version: 66.04
glider: 108
mission: 11
dive: 324
start: 11 18 108 18 31 56
data:
$ID,108
$MISSION,11
$DIVE,324
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,50
$D_FINISH,7
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,470
$T_MISSION,550
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-3
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$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,80
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,225
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-118268.59
$T_RSLEEP,60
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,2680
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$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,25
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,275
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,588
$VBD_MAX,3951
$C_VBD,2650
$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,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$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
$GPS1,121456,6610.557,-5801.161,0,2081.0,0,-37.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.90
$_SM_ANGLEo,-6.4
$GPS2,121456,6610.557,-5801.161,0,2081.0,0,-37.9
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_ADD1_WB
$TGT_LATLONG,6647.000,-5956.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.172,-0.157
$KALMAN_X,185338.3,7415.7,7415.7,-218760.6,-1318975.4
$KALMAN_Y,-284975.7,-6307.2,-6307.2,217495.5,1194162.4
$MHEAD_RNG_PITCHd_Wd,170.3,107632,-13.0,-7.021
$D_GRID,596
$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,-0.99,-146.0,0.0,0.0,0,51,0.00,0.00,-33.60,0.000,2,0.000,0.000,2702,325,3020
$GC,54,-0.99,-146.0,3.1,-1.9,6,73,0.65,0.88,-9.88,0.000,4,0.071,0.098,2454,828,3248
$GC,304,-0.70,-146.0,32.2,-11.5,50,310,0.30,2.28,0.00,0.000,6,0.153,0.067,2526,2243,3253
$GC,648,-0.70,-146.0,63.2,-7.5,111,654,0.00,2.22,0.00,0.000,4,0.000,0.082,2519,3604,3253
$GC,660,-0.70,-146.0,64.3,-7.7,113,667,0.00,2.17,0.00,0.000,6,0.000,0.053,2519,2221,3253
$GC,1005,-0.70,-146.0,92.3,-7.2,174,1011,0.00,2.25,0.00,0.000,4,0.000,0.067,2519,811,3253
$GC,1018,-0.70,-146.0,93.2,-7.1,176,1024,0.00,2.35,0.00,0.000,6,0.000,0.067,2508,2241,3253
$GC,1356,-0.70,-146.0,118.6,-7.8,204,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2241,3252
$GC,1666,-0.70,-146.0,141.6,-6.8,219,1670,0.00,2.33,0.00,0.000,4,0.000,0.067,2508,816,3252
$GC,1676,-0.70,-146.0,142.2,-6.5,219,1681,0.12,2.35,0.00,0.000,6,0.140,0.069,2532,2242,3252
$GC,1993,-0.84,-146.0,159.9,-5.7,234,1994,0.12,0.00,0.00,0.000,6,0.085,0.000,2481,2242,3252
$GC,2303,-0.78,-146.0,183.0,-7.4,249,2308,0.12,2.35,0.00,0.000,4,0.153,0.067,2514,812,3252
$GC,2314,-0.73,-146.0,184.0,-7.4,249,2320,0.00,2.38,0.00,0.000,6,0.000,0.080,2506,2243,3252
