version: 66.04
glider: 108
mission: 11
dive: 226
start: 10 25 108 5 52 38
data:
$ID,108
$MISSION,11
$DIVE,226
$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,-115031.27
$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,21
$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
$GPS1,054616,6639.776,-6038.545,30,1.7,39,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-67.1
$GPS2,055145,6639.688,-6038.349,13,0.9,13,-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,-0.142,0.185
$KALMAN_X,65032.8,278.1,202.3,-197566.9,631.5
$KALMAN_Y,-119148.1,-1012.3,-1512.1,94896.0,-873.1
$MHEAD_RNG_PITCHd_Wd,0.5,5471,-13.0,-7.021
$D_GRID,481
$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,16,-1.00,-146.0,0.0,0.0,0,64,0.00,0.00,-45.95,0.000,2,0.000,0.000,333,2250,2495
$GC,67,-1.00,-146.0,3.0,-1.6,8,121,8.77,2.38,-37.33,0.000,4,0.256,0.082,2446,818,3344
$GC,230,-0.64,-146.0,22.0,-15.7,36,237,0.28,2.38,0.00,0.000,6,0.144,0.070,2516,2241,3347
$GC,574,-0.64,-146.0,53.0,-7.9,97,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2241,3348
$GC,917,-0.64,-146.0,78.6,-7.4,158,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2241,3349
$GC,1270,-0.64,-146.0,105.0,-7.9,213,1274,0.00,2.38,0.00,0.000,4,0.000,0.068,2516,811,3349
$GC,1382,-0.64,-146.0,114.5,-8.5,218,1386,0.00,2.38,0.00,0.000,6,0.000,0.069,2509,2236,3349
$GC,1708,-0.64,-146.0,140.4,-7.7,234,1711,0.00,2.25,0.00,0.000,4,0.000,0.084,2498,3598,3349
$GC,1813,-0.64,-146.0,149.5,-8.7,238,1820,0.00,2.25,0.00,0.000,6,0.000,0.054,2498,2198,3349
$GC,2129,-0.64,-146.0,175.8,-8.1,254,2133,0.00,2.22,0.00,0.000,4,0.000,0.069,2498,822,3348
$GC,2219,-0.58,-146.0,183.7,-9.4,258,2224,0.17,2.35,0.00,0.000,6,0.140,0.072,2537,2235,3348
$GC,2545,-0.71,-146.0,204.0,-5.7,274,2550,0.12,2.25,0.00,0.000,4,0.084,0.084,2477,3598,3348
$GC,2600,-0.63,-146.0,208.5,-8.7,276,2607,0.17,2.20,0.00,0.000,6,0.151,0.055,2525,2215,3348
$GC,2916,-0.74,-146.0,227.0,-5.6,292,2920,0.12,2.25,0.00,0.000,4,0.090,0.067,2475,810,3348
$GC,2978,-0.63,-146.0,232.2,-8.4,294,2985,0.20,2.35,0.00,0.000,6,0.143,0.071,2521,2237,3348
$GC,3293,-0.75,-146.0,251.8,-5.9,310,3298,0.10,2.22,0.00,0.000,4,0.095,0.083,2471,3598,3347
$GC,3332,-0.68,-146.0,254.7,-7.7,311,3339,0.15,2.17,0.00,0.000,6,0.153,0.055,2511,2217,3348
$GC,3649,-0.75,-146.0,273.9,-6.1,327,3652,0.00,2.22,0.00,0.000,4,0.000,0.070,2511,823,3347
$GC,3789,-0.81,-146.0,283.3,-6.7,333,3793,0.00,2.33,0.00,0.000,6,0.000,0.072,2503,2232,3347
$GC,4117,-0.86,-146.0,305.2,-6.7,349,4122,0.12,2.25,0.00,0.000,4,0.089,0.088,2441,3599,3348
$GC,4195,-0.69,-146.0,312.3,-9.4,352,4199,0.25,2.17,0.00,0.000,6,0.156,0.056,2512,2217,3347
