version: 66.04
glider: 108
mission: 11
dive: 340
start: 11 21 108 16 45 50
data:
$ID,108
$MISSION,11
$DIVE,340
$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,23
$R_STBD_OVSHOOT,19
$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,2.37
$_SM_ANGLEo,-4.2
$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,-0.226,-0.058
$KALMAN_X,229025.2,2100.2,-2961.8,-266112.7,4536.9
$KALMAN_Y,-235089.4,-4186.4,10599.4,223520.2,8984.7
$MHEAD_RNG_PITCHd_Wd,293.2,31382,-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,-146.0,0.0,0.0,0,23,0.00,0.00,-5.65,0.000,2,0.000,0.000,2701,324,2464
$GC,27,-0.99,-146.0,3.2,-0.0,1,68,0.62,5.47,-33.05,0.000,4,0.058,0.081,2425,3600,3248
$GC,322,-0.63,-146.0,44.8,-9.9,53,329,0.38,2.20,0.00,0.000,6,0.166,0.059,2540,2221,3253
$GC,668,-0.71,-146.0,74.2,-10.4,114,674,0.00,2.33,0.00,0.000,4,0.000,0.081,2532,3610,3253
$GC,840,-0.82,-146.0,91.4,-8.5,144,847,0.12,2.22,0.00,0.000,6,0.087,0.058,2481,2213,3253
$GC,1182,-0.73,-146.0,121.9,-9.3,172,1184,0.15,0.00,0.00,0.000,6,0.146,0.000,2522,2213,3253
$GC,1490,-0.81,-146.0,143.6,-6.7,187,1491,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2212,3253
$GC,1799,-0.91,-146.0,163.2,-6.4,202,1804,0.15,2.25,0.00,0.000,4,0.082,0.070,2462,815,3253
$GC,1888,-0.75,-146.0,171.6,-9.9,206,1893,0.22,2.35,0.00,0.000,6,0.142,0.071,2515,2236,3253
$GC,2210,-0.82,-146.0,193.3,-6.2,222,2214,0.00,2.25,0.00,0.000,4,0.000,0.085,2507,3599,3252
$GC,2289,-0.90,-146.0,198.4,-6.7,225,2294,0.10,2.17,0.00,0.000,6,0.097,0.055,2465,2225,3253
$GC,2610,-0.79,-146.0,225.8,-8.5,241,2615,0.15,2.33,0.00,0.000,4,0.147,0.082,2498,3608,3252
$GC,2660,-0.86,-146.0,229.9,-8.1,243,2664,0.00,2.20,0.00,0.000,6,0.000,0.058,2498,2224,3253
$GC,2980,-0.86,-146.0,253.0,-7.2,259,2984,0.00,2.28,0.00,0.000,4,0.000,0.071,2498,809,3253
$GC,3120,-0.86,-146.0,264.3,-8.0,265,3125,0.00,2.35,0.00,0.000,6,0.000,0.070,2488,2236,3253
$GC,3448,-0.86,-146.0,288.8,-7.6,281,3449,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2236,3253
$GC,3756,-0.86,-146.0,312.9,-7.6,296,3760,0.00,2.25,0.00,0.000,4,0.000,0.084,2478,3605,3252
$GC,3974,-0.86,-146.0,330.6,-8.3,305,3980,0.00,2.20,0.00,0.000,6,0.000,0.058,2478,2218,3252
$GC,4290,-0.86,-146.0,354.0,-6.9,321,4294,0.00,2.30,0.00,0.000,4,0.000,0.082,2468,3598,3252
$GC,4357,-0.86,-146.0,358.9,-7.8,324,4362,0.10,2.17,0.00,0.000,6,0.155,0.057,2492,2225,3252
$GC,4690,-0.92,-146.0,379.5,-6.0,340,4694,0.00,2.28,0.00,0.000,4,0.000,0.071,2497,811,3252
