version: 66.04
glider: 108
mission: 11
dive: 339
start: 11 21 108 12 59 26
data:
$ID,108
$MISSION,11
$DIVE,339
$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,-118820.94
$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,31
$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
$GPS1,124109,6627.732,-6019.889,35,1.2,35,-37.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-29.8
$GPS2,124109,6627.732,-6019.889,35,1.2,35,-37.7
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,8000.000
$KALMAN_CONTROL,-0.230,-0.041
$KALMAN_X,222071.5,5604.6,2349.1,-262965.2,-1861.6
$KALMAN_Y,-237055.4,-16373.4,-8973.6,224079.9,33725.9
$MHEAD_RNG_PITCHd_Wd,297.6,31382,-13.0,-7.021
$D_GRID,481
$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,-146.0,0.0,0.0,0,147,0.00,0.00,-128.35,0.000,6,0.000,0.000,338,2267,3246
$GC,151,-0.99,-146.0,2.5,-0.4,23,163,6.28,2.25,0.00,0.000,4,0.100,0.091,2457,3583,3249
$GC,417,-1.44,-146.0,2.4,0.2,70,424,0.30,2.15,0.00,0.000,6,0.091,0.049,2354,2205,3255
$GC,763,-0.76,-146.0,47.1,-17.1,131,770,0.57,2.35,0.00,0.000,4,0.193,0.084,2502,3593,3256
$GC,1023,-0.68,-146.0,75.1,-8.7,177,1030,0.12,2.17,0.00,0.000,6,0.159,0.057,2534,2226,3257
$GC,1367,-0.68,-146.0,100.5,-8.4,238,1371,0.00,2.28,0.00,0.000,4,0.000,0.071,2538,812,3258
$GC,1468,-0.68,-146.0,109.7,-9.1,242,1473,0.00,2.35,0.00,0.000,6,0.000,0.071,2530,2234,3258
$GC,1785,-0.68,-146.0,135.9,-8.1,257,1786,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2233,3258
$GC,2093,-0.68,-146.0,158.4,-7.1,272,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2233,3258
$GC,2403,-0.68,-146.0,181.5,-7.6,287,2406,0.00,2.33,0.00,0.000,4,0.000,0.071,2530,816,3258
$GC,2448,-0.68,-146.0,185.3,-8.8,289,2452,0.00,2.35,0.00,0.000,6,0.000,0.071,2520,2238,3258
$GC,2774,-0.68,-146.0,210.3,-7.9,305,2778,0.00,2.33,0.00,0.000,4,0.000,0.071,2519,820,3258
$GC,2830,-0.68,-146.0,215.2,-8.6,307,2835,0.10,2.35,0.00,0.000,6,0.150,0.072,2535,2238,3258
$GC,3146,-0.76,-146.0,240.0,-7.8,322,3147,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2238,3258
$GC,3455,-0.84,-146.0,261.2,-6.5,337,3460,0.15,2.25,0.00,0.000,4,0.084,0.098,2467,3597,3259
$GC,3517,-0.69,-146.0,266.8,-9.4,339,3524,0.22,2.17,0.00,0.000,6,0.152,0.058,2531,2228,3257
$GC,3833,-0.77,-146.0,289.0,-7.3,355,3837,0.00,2.28,0.00,0.000,4,0.000,0.071,2538,813,3258
$GC,4069,-0.86,-146.0,305.9,-6.5,365,4074,0.12,2.35,0.00,0.000,6,0.082,0.071,2478,2242,3258
$GC,4390,-0.76,-146.0,327.9,-6.4,381,4394,0.15,2.25,0.00,0.000,4,0.157,0.084,2510,3605,3258
$GC,4497,-0.81,-146.0,334.2,-5.9,385,4503,0.00,2.20,0.00,0.000,6,0.000,0.058,2510,2222,3258
$GC,4812,-0.81,-146.0,352.5,-6.2,401,4814,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2222,3258
