version: 66.04
glider: 108
mission: 11
dive: 331
start: 11 20 108 1 23 56
data:
$ID,108
$MISSION,11
$DIVE,331
$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,-2
$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,24
$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
$GPS1,202548,6643.403,-5949.926,0,5093.0,0,-37.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-4.6
$GPS2,202548,6643.403,-5949.926,0,5093.0,0,-37.9
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,8000.000
$KALMAN_CONTROL,-0.158,-0.172
$KALMAN_X,128494.8,-981.8,8124.0,-232271.5,-12655.4
$KALMAN_Y,-247112.8,19145.6,-16931.2,224758.6,26079.6
$MHEAD_RNG_PITCHd_Wd,260.5,38966,-13.0,-7.021
$D_GRID,726
$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,16,-0.99,-146.0,0.0,0.0,0,68,0.00,0.00,-49.05,0.000,6,0.000,0.000,2698,327,3248
$GC,71,-0.99,-146.0,3.0,-2.8,9,84,0.65,5.43,0.00,0.000,4,0.077,0.068,2446,3605,3249
$GC,337,-0.72,-146.0,37.2,-13.9,56,344,0.28,2.20,0.00,0.000,6,0.160,0.055,2526,2217,3251
$GC,682,-0.79,-146.0,67.2,-8.2,117,689,0.00,2.30,0.00,0.000,4,0.000,0.081,2518,3596,3252
$GC,796,-0.87,-146.0,76.6,-8.4,137,803,0.10,2.17,0.00,0.000,6,0.091,0.054,2474,2217,3252
$GC,1149,-0.75,-146.0,109.6,-9.3,186,1153,0.15,2.25,0.00,0.000,4,0.150,0.066,2520,809,3252
$GC,1194,-0.81,-146.0,113.4,-7.8,188,1199,0.00,2.35,0.00,0.000,6,0.000,0.067,2513,2243,3251
$GC,1527,-0.81,-146.0,136.1,-6.4,204,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2243,3251
$GC,1836,-0.81,-146.0,155.1,-6.0,219,1840,0.00,2.22,0.00,0.000,4,0.000,0.084,2502,3602,3251
$GC,1892,-0.87,-146.0,159.2,-7.0,221,1896,0.00,2.17,0.00,0.000,6,0.000,0.054,2502,2223,3251
$GC,2215,-0.87,-146.0,183.8,-7.9,237,2219,0.00,2.30,0.00,0.000,4,0.000,0.082,2491,3600,3251
$GC,2260,-0.87,-146.0,187.5,-8.1,239,2264,0.00,2.17,0.00,0.000,6,0.000,0.054,2491,2219,3250
$GC,2595,-0.87,-146.0,210.2,-5.6,255,2598,0.00,2.33,0.00,0.000,4,0.000,0.086,2482,3605,3251
$GC,2618,-0.87,-146.0,211.7,-6.0,256,2622,0.00,2.17,0.00,0.000,6,0.000,0.054,2481,2225,3251
$GC,2950,-0.87,-146.0,229.4,-6.0,272,2954,0.00,2.25,0.00,0.000,4,0.000,0.068,2482,816,3251
$GC,3056,-0.79,-146.0,236.7,-6.8,276,3063,0.15,2.35,0.00,0.000,6,0.143,0.071,2512,2233,3250
$GC,3373,-0.89,-146.0,255.5,-6.2,292,3377,0.10,2.25,0.00,0.000,4,0.093,0.082,2460,3605,3250
$GC,3400,-0.89,-146.0,257.8,-8.5,293,3405,0.12,2.17,0.00,0.000,6,0.162,0.054,2491,2226,3250
$GC,3727,-0.89,-146.0,279.8,-6.6,309,3731,0.00,2.30,0.00,0.000,4,0.000,0.082,2483,3607,3250
$GC,3772,-0.89,-146.0,283.1,-7.6,311,3776,0.00,2.17,0.00,0.000,6,0.000,0.055,2483,2220,3250