$GC,4516,-0.78,-146.0,331.7,-5.5,368,4521,0.10,2.22,0.00,0.000,4,0.099,0.069,2470,820,3347
$GC,4611,-0.67,-146.0,339.0,-7.9,372,4616,0.17,2.33,0.00,0.000,6,0.143,0.071,2510,2234,3347
$GC,4940,-0.78,-146.0,356.8,-5.0,388,4941,0.10,0.00,0.00,0.000,6,0.092,0.000,2470,2234,3347
$GC,5247,-0.78,-146.0,378.8,-7.5,403,5248,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2234,3347
$GC,5556,-0.78,-146.0,400.5,-7.0,418,5560,0.00,2.22,0.00,0.000,4,0.000,0.084,2459,3595,3346
$GC,5641,-0.72,-146.0,406.4,-7.0,419,5648,0.15,2.17,0.00,0.000,6,0.155,0.055,2500,2216,3346
$GC,5972,-0.82,-146.0,423.8,-5.2,428,5976,0.00,2.22,0.00,0.000,4,0.000,0.068,2500,821,3347
$GC,6067,-0.89,-146.0,429.7,-6.4,430,6072,0.10,2.33,0.00,0.000,6,0.090,0.069,2450,2237,3347
$GC,6385,-0.80,-146.0,453.0,-7.4,438,6390,0.12,2.22,0.00,0.000,4,0.153,0.081,2475,3602,3347
$GC,6497,-0.80,-146.0,460.9,-7.0,440,6501,0.00,2.17,0.00,0.000,6,0.000,0.054,2475,2216,3347
$STATE,6802,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6802,begin apogee
$GC,6808,-0.31,0.0,481.0,6.4,448,6934,0.38,0.00,123.03,1.196,6,0.132,0.000,2590,1736,2745
$STATE,6935,end apogee,CONTROL_FINISHED_OK
$STATE,6935,begin climb
$GC,6937,1.00,146.0,483.7,0.0,451,7071,0.88,2.65,126.53,1.114,4,0.107,0.072,2869,3157,2148
$GC,7117,0.69,146.0,470.3,11.2,455,7123,0.28,2.50,0.00,0.000,6,0.138,0.056,2807,1733,2144
$GC,7465,0.78,164.0,447.5,6.4,464,7486,0.00,2.47,15.77,1.053,4,0.000,0.072,2807,3156,2075
$GC,7504,0.79,175.6,444.9,6.6,465,7522,0.00,2.40,11.40,0.998,6,0.000,0.054,2814,1724,2028
$GC,7831,0.88,190.9,423.1,6.5,473,7851,0.12,2.45,14.45,1.046,4,0.080,0.071,2867,3156,1966
$GC,7862,0.73,190.9,420.3,9.1,473,7867,0.22,2.35,0.00,0.000,6,0.135,0.054,2815,1730,1964
$GC,8193,0.85,210.9,398.6,6.4,481,8219,0.10,2.45,18.33,1.065,4,0.086,0.071,2858,3153,1884
$GC,8237,0.71,210.9,394.9,9.8,483,8242,0.22,2.33,0.00,0.000,6,0.133,0.054,2806,1731,1882
$GC,8565,0.91,248.5,375.1,5.8,499,8603,0.17,0.00,33.55,1.083,6,0.069,0.000,2878,1732,1731
$GC,8913,0.80,248.5,339.4,10.5,516,8915,0.17,0.00,0.00,0.000,6,0.126,0.000,2826,1732,1723
$GC,9222,0.99,278.7,318.9,6.1,531,9251,0.15,0.00,26.12,1.053,6,0.074,0.000,2888,1732,1609
$GC,9552,0.89,278.7,285.8,10.3,547,9554,0.15,0.00,0.00,0.000,6,0.130,0.000,2845,1732,1602
$GC,9860,1.04,278.7,262.6,7.3,562,9862,0.12,0.00,0.00,0.000,6,0.081,0.000,2898,1731,1601
$GC,10170,0.94,278.7,231.6,10.1,577,10175,0.15,2.30,0.00,0.000,4,0.133,0.071,2863,324,1600
$GC,10186,0.94,278.7,229.9,9.8,578,10190,0.00,2.33,0.00,0.000,6,0.000,0.060,2863,1752,1600
$GC,10518,1.04,278.7,201.8,8.4,594,10521,0.00,2.28,0.00,0.000,4,0.000,0.075,2863,3156,1599