$GC,5123,-0.87,-146.0,370.7,-5.8,416,5127,0.00,2.28,0.00,0.000,4,0.000,0.071,2510,814,3258
$GC,5207,-0.87,-146.0,375.6,-5.7,419,5213,0.00,2.38,0.00,0.000,6,0.000,0.071,2500,2244,3258
$GC,5522,-0.87,-146.0,393.2,-5.9,435,5526,0.00,2.22,0.00,0.000,4,0.000,0.084,2490,3601,3258
$GC,5591,-0.87,-146.0,397.4,-6.4,438,5595,0.00,2.20,0.00,0.000,6,0.000,0.058,2490,2217,3258
$GC,5919,-0.87,-146.0,416.6,-5.8,447,5923,0.00,2.25,0.00,0.000,4,0.000,0.071,2490,822,3258
$GC,6026,-0.82,-146.0,423.4,-6.2,449,6030,0.00,2.35,0.00,0.000,6,0.000,0.071,2480,2237,3257
$GC,6339,-0.82,-146.0,443.3,-6.4,457,6340,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2237,3257
$GC,6664,-0.82,-146.0,464.9,-6.5,465,6665,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2237,3258
$STATE,6904,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6904,begin apogee
$GC,6912,-0.31,0.0,481.2,6.7,471,7035,0.43,0.00,120.43,1.193,6,0.130,0.000,2611,1731,2650
$STATE,7036,end apogee,CONTROL_FINISHED_OK
$STATE,7036,begin climb
$GC,7039,0.99,146.0,483.9,0.0,474,7198,0.88,2.70,137.27,1.092,4,0.100,0.071,2892,3160,2053
$GC,7215,0.72,146.0,469.5,10.9,478,7221,0.28,2.55,0.00,0.000,6,0.137,0.056,2831,1734,2050
$GC,7529,0.72,152.1,447.3,6.8,486,7536,0.00,0.00,5.18,0.821,6,0.000,0.000,2831,1734,2029
$GC,7853,0.77,152.1,424.4,7.4,494,7858,0.00,2.42,0.00,0.000,4,0.000,0.074,2831,3154,2030
$GC,7870,0.77,152.1,423.1,7.6,494,7874,0.00,2.35,0.00,0.000,6,0.000,0.056,2839,1725,2030
$GC,8218,0.77,152.5,397.6,7.0,503,8220,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1725,2030
$GC,8527,0.77,152.5,374.7,7.5,518,8531,0.00,2.38,0.00,0.000,4,0.000,0.073,2839,3155,2030
$GC,8573,0.70,152.5,370.9,8.7,520,8577,0.00,2.28,0.00,0.000,6,0.000,0.056,2849,1734,2030
$GC,8905,0.70,152.5,345.9,7.7,536,8907,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1734,2030
$GC,9214,0.71,162.5,323.8,6.7,551,9230,0.00,2.35,10.38,1.008,4,0.000,0.073,2849,3156,1987
$GC,9281,0.64,166.0,319.4,6.9,553,9291,0.15,2.28,4.35,0.761,6,0.130,0.058,2815,1740,1974
$GC,9609,1.01,219.3,303.4,5.3,569,9662,0.22,2.40,47.03,1.075,4,0.070,0.071,2923,326,1756
$GC,9743,0.90,219.3,292.5,9.6,575,9748,0.17,2.40,0.00,0.000,6,0.138,0.063,2874,1747,1753
$GC,10064,0.90,219.3,268.5,7.7,591,10068,0.00,2.33,0.00,0.000,4,0.000,0.077,2874,3158,1748
$GC,10110,0.80,219.3,264.6,8.9,593,10115,0.12,2.30,0.00,0.000,6,0.135,0.059,2848,1736,1747
$GC,10439,0.96,240.1,243.3,6.4,609,10459,0.15,0.00,17.70,1.019,6,0.075,0.000,2912,1736,1671
$GC,10766,0.88,240.1,214.0,8.7,625,10771,0.17,2.40,0.00,0.000,4,0.130,0.077,2861,3166,1669
$GC,10805,0.88,240.1,211.0,7.5,627,10809,0.00,2.33,0.00,0.000,6,0.000,0.059,2868,1726,1668
