version: 66.04
glider: 108
mission: 11
dive: 277
start: 11 6 108 17 35 20
data:
$ID,108
$MISSION,11
$DIVE,277
$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,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,225
$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,-115876.96
$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,34
$R_STBD_OVSHOOT,31
$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
$GPS1,172925,6704.435,-5653.473,34,1.3,34,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-67.9
$GPS2,173427,6704.458,-5653.592,14,1.5,14,-37.6
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.126,-0.197
$KALMAN_X,71300.8,-1410.4,-125.3,-38501.0,-438.5
$KALMAN_Y,-193131.3,-237.2,164.8,212287.5,1952.6
$MHEAD_RNG_PITCHd_Wd,185.0,4858,-13.0,-7.021
$D_GRID,515
$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,-146.0,0.0,0.0,0,74,0.00,0.00,-56.90,0.000,2,0.000,0.000,325,2253,2984
$GC,77,-1.00,-146.0,3.1,-1.9,10,102,8.60,2.38,-10.85,0.000,4,0.245,0.067,2447,809,3344
$GC,271,-0.72,-146.0,28.5,-12.5,44,278,0.22,2.28,0.00,0.000,6,0.137,0.054,2503,2229,3347
$GC,616,-0.72,-146.0,56.6,-6.5,105,622,0.00,2.25,0.00,0.000,4,0.000,0.054,2504,814,3347
$GC,707,-0.72,-146.0,63.2,-7.1,121,713,0.00,2.28,0.00,0.000,6,0.000,0.056,2496,2232,3347
$GC,1051,-0.72,-146.0,86.5,-7.0,182,1057,0.00,2.25,0.00,0.000,4,0.000,0.054,2496,815,3346
$GC,1064,-0.72,-146.0,87.4,-7.0,184,1070,0.00,2.28,0.00,0.000,6,0.000,0.056,2486,2240,3346
$GC,1394,-0.72,-146.0,113.4,-7.9,221,1397,0.00,2.25,0.00,0.000,4,0.000,0.055,2486,819,3345
$GC,1404,-0.72,-146.0,114.3,-7.7,221,1408,0.10,2.25,0.00,0.000,6,0.141,0.056,2503,2232,3345
$GC,1726,-0.78,-146.0,136.2,-6.9,237,1730,0.00,2.25,0.00,0.000,4,0.000,0.055,2503,810,3345
$GC,1737,-0.84,-146.0,137.0,-6.7,237,1741,0.00,2.28,0.00,0.000,6,0.000,0.055,2495,2241,3345
$GC,2058,-0.84,-146.0,157.1,-5.9,253,2062,0.00,2.25,0.00,0.000,4,0.000,0.056,2495,818,3344
$GC,2086,-0.84,-146.0,158.9,-6.6,254,2090,0.00,2.28,0.00,0.000,6,0.000,0.056,2485,2244,3344
$GC,2413,-0.84,-146.0,177.9,-5.9,270,2417,0.00,2.25,0.00,0.000,4,0.000,0.055,2485,819,3344
$GC,2429,-0.84,-146.0,178.9,-6.1,270,2436,0.00,2.25,0.00,0.000,6,0.000,0.055,2475,2233,3344
$GC,2745,-0.84,-146.0,198.3,-6.2,286,2749,0.00,2.25,0.00,0.000,4,0.000,0.054,2475,813,3344
$GC,2755,-0.84,-146.0,199.1,-6.1,286,2759,0.00,2.25,0.00,0.000,6,0.000,0.054,2465,2233,3344
$GC,3077,-0.79,-146.0,219.7,-6.5,302,3081,0.00,2.17,0.00,0.000,4,0.000,0.067,2455,3605,3344
$GC,3088,-0.74,-146.0,220.4,-6.1,302,3093,0.15,2.12,0.00,0.000,6,0.145,0.042,2496,2212,3344
$GC,3409,-0.82,-146.0,237.2,-5.2,318,3413,0.00,2.15,0.00,0.000,4,0.000,0.054,2496,822,3345
$GC,3421,-0.90,-146.0,237.9,-5.0,318,3425,0.10,2.25,0.00,0.000,6,0.079,0.054,2442,2238,3345
$GC,3742,-0.78,-146.0,259.5,-6.5,334,3747,0.17,2.25,0.00,0.000,4,0.142,0.053,2497,817,3345
$GC,3752,-0.69,-146.0,260.3,-6.5,334,3759,0.00,2.25,0.00,0.000,6,0.000,0.054,2489,2233,3345
$GC,4069,-0.75,-146.0,276.1,-5.3,350,4073,0.00,2.22,0.00,0.000,4,0.000,0.052,2489,821,3346
$GC,4080,-0.80,-146.0,276.7,-5.0,350,4084,0.00,2.25,0.00,0.000,6,0.000,0.053,2479,2242,3346
$GC,4401,-0.80,-146.0,294.2,-5.6,366,4405,0.00,2.25,0.00,0.000,4,0.000,0.053,2479,817,3346
