version: 66.04
glider: 108
mission: 11
dive: 344
start: 11 22 108 6 37 49
data:
$ID,108
$MISSION,11
$DIVE,344
$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,-119189.44
$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,22
$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,16
$_XMS_TOUTs,1
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-64.4
$GPS2,124109,6627.732,-6019.889,35,1.2,35,-37.7
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.151,0.178
$KALMAN_X,256839.6,2212.1,-1961.2,-278620.4,15256.7
$KALMAN_Y,-227225.5,-9467.1,7577.4,220953.8,-24496.1
$MHEAD_RNG_PITCHd_Wd,78.0,166372,-13.0,-7.021
$D_GRID,484
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.99,-146.0,0.0,0.0,0,91,0.00,0.00,-73.22,0.000,2,0.000,0.000,331,2255,2887
$GC,95,-0.99,-146.0,3.1,-0.8,13,126,9.07,2.40,-15.57,0.000,4,0.259,0.084,2473,805,3247
$GC,242,-0.57,-146.0,27.5,-20.6,38,249,0.32,2.40,0.00,0.000,6,0.173,0.072,2551,2244,3251
$GC,587,-0.46,-146.0,52.4,-4.9,99,594,0.10,2.38,0.00,0.000,4,0.167,0.071,2582,810,3252
$GC,669,-0.46,-146.0,55.9,-4.3,113,675,0.00,2.38,0.00,0.000,6,0.000,0.071,2574,2239,3252
$GC,1013,-0.46,-146.0,82.2,-8.7,174,1019,0.00,2.25,0.00,0.000,4,0.000,0.085,2564,3604,3253
$GC,1127,-0.46,-146.0,92.4,-9.1,194,1134,0.00,2.22,0.00,0.000,6,0.000,0.058,2563,2211,3252
$GC,1466,-0.46,-146.0,120.6,-9.1,222,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2211,3252
$GC,1777,-0.51,-146.0,138.1,-4.1,237,1781,0.00,2.25,0.00,0.000,4,0.000,0.072,2563,814,3252
$GC,1907,-0.56,-146.0,147.9,-8.8,242,1913,0.00,2.35,0.00,0.000,6,0.000,0.072,2554,2233,3252
$GC,2224,-0.63,-146.0,176.2,-7.6,258,2227,0.00,2.25,0.00,0.000,4,0.000,0.085,2543,3602,3252
$GC,2302,-0.72,-146.0,182.1,-7.0,261,2306,0.00,2.20,0.00,0.000,6,0.000,0.058,2543,2217,3252
$GC,2624,-0.80,-146.0,203.8,-6.0,277,2626,0.12,0.00,0.00,0.000,6,0.087,0.000,2492,2217,3252
$GC,2933,-0.75,-146.0,224.2,-7.1,292,2938,0.10,2.33,0.00,0.000,4,0.156,0.084,2508,3603,3252
$GC,3029,-0.80,-146.0,231.1,-7.2,296,3033,0.00,2.20,0.00,0.000,6,0.000,0.057,2508,2217,3252
$GC,3357,-0.80,-146.0,255.2,-7.7,312,3361,0.00,2.25,0.00,0.000,4,0.000,0.071,2508,811,3252
$GC,3413,-0.80,-146.0,260.0,-8.1,314,3417,0.00,2.35,0.00,0.000,6,0.000,0.071,2498,2234,3252
$GC,3736,-0.80,-146.0,285.3,-7.4,330,3739,0.00,2.33,0.00,0.000,4,0.000,0.069,2499,811,3252
$GC,3785,-0.80,-146.0,289.2,-7.0,332,3789,0.00,2.35,0.00,0.000,6,0.000,0.071,2489,2234,3252
$GC,4115,-0.80,-146.0,309.3,-5.9,348,4116,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2234,3252
$GC,4422,-0.80,-146.0,328.9,-6.5,363,4426,0.00,2.33,0.00,0.000,4,0.000,0.070,2488,814,3252
$GC,4513,-0.80,-146.0,335.1,-7.0,367,4518,0.12,2.35,0.00,0.000,6,0.144,0.072,2512,2233,3252
$GC,4840,-0.91,-146.0,353.4,-5.9,383,4844,0.12,2.25,0.00,0.000,4,0.084,0.084,2451,3597,3252
$GC,4901,-0.79,-146.0,358.4,-8.6,385,4908,0.22,2.17,0.00,0.000,6,0.151,0.057,2514,2226,3251
$GC,5218,-0.91,-146.0,375.8,-5.2,401,5220,0.12,0.00,0.00,0.000,6,0.093,0.000,2463,2226,3252
$GC,5526,-0.85,-146.0,396.5,-6.8,416,5528,0.12,0.00,0.00,0.000,6,0.153,0.000,2496,2226,3252
$GC,5853,-0.85,-146.0,415.3,-6.0,426,5856,0.00,2.30,0.00,0.000,4,0.000,0.083,2488,3595,3252
$GC,6111,-1.32,-146.0,425.3,-0.3,431,6116,0.30,2.17,0.00,0.000,6,0.067,0.054,2371,2216,3252
$STATE,6197,end dive,NO_VERTICAL_VELOCITY
$STATE,6197,begin apogee
$GC,6205,-0.31,0.0,425.4,0.0,433,6332,0.73,0.00,124.47,1.164,6,0.099,0.000,2616,1739,2650
$STATE,6333,end apogee,CONTROL_FINISHED_OK
$STATE,6333,begin climb
$GC,6336,0.99,146.0,425.1,0.0,436,6475,0.85,2.70,129.45,1.079,4,0.083,0.072,2910,326,2053
