1,-9.9,252,2468,0.17,0.00,0.00,0.000,6,0.148,0.000,2513,2202,3348
$GC,2778,-0.75,-146.0,230.9,-6.9,267,2779,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2202,3348
$GC,3086,-0.82,-146.0,251.6,-6.5,282,3091,0.12,2.38,0.00,0.000,4,0.094,0.081,2454,3610,3347
$GC,3232,-0.70,-146.0,265.4,-9.4,288,3237,0.20,2.22,0.00,0.000,6,0.152,0.057,2510,2214,3347
$GC,3549,-0.78,-146.0,288.0,-7.1,303,3551,0.10,0.00,0.00,0.000,6,0.097,0.000,2469,2213,3348
$GC,3858,-0.71,-146.0,312.9,-7.9,318,3860,0.15,0.00,0.00,0.000,6,0.150,0.000,2510,2213,3347
$GC,4167,-0.81,-146.0,331.4,-5.7,333,4172,0.12,2.25,0.00,0.000,4,0.091,0.067,2460,817,3347
$GC,4240,-0.68,-146.0,337.1,-7.9,336,4245,0.22,2.38,0.00,0.000,6,0.143,0.070,2514,2242,3347
$GC,4556,-0.81,-146.0,354.1,-5.1,351,4558,0.12,0.00,0.00,0.000,6,0.089,0.000,2465,2241,3347
$GC,4866,-0.75,-146.0,376.4,-7.3,366,4871,0.12,2.25,0.00,0.000,4,0.156,0.083,2489,3604,3347
$GC,4983,-0.82,-146.0,384.5,-7.0,371,4987,0.00,2.17,0.00,0.000,6,0.000,0.054,2489,2228,3347
$GC,5324,-0.87,-146.0,405.4,-6.1,386,5328,0.00,2.25,0.00,0.000,4,0.000,0.067,2489,818,3347
$GC,5418,-0.87,-146.0,411.8,-6.4,388,5422,0.00,2.35,0.00,0.000,6,0.000,0.067,2479,2245,3347
$GC,5743,-0.87,-146.0,431.9,-6.3,396,5744,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2244,3347
$GC,6067,-0.87,-146.0,451.8,-6.1,404,6068,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2244,3348
$GC,6392,-0.87,-146.0,471.7,-6.0,412,6394,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2244,3348
$GC,6717,-0.87,-146.0,490.3,-5.8,420,6721,0.00,2.35,0.00,0.000,4,0.000,0.065,2479,813,3348
$GC,6840,-0.87,-146.0,498.3,-6.7,422,6845,0.00,2.38,0.00,0.000,6,0.000,0.066,2469,2247,3348
$STATE,7006,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7006,begin apogee
$GC,7013,-0.31,0.0,508.9,6.4,426,7139,0.40,0.00,123.05,1.203,6,0.133,0.000,2592,1742,2745
$STATE,7139,end apogee,CONTROL_FINISHED_OK
$STATE,7139,begin climb
$GC,7142,1.00,146.0,511.4,0.0,429,7276,0.88,2.65,126.50,1.127,4,0.102,0.067,2885,331,2148
$GC,7299,0.80,146.0,499.5,9.9,432,7307,0.22,2.55,0.00,0.000,6,0.130,0.057,2825,1745,2145
$GC,7630,0.80,146.0,475.1,7.4,441,7631,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1745,2142
$GC,7956,0.81,151.5,452.4,6.8,449,7965,0.00,2.38,4.70,0.812,4,0.000,0.071,2825,3165,2127
$GC,8000,0.69,151.5,449.0,8.2,450,8005,0.12,2.38,0.00,0.000,6,0.142,0.054,2801,1736,2126
$GC,8324,0.84,190.9,430.2,5.8,458,8366,0.15,2.53,34.40,1.122,4,0.074,0.071,2863,3158,1965
$GC,8383,0.66,190.9,425.2,8.7,459,8388,0.25,2.40,0.00,0.000,6,0.136,0.053,2803,1734,1963
$GC,8731,0.86,237.4,405.3,5.5,468,8777,0.15,2.53,40.22,1.105,4,0.072,0.070,2866,3152,1776
$GC,8782,0.86,237.4,401.0,7.1,469,8787,0.15,2.40,0.00,0.000,6,0.136,0.051,2835,1732,1775
$GC,9115,0.86,237.4,375.7,7.3,485,9116,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1732,1767
$GC,9423,0.91,237.4,352.2,7.6,500,9427,0.00,2.42,0.00,0.000,4,0.000,0.070,2835,3156,1766
$GC,9433,0.97,237.4,351.3,8.0,500,9440,0.10,2.35,0.00,0.000,6,0.087,0.052,2886,1729,1766
$GC,9748,0.84,237.4,319.4,9.9,516,9750,0.17,0.00,0.00,0.000,6,0.133,0.000,2835,1728,1765
