version: 66.04
glider: 108
mission: 11
dive: 335
start: 11 20 108 20 30 56
data:
$ID,108
$MISSION,11
$DIVE,335
$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,-118637.09
$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,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,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
$GPS1,122120,6639.488,-5958.256,0,4108.0,0,-37.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.84
$_SM_ANGLEo,-4.8
$GPS2,122120,6639.488,-5958.256,0,4108.0,0,-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,-0.229,-0.045
$KALMAN_X,188863.2,2103.0,549.2,-247959.4,6330.0
$KALMAN_Y,-246444.3,1636.8,4737.0,225015.8,1019.0
$MHEAD_RNG_PITCHd_Wd,296.8,33105,-13.0,-7.021
$D_GRID,636
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-6.43,0.000,2,0.000,0.000,2690,3164,2489
$GC,27,-0.99,-146.0,3.6,-0.0,1,63,0.62,0.75,-31.58,0.000,4,0.063,0.132,2444,3605,3248
$GC,318,-0.72,-146.0,39.1,-14.4,52,325,0.25,2.20,0.00,0.000,6,0.160,0.057,2522,2224,3253
$GC,663,-0.72,-146.0,69.7,-8.4,113,669,0.00,2.28,0.00,0.000,4,0.000,0.070,2525,809,3254
$GC,726,-0.72,-146.0,75.6,-9.3,124,732,0.00,2.35,0.00,0.000,6,0.000,0.068,2517,2234,3254
$GC,1074,-0.72,-146.0,101.8,-7.5,183,1078,0.00,2.25,0.00,0.000,4,0.000,0.082,2506,3608,3254
$GC,1224,-0.72,-146.0,114.1,-8.1,189,1231,0.00,2.20,0.00,0.000,6,0.000,0.057,2506,2222,3254
$GC,1540,-0.72,-146.0,139.3,-7.7,205,1544,0.00,2.25,0.00,0.000,4,0.000,0.070,2506,820,3254
$GC,1722,-0.72,-146.0,154.3,-8.2,213,1727,0.10,2.35,0.00,0.000,6,0.147,0.071,2522,2242,3254
$GC,2050,-0.81,-146.0,175.7,-6.5,229,2053,0.00,2.22,0.00,0.000,4,0.000,0.084,2514,3596,3254
$GC,2106,-0.89,-146.0,179.7,-6.9,231,2110,0.10,2.17,0.00,0.000,6,0.097,0.055,2471,2223,3254
$GC,2427,-0.78,-146.0,206.1,-8.4,247,2431,0.15,2.28,0.00,0.000,4,0.147,0.069,2514,811,3254
$GC,2527,-0.78,-146.0,213.5,-7.1,251,2533,0.00,2.38,0.00,0.000,6,0.000,0.081,2506,2242,3254
$GC,2842,-0.78,-146.0,234.8,-6.7,267,2846,0.00,2.22,0.00,0.000,4,0.000,0.084,2495,3596,3254
$GC,2921,-0.78,-146.0,241.0,-7.6,270,2924,0.00,2.17,0.00,0.000,6,0.000,0.055,2495,2223,3253
$GC,3242,-0.78,-146.0,261.6,-5.9,286,3246,0.00,2.28,0.00,0.000,4,0.000,0.070,2495,809,3254
$GC,3332,-0.78,-146.0,267.4,-6.0,290,3337,0.10,2.38,0.00,0.000,6,0.146,0.072,2513,2240,3254
$GC,3665,-0.87,-146.0,284.3,-5.4,306,3667,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2240,3254
$GC,3976,-0.97,-146.0,302.0,-5.9,321,3977,0.15,0.00,0.00,0.000,6,0.087,0.000,2454,2240,3253
$GC,4283,-0.86,-146.0,327.3,-8.5,336,4285,0.15,0.00,0.00,0.000,6,0.156,0.000,2494,2240,3253
$GC,4593,-0.86,-146.0,347.8,-6.7,351,4597,0.00,2.25,0.00,0.000,4,0.000,0.085,2486,3598,3253
$GC,4649,-0.90,-146.0,352.0,-7.5,353,4652,0.00,2.17,0.00,0.000,6,0.000,0.055,2486,2226,3253
$GC,4970,-0.90,-146.0,373.5,-6.8,369,4974,0.00,2.28,0.00,0.000,4,0.000,0.071,2486,810,3253
$GC,5076,-0.90,-146.0,381.5,-7.1,373,5083,0.00,2.35,0.00,0.000,6,0.000,0.068,2476,2235,3253
$GC,5412,-0.90,-146.0,403.3,-6.4,389,5416,0.00,2.25,0.00,0.000,4,0.000,0.081,2465,3608,3253