$GC,6523,0.78,146.0,407.8,10.9,440,6528,0.25,2.58,0.00,0.000,6,0.133,0.061,2843,1751,2051
$GC,6854,0.79,149.2,384.5,6.9,454,6858,0.00,2.40,0.00,0.000,4,0.000,0.075,2844,3162,2046
$GC,6955,0.68,149.2,376.6,8.0,458,6960,0.10,2.38,0.00,0.000,6,0.142,0.057,2826,1729,2045
$GC,7273,0.82,193.1,358.1,5.6,473,7316,0.12,0.00,40.15,1.077,6,0.078,0.000,2878,1729,1862
$GC,7621,0.75,193.1,328.7,9.0,490,7626,0.15,2.40,0.00,0.000,4,0.124,0.072,2835,3164,1856
$GC,7643,0.75,193.1,326.7,8.3,491,7647,0.00,2.33,0.00,0.000,6,0.000,0.057,2842,1729,1856
$GC,7965,0.86,193.1,301.8,7.7,507,7967,0.08,0.00,0.00,0.000,6,0.099,0.000,2882,1729,1856
$GC,8275,0.86,193.1,273.6,9.2,522,8276,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1729,1855
$GC,8582,0.86,193.1,247.1,7.8,537,8583,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1728,1855
$GC,8891,0.86,193.1,223.9,7.5,552,8893,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1728,1855
$GC,9203,0.91,233.6,202.7,5.7,567,9245,0.00,2.45,34.28,1.030,4,0.000,0.076,2883,3155,1697
$GC,9269,0.85,234.9,198.4,7.0,570,9274,0.12,2.33,0.00,0.000,6,0.136,0.058,2858,1729,1695
$GC,9596,1.01,240.5,177.6,6.8,586,9605,0.15,0.00,6.38,0.853,6,0.076,0.000,2922,1729,1669
$GC,9906,0.94,240.5,147.9,10.2,601,9910,0.15,2.38,0.00,0.000,4,0.135,0.075,2879,3155,1668
$GC,9939,0.94,240.5,145.1,7.5,602,9945,0.00,2.30,0.00,0.000,6,0.000,0.059,2886,1727,1667
$GC,10255,1.11,308.4,124.8,4.8,618,10323,0.12,2.42,60.40,0.982,4,0.082,0.074,2951,327,1392
$GC,10401,1.11,308.4,111.9,10.2,624,10408,0.12,2.40,0.00,0.000,6,0.137,0.064,2918,1752,1388
$GC,10732,1.18,308.4,86.7,7.2,664,10738,0.00,2.33,0.00,0.000,4,0.000,0.078,2919,3161,1382
$GC,10778,1.18,308.4,82.8,8.6,672,10785,0.00,2.33,0.00,0.000,6,0.000,0.060,2925,1729,1380
$GC,11122,1.18,308.4,53.2,9.7,733,11130,0.00,2.33,0.00,0.000,4,0.000,0.076,2936,319,1378
$GC,11187,1.18,308.4,47.0,10.7,744,11193,0.00,2.35,0.00,0.000,6,0.000,0.064,2936,1744,1377
$GC,11531,1.18,308.4,18.3,8.3,805,11537,0.00,2.38,0.00,0.000,4,0.000,0.074,2946,324,1377
$GC,11616,1.18,308.4,10.6,7.6,820,11623,0.00,2.33,0.00,0.000,6,0.000,0.063,2946,1743,1376
$FREEZE,6.80,-1.757,-1.779
$STATE,11656,end climb,FINISH_DEPTH_REACHED
$STATE,11656,begin subsurface finish
$FINISH1,6.8,1.026061,78
$GC,11664,0.10,78.0,6.8,-8.2,827,11705,0.75,2.35,-32.85,0.000,4,0.121,0.094,2702,3159,2336
$FINISH2,4.9
$STATE,11706,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11706,begin surface
$RAFOS_CLK,589
$RAFOS,4,1227343445,8.750000,8.734722,64,61,60,58,54,53,188,178,113,164,209,152
$RAFOS,3,1227342849,8.583333,8.569167,74,70,56,53,51,48,721,204,123,138,157,176
$RAFOS,2,1227342244,8.416667,8.401111,59,57,55,54,54,54,197,220,121,146,161,230
$RAFOS,1,1227341678,8.250000,8.243889,77,56,56,54,52,51,673,215,160,173,148,187
$RAFOS,0,1227341041,8.083333,8.066944,69,65,62,61,56,54,205,145,189,166,224,124
$RAFOS_FIX,6617.213379,-6024.224609,221108,080840,2,76,0.28
$IRIDIUM_FIX,6548.42,-6029.22,160298,060607
$TT8_MAMPS,0.026845
$HUMID,1807
$INTERNAL_PRESSURE,9.88319
$TCM_TEMP,14.90
$XPDR_PINGS,49
$24V_AH,22.1,59.651
$10V_AH,10.5,27.253
$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,14.450,96.600,395.125,0.000,0.000,75.496,131.326,365.758,12.250,0.000,0.000,183.215,1476.364,8176.372,520.262,1728.888,995.117,33.372,1359.321,0.000,1532.396,1800.000,0.530,0.000
$DEVICE_MAMPS,259.246,93.574,1164.306,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,583.896,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28410,834
$CAP_FILE_SIZE,111914,0
$CFSIZE,260165632,228319232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1442.4
$GPS,221108,082640,6617.213,-6024.225,0,2075.5,0,-37.7