$GC,11138,1.03,279.0,191.8,5.8,643,11181,0.12,2.45,34.83,1.020,4,0.084,0.077,2923,3162,1512
$GC,11205,0.86,279.0,185.8,10.3,646,11210,0.25,2.35,0.00,0.000,6,0.133,0.059,2862,1729,1510
$GC,11535,1.10,322.8,166.1,5.6,662,11576,0.20,0.00,38.95,0.992,6,0.067,0.000,2944,1729,1333
$GC,11881,0.98,322.8,132.0,9.2,679,11886,0.20,2.33,0.00,0.000,4,0.130,0.074,2889,330,1326
$GC,11905,0.98,322.8,130.2,7.3,680,11909,0.00,2.35,0.00,0.000,6,0.000,0.064,2889,1744,1325
$GC,12226,1.10,322.8,109.4,7.7,696,12230,0.10,2.33,0.00,0.000,4,0.084,0.079,2937,3162,1323
$GC,12248,1.10,322.8,107.0,11.0,697,12253,0.12,2.33,0.00,0.000,6,0.144,0.061,2914,1727,1322
$GC,12585,1.16,322.8,77.0,7.0,747,12592,0.00,2.30,0.00,0.000,4,0.000,0.077,2923,323,1320
$GC,12621,1.23,322.8,74.1,8.1,753,12628,0.08,2.35,0.00,0.000,6,0.102,0.064,2960,1751,1320
$GC,12966,1.09,322.8,33.7,12.1,814,12973,0.17,2.33,0.00,0.000,4,0.136,0.081,2909,3160,1319
$GC,13009,1.09,324.0,30.7,7.0,821,13015,0.00,2.30,0.00,0.000,6,0.000,0.061,2916,1733,1319
$GC,13353,1.09,324.0,9.7,8.3,882,13359,0.00,2.38,0.00,0.000,4,0.000,0.080,2916,3153,1317
$FREEZE,6.75,-1.761,-1.777
$STATE,13387,end climb,FINISH_DEPTH_REACHED
$STATE,13387,begin subsurface finish
$FINISH1,6.8,1.026047,79
$GC,13396,0.10,78.7,6.8,-8.2,888,13438,0.70,2.33,-34.12,0.000,4,0.127,0.088,2701,324,2333
$FINISH2,5.4
$STATE,13439,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13439,begin surface
$RAFOS_CLK,615
$RAFOS,3,1227285245,16.583334,16.568056,58,58,57,53,52,51,207,218,188,121,147,89
$RAFOS,2,1227284649,16.416666,16.402500,58,55,54,54,53,48,180,193,134,211,157,113
$RAFOS,1,1227284059,16.250000,16.238611,60,57,57,56,56,52,190,175,157,133,213,203
$RAFOS,0,1227283459,16.083334,16.071945,60,59,57,54,54,49,209,173,162,185,148,112
$RAFOS,3,1227270846,12.583333,12.568334,58,54,54,54,51,51,183,113,205,217,170,161
$RAFOS_FIX,6232.697266,-5331.492188,211108,000026,3,81,38.68
$IRIDIUM_FIX,6553.70,-5721.04,150298,121201
$TT8_MAMPS,0.027612
$HUMID,1819
$INTERNAL_PRESSURE,9.88319
$TCM_TEMP,14.90
$XPDR_PINGS,32
$24V_AH,22.1,58.936
$10V_AH,10.5,26.986
$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,12.550,114.800,416.100,0.000,0.000,94.591,104.787,262.820,8.000,0.000,0.000,183.217,1572.679,9594.638,569.403,1863.337,874.032,33.366,1493.841,0.000,1665.865,1440.000,0.532,0.000
$DEVICE_MAMPS,193.284,98.176,1193.452,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,626.767,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28393,895
$CAP_FILE_SIZE,120831,0
$CFSIZE,260165632,228679680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1441.9
$GPS,211108,124109,6627.732,-6019.889,35,1.2,35,-37.7