version: 66.04
glider: 108
mission: 11
dive: 279
start: 11 7 108 1 41 44
data:
$ID,108
$MISSION,11
$DIVE,279
$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,-115907.53
$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,31
$R_STBD_OVSHOOT,32
$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
$GPS1,013502,6705.217,-5653.471,40,1.0,40,-37.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-64.9
$GPS2,014051,6705.184,-5653.403,14,1.1,14,-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,0.151,-0.178
$KALMAN_X,66285.0,106.0,-430.0,-34571.8,-510.7
$KALMAN_Y,-188105.9,1459.8,-53.7,207132.0,836.8
$MHEAD_RNG_PITCHd_Wd,177.3,5620,-13.0,-7.021
$D_GRID,480
$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,-146.0,0.0,0.0,0,81,0.00,0.00,-63.50,0.000,2,0.000,0.000,329,2253,3123
$GC,84,-1.00,-146.0,3.5,-2.2,11,104,8.60,2.38,-5.70,0.000,4,0.246,0.068,2448,816,3345
$GC,323,-0.71,-146.0,35.5,-11.2,53,330,0.22,2.30,0.00,0.000,6,0.137,0.055,2505,2234,3348
$GC,669,-0.71,-146.0,60.7,-5.9,114,675,0.00,2.17,0.00,0.000,4,0.000,0.068,2496,3595,3348
$GC,709,-0.71,-146.0,63.3,-6.6,121,716,0.00,2.12,0.00,0.000,6,0.000,0.043,2496,2215,3348
$GC,1053,-0.71,-146.0,86.4,-7.0,182,1059,0.00,2.17,0.00,0.000,4,0.000,0.056,2496,819,3347
$GC,1067,-0.71,-146.0,87.2,-6.7,184,1074,0.00,2.28,0.00,0.000,6,0.000,0.057,2486,2242,3347
$GC,1403,-0.71,-146.0,113.9,-8.2,222,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2241,3346
$GC,1712,-0.71,-146.0,138.9,-7.8,237,1716,0.00,2.25,0.00,0.000,4,0.000,0.056,2486,828,3345
$GC,1734,-0.71,-146.0,140.7,-8.0,238,1739,0.10,2.25,0.00,0.000,6,0.138,0.056,2503,2239,3345
$GC,2067,-0.80,-146.0,162.4,-6.0,254,2071,0.00,2.25,0.00,0.000,4,0.000,0.055,2503,823,3345
$GC,2078,-0.87,-146.0,163.2,-6.0,254,2082,0.10,2.25,0.00,0.000,6,0.079,0.054,2449,2237,3344
$GC,2398,-0.76,-146.0,187.4,-7.2,270,2403,0.15,2.17,0.00,0.000,4,0.144,0.067,2483,3601,3344
$GC,2409,-0.69,-146.0,188.1,-6.9,270,2414,0.10,2.10,0.00,0.000,6,0.140,0.042,2509,2225,3344
$GC,2730,-0.83,-146.0,202.5,-4.0,286,2735,0.12,2.17,0.00,0.000,4,0.080,0.054,2453,821,3344
$GC,2741,-0.92,-146.0,203.0,-4.1,286,2745,0.00,2.22,0.00,0.000,6,0.000,0.054,2442,2232,3344
$GC,3062,-0.80,-146.0,223.0,-6.4,302,3064,0.15,0.00,0.00,0.000,6,0.141,0.000,2485,2232,3344
$GC,3373,-0.85,-146.0,237.7,-4.5,317,3374,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2232,3345
$GC,3681,-0.90,-146.0,251.5,-4.4,332,3683,0.10,0.00,0.00,0.000,6,0.086,0.000,2437,2232,3346
$GC,3990,-0.77,-146.0,269.9,-6.0,347,3994,0.20,2.25,0.00,0.000,4,0.139,0.051,2501,823,3346
$GC,4000,-0.67,-146.0,270.6,-6.0,347,4004,0.00,2.25,0.00,0.000,6,0.000,0.052,2493,2241,3346
$GC,4324,-0.75,-146.0,285.0,-4.6,363,4328,0.00,2.25,0.00,0.000,4,0.000,0.052,2493,828,3347
$GC,4334,-0.82,-146.0,285.6,-4.7,363,4338,0.00,2.22,0.00,0.000,6,0.000,0.051,2483,2235,3347