$GC,10058,0.95,249.5,298.2,6.6,531,10074,0.12,2.40,10.32,0.987,4,0.081,0.069,2887,3158,1726
$GC,10085,0.88,249.5,295.8,9.3,531,10090,0.20,2.35,0.00,0.000,6,0.139,0.053,2840,1727,1725
$GC,10400,1.00,261.2,274.2,6.6,546,10414,0.12,0.00,11.48,0.991,6,0.077,0.000,2894,1727,1680
$GC,10709,0.90,261.2,244.4,9.5,561,10714,0.17,2.35,0.00,0.000,4,0.127,0.068,2851,323,1677
$GC,10726,0.90,261.2,243.1,8.5,562,10730,0.00,2.35,0.00,0.000,6,0.000,0.058,2851,1759,1677
$GC,11052,1.05,301.6,223.6,5.7,578,11095,0.12,2.33,36.62,1.032,4,0.080,0.071,2907,3157,1513
$GC,11107,0.92,301.6,218.9,9.0,580,11112,0.22,2.35,0.00,0.000,6,0.136,0.055,2853,1744,1511
$GC,11422,1.08,315.9,198.2,6.6,595,11437,0.15,0.00,12.38,0.963,6,0.074,0.000,2916,1743,1457
$GC,11732,0.96,315.9,164.8,11.2,610,11734,0.20,0.00,0.00,0.000,6,0.130,0.000,2857,1744,1452
$GC,12041,1.17,337.9,144.3,6.3,625,12064,0.17,0.00,19.92,0.982,6,0.074,0.000,2927,1744,1367
$GC,12371,1.03,337.9,106.1,12.2,641,12376,0.17,2.38,0.00,0.000,4,0.133,0.071,2885,317,1360
$GC,12398,1.10,337.9,103.2,9.3,642,12402,0.00,2.35,0.00,0.000,6,0.000,0.060,2884,1746,1360
$GC,12737,1.20,337.9,75.0,7.7,696,12743,0.12,2.30,0.00,0.000,4,0.081,0.076,2939,3154,1359
$GC,12766,1.14,337.9,71.9,9.4,701,12773,0.17,2.30,0.00,0.000,6,0.146,0.058,2901,1725,1359
$GC,13110,1.14,337.9,43.3,7.1,762,13117,0.00,2.30,0.00,0.000,4,0.000,0.073,2909,321,1357
$GC,13123,1.19,342.1,42.4,6.9,764,13129,0.00,2.33,0.00,0.000,6,0.000,0.061,2909,1741,1357
$GC,13467,1.31,342.1,19.1,7.2,825,13474,0.12,2.35,0.00,0.000,4,0.084,0.072,2968,334,1356
$GC,13497,1.36,342.1,16.0,9.4,830,13503,0.00,2.33,0.00,0.000,6,0.000,0.061,2968,1745,1356
$STATE,13625,end climb,SURFACE_DEPTH_REACHED
$STATE,13625,begin surface coast
$FINISH,1.9,1.025421
$STATE,13650,end surface coast,CONTROL_FINISHED_OK
$STATE,13650,begin surface
$SM_CCo,13726,0.00,0.000,0,0,1351,341.95
$SM_GC,2.70,7.22,0.00,0.00,0.063,0.000,0.000,337,2232,1351,-10.59,0.06,341.95
$RAFOS_CLK,589
$RAFOS,4,1224794643,20.750000,20.734167,62,60,59,55,54,53,198,891,188,129,162,211
$RAFOS,3,1224794057,20.583334,20.571388,59,58,54,51,49,49,166,198,119,140,181,208
$RAFOS,2,1224793459,20.416666,20.405277,65,60,55,53,52,48,209,119,221,158,92,167
$RAFOS,1,1224792861,20.250000,20.239166,91,67,60,58,57,53,680,168,204,158,222,134
$RAFOS,0,1224792241,20.083334,20.066944,61,58,58,56,52,51,166,210,622,141,199,179
$RAFOS_FIX,6612.300781,-5754.753906,231008,161656,2,80,63.59
$IRIDIUM_FIX,6609.62,-5950.46,170198,151557
$TT8_MAMPS,0.026078
$HUMID,1817
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,15.00
$XPDR_PINGS,47
$24V_AH,22.7,39.943
$10V_AH,10.6,18.397
$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,22.425,100.175,419.600,0.000,0.000,22.337,40.733,162.562,11.750,0.000,0.000,28.907,1529.452,10040.036,529.356,1570.696,455.303,33.371,1371.401,0.000,1534.777,1800.000,0.530,0.000
$DEVICE_MAMPS,247.741,93.574,1203.423,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,600.377,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28376,857
$CAP_FILE_SIZE,114031,0
$CFSIZE,260165632,237105152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.8
$GPS,231008,233531,6640.215,-6032.041,64,0.9,64,-38.0