$GC,2629,-0.73,-146.0,205.7,-7.1,265,2632,0.00,2.33,0.00,0.000,4,0.000,0.067,2506,821,3252
$GC,2640,-0.73,-146.0,206.4,-6.8,265,2645,0.10,2.33,0.00,0.000,6,0.140,0.074,2521,2228,3252
$GC,2957,-0.84,-146.0,222.7,-5.0,280,2961,0.10,2.30,0.00,0.000,4,0.094,0.066,2479,823,3252
$GC,3019,-0.74,-146.0,226.8,-6.6,283,3024,0.17,2.35,0.00,0.000,6,0.142,0.070,2517,2245,3252
$GC,3346,-0.85,-146.0,247.6,-6.8,299,3348,0.10,0.00,0.00,0.000,6,0.096,0.000,2478,2245,3252
$GC,3654,-0.85,-146.0,271.8,-7.2,314,3655,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2245,3252
$GC,3964,-0.85,-146.0,291.8,-6.0,329,3968,0.00,2.22,0.00,0.000,4,0.000,0.084,2467,3599,3251
$GC,3975,-0.85,-146.0,292.4,-5.8,329,3979,0.12,2.17,0.00,0.000,6,0.155,0.054,2499,2224,3251
$GC,4296,-0.92,-146.0,307.9,-4.4,345,4300,0.00,2.25,0.00,0.000,4,0.000,0.068,2500,822,3251
$GC,4308,-0.97,-146.0,308.4,-4.5,345,4313,0.10,2.35,0.00,0.000,6,0.089,0.068,2451,2244,3251
$GC,4623,-0.87,-146.0,329.4,-7.1,360,4628,0.15,2.35,0.00,0.000,4,0.156,0.067,2498,814,3251
$GC,4663,-0.87,-146.0,331.7,-5.8,362,4667,0.00,2.38,0.00,0.000,6,0.000,0.072,2490,2243,3251
$GC,4990,-0.91,-146.0,350.5,-5.7,378,4994,0.00,2.33,0.00,0.000,4,0.000,0.067,2490,819,3251
$GC,5041,-0.91,-146.0,353.6,-6.2,380,5045,0.00,2.35,0.00,0.000,6,0.000,0.068,2481,2240,3251
$GC,5362,-0.91,-146.0,372.9,-6.2,396,5363,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2240,3251
$GC,5671,-0.91,-146.0,391.0,-5.7,411,5675,0.00,2.25,0.00,0.000,4,0.000,0.082,2469,3595,3251
$GC,5682,-0.91,-146.0,391.6,-5.8,411,5686,0.00,2.17,0.00,0.000,6,0.000,0.052,2469,2215,3251
$GC,6001,-0.91,-146.0,410.6,-5.8,423,6002,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2215,3251
$GC,6326,-0.91,-146.0,430.3,-6.0,431,6330,0.00,2.22,0.00,0.000,4,0.000,0.064,2469,820,3252
$GC,6337,-0.91,-146.0,431.0,-6.0,431,6342,0.10,2.35,0.00,0.000,6,0.145,0.067,2485,2243,3252
$GC,6650,-0.97,-146.0,447.3,-5.1,439,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2243,3252
$GC,6975,-1.03,-146.0,464.7,-5.7,447,6980,0.12,2.33,0.00,0.000,4,0.087,0.064,2435,813,3253
$GC,6985,-1.03,-146.0,465.5,-5.9,447,6990,0.12,2.35,0.00,0.000,6,0.146,0.064,2457,2239,3253
$GC,7298,-0.98,-146.0,487.5,-7.0,455,7302,0.00,2.22,0.00,0.000,4,0.000,0.078,2449,3597,3253
$GC,7311,-0.93,-146.0,488.3,-6.9,455,7316,0.12,2.15,0.00,0.000,6,0.154,0.050,2481,2226,3253
$GC,7630,-0.98,-146.0,508.1,-6.1,463,7631,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2226,3253
$GC,7956,-1.03,-146.0,526.9,-5.6,471,7961,0.10,2.25,0.00,0.000,4,0.094,0.063,2439,817,3253
$GC,7967,-1.03,-146.0,527.6,-5.4,471,7972,0.10,2.33,0.00,0.000,6,0.146,0.064,2455,2236,3254