$GC,4655,-0.82,-146.0,301.5,-4.9,379,4657,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2234,3347
$GC,4966,-0.87,-146.0,320.2,-6.5,394,4970,0.00,2.25,0.00,0.000,4,0.000,0.051,2483,821,3348
$GC,4977,-0.87,-146.0,321.1,-6.6,394,4980,0.00,2.25,0.00,0.000,6,0.000,0.051,2473,2240,3348
$GC,5298,-0.87,-146.0,340.7,-5.8,410,5302,0.00,2.25,0.00,0.000,4,0.000,0.051,2473,823,3348
$GC,5321,-0.87,-146.0,342.1,-6.1,411,5325,0.00,2.28,0.00,0.000,6,0.000,0.051,2463,2242,3348
$GC,5653,-0.87,-146.0,362.3,-6.1,427,5654,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2243,3349
$GC,5962,-0.87,-146.0,381.6,-6.2,442,5966,0.00,2.25,0.00,0.000,4,0.000,0.051,2463,816,3349
$GC,5985,-0.81,-146.0,382.9,-5.8,443,5990,0.12,2.28,0.00,0.000,6,0.132,0.051,2488,2242,3349
$GC,6319,-0.89,-146.0,399.9,-4.9,459,6324,0.10,2.22,0.00,0.000,4,0.081,0.051,2442,827,3349
$GC,6347,-0.77,-146.0,401.9,-7.3,460,6352,0.20,2.25,0.00,0.000,6,0.132,0.051,2489,2239,3349
$GC,6684,-0.85,-146.0,419.1,-4.6,469,6688,0.00,2.22,0.00,0.000,4,0.000,0.051,2490,816,3350
$GC,6718,-0.91,-146.0,420.7,-4.6,469,6722,0.10,2.25,0.00,0.000,6,0.077,0.051,2434,2231,3350
$GC,7055,-0.78,-146.0,443.0,-7.3,478,7056,0.20,0.00,0.00,0.000,6,0.144,0.000,2491,2231,3350
$GC,7379,-0.89,-146.0,459.0,-4.9,486,7384,0.10,2.20,0.00,0.000,4,0.085,0.049,2444,827,3350
$GC,7390,-0.94,-146.0,459.7,-4.9,486,7394,0.00,2.25,0.00,0.000,6,0.000,0.051,2434,2241,3350
$STATE,7706,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7707,begin apogee
$GC,7713,-0.31,0.0,481.9,7.1,494,7838,0.50,0.00,122.15,1.096,6,0.124,0.000,2591,1732,2745
$STATE,7839,end apogee,CONTROL_FINISHED_OK
$STATE,7839,begin climb
$GC,7842,1.00,146.0,483.7,0.0,497,7974,0.85,2.60,123.38,1.030,4,0.094,0.054,2874,3150,2148
$GC,8025,0.65,146.0,465.9,13.4,501,8030,0.32,2.38,0.00,0.000,6,0.127,0.041,2794,1728,2145
$GC,8338,0.77,164.8,444.6,6.4,509,8362,0.10,2.35,16.35,0.966,4,0.077,0.056,2857,326,2072
$GC,8395,0.67,164.8,439.3,10.4,510,8400,0.20,2.33,0.00,0.000,6,0.118,0.045,2799,1751,2071
$GC,8744,0.78,171.4,415.6,6.8,519,8757,0.10,2.28,6.70,0.837,4,0.077,0.058,2849,3150,2045
$GC,8878,0.55,171.4,400.5,12.4,522,8883,0.30,2.22,0.00,0.000,6,0.126,0.043,2770,1720,2044
$GC,9214,1.04,171.4,377.0,7.7,537,9218,0.30,2.28,0.00,0.000,4,0.071,0.055,2886,3153,2044
$GC,9392,0.69,171.4,354.0,14.0,545,9397,0.30,2.20,0.00,0.000,6,0.132,0.043,2807,1730,2043
$GC,9719,0.76,171.4,328.4,7.6,561,9723,0.00,2.20,0.00,0.000,4,0.000,0.056,2815,331,2043
$GC,9757,0.86,171.4,325.3,7.9,562,9764,0.10,2.22,0.00,0.000,6,0.076,0.044,2869,1753,2043
$GC,10073,0.67,171.4,290.6,11.0,578,10078,0.20,2.20,0.00,0.000,4,0.127,0.058,2803,3157,2043
$GC,10162,0.67,171.4,282.8,8.4,582,10166,0.00,2.20,0.00,0.000,6,0.000,0.042,2812,1734,2043
$GC,10490,0.72,171.4,259.4,7.4,598,10494,0.00,2.22,0.00,0.000,4,0.000,0.056,2820,330,2043
$GC,10523,0.81,171.4,256.7,7.6,599,10527,0.00,2.22,0.00,0.000,6,0.000,0.045,2820,1742,2043