$GC,5625,-0.90,-146.0,418.3,-7.0,393,5629,0.00,2.20,0.00,0.000,6,0.000,0.056,2465,2217,3253
$GC,5962,-0.90,-146.0,438.0,-5.6,402,5966,0.00,2.30,0.00,0.000,4,0.000,0.081,2456,3599,3253
$GC,6053,-0.86,-146.0,443.5,-5.9,404,6057,0.15,2.17,0.00,0.000,6,0.153,0.054,2495,2222,3253
$GC,6383,-0.94,-146.0,460.6,-5.3,412,6387,0.00,2.25,0.00,0.000,4,0.000,0.068,2495,811,3253
$GC,6461,-0.99,-146.0,465.3,-6.1,413,6466,0.10,2.35,0.00,0.000,6,0.087,0.067,2445,2239,3253
$GC,6793,-0.85,-146.0,488.9,-7.0,421,6798,0.20,2.25,0.00,0.000,4,0.155,0.094,2496,3594,3253
$GC,6860,-0.99,-146.0,491.9,-4.8,422,6865,0.12,2.17,0.00,0.000,6,0.085,0.053,2441,2215,3253
$GC,7204,-0.87,-146.0,512.8,-6.3,431,7206,0.17,0.00,0.00,0.000,6,0.146,0.000,2490,2214,3254
$GC,7528,-0.95,-146.0,529.0,-5.2,439,7532,0.00,2.33,0.00,0.000,4,0.000,0.079,2482,3609,3254
$GC,7652,-1.05,-146.0,535.9,-5.1,441,7657,0.12,2.20,0.00,0.000,6,0.084,0.053,2429,2213,3254
$GC,7984,-1.32,-146.0,542.2,-0.0,449,7989,0.12,2.33,0.00,0.000,4,0.081,0.077,2365,3608,3255
$STATE,8021,end dive,NO_VERTICAL_VELOCITY
$STATE,8021,begin apogee
$GC,8030,-0.31,0.0,542.1,0.0,450,8159,0.77,0.00,126.57,1.210,6,0.107,0.000,2620,1744,2650
$STATE,8160,end apogee,CONTROL_FINISHED_OK
$STATE,8160,begin climb
$GC,8163,0.99,146.0,541.8,0.0,453,8302,0.85,2.62,131.02,1.130,4,0.095,0.068,2905,327,2054
$GC,8542,0.77,146.0,503.9,9.8,461,8547,0.22,2.45,0.00,0.000,6,0.134,0.059,2842,1751,2048
$GC,8878,0.77,146.0,478.3,7.2,470,8882,0.00,2.33,0.00,0.000,4,0.000,0.073,2843,3157,2047
$GC,8957,0.63,146.0,471.4,8.8,471,8961,0.15,2.33,0.00,0.000,6,0.133,0.054,2809,1725,2045
$GC,9289,0.79,177.8,452.0,6.0,479,9318,0.15,0.00,27.17,1.114,6,0.070,0.000,2873,1724,1925
$GC,9613,0.69,177.8,422.8,9.0,487,9618,0.17,2.38,0.00,0.000,4,0.126,0.070,2821,3157,1921
$GC,9634,0.69,177.8,421.0,7.9,487,9638,0.00,2.28,0.00,0.000,6,0.000,0.054,2829,1733,1920
$GC,9978,0.81,193.8,398.8,6.5,496,9998,0.10,2.42,14.75,1.056,4,0.084,0.071,2876,3157,1859
$GC,10004,0.81,196.4,396.6,6.9,497,10014,0.12,2.28,3.75,0.670,6,0.142,0.054,2853,1739,1849
$GC,10330,0.81,200.0,372.4,6.9,513,10339,0.00,2.35,4.53,0.783,4,0.000,0.071,2853,3158,1834
$GC,10362,0.81,200.0,370.1,7.4,514,10366,0.00,2.28,0.00,0.000,6,0.000,0.054,2860,1734,1834
$GC,10685,0.81,200.0,347.1,7.5,530,10689,0.00,2.35,0.00,0.000,4,0.000,0.071,2860,3162,1834
$GC,10702,0.81,200.0,345.6,7.6,531,10705,0.00,2.28,0.00,0.000,6,0.000,0.054,2870,1734,1834
$GC,11034,0.81,200.0,319.6,7.4,547,11035,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1734,1834
$GC,11342,0.81,200.0,296.9,7.4,562,11346,0.00,2.33,0.00,0.000,4,0.000,0.072,2870,3153,1833
$GC,11376,0.69,200.0,293.8,9.0,563,11381,0.20,2.25,0.00,0.000,6,0.130,0.056,2821,1736,1833
$GC,11692,0.93,244.8,275.4,5.6,578,11735,0.20,0.00,40.15,1.061,6,0.066,0.000,2911,1736,1652
$GC,12046,0.82,244.8,239.7,10.3,595,12048,0.20,0.00,0.00,0.000,6,0.126,0.000,2852,1736,1644
$GC,12354,1.01,255.3,218.9,6.7,610,12369,0.17,2.42,8.90,0.932,4,0.076,0.075,2924,3149,1609