$GC,4412,-0.80,-146.0,294.9,-5.5,366,4416,0.00,2.25,0.00,0.000,6,0.000,0.053,2469,2235,3346
$GC,4733,-0.80,-146.0,314.3,-5.7,382,4737,0.00,2.15,0.00,0.000,4,0.000,0.066,2458,3601,3346
$GC,4743,-0.80,-146.0,314.8,-5.7,382,4748,0.10,2.08,0.00,0.000,6,0.147,0.040,2484,2226,3346
$GC,5065,-0.86,-146.0,330.6,-4.8,398,5066,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2225,3346
$GC,5374,-0.91,-146.0,345.7,-5.0,413,5378,0.10,2.17,0.00,0.000,4,0.085,0.051,2437,823,3347
$GC,5384,-0.91,-146.0,346.3,-4.6,413,5389,0.12,2.25,0.00,0.000,6,0.139,0.053,2463,2244,3347
$GC,5700,-0.91,-146.0,364.1,-5.6,428,5704,0.00,2.25,0.00,0.000,4,0.000,0.051,2463,823,3347
$GC,5716,-0.87,-146.0,365.2,-6.0,428,5722,0.00,2.25,0.00,0.000,6,0.000,0.052,2455,2246,3347
$GC,6032,-0.81,-146.0,384.1,-6.1,444,6037,0.10,2.25,0.00,0.000,4,0.146,0.051,2483,817,3348
$GC,6043,-0.81,-146.0,384.8,-6.3,444,6046,0.00,2.25,0.00,0.000,6,0.000,0.051,2475,2243,3348
$GC,6383,-0.81,-146.0,404.8,-5.9,459,6387,0.00,2.22,0.00,0.000,4,0.000,0.052,2475,822,3348
$GC,6399,-0.81,-146.0,405.9,-5.9,459,6402,0.00,2.22,0.00,0.000,6,0.000,0.052,2465,2235,3348
$GC,6712,-0.81,-146.0,424.2,-5.7,467,6716,0.00,2.20,0.00,0.000,4,0.000,0.051,2465,828,3348
$GC,6723,-0.81,-146.0,424.8,-5.7,467,6728,0.10,2.20,0.00,0.000,6,0.139,0.051,2482,2236,3348
$GC,7041,-0.88,-146.0,441.7,-5.3,475,7045,0.00,2.20,0.00,0.000,4,0.000,0.051,2482,828,3349
$GC,7053,-0.93,-146.0,442.4,-5.3,475,7057,0.00,2.22,0.00,0.000,6,0.000,0.051,2474,2243,3349
$GC,7371,-0.93,-146.0,460.4,-5.7,483,7375,0.00,2.22,0.00,0.000,4,0.000,0.051,2474,821,3349
$GC,7382,-0.93,-146.0,461.1,-5.6,483,7386,0.00,2.22,0.00,0.000,6,0.000,0.051,2465,2236,3349
$GC,7701,-0.93,-146.0,480.6,-5.9,491,7702,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2236,3349
$GC,8026,-0.93,-146.0,498.5,-5.4,499,8028,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2236,3349
$STATE,8308,end dive,NO_VERTICAL_VELOCITY
$STATE,8308,begin apogee
$GC,8314,-0.31,0.0,500.4,0.0,506,8439,0.38,0.00,122.38,1.104,6,0.089,0.000,2594,1738,2745
$STATE,8440,end apogee,CONTROL_FINISHED_OK
$STATE,8440,begin climb
$GC,8442,1.00,146.0,500.1,0.0,509,8575,0.82,2.53,123.72,1.041,4,0.094,0.056,2870,3139,2148
$GC,8637,0.66,146.0,481.3,12.3,513,8642,0.30,2.33,0.00,0.000,6,0.128,0.041,2797,1745,2145
$GC,8974,0.74,157.3,458.1,6.7,522,8989,0.00,2.30,10.27,0.927,4,0.000,0.056,2806,327,2102
$GC,9018,0.85,157.3,455.0,7.3,523,9022,0.12,2.28,0.00,0.000,6,0.067,0.044,2866,1741,2102
$GC,9337,0.64,157.3,420.8,10.9,531,9342,0.22,2.22,0.00,0.000,4,0.127,0.058,2794,3152,2100
$GC,9426,0.64,157.3,413.2,7.8,533,9430,0.00,2.20,0.00,0.000,6,0.000,0.042,2802,1731,2100
$GC,9752,0.71,164.2,391.2,6.8,544,9761,0.00,0.00,7.12,0.858,6,0.000,0.000,2802,1731,2075
$GC,10062,0.81,171.5,370.2,6.8,559,10076,0.10,2.33,7.72,0.873,4,0.079,0.057,2853,3148,2045
$GC,10167,0.57,171.5,359.2,11.6,563,10174,0.30,2.20,0.00,0.000,6,0.126,0.042,2774,1735,2043
$GC,10483,1.06,177.6,340.8,6.8,579,10497,0.30,2.22,6.32,0.818,4,0.072,0.055,2899,333,2021
$GC,10531,0.92,177.6,336.7,8.5,581,10536,0.17,2.25,0.00,0.000,6,0.135,0.045,2849,1754,2021
$GC,10851,0.82,177.6,307.2,9.2,597,10855,0.00,2.17,0.00,0.000,4,0.000,0.059,2849,3152,2019