$GC,10844,0.81,171.4,231.9,8.0,615,10848,0.00,2.20,0.00,0.000,4,0.000,0.058,2820,3154,2043
$GC,10935,0.71,171.4,223.6,9.8,619,10940,0.00,2.17,0.00,0.000,6,0.000,0.043,2831,1731,2043
$GC,11267,0.71,171.4,196.8,7.9,635,11268,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1731,2043
$GC,11576,0.72,173.1,173.9,7.0,650,11578,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1731,2043
$GC,11886,0.72,173.6,152.0,7.0,665,11890,0.00,2.28,0.00,0.000,4,0.000,0.058,2831,3151,2043
$GC,11969,0.61,173.6,145.3,9.2,668,11976,0.20,2.20,0.00,0.000,6,0.121,0.042,2781,1724,2043
$GC,12285,1.10,173.6,125.1,7.3,684,12290,0.32,2.33,0.00,0.000,4,0.069,0.056,2907,3160,2043
$GC,12432,0.75,173.6,108.5,12.5,690,12439,0.32,2.20,0.00,0.000,6,0.133,0.043,2819,1734,2043
$GC,12764,0.91,196.2,87.2,6.3,733,12794,0.12,2.28,21.17,0.841,4,0.069,0.057,2891,334,1944
$GC,12829,0.84,196.2,81.4,9.6,744,12836,0.20,2.25,0.00,0.000,6,0.117,0.046,2830,1750,1944
$GC,13174,1.05,238.6,58.1,5.7,805,13216,0.17,2.28,35.42,0.834,4,0.061,0.058,2909,3154,1770
$GC,13287,0.81,238.6,47.8,10.5,824,13294,0.30,2.25,0.00,0.000,6,0.122,0.044,2828,1725,1766
$GC,13633,1.48,238.6,26.4,8.2,885,13640,0.43,2.35,0.00,0.000,4,0.097,0.058,2969,3159,1761
$GC,13680,1.37,238.6,21.5,10.6,893,13687,0.10,2.22,0.00,0.000,6,0.161,0.045,2953,1734,1761
$STATE,13839,end climb,SURFACE_DEPTH_REACHED
$STATE,13839,begin surface coast
$FINISH,1.4,1.026291
$STATE,13868,end surface coast,CONTROL_FINISHED_OK
$STATE,13868,begin surface
$SM_CCo,13946,0.00,0.000,0,0,1758,242.11
$SM_GC,2.41,7.03,0.00,0.00,0.051,0.000,0.000,337,2240,1758,-10.56,0.28,242.11
$RAFOS_CLK,514
$RAFOS,4,1226033043,4.750000,4.734167,68,67,58,57,56,54,158,837,115,125,202,148
$RAFOS,3,1226032446,4.583333,4.568333,60,58,57,51,50,50,190,147,219,177,159,84
$RAFOS,2,1226031843,4.416667,4.400833,68,61,59,59,58,55,145,158,173,228,190,122
$RAFOS,1,1226031251,4.250000,4.236389,59,57,56,55,51,49,210,196,187,171,127,151
$RAFOS,0,1226030641,4.083333,4.066945,61,60,60,60,51,50,170,188,204,213,160,132
$RAFOS_FIX,6701.073730,-5544.408203,061108,161620,2,94,4.46
$IRIDIUM_FIX,6636.54,-5650.71,310198,212128
$TT8_MAMPS,0.026845
$HUMID,1767
$INTERNAL_PRESSURE,9.96132
$TCM_TEMP,16.50
$XPDR_PINGS,74
$24V_AH,22.9,49.480
$10V_AH,10.6,22.618
$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,23.150,127.525,325.175,0.000,0.000,29.582,34.429,161.854,18.500,0.000,0.000,15.896,1693.004,9989.591,436.418,1710.408,462.875,33.372,1361.824,0.000,1682.539,1800.000,0.532,0.000
$DEVICE_MAMPS,246.207,68.263,1096.043,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,641.887,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31519,926
$CAP_FILE_SIZE,125051,0
$CFSIZE,260165632,232984576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.1
$GPS,071108,053658,6704.930,-5652.149,104,2.6,123,-37.6