$GC,8315,-0.99,-146.0,548.4,-5.8,480,8320,0.00,2.22,0.00,0.000,4,0.000,0.077,2447,3597,3254
$GC,8326,-0.94,-146.0,549.0,-5.6,480,8330,0.12,2.15,0.00,0.000,6,0.154,0.049,2479,2220,3254
$GC,8644,-0.94,-146.0,565.1,-5.1,488,8648,0.00,2.30,0.00,0.000,4,0.000,0.082,2471,3601,3254
$GC,8656,-0.98,-146.0,565.8,-5.1,488,8660,0.00,2.15,0.00,0.000,6,0.000,0.049,2471,2226,3254
$GC,8974,-0.98,-146.0,582.4,-5.0,496,8978,0.00,2.30,0.00,0.000,4,0.000,0.075,2461,3603,3254
$GC,8997,-0.98,-146.0,583.6,-5.2,496,9001,0.00,2.15,0.00,0.000,6,0.000,0.049,2461,2220,3254
$STATE,9261,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9261,begin apogee
$GC,9267,-0.31,0.0,597.9,5.3,503,9397,0.50,0.00,127.00,1.235,6,0.125,0.000,2617,1734,2650
$STATE,9398,end apogee,CONTROL_FINISHED_OK
$STATE,9398,begin climb
$GC,9401,0.99,146.0,598.7,0.0,506,9542,0.85,2.65,132.40,1.154,4,0.091,0.067,2905,328,2054
$GC,9568,0.75,146.0,583.3,11.6,510,9573,0.25,2.55,0.00,0.000,6,0.133,0.056,2839,1751,2052
$GC,9892,0.75,146.0,557.1,7.9,518,9897,0.00,2.38,0.00,0.000,4,0.000,0.071,2839,3162,2047
$GC,9982,0.59,146.0,549.0,9.1,520,9987,0.15,2.35,0.00,0.000,6,0.135,0.053,2807,1731,2045
$GC,10301,0.73,182.1,529.4,5.9,528,10335,0.12,0.00,30.98,1.149,6,0.075,0.000,2862,1731,1907
$GC,10626,0.62,182.1,499.4,9.5,536,10631,0.17,2.38,0.00,0.000,4,0.123,0.069,2811,3160,1903
$GC,10670,0.62,182.1,495.4,8.3,537,10674,0.00,2.28,0.00,0.000,6,0.000,0.052,2816,1735,1902
$GC,10995,0.71,182.1,472.3,7.1,545,10999,0.00,2.28,0.00,0.000,4,0.000,0.067,2826,326,1902
$GC,11033,0.84,182.1,469.4,7.2,545,11040,0.12,2.30,0.00,0.000,6,0.077,0.055,2883,1743,1902
$GC,11365,0.66,182.1,434.9,10.4,554,11370,0.22,2.28,0.00,0.000,4,0.129,0.068,2811,3157,1901
$GC,11459,0.66,182.1,427.7,7.3,556,11463,0.00,2.25,0.00,0.000,6,0.000,0.053,2817,1735,1900
$GC,11779,0.79,196.0,407.4,6.6,564,11799,0.12,2.35,12.10,1.047,4,0.077,0.067,2885,320,1851
$GC,11827,0.69,196.0,402.8,9.6,565,11832,0.20,2.33,0.00,0.000,6,0.126,0.057,2826,1749,1851
$GC,12149,0.79,196.0,379.2,7.2,579,12154,0.10,2.28,0.00,0.000,4,0.082,0.069,2872,3160,1850
$GC,12239,0.57,196.0,369.4,11.3,583,12243,0.28,2.28,0.00,0.000,6,0.131,0.053,2801,1725,1848
$GC,12559,1.02,196.0,348.1,7.5,599,12564,0.28,2.35,0.00,0.000,4,0.075,0.067,2908,3161,1848
$GC,12654,0.67,196.0,337.9,12.7,603,12660,0.32,2.25,0.00,0.000,6,0.138,0.053,2822,1736,1848
$GC,12976,0.84,218.3,316.2,6.3,619,13002,0.15,2.33,19.92,1.043,4,0.068,0.067,2899,334,1760
$GC,13053,0.74,218.3,308.8,10.9,622,13058,0.22,2.30,0.00,0.000,6,0.127,0.057,2833,1741,1760
$GC,13369,0.93,265.9,290.3,5.5,637,13419,0.17,2.40,42.75,1.041,4,0.067,0.070,2906,3160,1565
$GC,13501,0.67,265.9,276.3,12.1,643,13506,0.32,2.30,0.00,0.000,6,0.133,0.053,2820,1735,1560