$GC,10545,1.04,278.7,199.2,8.7,595,10549,0.00,2.30,0.00,0.000,6,0.000,0.057,2872,1714,1599
$GC,10872,1.09,278.7,172.0,8.0,611,10877,0.08,2.38,0.00,0.000,4,0.106,0.076,2908,3154,1598
$GC,10899,0.96,278.7,169.1,10.9,612,10904,0.20,2.25,0.00,0.000,6,0.141,0.058,2861,1732,1598
$GC,11221,1.11,286.5,146.0,6.8,628,11230,0.12,0.00,6.60,0.877,6,0.081,0.000,2915,1732,1577
$GC,11529,1.02,286.5,115.2,10.1,643,11534,0.15,2.38,0.00,0.000,4,0.134,0.076,2871,3154,1575
$GC,11546,0.97,286.5,113.6,9.9,644,11550,0.00,2.28,0.00,0.000,6,0.000,0.058,2878,1732,1575
$GC,11873,1.04,286.5,88.3,7.6,678,11878,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1732,1574
$GC,12216,1.11,286.5,62.2,8.0,739,12222,0.00,2.38,0.00,0.000,4,0.000,0.077,2879,3158,1574
$GC,12229,1.19,286.5,61.2,8.3,741,12236,0.10,2.28,0.00,0.000,6,0.094,0.058,2930,1740,1574
$GC,12572,1.19,286.5,27.5,7.3,802,12579,0.00,2.38,0.00,0.000,4,0.000,0.077,2931,3161,1574
$GC,12619,1.09,286.5,23.5,9.1,810,12626,0.17,2.33,0.00,0.000,6,0.139,0.060,2890,1726,1573
$GC,12963,1.25,288.5,3.1,7.0,871,12969,0.12,0.00,0.00,0.000,6,0.079,0.000,2945,1726,1572
$STATE,12973,end climb,SURFACE_DEPTH_REACHED
$STATE,12973,begin surface coast
$FINISH,1.6,1.012274
$STATE,13026,end surface coast,CONTROL_FINISHED_OK
$STATE,13026,begin surface
$SM_CCo,13104,0.00,0.000,0,0,1570,288.23
$SM_GC,2.43,7.03,0.00,0.00,0.053,0.000,0.000,333,2232,1570,-10.59,0.08,288.23
$RAFOS_CLK,566
$RAFOS,4,1224924246,8.750000,8.735000,67,61,59,53,53,52,882,204,146,176,190,121
$RAFOS,3,1224923651,8.583333,8.569722,59,58,58,56,56,53,187,118,215,204,169,148
$RAFOS,2,1224923053,8.416667,8.403611,61,57,55,54,50,50,205,185,124,162,147,223
$RAFOS,1,1224922457,8.250000,8.238055,62,59,57,55,53,51,199,725,155,183,125,224
$RAFOS,0,1224921864,8.083333,8.073334,61,60,60,54,54,53,215,175,147,196,228,187
$RAFOS_FIX,-28521.388672,-44006.863281,251008,040417,3,74,5144.41
$IRIDIUM_FIX,6614.97,-6035.57,190198,020228
$TT8_MAMPS,0.026845
$HUMID,1810
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,15.10
$XPDR_PINGS,49
$24V_AH,22.6,41.185
$10V_AH,10.5,18.895
$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,22.325,107.900,375.775,0.000,0.000,23.973,31.618,160.144,12.250,0.000,0.000,14.582,1608.243,9244.584,496.183,1677.249,407.231,33.368,1389.426,0.000,1652.560,1800.000,0.531,0.000
$DEVICE_MAMPS,256.178,88.205,1195.753,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,618.356,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28433,882
$CAP_FILE_SIZE,116752,0
$CFSIZE,260165632,236593152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1445.8
$GPS,251008,093228,6640.651,-6039.837,23,2.1,42,-38.0