$GC,10970,0.60,177.6,294.9,11.1,602,10974,0.25,2.20,0.00,0.000,6,0.123,0.043,2783,1725,2019
$GC,11292,0.86,220.2,277.1,5.7,618,11335,0.20,2.25,36.17,0.963,4,0.058,0.055,2889,337,1846
$GC,11364,0.71,220.2,269.9,11.5,621,11369,0.28,2.28,0.00,0.000,6,0.120,0.044,2807,1747,1844
$GC,11685,0.85,224.7,247.6,6.9,637,11694,0.12,2.25,4.03,0.621,4,0.067,0.058,2868,3147,1829
$GC,11786,0.61,224.7,235.5,12.6,641,11791,0.30,2.20,0.00,0.000,6,0.126,0.042,2788,1732,1827
$GC,12102,0.88,248.4,214.2,6.3,656,12129,0.20,2.22,21.35,0.906,4,0.060,0.056,2894,337,1731
$GC,12152,0.79,248.4,209.3,10.0,658,12157,0.22,2.25,0.00,0.000,6,0.123,0.044,2827,1755,1730
$GC,12469,0.88,248.4,183.1,8.3,673,12473,0.00,2.20,0.00,0.000,4,0.000,0.058,2827,3155,1726
$GC,12529,0.88,248.4,177.5,9.2,675,12536,0.00,2.20,0.00,0.000,6,0.000,0.042,2834,1734,1725
$GC,12848,0.96,248.4,152.1,7.7,691,12849,0.10,0.00,0.00,0.000,6,0.079,0.000,2884,1734,1725
$GC,13155,0.82,248.4,118.7,10.9,706,13159,0.17,2.28,0.00,0.000,4,0.120,0.058,2830,3156,1725
$GC,13194,0.82,248.4,115.1,8.8,708,13198,0.00,2.20,0.00,0.000,6,0.000,0.044,2837,1728,1723
$GC,13521,0.96,258.4,93.2,6.7,736,13539,0.10,2.35,9.00,0.782,4,0.081,0.058,2888,3160,1690
$GC,13568,0.85,258.4,88.3,10.6,744,13575,0.20,2.20,0.00,0.000,6,0.124,0.044,2838,1736,1689
$GC,13913,1.07,277.0,64.0,6.4,805,13938,0.17,2.22,17.02,0.825,4,0.064,0.058,2929,337,1615
$GC,13995,0.94,277.0,55.3,11.5,819,14002,0.25,2.25,0.00,0.000,6,0.122,0.048,2853,1752,1613
$GC,14341,1.61,277.0,29.0,8.5,880,14348,0.45,2.22,0.00,0.000,4,0.087,0.061,3013,3155,1609
$GC,14474,1.10,277.0,9.7,17.2,903,14481,0.43,2.22,0.00,0.000,6,0.139,0.047,2894,1729,1608
$STATE,14535,end climb,SURFACE_DEPTH_REACHED
$STATE,14535,begin surface coast
$FINISH,1.4,1.012854
$STATE,14576,end surface coast,CONTROL_FINISHED_OK
$STATE,14578,begin surface
$SM_CCo,14655,0.00,0.000,0,0,1605,279.40
$SM_GC,2.30,6.88,0.00,0.00,0.052,0.000,0.000,337,2230,1605,-10.57,0.00,279.40
$RAFOS_CLK,542
$RAFOS,4,1226004242,20.750000,20.733889,62,56,54,54,53,51,201,141,167,116,211,176
$RAFOS,3,1226003645,20.583334,20.568056,67,60,58,56,55,53,188,220,175,201,145,128
$RAFOS,2,1226003045,20.416666,20.401388,80,58,58,57,54,53,632,199,642,142,162,178
$RAFOS,1,1226002464,20.250000,20.240000,59,57,53,53,52,51,185,120,144,772,212,166
$RAFOS,0,1226001850,20.083334,20.069445,65,65,56,52,52,49,205,216,196,127,113,163
$RAFOS_FIX,6701.073730,-5544.408203,061108,161620,2,94,4.46
$IRIDIUM_FIX,6636.54,-5658.34,310198,131342
$TT8_MAMPS,0.026078
$HUMID,1752
$INTERNAL_PRESSURE,9.95155
$TCM_TEMP,16.60
$XPDR_PINGS,156
$24V_AH,22.9,49.250
$10V_AH,10.6,22.501
$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,22.925,158.375,365.125,0.000,0.000,30.718,30.714,116.378,39.000,0.000,0.000,15.849,1680.145,10655.389,481.340,1701.078,435.240,33.370,1434.696,0.000,1673.875,1800.000,0.532,0.000
$DEVICE_MAMPS,245.440,67.496,1103.713,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,638.726,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31573,921
$CAP_FILE_SIZE,133806,0
$CFSIZE,260165632,233091072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.2
$GPS,061108,214055,6705.202,-5653.872,35,1.2,35,-37.6