$GC,13828,1.33,265.9,249.7,9.8,659,13830,0.45,0.00,0.00,0.000,6,0.085,0.000,2976,1735,1555
$GC,14138,0.96,265.9,204.9,16.5,674,14143,0.28,2.30,0.00,0.000,4,0.139,0.067,2899,322,1554
$GC,14206,0.96,265.9,197.1,10.3,677,14210,0.00,2.33,0.00,0.000,6,0.000,0.058,2899,1751,1554
$GC,14527,0.96,265.9,165.6,9.3,693,14531,0.00,2.28,0.00,0.000,4,0.000,0.074,2899,3157,1554
$GC,14617,0.80,265.9,155.9,10.8,697,14622,0.20,2.28,0.00,0.000,6,0.128,0.056,2850,1727,1552
$GC,14944,1.23,265.9,132.2,8.3,713,14949,0.28,2.35,0.00,0.000,4,0.079,0.071,2955,3157,1552
$GC,14988,1.13,265.9,127.7,10.6,715,14993,0.15,2.28,0.00,0.000,6,0.148,0.055,2924,1725,1552
$GC,15309,1.05,265.9,96.2,9.5,736,15315,0.00,2.28,0.00,0.000,4,0.000,0.071,2933,326,1552
$GC,15373,0.99,265.9,89.9,10.0,747,15380,0.15,2.33,0.00,0.000,6,0.134,0.060,2890,1755,1552
$GC,15718,1.09,265.9,62.1,8.6,808,15724,0.10,2.28,0.00,0.000,4,0.085,0.075,2936,3156,1551
$GC,15827,0.89,265.9,50.0,10.8,827,15833,0.25,2.28,0.00,0.000,6,0.131,0.058,2873,1727,1550
$GC,16171,1.24,265.9,26.7,8.2,888,16178,0.22,2.38,0.00,0.000,4,0.082,0.074,2960,3163,1549
$GC,16202,1.41,265.9,24.3,8.1,893,16208,0.00,2.28,0.00,0.000,6,0.000,0.058,2970,1735,1549
$FREEZE,6.98,-1.745,-1.774
$STATE,16372,end climb,FINISH_DEPTH_REACHED
$STATE,16372,begin subsurface finish
$FINISH1,7.0,1.025995,81
$GC,16379,0.10,81.3,7.0,-9.1,923,16410,0.85,2.38,-24.67,0.000,4,0.131,0.083,2700,326,2321
$FINISH2,5.8
$STATE,16411,end subsurface finish,CONTROL_FINISHED_OK
$STATE,16411,begin surface
$RAFOS_CLK,745
$RAFOS,4,1227041068,20.750000,20.741112,66,60,59,58,58,57,194,118,641,218,185,162
$RAFOS,3,1227040441,20.583334,20.566944,67,65,61,58,53,53,776,195,213,786,204,223
$RAFOS,2,1227039844,20.416666,20.401112,58,54,54,53,53,53,147,171,213,188,118,222
$RAFOS,1,1227039276,20.250000,20.243334,75,67,56,53,49,48,491,209,120,157,247,227
$RAFOS,0,1227038660,20.083334,20.072222,94,63,56,54,50,48,454,163,211,199,130,142
$RAFOS_FIX,6654.073730,-5955.677246,181108,202044,2,84,4.05
$IRIDIUM_FIX,6614.97,-5912.45,100298,030321
$TT8_MAMPS,0.026845
$HUMID,1799
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,15.00
$XPDR_PINGS,44
$24V_AH,22.1,56.951
$10V_AH,10.5,26.096
$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,10.475,162.675,365.150,0.000,0.000,0.000,0.000,0.000,11.000,0.000,0.000,0.000,1767.815,12249.931,482.441,1783.773,258.938,32.658,1469.879,0.000,1760.734,1800.000,0.529,0.000
$DEVICE_MAMPS,156.468,98.176,1234.870,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,650.576,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31536,928
$CAP_FILE_SIZE,136811,0
$CFSIZE,260165632,229650432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.7
$GPS,181108,121456,6610.557,-5801.161,0,2081.0,0,-37.9