$GC,4872,-0.92,-146.0,391.2,-6.7,348,4876,0.00,2.38,0.00,0.000,6,0.000,0.084,2489,2239,3252
$GC,5217,-0.98,-146.0,413.3,-6.4,360,5219,0.10,0.00,0.00,0.000,6,0.094,0.000,2446,2239,3252
$GC,5541,-0.89,-146.0,437.6,-7.6,368,5546,0.15,2.35,0.00,0.000,4,0.151,0.068,2487,811,3252
$GC,5706,-0.89,-146.0,448.5,-6.6,371,5710,0.00,2.35,0.00,0.000,6,0.000,0.070,2479,2233,3252
$GC,6049,-0.96,-146.0,468.2,-5.0,380,6053,0.00,2.25,0.00,0.000,4,0.000,0.087,2469,3598,3252
$GC,6105,-0.91,-146.0,471.6,-5.5,381,6109,0.00,2.17,0.00,0.000,6,0.000,0.054,2469,2222,3252
$STATE,6259,end dive,NO_VERTICAL_VELOCITY
$STATE,6259,begin apogee
$GC,6266,-0.31,0.0,471.6,0.0,385,6394,0.45,0.00,124.85,1.184,6,0.114,0.000,2614,1742,2650
$STATE,6395,end apogee,CONTROL_FINISHED_OK
$STATE,6395,begin climb
$GC,6397,0.99,146.0,471.2,0.0,388,6537,0.88,2.62,131.20,1.102,4,0.095,0.070,2907,330,2054
$GC,6554,0.78,146.0,458.2,11.9,391,6561,0.22,2.58,0.00,0.000,6,0.139,0.060,2849,1741,2052
$GC,6886,0.73,146.0,432.2,7.6,400,6891,0.00,2.45,0.00,0.000,4,0.000,0.071,2857,333,2047
$GC,6910,0.73,146.0,430.3,8.0,400,6914,0.00,2.40,0.00,0.000,6,0.000,0.059,2857,1742,2047
$GC,7247,0.68,146.0,402.9,8.2,409,7251,0.12,2.33,0.00,0.000,4,0.134,0.071,2821,3155,2046
$GC,7263,0.68,146.0,401.4,8.3,409,7267,0.00,2.30,0.00,0.000,6,0.000,0.055,2829,1736,2046
$GC,7596,0.76,157.5,378.7,6.6,425,7610,0.00,2.38,9.52,0.995,4,0.000,0.074,2829,3155,2007
$GC,7627,0.77,161.0,376.4,6.9,426,7639,0.00,2.30,4.60,0.775,6,0.000,0.055,2839,1725,1994
$GC,7949,0.84,174.6,355.0,6.6,442,7971,0.08,2.42,13.32,1.031,4,0.100,0.072,2879,3157,1938
$GC,7977,0.76,174.6,352.7,8.4,443,7982,0.17,2.30,0.00,0.000,6,0.136,0.055,2839,1733,1938
$GC,8299,0.85,182.8,331.2,6.8,459,8313,0.10,2.40,8.77,0.967,4,0.085,0.074,2883,3150,1904
$GC,8336,0.67,182.8,327.9,9.3,460,8343,0.25,2.28,0.00,0.000,6,0.132,0.056,2820,1736,1904
$GC,8653,1.02,182.8,307.3,7.2,476,8658,0.22,2.35,0.00,0.000,4,0.072,0.073,2915,3153,1904
$GC,8689,0.82,182.8,304.2,8.8,477,8695,0.25,2.28,0.00,0.000,6,0.139,0.056,2853,1732,1903
$GC,9005,0.94,229.7,285.2,5.5,493,9052,0.12,2.42,41.38,1.065,4,0.077,0.074,2907,3157,1712
$GC,9112,0.73,229.7,276.3,9.8,498,9117,0.30,2.33,0.00,0.000,6,0.133,0.058,2829,1729,1708
$GC,9444,1.22,263.7,258.8,5.9,514,9480,0.32,2.35,29.40,1.035,4,0.079,0.073,2961,334,1575
$GC,9608,1.02,263.7,241.0,13.0,521,9613,0.22,2.35,0.00,0.000,6,0.140,0.062,2898,1748,1573