$GC,4104,-0.89,-146.0,304.5,-6.2,327,4107,0.00,2.25,0.00,0.000,4,0.000,0.067,2483,810,3250
$GC,4127,-0.89,-146.0,306.0,-6.3,328,4131,0.00,2.38,0.00,0.000,6,0.000,0.075,2473,2245,3250
$GC,4460,-0.89,-146.0,325.4,-5.4,344,4464,0.00,2.22,0.00,0.000,4,0.000,0.082,2463,3605,3250
$GC,4566,-0.84,-146.0,331.5,-5.9,348,4573,0.12,2.17,0.00,0.000,6,0.158,0.054,2494,2226,3250
$GC,4883,-0.93,-146.0,347.9,-5.6,364,4884,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2226,3250
$GC,5192,-1.01,-146.0,367.4,-6.4,379,5194,0.12,0.00,0.00,0.000,6,0.091,0.000,2445,2226,3250
$GC,5501,-0.90,-146.0,391.9,-7.5,394,5506,0.15,2.30,0.00,0.000,4,0.158,0.080,2477,3598,3250
$GC,5534,-0.90,-146.0,394.1,-6.6,395,5540,0.00,2.17,0.00,0.000,6,0.000,0.052,2477,2210,3250
$GC,5847,-0.90,-146.0,411.6,-5.2,406,5851,0.00,2.33,0.00,0.000,4,0.000,0.077,2466,3606,3251
$GC,5880,-0.90,-146.0,413.5,-5.8,406,5884,0.00,2.17,0.00,0.000,6,0.000,0.052,2466,2222,3250
$GC,6217,-0.90,-146.0,431.9,-5.7,415,6218,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2222,3251
$GC,6541,-0.90,-146.0,451.2,-6.0,423,6543,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2222,3251
$GC,6866,-0.90,-146.0,470.8,-6.0,431,6870,0.00,2.22,0.00,0.000,4,0.000,0.065,2466,816,3252
$GC,6905,-0.83,-146.0,473.6,-7.2,431,6912,0.17,2.33,0.00,0.000,6,0.135,0.065,2506,2235,3252
$GC,7238,-0.97,-146.0,489.3,-4.6,440,7239,0.15,0.00,0.00,0.000,6,0.081,0.000,2446,2235,3252
$GC,7562,-0.88,-146.0,510.3,-6.6,448,7564,0.15,0.00,0.00,0.000,6,0.156,0.000,2486,2235,3253
$GC,7888,-0.95,-146.0,527.7,-5.2,456,7892,0.00,2.30,0.00,0.000,4,0.000,0.062,2486,823,3253
$GC,7927,-0.95,-146.0,529.9,-5.4,456,7933,0.00,2.35,0.00,0.000,6,0.000,0.064,2478,2245,3253
$GC,8258,-0.95,-146.0,549.4,-6.0,465,8262,0.00,2.33,0.00,0.000,4,0.000,0.063,2478,810,3253
$GC,8325,-0.95,-146.0,553.7,-6.5,466,8329,0.00,2.33,0.00,0.000,6,0.000,0.064,2468,2230,3253
$GC,8674,-0.95,-146.0,574.2,-5.9,475,8678,0.00,2.28,0.00,0.000,4,0.000,0.062,2468,818,3253
$GC,8707,-0.90,-146.0,576.5,-6.4,475,8712,0.10,2.33,0.00,0.000,6,0.140,0.065,2485,2234,3253
$GC,9044,-0.99,-146.0,595.2,-5.7,484,9045,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2234,3254
$GC,9369,-1.06,-146.0,612.9,-5.7,492,9371,0.12,0.00,0.00,0.000,6,0.084,0.000,2434,2234,3254
$GC,9694,-0.95,-146.0,635.7,-6.9,500,9698,0.15,2.25,0.00,0.000,4,0.156,0.077,2467,3606,3254
$GC,9738,-0.95,-146.0,638.1,-5.7,501,9741,0.00,2.17,0.00,0.000,6,0.000,0.050,2467,2216,3254
$GC,10063,-0.95,-146.0,654.8,-5.3,509,10066,0.00,2.22,0.00,0.000,4,0.000,0.062,2467,810,3254