$GC,12380,1.10,255.3,216.5,9.6,611,12384,0.00,2.28,0.00,0.000,6,0.000,0.056,2935,1741,1609
$GC,12709,0.93,255.3,180.0,11.8,627,12714,0.20,2.33,0.00,0.000,4,0.137,0.071,2879,329,1607
$GC,12727,0.86,255.3,178.1,10.8,628,12731,0.00,2.30,0.00,0.000,6,0.000,0.060,2879,1738,1608
$GC,13059,0.95,255.7,153.3,7.0,644,13063,0.00,2.30,0.00,0.000,4,0.000,0.077,2880,3154,1606
$GC,13082,0.98,280.0,151.8,6.2,645,13112,0.00,2.28,23.50,0.986,6,0.000,0.058,2889,1735,1508
$GC,13438,1.04,280.0,126.5,8.1,662,13442,0.00,2.33,0.00,0.000,4,0.000,0.073,2899,319,1502
$GC,13466,1.10,280.0,123.6,9.6,663,13470,0.00,2.35,0.00,0.000,6,0.000,0.062,2900,1750,1502
$GC,13785,1.10,280.0,97.0,8.1,683,13791,0.00,2.38,0.00,0.000,4,0.000,0.074,2909,331,1500
$GC,13804,1.15,280.0,95.5,7.9,686,13810,0.00,2.33,0.00,0.000,6,0.000,0.061,2909,1751,1500
$GC,14149,1.15,284.2,69.9,6.9,747,14156,0.00,2.30,0.00,0.000,4,0.000,0.079,2909,3157,1499
$GC,14167,1.15,284.2,68.4,7.4,750,14174,0.00,2.30,0.00,0.000,6,0.000,0.060,2918,1726,1499
$GC,14511,1.15,284.2,44.5,8.5,811,14517,0.00,2.30,0.00,0.000,4,0.000,0.074,2929,323,1499
$GC,14557,1.15,284.2,40.0,9.8,819,14564,0.00,2.33,0.00,0.000,6,0.000,0.064,2929,1740,1498
$GC,14902,1.04,284.2,15.6,11.4,880,14909,0.10,2.30,0.00,0.000,4,0.145,0.078,2901,3154,1498
$GC,14943,1.04,284.2,11.3,9.8,887,14950,0.00,2.28,0.00,0.000,6,0.000,0.061,2909,1740,1497
$FREEZE,6.89,-1.776,-1.776
$STATE,14977,end climb,FINISH_DEPTH_REACHED
$STATE,14977,begin subsurface finish
$FINISH1,6.9,1.026019,80
$GC,14985,0.10,80.1,6.9,-12.9,893,15021,0.65,2.40,-27.12,0.000,4,0.127,0.089,2689,3154,2328
$FINISH2,6.0
$STATE,15022,end subsurface finish,CONTROL_FINISHED_OK
$STATE,15022,begin surface
$RAFOS_CLK,694
$RAFOS,3,1227227646,0.583333,0.568333,71,67,59,58,55,55,205,693,186,220,131,146
$RAFOS,2,1227227046,0.416667,0.401667,65,59,56,55,54,53,197,145,218,165,185,174
$RAFOS,1,1227226446,0.250000,0.235000,57,55,51,51,50,49,211,177,123,734,1070,163
$RAFOS,0,1227225844,0.083333,0.067778,99,66,62,59,55,51,614,221,195,155,211,121
$RAFOS,4,1227213842,20.750000,20.733889,72,59,59,56,56,55,886,224,191,179,137,147
$RAFOS,3,1227213241,20.583334,20.566944,83,67,60,59,58,51,747,212,195,174,233,158
$RAFOS,2,1227212645,20.416666,20.401388,61,58,57,56,54,51,206,194,231,162,113,244
$RAFOS_FIX,6636.715820,-6005.753418,201108,202036,4,96,0.26
$IRIDIUM_FIX,6620.33,-5917.14,100298,030337
$TT8_MAMPS,0.027612
$HUMID,1822
$INTERNAL_PRESSURE,9.88319
$TCM_TEMP,14.90
$XPDR_PINGS,53
$24V_AH,22.1,58.360
$10V_AH,10.5,26.751
$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,6.900,143.925,380.350,0.000,0.000,0.000,0.000,0.000,13.250,0.000,0.000,0.000,1722.004,10849.571,476.368,1858.062,215.864,33.373,1474.834,0.000,1836.699,2160.000,0.529,0.000
$DEVICE_MAMPS,160.303,131.924,1209.559,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,630.793,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28472,899
$CAP_FILE_SIZE,124427,0
$CFSIZE,260165632,228995072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1445.0
$GPS,201108,202536,6636.716,-6005.753,0,4096.0,0,-37.9