$GC,9924,1.02,263.7,213.7,8.0,536,9928,0.00,2.30,0.00,0.000,4,0.000,0.076,2898,3161,1569
$GC,9975,0.89,263.7,209.1,9.0,538,9980,0.12,2.30,0.00,0.000,6,0.140,0.058,2871,1734,1567
$GC,10296,1.01,263.7,186.2,7.9,554,10300,0.10,2.30,0.00,0.000,4,0.084,0.074,2928,323,1566
$GC,10318,1.01,263.7,184.1,9.6,555,10323,0.12,2.33,0.00,0.000,6,0.140,0.063,2895,1741,1566
$GC,10645,1.01,263.7,155.6,7.7,571,10649,0.00,2.33,0.00,0.000,4,0.000,0.079,2895,3161,1566
$GC,10695,0.92,263.7,151.1,8.6,573,10700,0.10,2.30,0.00,0.000,6,0.145,0.059,2875,1730,1565
$GC,11017,1.17,375.7,135.8,3.4,589,11120,0.20,2.47,96.80,0.983,4,0.069,0.074,2972,332,1118
$GC,11127,1.02,375.7,126.0,9.8,594,11132,0.25,2.42,0.00,0.000,6,0.131,0.061,2901,1744,1116
$GC,11448,1.24,448.2,110.5,4.7,610,11516,0.17,2.45,60.65,0.937,4,0.067,0.077,2972,3149,821
$GC,11539,1.10,448.2,100.4,14.2,614,11544,0.22,2.38,0.00,0.000,6,0.133,0.058,2920,1734,819
$GC,11882,1.24,448.2,76.6,10.3,674,11889,0.12,2.35,0.00,0.000,4,0.077,0.076,2982,330,810
$GC,11924,1.34,448.2,73.2,8.2,681,11930,0.00,2.35,0.00,0.000,6,0.000,0.064,2982,1740,810
$GC,12268,1.26,448.2,27.6,14.5,742,12274,0.12,0.00,0.00,0.000,6,0.147,0.000,2949,1740,807
$FREEZE,6.67,-1.736,-1.779
$STATE,12495,end climb,FINISH_DEPTH_REACHED
$STATE,12495,begin subsurface finish
$FINISH1,6.7,1.026063,78
$GC,12502,0.10,78.0,6.7,-9.8,782,12572,0.75,2.35,-61.90,0.000,4,0.113,0.086,2698,333,2335
$FINISH2,2.1
$STATE,12573,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12573,begin surface
$RAFOS_CLK,589
$RAFOS,0,1227297843,20.083334,20.067499,67,61,57,57,53,52,197,163,127,209,177,147
$RAFOS_FIX,6232.697266,-5331.492188,211108,000026,3,81,38.68
$IRIDIUM_FIX,6553.70,-5721.04,150298,121201
$TT8_MAMPS,0.029146
$HUMID,1815
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,14.90
$XPDR_PINGS,78
$24V_AH,22.1,59.095
$10V_AH,10.5,27.037
$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,8.275,127.275,520.500,0.000,0.000,0.000,0.000,0.000,19.500,0.000,0.000,0.000,1448.140,8770.890,615.619,1593.318,200.876,33.371,1499.386,0.000,1581.685,720.000,0.528,0.000
$DEVICE_MAMPS,166.439,87.438,1184.248,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,555.954,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25307,794
$CAP_FILE_SIZE,107860,0
$CFSIZE,260165632,228634624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.7
$GPS,211108,124109,6627.732,-6019.889,35,1.2,35,-37.7