$GC,10119,-0.90,-146.0,658.5,-6.5,510,10124,0.12,2.35,0.00,0.000,6,0.137,0.064,2491,2245,3254
$GC,10433,-1.16,-146.0,670.1,-2.8,518,10435,0.20,0.00,0.00,0.000,6,0.072,0.000,2411,2245,3255
$STATE,10632,end dive,NO_VERTICAL_VELOCITY
$STATE,10632,begin apogee
$GC,10639,-0.31,0.0,670.1,0.0,523,10770,0.60,0.00,128.15,1.281,6,0.091,0.000,2618,1728,2650
$STATE,10771,end apogee,CONTROL_FINISHED_OK
$STATE,10771,begin climb
$GC,10774,0.99,146.0,669.8,0.0,526,10918,0.88,2.70,133.30,1.202,4,0.088,0.067,2897,3146,2053
$GC,10977,0.60,146.0,649.3,13.2,531,10982,0.38,2.42,0.00,0.000,6,0.136,0.050,2806,1735,2049
$GC,11290,0.69,146.0,626.7,7.4,539,11292,0.10,0.00,0.00,0.000,6,0.081,0.000,2851,1735,2046
$GC,11615,0.60,146.0,596.7,9.3,547,11620,0.15,2.30,0.00,0.000,4,0.128,0.066,2817,333,2046
$GC,11648,0.65,146.0,593.9,7.1,547,11652,0.00,2.33,0.00,0.000,6,0.000,0.055,2817,1753,2046
$GC,11980,0.65,148.7,570.3,6.9,555,11983,0.00,2.28,0.00,0.000,4,0.000,0.069,2817,3159,2045
$GC,12064,0.56,148.7,563.5,8.9,556,12071,0.12,2.28,0.00,0.000,6,0.136,0.052,2793,1729,2045
$GC,12397,0.77,190.0,544.2,5.7,565,12440,0.17,2.38,37.50,1.190,4,0.066,0.066,2880,332,1875
$GC,12463,0.66,190.0,538.4,9.1,566,12468,0.20,2.35,0.00,0.000,6,0.124,0.054,2822,1752,1873
$GC,12806,0.75,195.7,514.8,6.8,575,12816,0.00,2.28,5.32,0.886,4,0.000,0.068,2822,3158,1851
$GC,12872,0.75,195.7,509.6,8.1,576,12876,0.00,2.28,0.00,0.000,6,0.000,0.052,2829,1730,1851
$GC,13214,0.75,195.7,483.8,7.9,585,13216,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1730,1851
$GC,13539,0.79,195.7,458.0,7.7,593,13544,0.08,2.35,0.00,0.000,4,0.095,0.068,2869,3165,1851
$GC,13579,0.57,195.7,454.0,11.1,594,13584,0.28,2.28,0.00,0.000,6,0.133,0.052,2798,1725,1850
$GC,13904,0.79,223.0,433.6,6.1,602,13934,0.17,2.30,24.45,1.123,4,0.065,0.067,2885,324,1741
$GC,13951,0.71,223.0,429.1,9.9,603,13956,0.20,2.33,0.00,0.000,6,0.123,0.056,2826,1742,1741
$GC,14270,0.82,223.0,404.4,7.6,611,14274,0.12,2.30,0.00,0.000,4,0.074,0.070,2881,3163,1738
$GC,14325,0.57,223.0,397.8,12.6,612,14332,0.30,2.28,0.00,0.000,6,0.130,0.053,2802,1734,1737
$GC,14641,1.17,223.0,375.3,7.4,628,14646,0.38,2.28,0.00,0.000,4,0.091,0.066,2935,330,1736
$GC,14652,1.74,223.0,374.3,8.0,628,14659,0.38,2.30,0.00,0.000,6,0.058,0.055,3084,1757,1736
$GC,14968,0.93,223.0,298.7,24.8,644,14970,0.70,0.00,0.00,0.000,6,0.167,0.000,2883,1757,1736
$GC,15277,0.87,223.0,267.1,9.4,659,15281,0.00,2.25,0.00,0.000,4,0.000,0.072,2884,3159,1736
$GC,15311,0.71,223.0,263.5,10.7,660,15316,0.20,2.25,0.00,0.000,6,0.123,0.053,2831,1733,1735
$GC,15628,1.16,253.2,244.4,6.0,675,15663,0.28,2.40,26.95,1.027,4,0.071,0.070,2944,3149,1616
$GC,15782,0.80,253.2,227.0,13.5,682,15787,0.35,2.28,0.00,0.000,6,0.137,0.054,2850,1727,1613
$GC,16110,0.96,253.2,204.5,7.3,698,16112,0.12,0.00,0.00,0.000,6,0.076,0.000,2908,1726,1610
$GC,16418,0.86,253.2,175.7,8.9,713,16423,0.15,2.35,0.00,0.000,4,0.128,0.071,2864,3155,1610
$GC,16450,0.86,253.2,172.7,9.0,714,16457,0.00,2.25,0.00,0.000,6,0.000,0.054,2871,1735,1609
$GC,16767,0.97,265.7,150.9,6.6,730,16783,0.00,2.30,11.23,0.939,4,0.000,0.070,2881,321,1566
$GC,16800,1.16,302.5,148.8,5.8,730,16842,0.17,2.33,34.55,0.974,6,0.071,0.059,2955,1748,1416
$GC,17160,0.96,302.5,109.0,11.3,748,17165,0.20,2.33,0.00,0.000,4,0.137,0.074,2891,3163,1407
$GC,17188,0.90,302.5,106.1,9.0,749,17193,0.10,2.30,0.00,0.000,6,0.141,0.056,2870,1735,1406
$GC,17521,1.49,302.5,83.8,7.6,794,17527,0.40,0.00,0.00,0.000,6,0.097,0.000,3008,1735,1403
$GC,17865,1.18,302.5,40.6,14.2,855,17872,0.22,2.30,0.00,0.000,4,0.143,0.071,2947,330,1403
$GC,17941,1.18,302.5,32.9,9.0,868,17947,0.00,2.33,0.00,0.000,6,0.000,0.063,2947,1753,1403
$FREEZE,6.82,-1.776,-1.773
$STATE,18210,end climb,FINISH_DEPTH_REACHED
$STATE,18210,begin subsurface finish
$FINISH1,6.8,1.025977,82
$GC,18218,0.10,82.1,6.8,-9.6,916,18254,0.75,2.38,-29.73,0.000,4,0.117,0.089,2692,3164,2319
$FINISH2,5.6
$STATE,18255,end subsurface finish,CONTROL_FINISHED_OK
$STATE,18255,begin surface
$RAFOS_CLK,824
$RAFOS,4,1227156241,4.750000,4.733611,75,59,57,55,51,51,837,206,165,148,125,178
$RAFOS,3,1227155645,4.583333,4.568056,123,62,55,53,52,51,706,196,220,137,173,119
$RAFOS,2,1227155044,4.416667,4.401111,67,56,56,51,51,51,212,198,158,143,167,222
$RAFOS,1,1227154462,4.250000,4.239444,70,70,59,59,54,54,209,593,145,157,119,226
$RAFOS,0,1227153845,4.083333,4.068056,75,67,64,63,59,57,559,173,215,1906,204,151
$RAFOS_FIX,6629.271484,-5906.319824,201108,040404,4,86,1.44
$IRIDIUM_FIX,6614.97,-5912.45,100298,030321
$TT8_MAMPS,0.026845
$HUMID,1801
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,14.90
$XPDR_PINGS,34
$24V_AH,22.0,57.836
$10V_AH,10.5,26.498
$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,11.275,161.850,401.450,0.000,0.000,0.000,0.000,0.000,8.500,0.000,0.000,0.000,1815.875,13946.560,521.300,1832.403,244.509,33.360,1546.164,0.000,1812.438,1800.000,0.529,0.000
$DEVICE_MAMPS,167.206,88.972,1280.890,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,645.695,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31551,922
$CAP_FILE_SIZE,139740,0
$CFSIZE,260165632,229224448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.8
$GPS,201108,042504,6629.271,-5906.320,0,4085.8,0,-37.9